TWM605679U - Unmanned aerial vehicle control system - Google Patents

Abstract

An unmanned aerial vehicle (UAV) control system is provided. The UAV control system includes an UAV and a server. The UAV stores a reporting configuration. The server communicatively connects to the UAV and stores at least one historical status information corresponding to the UAV, wherein the UAV reports to the server at least one current status information according to the reporting configuration. The server calculates a variance between the at least one historical status information and the at least one current status information. The server updates the reporting configuration of the UAV according to the variance.

Description

UAV control system

The present invention relates to a control system, and particularly relates to a UAV control system.

In recent years, many users have used mobile communication networks, such as fourth-generation mobile communication networks (ie: 4G networks) or fifth-generation mobile communication networks (ie: 5G networks), to control drones to fly or send back video data . However, the mobile communication network is aimed at electronic devices used on the ground, such as mobile phones, tablets, or laptops. Relatively speaking, unmanned aerial vehicles (UAVs) often fly at high places with poor mobile communications. Therefore, drones often lose control or cannot send back video data in real time.

On the other hand, when the drone executes the handover procedure, it is prone to short-term connection interruption or signal delay, which can cause problems such as loss of transmission packets. In addition, there are many problems in the control of drones, such as it is difficult to ensure that the flight path of the drone has a good-quality mobile network, and only a timing and inflexible reporting mechanism is used to report information, which causes excessive power consumption and a lot of redundancy. Information, the inability to consider signal coverage or time and other factors have caused the drone to collect too much duplicate data or cannot share the data collected by the drone with other drones.

This model provides a UAV control system, which can automatically plan the appropriate timing of the UAV status information, so that actions such as controlling the UAV through mobile communication or returning the action image stream from the UAV can be stably executed.

The new type of UAV control system includes UAV and server. The drone saves and reports the configuration. The server is communicatively connected to the drone, and stores at least one historical status information corresponding to the drone. The drone reports at least one current status information to the server according to the report configuration; the server calculates at least one historical status information and at least one The amount of variation between the current status information; and the server updates the drone's report configuration based on the amount of variation.

In an embodiment of the present invention, the above-mentioned server extends the reporting interval in the reporting configuration or reduces the number of reporting per unit time in the reporting configuration in response to the variation being less than or equal to the first threshold.

In an embodiment of the present invention, the aforementioned server shortens the reporting interval in the reporting configuration or increases the number of reporting per unit time in the reporting configuration in response to the variation being greater than or equal to the second threshold.

In an embodiment of the present invention, the aforementioned at least one current status information is associated with at least one of the following: communication quality parameters, location information, default network type, remaining power, and time stamp.

In an embodiment of the present invention, in response to the communication quality parameter being less than or equal to the communication quality threshold, the aforementioned server shortens the reporting interval in the reporting configuration or increases the number of reporting per unit time in the reporting configuration.

In an embodiment of the present invention, the above-mentioned server shortens the reporting interval in the reporting configuration or increases the number of reporting per unit time in the reporting configuration in response to the location information being in the preset area.

In an embodiment of the present invention, in response to the remaining power being less than or equal to the power threshold, the aforementioned server extends the reporting interval in the reporting configuration or reduces the number of reporting per unit time in the reporting configuration.

In an embodiment of the present invention, the aforementioned server shortens the reporting interval in the reporting configuration or increases the number of reporting per unit time in the reporting configuration in response to the preset network type.

In an embodiment of the present invention, the aforementioned server generates a suggested route based on at least one historical state information and at least one current state information, and transmits the suggested route to the drone.

Based on the above, the new model can automatically configure the timing of the drone to report back according to the status information of the drone, so as to achieve stable operation of the drone at the lowest cost (for example: energy cost) and make the drone fly The route maintains the efficiency of a location with good communication quality.

Fig. 1 illustrates a schematic diagram of a drone control system 10 according to an embodiment of the present invention. The drone control system 10 may include a server 100 and a drone 200. The server 100 is, for example, a cloud server, and can be connected to the drone 200 via a network (for example, a mobile communication network), and control the drone 200. For ease of description, FIG. 1 only shows a single drone (ie, drone 200), but the present invention is not limited to this. For example, in addition to the drone 200, the drone control system 10 may also include other drones.

FIG. 2 shows a schematic diagram of the server 100 according to an embodiment of the present invention. The server 100 may include a processor 110, a storage medium 120 and a transceiver 130.

The processor 110 is, for example, a central processing unit (CPU), or other programmable general-purpose or special-purpose micro control unit (MCU), microprocessor, or digital signal processing DSP (digital signal processor, DSP), programmable controller, application specific integrated circuit (ASIC), graphics processing unit (GPU), image signal processor (ISP) ), image processing unit (IPU), arithmetic logic unit (ALU), complex programmable logic device (CPLD), field programmable gate array (field programmable gate array) , FPGA) or other similar components or a combination of the above components. The processor 110 may be coupled to the storage medium 120 and the transceiver 130, and access and execute multiple modules and various application programs stored in the storage medium 120.

The storage medium 120 is, for example, any type of fixed or removable random access memory (RAM), read-only memory (ROM), or flash memory (flash memory). , Hard disk drive (HDD), solid state drive (SSD) or similar components or a combination of the above components, which are used to store multiple modules or various application programs that can be executed by the processor 110. In this embodiment, the storage medium 120 can store multiple modules such as the data collection module 121, the data analysis module 122, and the control module 123, the functions of which will be described later.

The transceiver 130 transmits and receives signals in a wireless or wired manner. The transceiver 130 may also perform operations such as low noise amplification, impedance matching, frequency mixing, up or down frequency conversion, filtering, amplification and the like.

FIG. 3 shows a schematic diagram of a drone 200 according to an embodiment of the present invention. The drone 200 may include a processor 210, a storage medium 220, and a transceiver 230. In an embodiment, the drone 240 may further include a sensor 240.

The processor 210 is, for example, a central processing unit, or other programmable general-purpose or special-purpose micro-control units, microprocessors, digital signal processors, programmable controllers, special-application integrated circuits, and graphics processors , Image signal processor, image processing unit, arithmetic logic unit, complex programmable logic device, field programmable logic gate array or other similar components or a combination of the above components. The processor 210 can be coupled to the storage medium 220, the transceiver 230, and the sensor 2401, and access and execute multiple modules and various application programs stored in the storage medium 220.

The storage medium 220 is, for example, any type of fixed or removable random access memory, read-only memory, flash memory, hard disk, solid state disk or similar components or a combination of the above components, and is used for Multiple modules or various application programs that can be executed by the processor 210 are stored. In this embodiment, the storage medium 220 can store multiple modules such as the detection module 221, the reporting module 222, and the configuration module 223, the functions of which will be described later.

The transceiver 230 transmits and receives signals in a wireless or wired manner. The transceiver 130 may also perform operations such as low noise amplification, impedance matching, frequency mixing, up or down frequency conversion, filtering, amplification and the like.

The sensor 240 is used to generate sensing data. Specifically, the detection module 221 of the drone 200 can sense the environment around the drone 240 through the sensor 240 to generate sensing data. The reporting module 222 of the drone 200 can send the sensing data to the server 100 through the transceiver 230. For example, the sensor 240 may be a camera. The detection module 221 can generate image stream data through the sensor 240. The reporting module 22 can send the image stream data to the server 100 through the transceiver 230. For another example, the sensor 240 may be a global positioning system (GPS) signal receiver. The detection module 221 of the drone 200 can receive GPS signals through the sensor 240. The reporting module 222 can determine the location information of the drone 200 based on the GPS signal, and report the location information to the server 100 through the transceiver 230. The position information may include horizontal position information (for example: the latitude and longitude information of the drone 200) or vertical position information (for example: the altitude information of the drone 200).

The storage medium 220 of the drone 200 can also store the report configuration. The report configuration includes information such as the report interval or the number of reports per unit time, but the present invention is not limited to this. The report module 222 of the drone 200 can report status information (for example, current status information or historical status information) according to the report configuration. For example, if the reporting interval is set to 30 seconds, the reporting module 222 can use the transceiver 230 to report the status information once every 30 seconds. For another example, if the number of reports per unit time is 3 times/minute, the report module 222 can report the status information three times within one minute through the transceiver 230. The status information can be associated with information such as drone identification code, communication quality parameters, location information, default network type, remaining power, or time stamp, but the present invention is not limited to this. The status information is obtained by the detection module 221 of the drone 200, for example. For example, the detection module 221 can measure the power of the drone 200 to generate the remaining power. For another example, the detection module 221 can determine the communication quality parameters, the default network type, or the time stamp and other information through the signal received by the transceiver 230. For another example, the detection module 221 can determine the location information of the drone 200 through the GPS signal received by the sensor 240.

It is worth noting that the current status information or historical status information can be defined by users according to their needs. For example, the user can define the status information collected on the current day as current status information, and the status information collected on the previous day as historical status information. The present invention is not limited to this.

The data collection module 121 of the server 100 can receive the status information from the drone 200 through the transceiver 130. The data collection module 121 can store the status information returned by the drone 200 as historical status information in the storage medium 120. After the drone 200 transmits the current status information to the server 100, the data analysis module 122 of the server 100 can determine how to configure the configuration of the drone 200 according to the historical status information and current status information corresponding to the drone 200. The configuration may include, but is not limited to, report configuration, flight path, flight altitude, flight rate, or a relay charging station used in the flight path, etc. After deciding how to configure the configuration of the drone 200, the control module 123 of the server 110 can send update information to the drone 200 through the transceiver 130 to instruct the drone 200 to update the configuration. The configuration module 223 of the UAV 200 can update information such as report configuration, flight path, flight altitude, flight rate, or relay charging station used in the flight path according to the updated information.

The data analysis module 122 of the server 100 can calculate the amount of variation between the historical state information and the current state information reported by the drone 200, where the amount of variation includes, for example, communication quality parameters, location information, default network type, and remaining power. Or the amount of variation of information such as time stamp, but the present invention is not limited to this. The control module 123 of the server 100 can update the report configuration of the drone 200 according to the amount of variation.

In one embodiment, if the amount of variation is less than or equal to a threshold, the control module 123 may send update information to the drone 200 through the transceiver 130 to instruct the drone 200 to update the report configuration according to the update information. For example, the update information may instruct the drone 200 to extend the reporting interval in the reporting configuration or reduce the number of reporting per unit time in the reporting configuration. In other words, if the behavior of the drone 200 within a certain period of time is not significantly changed, the server 100 can reduce the frequency of the drone 200 reporting status information, thereby reducing the power consumed by the drone 200 or avoiding unmanned The machine 200 sends excessive redundant data (for example, duplicate data) to the server 100. In another embodiment, if the amount of variation is less than or equal to a threshold, the control module 123 can instruct the drone 200 to shorten the reporting interval in the reporting configuration or to reduce the number of reporting per unit time in the reporting configuration by updating the information increase.

In one embodiment, if the amount of variation is greater than a threshold, the control module 123 may send update information to the drone through the transceiver 130 to instruct the drone 200 to update the report configuration according to the update information. For example, the update information may instruct the drone 200 to shorten the reporting interval in the reporting configuration or increase the number of reporting per unit time in the reporting configuration. In other words, if the behavior of the drone 200 changes significantly within a certain period of time, the server 100 can increase the frequency with which the drone 200 reports status information, thereby quickly grasping the status of the drone 200. In another embodiment, if the amount of variation is greater than a threshold, the control module 123 can instruct the drone 200 to extend the reporting interval in the reporting configuration or reduce the number of reporting per unit time in the reporting configuration by updating the information.

In one embodiment, assuming that the amount of variation between the communication quality parameter in the historical status information reported by the drone 200 and the communication quality parameter in the reported current status information is greater than a threshold of the communication quality parameter, the server 100 The data analysis module 122 can determine that the communication quality parameters of the UAV 200 are significantly reduced or improved according to the amount of variation. If the communication quality parameter is significantly improved, the control module 123 of the server 100 can extend the reporting interval in the reporting configuration or reduce the number of reporting per unit time in the reporting configuration. In other words, when the drone 200 is in an environment with good communication quality, the frequency of reporting the status information by the reporting module 222 of the drone 200 can be reduced. In this way, the power consumed by the drone 200 can be reduced or the drone 200 can be prevented from transmitting excessive redundant data to the server 100. On the other hand, if the communication quality parameter is significantly reduced, the control module 123 of the server 100 can shorten the reporting interval in the reporting configuration or increase the number of reporting per unit time in the reporting configuration. In other words, when the drone 200 is in an environment with poor communication quality, the frequency of reporting the status information by the reporting module 222 of the drone 200 can be increased. In this way, it can be avoided that the drone 200 cannot smoothly report the data collected by the drone 200 to the server 100 due to factors such as packet loss.

In one embodiment, assuming that the amount of variation between the position information in the historical state information reported by the drone 200 and the position information in the current state information reported by the drone 200 is greater than a threshold of the position information, the data analysis of the server 100 The module 122 can determine that the drone 200 has moved a certain distance based on the amount of variation. Accordingly, the control module 123 can shorten the reporting interval in the reporting configuration or increase the number of reporting per unit time in the reporting configuration, so that the server 100 can quickly grasp the position information of the drone 200.

In one embodiment, it is assumed that the amount of variation between the default network type in the historical status information reported by the drone 200 and the default network type in the reported current status information is greater than that of a default network type Threshold value, the data analysis module 122 of the server 100 can determine the current default network type of the drone 200 according to the amount of variation. The control module 123 can configure the reporting configuration of the drone 200 according to the preset network type. For example, drones 200 using different preset network types can be configured with different reporting configurations. The preset network type may include, for example, the fourth-generation mobile communication network or the fifth-generation mobile communication network, and the present invention is not limited to this. Accordingly, the reporting configuration configured by the drone 200 using the fourth-generation mobile communication network may be different from the reporting configuration configured by the drone 200 using the fifth-generation mobile communication network.

In one embodiment, assuming that the amount of variation between the remaining power in the historical state information reported by the drone 200 and the remaining power in the current state information reported is greater than a power threshold, the data analysis model of the server 100 The group 122 can determine that the power consumed by the drone 200 is too high based on the amount of variation. Therefore, the control module 123 of the server 100 can extend the reporting interval in the reporting configuration or reduce the number of reporting per unit time in the reporting configuration, thereby reducing the power consumed by the drone 200.

In one embodiment, assuming that the variance between the time stamp in the historical status information reported by the drone 200 and the time stamp in the current status information reported by the drone 200 is greater than a power threshold, the data analysis model of the server 100 The group 122 can judge that the number of returns per unit time of the drone 200 may be reduced based on the amount of variation. In other words, some of the status information reported by the drone 200 may not be successfully received by the server 100 due to factors such as packet loss. Accordingly, the control module 123 of the server 100 can shorten the reporting interval in the reporting configuration or increase the number of reporting per unit time in the reporting configuration.

In addition to the server 100 determining whether to update the report configuration of the drone 200 according to the amount of variation between the historical status information and the current status information, the update of the report configuration can also be determined by the server 100 or the drone 200 according to the event And decided.

In one embodiment, the data analysis module 122 of the server 100 or the configuration module 223 of the drone 200 can respond to the communication quality parameter in the current status information reported by the drone 200 being less than or equal to the communication quality threshold. The report interval in the report configuration is shortened or the number of reports per unit time in the report configuration is increased. The communication quality parameters can include but are not limited to radio resource management (RRM) parameters, signal-to-interference ratio (signal- to-intererence-plus-noise, SINR) or measurement time. RRM parameters can include, but are not limited to, receiving signal strength indicator (RSSI), channel quality indicator (CQI), reference signal received power (RSRP), or reference signal received quality (refence signal received quality, RSRQ) and other parameters.

In one embodiment, the data analysis module 122 of the server 100 or the configuration module 223 of the drone 200 may indicate that the drone 200 is located in a predetermined area in response to the position information in the current status information reported by the drone 200 (eg : It is far away from the base station and the communication quality is poor, or the area corresponding to less historical state data) and the report interval in the report configuration is shortened or the number of reports per unit time in the report configuration is increased, thereby increasing the drone 200 The reliability of communications. In still another embodiment, the data analysis module 122 of the server 100 or the configuration module 223 of the drone 200 may indicate that the drone 200 is located in a predetermined area in response to the position information in the current status information reported by the drone 200 ( For example: the area close to the base station and the communication quality is better) and the report interval in the report configuration is extended or the number of reports per unit time in the report configuration is reduced to reduce the power consumption of the drone 200 or reduce the self-driving drone 200 The probability of receiving redundant data.

In one embodiment, the data analysis module 122 of the server 100 or the configuration module 223 of the drone 200 may report the configuration in response to the remaining power in the current status information reported by the drone 200 being less than or equal to the power threshold. The report interval time in the report is extended or the number of reports per unit time in the report configuration is reduced, thereby reducing the power consumption of the drone 200.

In one embodiment, the data analysis module 122 of the server 100 can generate a suggested route based on the historical status information and/or current status information reported by the drone 200. The control module 123 of the server 100 can transmit the recommended path to the drone 200 through the transceiver 130 to instruct the drone 200 to fly according to the recommended path.

In one embodiment, the server 100 receives information from the drone 200 or information generated based on the historical status information and/or current status information reported by the drone 200 (for example, communication quality parameters, suggested paths, or Update report configuration update information) can be sent to other drones. For example, the data collection module 122 can determine that the flight path or function of the second drone is similar to that of the drone 200 based on the information reported by the second drone. Therefore, the control module 123 can transmit the information generated based on the historical status information and/or current status information reported by the drone 200 to the second drone through the transceiver 130. In other words, the server 100 can configure and manage one or more drones that are communicatively connected to the server 100 according to the big data collected from multiple drones.

FIG. 4 shows a flowchart of a drone control method according to an embodiment of the present invention, wherein the drone control method can be implemented by the drone control system 10 shown in FIG. 1. In step S401, the drone saves and reports the configuration. In step S402, the server is communicatively connected to the drone, and at least one historical status information corresponding to the drone is stored. In step S403, the drone reports at least one current status information to the server according to the report configuration. In step S404, the server calculates the amount of variation between at least one historical state information and at least one current state information. In step S405, the server updates the report configuration of the drone according to the amount of variation.

To sum up, the new model can automatically configure the timing of the drone to report based on the status information of the drone. The new model can configure the drone's report configuration based on the quality of the mobile network or the drone's moving trajectory, so as to avoid the drone's report frequency or frequency is too low, which causes the server to be unable to correct the drone's route or avoid it in real time The report frequency or frequency of the drone is too high, which leads to excessive power consumption or excessive redundant data generation. By appropriately updating the drone's return configuration, the new model can operate the drone stably at the lowest cost (for example, energy cost), and maintain the drone's flight path in a location with good communication quality. In addition, the server can also share the configured return configuration with other drones. When the drone encounters a specific situation (for example: insufficient battery), the drone can immediately report back. The server can indicate the next action of the drone based on the drone's report. In this way, the flight of the drone can be prevented from being affected by emergencies.

10: UAV control system 100: server 110, 210: processor 120, 220: storage media 121: Data Collection Module 122: Data Analysis Module 123: control module 130, 230: transceiver 200: drone 221: Detection Module 222: report module 223: configuration module 240: Sensor S401, S402, S403, S404, S405: steps

Fig. 1 shows a schematic diagram of a drone control system according to an embodiment of the present invention. Fig. 2 shows a schematic diagram of a server according to an embodiment of the present invention. Fig. 3 shows a schematic diagram of a drone according to an embodiment of the present invention. Fig. 4 shows a flowchart of a drone control method according to an embodiment of the present invention.

10: UAV control system

100: server

200: drone

Claims (9)

An unmanned aerial vehicle control system, including: UAV, storing and reporting configuration; and A server, which is communicatively connected to the drone, and stores at least one historical state information corresponding to the drone, wherein The drone reports at least one current status information to the server according to the report configuration; The server calculates the amount of variation between the at least one historical state information and the at least one current state information; and The server updates the report configuration of the drone according to the variation amount. The UAV control system according to claim 1, wherein the server extends the reporting interval in the reporting configuration or changes the reporting interval in the reporting configuration in response to the variation being less than or equal to a first threshold. The number of returns per unit time is reduced. The drone control system according to claim 1, wherein the server shortens the reporting interval in the reporting configuration or reduces the reporting interval in the reporting configuration in response to the variation being greater than or equal to a second threshold The number of returns per unit time increased. The drone control system according to claim 1, wherein the at least one current state information is associated with at least one of the following: Communication quality parameters, location information, default network type, remaining power, and time stamp. The drone control system according to claim 4, wherein the server shortens the report interval time in the report configuration or changes the report configuration in response to the communication quality parameter being less than or equal to the communication quality threshold Increase in the number of returns per unit time in. The drone control system according to claim 4, wherein the server shortens the reporting interval in the reporting configuration or reduces the unit in the reporting configuration in response to the location information being in a preset area The number of time returns increases. The drone control system according to claim 4, wherein in response to the remaining power being less than or equal to the power threshold, the server extends the reporting interval in the reporting configuration or increases the reporting interval in the reporting configuration The number of returns per unit time is reduced. The drone control system according to claim 4, wherein the server shortens the reporting interval in the reporting configuration or reduces the unit time in the reporting configuration in response to the preset network type Increased number of returns. The drone control system according to claim 1, wherein the server generates a suggested route based on the at least one historical state information and the at least one current state information, and transmits the suggested route to the drone.

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