WO2018094578A1 - Unmanned aerial vehicle control method and ground control terminal - Google Patents
Unmanned aerial vehicle control method and ground control terminal Download PDFInfo
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- WO2018094578A1 WO2018094578A1 PCT/CN2016/106825 CN2016106825W WO2018094578A1 WO 2018094578 A1 WO2018094578 A1 WO 2018094578A1 CN 2016106825 W CN2016106825 W CN 2016106825W WO 2018094578 A1 WO2018094578 A1 WO 2018094578A1
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- remote server
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/08—Network architectures or network communication protocols for network security for authentication of entities
- H04L63/0807—Network architectures or network communication protocols for network security for authentication of entities using tickets, e.g. Kerberos
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/08—Network architectures or network communication protocols for network security for authentication of entities
- H04L63/0815—Network architectures or network communication protocols for network security for authentication of entities providing single-sign-on or federations
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/10—Network architectures or network communication protocols for network security for controlling access to devices or network resources
- H04L63/108—Network architectures or network communication protocols for network security for controlling access to devices or network resources when the policy decisions are valid for a limited amount of time
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
Definitions
- the embodiment of the invention relates to the field of drones, and in particular to a control method for an unmanned aerial vehicle and a ground control end.
- the unmanned aerial vehicle and the ground station such as the remote controller can perform wireless communication, and the user controls the unmanned aerial vehicle to fly by manipulating the joystick on the remote controller.
- the remote controller can also be connected with the user's mobile terminal such as a mobile phone, The aircraft transmits its own information such as position information, speed, altitude, angle, etc. to the remote controller, and the remote controller transmits it to the remote server through the mobile phone.
- connection between the mobile phone and the remote server is not real-time, and the communication between the remote controller and the remote server is not real-time.
- the remote server cannot monitor the UAV in real time, especially for the agricultural drone.
- the body is large in size and high in price. If the agricultural drone cannot be monitored in real time, the safety of the agricultural drone will not be guaranteed.
- Embodiments of the present invention provide a control method for an unmanned aerial vehicle and a ground control terminal to ensure the safety of an agricultural drone.
- An aspect of an embodiment of the present invention provides a control method for an unmanned aerial vehicle, which uses a ground control terminal, the ground control terminal includes a wireless communication device, and the wireless communication device is used for the ground control terminal and a remote server in real time. Communication; the method includes:
- a ground control terminal including:
- a wireless communication device configured to communicate in real time between the ground control terminal and a remote server
- One or more processors operating alone or in conjunction, in communication with the wireless communication device, the processor for:
- the wireless communication device transmits the information to the remote server to cause the remote server to monitor the unmanned aerial vehicle in real time based on the information.
- the control method and the ground control end of the unmanned aerial vehicle provided by the embodiment provide real-time communication between the ground control terminal and the remote server through the wireless communication device by setting the wireless communication device in the ground control terminal of the unmanned aerial vehicle, and the remote server can
- the real-time monitoring of unmanned aerial vehicles, especially for agricultural drones, has a large body size and high price, and real-time monitoring of agricultural drones can ensure the safety of agricultural drones.
- FIG. 1 is a flowchart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention
- FIG. 2 is a flowchart of a method for controlling an unmanned aerial vehicle according to another embodiment of the present invention.
- FIG. 3 is a flowchart of a method for controlling an unmanned aerial vehicle according to another embodiment of the present invention.
- FIG. 4 is a structural diagram of a ground control terminal according to an embodiment of the present invention.
- FIG. 5 is a structural diagram of a ground control terminal according to another embodiment of the present invention.
- a component when a component is called “fixed to” another component, it can be directly There may also be a centered component on another component. When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
- FIG. 1 is a flowchart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention. As shown in FIG. 1, the method in this embodiment may include:
- Step S101 Acquire information of the UAV.
- the execution body of this embodiment may be a ground control terminal, and the ground control terminal may be a remote controller for controlling the unmanned aerial vehicle, or may be a ground maintenance base station of the unmanned aerial vehicle.
- the ground control terminal may also be at least one of the following: head mounted display glasses (VR glasses, VR helmets, etc.), mobile phones, smart bracelets, tablets, and the like.
- the ground control terminal in this embodiment includes a wireless communication device, and the wireless communication device is configured to use the ground control terminal to communicate with a remote server in real time; the wireless communication device includes at least one of the following: a 3G communication device, a 4G communication device, 5G communication device, WiMax communication device, and wireless fidelity (WIIFI) device.
- a wireless communication device includes at least one of the following: a 3G communication device, a 4G communication device, 5G communication device, WiMax communication device, and wireless fidelity (WIIFI) device.
- WIIFI wireless fidelity
- the wireless communication device in this embodiment takes a wireless network card as an example, and the ground control terminal takes a remote controller as an example, that is, a remote control device for controlling an unmanned aerial vehicle is equipped with a wireless network card, and the remote controller can communicate with a remote server through the wireless network card in real time.
- the wireless network card communicates in 3G, 4G, or 5G mode.
- the remote controller acquires information of the unmanned aerial vehicle transmitted by the communication system of the unmanned aerial vehicle, and the information of the unmanned aerial vehicle includes at least one of the following: an ID of the unmanned aerial vehicle, a flight path of the unmanned aerial vehicle, the Current status information of the human aircraft.
- the current state information of the UAV may include, but is not limited to, flight altitude, attitude information, flight speed, terrain, Flight mode, battery electrical parameter information, power system parameters, etc.
- Step S102 Send the information to the remote server by using the wireless communication device, so that the remote server monitors the unmanned aerial vehicle in real time according to the information.
- the remote controller transmits the information of the unmanned aerial vehicle to the remote server through a wireless network card, so that the remote server monitors the unmanned aerial vehicle in real time according to the information, for example, the remote server according to the flight of the unmanned aerial vehicle Trajectory, real-time monitoring of the trajectory of the unmanned aerial vehicle, real-time positioning of the unmanned aerial vehicle; or, according to the current state information of the unmanned aerial vehicle, real-time monitoring of the state of the unmanned aerial vehicle, for example, whether the battery is faulty, whether the power system is faulty, flying Whether the altitude is super high, whether the flight speed is excessive or not.
- the ground control terminal realizes real-time communication with the remote server through the wireless communication device, and the remote server can perform real-time monitoring on the unmanned aerial vehicle, especially for agriculture.
- the body is large in size and high in price, and real-time monitoring of agricultural drones can ensure the safety of agricultural drones.
- Embodiments of the present invention provide a method for controlling an unmanned aerial vehicle.
- FIG. 2 is a flowchart of a method for controlling an unmanned aerial vehicle according to another embodiment of the present invention. As shown in FIG. 2, on the basis of the embodiment shown in FIG. 1, the method in this embodiment may include:
- Step S201 Acquire information of the UAV.
- Step S201 is consistent with step S101, and the specific method is not described herein again.
- Step S202 Send the information to the remote server by using the wireless communication device, so that the remote server monitors the unmanned aerial vehicle in real time according to the information.
- Step S202 is the same as step S102. The specific method is not described here.
- Step S203 Receive a control instruction sent by the remote server for controlling the UAV.
- the control command for controlling the unmanned aerial vehicle may be sent to the ground control terminal, such as a remote controller; the control command includes at least one of the following: a lock command, a return command, and a flight. Height control command, flight speed control command, flight path control command.
- the UAV is specifically an agricultural drone, and each working time of the agricultural drone is preset, when the remote server determines that the working time of the agricultural drone has timed out. At this time, a lock command is sent to the remote controller.
- Step S204 Send the control instruction to the unmanned aerial vehicle.
- the remote controller sends a control command issued by the remote server to the unmanned aerial vehicle, for example, sending the locking instruction in the above step to the agricultural drone, the agricultural drone will not be able to continue the operation, or the agricultural drone will land After that, you will not be able to take off again.
- the ground control terminal receives the control command sent by the remote server, and sends the control command to the unmanned aerial vehicle. Since the ground control terminal is provided with the wireless network card, the remote server can be used for real-time delivery to the ground control terminal. In order to control the control commands of the unmanned aerial vehicle, real-time control of the unmanned aerial vehicle by the remote server is realized.
- FIG. 3 is a flowchart of a method for controlling an unmanned aerial vehicle according to another embodiment of the present invention.
- the ground control terminal further includes a display screen, and the display screen is configured to display at least one of the following: the information, the control instruction, and the Log in to the user interface of the remote server.
- the remote controller displays the information on the display screen to control the user of the remote controller to view; for example, the remote controller can also display the control command issued by the remote server.
- the display screen or information that is actively pushed by the remote server, is displayed on the display screen; in addition, the remote controller may further be provided with an operating system, and based on the operating system, an application software APP may be installed in the remote controller, the display The screen may display a user interface provided by the application software, and the user interface may be an interface that the user logs in to the remote server through the remote controller.
- Step S301 Acquire information of the UAV.
- the wireless network card in the remote controller can also receive the information sent by the UAV, and store the information in the memory of the remote controller.
- the information of the unmanned aerial vehicle stored in the memory can be used as offline data.
- Step S302 Acquire user information of a user who controls the ground control terminal.
- An achievable manner of obtaining user information of a user who controls the ground control terminal is: acquiring login information input by the user at the user interface for logging in to the remote server,
- the login information may specifically include a login ID and a login password.
- Step S303 Send the user information to the remote server, so that the remote server determines, according to the user information, whether the user has the right to control the unmanned aerial vehicle through the ground control terminal.
- the remote controller sends login information, such as a login ID and a login password, for logging in to the remote server to the remote server through a wireless network card, and the remote server stores in advance user information having authority to control the unmanned aerial vehicle, and the remote server according to the The login information sent by the remote controller and the pre-stored user information determine whether the user has the authority to control the unmanned aerial vehicle through the remote controller.
- login information such as a login ID and a login password
- Step S304 Receive verification information sent by the remote server, where the verification information is used to identify that the user has permission to control the unmanned aerial vehicle through the ground control terminal.
- the verification information is sent to the remote controller, and the verification information may specifically be a token Token, where the token is used to identify that the user has permission to pass the remote controller. Control the UAV and have permission to log in to the remote server through the remote.
- the verification information is further used to identify a time limit for the user to log in to the remote server through the ground control terminal. For example, after the remote controller receives the Token, the user can log in to the remote server according to the Token within 24 hours, or after the communication connection between the remote controller and the remote server is disconnected, the user can also log in to the remote server according to the Token.
- Step S305 Send the ID of the UAV to the remote server by using the wireless communication device, so that the remote server determines, according to the ID of the UAV, whether the UAV is at the remote location. Within the scope of monitoring of the server.
- the remote controller After receiving the Token sent by the remote server, the remote controller sends the ID of the UAV to the remote server through the wireless network card, and the remote server pre-stores the ID of the unmanned aerial vehicle that the remote server can monitor, and the remote server receives the remote controller. After the ID of the unmanned aerial vehicle is sent, it is determined whether the unmanned aerial vehicle is within its own monitoring range.
- Step S306 if the user has the right to control the unmanned aerial vehicle through the ground control terminal, and the unmanned aerial vehicle is within the monitoring range of the remote server, establish the wireless communication device and the remote server. Communication between the connections.
- the remote controller establishes a communication connection with the remote server through the wireless network card, and the communication connection may be a set of real-time transmission based on the Transmission Control Protocol (TCP).
- TCP Transmission Control Protocol
- Protocol for example, Transport Layer Security (TLS) connection.
- Step S307 Send the information to the remote server by using the communication connection, so that the remote server monitors the unmanned aerial vehicle in real time according to the information.
- the remote controller After the remote controller establishes a communication connection with the remote server through the wireless network card, the information of the unmanned aerial vehicle can be sent to the remote server in real time through the communication connection, so that the remote server monitors the unmanned aerial vehicle in real time.
- the ground control terminal and the remote server establish a communication connection through the wireless communication device
- the user fails to log in to the remote server through the remote controller
- the offline data stored in the memory of the remote controller is connected through the communication connection. Sent to the remote server.
- the remote server verifies the user information, the ID of the unmanned aerial vehicle, determines whether the user who controls the remote controller has the authority to control the unmanned aerial vehicle through the remote controller, and determines whether the unmanned aerial vehicle is in accordance with the ID of the unmanned aerial vehicle.
- the security of the unmanned aerial vehicle is further improved within the monitoring range of the remote server.
- the remote controller Only by establishing a real-time communication connection with the remote server through the wireless network card, compared with the unconditional establishment of the communication connection, not only the security of the communication is improved, but also the network resources of the communication system are saved.
- Embodiments of the present invention provide a ground control terminal.
- 4 is a structural diagram of a ground control terminal according to an embodiment of the present invention.
- the ground control terminal 40 includes a wireless communication device 41, and one or more processors 42, wherein one or more processors 42 are separate or Working together, the wireless communication device 41 is used for real-time communication between the ground control terminal and the remote server; the wireless communication device 41 and the processor 42 are communicatively coupled; the processor 42 is configured to: acquire information of the unmanned aerial vehicle; and transmit the information to a wireless communication device 41; the wireless communication device 41 transmits the information to the remote server to cause the remote server to monitor the unmanned aerial vehicle in real time based on the information.
- the information of the UAV includes at least one of the following: an ID of the UAV, a flight path of the UAV, and current state information of the UAV.
- Place The ground control terminal includes at least one of the following: a remote controller of the unmanned aerial vehicle, and a ground maintenance base station of the unmanned aerial vehicle.
- the wireless communication device includes at least one of the following: a 3G communication device, a 4G communication device, a 5G communication device, a WiMax communication device, and a WIFI communication device.
- the ground control terminal realizes real-time communication with the remote server through the wireless communication device, and the remote server can perform real-time monitoring on the unmanned aerial vehicle, especially for agriculture.
- the body is large in size and high in price, and real-time monitoring of agricultural drones can ensure the safety of agricultural drones.
- Embodiments of the present invention provide a ground control terminal.
- the wireless communication device 41 is further configured to receive a control instruction sent by the remote server for controlling the UAV; and send the control command to the Unmanned aerial vehicle.
- the control command includes at least one of the following: a lock command, a return flight command, a fly height control command, a flight speed control command, and a flight path control command.
- the ground control terminal receives the control command sent by the remote server, and sends the control command to the unmanned aerial vehicle. Since the ground control terminal is provided with the wireless network card, the remote server can be used for real-time delivery to the ground control terminal. In order to control the control commands of the unmanned aerial vehicle, real-time control of the unmanned aerial vehicle by the remote server is realized.
- FIG. 5 is a structural diagram of a ground control terminal according to another embodiment of the present invention.
- the processor 42 is further configured to: acquire user information of a user who controls the ground control terminal; Transmitting the user information to the wireless communication device 41; the wireless communication device 41 transmits the user information to the remote server, so that the remote server determines, according to the user information, whether the user has permission to pass the The ground control end controls the unmanned aerial vehicle.
- the method is: sending the ID of the UAV to the remote server by using the wireless communication device, so that the The remote server determines, based on the ID of the UAV, whether the UAV is within the monitoring range of the remote server.
- the wireless communication device 41 establishes a communication connection with the remote server.
- the communication connection may specifically be a TLS connection
- the wireless communication device 41 after the wireless communication device 41 sends the user information to the remote server, it is further configured to: receive verification information sent by the remote server, where the verification information is used to identify that the user has permission to pass the ground control The end controls the unmanned aerial vehicle.
- the ground control terminal 40 provided in this embodiment further includes: a display screen 43 communicably connected to the processor 42, and the display screen 43 is configured to display at least one of the following : the information, the control command, a user interface for logging into the remote server.
- the processor 42 is specifically configured to: obtain login information that is input by the user on the user interface and used to log in to the remote server.
- the verification information is further used to identify a time limit for the user to log in to the remote server through the ground control terminal 40.
- the ground control terminal 40 provided in this embodiment further includes: a memory 44 communicably connected to the processor 42.
- the wireless communication device 41 receives the unmanned person.
- the information transmitted by the aircraft and transmitted to the processor 42 is stored by the processor 42 to the memory 44.
- the processor 42 acquires the information from the memory 44 and transmits the information to the wireless communication device 41, and the wireless communication device 41 The information is sent to the remote server over the communication connection.
- the wireless communication device 41 specifically includes: a remote communication device 411 and a server communication device 412, wherein the remote communication device 411 is communicatively coupled to the processor 42 for communicating with the unmanned aerial vehicle;
- the communication device 412 is communicatively coupled to the processor 42 for communicating with the remote server; the communication method of the remote communication device 411 is different from the communication method of the server communication device 412.
- the remote communication device 411 is a WIFI pass. Letter device.
- the specific principles and implementation manners of the ground control terminal provided by the embodiment of the present invention are similar to the embodiment shown in FIG. 3, and details are not described herein again.
- the remote server verifies the user information, the ID of the unmanned aerial vehicle, determines whether the user who controls the remote controller has the authority to control the unmanned aerial vehicle through the remote controller, and determines whether the unmanned aerial vehicle is in accordance with the ID of the unmanned aerial vehicle.
- the security of the unmanned aerial vehicle is further improved within the monitoring range of the remote server.
- the remote controller Only by establishing a real-time communication connection with the remote server through the wireless network card, compared with the unconditional establishment of the communication connection, not only the security of the communication is improved, but also the network resources of the communication system are saved.
- the disclosed apparatus and method may be implemented in other manners.
- the device embodiments described above are merely illustrative.
- the division of the unit is only a logical function division.
- there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
- the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
- the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
- each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
- the above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.
- the above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium.
- the above software functional unit is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the methods of the various embodiments of the present invention. Part of the steps.
- the foregoing storage medium includes: a U disk, a mobile hard disk, and a read only memory. (Read-Only Memory, ROM), Random Access Memory (RAM), disk or optical disk, and other media that can store program code.
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Abstract
Description
本发明实施例涉及无人机领域，尤其涉及一种无人飞行器的控制方法及地面控制端。The embodiment of the invention relates to the field of drones, and in particular to a control method for an unmanned aerial vehicle and a ground control end.
现有技术中无人飞行器和地面站例如遥控器可进行无线通信，用户通过操控遥控器上的摇杆控制无人飞行器飞行，另外，遥控器还可以与用户的移动终端如手机连接，无人飞行器将自身的信息例如位置信息、速度、高度、角度等发送给遥控器，遥控器通过手机发送给远程的服务器。In the prior art, the unmanned aerial vehicle and the ground station such as the remote controller can perform wireless communication, and the user controls the unmanned aerial vehicle to fly by manipulating the joystick on the remote controller. In addition, the remote controller can also be connected with the user's mobile terminal such as a mobile phone, The aircraft transmits its own information such as position information, speed, altitude, angle, etc. to the remote controller, and the remote controller transmits it to the remote server through the mobile phone.
但是手机和远程的服务器的连接并不是实时的，导致遥控器与远程的服务器之间的通信也不是实时的，远程的服务器无法对无人飞行器进行实时监控，特别是对于农业无人机而言，其机体体积较大，价格较高，若无法对农业无人机进行实时监控，将无法保证农业无人机的安全性。However, the connection between the mobile phone and the remote server is not real-time, and the communication between the remote controller and the remote server is not real-time. The remote server cannot monitor the UAV in real time, especially for the agricultural drone. The body is large in size and high in price. If the agricultural drone cannot be monitored in real time, the safety of the agricultural drone will not be guaranteed.
发明内容Summary of the invention
本发明实施例提供一种无人飞行器的控制方法及地面控制端，以保证农业无人机的安全性。Embodiments of the present invention provide a control method for an unmanned aerial vehicle and a ground control terminal to ensure the safety of an agricultural drone.
本发明实施例的一个方面是提供一种无人飞行器的控制方法，其采用地面控制端，所述地面控制端包括无线通信装置，所述无线通信装置用于所述地面控制端与远程服务器实时通信；所述方法包括：An aspect of an embodiment of the present invention provides a control method for an unmanned aerial vehicle, which uses a ground control terminal, the ground control terminal includes a wireless communication device, and the wireless communication device is used for the ground control terminal and a remote server in real time. Communication; the method includes:
获取所述无人飞行器的信息；Obtaining information of the unmanned aerial vehicle;
将所述信息通过所述无线通信装置发送给所述远程服务器，以使所述远程服务器根据所述信息，实时监控所述无人飞行器。Transmitting the information to the remote server via the wireless communication device to cause the remote server to monitor the unmanned aerial vehicle in real time based on the information.
本发明实施例的另一个方面是提供一种地面控制端，包括：Another aspect of the embodiments of the present invention provides a ground control terminal, including:
无线通信装置，用于所述地面控制端和远程服务器实时通信；a wireless communication device, configured to communicate in real time between the ground control terminal and a remote server;
一个或多个处理器，单独或协同工作，与所述无线通信装置通讯连接，所述处理器用于： One or more processors, operating alone or in conjunction, in communication with the wireless communication device, the processor for:
获取无人飞行器的信息；Obtain information on unmanned aerial vehicles;
将所述信息传输给所述无线通信装置；Transmitting the information to the wireless communication device;
所述无线通信装置将所述信息发送给所述远程服务器，以使所述远程服务器根据所述信息，实时监控所述无人飞行器。The wireless communication device transmits the information to the remote server to cause the remote server to monitor the unmanned aerial vehicle in real time based on the information.
本实施例提供的无人飞行器的控制方法及地面控制端，通过在控制无人飞行器的地面控制端中设置无线通信装置，实现了地面控制端通过无线通信装置与远程服务器实时通信，远程服务器可对无人飞行器进行实时监控，特别是对于农业无人机而言，其机体体积较大，价格较高，对农业无人机进行实时监控，可保证农业无人机的安全性。The control method and the ground control end of the unmanned aerial vehicle provided by the embodiment provide real-time communication between the ground control terminal and the remote server through the wireless communication device by setting the wireless communication device in the ground control terminal of the unmanned aerial vehicle, and the remote server can The real-time monitoring of unmanned aerial vehicles, especially for agricultural drones, has a large body size and high price, and real-time monitoring of agricultural drones can ensure the safety of agricultural drones.
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in view of the drawings.
图1为本发明实施例提供的无人飞行器的控制方法的流程图；1 is a flowchart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention;
图2为本发明另一实施例提供的无人飞行器的控制方法的流程图；2 is a flowchart of a method for controlling an unmanned aerial vehicle according to another embodiment of the present invention;
图3为本发明另一实施例提供的无人飞行器的控制方法的流程图；3 is a flowchart of a method for controlling an unmanned aerial vehicle according to another embodiment of the present invention;
图4为本发明实施例提供的地面控制端的结构图；4 is a structural diagram of a ground control terminal according to an embodiment of the present invention;
图5为本发明另一实施例提供的地面控制端的结构图。FIG. 5 is a structural diagram of a ground control terminal according to another embodiment of the present invention.
附图标记：Reference mark:
40-地面控制端 41-无线通信装置 42-处理器40-ground control terminal 41-wireless communication device 42-processor
43-显示屏 44-存储器43-display 44-memory
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly described with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在 另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。It should be noted that when a component is called "fixed to" another component, it can be directly There may also be a centered component on another component. When a component is considered to "connect" another component, it can be directly connected to another component or possibly a central component.
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. The terminology used in the description of the present invention is for the purpose of describing particular embodiments and is not intended to limit the invention. The term "and/or" used herein includes any and all combinations of one or more of the associated listed items.
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below can be combined with each other without conflict.
本发明实施例提供一种无人飞行器的控制方法。图1为本发明实施例提供的无人飞行器的控制方法的流程图。如图1所示，本实施例中的方法，可以包括：Embodiments of the present invention provide a method for controlling an unmanned aerial vehicle. FIG. 1 is a flowchart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention. As shown in FIG. 1, the method in this embodiment may include:
步骤S101、获取所述无人飞行器的信息。Step S101: Acquire information of the UAV.
本实施例的执行主体可以是地面控制端，该地面控制端可以是用于控制无人飞行器的遥控器，也可以是无人飞行器的地面维护基站。另外，在一些实施例中，地面控制端还可以是如下至少一种：头戴式显示眼镜(VR眼镜、VR头盔等)、手机、智能手环、平板电脑等。The execution body of this embodiment may be a ground control terminal, and the ground control terminal may be a remote controller for controlling the unmanned aerial vehicle, or may be a ground maintenance base station of the unmanned aerial vehicle. In addition, in some embodiments, the ground control terminal may also be at least one of the following: head mounted display glasses (VR glasses, VR helmets, etc.), mobile phones, smart bracelets, tablets, and the like.
本实施例中的地面控制端包括无线通信装置，所述无线通信装置用于所述地面控制端与远程服务器实时通信；所述无线通信装置包括如下至少一种：3G通信装置、4G通信装置、5G通信装置、WiMax通信装置、无线保真(WIreless-Fidelity，简称WIFI)通信装置。The ground control terminal in this embodiment includes a wireless communication device, and the wireless communication device is configured to use the ground control terminal to communicate with a remote server in real time; the wireless communication device includes at least one of the following: a 3G communication device, a 4G communication device, 5G communication device, WiMax communication device, and wireless fidelity (WIIFI) device.
本实施例中的无线通信装置以无线网卡为例、地面控制端以遥控器为例，即用于控制无人飞行器的遥控器安装有无线网卡，遥控器可通过该无线网卡与远程服务器实时通信。无线网卡以3G、4G、或5G的方式进行通信。The wireless communication device in this embodiment takes a wireless network card as an example, and the ground control terminal takes a remote controller as an example, that is, a remote control device for controlling an unmanned aerial vehicle is equipped with a wireless network card, and the remote controller can communicate with a remote server through the wireless network card in real time. . The wireless network card communicates in 3G, 4G, or 5G mode.
遥控器获取无人飞行器的通信系统发送的无人飞行器的信息，所述无人飞行器的信息包括如下至少一种：所述无人飞行器的ID，所述无人飞行器的飞行轨迹，所述无人飞行器的当前状态信息。所述无人飞行器的当前状态信息可以包括但不限于：飞行高度、姿态信息、飞行速度、所处地形、 飞行模式、电池电参数信息、动力系统参数等。The remote controller acquires information of the unmanned aerial vehicle transmitted by the communication system of the unmanned aerial vehicle, and the information of the unmanned aerial vehicle includes at least one of the following: an ID of the unmanned aerial vehicle, a flight path of the unmanned aerial vehicle, the Current status information of the human aircraft. The current state information of the UAV may include, but is not limited to, flight altitude, attitude information, flight speed, terrain, Flight mode, battery electrical parameter information, power system parameters, etc.
步骤S102、将所述信息通过所述无线通信装置发送给所述远程服务器，以使所述远程服务器根据所述信息，实时监控所述无人飞行器。Step S102: Send the information to the remote server by using the wireless communication device, so that the remote server monitors the unmanned aerial vehicle in real time according to the information.
遥控器通过无线网卡将该无人飞行器的信息发送给所述远程服务器，以使所述远程服务器根据所述信息，实时监控所述无人飞行器，例如，该远程服务器根据该无人飞行器的飞行轨迹，实时监控无人飞行器的运动轨迹、实时定位该无人飞行器；或者，根据该无人飞行器的当前状态信息，实时监控无人飞行器的状态，例如，电池是否故障、动力系统是否故障、飞行高度是否超高、飞行速度是否超度等。The remote controller transmits the information of the unmanned aerial vehicle to the remote server through a wireless network card, so that the remote server monitors the unmanned aerial vehicle in real time according to the information, for example, the remote server according to the flight of the unmanned aerial vehicle Trajectory, real-time monitoring of the trajectory of the unmanned aerial vehicle, real-time positioning of the unmanned aerial vehicle; or, according to the current state information of the unmanned aerial vehicle, real-time monitoring of the state of the unmanned aerial vehicle, for example, whether the battery is faulty, whether the power system is faulty, flying Whether the altitude is super high, whether the flight speed is excessive or not.
本实施例通过在控制无人飞行器的地面控制端中设置无线通信装置，实现了地面控制端通过无线通信装置与远程服务器实时通信，远程服务器可对无人飞行器进行实时监控，特别是对于农业无人机而言，其机体体积较大，价格较高，对农业无人机进行实时监控，可保证农业无人机的安全性。In this embodiment, by setting a wireless communication device in the ground control terminal of the unmanned aerial vehicle, the ground control terminal realizes real-time communication with the remote server through the wireless communication device, and the remote server can perform real-time monitoring on the unmanned aerial vehicle, especially for agriculture. In terms of man-machine, the body is large in size and high in price, and real-time monitoring of agricultural drones can ensure the safety of agricultural drones.
本发明实施例提供一种无人飞行器的控制方法。图2为本发明另一实施例提供的无人飞行器的控制方法的流程图。如图2所示，在图1所示实施例的基础上，本实施例中的方法，可以包括：Embodiments of the present invention provide a method for controlling an unmanned aerial vehicle. FIG. 2 is a flowchart of a method for controlling an unmanned aerial vehicle according to another embodiment of the present invention. As shown in FIG. 2, on the basis of the embodiment shown in FIG. 1, the method in this embodiment may include:
步骤S201、获取所述无人飞行器的信息。Step S201: Acquire information of the UAV.
步骤S201与步骤S101一致，具体方法此处不再赘述。Step S201 is consistent with step S101, and the specific method is not described herein again.
步骤S202、将所述信息通过所述无线通信装置发送给所述远程服务器，以使所述远程服务器根据所述信息，实时监控所述无人飞行器。Step S202: Send the information to the remote server by using the wireless communication device, so that the remote server monitors the unmanned aerial vehicle in real time according to the information.
步骤S202与步骤S102一致，具体方法此处不再赘述。Step S202 is the same as step S102. The specific method is not described here.
步骤S203、接收所述远程服务器发送的用于控制所述无人飞行器的控制指令。Step S203: Receive a control instruction sent by the remote server for controlling the UAV.
远程服务器实时监控无人飞行器的同时，还可以向地面控制端例如遥控器，发送用于控制所述无人飞行器的控制指令；所述控制指令包括如下至少一种：锁定指令、返航指令、飞行高度控制指令、飞行速度控制指令、飞行轨迹控制指令。例如，无人飞行器具体为农业无人机，农业无人机的每次工作时间是预设的，当远程服务器确定该农业无人机的工作时间超时 时，向遥控器发送锁定指令。While the remote server monitors the unmanned aerial vehicle in real time, the control command for controlling the unmanned aerial vehicle may be sent to the ground control terminal, such as a remote controller; the control command includes at least one of the following: a lock command, a return command, and a flight. Height control command, flight speed control command, flight path control command. For example, the UAV is specifically an agricultural drone, and each working time of the agricultural drone is preset, when the remote server determines that the working time of the agricultural drone has timed out. At this time, a lock command is sent to the remote controller.
步骤S204、将所述控制指令发送给所述无人飞行器。Step S204: Send the control instruction to the unmanned aerial vehicle.
遥控器将远程服务器下发的控制指令发送给无人飞行器，例如将上述步骤中的锁定指令发送给该农业无人机，该农业无人机将无法继续作业，或者，该农业无人机降落后将无法再次起飞。The remote controller sends a control command issued by the remote server to the unmanned aerial vehicle, for example, sending the locking instruction in the above step to the agricultural drone, the agricultural drone will not be able to continue the operation, or the agricultural drone will land After that, you will not be able to take off again.
本实施例通过地面控制端接收远程服务器下发的控制指令，并将该控制指令发送给无人飞行器，由于地面控制端内设置有无线网卡，保证了远程服务器可实时向地面控制端下发用于控制无人飞行器的控制指令，实现了远程服务器对无人飞行器的实时控制。In this embodiment, the ground control terminal receives the control command sent by the remote server, and sends the control command to the unmanned aerial vehicle. Since the ground control terminal is provided with the wireless network card, the remote server can be used for real-time delivery to the ground control terminal. In order to control the control commands of the unmanned aerial vehicle, real-time control of the unmanned aerial vehicle by the remote server is realized.
本发明实施例提供一种无人飞行器的控制方法。图3为本发明另一实施例提供的无人飞行器的控制方法的流程图。如图3所示，在图1所示实施例的基础上，所述地面控制端还包括显示屏，所述显示屏用于显示如下至少一种：所述信息、所述控制指令、用于登录所述远程服务器的用户界面。例如，遥控器接收到无人飞行器发送的信息后，将该信息显示在所述显示屏，以便操控该遥控器的用户观看；再如，遥控器还可将远程服务器下发的控制指令显示在所述显示屏，或者将远程服务器主动推动的信息显示在所述显示屏；此外，该遥控器还可以设置有操作系统，基于该操作系统，可在该遥控器中安装应用软件APP，该显示屏可显示该应用软件提供的用户界面，该用户界面可以是该用户通过该遥控器登录所述远程服务器的界面。Embodiments of the present invention provide a method for controlling an unmanned aerial vehicle. FIG. 3 is a flowchart of a method for controlling an unmanned aerial vehicle according to another embodiment of the present invention. As shown in FIG. 3, on the basis of the embodiment shown in FIG. 1, the ground control terminal further includes a display screen, and the display screen is configured to display at least one of the following: the information, the control instruction, and the Log in to the user interface of the remote server. For example, after receiving the information sent by the UAV, the remote controller displays the information on the display screen to control the user of the remote controller to view; for example, the remote controller can also display the control command issued by the remote server. The display screen, or information that is actively pushed by the remote server, is displayed on the display screen; in addition, the remote controller may further be provided with an operating system, and based on the operating system, an application software APP may be installed in the remote controller, the display The screen may display a user interface provided by the application software, and the user interface may be an interface that the user logs in to the remote server through the remote controller.
本实施例中的方法，可以包括：The method in this embodiment may include:
步骤S301、获取所述无人飞行器的信息。Step S301: Acquire information of the UAV.
当所述用户通过地面控制端例如遥控器登录所述远程服务器失败时，遥控器中的无线网卡还可以接收所述无人飞行器发送的信息，并将该信息并存储在遥控器的存储器中，存储在存储器中的无人飞行器的信息可作为离线数据。When the user fails to log in to the remote server through a ground control terminal such as a remote controller, the wireless network card in the remote controller can also receive the information sent by the UAV, and store the information in the memory of the remote controller. The information of the unmanned aerial vehicle stored in the memory can be used as offline data.
步骤S302、获取操控所述地面控制端的用户的用户信息。Step S302: Acquire user information of a user who controls the ground control terminal.
获取操控所述地面控制端的用户的用户信息的一种可实现方式是：获取所述用户在所述用户界面输入的用于登录所述远程服务器的登录信息， 登录信息具体可以包括登录ID和登录密码。An achievable manner of obtaining user information of a user who controls the ground control terminal is: acquiring login information input by the user at the user interface for logging in to the remote server, The login information may specifically include a login ID and a login password.
步骤S303、将所述用户信息发送给所述远程服务器，以使所述远程服务器根据所述用户信息，确定所述用户是否有权限通过所述地面控制端控制所述无人飞行器。Step S303: Send the user information to the remote server, so that the remote server determines, according to the user information, whether the user has the right to control the unmanned aerial vehicle through the ground control terminal.
遥控器通过无线网卡将用于登录所述远程服务器的登录信息例如登录ID和登录密码发送给所述远程服务器，所述远程服务器预先存储有有权限控制无人飞行器的用户信息，远程服务器根据该遥控器发送的登录信息和预先存储的用户信息，确定该用户是否有权限通过该遥控器控制该无人飞行器。The remote controller sends login information, such as a login ID and a login password, for logging in to the remote server to the remote server through a wireless network card, and the remote server stores in advance user information having authority to control the unmanned aerial vehicle, and the remote server according to the The login information sent by the remote controller and the pre-stored user information determine whether the user has the authority to control the unmanned aerial vehicle through the remote controller.
步骤S304、接收所述远程服务器发送的验证信息，所述验证信息用于标识所述用户有权限通过所述地面控制端控制所述无人飞行器。Step S304: Receive verification information sent by the remote server, where the verification information is used to identify that the user has permission to control the unmanned aerial vehicle through the ground control terminal.
当远程服务器确定该用户有权限通过该遥控器控制该无人飞行器时，向该遥控器发送验证信息，该验证信息具体可以是令牌Token，该Token用于标识该用户有权限通过该遥控器控制该无人飞行器，以及有权限通过该遥控器登录该远程服务器。When the remote server determines that the user has the right to control the unmanned aerial vehicle through the remote controller, the verification information is sent to the remote controller, and the verification information may specifically be a token Token, where the token is used to identify that the user has permission to pass the remote controller. Control the UAV and have permission to log in to the remote server through the remote.
另外，所述验证信息还用于标识所述用户通过所述地面控制端登录所述远程服务器的时限。例如，遥控器接收到该Token后，用户可在24小时内根据该Token登录远程服务器，或者，遥控器和远程服务器之间的通信连接断开后，用户还可根据该Token登录远程服务器。In addition, the verification information is further used to identify a time limit for the user to log in to the remote server through the ground control terminal. For example, after the remote controller receives the Token, the user can log in to the remote server according to the Token within 24 hours, or after the communication connection between the remote controller and the remote server is disconnected, the user can also log in to the remote server according to the Token.
步骤S305、将所述无人飞行器的ID通过所述无线通信装置发送给所述远程服务器，以使所述远程服务器根据所述无人飞行器的ID，确定所述无人飞行器是否在所述远程服务器的监控范围内。Step S305: Send the ID of the UAV to the remote server by using the wireless communication device, so that the remote server determines, according to the ID of the UAV, whether the UAV is at the remote location. Within the scope of monitoring of the server.
遥控器接收到远程服务器下发的Token后，将无人飞行器的ID通过无线网卡发送给远程服务器，远程服务器预先存储有该远程服务器可监控的无人飞行器的ID，远程服务器接收到该遥控器发送的无人飞行器的ID后，确定该无人飞行器是否在自己的监控范围内。After receiving the Token sent by the remote server, the remote controller sends the ID of the UAV to the remote server through the wireless network card, and the remote server pre-stores the ID of the unmanned aerial vehicle that the remote server can monitor, and the remote server receives the remote controller. After the ID of the unmanned aerial vehicle is sent, it is determined whether the unmanned aerial vehicle is within its own monitoring range.
步骤S306、若所述用户有权限通过所述地面控制端控制所述无人飞行器，且所述无人飞行器在所述远程服务器的监控范围内，则建立所述无线通信装置与所述远程服务器之间的通信连接。Step S306, if the user has the right to control the unmanned aerial vehicle through the ground control terminal, and the unmanned aerial vehicle is within the monitoring range of the remote server, establish the wireless communication device and the remote server. Communication between the connections.
若所述用户有权限通过所述地面控制端控制所述无人飞行器，且所述 无人飞行器在所述远程服务器的监控范围内，遥控器通过无线网卡和远程服务器建立通信连接，该通信连接具体可以是基于传输控制协议(Transmission Control Protocol，简称TCP)自组的一套实时传输协议，例如，安全传输层协议(Transport Layer Security，简称TLS)连接。If the user has authority to control the unmanned aerial vehicle through the ground control terminal, and The unmanned aerial vehicle is in the monitoring range of the remote server, and the remote controller establishes a communication connection with the remote server through the wireless network card, and the communication connection may be a set of real-time transmission based on the Transmission Control Protocol (TCP). Protocol, for example, Transport Layer Security (TLS) connection.
步骤S307、将所述信息通过所述通信连接发送给所述远程服务器，以使所述远程服务器根据所述信息，实时监控所述无人飞行器。Step S307: Send the information to the remote server by using the communication connection, so that the remote server monitors the unmanned aerial vehicle in real time according to the information.
遥控器通过无线网卡和远程服务器建立通信连接后，可将无人飞行器的信息通过该通信连接实时发送给远程服务器，以使远程服务器实时监控所述无人飞行器。After the remote controller establishes a communication connection with the remote server through the wireless network card, the information of the unmanned aerial vehicle can be sent to the remote server in real time through the communication connection, so that the remote server monitors the unmanned aerial vehicle in real time.
另外，当所述地面控制端和所述远程服务器通过所述无线通信装置建立通信连接后，还可以将用户通过遥控器登录远程服务器失败时，遥控器的存储器中存储的离线数据通过该通信连接发送给远程服务器。In addition, when the ground control terminal and the remote server establish a communication connection through the wireless communication device, when the user fails to log in to the remote server through the remote controller, the offline data stored in the memory of the remote controller is connected through the communication connection. Sent to the remote server.
本实施例通过远程服务器验证用户信息、无人飞行器的ID，确定操控该遥控器的用户是否有权限通过该遥控器控制无人飞行器，以及根据无人飞行器的ID，确定该无人飞行器是否在该远程服务器的监控范围内，进一步提高了无人飞行器的安全性，另外，当用户有权限通过该遥控器控制无人飞行器，且该无人飞行器在该远程服务器的监控范围内时，遥控器才通过无线网卡与远程服务器建立实时的通信连接，相比于无条件的建立通信连接，不仅提高了通信的安全性，同时节省了通信系统的网络资源。In this embodiment, the remote server verifies the user information, the ID of the unmanned aerial vehicle, determines whether the user who controls the remote controller has the authority to control the unmanned aerial vehicle through the remote controller, and determines whether the unmanned aerial vehicle is in accordance with the ID of the unmanned aerial vehicle. The security of the unmanned aerial vehicle is further improved within the monitoring range of the remote server. In addition, when the user has the authority to control the unmanned aerial vehicle through the remote controller, and the unmanned aerial vehicle is within the monitoring range of the remote server, the remote controller Only by establishing a real-time communication connection with the remote server through the wireless network card, compared with the unconditional establishment of the communication connection, not only the security of the communication is improved, but also the network resources of the communication system are saved.
本发明实施例提供一种地面控制端。图4为本发明实施例提供的地面控制端的结构图，如图4所示，地面控制端40包括无线通信装置41、一个或多个处理器42，其中，一个或多个处理器42单独或协同工作，无线通信装置41用于所述地面控制端和远程服务器实时通信；无线通信装置41和处理器42通讯连接；处理器42用于：获取无人飞行器的信息；将所述信息传输给无线通信装置41；无线通信装置41将所述信息发送给所述远程服务器，以使所述远程服务器根据所述信息，实时监控所述无人飞行器。Embodiments of the present invention provide a ground control terminal. 4 is a structural diagram of a ground control terminal according to an embodiment of the present invention. As shown in FIG. 4, the
可选的，所述无人飞行器的信息包括如下至少一种：所述无人飞行器的ID，所述无人飞行器的飞行轨迹，所述无人飞行器的当前状态信息。所 述地面控制端包括如下至少一种：所述无人飞行器的遥控器，所述无人飞行器的地面维护基站。所述无线通信装置包括如下至少一种：3G通信装置、4G通信装置、5G通信装置、WiMax通信装置、WIFI通信装置。Optionally, the information of the UAV includes at least one of the following: an ID of the UAV, a flight path of the UAV, and current state information of the UAV. Place The ground control terminal includes at least one of the following: a remote controller of the unmanned aerial vehicle, and a ground maintenance base station of the unmanned aerial vehicle. The wireless communication device includes at least one of the following: a 3G communication device, a 4G communication device, a 5G communication device, a WiMax communication device, and a WIFI communication device.
本发明实施例提供的地面控制端的具体原理和实现方式均与图1所示实施例类似，此处不再赘述。The specific principles and implementation manners of the ground control terminal provided by the embodiment of the present invention are similar to the embodiment shown in FIG. 1 and are not described herein again.
本实施例通过在控制无人飞行器的地面控制端中设置无线通信装置，实现了地面控制端通过无线通信装置与远程服务器实时通信，远程服务器可对无人飞行器进行实时监控，特别是对于农业无人机而言，其机体体积较大，价格较高，对农业无人机进行实时监控，可保证农业无人机的安全性。In this embodiment, by setting a wireless communication device in the ground control terminal of the unmanned aerial vehicle, the ground control terminal realizes real-time communication with the remote server through the wireless communication device, and the remote server can perform real-time monitoring on the unmanned aerial vehicle, especially for agriculture. In terms of man-machine, the body is large in size and high in price, and real-time monitoring of agricultural drones can ensure the safety of agricultural drones.
本发明实施例提供一种地面控制端。在图4所示实施例提供的技术方案的基础上，无线通信装置41还用于接收所述远程服务器发送的用于控制所述无人飞行器的控制指令；以及将所述控制指令发送给所述无人飞行器。所述控制指令包括如下至少一种：锁定指令、返航指令、飞行高度控制指令、飞行速度控制指令、飞行轨迹控制指令。Embodiments of the present invention provide a ground control terminal. On the basis of the technical solution provided by the embodiment shown in FIG. 4, the
本发明实施例提供的地面控制端的具体原理和实现方式均与图2所示实施例类似，此处不再赘述。The specific principles and implementation manners of the ground control terminal provided by the embodiment of the present invention are similar to the embodiment shown in FIG. 2, and details are not described herein again.
本实施例通过地面控制端接收远程服务器下发的控制指令，并将该控制指令发送给无人飞行器，由于地面控制端内设置有无线网卡，保证了远程服务器可实时向地面控制端下发用于控制无人飞行器的控制指令，实现了远程服务器对无人飞行器的实时控制。In this embodiment, the ground control terminal receives the control command sent by the remote server, and sends the control command to the unmanned aerial vehicle. Since the ground control terminal is provided with the wireless network card, the remote server can be used for real-time delivery to the ground control terminal. In order to control the control commands of the unmanned aerial vehicle, real-time control of the unmanned aerial vehicle by the remote server is realized.
本发明实施例提供一种地面控制端。图5为本发明另一实施例提供的地面控制端的结构图。在图4所示实施例提供的技术方案的基础上，地面控制端41将所述信息发送给所述远程服务器之前，处理器42还用于：获取操控所述地面控制端的用户的用户信息；将所述用户信息传输给无线通信装置41；无线通信装置41将所述用户信息发送给所述远程服务器，以使所述远程服务器根据所述用户信息，确定所述用户是否有权限通过所述地面控制端控制所述无人飞行器。
Embodiments of the present invention provide a ground control terminal. FIG. 5 is a structural diagram of a ground control terminal according to another embodiment of the present invention. On the basis of the technical solution provided by the embodiment shown in FIG. 4, before the
无线通信装置41将所述信息通过所述无线通信装置发送给所述远程服务器时具体用于：将所述无人飞行器的ID通过所述无线通信装置发送给所述远程服务器，以使所述远程服务器根据所述无人飞行器的ID，确定所述无人飞行器是否在所述远程服务器的监控范围内。When the
若所述用户有权限通过地面控制端40控制所述无人飞行器，且所述无人飞行器在所述远程服务器的监控范围内，则无线通信装置41与所述远程服务器建立通信连接。所述通信连接具体可以是TLS连接If the user has authority to control the UAV through the
另外，无线通信装置41将所述用户信息发送给所述远程服务器之后，还用于：接收所述远程服务器发送的验证信息，所述验证信息用于标识所述用户有权限通过所述地面控制端控制所述无人飞行器。In addition, after the
此外，在图4所示实施例提供的技术方案的基础上，本实施例提供的地面控制端40还包括：与处理器42通讯连接的显示屏43，显示屏43用于显示如下至少一种：所述信息、所述控制指令、用于登录所述远程服务器的用户界面。处理器42获取操控所述地面控制端的用户的用户信息时具体用于：获取所述用户在所述用户界面输入的用于登录所述远程服务器的登录信息。另外，所述验证信息还用于标识所述用户通过地面控制端40登录所述远程服务器的时限。In addition, on the basis of the technical solution provided by the embodiment shown in FIG. 4, the
此外，本实施例提供的地面控制端40还包括：与处理器42通讯连接的存储器44，当所述用户通过地面控制端40登录所述远程服务器失败时，无线通信装置41接收所述无人飞行器发送的信息，并将所述信息传输给处理器42，处理器42将所述信息存储到存储器44。In addition, the
当地面控制端40和所述远程服务器通过所述无线通信装置建立通信连接时，处理器42从存储器44获取所述信息，并将所述信息传输给无线通信装置41，无线通信装置41将所述信息通过所述通信连接发送给所述远程服务器。When the
另外，在图4的基础上，无线通信装置41具体包括：遥控通信装置411和服务器通信装置412，其中，遥控通信装置411与处理器42通信连接，用于与所述无人飞行器通信；服务器通信装置412与处理器42通信连接，用于与所述远程服务器通信；遥控通信装置411的通信方式与服务器通信装置412的通信方式不同。可选的，遥控通信装置411为WIFI通
信装置。本发明实施例提供的地面控制端的具体原理和实现方式均与图3所示实施例类似，此处不再赘述。In addition, on the basis of FIG. 4, the
本实施例通过远程服务器验证用户信息、无人飞行器的ID，确定操控该遥控器的用户是否有权限通过该遥控器控制无人飞行器，以及根据无人飞行器的ID，确定该无人飞行器是否在该远程服务器的监控范围内，进一步提高了无人飞行器的安全性，另外，当用户有权限通过该遥控器控制无人飞行器，且该无人飞行器在该远程服务器的监控范围内时，遥控器才通过无线网卡与远程服务器建立实时的通信连接，相比于无条件的建立通信连接，不仅提高了通信的安全性，同时节省了通信系统的网络资源。In this embodiment, the remote server verifies the user information, the ID of the unmanned aerial vehicle, determines whether the user who controls the remote controller has the authority to control the unmanned aerial vehicle through the remote controller, and determines whether the unmanned aerial vehicle is in accordance with the ID of the unmanned aerial vehicle. The security of the unmanned aerial vehicle is further improved within the monitoring range of the remote server. In addition, when the user has the authority to control the unmanned aerial vehicle through the remote controller, and the unmanned aerial vehicle is within the monitoring range of the remote server, the remote controller Only by establishing a real-time communication connection with the remote server through the wireless network card, compared with the unconditional establishment of the communication connection, not only the security of the communication is improved, but also the network resources of the communication system are saved.
在本发明所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of the unit is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.
上述以软件功能单元的形式实现的集成的单元，可以存储在一个计算机可读取存储介质中。上述软件功能单元存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(processor)执行本发明各个实施例所述方法的部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器 (Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。The above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium. The above software functional unit is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the methods of the various embodiments of the present invention. Part of the steps. The foregoing storage medium includes: a U disk, a mobile hard disk, and a read only memory. (Read-Only Memory, ROM), Random Access Memory (RAM), disk or optical disk, and other media that can store program code.
本领域技术人员可以清楚地了解到，为描述的方便和简洁，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。上述描述的装置的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。A person skilled in the art can clearly understand that for the convenience and brevity of the description, only the division of each functional module described above is exemplified. In practical applications, the above function assignment can be completed by different functional modules as needed, that is, the device is installed. The internal structure is divided into different functional modules to perform all or part of the functions described above. For the specific working process of the device described above, refer to the corresponding process in the foregoing method embodiment, and details are not described herein again.
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。 Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present invention. range.
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| CN106716973A (en) | 2017-05-24 |
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