WO2018019059A1 - 一种无人机飞行控制方法、装置及系统 - Google Patents
一种无人机飞行控制方法、装置及系统 Download PDFInfo
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- WO2018019059A1 WO2018019059A1 PCT/CN2017/089383 CN2017089383W WO2018019059A1 WO 2018019059 A1 WO2018019059 A1 WO 2018019059A1 CN 2017089383 W CN2017089383 W CN 2017089383W WO 2018019059 A1 WO2018019059 A1 WO 2018019059A1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Definitions
- the present application relates to the field of drone technology, and in particular, to a drone flight control method, apparatus and system.
- the drone flight control system includes an instruction server 100, a controller 200, and a drone 300.
- the command server 100 can issue a flight control command to the controller 200, and the controller 200 forwards the flight control command to the drone 300, and the drone according to the Control flight of flight control commands.
- the drone flight control system it is necessary to keep the command server 100, the controller 200, and the drone 300 communicating normally. If the communication between the drone 300 and the controller 200 is interrupted, that is, the drone 300 cannot receive. When the flight control command is issued, the drone 300 performs safety protection measures such as returning.
- the maximum flight range of the drone 300 can only be the communication range determined by the maximum communication radius between the drone 300 and the controller 200, which results in the drone flight range. Small problem.
- the embodiment of the present application discloses a UAV flight control method, device and system to expand the flight range of the UAV.
- an embodiment of the present application discloses a UAV flight control method, where the UAV establishes a communication connection with at least two controllers, and the method includes:
- a control command is sent to the drone by the execution controller.
- the obtaining the communication signal quality between the at least two controllers and the UAV is: acquiring the communication signal quality between the at least two controllers and the UAV at a timing.
- the determining, by the communication signal quality, the execution controller from the at least two controllers includes:
- the controller corresponding to the optimal communication signal quality is determined as the execution controller.
- the method further includes:
- the controller corresponding to the optimal communication signal quality is switched to the execution controller.
- the switching the controller corresponding to the optimal communication signal quality to the execution controller includes:
- the controller corresponding to the optimal communication signal quality is switched to the execution controller.
- the method further includes:
- Comparing the communication signal quality between the at least two controllers and the drone including:
- the method further includes:
- a parameter acquisition instruction is sent to the drone by the execution controller to cause the drone to return flight parameters to the execution controller according to the parameter acquisition instruction.
- the communication ranges of two adjacent controllers in the at least two controllers partially overlap.
- an embodiment of the present application further discloses a UAV flight control device, where the UAV establishes a communication connection with at least two controllers, and the device includes:
- An acquiring unit configured to acquire a communication signal quality between the at least two controllers and the drone
- a determining unit configured to determine an execution controller from the at least two controllers according to the communication signal quality
- a sending unit configured to send, by the execution controller, a control instruction to the drone.
- the acquiring unit is specifically configured to periodically acquire a communication signal quality between the at least two controllers and the UAV.
- the determining unit includes:
- the determining subunit is configured to determine a controller corresponding to the optimal communication signal quality as an execution controller.
- the device further includes:
- a comparing unit configured to compare communication signal quality between the at least two controllers and the drone
- a first determining unit configured to determine whether the controller corresponding to the optimal communication signal quality is a current execution controller
- the switching unit is configured to switch the controller corresponding to the optimal communication signal quality to the execution controller when the first determination unit determines that the result is negative.
- the switching unit is specifically configured to: when the first determining unit determines that the result is negative, when the difference between the optimal communication signal quality and the quality of the communication signal corresponding to the current execution controller is greater than the first When the threshold is preset, the controller corresponding to the optimal communication signal quality is switched to the execution controller.
- the device further includes:
- a second determining unit configured to determine whether the quality of the communication signal of the currently executing controller is lower than a second preset threshold
- the comparing unit is configured to compare a communication signal quality between the at least two controllers and the UAV in a case where the second determining unit determines that the result is YES.
- the sending unit is further configured to send, by the execution controller, a parameter acquisition instruction to the drone, so that the drone returns to the execution controller according to the parameter acquisition instruction. Flight parameters.
- the communication ranges of two adjacent controllers in the at least two controllers partially overlap.
- an embodiment of the present application further discloses a UAV flight control system, where the UAV flight control system includes: an instruction server, a drone, and at least two controllers;
- the at least two controllers are configured to acquire a communication signal quality with the drone
- the instruction server configured to acquire, from the at least two controllers, a communication signal quality between the at least two controllers and the drone; according to the communication signal quality, from the at least two controllers Determining an execution controller; transmitting a control instruction to the execution controller;
- the execution controller is configured to receive the control instruction sent by the instruction server, and send the control instruction to the drone;
- the drone is configured to control flight according to the control instruction.
- the drone is further configured to:
- the flight parameters are fed back to the execution controller only after receiving the parameter acquisition command sent by the execution controller.
- the instruction server is disposed independently of the controller or integrated in one of the at least two controllers.
- an embodiment of the present application further discloses an electronic device, where the electronic device includes a processor and a memory;
- the memory is configured to store an application
- the processor is configured to execute an application stored on the memory to implement the UAV flight control method.
- an embodiment of the present application further discloses an application program for executing the above-described drone flight control method at runtime.
- an embodiment of the present application further discloses a storage medium for storing an application, the application being executed to execute the above-described drone flight control method.
- the embodiment of the present application provides a UAV flight control method, device and system, and the UAV establishes a communication connection with at least two controllers to obtain communication signal quality between the controller and the UAV, according to the communication.
- the signal quality determines the execution controller from the at least two controllers; the control command is sent to the drone by the execution controller, thereby controlling the flight of the drone.
- FIG. 1 is a schematic structural view of a drone flight control system provided by the background art
- FIG. 2 is a schematic structural diagram of a UAV flight control system according to an embodiment of the present application.
- FIG. 3 is a schematic flowchart of a UAV flight control method according to an embodiment of the present application.
- FIG. 4 is a schematic structural diagram of a UAV flight control device according to an embodiment of the present application.
- FIG. 2 is a schematic structural diagram of a UAV flight control system according to an embodiment of the present application.
- an instruction server 100 at least two controllers 200, and a drone 300 are provided.
- the communication ranges of the two adjacent controllers 200 may partially overlap, that is, the distance between the two adjacent controllers is smaller than the largest communication radius of the two controllers, and the distance between the two controllers is greater than 0. .
- each dotted circle is the communication range of one controller 200, and multiple controls
- the communication range of the device 200 is superimposed, and the flight range of the drone 300 is expanded as compared with the communication range of the controller 200 covered by the single dotted circle shown in FIG.
- the drone after leaving the communication range of the controller 200, the drone can freely glide a distance D1.
- D2 there may be a certain distance D2 between the communication ranges of the adjacent two controllers 200, D2 ⁇ D1, which is in the unmanned
- the machine 300 can freely glide into the communication range of the other controller 200, ensuring the safety of the drone 300, and maximizing the flight range of the drone 300.
- the plurality of controllers 200 in the UAV flight control system are controllers that have been paired with the drone 300, that is, the drone 300 establishes a communication connection with at least two controllers 200. .
- the command server 100 establishes a communication connection with each controller 200, and each controller 200 establishes a communication connection with the drone 300, the at least two controllers 200 are configured to acquire a communication signal with the drone 300. quality;
- the instruction server 100 is configured to acquire communication signal quality between the at least two controllers 200 and the drone 300 from the at least two controllers 200, and determine an execution controller from the at least two controllers according to the communication signal quality. Sending a control command to the execution controller;
- Executing a controller configured to receive a control command sent by the instruction server 100; send the control command to the drone 300;
- the drone 300 is used to control the flight according to the control command.
- each controller 200 when the drone 300 transmits the flight parameters, each controller 200 can read the flight parameters, and determine each controller 200 and the drone according to the flight parameters.
- 300 communication signal quality Communication signal quality based on signal strength, bit error rate, and signal-to-noise ratio One or more determinations; flight parameters may include: the flying height of the drone, the flight direction of the drone, the flight speed of the drone, and the like.
- other controllers 200 other than the execution controller may be prohibited from communicating with the drone 300, such as prohibiting other controllers 200 from transmitting parameter acquisition to the drone 300.
- Instructions or control instructions, etc. the instruction server may only send parameter acquisition instructions or control instructions to the execution controller instead of broadcasting to all controllers, thus ensuring that only the execution controller communicates with the drone to ensure communication. Signal quality.
- the drone 300 may no longer periodically transmit flight parameters to the execution controller, and only feedback the flight parameters to the execution controller after receiving the parameter acquisition command sent by the execution controller.
- the instruction server 100 can be independent of the controller 200, and the instruction server 100 and the controller 200 are placed on different physical machines; the instruction server 100 can also be integrated in one of the at least two controllers. .
- An embodiment of the present application provides a UAV flight control system, where an instruction server acquires a communication signal quality between a controller and a UAV, and determines an execution controller from at least two controllers according to a communication signal quality, by which the execution controller is controlled.
- the controller sends control commands to the drone to control the flight of the drone.
- FIG. 3 is a schematic flowchart of a UAV flight control method according to an embodiment of the present application.
- the UAV establishes a communication connection with at least two controllers, and the method includes:
- S301 Acquire communication signal quality between the at least two controllers and the drone
- a communication range of two adjacent controllers of the at least two controllers may partially overlap, that is, a distance between two adjacent controllers is smaller than a maximum of the two controllers.
- the communication radius and the distance between the two controllers is greater than zero. In this way, the drone flight range can be expanded with good control of the drone.
- each controller 200 can periodically read the communication signal quality between the controller and the drone.
- the communication signal quality is determined based on one or more of the signal strength, the bit error rate, and the signal to noise ratio.
- the communication signal quality is only based on one of signal strength, bit error rate, and signal to noise ratio
- the signal parameter is determined, the greater the signal strength, the lower the bit error rate, the higher the signal-to-noise ratio, and the better the communication signal quality
- a superposition parameter may be set for each communication parameter, and all communication parameters are weighted and superimposed to determine the communication signal quality.
- S302 Determine an execution controller from the at least two controllers according to a communication signal quality
- the execution controller is a controller that communicates with the drone, and is responsible for transmitting the control command sent by the command server to the drone, and is responsible for transmitting the flight parameters sent by the drone to the command server.
- the quality of the communication signal between each controller and the unmanned aircraft can be compared, and the best communication signal quality (optimal communication signal quality) is selected therefrom. And determining, by the controller corresponding to the optimal communication signal quality, an execution controller.
- the quality of the communication signal between the current execution controller and the drone may be deteriorated, and the quality of the communication signal between the other controller and the drone may change.
- the communication signal quality between the above-mentioned at least two controllers and the drone can be compared in real time, when the controller corresponding to the optimal communication signal quality is not currently executed When the controller is used, the controller corresponding to the optimal communication signal quality is switched to the execution controller.
- the drone may circulate in a range.
- the controller corresponding to the optimal communication signal quality may change continuously.
- the first preset threshold may be set, and when the difference between the optimal communication signal quality and the communication signal quality corresponding to the current execution controller is greater than the first preset threshold, the controller corresponding to the optimal communication signal quality is switched. To execute the controller.
- the controller corresponding to the optimal communication signal quality may continuously change, and in addition, considering the quality of the communication signal of the currently executing controller may be Not the best, but the current executive controller can also communicate well with the drone, control the flight of the drone, in order to avoid frequent switching of the execution controller, avoid wasting the computing resources of the command server and controller,
- the second preset threshold can be set to determine in real time Whether the quality of the communication signal of the front execution controller is lower than the second preset threshold, and if it is lower, the quality of the communication signal between the at least two controllers and the drone is compared, and the quality of the optimal communication signal is corresponding.
- the controller switches to the execution controller.
- the second preset threshold is determined according to whether the execution controller can communicate well with the drone. If the communication signal quality is higher than the second preset threshold, the execution controller can be considered to be good or not. Man-machine communication can accurately transmit control commands to the drone, and can also accurately receive flight parameters. At this time, there is no need to switch the execution controller; if the communication signal quality is lower than the second preset threshold, the execution can be considered The controller can't communicate well with the drone, and the controller corresponding to the optimal communication signal quality is switched to the execution controller, so as to better control the flight of the drone.
- S303 Send a control instruction to the drone by executing the controller.
- the drone can control the flight according to the control command.
- other controllers other than the execution controller are prohibited from communicating with the drone, and the drone may periodically transmit flight parameters to the execution controller, and the execution controller transmits the received flight parameters.
- the command server can generate control commands based on the flight parameters of the drone.
- the control command may include: a target flying height of the drone, a target flying direction of the drone, a target flying speed of the drone, and the like.
- the drone in order to avoid interference between signals, may return to the execution controller according to the parameter acquisition instruction only after receiving the parameter acquisition instruction sent by the instruction server by executing the controller. parameter.
- the execution controller can send flight parameters to the command server.
- the above-mentioned drone flight control method can be applied to an instruction server, which can be independent of the controller, and the instruction server and the controller are placed on different physical machines; the instruction server can also be integrated in at least two of the above. One controller in one controller.
- the embodiment of the present application provides a UAV flight control method, the UAV establishes a communication connection with at least two controllers, and acquires a communication signal quality between the controller and the UAV, according to the quality of the communication signal.
- the execution controller is determined in at least two controllers; the control command is sent to the drone by the execution controller, thereby controlling the flight of the drone.
- FIG. 4 is a schematic structural diagram of a UAV flight control device according to an embodiment of the present disclosure.
- the UAV establishes a communication connection with at least two controllers, and the device includes:
- An obtaining unit 401 configured to acquire a communication signal quality between the at least two controllers and the UAV;
- a determining unit 402 configured to determine an execution controller from the at least two controllers according to the communication signal quality
- the sending unit 403 is configured to send a control instruction to the drone through the execution controller.
- the obtaining unit 401 is specifically configured to periodically acquire the communication signal quality between the at least two controllers and the UAV.
- the determining unit 402 may include:
- Comparing subunits (not shown in FIG. 4) for comparing communication signal quality between the at least two controllers and the drone;
- a subunit (not shown in FIG. 4) is determined for determining a controller corresponding to the optimal communication signal quality as an execution controller.
- the apparatus may further include:
- a comparison unit (not shown in FIG. 4) for comparing communication signal quality between the at least two controllers and the drone;
- a first determining unit (not shown in FIG. 4), configured to determine whether the controller corresponding to the optimal communication signal quality is the current execution controller;
- the switching unit (not shown in FIG. 4) is configured to switch the controller corresponding to the optimal communication signal quality to the execution controller in a case where the first determination unit determines that the result is NO.
- the switching unit is specifically configured to: when the first determining unit determines that the result is negative, when the optimal communication signal quality is the quality of the communication signal corresponding to the currently executing controller When the difference is greater than the first preset threshold, the controller corresponding to the optimal communication signal quality is switched to the execution controller.
- the apparatus may further include:
- a second determining unit (not shown in FIG. 4), configured to determine whether a quality of a communication signal of the currently executing controller is lower than a second preset threshold
- the comparing unit is configured to compare a communication signal quality between the at least two controllers and the UAV in a case where the second determining unit determines that the result is YES.
- the sending unit 403 is further configured to send a parameter acquisition instruction to the drone through the execution controller, so that the drone acquires an instruction according to the parameter.
- the execution controller returns flight parameters.
- the communication ranges of two adjacent controllers of the at least two controllers partially overlap.
- the above-mentioned UAV flight control device can be applied to an instruction server, which can be independent of the controller, and the instruction server and the controller are placed on different physical machines; the instruction server can also be integrated in at least two of the above. One controller in one controller.
- An embodiment of the present application provides a UAV flight control device, where the UAV establishes a communication connection with at least two controllers, and acquires a communication signal quality between the controller and the UAV, according to the quality of the communication signal.
- the execution controller is determined in at least two controllers; the control command is sent to the drone by the execution controller, thereby controlling the flight of the drone.
- An embodiment of the present application provides an electronic device, where the electronic device includes a processor and a memory;
- the drone flight control method includes:
- the control command is sent to the drone by executing the controller.
- the quality of the communication signal between the at least two controllers and the drone is obtained by periodically acquiring the communication signal quality between the at least two controllers and the drone.
- the step of executing the controller is determined from the at least two controllers according to the communication signal quality, including:
- the controller corresponding to the optimal communication signal quality is determined as the execution controller.
- the method may further include:
- the controller corresponding to the optimal communication signal quality is switched to the execution controller.
- the step of switching the controller corresponding to the optimal communication signal quality to executing the controller includes:
- the controller corresponding to the optimal communication signal quality is switched to the execution controller.
- the method may further include:
- the steps of comparing the quality of communication signals between at least two controllers and the drone including:
- the method may further include:
- the parameter acquisition instruction is sent to the drone by the execution controller such that the drone returns flight parameters to the execution controller according to the parameter acquisition instruction.
- the communication ranges of two adjacent controllers of the at least two controllers partially overlap.
- the UAV establishes a communication connection with the at least two controllers, acquires a communication signal quality between the controller and the UAV, and determines an execution controller from the at least two controllers according to the communication signal quality;
- the flight of the drone is controlled by the execution controller transmitting control commands to the drone.
- Mobile communication devices These devices are characterized by mobile communication functions and are mainly aimed at providing voice and data communication. Such devices include: smart phones (such as iPhone), multimedia phones, functional phones, and low-end phones.
- Ultra-mobile personal computer equipment This type of equipment belongs to the category of personal computers, has computing and processing functions, and generally has mobile Internet access.
- electronic devices include: PDAs, MIDs, and UMPC devices, such as the iPad.
- Portable entertainment devices These devices can display and play multimedia content. Such devices include: audio, video players (such as iPod), handheld game consoles, e-books, and smart toys and portable car navigation devices.
- An embodiment of the present application provides an application for executing a drone flight control method at runtime.
- the drone flight control method includes:
- the control command is sent to the drone by executing the controller.
- the quality of the communication signal between the at least two controllers and the drone is obtained by periodically acquiring the communication signal quality between the at least two controllers and the drone.
- determining from at least two controllers based on communication signal quality including:
- the controller corresponding to the optimal communication signal quality is determined as the execution controller.
- the method may further include:
- the controller corresponding to the optimal communication signal quality is switched to the execution controller.
- the step of switching the controller corresponding to the optimal communication signal quality to executing the controller includes:
- the controller corresponding to the optimal communication signal quality is switched to the execution controller.
- the method may further include:
- the steps of comparing the quality of communication signals between at least two controllers and the drone including:
- the method may further include:
- the parameter acquisition instruction is sent to the drone by the execution controller such that the drone returns flight parameters to the execution controller according to the parameter acquisition instruction.
- the communication ranges of two adjacent controllers of the at least two controllers partially overlap.
- the UAV establishes a communication connection with at least two controllers, and acquires control
- the communication signal quality between the controller and the drone determines the execution controller from the at least two controllers according to the communication signal quality; sends the control command to the drone through the execution controller, thereby controlling the drone flight.
- Embodiments of the present application provide a storage medium for storing an application, and the application is executed to execute a drone flight control method.
- the drone flight control method includes:
- the control command is sent to the drone by executing the controller.
- the quality of the communication signal between the at least two controllers and the drone is obtained by periodically acquiring the communication signal quality between the at least two controllers and the drone.
- the step of executing the controller is determined from the at least two controllers according to the communication signal quality, including:
- the controller corresponding to the optimal communication signal quality is determined as the execution controller.
- the method may further include:
- the controller corresponding to the optimal communication signal quality is switched to the execution controller.
- the step of switching the controller corresponding to the optimal communication signal quality to executing the controller includes:
- the controller corresponding to the optimal communication signal quality is switched to the execution controller.
- the quality is determined from at least two controllers based on the quality of the communication signal After executing the controller, it can also include:
- the steps of comparing the quality of communication signals between at least two controllers and the drone including:
- the method may further include:
- the parameter acquisition instruction is sent to the drone by the execution controller such that the drone returns flight parameters to the execution controller according to the parameter acquisition instruction.
- the communication ranges of two adjacent controllers of the at least two controllers partially overlap.
- the UAV establishes a communication connection with the at least two controllers, acquires a communication signal quality between the controller and the UAV, and determines an execution controller from the at least two controllers according to the communication signal quality;
- the flight of the drone is controlled by the execution controller transmitting control commands to the drone.
- the UAV flight control device For the UAV flight control system, the UAV flight control device, the electronic device, the application program, and the storage medium embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the related parts are related to the drone. A partial description of the embodiment of the flight control method is sufficient.
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Abstract
一种无人机（300）飞行控制方法、装置及系统，能够扩大无人机（300）的飞行范围。无人机（300）与至少两个控制器（200）之间建立通信连接，飞行控制方法包括：获取至少两个控制器（200）与无人机（300）间的通信信号质量（S301）；根据通信信号质量从至少两个控制器（200）中确定执行控制器（S302）；通过执行控制器（S303）将控制指令发送给无人机（300）。
Description
本申请要求于2016年7月26日提交中国专利局、申请号为201610604606.5发明名称为“一种无人机飞行控制方法、装置及系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
本申请涉及无人机技术领域，特别涉及一种无人机飞行控制方法、装置及系统。
如图1所示，无人机飞行控制系统包括：指令服务器100、控制器200和无人机300。当指令服务器100、控制器200和无人机300建立连接后，指令服务器100可以下发飞行控制指令给控制器200，控制器200将飞行控制指令转发给无人机300，无人机根据该飞行控制指令的控制飞行。
在无人机飞行控制系统中，需要时刻保持指令服务器100、控制器200和无人机300通讯正常，若无人机300与控制器200间的通信中断，也就是，无人机300不能接收到飞行控制指令，则无人机300会执行返航等安全保护措施。
基于上述情况，为了确保无人机300正常飞行，无人机300的最大飞行范围只能为无人机300与控制器200间的最大通信半径所确定的通信范围，这导致无人机飞行范围小的问题。
发明内容
本申请实施例公开了一种无人机飞行控制方法、装置及系统，以扩大无人机的飞行范围。
为达到上述目的，本申请实施例公开了一种无人机飞行控制方法，所述无人机与至少两个控制器之间建立通信连接，所述方法包括：
获取所述至少两个控制器与所述无人机间的通信信号质量；
根据所述通信信号质量从所述至少两个控制器中确定执行控制器；
通过所述执行控制器将控制指令发送给所述无人机。
可选的，所述获取所述至少两个控制器与所述无人机间的通信信号质量为：定时获取所述至少两个控制器与所述无人机间的通信信号质量。
可选的，所述根据所述通信信号质量从所述至少两个控制器中确定执行控制器，包括：
将所述至少两个控制器与所述无人机间的通信信号质量进行比较；
将最优通信信号质量所对应的控制器确定为执行控制器。
可选的，在根据所述通信信号质量从所述至少两个控制器中确定执行控制器之后，所述方法还包括：
比较所述至少两个控制器与所述无人机间的通信信号质量；
判断最优通信信号质量所对应的控制器是否为当前执行控制器；
如果不是，则将最优通信信号质量所对应的控制器切换为执行控制器。
可选的，所述将最优通信信号质量所对应的控制器切换为执行控制器，包括：
当最优的通信信号质量与当前执行控制器对应的通信信号质量的差值大于第一预设阈值时，将最优通信信号质量所对应的控制器切换为执行控制器。
可选的，在根据所述通信信号质量从所述至少两个控制器中确定执行控制器之后，所述方法还包括：
判断当前执行控制器的通信信号质量是否低于第二预设阈值；
所述比较所述至少两个控制器与所述无人机间的通信信号质量，包括：
当当前执行控制器的通信信号质量低于第二预设阈值时，比较所述至少两个控制器与所述无人机间的通信信号质量。
可选的，在根据所述通信信号质量从所述至少两个控制器中确定执行控制器之后，所述方法还包括：
通过所述执行控制器将参数获取指令发送至所述无人机，以使得所述无人机根据所述参数获取指令向所述执行控制器返回飞行参数。
可选的，所述至少两个控制器中相邻两个控制器的通信范围部分重叠。
为达到上述目的，本申请实施例还公开了一种无人机飞行控制装置，所述无人机与至少两个控制器之间建立通信连接，所述装置包括：
获取单元，用于获取所述至少两个控制器与所述无人机间的通信信号质量；
确定单元，用于根据所述通信信号质量从所述至少两个控制器中确定执行控制器；
发送单元，用于通过所述执行控制器将控制指令发送给所述无人机。
可选的，所述获取单元，具体用于定时获取所述至少两个控制器与所述无人机间的通信信号质量。
可选的，所述确定单元，包括：
比较子单元，用于将所述至少两个控制器与所述无人机间的通信信号质量进行比较；
确定子单元，用于将最优通信信号质量所对应的控制器确定为执行控制器。
可选的，所述装置还包括：
比较单元，用于比较所述至少两个控制器与所述无人机间的通信信号质量；
第一判断单元，用于判断最优通信信号质量所对应的控制器是否为当前执行控制器；
切换单元，用于所述第一判断单元判断结果为否的情况下，将最优通信信号质量所对应的控制器切换为执行控制器。
可选的，所述切换单元，具体用于在所述第一判断单元判断结果为否的情况下，当最优的通信信号质量与当前执行控制器对应的通信信号质量的差值大于第一预设阈值时，将最优通信信号质量所对应的控制器切换为执行控制器。
可选的，所述装置还包括：
第二判断单元，用于判断当前执行控制器的通信信号质量是否低于第二预设阈值；
所述比较单元，具体用于在所述第二判断单元判断结果为是的情况下，比较所述至少两个控制器与所述无人机间的通信信号质量。
可选的，所述发送单元，还用于通过所述执行控制器将参数获取指令发送至所述无人机，以使得所述无人机根据所述参数获取指令向所述执行控制器返回飞行参数。
可选的，所述至少两个控制器中相邻两个控制器的通信范围部分重叠。
为达到上述目的，本申请实施例还公开了一种无人机飞行控制系统，所述无人机飞行控制系统包括：指令服务器、无人机和至少两个控制器；
所述至少两个控制器，用于获取与所述无人机间的通信信号质量；
所述指令服务器，用于从所述至少两个控制器中获取所述至少两个控制器与所述无人机间的通信信号质量；根据所述通信信号质量从所述至少两个控制器中确定执行控制器；将控制指令发送给所述执行控制器；
所述执行控制器，用于接收所述指令服务器发送的所述控制指令；将所述控制指令发送给所述无人机；
所述无人机，用于根据所述控制指令控制飞行。
可选的，所述无人机，还用于：
仅在接收到所述执行控制器发送的参数获取指令后，向所述执行控制器反馈飞行参数。
可选的，指令服务器独立于控制器或者集成设置在所述至少两个控制器中的一个控制器中。
为达到上述目的，本申请实施例还公开了一种电子设备，所述电子设备包括处理器和存储器；
所述存储器，用于存放应用程序；
所述处理器，用于执行所述存储器上所存放的应用程序，实现上述的无人机飞行控制方法。
为达到上述目的，本申请实施例还公开了一种应用程序，所述应用程序用于在运行时执行上述的无人机飞行控制方法。
为达到上述目的，本申请实施例还公开了一种存储介质，所述存储介质用于存储应用程序，所述应用程序被运行以执行上述的无人机飞行控制方法。
本申请实施例提供了一种无人机飞行控制方法、装置及系统，该无人机与至少两个控制器之间建立通信连接，获取控制器与无人机间的通信信号质量，根据通信信号质量从上述至少两个控制器中确定执行控制器；通过执行控制器将控制指令发送给无人机，进而控制无人机的飞行。这里，控制器至少为两个，随着执行控制器的切换，无人机可以在所有控制器的通信范围内飞行，扩大了无人机的飞行范围。
为了更清楚地说明本申请实施例或相关技术中的技术方案，下面将对实施例或相关技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为背景技术提供的一种无人机飞行控制系统的结构示意图；
图2为本申请实施例提供的一种无人机飞行控制系统的结构示意图；
图3为本申请实施例提供的一种无人机飞行控制方法的流程示意图；
图4为本申请实施例提供的一种无人机飞行控制装置的结构示意图。
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
下面通过具体实施例，对本申请进行详细说明。
参考图2，图2为本申请实施例提供的一种无人机飞行控制系统的结构示意图，该系统中，指令服务器100、至少两个控制器200和无人机300。
这里，相邻两个控制器200的通信范围可以部分重叠，也就是，相邻的两个控制器的距离小于这两个控制器中最大的通信半径，并且这两个控制器的距离大于0。这样，可以有效地保证两个控制器叠加后的通信范围大于一个控制器的通信范围，如图2中虚线圆圈所覆盖的区域，每一虚线圆圈为一个控制器200的通信范围，多个控制器200的通信范围叠加，与图1中所示单个虚线圆圈所覆盖的控制器200的通信范围相比，扩大了无人机300的飞行范围。
另外，无人机在脱离控制器200的通信范围后，可以自由滑翔一段距离D1，此时相邻两个控制器200的通信范围间可以存在一定的距离D2，D2≤D1，这在无人机300在脱离一个控制器200的通信范围后，可以自由滑翔至另一个控制器200的通信范围内，保证了无人机300的安全，并且最大程度地扩大了无人机300的飞行范围。
另外，需要说明的是，无人机飞行控制系统中的多个控制器200是均已经与无人机300配对的控制器，也就是，无人机300与至少两个控制器200建立通信连接。
在指令服务器100与每一控制器200建立通信连接，以及每一控制器200与无人机300建立通信连接后，上述至少两个控制器200，用于获取与无人机300间的通信信号质量；
指令服务器100，用于从上述至少两个控制器200中获取上述至少两个控制器200与无人机300间的通信信号质量；根据通信信号质量从上述至少两个控制器中确定执行控制器；将控制指令发送给所述执行控制器；
执行控制器，用于接收指令服务器100发送的控制指令；将控制指令发送给无人机300；
无人机300，用于根据控制指令控制飞行。
在本申请的一个实施例中，无人机300在发送飞行参数时，每一控制器200均可以读取到到该飞行参数，并根据该飞行参数，确定每一控制器200与无人机300间的通信信号质量。通信信号质量根据信号强度、误码率和信噪比中的
一种或多种确定；飞行参数可以包括：无人机的飞行高度、无人机的飞行方向、无人机的飞行速度等。
在本申请的一个实施例中，为了避免信号间的干扰，可以禁止除执行控制器外的其他控制器200与无人机300进行通信，如禁止其他控制器200向无人机300发送参数获取指令或控制指令等。一个实施例中，指令服务器可以只将参数获取指令或控制指令发送给执行控制器，而不是广播给所有的控制器，这样，就可以保证只有执行控制器与无人机进行通信，保证了通信信号质量。另外，为了进一步避免信号间的干扰，无人机300可以不再定时向执行控制器发送飞行参数，仅在接收到执行控制器发送的参数获取指令后，向执行控制器反馈飞行参数。
值得一提的是，指令服务器100可以独立于控制器200，指令服务器100和控制器200置于不同的物理机上；指令服务器100也可以集成设置在上述至少两个控制器中的一个控制器中。
本申请实施例提供了一种无人机飞行控制系统，指令服务器获取控制器与无人机间的通信信号质量，根据通信信号质量从至少两个控制器中确定执行控制器，通过该执行控制器将控制指令发送给无人机，进而控制无人机的飞行。这里，控制器至少为两个，随着执行控制器的切换，无人机可以在所有控制器的通信范围内飞行，扩大了无人机的飞行范围。
参考图3，图3为本申请实施例提供的一种无人机飞行控制方法的流程示意图，该无人机与至少两个控制器建立通信连接，该方法包括：
S301：获取上述至少两个控制器与无人机间的通信信号质量；
在本申请的一个实施例中，上述至少两个控制器中相邻的两个控制器的通信范围可以部分重叠，也就是，相邻的两个控制器的距离小于这两个控制器中最大的通信半径，并且这两个控制器的距离大于0。这样，可以在很好的控制无人机的情况下，扩大无人机飞行范围。
这里，每一控制器200可以定时的读取控制器与无人机间的通信信号质量。通信信号质量根据信号强度、误码率和信噪比中的一种或多种通信参数确定。
具体地，当通信信号质量仅根据信号强度、误码率和信噪比中的一种通
信参数确定时，信号强度越大，误码率越低，信噪比越高，通信信号质量越好；
当通信信号质量根据信号强度、误码率和信噪比中的至少两种通信参数确定时，可以为每一种通信参数设置一个叠加参数，对所有通信参数进行加权叠加，进而确定通信信号质量。
S302：根据通信信号质量从上述至少两个控制器中确定执行控制器；
执行控制器为与无人机进行通信的一个控制器，其负责将指令服务器发送的控制指令发送给无人机，并负责将无人机发送的飞行参数发送给指令服务器。
在本申请的一个实施例中，在获取到通信信号质量后，可以比较每一控制器与无人机间的通信信号质量，从中选择出最好的通信信号质量(最优的通信信号质量)，将该最优通信信号质量所对应的控制器确定为执行控制器。
在本申请的一个实施例中，随着无人机的飞行，当前执行控制器与无人机间的通信信号质量可能会变差，而其他控制器与无人机间的通信信号质量会变好，为了保证很好的控制无人机，可以实时的对获取的上述至少两个控制器与无人机间的通信信号质量进行比较，当最优通信信号质量所对应的控制器不是当前执行控制器时，将最优通信信号质量所对应的控制器切换为执行控制器。
另外，无人机可能在一个范围内循环飞行，此时，最优通信信号质量对应的控制器可能会不断的变化，为了避免频繁地切换执行控制器，避免浪费指令服务器和控制器的计算资源，可以设置第一预设阈值，当最优的通信信号质量与当前执行控制器对应的通信信号质量的差值大于第一预设阈值时，再将最优通信信号质量所对应的控制器切换为执行控制器。
在本申请的另一个实施例中，若无人机在一个范围内循环飞行，最优通信信号质量对应的控制器可能会不断的变化，另外，考虑到当前执行控制器的通信信号质量可能并不是最好的，但当前执行控制器还可以很好的与无人机进行通信，控制无人机的飞行，为了避免频繁的切换的执行控制器，避免浪费指令服务器和控制器的计算资源，可以设置第二预设阈值，实时判断当
前执行控制器的通信信号质量是否低于第二预设阈值，如果低于，再对上述至少两个控制器与无人机间的通信信号质量进行比较，将最优通信信号质量所对应的控制器切换为执行控制器。
上述第二预设阈值是根据执行控制器能否很好的与无人机通信来确定的，若通信信号质量高于第二预设阈值，则可以认为该执行控制器能很好的与无人机通信，能够准确的将控制指令发送给无人机，也能准确的接收到飞行参数，此时无需切换执行控制器；若通信信号质量低于第二预设阈值，则可以认为该执行控制器不能很好的与无人机通信，将最优通信信号质量对应的控制器切换为执行控制器，以便于更好的控制无人机的飞行。
S303：通过执行控制器将控制指令发送给无人机。
这样，无人机就可以根据控制指令控制飞行了。
在本申请的一个实施例中，禁止除执行控制器外的其他控制器与无人机进行通信，无人机可以定时将飞行参数发送给执行控制器，执行控制器将接收到的飞行参数发送给指令服务器。指令服务器可以根据无人机的飞行参数生成控制指令。控制指令可以包括：无人机的目标飞行高度、无人机的目标飞行方向、无人机的目标飞行速度等。
在本申请的另一个实施例中，为了避免信号间的干扰，无人机可以仅在接收到指令服务器通过执行控制器发送来的参数获取指令后，根据该参数获取指令向执行控制器返回飞行参数。而执行控制器可以将飞行参数发送给指令服务器。
值得一提的是，上述无人机飞行控制方法可以应用于指令服务器，该指令服务器可以独立于控制器，指令服务器和控制器置于不同的物理机上；指令服务器也可以集成设置在上述至少两个控制器中的一个控制器中。
本申请实施例提供了一种无人机飞行控制方法，该无人机与至少两个控制器之间建立通信连接，获取控制器与无人机间的通信信号质量，根据通信信号质量从上述至少两个控制器中确定执行控制器；通过执行控制器将控制指令发送给无人机，进而控制无人机的飞行。这里，控制器至少为两个，随着执行控制器的切换，无人机可以在所有控制器的通信范围内飞行，扩大了
无人机的飞行范围。
参考图4，图4为本申请实施例提供的一种无人机飞行控制装置的结构示意图，该无人机与至少两个控制器之间建立通信连接，所述装置包括：
获取单元401，用于获取所述至少两个控制器与所述无人机间的通信信号质量；
确定单元402，用于根据所述通信信号质量从所述至少两个控制器中确定执行控制器；
发送单元403，用于通过所述执行控制器将控制指令发送给所述无人机。
在本申请的其他实施例中，所述获取单元401，具体用于定时获取所述至少两个控制器与所述无人机间的通信信号质量。
在本申请的其他实施例中，所述确定单元402，可以包括：
比较子单元(图4中未示出)，用于将所述至少两个控制器与所述无人机间的通信信号质量进行比较；
确定子单元(图4中未示出)，用于将最优通信信号质量所对应的控制器确定为执行控制器。
在本申请的其他实施例中，所述装置还可以包括：
比较单元(图4中未示出)，用于比较所述至少两个控制器与所述无人机间的通信信号质量；
第一判断单元(图4中未示出)，用于判断最优通信信号质量所对应的控制器是否为当前执行控制器；
切换单元(图4中未示出)，用于所述第一判断单元判断结果为否的情况下，将最优通信信号质量所对应的控制器切换为执行控制器。
在本申请的其他实施例中，所述切换单元，具体用于在所述第一判断单元判断结果为否的情况下，当最优的通信信号质量与当前执行控制器对应的通信信号质量的差值大于第一预设阈值时，将最优通信信号质量所对应的控制器切换为执行控制器。
在本申请的其他实施例中，所述装置还可以包括：
第二判断单元(图4中未示出)，用于判断当前执行控制器的通信信号质量是否低于第二预设阈值；
所述比较单元，具体用于在所述第二判断单元判断结果为是的情况下，比较所述至少两个控制器与所述无人机间的通信信号质量。
在本申请的其他实施例中，所述发送单元403，还用于通过所述执行控制器将参数获取指令发送至所述无人机，以使得所述无人机根据所述参数获取指令向所述执行控制器返回飞行参数。
在本申请的其他实施例中，所述至少两个控制器中相邻两个控制器的通信范围部分重叠。
值得一提的是，上述无人机飞行控制装置可以应用于指令服务器，该指令服务器可以独立于控制器，指令服务器和控制器置于不同的物理机上；指令服务器也可以集成设置在上述至少两个控制器中的一个控制器中。
本申请实施例提供了一种无人机飞行控制装置，该无人机与至少两个控制器之间建立通信连接，获取控制器与无人机间的通信信号质量，根据通信信号质量从上述至少两个控制器中确定执行控制器；通过执行控制器将控制指令发送给所述无人机，进而控制无人机的飞行。这里，控制器至少为两个，随着执行控制器的切换，无人机可以在所有控制器的通信范围内飞行，扩大了无人机的飞行范围。
本申请实施例提供了一种电子设备，电子设备包括处理器和存储器；
存储器，用于存放应用程序；
处理器，用于执行所述存储器上所存放的应用程序，实现上述的无人机飞行控制方法。其中，无人机飞行控制方法，包括：
获取至少两个控制器与无人机间的通信信号质量；
根据通信信号质量从至少两个控制器中确定执行控制器；
通过执行控制器将控制指令发送给无人机。
在本申请的其他实施例中，获取至少两个控制器与无人机间的通信信号质量为：定时获取至少两个控制器与无人机间的通信信号质量。
在本申请的其他实施例中，根据通信信号质量从至少两个控制器中确定执行控制器的步骤，包括：
将至少两个控制器与无人机间的通信信号质量进行比较；
将最优通信信号质量所对应的控制器确定为执行控制器。
在本申请的其他实施例中，在根据通信信号质量从至少两个控制器中确定执行控制器之后，还可以包括：
比较至少两个控制器与无人机间的通信信号质量；
判断最优通信信号质量所对应的控制器是否为当前执行控制器；
如果不是，则将最优通信信号质量所对应的控制器切换为执行控制器。
在本申请的其他实施例中，将最优通信信号质量所对应的控制器切换为执行控制器的步骤，包括：
当最优的通信信号质量与当前执行控制器对应的通信信号质量的差值大于第一预设阈值时，将最优通信信号质量所对应的控制器切换为执行控制器。
在本申请的其他实施例中，在根据通信信号质量从至少两个控制器中确定执行控制器之后，还可以包括：
判断当前执行控制器的通信信号质量是否低于第二预设阈值；
比较至少两个控制器与无人机间的通信信号质量的步骤，包括：
当当前执行控制器的通信信号质量低于第二预设阈值时，比较至少两个控制器与无人机间的通信信号质量。
在本申请的其他实施例中，在根据通信信号质量从至少两个控制器中确定执行控制器之后，还可以包括：
通过执行控制器将参数获取指令发送至无人机，以使得无人机根据参数获取指令向执行控制器返回飞行参数。
在本申请的其他实施例中，至少两个控制器中相邻两个控制器的通信范围部分重叠。
应用上述实施例，无人机与至少两个控制器之间建立通信连接，获取控制器与无人机间的通信信号质量，根据通信信号质量从上述至少两个控制器中确定执行控制器；通过执行控制器将控制指令发送给所述无人机，进而控制无人机的飞行。这里，控制器至少为两个，随着执行控制器的切换，无人机可以在所有控制器的通信范围内飞行，扩大了无人机的飞行范围。
另外值得一提的是，上述电子设备以多种形式存在，包括但不限于：
(1)移动通信设备：这类设备的特点是具备移动通信功能，并且以提供话音、数据通信为主要目标。这类设备包括：智能手机(例如iPhone)、多媒体手机、功能性手机，以及低端手机等。
(2)超移动个人计算机设备：这类设备属于个人计算机的范畴，有计算和处理功能，一般也具备移动上网特性。这类电子设备包括：PDA、MID和UMPC设备等，例如iPad。
(3)便携式娱乐设备：这类设备可以显示和播放多媒体内容。该类设备包括：音频、视频播放器(例如iPod)，掌上游戏机，电子书，以及智能玩具和便携式车载导航设备。
(4)其他具有数据交互功能的移动电子装置。
本申请实施例提供了一种应用程序，应用程序用于在运行时执行无人机飞行控制方法。其中，无人机飞行控制方法，包括：
获取至少两个控制器与无人机间的通信信号质量；
根据通信信号质量从至少两个控制器中确定执行控制器；
通过执行控制器将控制指令发送给无人机。
在本申请的其他实施例中，获取至少两个控制器与无人机间的通信信号质量为：定时获取至少两个控制器与无人机间的通信信号质量。
在本申请的其他实施例中，根据通信信号质量从至少两个控制器中确定
执行控制器的步骤，包括：
将至少两个控制器与无人机间的通信信号质量进行比较；
将最优通信信号质量所对应的控制器确定为执行控制器。
在本申请的其他实施例中，在根据通信信号质量从至少两个控制器中确定执行控制器之后，还可以包括：
比较至少两个控制器与无人机间的通信信号质量；
判断最优通信信号质量所对应的控制器是否为当前执行控制器；
如果不是，则将最优通信信号质量所对应的控制器切换为执行控制器。
在本申请的其他实施例中，将最优通信信号质量所对应的控制器切换为执行控制器的步骤，包括：
当最优的通信信号质量与当前执行控制器对应的通信信号质量的差值大于第一预设阈值时，将最优通信信号质量所对应的控制器切换为执行控制器。
在本申请的其他实施例中，在根据通信信号质量从至少两个控制器中确定执行控制器之后，还可以包括：
判断当前执行控制器的通信信号质量是否低于第二预设阈值；
比较至少两个控制器与无人机间的通信信号质量的步骤，包括：
当当前执行控制器的通信信号质量低于第二预设阈值时，比较至少两个控制器与无人机间的通信信号质量。
在本申请的其他实施例中，在根据通信信号质量从至少两个控制器中确定执行控制器之后，还可以包括：
通过执行控制器将参数获取指令发送至无人机，以使得无人机根据参数获取指令向执行控制器返回飞行参数。
在本申请的其他实施例中，至少两个控制器中相邻两个控制器的通信范围部分重叠。
应用上述实施例，无人机与至少两个控制器之间建立通信连接，获取控
制器与无人机间的通信信号质量，根据通信信号质量从上述至少两个控制器中确定执行控制器；通过执行控制器将控制指令发送给所述无人机，进而控制无人机的飞行。这里，控制器至少为两个，随着执行控制器的切换，无人机可以在所有控制器的通信范围内飞行，扩大了无人机的飞行范围。
本申请实施例提供了一种存储介质，存储介质用于存储应用程序，应用程序被运行以执行无人机飞行控制方法。其中，无人机飞行控制方法，包括：
获取至少两个控制器与无人机间的通信信号质量；
根据通信信号质量从至少两个控制器中确定执行控制器；
通过执行控制器将控制指令发送给无人机。
在本申请的其他实施例中，获取至少两个控制器与无人机间的通信信号质量为：定时获取至少两个控制器与无人机间的通信信号质量。
在本申请的其他实施例中，根据通信信号质量从至少两个控制器中确定执行控制器的步骤，包括：
将至少两个控制器与无人机间的通信信号质量进行比较；
将最优通信信号质量所对应的控制器确定为执行控制器。
在本申请的其他实施例中，在根据通信信号质量从至少两个控制器中确定执行控制器之后，还可以包括：
比较至少两个控制器与无人机间的通信信号质量；
判断最优通信信号质量所对应的控制器是否为当前执行控制器；
如果不是，则将最优通信信号质量所对应的控制器切换为执行控制器。
在本申请的其他实施例中，将最优通信信号质量所对应的控制器切换为执行控制器的步骤，包括：
当最优的通信信号质量与当前执行控制器对应的通信信号质量的差值大于第一预设阈值时，将最优通信信号质量所对应的控制器切换为执行控制器。
在本申请的其他实施例中，在根据通信信号质量从至少两个控制器中确
定执行控制器之后，还可以包括：
判断当前执行控制器的通信信号质量是否低于第二预设阈值；
比较至少两个控制器与无人机间的通信信号质量的步骤，包括：
当当前执行控制器的通信信号质量低于第二预设阈值时，比较至少两个控制器与无人机间的通信信号质量。
在本申请的其他实施例中，在根据通信信号质量从至少两个控制器中确定执行控制器之后，还可以包括：
通过执行控制器将参数获取指令发送至无人机，以使得无人机根据参数获取指令向执行控制器返回飞行参数。
在本申请的其他实施例中，至少两个控制器中相邻两个控制器的通信范围部分重叠。
应用上述实施例，无人机与至少两个控制器之间建立通信连接，获取控制器与无人机间的通信信号质量，根据通信信号质量从上述至少两个控制器中确定执行控制器；通过执行控制器将控制指令发送给所述无人机，进而控制无人机的飞行。这里，控制器至少为两个，随着执行控制器的切换，无人机可以在所有控制器的通信范围内飞行，扩大了无人机的飞行范围。
对于无人机飞行控制系统、无人机飞行控制装置、电子设备、应用程序、存储介质实施例而言，由于其基本相似于方法实施例，所以描述的比较简单，相关之处参见无人机飞行控制方法实施例的部分说明即可。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
本领域普通技术人员可以理解实现上述方法实施方式中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，所述的程序可以存储于计算机可读取存储介质中，这里所称得的存储介质，如：ROM/RAM、磁碟、光盘等。
以上所述仅为本申请的较佳实施例而已，并非用于限定本申请的保护范围。凡在本申请的精神和原则之内所作的任何修改、等同替换、改进等，均包含在本申请的保护范围内。
Claims (22)
- 一种无人机飞行控制方法，所述无人机与至少两个控制器之间建立通信连接，其特征在于，所述方法包括：获取所述至少两个控制器与所述无人机间的通信信号质量；根据所述通信信号质量从所述至少两个控制器中确定执行控制器；通过所述执行控制器将控制指令发送给所述无人机。
- 根据权利要求1所述的方法，其特征在于，所述获取所述至少两个控制器与所述无人机间的通信信号质量为：定时获取所述至少两个控制器与所述无人机间的通信信号质量。
- 根据权利要求1所述的方法，其特征在于，所述根据所述通信信号质量从所述至少两个控制器中确定执行控制器，包括：将所述至少两个控制器与所述无人机间的通信信号质量进行比较；将最优通信信号质量所对应的控制器确定为执行控制器。
- 根据权利要求1至3中任意一项所述的方法，其特征在于，在根据所述通信信号质量从所述至少两个控制器中确定执行控制器之后，所述方法还包括：比较所述至少两个控制器与所述无人机间的通信信号质量；判断最优通信信号质量所对应的控制器是否为当前执行控制器；如果不是，则将最优通信信号质量所对应的控制器切换为执行控制器。
- 根据权利要求4所述的方法，其特征在于，所述将最优通信信号质量所对应的控制器切换为执行控制器，包括：当最优的通信信号质量与当前执行控制器对应的通信信号质量的差值大于第一预设阈值时，将最优通信信号质量所对应的控制器切换为执行控制器。
- 根据权利要求4所述的方法，其特征在于，在根据所述通信信号质量从所述至少两个控制器中确定执行控制器之后，所述方法还包括：判断当前执行控制器的通信信号质量是否低于第二预设阈值；所述比较所述至少两个控制器与所述无人机间的通信信号质量，包括：当当前执行控制器的通信信号质量低于第二预设阈值时，比较所述至少两个控制器与所述无人机间的通信信号质量。
- 根据权利要求1所述的方法，其特征在于，在根据所述通信信号质量从所述至少两个控制器中确定执行控制器之后，所述方法还包括：通过所述执行控制器将参数获取指令发送至所述无人机，以使得所述无人机根据所述参数获取指令向所述执行控制器返回飞行参数。
- 根据权利要求1所述的方法，其特征在于，所述至少两个控制器中相邻两个控制器的通信范围部分重叠。
- 一种无人机飞行控制装置，所述无人机与至少两个控制器之间建立通信连接，其特征在于，所述装置包括：获取单元，用于获取所述至少两个控制器与所述无人机间的通信信号质量；确定单元，用于根据所述通信信号质量从所述至少两个控制器中确定执行控制器；发送单元，用于通过所述执行控制器将控制指令发送给所述无人机。
- 根据权利要求9所述的装置，其特征在于，所述获取单元，具体用于定时获取所述至少两个控制器与所述无人机间的通信信号质量。
- 根据权利要求9所述的装置，其特征在于，所述确定单元，包括：比较子单元，用于将所述至少两个控制器与所述无人机间的通信信号质量进行比较；确定子单元，用于将最优通信信号质量所对应的控制器确定为执行控制器。
- 根据权利要求9至11中任意一项所述的装置，其特征在于，所述装置还包括：比较单元，用于比较所述至少两个控制器与所述无人机间的通信信号质量；第一判断单元，用于判断最优通信信号质量所对应的控制器是否为当前执行控制器；切换单元，用于在所述第一判断单元判断结果为否的情况下，将最优通信信号质量所对应的控制器切换为执行控制器。
- 根据权利要求12所述的装置，其特征在于，所述切换单元，具体用于在所述第一判断单元判断结果为否的情况下，当最优的通信信号质量与当前执行控制器对应的通信信号质量的差值大于第一预设阈值时，将最优通信信号质量所对应的控制器切换为执行控制器。
- 根据权利要求12所述的装置，其特征在于，所述装置还包括：第二判断单元，用于判断当前执行控制器的通信信号质量是否低于第二预设阈值；所述比较单元，具体用于在所述第二判断单元判断结果为是的情况下，比较所述至少两个控制器与所述无人机间的通信信号质量。
- 根据权利要求9所述的装置，其特征在于，所述发送单元，还用于通过所述执行控制器将参数获取指令发送至所述无人机，以使得所述无人机根据所述参数获取指令向所述执行控制器返回飞行参数。
- 根据权利要求9所述的装置，其特征在于，所述至少两个控制器中相邻两个控制器的通信范围部分重叠。
- 一种无人机飞行控制系统，其特征在于，所述无人机飞行控制系统包括：指令服务器、无人机和至少两个控制器；所述至少两个控制器，用于获取与所述无人机间的通信信号质量；所述指令服务器，用于从所述至少两个控制器中获取所述至少两个控制器与所述无人机间的通信信号质量；根据所述通信信号质量从所述至少两个控制器中确定执行控制器；将控制指令发送给所述执行控制器；所述执行控制器，用于接收所述指令服务器发送的所述控制指令；将所述控制指令发送给所述无人机；所述无人机，用于根据所述控制指令控制飞行。
- 根据权利要求17所述的系统，其特征在于，所述无人机，还用于：仅在接收到所述执行控制器发送的参数获取指令后，向所述执行控制器反馈飞行参数。
- 根据权利要求17所述的系统，其特征在于，指令服务器独立于控制器或者集成设置在所述至少两个控制器中的一个控制器中。
- 一种电子设备，其特征在于，所述电子设备包括处理器和存储器；所述存储器，用于存放应用程序；所述处理器，用于执行所述存储器上所存放的应用程序，实现权利要求1-8任一项所述的无人机飞行控制方法。
- 一种应用程序，其特征在于，所述应用程序用于在运行时执行权利要求1-8任一项所述的无人机飞行控制方法。
- 一种存储介质，其特征在于，所述存储介质用于存储应用程序，所述可执行程序代码被运行以执行权利要求1-8任一项所述的无人机飞行控制方法。
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| CN112074790B (zh) * | 2018-03-18 | 2024-09-06 | 德利沃科技有限公司 | 自主驾驶的设备、系统和方法和远距操作的载具 |
| CN109327873B (zh) * | 2018-10-18 | 2021-11-19 | 上海歌尔泰克机器人有限公司 | 设备切换方法、装置及数据传输系统 |
| CN109782794B (zh) * | 2018-12-24 | 2022-10-11 | 丰翼科技(深圳)有限公司 | 用于无人飞行器的独立设置的航前检测装置及无人飞行器 |
| WO2021035641A1 (zh) * | 2019-08-29 | 2021-03-04 | 深圳市大疆创新科技有限公司 | 控制方法、远程服务器、控制站及存储介质 |
| CN110634278A (zh) * | 2019-10-08 | 2019-12-31 | 荆州介太科技有限公司 | 一种通信方法、设备及控制系统 |
| DE102020123062A1 (de) * | 2020-09-03 | 2022-03-03 | Volocopter Gmbh | Verfahren zur Signalauswahl und Signalauswahlvorrichtung |
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