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WO2019024053A1 - 无人机控制方法及装置、无人机和遥控设备 - Google Patents

无人机控制方法及装置、无人机和遥控设备 Download PDF

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Publication number
WO2019024053A1
WO2019024053A1 PCT/CN2017/095863 CN2017095863W WO2019024053A1 WO 2019024053 A1 WO2019024053 A1 WO 2019024053A1 CN 2017095863 W CN2017095863 W CN 2017095863W WO 2019024053 A1 WO2019024053 A1 WO 2019024053A1
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WO
WIPO (PCT)
Prior art keywords
base station
control device
drone
remote control
connection
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/095863
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English (en)
French (fr)
Inventor
洪伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Xiaomi Mobile Software Co Ltd
Original Assignee
Beijing Xiaomi Mobile Software Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Xiaomi Mobile Software Co Ltd filed Critical Beijing Xiaomi Mobile Software Co Ltd
Priority to PCT/CN2017/095863 priority Critical patent/WO2019024053A1/zh
Priority to CN201780000812.8A priority patent/CN109451877B/zh
Priority to EP17919865.0A priority patent/EP3663886B1/en
Priority to ES17919865T priority patent/ES3049158T3/es
Priority to US16/636,133 priority patent/US11221634B2/en
Publication of WO2019024053A1 publication Critical patent/WO2019024053A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18502—Airborne stations
    • H04B7/18504—Aircraft used as relay or high altitude atmospheric platform
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18502—Airborne stations
    • H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W74/00—Wireless channel access
    • H04W74/002—Transmission of channel access control information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup
    • H04W76/14—Direct-mode setup
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/20—UAVs specially adapted for particular uses or applications for use as communications relays, e.g. high-altitude platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C2201/00—Transmission systems of control signals via wireless link
    • G08C2201/40—Remote control systems using repeaters, converters, gateways
    • G08C2201/42—Transmitting or receiving remote control signals via a network
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W74/00—Wireless channel access
    • H04W74/002—Transmission of channel access control information
    • H04W74/004—Transmission of channel access control information in the uplink, i.e. towards network

Definitions

  • the present disclosure relates to the field of drone technology, and more particularly to a drone control method, a drone control device, a drone, a remote control device, and a computer readable storage medium.
  • the current drones are mainly controlled by remote control devices, and in order to make the drones applicable to a wider range of scenarios, attempts are being made to apply the drones to cellular networks.
  • the remote control device is required to control the drone through the cellular network.
  • the remote control device cannot determine when the drone is connected to the cellular network, so that the drone cannot be controlled in time.
  • the present disclosure provides a drone control method, a drone control device, a drone, a remote control device, and a computer readable storage medium to solve the deficiencies in the related art.
  • a drone control method including:
  • connection success information After establishing a communication connection with the base station, sending connection success information to the remote control device according to the identification information of the remote control device;
  • An operation is performed in accordance with the control signal.
  • the sending the connection success information to the remote control device according to the identification information of the remote control device includes:
  • connection success information is sent to the remote control device by the base station.
  • the sending the connection success information to the remote control device according to the identification information of the remote control device further includes:
  • the connection success information is sent to the remote control device by a communication method different from the base station.
  • the drone control method further includes:
  • a drone control method including:
  • connection success information sent by the receiving drone to establish a communication connection with the base station includes:
  • the connection success information is received by the base station.
  • connection success information sent by the receiving drone to establish a communication connection with the base station includes:
  • the connection success information is received by a communication method different from the base station.
  • the drone control method further includes:
  • a connection setup request is sent to the base station.
  • a drone control apparatus comprising:
  • a random access module configured to send a random access request to the base station
  • a sending module configured to establish, after establishing a communication connection with the base station, according to an identifier of the remote control device Sending connection success information to the remote control device;
  • a receiving module configured to receive a control signal sent by the remote control device by using the base station
  • An execution module configured to perform an operation in accordance with the control signal.
  • connection sending module includes:
  • An identifier sending submodule configured to send identifier information of the remote device to the base station
  • connection sending submodule configured to send the connection success information to the remote control device by the base station if the remote control device has established a communication connection with the base station.
  • connection sending submodule is further configured to send the connection to the remote control device successfully by using a communication mode different from the base station if the remote control device does not establish a communication connection with the base station. information.
  • the drone control device further includes:
  • the identifier sending module is configured to send the identifier information of the base station to the remote control device before receiving the control signal sent by the remote control device by the base station.
  • a drone control apparatus including:
  • the connection receiving module is configured to receive connection success information sent by the drone to establish a communication connection with the base station;
  • a control sending module configured to send a control signal to the drone according to the identification information of the drone to control the drone to perform an operation.
  • connection receiving module is configured to receive the connection success information by the base station if a communication connection has been established with the base station.
  • connection receiving module is configured to receive the connection success information by a communication method different from the base station without establishing a communication connection with the base station.
  • the drone control device further includes:
  • An identifier receiving module configured to receive identification information of the base station sent by the drone before transmitting a control signal to the drone
  • a network determining module configured to determine whether the cellular network formed by the base station corresponding to the identifier information is formed
  • a request sending module is configured to send a connection establishment request to the base station in the case of the cellular network.
  • a drone including:
  • a memory for storing processor executable instructions
  • processor is configured to:
  • connection success information After establishing a communication connection with the base station, sending connection success information to the remote control device according to the identification information of the remote control device;
  • An operation is performed in accordance with the control signal.
  • a remote control device includes:
  • a memory for storing processor executable instructions
  • processor is configured to:
  • a computer readable storage medium having stored thereon a computer program that, when executed by a processor, implements the following steps:
  • connection success information After establishing a communication connection with the base station, sending connection success information to the remote control device according to the identification information of the remote control device;
  • An operation is performed in accordance with the control signal.
  • a computer readable storage medium having stored thereon A computer program that implements the following steps when executed by the processor:
  • the UAV can send the connection success information to the remote control device corresponding to the identification information of the remote control device, so that the remote control device can determine that the UAV has been timely
  • a communication connection is established with the base station, and then the base station can send a control signal to the drone to control the drone to perform corresponding operations in time.
  • control of the UAV by the remote control device is realized through the cellular network, and the control of the UAV by the remote control device is realized by using other communication methods, such as wifi, Bluetooth, etc., since the cellular network and the corresponding base station are maintained and arranged by the operator, The wider coverage and greater stability allow the remote control to control the drone over a greater distance and to ensure the quality of communication between the remote control and the drone.
  • FIG. 1 is a schematic flow chart of a drone control method according to an exemplary embodiment.
  • FIG. 2 is a schematic flow chart of another drone control method according to an exemplary embodiment.
  • FIG. 3 is a schematic flow chart of still another drone control method according to an exemplary embodiment.
  • FIG. 4 is a schematic flow chart of still another drone control method according to an exemplary embodiment.
  • FIG. 5 is a schematic flow chart of a drone control method according to an exemplary embodiment.
  • FIG. 6 is a schematic flow chart of another drone control method according to an exemplary embodiment.
  • FIG. 7 is a schematic flow chart of still another drone control method according to an exemplary embodiment.
  • FIG. 8 is a schematic flow chart of still another drone control method according to an exemplary embodiment.
  • FIG. 9 is a specific schematic flowchart of a drone control method according to an exemplary embodiment.
  • FIG. 10 is a schematic block diagram of a drone control apparatus, according to an exemplary embodiment.
  • FIG. 11 is a schematic block diagram of a connection sending module according to an exemplary embodiment.
  • FIG. 12 is a schematic block diagram of still another drone control apparatus according to an exemplary embodiment.
  • FIG. 13 is a schematic block diagram of a drone control apparatus, according to an exemplary embodiment.
  • FIG. 14 is a schematic block diagram of another drone control apparatus, according to an exemplary embodiment.
  • Figure 15 is a schematic block diagram of an apparatus for drone control, according to an exemplary embodiment.
  • FIG. 1 is a schematic flow chart of a drone control method according to an exemplary embodiment.
  • the method in this embodiment may be applicable to a drone capable of establishing a communication connection with a base station, wherein the base station in this embodiment may be a base station in a cellular network, and the unmanned aerial vehicle may be dedicated to a cellular network drone.
  • the chip, and the drone that establishes a communication connection with the base station through the chip may also be a drone that is equipped with a terminal and establishes a communication connection with the base station through the terminal.
  • the method shown in the above embodiment includes the following steps.
  • step S11 a random access request is sent to the base station.
  • the drone may automatically send a random access request to the base station after starting, or may send a random access request to the base station according to the received connection instruction, where the connection instruction may be used by the remote control device through the wifi. Communication methods such as Bluetooth are sent to the drone.
  • step S12 after establishing a communication connection with the base station, according to the identification information of the remote control device The remote control device sends a connection success message.
  • the identification information of the remote control device may be pre-stored in the drone, and after establishing the communication connection with the base station, the drone may determine the remote control device according to the flag information of the remote control device.
  • the identification information of the remote control device may be transmitted to the base station, so that the base station determines whether the remote control device establishes a communication connection with the base station according to the identification information of the remote control device, and if the remote control device has established a communication connection with the base station,
  • the drone can receive the information returned by the base station, and then send the connection success information to the base station, and the base station sends the connection success information to the remote control device.
  • the connection success information may be transmitted to the remote control device by a communication method different from the base station, for example, by using wifi, Bluetooth, or the like.
  • step S13 receiving a control signal sent by the remote control device through the base station
  • the remote control device may pre-store the identification information of the drone, and after receiving the connection success information sent by the drone, the remote control device may operate according to the user's operation on the remote control device (for example, by pushing the remote control device) a rocker on the remote control device to generate a control signal, and transmit control signals and identification information of the drone to the base station, so that the base station determines the drone according to the identification information of the drone, and A control signal is transmitted to the drone.
  • step S14 an operation is performed in accordance with the control signal.
  • the connection success information may be sent to the remote control device corresponding to the identification information of the remote control device, so that the remote control device can determine that the UAV has been timely
  • a communication connection is established with the base station, and then the base station can send a control signal to the drone to control the drone to perform corresponding operations in time.
  • control of the UAV by the remote control device is realized through the cellular network, and the control of the UAV by the remote control device is realized by using other communication methods, such as wifi, Bluetooth, etc., since the cellular network and the corresponding base station are maintained and arranged by the operator, The wider coverage and greater stability allow the remote control to control the drone over a greater distance and to ensure the quality of communication between the remote control and the drone.
  • FIG. 2 is a schematic flow chart of another drone control method according to an exemplary embodiment.
  • the sending the connection success information to the remote control device according to the identification information of the remote control device includes:
  • step S121 the identifier information of the remote control device is sent to the base station
  • step S122 if the remote control device has established a communication connection with the base station, the connection success information is sent to the remote control device by the base station.
  • the identification information of the remote control device may be pre-stored in the drone, and after establishing the communication connection with the base station, the drone may transmit the identification information of the remote control device to the base station, so that the base station is configured according to the remote control device.
  • the identification information determines whether the remote control device establishes a communication connection with the base station, and in the case where the remote control device has established a communication connection with the base station, the base station can transmit connection success information to the remote control device.
  • the connection success information is transmitted to the remote control device through the base station. Since the cellular network provided by the base station is maintained by the operator, the communication quality is better than other communication modes, and it is more convenient to quickly transmit the connection success information to the remote control device.
  • FIG. 3 is a schematic flow chart of still another drone control method according to an exemplary embodiment.
  • the sending the connection success information to the remote control device according to the identification information of the remote control device further includes:
  • step S123 if the remote control device does not establish a communication connection with the base station, the connection success information is sent to the remote control device by a communication method different from the base station.
  • the base station may return information to the drone, according to which the drone may determine that the remote control device does not establish a communication connection with the base station, then the difference may be different
  • the connection success information is transmitted to the remote control device through the communication mode of the base station, such as wifi, Bluetooth, etc., so that the remote control device can determine in time that the drone has established a communication connection with the base station.
  • FIG. 4 is a schematic flow chart of still another drone control method according to an exemplary embodiment. As shown in FIG. 4, on the basis of the embodiment shown in FIG. 1, the drone control method further includes:
  • step S15 the identification information of the base station is sent to the remote control device before receiving the control signal sent by the remote control device by the base station.
  • the UAV after establishing a communication connection with a certain base station in the cellular network, can acquire the identification information of the base station, and send the identification information to the remote control device, so that the remote control device can query according to the identification information.
  • the base station To the base station, and directly establish a communication connection with the base station without establishing a connection with the base station indirectly through other base stations to ensure better communication quality between the remote control device and the drone.
  • the UAV establishes a communication connection with the A base station
  • the remote control device is located in the cellular network formed by the A base station and also in the cellular network formed by the B base station, and the remote control device receives the identifier of the A base station transmitted by the UAV.
  • a communication connection can be established with the A base station, and a control signal is sent to the drone through the A base station.
  • the base station through which the control signal needs to pass can be reduced, thereby reducing the overall load of the cellular network;
  • the transmission time of the control signal can be shortened to ensure that the control delay of the drone is low; and the fewer base stations the control signal passes, the smaller the distortion, so that the remote control device and the drone can be better. Communication quality.
  • step S15 may be performed in parallel with step S12, or may be performed after step S12, and the specific execution sequence may be set as needed.
  • FIG. 5 is a schematic flow chart of a drone control method according to an exemplary embodiment.
  • the method in this embodiment may be applied to a remote control device capable of establishing a communication connection with a base station, and the remote control device may generate a control signal for controlling the drone, wherein the base station in this embodiment may be a base station in the cellular network.
  • the above-mentioned drone may be a drone loaded with a dedicated chip of a cellular network drone, and a communication connection is established between the chip and the base station, or may be a drone equipped with a terminal and establishing a communication connection with the base station through the terminal.
  • the drone control method includes the following steps.
  • step S51 the connection success information sent by the drone to establish a communication connection with the base station is received.
  • the remote control device may receive the connection success information through the base station, or may receive the connection success information through other communication methods, such as wifi, Bluetooth, and the like.
  • step S52 a control signal is sent to the drone according to the identification information of the drone to control the drone to perform an operation.
  • the remote control device can receive the connection success information sent by the UAV, so as to timely determine that the UAV has established a communication connection with the base station, and further The base station can send a control signal to the drone to control the drone to perform corresponding operations in time.
  • FIG. 6 is a schematic flow chart of another drone control method according to an exemplary embodiment. As shown in FIG. 6, on the basis of the embodiment shown in FIG. 5, the connection success information sent by the receiving drone to establish a communication connection with the base station includes:
  • step S511 if a communication connection has been established with the base station, the connection success information is received by the base station.
  • the remote control device can receive the connection success information sent by the drone through the base station. Since the cellular network provided by the base station is maintained by the operator, Therefore, compared with other communication methods, the communication quality is better, which is more favorable for the remote control device to stably receive the drone connection success information.
  • FIG. 7 is a schematic flow chart of still another drone control method according to an exemplary embodiment.
  • the connection success information sent by the receiving drone to establish a communication connection with the base station includes:
  • step S512 if a communication connection is not established with the base station, the connection success information is received by a communication method different from the base station.
  • the remote control device may receive the connection success information sent by the drone by means of a communication method different from the base station, such as wifi or Bluetooth. It is possible to determine in time that the drone has established a communication connection with the base station.
  • FIG. 8 is a schematic flow chart of still another drone control method according to an exemplary embodiment. As shown in FIG. 8, on the basis of the embodiment shown in FIG. 5, the drone control method further includes:
  • step S53 before sending the control signal to the drone, receiving the identification information of the base station sent by the drone;
  • step S54 it is determined whether the cellular network formed by the base station corresponding to the identifier information is located;
  • step S55 if it is in the cellular network, a connection establishment request is sent to the base station.
  • the remote control device may receive the identification information of the base station sent by the drone with which the communication connection is established before transmitting the control signal to the drone, so as to be able to query the base station according to the identification information, and
  • a communication connection is directly established with the base station without establishing an indirect connection with the base station through other base stations to ensure better communication quality between the remote control device and the drone.
  • the UAV establishes a communication connection with the A base station
  • the remote control device is located in the cellular network formed by the A base station and also in the cellular network formed by the B base station, and the remote control device receives the identifier of the A base station transmitted by the UAV.
  • a communication connection can be established with the A base station, and a control signal is sent to the drone through the A base station.
  • the base station through which the control signal needs to pass can be reduced, thereby reducing the overall load of the cellular network;
  • the transmission time of the control signal can be shortened to ensure that the control delay of the drone is low; and the fewer base stations the control signal passes, the smaller the distortion, so that the remote control device and the drone can be ensured based on this.
  • step S53 may be performed in parallel with step S51, or may be performed after step S51, and the specific execution order may be set as needed.
  • FIG. 9 is a specific schematic flowchart of a drone control method according to an exemplary embodiment. Based on any of the embodiments shown in FIGS. 1 to 4 applicable to the drone, and any of the embodiments shown in FIGS. 5 to 8 applicable to the remote control device, the remote control device controls the flow of the drone through the base station, such as Figure 9 shows.
  • the drone and the remote control device can exchange their respective identification information in advance, so that the drone pre-stores the identification information of the remote control device, and the remote control device pre-stores the identification information of the drone.
  • the remote control device and the drone can respectively establish a communication connection with the base station, wherein the sequence of establishing the communication connection between the remote control device and the drone and the base station can be adjusted according to requirements, and the drone can connect the success information after the base station establishes the communication connection.
  • the man-machine performs the operation.
  • the present disclosure also provides an embodiment of the drone control device.
  • FIG. 10 is a schematic block diagram of a drone control apparatus, according to an exemplary embodiment. As shown in FIG. 10, the drone control device includes:
  • the random access module 11 is configured to send a random access request to the base station
  • the connection sending module 12 is configured to send connection success information to the remote control device according to the identification information of the remote control device after establishing a communication connection with the base station;
  • the receiving module 13 is configured to receive a control signal sent by the remote control device by using the base station;
  • the execution module 14 is configured to perform an operation in accordance with the control signal.
  • FIG. 11 is a schematic block diagram of a connection sending module according to an exemplary embodiment. As shown in FIG. 11, on the basis of the embodiment shown in FIG. 10, the connection sending module 12 includes:
  • the identifier sending submodule 121 is configured to send the identifier information of the remote control device to the base station;
  • connection sending sub-module 122 is configured to transmit the connection success information to the remote control device by the base station if the remote control device has established a communication connection with the base station.
  • connection sending submodule is further configured to send the connection to the remote control device successfully by using a communication mode different from the base station if the remote control device does not establish a communication connection with the base station. information.
  • FIG. 12 is a schematic block diagram of still another drone control apparatus according to an exemplary embodiment. As shown in FIG. 12, on the basis of the embodiment shown in FIG. 10, the drone control device further includes:
  • the identifier sending module 15 is configured to send the identifier information of the base station to the remote control device before receiving the control signal sent by the remote control device by the base station.
  • FIG. 13 is a schematic block diagram of a drone control apparatus, according to an exemplary embodiment. As shown in FIG. 13, the drone control device includes:
  • the connection receiving module 131 is configured to receive connection success information sent by the drone to establish a communication connection with the base station;
  • the control sending module 132 is configured to send a control signal to the drone according to the identification information of the drone to control the drone to perform an operation.
  • connection receiving module is configured to receive the connection success information by the base station if a communication connection has been established with the base station.
  • connection receiving module is configured to receive the connection success information by a communication method different from the base station without establishing a communication connection with the base station.
  • FIG. 14 is a schematic block diagram of another drone control apparatus, according to an exemplary embodiment. As shown in FIG. 14, on the basis of the embodiment shown in FIG. 13, the drone control device further includes:
  • the identifier receiving module 133 is configured to receive the identifier information of the base station sent by the drone before sending the control signal to the drone;
  • the network determining module 134 is configured to determine whether the cellular network formed by the base station corresponding to the identifier information is formed;
  • the request sending module 135 is configured to send a connection establishment request to the base station in the case of the cellular network.
  • the device embodiment since it basically corresponds to the method embodiment, reference may be made to the partial description of the method embodiment.
  • the device embodiments described above are merely illustrative, wherein the modules described as separate components may or may not be physically separate, and the components displayed as modules may be Or it may not be a physical module, that is, it can be located in one place, or it can be distributed to multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the objectives of the present disclosure. Those of ordinary skill in the art can understand and implement without any creative effort.
  • the present disclosure also proposes a drone that includes:
  • a memory for storing processor executable instructions
  • processor is configured to:
  • connection success information After establishing a communication connection with the base station, sending connection success information to the remote control device according to the identification information of the remote control device;
  • An operation is performed in accordance with the control signal.
  • the present disclosure also proposes a remote control device, including:
  • a memory for storing processor executable instructions
  • processor is configured to:
  • the present disclosure also proposes a computer readable storage medium having stored thereon a computer program that, when executed by a processor, implements the following steps:
  • connection success information After establishing a communication connection with the base station, sending connection success information to the remote control device according to the identification information of the remote control device;
  • An operation is performed in accordance with the control signal.
  • the present disclosure also proposes a computer readable storage medium having stored thereon a computer program that, when executed by a processor, implements the following steps:
  • FIG. 15 is a schematic block diagram of an apparatus 1500 for drone control, according to an exemplary embodiment.
  • device 1500 can be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a gaming console, a tablet device, a medical device, a fitness device, a personal digital assistant, and the like.
  • device 1500 can include one or more of the following components: processing component 1502, memory 1504, power component 1506, multimedia component 1508, audio component 1510, input/output (I/O) interface 1512, sensor component 1514, And a communication component 1516.
  • Processing component 1502 typically controls the overall operation of device 1500, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations.
  • Processing component 1502 can include one or more processors 1520 to execute instructions to perform all or part of the steps of the above described methods.
  • processing component 1502 can include one or more modules to facilitate interaction between component 1502 and other components.
  • processing component 1502 can include a multimedia module to facilitate interaction between multimedia component 1508 and processing component 1502.
  • Memory 1504 is configured to store various types of data to support operation at device 1500. Examples of such data include instructions for any application or method operating on device 1500, contact data, phone book data, messages, pictures, videos, and the like.
  • the memory 1504 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable Programmable Read Only Memory (EPROM), Programmable Read Only Memory (PROM), Read Only Memory (ROM), Magnetic Memory, Flash Memory, Disk or Optical Disk.
  • SRAM static random access memory
  • EEPROM electrically erasable programmable read only memory
  • EPROM erasable Programmable Read Only Memory
  • PROM Programmable Read Only Memory
  • ROM Read Only Memory
  • Magnetic Memory Flash Memory
  • Disk Disk or Optical Disk.
  • Power component 1506 provides power to various components of device 1500.
  • Power component 1506 can include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for device 1500.
  • Multimedia component 1508 includes a screen between the device 1500 and the user that provides an output interface.
  • the screen can include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive input signals from the user.
  • the touch panel includes one or more touch sensors to sense touches, slides, and gestures on the touch panel. The touch sensor It is possible to sense not only the boundary of the touch or sliding action, but also the duration and pressure associated with the touch or sliding operation.
  • the multimedia component 1508 includes a front camera and/or a rear camera. When the device 1500 is in an operation mode, such as a shooting mode or a video mode, the front camera and/or the rear camera can receive external multimedia data. Each front and rear camera can be a fixed optical lens system or have focal length and optical zoom capabilities.
  • the audio component 1510 is configured to output and/or input an audio signal.
  • the audio component 1510 includes a microphone (MIC) that is configured to receive an external audio signal when the device 1500 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode.
  • the received audio signal may be further stored in memory 1504 or transmitted via communication component 1516.
  • audio component 1510 also includes a speaker for outputting an audio signal.
  • the I/O interface 1512 provides an interface between the processing component 1502 and the peripheral interface module, which may be a keyboard, a click wheel, a button, or the like. These buttons may include, but are not limited to, a home button, a volume button, a start button, and a lock button.
  • Sensor assembly 1514 includes one or more sensors for providing device 1500 with a status assessment of various aspects.
  • sensor assembly 1514 can detect an open/closed state of device 1500, relative positioning of components, such as the display and keypad of device 1500, and sensor component 1514 can also detect a change in position of one component of device 1500 or device 1500. The presence or absence of contact by the user with the device 1500, the orientation or acceleration/deceleration of the device 1500 and the temperature change of the device 1500.
  • Sensor assembly 1514 can include a proximity sensor configured to detect the presence of nearby objects without any physical contact.
  • Sensor assembly 1514 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications.
  • the sensor component 1514 can also include an acceleration sensor, a gyro sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
  • Communication component 1516 is configured to facilitate wired or wireless communication between device 1500 and other devices.
  • the device 1500 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof.
  • communication component 1516 receives broadcast signals or broadcast associated information from an external broadcast management system via a broadcast channel.
  • the communication component 1516 also includes a near field communication (NFC) module to facilitate short range communication.
  • NFC near field communication
  • the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
  • RFID radio frequency identification
  • IrDA infrared data association
  • UWB ultra-wideband
  • Bluetooth Bluetooth
  • device 1500 may be implemented by one or more application specific integrated circuits (ASICs), Digital signal processor (DSP), digital signal processing device (DSPD), programmable logic device (PLD), field programmable gate array (FPGA), remote control device, micro remote control device, microprocessor or other electronic components Perform the above method.
  • ASICs application specific integrated circuits
  • DSP Digital signal processor
  • DSPD digital signal processing device
  • PLD programmable logic device
  • FPGA field programmable gate array
  • remote control device micro remote control device, microprocessor or other electronic components Perform the above method.
  • non-transitory computer readable storage medium comprising instructions, such as a memory 1504 comprising instructions executable by processor 1520 of apparatus 1500 to perform the above method.
  • the non-transitory computer readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device.

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Abstract

一种无人机控制方法和装置，所述方法包括：向基站发送随机接入请求，在与所述基站建立通信连接后，根据遥控设备的标识信息向所述遥控设备发送连接成功信息，接收所述遥控设备通过所述基站发送的控制信号，根据所述控制信号执行操作。无人机随机接入蜂窝网络中的某个基站后，可以向遥控设备的标识信息所对应的遥控设备发送连接成功信息，以使遥控设备能够及时地确定无人机已经与基站建立通信连接，进而可以通过该基站向无人机发送控制信号，以便及时地控制无人机执行相应的操作。

Description

无人机控制方法及装置、无人机和遥控设备 技术领域
本公开涉及无人机技术领域，尤其涉及无人机控制方法、无人机控制装置、无人机、遥控设备和计算机可读存储介质。
背景技术
目前的无人机主要是通过遥控设备进行控制，为了使得无人机能够适用更广泛的场景，正在尝试将无人机应用于蜂窝网络。
但是在无人机应处于蜂窝网络中的情况下，若需要遥控设备通过蜂窝网络控制无人机，则存在一定问题。例如遥控设备无法确定无人机何时接入蜂窝网络，从而无法及时地对无人机进行控制。
发明内容
本公开提供无人机控制方法、无人机控制装置、无人机、遥控设备和计算机可读存储介质，以解决相关技术中的不足。
根据本公开实施例的第一方面，提供一种无人机控制方法，包括：
向基站发送随机接入请求；
在与所述基站建立通信连接后，根据遥控设备的标识信息向所述遥控设备发送连接成功信息；
接收所述遥控设备通过所述基站发送的控制信号；
根据所述控制信号执行操作。
可选地，所述根据遥控设备的标识信息向所述遥控设备发送连接成功信息包括：
向所述基站发送所述遥控设备的标识信息；
若所述遥控设备已与所述基站建立通信连接，通过所述基站向所述遥控设备发送所述连接成功信息。
可选地，所述根据遥控设备的标识信息向所述遥控设备发送连接成功信息还包括：
若所述遥控设备未与所述基站建立通信连接，通过异于通过所述基站的通信方式，向所述遥控设备发送所述连接成功信息。
可选地，所述无人机控制方法还包括：
在接收所述遥控设备通过所述基站发送的控制信号之前，向所述遥控设备发送所述基站的标识信息。
根据本公开实施例的第二方面，提供一种无人机控制方法，包括：
接收无人机发送的与基站建立通信连接的连接成功信息；
根据所述无人机的标识信息向所述无人机发送控制信号，以控制所述无人机执行操作。
可选地，所述接收无人机发送的与基站建立通信连接的连接成功信息包括：
若已与所述基站建立通信连接，通过所述基站接收所述连接成功信息。
可选地，所述接收无人机发送的与基站建立通信连接的连接成功信息包括：
若未与所述基站建立通信连接，通过异于通过所述基站的通信方式，接收所述连接成功信息。
可选地，所述无人机控制方法还包括：
在向所述无人机发送控制信号之前，接收所述无人机发送的所述基站的标识信息；
确定是否处于所述标识信息对应的基站形成的蜂窝网络；
若处于所述蜂窝网络，向所述基站发送连接建立请求。
根据本公开实施例的第三方面，提供一种无人机控制装置，包括：
随机接入模块，被配置为向基站发送随机接入请求；
连接发送模块，被配置为在与所述基站建立通信连接后，根据遥控设备的标识 信息向所述遥控设备发送连接成功信息；
接收模块，被配置为接收所述遥控设备通过所述基站发送的控制信号；
执行模块，被配置为根据所述控制信号执行操作。
可选地，所述连接发送模块包括：
标识发送子模块，被配置为向所述基站发送所述遥控设备的标识信息；
连接发送子模块，被配置为在所述遥控设备已与所述基站建立通信连接的情况下，通过所述基站向所述遥控设备发送所述连接成功信息。
可选地，连接发送子模块还被配置为在所述遥控设备未与所述基站建立通信连接的情况下，通过异于通过所述基站的通信方式，向所述遥控设备发送所述连接成功信息。
可选地，所述无人机控制装置还包括：
标识发送模块，被配置为在接收所述遥控设备通过所述基站发送的控制信号之前，向所述遥控设备发送所述基站的标识信息。
根据本公开实施例的第四方面，提供一种无人机控制装置，包括：
连接接收模块，被配置为接收无人机发送的与基站建立通信连接的连接成功信息；
控制发送模块，被配置为根据所述无人机的标识信息向所述无人机发送控制信号，以控制所述无人机执行操作。
可选地，所述连接接收模块被配置为在已与所述基站建立通信连接的情况下，通过所述基站接收所述连接成功信息。
可选地，所述连接接收模块被配置为在未与所述基站建立通信连接的情况下，通过异于通过所述基站的通信方式，接收所述连接成功信息。
可选地，所述无人机控制装置还包括：
标识接收模块，被配置为在向所述无人机发送控制信号之前，接收所述无人机发送的所述基站的标识信息；
网络确定模块，被配置为确定是否处于所述标识信息对应的基站形成的蜂窝网络；
请求发送模块，被配置为在处于所述蜂窝网络的情况下，向所述基站发送连接建立请求。
根据本公开实施例的第五方面，提供一种无人机，包括：
处理器；
用于存储处理器可执行指令的存储器；
其中，所述处理器被配置为：
向基站发送随机接入请求；
在与所述基站建立通信连接后，根据遥控设备的标识信息向所述遥控设备发送连接成功信息；
接收所述遥控设备通过所述基站发送的控制信号；
根据所述控制信号执行操作。
根据本公开实施例的第六方面，提供一种遥控设备，包括：
处理器；
用于存储处理器可执行指令的存储器；
其中，所述处理器被配置为：
接收无人机发送的与基站建立通信连接的连接成功信息；
根据所述无人机的标识信息向所述无人机发送控制信号，以控制所述无人机执行操作。
根据本公开实施例的第七方面，提供一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现以下步骤：
向基站发送随机接入请求；
在与所述基站建立通信连接后，根据遥控设备的标识信息向所述遥控设备发送连接成功信息；
接收所述遥控设备通过所述基站发送的控制信号；
根据所述控制信号执行操作。
根据本公开实施例的第八方面，提供一种计算机可读存储介质，其上存储有计 算机程序，该程序被处理器执行时实现以下步骤：
接收无人机发送的与基站建立通信连接的连接成功信息；
根据所述无人机的标识信息向所述无人机发送控制信号，以控制所述无人机执行操作。
本公开的实施例提供的技术方案可以包括以下有益效果：
由上述实施例可知，无人机随机接入蜂窝网络中的某个基站后，可以向遥控设备的标识信息所对应的遥控设备发送连接成功信息，以使遥控设备能够及时地确定无人机已经与基站建立通信连接，进而可以通过该基站向无人机发送控制信号，以便及时地控制无人机执行相应的操作。
并且通过蜂窝网络实现遥控设备对无人机的控制，相对于通过其他通信方式，例如wifi、蓝牙等实现遥控设备对无人机的控制，由于蜂窝网络和相应的基站由运营商维护和布置，覆盖范围更广，稳定性更强，使得遥控器可以在更大的距离范围内对无人机进行控制，而且有利于保证遥控器和无人机之间的通信质量。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本公开。
附图说明
为了更清楚地说明本申请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性的前提下，还可以根据这些附图获得其他的附图。
图1是根据一示例性实施例示出的一种无人机控制方法的示意流程图。
图2是根据一示例性实施例示出的另一种无人机控制方法的示意流程图。
图3是根据一示例性实施例示出的又一种无人机控制方法的示意流程图。
图4是根据一示例性实施例示出的又一种无人机控制方法的示意流程图。
图5是根据一示例性实施例示出的一种无人机控制方法的示意流程图。
图6是根据一示例性实施例示出的另一种无人机控制方法的示意流程图。
图7是根据一示例性实施例示出的又一种无人机控制方法的示意流程图。
图8是根据一示例性实施例示出的又一种无人机控制方法的示意流程图。
图9是根据一示例性实施例示出的一种无人机控制方法的具体示意流程图。
图10是根据一示例性实施例示出的一种无人机控制装置的示意框图。
图11是根据一示例性实施例示出的一种连接发送模块的示意框图。
图12是根据一示例性实施例示出的又一种无人机控制装置的示意框图。
图13是根据一示例性实施例示出的一种无人机控制装置的示意框图。
图14是根据一示例性实施例示出的另一种无人机控制装置的示意框图。
图15是根据一示例性实施例示出的一种用于无人机控制的装置的示意框图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本公开相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本公开的一些方面相一致的装置和方法的例子。
图1是根据一示例性实施例示出的一种无人机控制方法的示意流程图。该实施例中的方法可以适用于能够与基站建立通信连接的无人机，其中，本实施例中的基站可以为蜂窝网络中的基站，上述无人机可以是装载了蜂窝网络无人机专用芯片，并通过芯片与基站建立通信连接的无人机，也可以是搭载了终端，并通过终端与基站建立通信连接的无人机。
如图1所示，上述实施例所示的方法包括以下步骤。
在步骤S11中，向基站发送随机接入请求。
在一个实施例中，无人机可以在启动后自动向基站发送随机接入请求，也可以根据接收到的连接指令向基站发送随机接入请求，其中，该连接指令可以由遥控设备通过wifi、蓝牙等通信方式发送至无人机。
在步骤S12中，在与所述基站建立通信连接后，根据遥控设备的标识信息向所 述遥控设备发送连接成功信息。
在一个实施例中，遥控设备的标识信息可以预先存储在无人机中，无人机在与基站建立通信连接后，可以根据遥控设备的标志信息确定遥控设备。
例如可以将遥控设备的标识信息传输至基站，使所述基站根据遥控设备的标识信息确定遥控设备是否与所述基站建立了通信连接，并在遥控设备已与所述基站建立通信连接的情况下，无人机可以接收到基站返回的信息，进而将连接成功信息发送至基站，并由基站将连接成功信息发送至该遥控设备。
而在遥控设备未与所述基站建立通信连接的情况下，则可以通过异于通过基站的通信方式，例如通过wifi、蓝牙等方式将连接成功信息传输至遥控设备。
在步骤S13中，接收所述遥控设备通过所述基站发送的控制信号；
在一个实施例中，遥控设备可以预先存储所述无人机的标识信息，遥控设备在接收到无人机发送的连接成功信息后，可以根据用户在遥控设备上的操作(例如通过推动遥控设备上的摇杆、点击遥控设备上的按钮)来生成控制信号，并将控制信号和无人机的标识信息传输至上述基站，以使该基站根据无人机的标识信息确定无人机，并将控制信号传输至该无人机。
在步骤S14中，根据所述控制信号执行操作。
在一个实施例中，无人机随机接入蜂窝网络中的某个基站后，可以向遥控设备的标识信息所对应的遥控设备发送连接成功信息，以使遥控设备能够及时地确定无人机已经与基站建立通信连接，进而可以通过该基站向无人机发送控制信号，以便及时地控制无人机执行相应的操作。
并且通过蜂窝网络实现遥控设备对无人机的控制，相对于通过其他通信方式，例如wifi、蓝牙等实现遥控设备对无人机的控制，由于蜂窝网络和相应的基站由运营商维护和布置，覆盖范围更广，稳定性更强，使得遥控器可以在更大的距离范围内对无人机进行控制，而且有利于保证遥控器和无人机之间的通信质量。
图2是根据一示例性实施例示出的另一种无人机控制方法的示意流程图。如图2所示，在图1所示实施例的基础上，所述根据遥控设备的标识信息向所述遥控设备发送连接成功信息包括：
在步骤S121中，向所述基站发送所述遥控设备的标识信息；
在步骤S122中，若所述遥控设备已与所述基站建立通信连接，通过所述基站向所述遥控设备发送所述连接成功信息。
在一个实施例中，遥控设备的标识信息可以预先存储在无人机中，无人机在与基站建立通信连接后，可以将遥控设备的标识信息传输至基站，使所述基站根据遥控设备的标识信息确定遥控设备是否与所述基站建立了通信连接，并在遥控设备已与所述基站建立通信连接的情况下，基站可以将连接成功信息发送至该遥控设备。
基于此，在遥控设备已与基站建立通信连接的情况下，通过基站向遥控设备发送连接成功信息。由于基站提供的蜂窝网络由运营商维护，因此相对于其他通信方式，通信质量更好，更有利于将连接成功信息快速地传输至遥控设备。
图3是根据一示例性实施例示出的又一种无人机控制方法的示意流程图。如图3所示，在图2所示实施例的基础上，所述根据遥控设备的标识信息向所述遥控设备发送连接成功信息还包括：
在步骤S123中，若所述遥控设备未与所述基站建立通信连接，通过异于通过所述基站的通信方式，向所述遥控设备发送所述连接成功信息。
在一个实施例中，在遥控设备未与基站建立通信连接的情况下，基站可以向无人机返回信息，根据该信息无人机可以确定遥控设备未与基站建立通信连接，那么可以通过异于通过所述基站的通信方式，例如wifi、蓝牙等通信方式，将连接成功信息传输至遥控设备，以便遥控设备能够及时地确定无人机已与基站建立通信连接。
图4是根据一示例性实施例示出的又一种无人机控制方法的示意流程图。如图4所示，在图1所示实施例的基础上，所述无人机控制方法还包括：
在步骤S15中，在接收所述遥控设备通过所述基站发送的控制信号之前，向所述遥控设备发送所述基站的标识信息。
在一个实施例中，无人机在与蜂窝网络中的某个基站建立通信连接后，可以获取该基站的标识信息，并将该标识信息发送至遥控设备，以便遥控设备能够根据该标识信息查询到该基站，并直接与该基站建立通信连接，而无需通过其他基站间接的与该基站建立连接，以保证遥控设备和无人机之间能够具有更好的通信质量。
例如无人机与A基站建立了通信连接，而遥控设备既位于A基站所形成的蜂窝网络中，也位于B基站所形成蜂窝网络中，遥控设备在接收到无人机发送的A基站的标识信息后，可与A基站建立通信连接，并通过A基站向无人机发送控制信号。
相对于与B基站建立通信连接，并先通过B基站，再通过A基站向无人机发送控制信号，一方面可以减少控制信号所需经过的基站，从而减少蜂窝网络整体的负荷；另一方面可以缩短控制信号的传输时间，保证对无人机控制延迟较低；而且控制信号经过的基站越少，失真越小，因此基于此还可以保证遥控设备和无人机之间能够具有更好的通信质量。
需要说明的是，步骤S15可以与步骤S12并列执行，也可以在步骤S12之后执行，具体执行顺序可以根据需要进行设置。
图5是根据一示例性实施例示出的一种无人机控制方法的示意流程图。该实施例中的方法可以适用于能够与基站建立通信连接的遥控设备，并且该遥控设备可以生成用于控制无人机的控制信号，其中，本实施例中的基站可以为蜂窝网络中的基站，上述无人机可以是装载了蜂窝网络无人机专用芯片，并通过芯片与基站建立通信连接的无人机，也可以是搭载了终端，并通过终端与基站建立通信连接的无人机。
如图5所示，该无人机控制方法包括以下步骤。
在步骤S51中，接收无人机发送的与基站建立通信连接的连接成功信息。
在一个实施例中，遥控设备可以通过基站接收连接成功信息，也可以通过其他通信方式，例如wifi、蓝牙等接收连接成功信息。
在步骤S52中，根据所述无人机的标识信息向所述无人机发送控制信号，以控制所述无人机执行操作。
在一个实施例中，遥控设备在无人机随机接入蜂窝网络中的某个基站后，可以接收无人机发送的连接成功信息，从而及时地确定无人机已经与基站建立通信连接，进而可以通过该基站向无人机发送控制信号，以便及时地控制无人机执行相应的操作。
图6是根据一示例性实施例示出的另一种无人机控制方法的示意流程图。如图6所示，在图5所示实施例的基础上，所述接收无人机发送的与基站建立通信连接的连接成功信息包括：
在步骤S511中，若已与所述基站建立通信连接，通过所述基站接收所述连接成功信息。
在一个实施例中，在遥控设备已与基站建立通信连接的情况下，遥控设备可以通过基站接收无人机发送的连接成功信息。由于基站提供的蜂窝网络由运营商维护， 因此相对于其他通信方式，通信质量更好，更有利于遥控设备稳定地接收无人机连接成功信息。
图7是根据一示例性实施例示出的又一种无人机控制方法的示意流程图。如图7所示，在图5所示实施例的基础上，所述接收无人机发送的与基站建立通信连接的连接成功信息包括：
在步骤S512中，若未与所述基站建立通信连接，通过异于通过所述基站的通信方式，接收所述连接成功信息。
在一个实施例中，若遥控设备未与基站建立通信连接，那么遥控设备可以通过异于通过所述基站的通信方式，例如wifi、蓝牙等通信方式，接收无人机发送的连接成功信息，以便能够及时地确定无人机已与基站建立通信连接。
图8是根据一示例性实施例示出的又一种无人机控制方法的示意流程图。如图8所示，在图5所示实施例的基础上，所述无人机控制方法还包括：
在步骤S53中，在向所述无人机发送控制信号之前，接收所述无人机发送的所述基站的标识信息；
在步骤S54中，确定是否处于所述标识信息对应的基站形成的蜂窝网络；
在步骤S55中，若处于所述蜂窝网络，向所述基站发送连接建立请求。
在一个实施例中，遥控设备在在向无人机发送控制信号之前，可以接收无人机发送的与其建立通信连接的基站的标识信息，以便能够根据该标识信息查询到该基站，并在自身处于该基站所形成的蜂窝网络的情况下，直接与该基站建立通信连接，而无需通过其他基站间接的与该基站建立连接，以保证遥控设备和无人机之间能够具有更好的通信质量。
例如无人机与A基站建立了通信连接，而遥控设备既位于A基站所形成的蜂窝网络中，也位于B基站所形成蜂窝网络中，遥控设备在接收到无人机发送的A基站的标识信息后，可与A基站建立通信连接，并通过A基站向无人机发送控制信号。
相对于与B基站建立通信连接，并先通过B基站，再通过A基站向无人机发送控制信号，一方面可以减少控制信号所需经过的基站，从而减少蜂窝网络整体的负荷；另一方面可以缩短控制信号的传输时间，保证对无人机控制延迟较低；而且控制信号经过的基站越少，失真越小，因此基于此还可以保证遥控设备和无人机之间能够 具有更好的通信质量。
需要说明的是，步骤S53可以与步骤S51并列执行，也可以在步骤S51之后执行，具体执行顺序可以根据需要进行设置。
图9是根据一示例性实施例示出的一种无人机控制方法的具体示意流程图。基于图1至图4所示的任一适用于无人机的实施例，以及图5至图8所示的任一适用于遥控设备的实施例，遥控设备通过基站控制无人机的流程如图9所示。
无人机和遥控设备可以预先交换各自的标识信息，以使无人机预先存储遥控设备的标识信息，遥控设备预先存储无人机的标识信息。遥控设备和无人机可以分别与基站建立通信连接，其中，遥控设备和无人机与基站建立通信连接的顺序可以根据需要进行调整，无人机在于基站建立通信连接后，可以将连接成功信息发送至遥控设备，以使遥控设备确定无人机已与基站建立通信连接，进而向基站发送用于控制无人机的控制信号，并由基站将该控制信号传输至无人机，以控制无人机执行操作。
与前述的无人机控制方法的实施例相对应，本公开还提供了无人机控制装置的实施例。
图10是根据一示例性实施例示出的一种无人机控制装置的示意框图。如图10所示，该无人机控制装置，包括：
随机接入模块11，被配置为向基站发送随机接入请求；
连接发送模块12，被配置为在与所述基站建立通信连接后，根据遥控设备的标识信息向所述遥控设备发送连接成功信息；
接收模块13，被配置为接收所述遥控设备通过所述基站发送的控制信号；
执行模块14，被配置为根据所述控制信号执行操作。
图11是根据一示例性实施例示出的一种连接发送模块的示意框图。如图11所示，在图10所示实施例的基础上，所述连接发送模块12包括：
标识发送子模块121，被配置为向所述基站发送所述遥控设备的标识信息；
连接发送子模块122，被配置为在所述遥控设备已与所述基站建立通信连接的情况下，通过所述基站向所述遥控设备发送所述连接成功信息。
可选地，连接发送子模块还被配置为在所述遥控设备未与所述基站建立通信连接的情况下，通过异于通过所述基站的通信方式，向所述遥控设备发送所述连接成功 信息。
图12是根据一示例性实施例示出的又一种无人机控制装置的示意框图。如图12所示，在图10所示实施例的基础上，无人机控制装置还包括：
标识发送模块15，被配置为在接收所述遥控设备通过所述基站发送的控制信号之前，向所述遥控设备发送所述基站的标识信息。
图13是根据一示例性实施例示出的一种无人机控制装置的示意框图。如图13所示，无人机控制装置包括：
连接接收模块131，被配置为接收无人机发送的与基站建立通信连接的连接成功信息；
控制发送模块132，被配置为根据所述无人机的标识信息向所述无人机发送控制信号，以控制所述无人机执行操作。
可选地，所述连接接收模块被配置为在已与所述基站建立通信连接的情况下，通过所述基站接收所述连接成功信息。
可选地，所述连接接收模块被配置为在未与所述基站建立通信连接的情况下，通过异于通过所述基站的通信方式，接收所述连接成功信息。
图14是根据一示例性实施例示出的另一种无人机控制装置的示意框图。如图14所示，在图13所示实施例的基础上，无人机控制装置还包括：
标识接收模块133，被配置为在向所述无人机发送控制信号之前，接收所述无人机发送的所述基站的标识信息；
网络确定模块134，被配置为确定是否处于所述标识信息对应的基站形成的蜂窝网络；
请求发送模块135，被配置为在处于所述蜂窝网络的情况下，向所述基站发送连接建立请求。
关于上述实施例中的装置，其中各个模块执行操作的具体方式已经在相关方法的实施例中进行了详细描述，此处将不做详细阐述说明。
对于装置实施例而言，由于其基本对应于方法实施例，所以相关之处参见方法实施例的部分说明即可。以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的模块可以是或者也可以不是物理上分开的，作为模块显示的部件可以是 或者也可以不是物理模块，即可以位于一个地方，或者也可以分布到多个网络模块上。可以根据实际的需要选择其中的部分或者全部模块来实现本公开方案的目的。本领域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。
本公开还提出了一种无人机，包括：
处理器；
用于存储处理器可执行指令的存储器；
其中，所述处理器被配置为：
向基站发送随机接入请求；
在与所述基站建立通信连接后，根据遥控设备的标识信息向所述遥控设备发送连接成功信息；
接收所述遥控设备通过所述基站发送的控制信号；
根据所述控制信号执行操作。
本公开还提出了一种遥控设备，包括：
处理器；
用于存储处理器可执行指令的存储器；
其中，所述处理器被配置为：
接收无人机发送的与基站建立通信连接的连接成功信息；
根据所述无人机的标识信息向所述无人机发送控制信号，以控制所述无人机执行操作。
本公开还提出了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现以下步骤：
向基站发送随机接入请求；
在与所述基站建立通信连接后，根据遥控设备的标识信息向所述遥控设备发送连接成功信息；
接收所述遥控设备通过所述基站发送的控制信号；
根据所述控制信号执行操作。
本公开还提出了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现以下步骤：
接收无人机发送的与基站建立通信连接的连接成功信息；
根据所述无人机的标识信息向所述无人机发送控制信号，以控制所述无人机执行操作。
图15是根据一示例性实施例示出的一种用于无人机控制的装置1500的示意框图。例如，装置1500可以是移动电话，计算机，数字广播终端，消息收发设备，游戏控制台，平板设备，医疗设备，健身设备，个人数字助理等。
参照图15，装置1500可以包括以下一个或多个组件：处理组件1502，存储器1504，电源组件1506，多媒体组件1508，音频组件1510，输入/输出(I/O)的接口1512，传感器组件1514，以及通信组件1516。
处理组件1502通常控制装置1500的整体操作，诸如与显示，电话呼叫，数据通信，相机操作和记录操作相关联的操作。处理组件1502可以包括一个或多个处理器1520来执行指令，以完成上述的方法的全部或部分步骤。此外，处理组件1502可以包括一个或多个模块，便于处理组件1502和其他组件之间的交互。例如，处理组件1502可以包括多媒体模块，以方便多媒体组件1508和处理组件1502之间的交互。
存储器1504被配置为存储各种类型的数据以支持在装置1500的操作。这些数据的示例包括用于在装置1500上操作的任何应用程序或方法的指令，联系人数据，电话簿数据，消息，图片，视频等。存储器1504可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器(SRAM)，电可擦除可编程只读存储器(EEPROM)，可擦除可编程只读存储器(EPROM)，可编程只读存储器(PROM)，只读存储器(ROM)，磁存储器，快闪存储器，磁盘或光盘。
电源组件1506为装置1500的各种组件提供电力。电源组件1506可以包括电源管理系统，一个或多个电源，及其他与为装置1500生成、管理和分配电力相关联的组件。
多媒体组件1508包括在所述装置1500和用户之间的提供一个输出接口的屏幕。在一些实施例中，屏幕可以包括液晶显示器(LCD)和触摸面板(TP)。如果屏幕包括触摸面板，屏幕可以被实现为触摸屏，以接收来自用户的输入信号。触摸面板包括一个或多个触摸传感器以感测触摸、滑动和触摸面板上的手势。所述触摸传感器 可以不仅感测触摸或滑动动作的边界，而且还检测与所述触摸或滑动操作相关的持续时间和压力。在一些实施例中，多媒体组件1508包括一个前置摄像头和/或后置摄像头。当装置1500处于操作模式，如拍摄模式或视频模式时，前置摄像头和/或后置摄像头可以接收外部的多媒体数据。每个前置摄像头和后置摄像头可以是一个固定的光学透镜系统或具有焦距和光学变焦能力。
音频组件1510被配置为输出和/或输入音频信号。例如，音频组件1510包括一个麦克风(MIC)，当装置1500处于操作模式，如呼叫模式、记录模式和语音识别模式时，麦克风被配置为接收外部音频信号。所接收的音频信号可以被进一步存储在存储器1504或经由通信组件1516发送。在一些实施例中，音频组件1510还包括一个扬声器，用于输出音频信号。
I/O接口1512为处理组件1502和外围接口模块之间提供接口，上述外围接口模块可以是键盘，点击轮，按钮等。这些按钮可包括但不限于：主页按钮、音量按钮、启动按钮和锁定按钮。
传感器组件1514包括一个或多个传感器，用于为装置1500提供各个方面的状态评估。例如，传感器组件1514可以检测到装置1500的打开/关闭状态，组件的相对定位，例如所述组件为装置1500的显示器和小键盘，传感器组件1514还可以检测装置1500或装置1500一个组件的位置改变，用户与装置1500接触的存在或不存在，装置1500方位或加速/减速和装置1500的温度变化。传感器组件1514可以包括接近传感器，被配置用来在没有任何的物理接触时检测附近物体的存在。传感器组件1514还可以包括光传感器，如CMOS或CCD图像传感器，用于在成像应用中使用。在一些实施例中，该传感器组件1514还可以包括加速度传感器，陀螺仪传感器，磁传感器，压力传感器或温度传感器。
通信组件1516被配置为便于装置1500和其他设备之间有线或无线方式的通信。装置1500可以接入基于通信标准的无线网络，如WiFi，2G或3G，或它们的组合。在一个示例性实施例中，通信组件1516经由广播信道接收来自外部广播管理系统的广播信号或广播相关信息。在一个示例性实施例中，所述通信组件1516还包括近场通信(NFC)模块，以促进短程通信。例如，在NFC模块可基于射频识别(RFID)技术，红外数据协会(IrDA)技术，超宽带(UWB)技术，蓝牙(BT)技术和其他技术来实现。
在示例性实施例中，装置1500可以被一个或多个应用专用集成电路(ASIC)、 数字信号处理器(DSP)、数字信号处理设备(DSPD)、可编程逻辑器件(PLD)、现场可编程门阵列(FPGA)、遥控设备、微遥控设备、微处理器或其他电子元件实现，用于执行上述方法。
在示例性实施例中，还提供了一种包括指令的非临时性计算机可读存储介质，例如包括指令的存储器1504，上述指令可由装置1500的处理器1520执行以完成上述方法。例如，所述非临时性计算机可读存储介质可以是ROM、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光数据存储设备等。
本领域技术人员在考虑说明书及实践这里公开的公开后，将容易想到本公开的其它实施方案。本申请旨在涵盖本公开的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本公开的一般性原理并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本公开的真正范围和精神由下面的权利要求指出。
应当理解的是，本公开并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本公开的范围仅由所附的权利要求来限制。

Claims (20)

  1. 一种无人机控制方法，其特征在于，包括：
    向基站发送随机接入请求；
    在与所述基站建立通信连接后，根据遥控设备的标识信息向所述遥控设备发送连接成功信息；
    接收所述遥控设备通过所述基站发送的控制信号；
    根据所述控制信号执行操作。
  2. 根据权利要求1所述的方法，其特征在于，所述根据遥控设备的标识信息向所述遥控设备发送连接成功信息包括：
    向所述基站发送所述遥控设备的标识信息；
    若所述遥控设备已与所述基站建立通信连接，通过所述基站向所述遥控设备发送所述连接成功信息。
  3. 根据权利要求2所述的方法，其特征在于，所述根据遥控设备的标识信息向所述遥控设备发送连接成功信息还包括：
    若所述遥控设备未与所述基站建立通信连接，通过异于通过所述基站的通信方式，向所述遥控设备发送所述连接成功信息。
  4. 根据权利要求1至3中任一项所述的方法，其特征在于，还包括：
    在接收所述遥控设备通过所述基站发送的控制信号之前，向所述遥控设备发送所述基站的标识信息。
  5. 一种无人机控制方法，其特征在于，包括：
    接收无人机发送的与基站建立通信连接的连接成功信息；
    根据所述无人机的标识信息向所述无人机发送控制信号，以控制所述无人机执行操作。
  6. 根据权利要求5所述的方法，其特征在于，所述接收无人机发送的与基站建立通信连接的连接成功信息包括：
    若已与所述基站建立通信连接，通过所述基站接收所述连接成功信息。
  7. 根据权利要求5所述的方法，其特征在于，所述接收无人机发送的与基站建立通信连接的连接成功信息包括：
    若未与所述基站建立通信连接，通过异于通过所述基站的通信方式，接收所述连接成功信息。
  8. 根据权利要求5至7中任一项所述的方法，其特征在于，还包括：
    在向所述无人机发送控制信号之前，接收所述无人机发送的所述基站的标识信息；
    确定是否处于所述标识信息对应的基站形成的蜂窝网络；
    若处于所述蜂窝网络，向所述基站发送连接建立请求。
  9. 一种无人机控制装置，其特征在于，包括：
    随机接入模块，被配置为向基站发送随机接入请求；
    连接发送模块，被配置为在与所述基站建立通信连接后，根据遥控设备的标识信息向所述遥控设备发送连接成功信息；
    接收模块，被配置为接收所述遥控设备通过所述基站发送的控制信号；
    执行模块，被配置为根据所述控制信号执行操作。
  10. 根据权利要求1所述的装置，其特征在于，所述连接发送模块包括：
    标识发送子模块，被配置为向所述基站发送所述遥控设备的标识信息；
    连接发送子模块，被配置为在所述遥控设备已与所述基站建立通信连接的情况下，通过所述基站向所述遥控设备发送所述连接成功信息。
  11. 根据权利要求10所述的装置，其特征在于，连接发送子模块还被配置为在所述遥控设备未与所述基站建立通信连接的情况下，通过异于通过所述基站的通信方式，向所述遥控设备发送所述连接成功信息。
  12. 根据权利要求9至11中任一项所述的装置，其特征在于，还包括：
    标识发送模块，被配置为在接收所述遥控设备通过所述基站发送的控制信号之前，向所述遥控设备发送所述基站的标识信息。
  13. 一种无人机控制装置，其特征在于，包括：
    连接接收模块，被配置为接收无人机发送的与基站建立通信连接的连接成功信息；
    控制发送模块，被配置为根据所述无人机的标识信息向所述无人机发送控制信号，以控制所述无人机执行操作。
  14. 根据权利要求13所述的装置，其特征在于，所述连接接收模块被配置为在已与所述基站建立通信连接的情况下，通过所述基站接收所述连接成功信息。
  15. 根据权利要求13所述的装置，其特征在于，所述连接接收模块被配置为在未与所述基站建立通信连接的情况下，通过异于通过所述基站的通信方式，接收所述连接成功信息。
  16. 根据权利要求13至15中任一项所述的装置，其特征在于，还包括：
    标识接收模块，被配置为在向所述无人机发送控制信号之前，接收所述无人机发送的所述基站的标识信息；
    网络确定模块，被配置为确定是否处于所述标识信息对应的基站形成的蜂窝网络；
    请求发送模块，被配置为在处于所述蜂窝网络的情况下，向所述基站发送连接建立请求。
  17. 一种无人机，其特征在于，包括：
    处理器；
    用于存储处理器可执行指令的存储器；
    其中，所述处理器被配置为：
    向基站发送随机接入请求；
    在与所述基站建立通信连接后，根据遥控设备的标识信息向所述遥控设备发送连接成功信息；
    接收所述遥控设备通过所述基站发送的控制信号；
    根据所述控制信号执行操作。
  18. 一种遥控设备，其特征在于，包括：
    处理器；
    用于存储处理器可执行指令的存储器；
    其中，所述处理器被配置为：
    接收无人机发送的与基站建立通信连接的连接成功信息；
    根据所述无人机的标识信息向所述无人机发送控制信号，以控制所述无人机执行操作。
  19. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现以下步骤：
    向基站发送随机接入请求；
    在与所述基站建立通信连接后，根据遥控设备的标识信息向所述遥控设备发送连接成功信息；
    接收所述遥控设备通过所述基站发送的控制信号；
    根据所述控制信号执行操作。
  20. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现以下步骤：
    接收无人机发送的与基站建立通信连接的连接成功信息；
    根据所述无人机的标识信息向所述无人机发送控制信号，以控制所述无人机执行操作。
PCT/CN2017/095863 2017-08-03 2017-08-03 无人机控制方法及装置、无人机和遥控设备 Ceased WO2019024053A1 (zh)

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