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WO2019169880A1 - Procédé de communication de véhicule aérien sans pilote, terminal de commande et système de commande de véhicule aérien sans pilote - Google Patents

Procédé de communication de véhicule aérien sans pilote, terminal de commande et système de commande de véhicule aérien sans pilote Download PDF

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Publication number
WO2019169880A1
WO2019169880A1 PCT/CN2018/112875 CN2018112875W WO2019169880A1 WO 2019169880 A1 WO2019169880 A1 WO 2019169880A1 CN 2018112875 W CN2018112875 W CN 2018112875W WO 2019169880 A1 WO2019169880 A1 WO 2019169880A1
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WIPO (PCT)
Prior art keywords
drone
control terminal
control
wireless communication
network device
Prior art date
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Ceased
Application number
PCT/CN2018/112875
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English (en)
Chinese (zh)
Inventor
庞海波
刘洪�
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Autel Robotics Co Ltd
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Autel Robotics Co Ltd
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Filing date
Publication date
Application filed by Autel Robotics Co Ltd filed Critical Autel Robotics Co Ltd
Publication of WO2019169880A1 publication Critical patent/WO2019169880A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • 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

Definitions

  • Embodiments of the present invention relate to communication technologies, and in particular, to a UAV communication method, a control terminal, and a UAV control system.
  • drones With the rapid development of drone technology, the application fields of drones are becoming more and more extensive.
  • the use of drones has expanded from self-portrait photography of ordinary enthusiasts to professional fields such as traffic, public security patrols, and power line inspections. Automated operations in these areas have significantly reduced the cost of manpower input in these areas and increased the efficiency of these areas.
  • the user can remotely control the drone through the control terminal. Specifically, communication is performed between the control terminal and the drone to control the drone.
  • the communication between the control terminal and the drone can be based on different communication protocols.
  • communication may be performed through a proprietary protocol based on the Industrial Scientific Medical (ISM) band, or may be based on a Bluetooth protocol, or may be based on a Wireless Fidelity (WIFI) protocol.
  • ISM Industrial Scientific Medical
  • WIFI Wireless Fidelity
  • the existing UAV communication has problems such as short transmission distance, small transmission bandwidth, and low transmission rate, and it is difficult to meet the requirements of the operation of the UAV in some professional fields.
  • the embodiment of the invention provides a UAV communication method, a control terminal and a UAV control system, which are used to solve the problems of short transmission distance, small transmission bandwidth and low transmission rate of the UAV communication in the prior art.
  • a first aspect of an embodiment of the present invention provides a UAV communication method, which is applied to a control terminal in a UAV control system, where the UAV control system includes the control terminal, at least one UAV, and a wireless communication network.
  • the device and the control center, the control terminal and the drone respectively comprise a communication module, wherein the control terminal and the drone are respectively connected to the wireless communication network device, the control center and the wireless Communication network device communication connection;
  • the method includes:
  • the control terminal acquires information of the drone
  • the control terminal determines a target drone in the drone
  • the control terminal communicates with the target drone through the communication module in the control terminal and the wireless communication network device to control the target drone.
  • control terminal communicates with the target drone through the communication module in the control terminal and the wireless communication network device to control the target drone, including:
  • the control terminal sends a drone control command to the wireless communication network device through a communication module in the control terminal, so that the wireless communication network device sends the drone control command to the target unmanned And performing, by the target drone, flight and control operations in accordance with the drone control command.
  • control terminal determines the target drone in the drone, including:
  • the control terminal displays information of the drone, wherein the information of the drone includes location, coverage, and information of the onboard device;
  • the control terminal receives selection information input by the user according to the displayed information of the drone;
  • the control terminal determines the target drone based on the selection information.
  • control terminal determines the target drone according to the selection information, including:
  • the control terminal acquires an identifier of the drone selected by the user according to the selection information
  • the control terminal sends an authorization request to the control center, where the authorization request includes an identifier of the drone;
  • the control terminal After receiving the authorization response of the control center, the control terminal determines that the drone selected by the user is the target drone.
  • control terminal acquires information of the drone, including:
  • the control terminal acquires information of the drone from the control center.
  • the wireless communication network device is a 5G base station.
  • the communication module in the control terminal and the communication module in the drone are respectively a wireless communication module.
  • the wireless communication module is a 5G communication module.
  • the communication module in the control terminal is a wired communication module.
  • control terminal is in communication connection with the wireless communication network device, and includes:
  • the control terminal is connected to the Internet through the wired communication module, and is communicably connected to the wireless communication network device via the Internet.
  • control terminal communicates with the control center by using a communication module on the control terminal and the wireless communication network device, and the drone passes the communication module on the drone and the wireless communication
  • the network device communicates with the control center.
  • a second aspect of the embodiments of the present invention provides a control terminal, where the control terminal is a control terminal in a UAV control system, and the UAV control system includes the control terminal, at least one UAV, and a wireless communication network.
  • the device and the control center, the control terminal and the drone respectively comprise a communication module, wherein the control terminal and the drone are respectively connected to the wireless communication network device, the control center and the wireless Communication network device communication connection;
  • the control terminal includes:
  • a processing module configured to communicate with the target drone through the communication module in the control terminal and the wireless communication network device to control the target drone.
  • processing module is specifically configured to:
  • the determining module includes:
  • a display unit configured to display information of the drone, wherein the information of the drone includes location, coverage, and information of the onboard device;
  • a receiving unit configured to receive selection information input by the user according to the displayed information of the drone
  • a determining unit configured to determine the target drone based on the selection information.
  • the determining unit is specifically configured to:
  • the obtaining module is specifically configured to:
  • the information of the drone is obtained from the control center.
  • the wireless communication network device is a 5G base station.
  • the communication module in the control terminal and the communication module in the drone are respectively a wireless communication module.
  • the wireless communication module is a 5G communication module.
  • the communication module in the control terminal is a wired communication module.
  • control terminal is in communication connection with the wireless communication network device, and includes:
  • the control terminal is connected to the Internet through the wired communication module, and is communicably connected to the wireless communication network device via the Internet.
  • control terminal communicates with the control center by using a communication module on the control terminal and the wireless communication network device, and the drone passes the communication module on the drone and the wireless communication
  • the network device communicates with the control center.
  • a third aspect of the embodiments of the present invention provides a control terminal, including:
  • a memory for storing program instructions
  • a processor for invoking and executing program instructions in the memory to perform the method steps of the first aspect above.
  • a fourth aspect of the embodiments of the present invention provides a readable storage medium, where the readable storage medium stores a computer program, and when at least one processor of the control terminal executes the computer program, the control terminal executes the first aspect The method described.
  • a fifth aspect of the embodiments of the present invention provides a UAV control system, where the UAV control system includes the control terminal, the at least one UAV, the at least one wireless communication network device, and the control center. And the control terminal and the drone respectively comprise a communication module, wherein the control terminal and the drone are respectively connected to the wireless communication network device, and the control center communicates with the wireless communication network device connection.
  • the UAV communication method, the control terminal and the UAV control system provided by the embodiments of the present invention the control terminal and the UAV respectively communicate with the wireless communication network device, that is, the communication between the control terminal and the UAV is wireless.
  • the communication network device performs the transfer. Since the wireless communication network device is located in the mobile communication network, it can meet the requirements of the drone communication in terms of the transmission distance, the transmission bandwidth, and the transmission rate.
  • the control terminal can also realize control of one of the drone control systems by interacting with the control center.
  • the communication between the drone and the control center can also be transited via the wireless communication network device, that is, the direct communication between the drone and the control center through the wireless communication network device is realized, and in the prior art, no one The device needs to send the information to the control terminal first, and then the control terminal parses and sends the information to the control center. Therefore, compared with the prior art, the present embodiment realizes the direct communication between the drone and the control center, thereby improving the direct communication. The efficiency of communication.
  • FIG. 1 is a system architecture diagram of a communication method of a drone according to an embodiment of the present invention
  • FIG. 2 is a schematic flowchart of an embodiment of a communication method of a drone according to an embodiment of the present invention
  • FIG. 3 is a schematic flowchart of an embodiment of a communication method of a drone according to an embodiment of the present invention
  • FIG. 4 is a schematic flowchart of an embodiment of a communication method of a drone according to an embodiment of the present invention
  • FIG. 5 is a schematic structural diagram of a control terminal according to an embodiment of the present disclosure.
  • FIG. 6 is a structural diagram of a module of a control terminal according to an embodiment of the present invention.
  • FIG. 7 is a physical block diagram of a control terminal according to an embodiment of the present invention.
  • the existing UAV communication has problems of short transmission distance, small transmission bandwidth, and low transmission rate.
  • the UAV communication based on the ISM band has a problem that the communication distance is too short, and in the case of obstacle obstruction, This problem is particularly acute.
  • the UAV communication based on the Bluetooth technology has a problem that the transmission bandwidth is too small to satisfy the large data stream transmission.
  • many professional fields require drones to achieve long-distance, high-speed, and large-bandwidth transmission. Therefore, the existing UAV communication cannot meet the drones in some professional fields. Requirements at the time of operation.
  • the existing unmanned aerial vehicle network if there are multiple unmanned aerial vehicles at the same time, it is impossible to perform separate control on a specific drone in the networking.
  • the technical solution of the embodiment of the present invention aims to solve the above problem.
  • FIG. 1 is a system architecture diagram of a UAV communication method according to an embodiment of the present invention. As shown in FIG. 1, the method is applied to a UAV control system, where the UAV control system includes a control terminal and at least one Human machine, at least one wireless communication network device, and a control center.
  • the control terminal is specifically a ground control terminal operable by a user, and the control terminal may be a remote controller, a mobile phone, a tablet computer, a desktop computer, a notebook computer, or a wearable device.
  • the wireless communication network device is specifically a device in a mobile communication network, for example, may be a base station, and one or more drones exist in the coverage of the mobile communication network of each base station.
  • the control center is specifically a remote control center for uniformly monitoring each drone in the drone control system. Onboard aircraft can be equipped with onboard equipment.
  • the control terminal and the drone respectively include a communication module, and the control terminal and the drone are respectively connected to the wireless communication network device. That is, in the embodiment of the present invention, the control terminal and the drone no longer communicate directly, but communicate with the wireless communication network device respectively, and the wireless communication network device performs communication relay between the control terminal and the drone. .
  • the communication between the control terminal and the control center can also be relayed via the wireless communication network device, and the communication between the drone and the control center can also be relayed via the wireless communication network device.
  • control terminal communicates with the control center by controlling the communication module on the terminal and the wireless communication network device
  • the drone communicates with the control center through the communication module on the drone and the wireless communication network device.
  • the foregoing wireless communication network device may be specifically a 5G base station.
  • 5G mobile communication networks Compared with existing mobile communication networks, 5G mobile communication networks have the characteristics of large bandwidth, high transmission rate and low delay. Therefore, 5G is passed between the UAV and the control terminal, and between the UAV and the control center.
  • the communication of the 5G base station in the mobile communication network can greatly improve the transmission distance, the transmission bandwidth, and the transmission rate.
  • the communication module in the drone is a wireless communication module, and specifically may be a 5G communication module.
  • the communication module thereon may be a wireless communication module or a wired communication module.
  • the wireless communication module on the control terminal is a wireless communication module
  • the wireless communication module on the control terminal can be, for example, a 5G communication module
  • the control terminal communicates with the wireless communication network device through the 5G communication module, by the wireless communication network.
  • the device performs control of the terminal and the drone, and/or controls the data transfer between the terminal and the control center.
  • control terminal can be connected to the Internet through the wired communication module, and then communicated with the wireless communication network device through the Internet.
  • FIG. 2 is a schematic flowchart of an embodiment of a communication method of a drone according to an embodiment of the present invention.
  • the execution body of the method is the control terminal. As shown in FIG. 2, the method includes:
  • the control terminal acquires information about the drone.
  • the information of the drone may include the location of the drone, the coverage, the information of the onboard device, and the like.
  • the information of the onboard device includes the type, name, and available status of the onboard device.
  • the control terminal acquires information of the drone from the control center.
  • the user terminal can be provided on the control terminal. After the user logs in to the operation interface, the control terminal can be triggered to communicate with the control center. Specifically, the control terminal may send a request for acquiring the drone information to the control center, and after receiving the request, the control center acquires information about all the drones in the current system, and the drones of the drones are The information is sent to the control terminal.
  • each drone and onboard device in the system has available status information, and the available status includes available and unavailable. If the available status of the drone or onboard equipment is available, the drone or onboard equipment can be controlled normally by the control terminal; if the available status of the drone or onboard equipment is not available, then no one is available The machine or onboard equipment may not be controlled by the control terminal because it has been occupied or malfunctioned.
  • the control center sends the information of all the drones to the control terminal, and the control terminal identifies the available status of the drone or the onboard device through different colors or information.
  • the control terminal can also obtain the information of the drone directly from the drone.
  • the control terminal determines the target drone in the drone.
  • the above-mentioned target drone is a drone that can be controlled by the control terminal.
  • the target drone After the control terminal acquires the information of the drone from the control center, the target drone can be determined according to the user's selection.
  • the control terminal communicates with the target drone by controlling the communication module in the terminal and the wireless communication network device to control the target drone.
  • the control terminal communicates with the wireless communication network device based on the internal communication module, and realizes communication with the target drone through the relay of the wireless communication network device, thereby controlling the target drone according to the control terminal. Instructions for doing the job.
  • control terminal and the drone communicate with the wireless communication network device respectively, that is, the communication between the control terminal and the drone is transited through the wireless communication network device, because the wireless communication network device is located in the mobile communication network, Therefore, it can meet the requirements of drone communication in terms of transmission distance, transmission bandwidth and transmission rate.
  • control terminal can also realize control of one of the drone control systems by interacting with the control center.
  • the communication between the UAV and the control center can also be transited via the wireless communication network device, that is, the direct communication between the UAV and the control center through the wireless communication network device is realized, and the existing In the technology, the drone needs to send the information to the control terminal first, and then the control terminal parses the information and sends it to the control center. Therefore, the present embodiment implements the between the drone and the control center compared to the prior art. Direct communication improves the efficiency of communication.
  • step S203 may specifically be:
  • the control terminal sends a drone control command to the wireless communication network device by using the communication module in the control terminal, so that the wireless communication network device sends the drone control command to the target drone, and the target drone according to the The drone control commands perform flight and control operations.
  • the control terminal determines the target drone, the target is not When the man-machine sends the drone control command, the drone control command is first sent to the wireless communication network device, and then sent to the drone by the wireless communication network device. Since the wireless communication network device is a device in the communication network, even if the flight speed, the height of the target drone, and the distance of the distance control terminal are greatly changed, the control terminal does not affect the control of the drone, It can guarantee the transmission distance, transmission bandwidth and transmission rate.
  • the drone control command sent by the control terminal may specifically be a flight control command of the drone, a cruise or fixed point setting command of the drone, a return setting instruction of the drone, and a load device for the drone. Operation control instructions, etc.
  • the drone needs to report flight data information, such as cruise track information, flight status information, etc., to the control center, so that the control center monitors the state of the drone.
  • flight data information such as cruise track information, flight status information, etc.
  • the UAV when the UAV reports the flight data information to the control center, the UAV first transmits the flight data information to the wireless communication network device, and then the wireless communication network device sends the information to the control center.
  • the wireless communication network device is a device in the communication network, even if the flight speed, the height of the target drone, and the distance of the distance control terminal are greatly changed, the flight data information reported by the drone can be ensured to be fast. , sent to the control center in its entirety.
  • the embodiment relates to a specific process of controlling a terminal to determine a target drone in the drone.
  • FIG. 3 is a schematic flowchart of a method for communicating a drone according to an embodiment of the present invention. As shown in FIG. 3, a specific method of the foregoing step S202 is:
  • the control terminal displays information of the drone, wherein the information of the drone includes location, coverage, information of the onboard device, and the like.
  • the control terminal receives the selection information input by the user according to the displayed information of the drone.
  • the control terminal determines the target drone according to the selection information.
  • the operation terminal is provided on the control terminal. After the user logs in to the operation client, the control terminal is triggered to request the control center to request the information of the drone in the network.
  • control terminal sends a request message to the control center, where the request message is used to request information about the drone in the network, including location, coverage, and status information of the onboard device.
  • the control center After receiving the request message, the control center sends the information of the drone in the network to the control terminal, and the control terminal displays the status information of the drone or the onboard device.
  • control terminal may display the information of the drone in the form of a list, or display the information of the drone in a graphical manner. Specifically, the control terminal may display the map on the operation client and display each The status information of the drone and the coverage on the map, as well as the status information of the effective onboard equipment on the drone.
  • the user makes a selection based on the display information.
  • the control terminal graphically displays the information of the drone. After the user views the information of the drone by clicking the operation, the user can input the selection information by double-clicking, clicking the confirmation button, etc., so that the control terminal acquires the user. Selection information.
  • the target drone is determined based on the user's selection information.
  • control terminal can display the information of each drone in the unmanned aerials network to the user, so that the user can use the unmanned aerial vehicle network to conveniently obtain the information of each drone from the control terminal, thereby The user can conveniently use the nearby drone to conduct inspections.
  • the embodiment relates to a specific method for the control terminal to determine the target drone according to the user's selection information.
  • FIG. 4 is a schematic flowchart of an embodiment of a method for communicating a drone according to an embodiment of the present invention. As shown in FIG. 4, a specific method of the foregoing step S303 is:
  • the control terminal acquires an identifier of the drone selected by the user according to the selection information.
  • the control terminal graphically displays the information of the drone. After the user views the information of the drone by clicking the operation, the selection information can be input by double clicking, clicking the confirmation button, and the like.
  • the selection information is specifically an icon selected by the user. Further, the control terminal determines the identifier of the drone corresponding to the icon, and can obtain the identifier of the drone selected by the user.
  • the control terminal sends an authorization request to the control center, where the authorization request includes an identifier of the drone.
  • the control terminal When the user wants to control a drone, he or she needs to be authorized by the control center.
  • the control terminal After the control terminal acquires the identifier of the drone selected by the user, it sends an authorization request to the control center to apply for control of the drone for the user.
  • the authorization request may also include an identifier of a user who logs in to the operation client.
  • the control terminal After receiving the authorization response of the control center, the control terminal determines that the drone selected by the user is the target drone.
  • the control center After receiving the authorization request, the control center confirms the user and the drone selected by the user to confirm whether the user is allowed to control the drone, and if the permission is confirmed, send an authorization response to the control terminal, the authorization The response is used to notify the control terminal that the drone selected by the user can be controlled.
  • control terminal When the control terminal receives the authorization response, it can determine that the drone selected by the user is the target drone. Furthermore, the control terminal can send a drone control command to the target drone to control the flight and control operations of the target drone.
  • the control terminal applies for authorization of the drone for the user, so that the user can quickly obtain the authorization, improve the authorization efficiency, and improve the user experience.
  • FIG. 5 is a block diagram of a control terminal according to an embodiment of the present invention.
  • the control terminal is a control terminal in a UAV control system, and the UAV control system includes the control terminal, at least one UAV, a wireless communication network device and a control center, wherein the control terminal and the drone respectively comprise a communication module, wherein the control terminal and the drone are respectively connected to the wireless communication network device, and the control center and the control center
  • the wireless communication network device is in communication connection.
  • control terminal includes:
  • the obtaining module 501 is configured to acquire information of the drone.
  • the determining module 502 is configured to determine a target drone in the drone.
  • the processing module 503 is configured to communicate with the target drone through the communication module in the control terminal and the wireless communication network device to control the target drone.
  • control terminal is used to implement the foregoing method embodiments, and the implementation principle and technical effects are similar, and details are not described herein again.
  • processing module 503 is specifically configured to:
  • FIG. 6 is a block diagram of a control terminal according to an embodiment of the present invention. As shown in Figure 6, the determining module 502 includes:
  • the display unit 5021 is configured to display information about the drone, wherein the information of the drone includes location, coverage, and information of the onboard device.
  • the receiving unit 5022 is configured to receive selection information input by the user according to the displayed information of the drone.
  • the determining unit 5023 is configured to determine the target drone according to the selection information.
  • the determining unit 5023 is specifically configured to:
  • the obtaining module 501 is specifically configured to:
  • the wireless communication network device is a 5G base station.
  • the communication module in the control terminal and the communication module in the drone are respectively a wireless communication module.
  • the wireless communication module is a 5G communication module.
  • the communication module in the control terminal is a wired communication module.
  • control terminal is in communication connection with the wireless communication network device, and includes:
  • the control terminal is connected to the Internet through the wired communication module, and is communicably connected to the wireless communication network device via the Internet.
  • control terminal communicates with the control center through a communication module on the control terminal and the wireless communication network device, and the drone passes through a communication module and a device on the drone.
  • the wireless communication network device is in communication with the control center.
  • FIG. 7 is a physical block diagram of a control terminal according to an embodiment of the present invention. As shown in FIG. 7, the control terminal includes:
  • the memory 701 is configured to store program instructions.
  • the processor 702 is configured to invoke and execute the program instructions in the memory 701 to execute the method steps of controlling the terminal in the foregoing method embodiment.
  • the aforementioned program can be stored in a computer readable storage medium.
  • the program when executed, performs the steps including the foregoing method embodiments; and the foregoing storage medium includes various media that can store program codes, such as a ROM, a RAM, a magnetic disk, or an optical disk.

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  • Astronomy & Astrophysics (AREA)
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Abstract

Le présente invention concerne, selon certains modes de réalisation, un procédé de communication de véhicule aérien sans pilote, un terminal de commande et un système de commande de véhicule aérien sans pilote, le procédé étant appliqué au terminal de commande dans le système de commande de véhicule aérien sans pilote. Le système de commande de véhicule aérien sans pilote comprend le terminal de commande, au moins un véhicule aérien sans pilote, un dispositif réseau de communication sans fil et un centre de commande. Le terminal de commande et le véhicule aérien sans pilote comprennent chacun un module de communication, le terminal de commande et le véhicule aérien sans pilote sont couplés en communication avec le dispositif réseau de communication sans fil, et le centre de commande est couplé en communication avec le dispositif réseau de communication sans fil. Le procédé comprend les étapes suivantes : un terminal de commande acquiert des informations concernant des véhicules aériens sans pilote ; le terminal de commande détermine un véhicule aérien sans pilote cible parmi les véhicules aériens sans pilote ; le terminal de commande communique avec le véhicule aérien sans pilote cible au moyen d'un module de communication dans le terminal de commande et du dispositif réseau de communication sans fil, de façon à commander le véhicule aérien sans pilote cible. Le procédé peut satisfaire à des exigences relatives aux communications de véhicule aérien sans pilote en matière de distance de transmission, de bande passante de transmission et de vitesse de transmission.
PCT/CN2018/112875 2018-03-06 2018-10-31 Procédé de communication de véhicule aérien sans pilote, terminal de commande et système de commande de véhicule aérien sans pilote Ceased WO2019169880A1 (fr)

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