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WO2018152847A1 - Procédé et système de commande de véhicule aérien sans pilote - Google Patents

Procédé et système de commande de véhicule aérien sans pilote Download PDF

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Publication number
WO2018152847A1
WO2018152847A1 PCT/CN2017/075044 CN2017075044W WO2018152847A1 WO 2018152847 A1 WO2018152847 A1 WO 2018152847A1 CN 2017075044 W CN2017075044 W CN 2017075044W WO 2018152847 A1 WO2018152847 A1 WO 2018152847A1
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WO
WIPO (PCT)
Prior art keywords
drone
control
drones
controlling
information
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/CN2017/075044
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English (en)
Chinese (zh)
Inventor
熊川樘
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.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology 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 SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN201780053017.5A priority Critical patent/CN109690439A/zh
Priority to PCT/CN2017/075044 priority patent/WO2018152847A1/fr
Publication of WO2018152847A1 publication Critical patent/WO2018152847A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0027—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 involving a plurality of vehicles, e.g. fleet or convoy travelling
    • 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

Definitions

  • the invention relates to the technical field of drone control, and in particular to a drone control method and system.
  • the control of mobile platforms such as drones is mostly one-to-one control.
  • the control device when the drone communicates successfully with a control device such as a mobile phone or a computer, the control device receives the status information of the drone push, and also sends the user control information to the drone.
  • the control device only needs to ensure that the user's control commands can be sent to that unique control object without distinction.
  • an object of the present invention is to provide a drone control method and system that realize simultaneous control of a plurality of drones.
  • an embodiment of the present invention provides a UAV control method, which is applied to a UE, and includes: establishing a communication connection between a UE and a plurality of UAVs; and using the UE to access the plurality of UAVs Control is performed, and status information of at least one of the drones is displayed through a control interface of the client.
  • an embodiment of the present invention further provides a UAV control system, including: a communication device, a control device, and a display device; the communication device is configured to establish a communication connection with the UAV; and the display device is configured to display State information of the drone; the control device and the pass And the communication device is communicatively coupled to the display device for controlling the communication device to establish a communication connection with the plurality of the drones, controlling the plurality of the drones, and controlling the display device to display at least Status information of one of the drones.
  • a UAV control system including: a communication device, a control device, and a display device; the communication device is configured to establish a communication connection with the UAV; and the display device is configured to display State information of the drone; the control device and the pass And the communication device is communicatively coupled to the display device for controlling the communication device to establish a communication connection with the plurality of the drones, controlling the plurality of the drones, and controlling the display device to display at least Status information of one of the drones.
  • the achievable benefits of the present invention include: simultaneous control of multiple drones, integration of unified control with individual controls, and cooperation between multiple drones.
  • FIG. 1 is a diagram of a drone control system according to an embodiment of the present invention.
  • FIG. 2 is a schematic flow chart of a drone control method according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a user end control interface according to an embodiment of the present invention.
  • FIG. 4 is a diagram of another UAV control system according to an embodiment of the present invention.
  • FIG. 5 is a diagram of another UAV control system according to an embodiment of the present invention.
  • FIG. 6 is a diagram of another drone control system according to an embodiment of the present invention.
  • the embodiment of the invention provides a drone control method.
  • the principle of the method can also be applied to unmanned devices other than drones, such as unmanned cars, robots, and the like.
  • a drone is a remotely piloted or self-driving aircraft capable of carrying a camera, sensor, communication device or other payload, capable of controlled, continuous flight, and typically powered by an engine, which can fly autonomously based on a pre-programmed flight plan.
  • UAVs are increasingly used to accomplish tasks that are not suitable for various manned aircraft, such as surveillance, reconnaissance, target acquisition, data acquisition, communication relay, bait, harassment, etc. Natural disaster detection, police observation of civil strife or crime scenes, and scientific research.
  • FIG. 1 is a system diagram of an embodiment of the present invention, in which a user terminal 10 can control a plurality of drones 30 through a remote controller 20, respectively.
  • the system diagram embodies a typical situation for implementing the technical solution of the present invention, and is not the only case.
  • the operation in the drone control method provided by the embodiment of the present invention can be implemented by a controller.
  • the controller that implements the method is disposed on the user terminal 10.
  • the controller may be disposed in the remote controller 20, the mobile phone, or other control device, that is, the user terminal 10 may also directly
  • the drone 30 establishes a communication connection without passing through the remote controller 20.
  • the drone control method provided by the embodiment of the present invention Simultaneous control of multiple drones and collaboration between multiple drones is possible.
  • the client 10 can control a plurality of drones 30, and can realize cooperation between the plurality of drones 30, and the specific number of the drones 30 can be freely expanded by the user.
  • the drone control method provided by the embodiment of the present invention may start from step 101.
  • Step 101 Establish a communication connection between the user end and the plurality of drones
  • the control and communication involved in the method are implemented by the control device and the communication device located at the user terminal 10. Therefore, in this embodiment, the user terminal 10 establishes a plurality of drones 30 with the user terminal 10. Communication between the connections. Specifically, the client 10 can directly establish a communication connection with a plurality of drones 30, and can also establish a communication connection with a plurality of drones 30 indirectly through the remote controller 20 or other control device. A user terminal 10 establishes a communication connection with a plurality of drones 30 at the same time, which is the basis for realizing one-to-many control, and is also the basis for multi-machine cooperation by a plurality of drones 30 through one client terminal 10.
  • Step 102 Control, by the user end, a plurality of the drones, and display status information of at least one of the drones through a control interface of the user end.
  • the user terminal 10 may generate control information for controlling the plurality of drones 30 according to the state information of the plurality of drones 30, and may also generate control information according to the input of the user, and may The drone 30 that establishes the communication connection transmits control information.
  • Each of the drones 30 that have established a communication connection can transmit respective status information to the client terminal 10.
  • the status information includes, but is not limited to, location information of the drone 30, battery power information, route information, flight plan information, and the like. All or part of the status information of each drone 30 can be displayed through the control interface of the client 10.
  • control interface of the client 10 can display only the status information of one of the drones 30, and can switch between the status information displays of the plurality of drones 30, or can display two at the same time automatically or according to the user's selection. Status information of one or more drones 30.
  • the drone control method provided by the present invention further includes the steps of: establishing a plurality of control object instances, wherein an established communication connection of the drone corresponds to one of the control object instances.
  • the UAV 30 and the control object instance may not be in one-to-one correspondence, that is, the plurality of UAVs 30 correspond to one control object instance. Or in actual use, multiple control object instances may be used to correspond to the same drone 30 as needed. Therefore, one control object instance can be associated with at least one drone 30.
  • corresponding means that only one particular control object instance is controlled for a particular drone 30, and the status information for that particular drone 30 is only passed through that particular Control object instances to receive, render, or send.
  • various methods may be employed, such as communication between a specific drone 30 and a specific control object instance through a specific frequency or the like.
  • the control object instance corresponds to the drone 30 by the identity information of the drone 30.
  • each of the drones has its own identification code (SN code), and includes information about the ID number of the drone 30 in the status information, and the instance of the control object passes the identification code and the absence. Human and machine correspond.
  • the ID of each UAV 30 is unique.
  • each control object instance is identified by its corresponding UAV 30.
  • the control information sent by the user terminal 10 to the drone 30 includes a control command and an identification code of the drone to be controlled, thereby ensuring that the control information is accurately transmitted to the desired control. Drone 30.
  • control object instance may specifically be a collection of programs required to implement the functionality of the client 10 to control a drone 30, as well as to receive, present, or transmit status information for the drone 30.
  • control object instance is also a set of programs required to implement the above functions; when one drone 30 corresponds to multiple control object instances, one control object instance may It is part of a collection of programs that implement the above functions.
  • one-to-one control of the drone 30 is used to control a drone 30 and accept, present or transmit it in the client 10, the remote controller 20 or other control device.
  • the set of programs of the state information of the drone 30 can be regarded as a control object instance, and it can be understood that the set of the program can be copied.
  • the control object instance corresponding to the UAV is generated, that is, each of the UAVs 30 that establish a communication connection with the UE 10 generates a set of the above-mentioned programs.
  • the sets of the respective programs are independent of each other, and the at least one drone 30 can be correspondingly controlled, and the state information of the at least one drone 30 can be received, presented or transmitted.
  • the reproducibility of the set of the above procedures ensures that the user can freely expand the number of drones 30 simultaneously controlled by one client 10, and increase the number of unmanned persons according to the needs of the operation.
  • the client 10 After establishing a communication connection with a drone 30, the client 10 establishes a corresponding control object instance, and controls the drone 30 through the control object instance, and receives, presents or transmits the drone 30.
  • the status information transmitted thus, enables one-to-many control of the client 10 to the drone 30.
  • the client 10 can generate control information for controlling the drone 30, and then send control information to the corresponding drone 30 through different control object instances.
  • the user terminal 10 generates control information, which may be generated independently, may be generated according to input information of the user, or may be generated according to remote operations of the user.
  • the state information of the drone 30 can be separately summarized by different control object instances, so that the state information of the different drones 30 can be differentiated and presented.
  • the user terminal 10 can establish a communication connection with the drone 30 through the remote controller 20, and perform unified control of certain parameters on the different drones 30 at the user terminal 10.
  • certain parameters can be individually controlled by the remote controller 20.
  • the user terminal 10 uniformly controls the pan/tilt of the different drones 30 to respectively present different angles, and the user can separately control the flight route, the hovering position, and the like of the drone 30 through the remote controller 20. Therefore, the embodiment of the present invention can realize the combination of unified control and individual control of the unmanned aerial vehicle 30 and the like.
  • FIG. 3 is a schematic diagram of the control interface 40 in the present embodiment.
  • an icon for representing the instance of the control object is displayed on the control interface 40, wherein one of the control object instances corresponds to one of the icons.
  • the control interface 40 in this embodiment is divided into three areas, the icon area 41 is used to display the above icon, the status area 42 is used to display status information such as the status parameter of the drone 30, and the screen area 43 is used for display.
  • all three areas of the control interface 40 can receive input operations of the user.
  • the icon is displayed in the icon area 41 as the No. 1 drone, the No. 2 drone, the No.
  • each icon corresponds to a drone 30.
  • an icon representing an unmanned 30 is generated in the icon area 41 of the control interface 40.
  • the status area 42 and the picture area 43 are switched to the status information and the screen information of the drone 30 represented by the selected icon.
  • the user can select multiple icons at the same time, and the control interface 40 can simultaneously display status information of the plurality of drones 30. And screen information, etc.
  • the drone control method provided by the embodiment of the present invention further includes: detecting a selection operation signal for selecting the control object instance; and selectively controlling one of the drones according to the selection operation signal.
  • the user selects the control object instance corresponding to the drone 30 by selecting the icon of the icon area 41 of the control interface 40.
  • the user terminal 10 detects the selection operation signal also through the control interface 40. achieve.
  • the user terminal 10 can generate and send corresponding control information to the drone 30 selected by the user according to the control signals.
  • the control information is generated by the control object instance corresponding to each of the drones 30, and the specific control information is transmitted to the specific drone 30 to realize one-to-many control.
  • the user terminal 10 receives the input control signal of the user through the control interface, and sends control information for controlling the corresponding drone according to the input control signal of the user.
  • control information for controlling the corresponding drone according to the input control signal of the user.
  • the user terminal 10 can generate and send corresponding control information to the drone 30 selected by the user according to the control signals.
  • the input control signal includes at least one of: controlling a state of the drone, controlling a state of a camera mounted on the drone, and controlling a state of the pan/tilt carried by the drone.
  • the state information of the drone may specifically include the state of the drone 30, the state of the camera mounted on the drone 30, the state of the pan/tilt carried by the drone 30, and the like.
  • controlling the state of the drone includes controlling at least one of the following: setting a waypoint, one-button landing, and one-button take-off.
  • setting a waypoint in the status area 42 of the control interface 40 of the client 10, a button drop and a button takeoff icon are displayed.
  • Corresponding control information is generated and sent to the corresponding drone 30.
  • the function of setting the waypoint can be completed on the map of the screen area 43, and the user can click the location point on the map as the waypoint for controlling the flight path of the drone 30.
  • the user terminal 10 converts to Controlling the flight control information of the drone 30, It is sent to the drone 30 that the user wants to control.
  • Controlling the state of the camera carried by the drone includes controlling at least one of: adjusting a focal length of the camera to adjust an exposure of the camera.
  • an area in which the state of the camera mounted on the drone 30 is displayed may be divided in the status area 42, and information such as the focal length and exposure of the camera may be displayed, and the user may be adjusted to adjust a certain parameter at the corresponding position.
  • the client 10 generates and transmits control information for controlling the corresponding drone 30 based on the user's operational control signal input to the one or more drones 30 on the control interface 40.
  • Controlling the state of the pan/tilt carried by the drone includes controlling at least one of: adjusting a pitch angle of the pan-tilt, adjusting a roll angle of the pan-tilt, and adjusting a pan angle of the pan-tilt.
  • an area showing the state of the pan/tilt carried by the drone 30 can be divided in the state area 42, and the pitch angle, the roll angle, the pan angle, and the like of the gimbal can be displayed, and corresponding The position detection user adjusts a parameter.
  • the client 10 generates and transmits control information for controlling the corresponding drone 30 based on the user's operational control signal input to the one or more drones 30 on the control interface 40.
  • intelligent control of the drone 30 by the user terminal 10 can be realized to realize coordinated operation of the plurality of drones 30. Specifically comprising the steps of: selecting at least two of the drones; forming cooperative control information for implementing cooperation between the plurality of drones according to the selected state information of at least two of the drones And simultaneously transmitting the coordinated control information to at least two of the drones.
  • the drone 30 that selects the collaborative work to be performed may be selected by the user through the control interface 40, or may be intelligently selected by the user terminal 10 according to the work task.
  • different control object instances can share information, that is, while different control object instances have certain relative independence, they can directly or indirectly share information with each other, and the shared information includes no one.
  • Status information of the machine 30 may be different.
  • different control object instances may send information to other control object instances, or different control object instances may be aggregated, merged, etc. by a third-party information processing module, and then processed. Information is distributed to different instances of control objects. This is the technical basis for multi-machine cooperation by drones such as drones 30.
  • different drones 30 may share state information such as their flight path information with other control object instances through their corresponding control object instances, and other control object instances use this as a basis to control them. Corresponding drones 30, so that the flight paths of different drones 30 are evenly distributed and phased Parallel to each other, forming a certain pattern and other specific effects.
  • different drones 30 may share their flight state information and the like with other control object instances through their corresponding control object instances, and other control object instances are used as a basis to control their corresponding The drone 30, thereby achieving specific effects such as different UAV 30 relay operations.
  • the coordinated control information includes at least one of the following: flying simultaneously according to the same route, flying in accordance with the same route, flying simultaneously according to different routes, and flying according to different routes.
  • the collaborative control information, the user terminal 10 can calculate and generate according to the state information of the plurality of drones 30 to be controlled, the flight route, the planned route, and the like, and generate a series of control information to be sent to the plurality of unmanned persons respectively. Machine 30.
  • the user terminal 10 establishes a communication connection with a plurality of the drones 30 in a remote manner, that is, one or more links connecting the client terminal 10 and the drone 30, and adopting a 4G network or the like for remote connection. The way the communication is connected.
  • the UAV control system of the method of the present invention further includes a server end 60 and a remote control end 70.
  • the user end 10 is communicably connected with the server end 60; the remote control end 70 passes the first remote end.
  • the wireless transmission mode is communicably connected to the drone 30, and the server end 60 is communicably connected to the remote control terminal 70 via the second remote wireless transmission mode.
  • the communication method of the first remote wireless transmission method is different from the communication method of the second remote wireless transmission method.
  • the farthest transmission distance of the first remote wireless transmission mode is less than the farthest transmission distance of the second remote wireless transmission mode.
  • the server end 60 can be connected to the client terminal 10 by wire or wirelessly.
  • the first remote wireless transmission mode is a WiFi connection
  • the second remote wireless transmission mode is a 4G network communication.
  • This communication connection method greatly expands the present.
  • the drone control method of this embodiment is the same as that of the previous embodiment.
  • the user controls one or more drones 30 through the control interface of the client 10, and the status information of the drone 30 can be displayed on the control interface of the client 10.
  • the server end 60 can implement hierarchical management of multiple users, so that multiple users can cooperatively control multiple drones 30 at the same time; specifically, when multiple client terminals 10 are connected to the server end 60, and simultaneously control one or When a plurality of UAVs 30 are used, the server 60 can process the control information sent by the multiple clients 10 according to the priority, and assign different permissions to the different clients 10, so that multiple users can pass through the multiple clients 10 . Collaborative work.
  • the remote control end 70 can control the attitude, speed, and the like of the drone 30, thereby supplementing the control information of the user terminal 10, and realizing the coexistence of one-to-many unified control and individual control.
  • an embodiment of the present invention further provides a drone control system, including: a control device. 51, communication device 52 and display device 53; the communication device 52 is used to establish a communication connection with the drone 30; the display device 53 is used to display state information of the drone 30; the control device 51 Communicating with the communication device 52 and the display device 53 respectively, for controlling the communication device 52 to establish a communication connection with a plurality of the drones 30, and controlling a plurality of the drones 30, And controlling the display device 53 to display status information of at least one of the drones 30 therein.
  • a control device. 51, communication device 52 and display device 53 the communication device 52 is used to establish a communication connection with the drone 30
  • the display device 53 is used to display state information of the drone 30
  • the control device 51 Communicating with the communication device 52 and the display device 53 respectively, for controlling the communication device 52 to establish a communication connection with a plurality of the drones 30, and controlling a plurality of the drones 30, And controlling the display device 53 to display status information of at least one of the drone
  • control system establishes a communication connection with a plurality of drones 30.
  • control system can establish a communication connection directly with the plurality of drones 30, or can indirectly establish a communication connection with the plurality of drones 30 through other control devices.
  • a control system establishes a communication connection with a plurality of drones 30 at the same time, which is the basis for realizing one-to-many control, and is also the basis for multi-machine cooperation by a plurality of drones 30 through one control system.
  • control device 51 in the control system may generate control information for controlling the plurality of drones 30 according to the state information of the plurality of drones 30, and may also generate control information according to the input of the user, and pass the communication device.
  • 52 sends control information to a plurality of drones 30 that have established communication connections to be controlled.
  • Each of the drones 30 that have established a communication connection can transmit respective status information through the communication device 52.
  • the status information includes, but is not limited to, location information of the drone 30, battery power information, route information, flight plan information, and the like. All or part of the status information of each drone 30 can be displayed through the control interface of the display device 53 in the control system.
  • the control interface of the display device 53 may display only the status information of one of the drones 30, and may switch between the status information displays of the plurality of drones 30, or may simultaneously display two according to the user's selection. Status information of one or more drones 30.
  • the drone control method provided by the present invention further includes the steps of: establishing a plurality of control object instances, wherein an established communication connection of the drone corresponds to one of the control object instances.
  • the control device 51 After the control system establishes a communication connection with a drone 30 via the communication device 52, the control device 51 generates a control object instance corresponding to the drone 30, and the drone 30 and the control object instance are One-to-one correspondence.
  • the UAV 30 and the control object instance may not be in one-to-one correspondence, that is, the plurality of UAVs 30 correspond to one control object instance, or may be used as needed in actual use.
  • the control object instance corresponds to the same drone 30. Therefore, one control object instance can be associated with at least one drone 30.
  • corresponding means that only one particular control object instance is controlled for a particular drone 30, and the status information for that particular drone 30 is only passed through that particular Control object instances to receive, render, or send.
  • various methods may be employed, such as communication between a specific drone 30 and a specific control object instance through a specific frequency or the like.
  • the control object instance corresponds to the drone 30 by the identity information of the drone 30.
  • each of the drones has its own identification code (SN code), and includes information about the ID number of the drone 30 in the status information, and the instance of the control object passes the identification code and the absence. Human and machine correspond.
  • the ID of each UAV 30 is unique.
  • each control object instance is identified by its corresponding UAV 30.
  • the control information sent by the control system to the drone 30 through the communication device 52 includes a control command and an identification code of the drone to be controlled, thereby ensuring that the control information is accurately sent to The drone 30 to be controlled.
  • control object instance may specifically be a set of programs required to implement a function of controlling a drone 30 in the control device 51 of the control system, and receiving, presenting, or transmitting status information of the drone 30. .
  • the control object instance is also a set of programs required to implement the above functions; when one drone 30 corresponds to multiple control object instances, one control object instance may It is part of a collection of programs that implement the above functions.
  • one-to-one control of the drone 30 is used to control a drone 30, and a collection of programs that accept, present, or transmit status information of the drone 30.
  • the control device 51 generates an instance of the control object corresponding to the drone 30, that is, each of the drones 30 that establish a communication connection with the control system generates a set of the above-mentioned programs.
  • the sets of the respective programs are independent of each other, and the at least one drone 30 can be correspondingly controlled, and the state information of the at least one drone 30 can be received, presented or transmitted.
  • the reproducibility of the set of programs described above ensures that the user can freely expand the number of drones 30 that are simultaneously controlled by one control system, and the number of drones 30 or other drones can be increased at any time according to the needs of the operation.
  • the control device 51 of the control system is established after establishing a communication connection with a drone 30.
  • An instance of the control object corresponding thereto is controlled by the control object instance, and the status information sent by the drone 30 is received, presented or transmitted, and the status information can be displayed by the display device 53.
  • the control device 51 can generate control information for controlling the drone 30, and different control object instances transmit control information to the corresponding drone 30 through the communication device 52, respectively.
  • the control device 51 generates control information that may be generated independently, may be generated based on input information of the user on the display device 53, or may be generated based on a remote operation of the user.
  • the state information of the drone 30 can be separately summarized by different control object instances, so that the state information of the different drones 30 can be differentiated and presented.
  • the control system can establish a communication connection with the drone 30 through the control device such as the remote controller 20, and unify certain parameters of the different drones 30 in the control system.
  • certain parameters can be individually controlled by the remote controller 20.
  • the control system uniformly controls the pan/tilt of the different drones 30 to respectively present different angles, and the user can separately control the flight route and the hovering position of the drone 30 through the remote controller 20. Therefore, the embodiment of the present invention can realize the combination of unified control and individual control of the unmanned aerial vehicle 30 and the like.
  • FIG. 3 is a schematic illustration of a control interface 40 in the present embodiment that can be used to control display device 53 in the system.
  • an icon for representing the instance of the control object is displayed on the control interface 40, wherein one of the control object instances corresponds to one of the icons.
  • the control interface 40 in this embodiment is divided into three areas, the icon area 41 is used to display the above icon, the status area 42 is used to display status information such as the status parameter of the drone 30, and the screen area 43 is used for display.
  • all three areas of the control interface 40 can receive input operations of the user.
  • the icon is displayed in the icon area 41 as the No.
  • each icon corresponds to a drone 30.
  • the communication device 52 of the control system establishes a communication connection with a drone 30
  • an icon representing an unmanned 30 is generated in the icon area 41 of the control device 40 of the display device 53.
  • the status area 42 and the picture area 43 are switched to the status information and the screen information of the drone 30 represented by the selected icon.
  • the user can select multiple icons at the same time, and the control interface 40 can simultaneously display the status of the plurality of drones 30. Status information, screen information, etc.
  • the control device 51 is further configured to: detect a selection operation signal for selecting the control object instance; and selectively control one of the drones according to the selection operation signal .
  • the user selects an instance of the control object corresponding to the drone 30 by selecting an icon of the icon area 41 of the control interface 40 of the display device 53. Accordingly, the control device 51 detects that the selection operation signal is also passed.
  • the control interface 40 is implemented.
  • the control device 51 can generate and transmit corresponding control information to the drone 30 selected by the user via the communication device 52 based on the control signals.
  • the control information is generated by the control object instance corresponding to each of the drones 30 in the control device 51, and the specific control information is transmitted to the specific drone 30 to realize one-to-many control.
  • the display device 53 receives the input control signal of the user through the control interface 40, and the control device 51 generates control information corresponding to the unmanned aerial vehicle 30 according to the input control signal of the user, and passes through the communication device 52. Sending control information for controlling the corresponding drone.
  • the control device 51 can generate and transmit corresponding control information to the drone 30 selected by the user via the communication device 52.
  • the input control signal includes at least one of: controlling a state of the drone, controlling a state of a camera mounted on the drone, and controlling a state of the pan/tilt carried by the drone.
  • the state information of the drone may specifically include the state of the drone 30, the state of the camera mounted on the drone 30, the state of the pan/tilt carried by the drone 30, and the like.
  • controlling the state of the drone includes controlling at least one of the following: setting a waypoint, one-button landing, and one-button take-off.
  • setting a waypoint a button landing and a button takeoff icon are displayed in the status area 42 of the control interface 40 of the display device 53, and the user clicks on the icon in the control mode for one or several drones 30, and the control device 51 Generate corresponding control information and pass the communication device 52 is sent to the corresponding drone 30.
  • the function of setting the waypoint can be completed on the map of the screen area 43, and the user can click the location point on the map as the waypoint for controlling the flight path of the drone 30, and after the control device 51 detects the setting operation, it is converted into Control information for controlling the flight of the drone 30 is transmitted via the communication device 52 to the drone 30 to be controlled by the user.
  • Controlling the state of the camera carried by the drone includes controlling at least one of: adjusting a focal length of the camera to adjust an exposure of the camera.
  • an area in which the state of the camera mounted on the drone 30 is displayed may be divided in the status area 42, and information such as the focal length and exposure of the camera may be displayed, and the user may be adjusted to adjust a certain parameter at the corresponding position.
  • the control device 51 generates and transmits control information for controlling the corresponding drone 30 via the communication device 52 based on the user's operation control signal input to the one or more drones 30 on the control interface 40.
  • Controlling the state of the pan/tilt carried by the drone includes controlling at least one of: adjusting a pitch angle of the pan-tilt, adjusting a roll angle of the pan-tilt, and adjusting a pan angle of the pan-tilt.
  • an area showing the state of the pan/tilt carried by the drone 30 can be divided in the state area 42, and the pitch angle, the roll angle, the pan angle, and the like of the gimbal can be displayed, and corresponding The position detection user adjusts a parameter.
  • the control device 51 generates and transmits control information for controlling the corresponding drone 30 via the communication device 52 based on the user's operation control signal input to the one or more drones 30 on the control interface 40.
  • intelligent control of the drone 30 by the control system can be implemented to achieve coordinated operation of the plurality of drones 30.
  • the display device 53 is configured to select at least two of the drones 30; the control device 51 is configured to form, according to the selected state information of at least two of the drones, Collaborative control information between the drones; the communication device 52 is configured to simultaneously transmit the collaborative control information to at least two of the drones.
  • the drone 30 that selects the collaborative work to be performed may be selected by the user through the control interface 40 of the display device 53, or may be intelligently selected by the control device 51 according to the work task.
  • different control object instances can share information, that is, while different control object instances have certain relative independence, they can directly or indirectly share information with each other, and the shared information includes no one.
  • Status information of the machine 30 may be different.
  • different control object instances may send information to other control object instances, or may be different control object instances.
  • the information can be summarized, merged, etc. by a third-party information processing module, and then the processing information can be distributed to different control object instances. This is the technical basis for multi-machine cooperation by drones such as drones 30.
  • different drones 30 may share state information such as their flight path information with other control object instances through their corresponding control object instances, and other control object instances use this as a basis to control them.
  • state information such as their flight path information
  • other control object instances use this as a basis to control them.
  • Corresponding UAVs 30, thereby achieving specific effects such as uniform distribution of flight paths of different UAVs 30, parallel to each other, and formation of certain graphics.
  • different drones 30 may share their flight state information and the like with other control object instances through their corresponding control object instances, and other control object instances are used as a basis to control their corresponding The drone 30, thereby achieving specific effects such as different UAV 30 relay operations.
  • the coordinated control information includes at least one of the following: flying simultaneously according to the same route, flying in accordance with the same route, flying simultaneously according to different routes, and flying according to different routes.
  • the cooperative control information, the control device 51 can calculate and generate according to the state information of the plurality of drones 30 to be controlled, the flight route, the planned route, and the like, and generate a series of control information, which are respectively sent by the communication device 52. To multiple drones 30.
  • control system establishes a communication connection with a plurality of the drones 30 in a remote manner, that is, in one or more links in which the control system is connected to the drone 30, using a 4G network or the like suitable for remote communication. Connection method.
  • the UAV control system further includes a server end 60 and a remote control end 70.
  • the user end 10 is communicably connected to the server end 60 through the communication device 52; the remote control end 70 passes the first
  • the remote wireless transmission mode is communicably connected to the drone 30, and the server end 60 is communicably connected to the remote control terminal 70 via the second remote wireless transmission mode.
  • the communication method of the first remote wireless transmission method is different from the communication method of the second remote wireless transmission method.
  • the farthest transmission distance of the first remote wireless transmission mode is less than the farthest transmission distance of the second remote wireless transmission mode.
  • the server end 60 can be connected to the client terminal 10 by wire or wirelessly.
  • the first remote wireless transmission mode is a WiFi connection
  • the second remote wireless transmission mode is a 4G network communication.
  • This communication connection method greatly expands the present.
  • the drone control method of this embodiment is the same as that of the previous embodiment.
  • the user controls one or more drones 30 through the control interface of the display device 53 of the client 10, and the status information of the drone 30 can be displayed on the control interface of the display device 53 of the client 10.
  • the server end 60 can implement hierarchical management of multiple users, so that multiple users can cooperatively control multiple drones 30 at the same time; specifically, when multiple users 10
  • the server 60 can process the control information sent by the multiple clients 10 according to the priority, and assign different permissions to the different clients 10, thereby A plurality of users can be cooperatively operated by a plurality of users.
  • the remote control end 70 can control the attitude, speed, and the like of the drone 30, thereby supplementing the control information of the user terminal 10, and realizing the coexistence of one-to-many unified control and individual control.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Selective Calling Equipment (AREA)

Abstract

Selon les modes de réalisation, la présente invention se rapporte à un procédé et un appareil de commande de véhicule aérien sans pilote. Le procédé est appliqué à un client, et il consiste : à établir une connexion de communication entre un client et une pluralité de véhicules aériens sans pilote ; à commander la pluralité de véhicules aériens sans pilote au moyen du client ; et à afficher des informations d'état d'au moins un de ces véhicules aériens sans pilote au moyen d'une interface de commande du client. Les procédé et appareil de commande de véhicule aérien sans pilote selon les modes de réalisation de la présente invention peuvent réaliser une commande simultanée d'une pluralité de véhicules aériens sans pilote, la combinaison d'une commande unifiée et d'une commande individuelle, et la coordination entre plusieurs véhicules aériens sans pilote.
PCT/CN2017/075044 2017-02-27 2017-02-27 Procédé et système de commande de véhicule aérien sans pilote Ceased WO2018152847A1 (fr)

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CN201780053017.5A CN109690439A (zh) 2017-02-27 2017-02-27 无人机控制方法及系统
PCT/CN2017/075044 WO2018152847A1 (fr) 2017-02-27 2017-02-27 Procédé et système de commande de véhicule aérien sans pilote

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