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WO2018152847A1 - 无人机控制方法及系统 - Google Patents

无人机控制方法及系统 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)
French (fr)
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/zh
Publication of WO2018152847A1 publication Critical patent/WO2018152847A1/zh
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.

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  • 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

本发明实施例提出了一种无人机控制方法及装置。该方法应用于用户端，包括：建立用户端与多个无人机的通信连接；通过所述用户端对多个所述无人机进行控制，并且通过所述用户端的控制界面显示其中至少一个所述无人机的状态信息。本发明实施例提出的无人机控制方法及装置可实现同时控制多个无人机，统一控制与个别控制相结合，以及多个无人机之间的协作。

Description

无人机控制方法及系统 技术领域
本发明涉及无人机控制的技术领域，尤其涉及一种无人机控制方法及系统。
背景技术
目前对无人机等移动平台的控制，多是一对一的控制。以控制无人机为例，当无人机与手机或电脑等控制设备通信成功后，控制设备会接收无人机推送的状态信息，同时也会将用户的控制信息发送给无人机。在此种情况下，控制设备只需要保证，对于用户的控制指令可以不经区分的发送给那个唯一的控制对象。但要通过这种方式控制多个无人机却极为不便。
对于越来越多的用户，尤其是行业用户，要想利用无人机之类的无人机高效地完成作业任务，往往需要同时控制多个无人机以及实现多个无人机之间的协作。
发明内容
针对上述问题，本发明的目的在于提供一种无人机控制方法及系统，实现同时控制多个无人机。
第一方面，本发明实施例提出一种无人机控制方法，应用于用户端，包括：建立用户端与多个无人机的通信连接；通过所述用户端对多个所述无人机进行控制，并且通过所述用户端的控制界面显示其中至少一个所述无人机的状态信息。
第二方面，本发明实施例还提出一种无人机控制系统，包括：通信装置、控制装置和显示装置；所述通信装置用于与无人机建立通信连接；所述显示装置用于显示所述无人机的状态信息；所述控制装置分别与所述通 信装置和所述显示装置通信连接，用于控制所述通信装置建立与多个所述无人机的通信连接，对多个所述无人机进行控制，以及控制所述显示装置显示其中至少一个所述无人机的状态信息。
本发明可达到的有益效果包括：实现同时控制多个无人机，统一控制与个别控制相结合，以及实现多个无人机之间的协作。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例所涉及的一种无人机控制系统图；
图2是本发明实施例提供的一种无人机控制方法的流程示意图；
图3是本发明实施例提供的一种用户端控制界面的示意图；
图4是本发明实施例提供的另一种无人机控制系统图；
图5是本发明实施例提供的另一种无人机控制系统图；
图6是本发明实施例提供的另一种无人机控制系统图。
附图标记说明：
用户端—10
遥控器—20
无人机—30
控制界面—40
图标区域—41
状态区域—42
画面区域—43
服务器端—60
遥控端—70
控制装置—51
通信装置—52
显示装置—53
步骤：101—102。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。应说明的是，本发明实施例的所述的方法并不限于说明书所述及的或者图示所示的流程图中的步骤及顺序。根据不同的实施例，方法中的步骤可以增加、移除、或者改变顺序。
本发明实施例提出了一种无人机控制方法。该方法的原理也可适用于无人机以外的无人设备，例如无人汽车、机器人等。无人机是一种能够承载相机、传感器、通信设备或其它有效载荷，能够受控、持续飞行，并且通常由发动机提供动力的遥控驾驶或自驾飞行器，其可以基于预编程的飞行计划自主飞行。无人机越来越多地用于完成各种载人飞行器不适于完成的任务，军事方面包括如监视、侦察、目标获取、数据获取、通信中继、诱饵、骚扰等，民用方面包括如消防、自然灾害侦察、警察观察内乱或犯罪现场以及科学研究等。
图1是本发明实施例所涉及的一种系统图，其中，用户端10可分别通过遥控器20控制多个无人机30。应当理解，该系统图所体现的是实现本发明技术方案的一种典型情形，并非唯一情形。本发明实施例提供的一种无人机控制方法中的运算可以由一个控制器来实现。本实施例中，实现该方法的控制器设置于用户端10，在其它实施例中，该控制器还可设置于遥控器20、手机或其它控制设备中，也即用户端10也可以直接与无人机30建立通信连接，而不通过遥控器20。本发明实施例提供的无人机控制方法， 可实现同时控制多个无人机，以及多个无人机之间的协作。本实施例中，用户端10可控制多个无人机30，且能够实现多个无人机30之间的协作，无人机30的具体数量可由用户自由扩展。
参照图2，本发明实施例提供的无人机控制方法可以从步骤101开始。
步骤101，建立用户端与多个无人机的通信连接；
本实施例中，该方法所涉及的控制及通信由位于用户端10的控制装置和通信装置来实现，因此该步骤在本实施例中，即为用户端10建立起与多个无人机30之间的通信连接。具体来说，用户端10可以直接与多个无人机30建立通信连接，也可以通过遥控器20或其它控制装置与多个无人机30间接建立通信连接。一个用户端10同时与多个无人机30建立通信连接，是实现一对多控制的基础，也是多个无人机30通过一个用户端10实现多机协作的基础。
步骤102，通过所述用户端对多个所述无人机进行控制，并且通过所述用户端的控制界面显示其中至少一个所述无人机的状态信息。
本实施例中，用户端10可根据多个无人机30的状态信息生成控制多个无人机30的控制信息，也可根据用户的输入来生成控制信息，并向多个将要控制的已建立通信连接的无人机30发送控制信息。各个已建立通信连接的无人机30可向用户端10发送各自的状态信息，状态信息具体包括但不限于无人机30的位置信息、电池电量信息、航线信息、飞行计划信息等。每个无人机30的状态信息中的全部或者一部分，可以通过用户端10的控制界面显示出来。具体来说，用户端10的控制界面可以只显示一个无人机30的状态信息，且可在多个无人机30的状态信息显示之间进行切换，也可以自动或根据用户选择同时显示两个或两个以上无人机30的状态信息。
本发明所提供的无人机控制方法还包括步骤：建立多个控制对象实例，其中，一个已建立通信连接所述无人机对应一个所述控制对象实例。
本实施例中，当用户端10与一个无人机30建立通信连接之后，即生成一个与该无人机30对应的控制对象实例，无人机30与控制对象实例是一一对应的关系。但是应当理解，在其它一些实施例中，无人机30与控制对象实例也可以不是一一对应，即多个无人机30对应一个控制对象实例， 或者实际使用中也可根据需要用多个控制对象实例对应同一个无人机30。因此，可以为至少一个无人机30对应一个控制对象实例。
相应的，在一些实施例中，“对应”意味着对于一架特定的无人机30只通过一个特定的控制对象实例来控制，而该特定的无人机30的状态信息也只通过该特定的控制对象实例来接收、呈现或发送。关于建立对应关系的方式，可采取多种方式，比如特定无人机30与特定控制对象实例之间的通信通过特定的频率等。本实施例中，控制对象实例通过无人机30的身份信息来对应无人机30。具体来说，每一个无人机都带有各自身份识别码(SN码)，在状态信息中包括有关无人机30身份识别码的信息，控制对象实例通过所述身份识别码与所述无人机相对应。每一个无人机30的身份识别码都是唯一的，在本实施例一个控制对象实例对应一个无人机30的场合，每一个控制对象实例即以其对应的无人机30的身份识别码作为其唯一表示符。因此，本实施例中，在用户端10发送给无人机30的控制信息中，包括控制命令和所要控制的所述无人机的身份识别码，以此保证控制信息准确发送到所要控制的无人机30。
在一些实施例中，控制对象实例具体可以是实现用户端10控制一个无人机30，以及接收、呈现或发送该个无人机30的状态信息等功能所需要的程序的集合。在多个无人机30对应一个控制对象实例的场合，控制对象实例同样是实现上述功能所需要的程序的集合；在一个无人机30对应多个控制对象实例的场合，一个控制对象实例可以是实现上述功能的程序的集合的一部分。
比如，在现有技术中，对无人机30进行一对一的控制，则在用户端10、遥控器20或者其它控制设备中，用于控制一个无人机30，以及接受、呈现或发送该无人机30的状态信息的程序的集合，就可以看作是一个控制对象实例，可以理解，该程序的集合是可以复制的。本实施例中，生成所述无人机对应的控制对象实例，即为每一与用户端10建立通信连接的无人机30都生成一个上述的程序的集合。各个程序的集合之间相互独立，可分别对应控制至少一个无人机30，并可接收、呈现或发送该至少一个无人机30的状态信息。上述程序的集合的可复制性，就可保证用户能够自由扩展一台用户端10同时控制的无人机30的数量，根据作业需要随时增加无人 机30或其它无人机的数量。
用户端10当与一个无人机30建立通信连接之后，就建立一个与之对应的控制对象实例，并通过该控制对象实例控制该无人机30，并接收、呈现或发送该无人机30发送的状态信息，如此，就可实现用户端10对无人机30的一对多控制。具体来说，用户端10可生成控制无人机30的控制信息，再通过不同控制对象实例将控制信息分别发送到对应的无人机30。用户端10生成控制信息既可以是独立生成，也可以是根据用户的输入信息生成，还可以是根据用户的远程操作来生成。相应的，对于无人机30的状态信息，可通过不同的控制对象实例分别汇总，即可保证对不同无人机30的状态信息予以区分呈现。
在上述一对多控制的基础上，本实施例中，用户端10又可通过遥控器20与无人机30建立通信连接，在用户端10对不同无人机30进行某些参数的统一控制的同时，又可通过遥控器20对某些参数进行个别控制。比如，用户端10统一控制不同无人机30的云台分别呈现不同的角度，而用户又可通过遥控器20分别控制无人机30的飞行路线、悬停位置等。因此，本发明实施例可实现对无人机30等无人机的统一控制与个别控制的结合。
图3是本实施例中控制界面40的示意图。本实施例中，在所述控制界面40显示用于代表所述控制对象实例的图标，其中，一个所述控制对象实例对应一个所述图标。具体来说，本实施例中的控制界面40分为三个区域，图标区域41用于显示上述图标，状态区域42用于显示无人机30的状态参数等状态信息，画面区域43用于显示无人机30所搭载的相机所传回的画面以及无人机30在地图上的位置、轨迹、计划路线等信息。本实施例中，控制界面40的三个区域都可以接收用户的输入操作。上述图标在图标区域41显示为1号无人机、2号无人机、3号无人机等。因为本实施例中控制对象实例与无人机30是一一对应的，因此，每一个图标都与一个无人机30相对应。使用时，每当用户端10与一个无人机30建立通信连接，就在控制界面40的图标区域41生成一个代表一个无人30的图标。用户选择点取其中一个图标，则状态区域42和画面区域43相应切换为所选取的图标所代表的无人机30的状态信息和画面信息。在一些实施例中，用户可同时选取多个图标，则控制界面40就可以同时显示多个无人机30的状态信息 和画面信息等。
本发明实施例所提供的无人机控制方法，还包括：检测用于选择所述控制对象实例的选择操作信号；根据所述选择操作信号，选择控制一个所述无人机。本实施例中，用户选择与无人机30对应的控制对象实例是通过选择控制界面40的图标区域41的图标来实现的，相应的，用户端10检测上述选择操作信号也是通过控制界面40来实现。在用户通过控制界面40对无人机30进行控制时，在图标区域41选取将要控制的一个或多个无人机30，再在状态区域42和画面区域43针对无人机30的飞行状态、飞行路线等输入控制信号，则用户端10就可以根据这些控制信号，生成并向用户选取的无人机30发送相应的控制信息。具体来说，控制信息由与各个无人机30对应的控制对象实例生成，保证特定的控制信息发送到特定的无人机30，实现一对多控制。
本实施例中，用户端10通过所述控制界面接收用户的输入控制信号，根据所述用户的输入控制信号，发送用于控制对应的所述无人机的控制信息。如上所述，在用户通过控制界面40对无人机30进行控制时，在图标区域41选取将要控制的一个或多个无人机30，再在状态区域42和画面区域43针对无人机30的飞行状态、飞行路线等输入控制信号，则用户端10就可以根据这些控制信号，生成并向用户选取的无人机30发送相应的控制信息。
具体来说，输入控制信号包括如下至少一种：控制所述无人机的状态，控制所述无人机搭载的相机的状态，控制所述无人机承载的云台的状态。相应的，无人机的状态信息具体也可以包括无人机30的状态，无人机30搭载的相机的状态，无人机30承载的云台的状态等。
本实施例中，控制所述无人机的状态包括控制如下至少一种：设置航点，一键降落，一键起飞。参照图3，在用户端10的控制界面40的状态区域42显示一键降落和一键起飞的图标，用户在针对一个或几个无人机30的控制模式下，点击该图标，用户端10就生成相应的控制信息，并发送到相应的无人机30。设置航点的功能可在画面区域43的地图上完成，用户可点击地图上的位置点，作为控制无人机30飞行轨迹的航点，用户端10检测到这种设置操作以后，即转化为控制无人机30飞行的控制信息， 发送到用户所要控制的无人机30。
控制所述无人机搭载的相机的状态包括控制如下至少一种：调节所述相机的焦距，调节所述相机的曝光度。参照图3，可在状态区域42划分出显示无人机30所搭载的相机的状态的区域，显示相机的焦距、曝光度等信息，并可在相应的位置检测用户对某个参数的调整操作。用户端10根据用户在控制界面40上针对一个或多个无人机30的操作控制信号输入，生成并发送控制相应无人机30的控制信息。
控制所述无人机承载的云台的状态包括控制如下至少一种：调节所述云台的俯仰角，调节所述云台的横滚角，调节所述云台的平移角。参照图3，类似的，可在状态区域42划分出显示无人机30所承载的云台的状态的区域，显示云台的俯仰角，横滚角，平移角等信息，并可在相应的位置检测用户对某个参数的调整操作。用户端10根据用户在控制界面40上针对一个或多个无人机30的操作控制信号输入，生成并发送控制相应无人机30的控制信息。
本实施例中，除了上述用户人为控制一个或多个无人机30，还可以实现用户端10对无人机30的智能控制，以实现多个无人机30的协同作业。具体包括步骤：选择其中至少两个所述无人机；根据选择的其中至少两个所述无人机的状态信息，形成用于实现多个所述无人机之间的协作的协同控制信息；以及同时向其中至少两个所述无人机发送所述协同控制信息。
其中，选择将要进行协同作业的无人机30可以是用户通过控制界面40来选择的，也可以是用户端10根据作业任务智能选择的。本实施例中，不同的控制对象实例之间可共享信息，即在不同控制对象实例具有一定的相对独立性的同时，其相互之间又可以直接或间接共享信息，共享的信息就包括无人机30的状态信息。具体来说，一些实施例中，不同控制对象实例可以发送信息到其它控制对象实例，又可以是不同的控制对象实例的信息可由第三方的信息处理模块进行汇总、融合等处理，然后可将处理信息分发给不同控制对象实例。这是无人机30等无人机进行多机协作的技术基础。比如，在一些实施例中，不同无人机30可将自己的飞行路线信息等状态信息，通过其对应的控制对象实例共享给其它控制对象实例，其它控制对象实例以此为依据，去控制其对应的无人机30，从而实现不同无人机30的飞行路线均匀分布、相 互平行、形成一定的图形等特定效果。又比如，在一些实施例中，不同无人机30可将自己的飞行状态信息等通过其对应的控制对象实例共享给其它控制对象实例，其它控制对象实例以此为依据，去控制其对应的无人机30，从而实现不同无人机30接力作业等特定效果。本实施例中，协同控制信息包括如下至少一种：按照同一航线同时飞行，按照同一航线先后飞行，按照不同的航线同时飞行，按照不同航线先后飞行。这一协同控制信息，用户端10可以根据所要控制的多个无人机30的位置信息、飞行路线、规划路线等状态信息来计算生成，并生成一系列的控制信息分别发送到多个无人机30。
本实施例中，用户端10通过远程的方式与多个所述无人机30建立通信连接，即在用户端10与无人机30连接的一个或多个环节，采用4G网络等适于远程通信的连接方式。
参照图4，本发明一实施例中，本发明的方法所涉及的无人机控制系统还包括服务器端60和遥控端70，用户端10与服务器端60通信连接；遥控端70通过第一远程无线传输方式与无人机30通信连接，服务器端60的通过第二远程无线传输方式与遥控端70通信连接。第一远程无线传输方式的通信方式与第二远程无线传输方式的通信方式不同。在一些实施例中，第一远程无线传输方式的最远传输距离小于所述第二远程无线传输方式的最远传输距离。本实施例中，服务器端60可通过有线或无线的方式连接用户端10，第一远程无线传输方式为WiFi连接，第二远程无线传输方式为4G网络通信，这一通信连接方式大大拓展了本发明控制方法的适用范围。本实施例的无人机控制方法与上一实施例相同。用户通过用户端10的控制界面控制一个或多个无人机30，无人机30的状态信息可以在用户端10的控制界面显示。服务器端60可实现对多个用户的分级管理，从而可以实现多个用户同时协作控制多个无人机30；具体来说，当多个用户端10与服务器端60连接，并同时控制一个或多个无人机30时，服务器端60可对多个用户端10发送的控制信息按照优先级进行处理，为不同用户端10分配不同的权限，从而实现多个用户可通过多个用户端10协同作业。遥控端70可对无人机30进行姿态、速度等控制，从而作为对用户端10控制信息的补充，实现一对多统一控制与个别控制的并存。
参照图5，本发明实施例还提出一种无人机控制系统，包括：控制装 置51、通信装置52和显示装置53；所述通信装置52用于与无人机30建立通信连接；所述显示装置53用于显示所述无人机30的状态信息；所述控制装置51分别与所述通信装置52和所述显示装置53通信连接，用于控制所述通信装置52建立与多个所述无人机30的通信连接，对多个所述无人机30进行控制，以及控制所述显示装置53显示其中至少一个所述无人机30的状态信息。
本实施例中，控制系统建立起与多个无人机30之间的通信连接。具体来说，控制系统可以直接与多个无人机30建立通信连接，也可以通过其它控制装置与多个无人机30间接建立通信连接。一个控制系统同时与多个无人机30建立通信连接，是实现一对多控制的基础，也是多个无人机30通过一个控制系统实现多机协作的基础。
本实施例中，控制系统中的控制装置51可根据多个无人机30的状态信息生成控制多个无人机30的控制信息，也可根据用户的输入来生成控制信息，并通过通信装置52向多个将要控制的已建立通信连接的无人机30发送控制信息。各个已建立通信连接的无人机30可通过通信装置52发送各自的状态信息，状态信息具体包括但不限于无人机30的位置信息、电池电量信息、航线信息、飞行计划信息等。每个无人机30的状态信息中的全部或者一部分，可以通过控制系统中显示装置53的控制界面显示出来。具体来说，显示装置53的控制界面可以只显示一个无人机30的状态信息，且可在多个无人机30的状态信息显示之间进行切换，也可以自动或根据用户选择同时显示两个或两个以上无人机30的状态信息。
本发明所提供的无人机控制方法还包括步骤：建立多个控制对象实例，其中，一个已建立通信连接所述无人机对应一个所述控制对象实例。
本实施例中，当控制系统通过通信装置52与一个无人机30建立通信连接之后，即控制装置51生成一个与该无人机30对应的控制对象实例，无人机30与控制对象实例是一一对应的关系。但是应当理解，在其它一些实施例中，无人机30与控制对象实例也可以不是一一对应，即多个无人机30对应一个控制对象实例，或者实际使用中也可根据需要用多个控制对象实例对应同一个无人机30。因此，可以为至少一个无人机30对应一个控制对象实例。
相应的，在一些实施例中，“对应”意味着对于一架特定的无人机30只通过一个特定的控制对象实例来控制，而该特定的无人机30的状态信息也只通过该特定的控制对象实例来接收、呈现或发送。关于建立对应关系的方式，可采取多种方式，比如特定无人机30与特定控制对象实例之间的通信通过特定的频率等。本实施例中，控制对象实例通过无人机30的身份信息来对应无人机30。具体来说，每一个无人机都带有各自身份识别码(SN码)，在状态信息中包括有关无人机30身份识别码的信息，控制对象实例通过所述身份识别码与所述无人机相对应。每一个无人机30的身份识别码都是唯一的，在本实施例一个控制对象实例对应一个无人机30的场合，每一个控制对象实例即以其对应的无人机30的身份识别码作为其唯一表示符。因此，本实施例中，在控制系统通过通信装置52发送给无人机30的控制信息中，包括控制命令和所要控制的所述无人机的身份识别码，以此保证控制信息准确发送到所要控制的无人机30。
在一些实施例中，控制对象实例具体可以是实现控制系统的控制装置51中控制一个无人机30，以及接收、呈现或发送该个无人机30的状态信息等功能所需要的程序的集合。在多个无人机30对应一个控制对象实例的场合，控制对象实例同样是实现上述功能所需要的程序的集合；在一个无人机30对应多个控制对象实例的场合，一个控制对象实例可以是实现上述功能的程序的集合的一部分。
比如，在现有技术中，对无人机30进行一对一的控制，则用于控制一个无人机30，以及接受、呈现或发送该无人机30的状态信息的程序的集合，就可以看作是一个控制对象实例，可以理解，该程序的集合是可以复制的。本实施例中，控制装置51生成无人机30对应的控制对象实例，即为每一与控制系统建立通信连接的无人机30都生成一个上述的程序的集合。各个程序的集合之间相互独立，可分别对应控制至少一个无人机30，并可接收、呈现或发送该至少一个无人机30的状态信息。上述程序的集合的可复制性，就可保证用户能够自由扩展一个控制系统同时控制的无人机30的数量，根据作业需要随时增加无人机30或其它无人机的数量。
控制系统的控制装置51当与一个无人机30建立通信连接之后，就建立 一个与之对应的控制对象实例，并通过该控制对象实例控制该无人机30，并接收、呈现或发送该无人机30发送的状态信息，状态信息可通过显示装置53显示。如此，就可实现控制系统对无人机30的一对多控制。具体来说，控制装置51可生成控制无人机30的控制信息，不同控制对象实例将控制信息分别通过通信装置52发送到对应的无人机30。控制装置51生成控制信息既可以是独立生成，也可以是根据用户在显示装置53上的输入信息生成，还可以是根据用户的远程操作来生成。相应的，对于无人机30的状态信息，可通过不同的控制对象实例分别汇总，即可保证对不同无人机30的状态信息予以区分呈现。
在上述一对多控制的基础上，本实施例中，控制系统又可通过遥控器20等控制设备与无人机30建立通信连接，在控制系统对不同无人机30进行某些参数的统一控制的同时，又可通过遥控器20对某些参数进行个别控制。比如，控制系统统一控制不同无人机30的云台分别呈现不同的角度，而用户又可通过遥控器20分别控制无人机30的飞行路线、悬停位置等。因此，本发明实施例可实现对无人机30等无人机的统一控制与个别控制的结合。
图3是本实施例中控制界面40的示意图，该控制界面40可用以控制系统中的显示装置53。本实施例中，在所述控制界面40显示用于代表所述控制对象实例的图标，其中，一个所述控制对象实例对应一个所述图标。具体来说，本实施例中的控制界面40分为三个区域，图标区域41用于显示上述图标，状态区域42用于显示无人机30的状态参数等状态信息，画面区域43用于显示无人机30所搭载的相机所传回的画面以及无人机30在地图上的位置、轨迹、计划路线等信息。本实施例中，控制界面40的三个区域都可以接收用户的输入操作。上述图标在图标区域41显示为1号无人机、2号无人机、3号无人机等。因为本实施例中控制对象实例与无人机30是一一对应的，因此，每一个图标都与一个无人机30相对应。使用时，每当控制系统的通信装置52与一个无人机30建立通信连接，就在显示装置53控制界面40的图标区域41生成一个代表一个无人30的图标。用户选择点取其中一个图标，则状态区域42和画面区域43相应切换为所选取的图标所代表的无人机30的状态信息和画面信息。在一些实施例中，用户可同时选取多个图标，则控制界面40就可以同时显示多个无人机30的状 态信息和画面信息等。
本发明实施例所提供的无人机控制系统中，控制装置51还用于：检测用于选择所述控制对象实例的选择操作信号；根据所述选择操作信号，选择控制一个所述无人机。本实施例中，用户选择与无人机30对应的控制对象实例是通过选择显示装置53的控制界面40的图标区域41的图标来实现的，相应的，控制装置51检测上述选择操作信号也是通过控制界面40来实现。在用户通过控制界面40对无人机30进行控制时，在图标区域41选取将要控制的一个或多个无人机30，再在状态区域42和画面区域43针对无人机30的飞行状态、飞行路线等输入控制信号，则控制装置51就可以根据这些控制信号，生成并通过通信装置52向用户选取的无人机30发送相应的控制信息。具体来说，控制信息由控制装置51中与各个无人机30对应的控制对象实例生成，保证特定的控制信息发送到特定的无人机30，实现一对多控制。
本实施例中，显示装置53通过所述控制界面40接收用户的输入控制信号，控制装置51根据所述用户的输入控制信号，生成控制对应的无人机30的控制信息，并通过通信装置52发送用于控制对应的所述无人机的控制信息。如上所述，在用户通过控制界面40对无人机30进行控制时，在图标区域41选取将要控制的一个或多个无人机30，再在状态区域42和画面区域43针对无人机30的飞行状态、飞行路线等输入控制信号，则控制装置51就可以根据这些控制信号，生成并通过通信装置52向用户选取的无人机30发送相应的控制信息。
具体来说，输入控制信号包括如下至少一种：控制所述无人机的状态，控制所述无人机搭载的相机的状态，控制所述无人机承载的云台的状态。相应的，无人机的状态信息具体也可以包括无人机30的状态，无人机30搭载的相机的状态，无人机30承载的云台的状态等。
本实施例中，控制所述无人机的状态包括控制如下至少一种：设置航点，一键降落，一键起飞。参照图3，在显示装置53的控制界面40的状态区域42显示一键降落和一键起飞的图标，用户在针对一个或几个无人机30的控制模式下，点击该图标，控制装置51就生成相应的控制信息，并通过通信装置 52发送到相应的无人机30。设置航点的功能可在画面区域43的地图上完成，用户可点击地图上的位置点，作为控制无人机30飞行轨迹的航点，控制装置51检测到这种设置操作以后，即转化为控制无人机30飞行的控制信息，通过通信装置52发送到用户所要控制的无人机30。
控制所述无人机搭载的相机的状态包括控制如下至少一种：调节所述相机的焦距，调节所述相机的曝光度。参照图3，可在状态区域42划分出显示无人机30所搭载的相机的状态的区域，显示相机的焦距、曝光度等信息，并可在相应的位置检测用户对某个参数的调整操作。控制装置51根据用户在控制界面40上针对一个或多个无人机30的操作控制信号输入，生成并通过通信装置52发送控制相应无人机30的控制信息。
控制所述无人机承载的云台的状态包括控制如下至少一种：调节所述云台的俯仰角，调节所述云台的横滚角，调节所述云台的平移角。参照图3，类似的，可在状态区域42划分出显示无人机30所承载的云台的状态的区域，显示云台的俯仰角，横滚角，平移角等信息，并可在相应的位置检测用户对某个参数的调整操作。控制装置51根据用户在控制界面40上针对一个或多个无人机30的操作控制信号输入，生成并通过通信装置52发送控制相应无人机30的控制信息。
本实施例中，除了上述用户人为控制一个或多个无人机30，还可以实现控制系统对无人机30的智能控制，以实现多个无人机30的协同作业。所述显示装置53用于选择其中至少两个所述无人机30；所述控制装置51用于根据选择的其中至少两个所述无人机的状态信息，形成用于实现多个所述无人机之间的协作的协同控制信息；所述通信装置52用于同时向其中至少两个所述无人机发送所述协同控制信息。
其中，选择将要进行协同作业的无人机30可以是用户通过显示装置53的控制界面40来选择的，也可以是控制装置51根据作业任务智能选择的。本实施例中，不同的控制对象实例之间可共享信息，即在不同控制对象实例具有一定的相对独立性的同时，其相互之间又可以直接或间接共享信息，共享的信息就包括无人机30的状态信息。具体来说，一些实施例中，不同控制对象实例可以发送信息到其它控制对象实例，又可以是不同的控制对象实例 的信息可由第三方的信息处理模块进行汇总、融合等处理，然后可将处理信息分发给不同控制对象实例。这是无人机30等无人机进行多机协作的技术基础。比如，在一些实施例中，不同无人机30可将自己的飞行路线信息等状态信息，通过其对应的控制对象实例共享给其它控制对象实例，其它控制对象实例以此为依据，去控制其对应的无人机30，从而实现不同无人机30的飞行路线均匀分布、相互平行、形成一定的图形等特定效果。又比如，在一些实施例中，不同无人机30可将自己的飞行状态信息等通过其对应的控制对象实例共享给其它控制对象实例，其它控制对象实例以此为依据，去控制其对应的无人机30，从而实现不同无人机30接力作业等特定效果。
本实施例中，协同控制信息包括如下至少一种：按照同一航线同时飞行，按照同一航线先后飞行，按照不同的航线同时飞行，按照不同航线先后飞行。这一协同控制信息，控制装置51可以根据所要控制的多个无人机30的位置信息、飞行路线、规划路线等状态信息来计算生成，并生成一系列的控制信息，通过通信装置52分别发送到多个无人机30。
本实施例中，控制系统通过远程的方式与多个所述无人机30建立通信连接，即在控制系统与无人机30连接的一个或多个环节，采用4G网络等适于远程通信的连接方式。
参照图6，本发明一实施例中，本发明提供的无人机控制系统还包括服务器端60和遥控端70，用户端10通过通信装置52与服务器端60通信连接；遥控端70通过第一远程无线传输方式与无人机30通信连接，服务器端60的通过第二远程无线传输方式与遥控端70通信连接。第一远程无线传输方式的通信方式与第二远程无线传输方式的通信方式不同。在一些实施例中，第一远程无线传输方式的最远传输距离小于所述第二远程无线传输方式的最远传输距离。本实施例中，服务器端60可通过有线或无线的方式连接用户端10，第一远程无线传输方式为WiFi连接，第二远程无线传输方式为4G网络通信，这一通信连接方式大大拓展了本发明控制系统的适用范围。本实施例的无人机控制方法与上一实施例相同。用户通过用户端10的显示装置53的控制界面控制一个或多个无人机30，无人机30的状态信息可以在用户端10显示装置53的控制界面上显示。服务器端60可实现对多个用户的分级管理，从而可以实现多个用户同时协作控制多个无人机30；具体来说，当多个用户端10 与服务器端60连接，并同时控制一个或多个无人机30时，服务器端60可对多个用户端10发送的控制信息按照优先级进行处理，为不同用户端10分配不同的权限，从而实现多个用户可通过多个用户端10协同作业。遥控端70可对无人机30进行姿态、速度等控制，从而作为对用户端10控制信息的补充，实现一对多统一控制与个别控制的并存。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (34)

  1. 一种无人机控制方法，应用于用户端，其特征在于，包括：
    建立用户端与多个无人机的通信连接；
    通过所述用户端对多个所述无人机进行控制，并且通过所述用户端的控制界面显示其中至少一个所述无人机的状态信息。
  2. 如权利要求1所述的无人机控制方法，其特征在于，还包括：
    建立多个控制对象实例，其中，一个已建立通信连接的所述无人机对应一个所述控制对象实例。
  3. 如权利要求2所述的无人机控制方法，其特征在于，还包括：
    在所述控制界面显示用于代表所述控制对象实例的图标，其中，一个所述控制对象实例对应一个所述图标。
  4. 如权利要求3所述的无人机控制方法，其特征在于，所述图标用于选择控制一个所述无人机，或用于选择显示一个所述无人机的状态信息。
  5. 如权利要求2所述的无人机控制方法，其特征在于，还包括：
    检测用于选择所述控制对象实例的选择操作信号；
    根据所述选择操作信号，选择控制一个所述无人机。
  6. 如权利要求1所述的无人机控制方法，其特征在于，还包括：
    通过所述控制界面接收用户的输入控制信号；
    根据所述用户的输入控制信号，发送用于控制对应的所述无人机的控制信息。
  7. 如权利要求6所述的无人机控制方法，其特征在于，所述输入控制信号包括如下至少一种：
    控制所述无人机的状态，控制所述无人机搭载的相机的状态，控制所述无人机承载的云台的状态。
  8. 如权利要求7所述的无人机控制方法，其特征在于，所述控制所述 无人机的状态包括控制如下至少一种：设置航点，一键降落，一键起飞。
  9. 如权利要求7所述的无人机控制方法，其特征在于，所述控制所述无人机搭载的相机的状态包括控制如下至少一种：调节所述相机的焦距，调节所述相机的曝光度。
  10. 如权利要求7所述的无人机控制方法，其特征在于，所述控制所述无人机承载的云台的状态包括控制如下至少一种：调节所述云台的俯仰角，调节所述云台的横滚角，调节所述云台的平移角。
  11. 如权利要求6所述的无人机控制方法，其特征在于，所述控制信息包括控制命令和所要控制的所述无人机的身份识别码。
  12. 如权利要求6所述的无人机控制方法，其特征在于，还包括：
    选择其中至少两个所述无人机；
    根据选择的其中至少两个所述无人机的状态信息，形成用于实现多个所述无人机之间的协作的协同控制信息；以及
    同时向其中至少两个所述无人机发送所述协同控制信息。
  13. 如权利要求12所述的无人机控制方法，其特征在于，所述协同控制信息包括如下至少一种：按照同一航线同时飞行，按照同一航线先后飞行，按照不同的航线同时飞行，按照不同航线先后飞行。
  14. 如权利要求1所述的无人机控制方法，其特征在于，所述用户端通过远程的方式与多个所述无人机建立通信连接。
  15. 如权利要求14所述的无人机控制方法，其特征在于，还包括遥控端和服务器端；
    所述服务器端与所述用户端通信连接，能够用于对多个所述用户端对所述无人机的控制进行分级管理；
    所述遥控端通过第一远程无线传输方式与所述无人机通信连接；
    所述服务器端还通过第二远程无线传输方式与所述遥控端通信连接。
  16. 如权利要求15所述的无人机控制方法，其特征在于，所述第一远程无线传输方式的通信方式与所述第二远程无线传输方式的通信方式不 同。
  17. 如权利要求16所述的无人机控制方法，其特征在于，所述第一远程无线传输方式的最远传输距离小于所述第二远程无线传输方式的最远传输距离。
  18. 一种无人机控制系统，其特征在于，包括：通信装置、控制装置和显示装置；
    所述通信装置用于与无人机建立通信连接；
    所述显示装置用于显示所述无人机的状态信息；
    所述控制装置分别与所述通信装置和所述显示装置通信连接，用于控制所述通信装置建立与多个所述无人机的通信连接，对多个所述无人机进行控制，以及控制所述显示装置显示其中至少一个所述无人机的状态信息。
  19. 如权利要求18所述的无人机控制系统，其特征在于，所述控制装置还用于建立多个控制对象实例，其中，一个已与所述通信装置建立通信连接的所述无人机对应一个所述控制对象实例。
  20. 如权利要求19所述的无人机控制系统，其特征在于，所述显示装置还用于显示用于代表所述控制对象实例的图标，其中，一个所述控制对象实例对应一个所述图标。
  21. 如权利要求20所述的无人机控制系统，其特征在于，通过操作所述图标能够选择控制一个所述无人机，或能够选择显示一个所述无人机的状态信息。
  22. 如权利要求19所述的无人机控制系统，其特征在于，所述显示装置还用于检测用于选择所述控制对象实例的选择操作信号，并将所述选择操作信号发送到所述控制装置；所述控制装置根据所述选择操作信号，选择控制一个所述无人机。
  23. 如权利要求18所述的无人机控制系统，其特征在于，所述显示装置还用于接收用户的输入控制信号；所述控制装置还用于根据所述用户的输入控制信号，生成用于控制对应的所述无人机的控制信息；所述通信装置用于发送所述控制信息。
  24. 如权利要求23所述的无人机控制系统，其特征在于，所述输入控制信号包括控制如下至少一种：控制所述无人机的状态，控制所述无人机搭载的相机的状态，控制所述无人机承载的云台的状态。
  25. 如权利要求24所述的无人机控制系统，其特征在于，所述控制所述无人机的状态包括控制如下至少一种：设置航点，一键降落，一键起飞。
  26. 如权利要求24所述的无人机控制系统，其特征在于，所述控制所述无人机搭载的相机的状态包括控制如下至少一种：调节所述相机的焦距，调节所述相机的曝光度。
  27. 如权利要求24所述的无人机控制系统，其特征在于，所述控制所述无人机承载的云台的状态包括控制如下至少一种：调节所述云台的俯仰角，调节所述云台的横滚角，调节所述云台的平移角。
  28. 如权利要求23所述的无人机控制系统，其特征在于，所述控制信息包括控制命令和所要控制的所述无人机的身份识别码。
  29. 如权利要求23所述的无人机控制系统，其特征在于，
    所述显示装置用于根据用户的选择操作信号选择其中至少两个所述无人机；
    所述控制装置用于根据选择的其中至少两个所述无人机的状态信息，形成用于实现多个所述无人机之间的协作的协同控制信息；
    所述通信装置用于同时向其中至少两个所述无人机发送所述协同控制信息。
  30. 如权利要求29所述的无人机控制系统，其特征在于，所述协同控制信息包括如下至少一种：按照同一航线同时飞行，按照同一航线先后飞行，按照不同的航线同时飞行，按照不同航线先后飞行。
  31. 如权利要求18所述的无人机控制系统，其特征在于，所述通信装置用于通过远程的方式与多个所述无人机建立通信连接。
  32. 如权利要求31所述的无人机控制系统，其特征在于，还包括遥控端和服务器端；
    所述服务器端与所述用户端通信连接，能够用于对多个所述用户端对所述无人机的控制进行分级管理；
    所述遥控端通过第一远程无线传输方式与所述无人机通信连接；
    所述服务器端还通过第二远程无线传输方式与所述遥控端通信连接。
  33. 如权利要求32所述的无人机控制系统，其特征在于，所述第一远程无线传输方式的通信方式与所述第二远程无线传输方式的通信方式不同。
  34. 如权利要求33所述的无人机控制系统，其特征在于，所述第一远程无线传输方式的最远传输距离小于所述第二远程无线传输方式的最远传输距离。
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