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WO2019080099A1 - 控制无人机的方法及装置和无人机的操作方法及装置 - Google Patents

控制无人机的方法及装置和无人机的操作方法及装置

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Publication number
WO2019080099A1
WO2019080099A1 PCT/CN2017/108048 CN2017108048W WO2019080099A1 WO 2019080099 A1 WO2019080099 A1 WO 2019080099A1 CN 2017108048 W CN2017108048 W CN 2017108048W WO 2019080099 A1 WO2019080099 A1 WO 2019080099A1
Authority
WO
WIPO (PCT)
Prior art keywords
base station
drone
control information
controller
paging signaling
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/CN2017/108048
Other languages
English (en)
French (fr)
Inventor
洪伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Xiaomi Mobile Software Co Ltd
Original Assignee
Beijing Xiaomi Mobile Software Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Xiaomi Mobile Software Co Ltd filed Critical Beijing Xiaomi Mobile Software Co Ltd
Priority to PCT/CN2017/108048 priority Critical patent/WO2019080099A1/zh
Priority to CN201780001689.1A priority patent/CN108401477B/zh
Priority to US16/758,202 priority patent/US20200302799A1/en
Publication of WO2019080099A1 publication Critical patent/WO2019080099A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18502—Airborne stations
    • H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/30—Flight plan management
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/20—Arrangements for acquiring, generating, sharing or displaying traffic information
    • G08G5/26—Transmission of traffic-related information between aircraft and ground stations
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/30—Flight plan management
    • G08G5/32—Flight plan management for flight plan preparation
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/53—Navigation or guidance aids for cruising
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/55—Navigation or guidance aids for a single aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/70—Arrangements for monitoring traffic-related situations or conditions
    • G08G5/72—Arrangements for monitoring traffic-related situations or conditions for monitoring traffic
    • G08G5/727—Arrangements for monitoring traffic-related situations or conditions for monitoring traffic from a ground station
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18502—Airborne stations
    • H04B7/18504—Aircraft used as relay or high altitude atmospheric platform
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W68/00—User notification, e.g. alerting and paging, for incoming communication, change of service or the like
    • H04W68/04—User notification, e.g. alerting and paging, for incoming communication, change of service or the like multi-step notification using statistical or historical mobility data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B64U2201/104—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] using satellite radio beacon positioning systems, e.g. GPS
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/57—Navigation or guidance aids for unmanned aircraft

Definitions

  • UAV Unmanned Aerial Vehicle
  • UAV is a non-manned aerial vehicle operated by radio remote control equipment and self-contained program control device.
  • UAVs are actually the collective name of unmanned aerial vehicles. They can be divided into: unmanned fixed-wing aircraft, unmanned vertical take-off and landing aircraft, unmanned airships, unmanned helicopters, unmanned multi-rotor aircraft and unmanned aircraft. Umbrella wing machine, etc.
  • drones are increasingly used in ordinary consumers.
  • no one is connected to aerial photography, agriculture, plant protection, micro-self-timer, express transportation, disaster relief, observation of wildlife, monitoring of infectious diseases, mapping, news reports, power inspection, disaster relief, film and television shooting, manufacturing romance, etc.
  • the use of the drone itself has been greatly expanded, and various countries are actively expanding the application and development of drone technology.
  • 3GPP 3rd Generation Partnership Project
  • UAVs generally have two modes of flight.
  • One mode of flight is fixed mode, that is, the controller plans the flight path of the drone on the controller, so that the drone can fly according to the planned route.
  • the UAV is controlled at all times when not in use, and the other flight mode is the dynamic mode, that is, the controller remotely controls the UAV in real time through the controller.
  • the controller needs to quickly find and control the drone that needs to be controlled.
  • the cellular network finds and controls the drone that needs to be controlled by paging to the entire tracking area through the core network, but the tracking area contains a large number of base stations, and paging through the core network causes a high signaling load, and The delay is large.
  • the present application discloses a method and device for controlling a drone, a method and device for operating the drone, a controller, a base station, a drone and a computer readable storage medium, so as to quickly find and control A drone that needs to be controlled.
  • a method of controlling a drone, applied to a controller comprising:
  • the base station accessed by the controller reports the flight path of the drone to the core network, and the base station accessed by the controller obtains the base station covered by the flight route from the core network;
  • a method for controlling a drone is provided, which is applied to a base station to which a controller is connected, and the method includes:
  • the transmitting by the base station covered by the flight path, the paging signaling that carries the control information, including:
  • the paging signaling carrying the control information is sent to the base station covered by the flight path through the X2 interface or the S1 interface.
  • the method further includes:
  • the paging signaling After transmitting, to the base station covered by the flight path, the paging signaling carrying the control information, receiving, by the base station accessed by the UAV, after the establishing connection with the UAV The identity of the base station to which the drone is connected;
  • a method for controlling a drone for a base station to which a drone is accessed, the method comprising:
  • the paging signaling is sent to the drone for the drone to operate in accordance with the control information in the paging signaling.
  • the method further includes:
  • the identifier of the base station accessed by the UAV is sent to the base station accessed by the controller;
  • a method of operating a drone for use in a drone, the method comprising:
  • the operation is performed in accordance with the control information.
  • the method further includes:
  • an apparatus for controlling a drone, applied to a controller comprising:
  • a first reporting module configured to report, by the base station accessed by the controller, a flight route of the drone to the core network, where the base station accessed by the controller obtains the flight from the core network The base station covered by the route;
  • a first sending module configured to send control information to the base station to which the controller is connected, for the coverage of the flight route reported by the base station accessed by the controller to the first reporting module
  • the base station sends paging signaling that carries the control information.
  • an apparatus for controlling a drone which is applied to a base station to which a controller is connected, the apparatus comprising:
  • a first receiving module configured to receive a flight route of the drone reported by the controller
  • the second reporting module is configured to report the flight route received by the first receiving module to the core network
  • a second receiving module configured to receive a base station covered by the flight route reported by the second reporting module returned by the core network
  • a third receiving module configured to receive control information sent by the controller
  • a second sending module configured to send, to the base station covered by the flight path, paging signaling that carries the control information received by the third receiving module, where the base station is connected to the UAV The paging signaling is sent to the drone.
  • the sending module is configured to:
  • the paging signaling carrying the control information is sent to the base station covered by the flight path through the X2 interface or the S1 interface.
  • the apparatus further includes:
  • a fourth receiving module configured to: after the second sending module sends the paging signaling that carries the control information to the base station covered by the flight path, receive the base station that the UAV accesses An identifier of a base station accessed by the drone after the UAV establishes a connection;
  • the third sending module is configured to send control information to the base station accessed by the drone according to the identifier received by the fourth receiving module.
  • an apparatus for controlling a drone which is applied to a base station to which the drone is accessed, the apparatus comprising:
  • the fifth receiving module is configured to receive paging signaling that carries control information sent by the base station accessed by the controller;
  • a fourth sending module configured to send the paging signaling received by the fifth receiving module to the drone for the drone to perform according to the control information in the paging signaling operating.
  • the apparatus further includes:
  • a fifth sending module configured to: after the fourth sending module sends the paging signaling to the UAV, send the base station to which the UAV is connected to the base station accessed by the controller Identification
  • the sixth receiving module is configured to receive control information sent by the base station accessed by the controller according to the identifier sent by the fifth sending module.
  • an operating device for a drone which is applied to a drone, the device comprising:
  • the seventh receiving module is configured to receive paging signaling that carries control information sent by the base station accessed by the UAV;
  • An acquiring module configured to acquire control information from the paging signaling received by the seventh receiving module
  • the operation module is configured to operate according to the control information acquired by the acquisition module.
  • the apparatus further includes:
  • a switching module configured to switch to a connected state after the seventh receiving module receives the paging signaling if the unmanned aerial vehicle is in an idle state
  • the establishing module is configured to establish a connection with the base station to which the drone is connected after the switching module switches the drone to a connected state.
  • a controller including:
  • a memory for storing processor executable instructions
  • processor is configured to:
  • the base station accessed by the controller reports the flight path of the drone to the core network, and the base station accessed by the controller obtains the base station covered by the flight route from the core network;
  • a base station including:
  • a memory for storing processor executable instructions
  • processor is configured to:
  • a base station including:
  • a memory for storing processor executable instructions
  • processor is configured to:
  • the paging signaling is sent to the drone for the drone to operate in accordance with the control information in the paging signaling.
  • a drone including:
  • a memory for storing processor executable instructions
  • processor is configured to:
  • the operation is performed in accordance with the control information.
  • a computer readable storage medium having stored thereon computer instructions that, when executed by a processor, implement the steps of the method of controlling the drone.
  • a fourteenth aspect of the embodiments of the present disclosure there is provided a computer readable storage medium having stored thereon computer instructions that, when executed by a processor, implement the steps of the method of controlling the drone.
  • a computer readable storage medium having stored thereon computer instructions that, when executed by a processor, implement the steps of the method of controlling the drone.
  • a computer readable storage medium having stored thereon computer instructions for performing the steps of the operation method of the above-described drone when executed by a processor.
  • the base station accessed by the controller reports the flight path of the drone to the core network, so that the base station accessed by the controller can obtain the base station covered by the flight route from the core network, and send control to the base station accessed by the controller.
  • the information is such that the base station accessed by the controller sends the paging signaling carrying the control information to the base station covered by the flight route, instead of sending the paging signaling to the entire tracking area. Therefore, the paging signaling load is small and can be fast. Find and control the drones that need to be controlled.
  • the base station accessed by the controller sends the paging signaling carrying the control information to the base station covered by the flight route, instead of sending the paging signaling to the entire tracking area. Therefore, the paging signaling load is small, and the drone that needs to be controlled can be quickly found and controlled.
  • the paging signaling carrying the control information sent by the base station accessed by the controller is received, and the paging signaling is sent to the drone, so that the drone operates according to the control information in the paging signaling, that is, the paging signal can be implemented. Quickly find and control the drones that need to be controlled.
  • the operation according to the control instruction of the controller can be implemented.
  • FIG. 1 is a flow chart showing a method of controlling a drone according to an exemplary embodiment of the present application
  • FIG. 2A is a flow chart showing another method of controlling a drone according to an exemplary embodiment of the present application
  • 2B is a flow chart showing another method of controlling a drone according to an exemplary embodiment of the present application.
  • FIG. 3A is a flowchart of still another method for controlling a drone according to an exemplary embodiment of the present application.
  • FIG. 3B is a flowchart of still another method for controlling a drone according to an exemplary embodiment of the present application.
  • FIG. 4 is a flow chart showing a method of operating a drone according to an exemplary embodiment of the present application
  • FIG. 5 is a signaling flowchart of a method for controlling a drone according to an exemplary embodiment of the present application
  • FIG. 6 is a block diagram of an apparatus for controlling a drone according to an exemplary embodiment
  • FIG. 7A is a block diagram of another apparatus for controlling a drone according to an exemplary embodiment
  • FIG. 7B is a block diagram of another apparatus for controlling a drone according to an exemplary embodiment
  • FIG. 8A is a block diagram of still another apparatus for controlling a drone according to an exemplary embodiment
  • 8B is a block diagram of another apparatus for controlling a drone, according to an exemplary embodiment
  • FIG. 9A is a block diagram of an operating device of a drone according to an exemplary embodiment
  • FIG. 9B is a block diagram of an operation device of another drone according to an exemplary embodiment.
  • FIG. 10 is a block diagram of an apparatus suitable for controlling a drone, according to an exemplary embodiment
  • FIG. 11 is a block diagram of another apparatus suitable for controlling a drone, according to an exemplary embodiment
  • FIG. 12 is a block diagram of an operating device suitable for a drone, according to an exemplary embodiment.
  • FIG. 1 is a flow chart of a method for controlling a drone according to an exemplary embodiment of the present application. The embodiment is described from the controller side. As shown in FIG. 1, the method for controlling a drone includes:
  • step S101 the base station accessed by the controller reports the flight route of the drone to the core network, so that the base station accessed by the controller obtains the base station covered by the flight route from the core network.
  • the controller can report the flight line to the base station that it accesses through the cellular network, and then the base station can report the flight line to the core network.
  • the core network can predict which cellular network base stations the unmanned opportunity passes through. After receiving the flight route reported by the base station accessed by the controller, the core network may check the base stations covered by the flight route, and notify the base station to which the controller accesses the information of the base stations.
  • step S102 the control information is sent to the base station accessed by the controller, so that the base station accessed by the controller sends the paging signaling carrying the control information to the base station covered by the flight path.
  • the controller When the controller needs to find and control the drone, it can send control information to the drone to the base station that the user accesses, and the base station accessed by the controller can receive the control information and can be covered by the flight route.
  • the base station sends paging signaling and carries the control information in the paging signaling.
  • the paging signaling can be sent through the X2 interface. If the X2 interface is not available between the base station and the base station, the paging signaling can be sent through the S1 interface, or the homing can be forwarded through the X2 interface relay. Call signaling.
  • the UAV After receiving the paging signaling carrying the control information of the base station that the UE is connected to, the UAV can perform corresponding operations according to the control information.
  • the base station accessed by the controller reports the flight route of the drone to the core network, so that the controller
  • the accessed base station may obtain the base station covered by the flight route from the core network, and send control information to the base station accessed by the controller, so that the base station accessed by the controller sends the control information to the base station covered by the flight route.
  • Paging signaling rather than sending paging signaling to the entire tracking area, therefore, the paging signaling load is small, and the drone that needs to be controlled can be quickly found and controlled.
  • FIG. 2A is a flow chart of another method for controlling a drone according to an exemplary embodiment of the present application. The embodiment is described from the base station side to which the controller is connected, as shown in FIG. 2A, the control is unmanned.
  • the method of the machine includes:
  • step S201 the flight route of the drone reported by the controller is received.
  • step S202 the flight route is reported to the core network.
  • the controller can report the flight line to the base station that it accesses through the cellular network, and then the base station can report the flight line to the core network.
  • step S203 the base station covered by the flight route returned by the core network is received.
  • the core network may check the base stations covered by the flight route, and notify the base station to which the controller accesses the information of the base stations.
  • step S204 control information transmitted by the controller is received.
  • the controller When the controller needs to find and control the drone, it can send control information to the drone to the base station that it accesses.
  • step S205 the paging signal carrying the control information is sent to the base station covered by the flight path, so that the base station accessed by the drone transmits the paging signaling to the drone.
  • paging signaling may be sent through the X2 interface, if the base station to which the controller is connected and the base station covered by the flight path are not With the X2 interface, the paging signaling can be sent through the S1 interface, or the paging signaling can be forwarded through the X2 interface relay.
  • the base station accessed by the controller sends the paging signaling carrying the control information to the base station covered by the flight route, instead of sending the entire tracking area. Call signaling, therefore, the paging signaling load is small, and the drone that needs to be controlled can be quickly found and controlled.
  • FIG. 2B is a flowchart of another method for controlling a drone according to an exemplary embodiment of the present application. As shown in FIG. 2B, after the step S205, the method for controlling the drone may further include:
  • step S206 the identifier of the base station accessed by the unmanned aerial vehicle transmitted by the base station accessed by the drone after establishing the connection with the drone is received.
  • the base station accessed by the drone After the base station accessed by the drone sends the paging signaling to the drone, if the drone is in the idle state at this time, the paging state is switched to the connected state after receiving the paging signaling, and the connected base station establish connection.
  • the accessed base station can inform its base station to the base station to which the controller is connected, so that the base station accessed by the controller can directly send the control information from the controller to the base station accessed by the drone,
  • the base station to which the human machine is connected can transmit control information to the drone.
  • step S207 control information is transmitted to the base station to which the drone is accessed according to the received identifier.
  • the identifier of the base station accessed by the unmanned mobile station sent by the base station accessed by the unmanned aerial vehicle after establishing the connection with the unmanned aerial vehicle, so that the base station accessed by the controller can directly directly according to the received identifier
  • the base station accessed by the drone transmits control information to improve the transmission efficiency of the control information.
  • FIG. 3A is a flowchart of still another method for controlling a drone according to an exemplary embodiment of the present application. The embodiment is described from the base station side to which the drone is connected, as shown in FIG. 3A, the control is not
  • the man-machine method includes:
  • step S301 the paging signaling carrying the control information sent by the base station accessed by the controller is received.
  • the controller When the controller needs to find and control the drone, it can send control information to the drone to the base station that the user accesses, and the base station accessed by the controller can receive the control information and can be covered by the flight route.
  • the base station sends paging signaling and carries the control information in the paging signaling.
  • the base station covered by the flight path includes a base station to which the drone is connected.
  • step S302 paging signaling is sent to the drone for the drone to operate in accordance with the control information in the paging signaling.
  • the base station accessed by the UAV After receiving the paging signaling carrying the control information, the base station accessed by the UAV can send paging signaling to the UAV, and the UAV can follow the paging signaling after receiving the paging signaling.
  • the control information carried in the corresponding operation is performed.
  • the paging signaling carrying the control information sent by the base station accessed by the controller is received, and the paging signaling is sent to the drone, so that the drone operates according to the control information in the paging signaling. That means you can quickly find and control the drones that need to be controlled.
  • FIG. 3B is a flowchart of still another method for controlling a drone according to an exemplary embodiment of the present application. As shown in FIG. 3B, after the step S302, the method for controlling the drone may further include:
  • step S303 the identifier of the base station accessed by the drone is transmitted to the base station to which the controller is connected.
  • the base station accessed by the drone sends the paging signaling to the drone, if the drone is in the idle state at this time, the paging state is switched to the connected state after receiving the paging signaling, and the connected base station establish connection.
  • the base station to which the drone is connected can inform its base station of the base station to which the controller is connected.
  • step S304 the base station accessed by the controller is received according to the control information sent by the identifier.
  • the base station accessed by the UAV After the base station accessed by the UAV informs the base station to which the controller is connected, the base station accessed by the controller can directly send the control information from the controller to the base station accessed by the UAV.
  • the base station to which the drone is connected can transmit control information to the drone.
  • the identifier of the base station accessed by the unmanned mobile station is sent to the base station accessed by the controller, and the control information sent by the base station accessed by the controller according to the identifier is received, thereby improving the transmission efficiency of the control information.
  • FIG. 4 is a flowchart of a method for operating a drone according to an exemplary embodiment of the present application. The embodiment is described from the side of the drone. As shown in FIG. 4, the operating method of the drone includes:
  • step S401 the paging signaling carrying the control information sent by the base station accessed by the UAV is received.
  • step S402 control information is acquired from the received paging signaling.
  • the UAV After receiving the paging signaling carrying the control information of the base station that the UE is connected to, the UAV can obtain the control information from the received paging signaling.
  • step S403 an operation is performed in accordance with the control information.
  • the drone After the drone obtains the control information, the drone can perform corresponding operations according to the control information.
  • the control instruction according to the controller may be implemented. operating.
  • FIG. 5 is a signaling flowchart of a method for controlling a drone according to an exemplary embodiment of the present application.
  • the embodiment is a flight route from a controller, a base station to which the controller is connected, a core network, and a drone.
  • the angle of interaction between the covered base station and the drone is described.
  • the method for controlling the drone includes:
  • step S501 the controller reports the flight route to the base station to which the controller is connected.
  • step S502 the base station accessed by the controller reports the flight route to the core network.
  • step S503 the core network checks the base station covered by the flight path.
  • step S504 the core network sends the base station information covered by the flight route to the base station accessed by the controller.
  • step S505 the controller sends control information to the base station to which the controller is connected.
  • step S506 the base station accessed by the controller sends paging signaling carrying control information to the base station covered by the flight route.
  • the base station covered by the flight path includes a base station to which the drone is connected.
  • step S507 the base station accessed by the drone transmits paging signaling to the drone.
  • step S508 if the drone is in an idle state, it switches to the connected state after receiving the paging signaling, and establishes a connection with the base station to which the drone is connected.
  • the drone in the idle state switches to the connected state after receiving the paging signaling, and establishes a connection with the base station to which the drone is connected, thereby being accessed by the subsequent receiving drone.
  • the control information sent by the base station provides conditions.
  • step S509 the base station accessed by the drone transmits the identifier of the base station accessed by the drone to the base station accessed by the controller.
  • step S510 the base station accessed by the controller sends control information to the base station accessed by the drone according to the identifier.
  • step S511 the base station accessed by the drone transmits control information to the drone.
  • step S512 the drone operates in accordance with the control information.
  • the covered base station sends paging signaling carrying control information instead of sending paging signaling to the entire tracking area. Therefore, the paging signaling load is small, and the drone that needs to be controlled can be quickly found and controlled.
  • FIG. 6 is a block diagram of an apparatus for controlling a drone according to an exemplary embodiment.
  • the apparatus for controlling the drone may be located in a controller. As shown in FIG. 6, the apparatus includes: a first reporting module 61. And a first sending module 62.
  • the first reporting module 61 is configured to report the flight path of the drone to the core network through the base station accessed by the controller, so that the base station accessed by the controller obtains the base station covered by the flight route from the core network.
  • the controller can report the flight line to the base station that it accesses through the cellular network, and then the base station can report the flight line to the core network.
  • the core network can predict which cellular network base stations the unmanned opportunity passes through. After receiving the flight route reported by the base station accessed by the controller, the core network may check the base stations covered by the flight route, and notify the base station to which the controller accesses the information of the base stations.
  • the first sending module 62 is configured to send control information to the base station to which the controller is connected, for the base station accessed by the controller to send the control information to the base station covered by the flight route reported by the first reporting module 61. Call signaling.
  • the controller When the controller needs to find and control the drone, it can send control information to the drone to the base station that the user accesses, and the base station accessed by the controller can receive the control information and can be covered by the flight route.
  • the base station sends paging signaling, And carrying the control information in paging signaling.
  • the paging signaling can be sent through the X2 interface. If the X2 interface is not available between the base station and the base station, the paging signaling can be sent through the S1 interface, or the homing can be forwarded through the X2 interface relay. Call signaling.
  • the UAV After receiving the paging signaling carrying the control information of the base station that the UE is connected to, the UAV can perform corresponding operations according to the control information.
  • the base station accessed by the controller reports the flight path of the drone to the core network, so that the base station accessed by the controller can obtain the base station covered by the flight route from the core network, and access the controller.
  • the base station sends the control information, so that the base station accessed by the controller sends the paging signaling carrying the control information to the base station covered by the flight route, instead of sending the paging signaling to the entire tracking area, therefore, the paging signaling load Small, you can quickly find and control the drones that need to be controlled.
  • FIG. 7A is a block diagram of another apparatus for controlling a drone, which may be located in a base station to which a controller is connected, as shown in FIG. 7A, according to an exemplary embodiment, including The first receiving module 71, the second reporting module 72, the second receiving module 73, the third receiving module 74, and the second transmitting module 75.
  • the first receiving module 71 is configured to receive a flight path of the drone reported by the controller.
  • the second reporting module 72 is configured to report the flight route received by the first receiving module 71 to the core network.
  • the controller can report the flight line to the base station that it accesses through the cellular network, and then the base station can report the flight line to the core network.
  • the second receiving module 73 is configured to receive the base station covered by the flight route reported by the second reporting module 72 returned by the core network.
  • the core network may check the base stations covered by the flight route, and notify the base station to which the controller accesses the information of the base stations.
  • the third receiving module 74 is configured to receive control information transmitted by the controller.
  • the controller When the controller needs to find and control the drone, it can send control information to the drone to the base station that it accesses.
  • the second sending module 75 is configured to send paging signaling carrying the control information received by the third receiving module 74 to the base station covered by the flight path, so that the base station accessed by the drone sends a paging to the drone Signaling.
  • the X2 interface sends the paging signaling. If the base station connected to the controller and the base station covered by the flight path do not have an X2 interface, the paging signaling may be sent through the S1 interface, or the paging may be forwarded through the X2 interface relay. Signaling.
  • the base station accessed by the controller sends the paging signaling carrying the control information to the base station covered by the flight route, instead of sending the entire tracking area. Call signaling, therefore, the paging signaling load is small, and the drone that needs to be controlled can be quickly found and controlled.
  • FIG. 7B is a block diagram of another apparatus for controlling a drone according to an exemplary embodiment. As shown in FIG. 7B, on the basis of the embodiment shown in FIG. 7A, the apparatus may further include: fourth receiving. Module 76 and third transmitting module 77.
  • the fourth receiving module 76 is configured to send, after the second sending module 75 sends the paging signaling carrying the control information to the base station covered by the flight path, the base station accessed by the receiving drone is sent after establishing the connection with the drone. The identity of the base station to which the drone is connected.
  • the base station accessed by the drone After the base station accessed by the drone sends the paging signaling to the drone, if the drone is in the idle state at this time, the paging state is switched to the connected state after receiving the paging signaling, and the connected base station establish connection.
  • the accessed base station can inform its base station to the base station to which the controller is connected, so that the base station accessed by the controller can directly send the control information from the controller to the base station accessed by the drone,
  • the base station to which the human machine is connected can transmit control information to the drone.
  • the third sending module 77 is configured to send control information to the base station to which the drone is accessed according to the identifier received by the fourth receiving module 76.
  • the identifier of the base station accessed by the unmanned mobile station sent by the base station accessed by the unmanned aerial vehicle after establishing the connection with the unmanned aerial vehicle, so that the base station accessed by the controller can directly directly according to the received identifier
  • the base station accessed by the drone transmits control information to improve the transmission efficiency of the control information.
  • FIG. 8A is a block diagram of still another apparatus for controlling a drone, which may be located in a base station to which the drone is connected, as shown in FIG. 8A, according to an exemplary embodiment.
  • the fifth receiving module 81 and the fourth sending module 82 are included.
  • the fifth receiving module 81 is configured to receive paging signaling that carries control information sent by the base station accessed by the controller.
  • the controller When the controller needs to find and control the drone, it can send control information to the drone to the base station that the user accesses, and the base station accessed by the controller can receive the control information and can be covered by the flight route.
  • the base station sends paging signaling and carries the control information in the paging signaling.
  • the base station covered by the flight path includes a base station to which the drone is connected.
  • the fourth sending module 82 is configured to send the paging signaling received by the fifth receiving module 81 to the drone for use in none
  • the human machine operates according to the control information in the paging signaling.
  • the base station accessed by the UAV After receiving the paging signaling carrying the control information, the base station accessed by the UAV can send paging signaling to the UAV, and the UAV can follow the paging signaling after receiving the paging signaling.
  • the control information carried in the corresponding operation is performed.
  • the paging signaling carrying the control information sent by the base station accessed by the controller is received, and the paging signaling is sent to the drone, so that the drone operates according to the control information in the paging signaling. That means you can quickly find and control the drones that need to be controlled.
  • FIG. 8B is a block diagram of another apparatus for controlling a drone according to an exemplary embodiment. As shown in FIG. 8B, on the basis of the embodiment shown in FIG. 8A, the apparatus may further include: fifth sending. Module 83 and sixth receiving module 84.
  • the fifth sending module 83 is configured to send the identifier of the base station accessed by the drone to the base station accessed by the controller after the fourth transmitting module 82 sends the paging signaling to the drone.
  • the base station accessed by the drone sends the paging signaling to the drone, if the drone is in the idle state at this time, the paging state is switched to the connected state after receiving the paging signaling, and the connected base station establish connection.
  • the base station to which the drone is connected can inform its base station of the base station to which the controller is connected.
  • the sixth receiving module 84 is configured to receive control information sent by the base station accessed by the controller according to the identifier sent by the fifth sending module 83.
  • the base station accessed by the UAV After the base station accessed by the UAV informs the base station to which the controller is connected, the base station accessed by the controller can directly send the control information from the controller to the base station accessed by the UAV.
  • the base station to which the drone is connected can transmit control information to the drone.
  • the identifier of the base station accessed by the unmanned mobile station is sent to the base station accessed by the controller, and the control information sent by the base station accessed by the controller according to the identifier is received, thereby improving the transmission efficiency of the control information.
  • FIG. 9A is a block diagram of an operating device of a drone, the operating device of the drone may be located in a drone, as shown in FIG. 9A, the device includes: a seventh receiving module, according to an exemplary embodiment 91. An acquisition module 92 and an operation module 93.
  • the seventh receiving module 91 is configured to receive paging signaling carrying control information sent by the base station accessed by the drone.
  • the obtaining module 92 is configured to acquire control information from the paging signaling received by the seventh receiving module 91.
  • the UAV After receiving the paging signaling carrying the control information of the base station that the UE is connected to, the UAV can obtain the control information from the received paging signaling.
  • the operation module 93 is configured to operate in accordance with control information acquired by the acquisition module 92.
  • the drone After the drone obtains the control information, the drone can perform corresponding operations according to the control information.
  • the control instruction according to the controller may be implemented. operating.
  • FIG. 9B is a block diagram of another operating device of the drone according to an exemplary embodiment. As shown in FIG. 9B, on the basis of the embodiment shown in FIG. 9A, the device may further include: a switching module 94. And build module 95.
  • the switching module 94 is configured to switch to the connected state after the seventh receiving module 91 receives the paging signaling if the drone is in an idle state.
  • the setup module 95 is configured to establish a connection with the base station to which the drone is connected after the handover module 94 switches the drone to the connected state.
  • the drone in the idle state switches to the connected state after receiving the paging signaling, and establishes a connection with the base station accessed by the drone, thereby receiving the base station accessed by the unmanned aerial vehicle.
  • the sent control information provides the conditions.
  • FIG. 10 is a block diagram of an apparatus suitable for controlling a drone, according to an exemplary embodiment.
  • the device 1000 can be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a controller of a drone, and the like.
  • Processing component 1002 typically controls the overall operation of device 1000, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations.
  • Processing component 1002 can include one or more processors 1020 to execute instructions to perform all or part of the steps of the above described methods.
  • processing component 1002 can include one or more modules to facilitate interaction between component 1002 and other components.
  • processing component 1002 can include a multimedia module to facilitate interaction between multimedia component 1008 and processing component 1002.
  • One of the processors 1020 in the processing component 1002 can be configured to:
  • the base station Sending control information to the base station to which the controller is connected, for the base station accessed by the controller to cover the flight path
  • the base station transmits paging signaling carrying control information.
  • the memory 1004 is configured to store various types of data to support operation at the device 1000. Examples of such data include instructions for any application or method operating on device 1000, contact data, phone book data, messages, pictures, videos, and the like.
  • the memory 1004 can be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable.
  • SRAM static random access memory
  • EEPROM electrically erasable programmable read only memory
  • EPROM Programmable Read Only Memory
  • PROM Programmable Read Only Memory
  • ROM Read Only Memory
  • Magnetic Memory Flash Memory
  • Disk Disk
  • Optical Disk Optical Disk
  • Power component 1006 provides power to various components of device 1000.
  • Power component 1006 can include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for device 1000.
  • the multimedia component 1008 includes a screen between the device 1000 and the user that provides an output interface.
  • the screen can include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive input signals from the user.
  • the touch panel includes one or more touch sensors to sense touches, slides, and gestures on the touch panel. The touch sensor can sense not only the boundaries of the touch or sliding action, but also the duration and pressure associated with the touch or slide operation.
  • the multimedia component 1008 includes a front camera and/or a rear camera. When the device 1000 is in an operation mode, such as a shooting mode or a video mode, the front camera and/or the rear camera can receive external multimedia data. Each front and rear camera can be a fixed optical lens system or have focal length and optical zoom capabilities.
  • the audio component 1010 is configured to output and/or input an audio signal.
  • the audio component 1010 includes a microphone (MIC) that is configured to receive an external audio signal when the device 1000 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode.
  • the received audio signal may be further stored in memory 1004 or transmitted via communication component 1016.
  • the audio component 1010 also includes a speaker for outputting an audio signal.
  • the I/O interface 1012 provides an interface between the processing component 1002 and the peripheral interface module, which may be a keyboard, a click wheel, a button, or the like. These buttons may include, but are not limited to, a home button, a volume button, a start button, and a lock button.
  • Sensor assembly 1014 includes one or more sensors for providing device 1000 with various aspects of state assessment.
  • the sensor assembly 1014 can detect an open/closed state of the device 1000, the relative positioning of the components, such as a display and a keypad of the device 1000, and the sensor assembly 1014 can also detect a change in position of a component of the device 1000 or device 1000, the user The presence or absence of contact with device 1000, device 1000 orientation or acceleration/deceleration and temperature variation of device 1000.
  • Sensor assembly 1014 can include a proximity sensor configured to detect without any physical contact Measure the presence of nearby objects.
  • Sensor assembly 1014 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications.
  • the sensor assembly 1014 can also include an acceleration sensor, a gyro sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
  • Communication component 1016 is configured to facilitate wired or wireless communication between device 1000 and other devices.
  • the device 1000 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof.
  • the communication component 1016 receives a broadcast signal or broadcast associated information from an external broadcast management system via a broadcast channel.
  • communication component 1016 also includes a near field communication (NFC) module to facilitate short range communication.
  • NFC near field communication
  • the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
  • RFID radio frequency identification
  • IrDA infrared data association
  • UWB ultra-wideband
  • Bluetooth Bluetooth
  • apparatus 1000 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable A gate array (FPGA), controller, microcontroller, microprocessor, or other electronic component implementation for performing the above methods.
  • ASICs application specific integrated circuits
  • DSPs digital signal processors
  • DSPDs digital signal processing devices
  • PLDs programmable logic devices
  • FPGA field programmable A gate array
  • controller microcontroller, microprocessor, or other electronic component implementation for performing the above methods.
  • non-transitory computer readable storage medium comprising instructions, such as a memory 1004 comprising instructions executable by processor 1020 of apparatus 1000 to perform the above method.
  • the non-transitory computer readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device.
  • apparatus 1100 is a block diagram of another apparatus suitable for controlling a drone, according to an exemplary embodiment.
  • the device 1100 can be provided as a base station, which can be a base station to which the controller is connected, or a base station to which the drone is connected.
  • apparatus 1100 includes a processing component 1122, a wireless transmit/receive component 1124, an antenna component 1126, and a signal processing portion specific to the wireless interface.
  • the processing component 1122 can further include one or more processors.
  • one of the processing components 1122 can be configured to:
  • the paging signal carrying the control information is sent to the base station covered by the flight path, so that the base station accessed by the drone transmits the paging signaling to the drone.
  • one of the processing components 1122 can be configured to:
  • Paging signaling is sent to the drone for the drone to operate in accordance with the control information in the paging signaling.
  • non-transitory computer readable storage medium comprising instructions executable by processing component 1122 of apparatus 1100 to perform the above method of controlling a drone.
  • the non-transitory computer readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device.
  • FIG. 12 is a block diagram of an operating device suitable for a drone, according to an exemplary embodiment.
  • the device 1200 can be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a drone, and the like.
  • apparatus 1200 can include one or more of the following components: processing component 1202, memory 1204, power component 1206, multimedia component 1208, audio component 1210, input/output (I/O) interface 1212, sensor component 1214, And a communication component 1216.
  • Processing component 1202 typically controls the overall operation of device 1200, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations.
  • Processing component 1202 can include one or more processors 1220 to execute instructions to perform all or part of the steps of the above described methods.
  • processing component 1202 can include one or more modules to facilitate interaction between component 1202 and other components.
  • processing component 1202 can include a multimedia module to facilitate interaction between multimedia component 1208 and processing component 1202.
  • One of the processors 1220 in the processing component 1202 can be configured to:
  • Memory 1204 is configured to store various types of data to support operation at device 1200. Examples of such data include instructions for any application or method operating on device 1200, contact data, phone book data, messages, pictures, videos, and the like.
  • the memory 1204 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable Programmable read only memory (EPROM), programmable read only memory (PROM), read only memory (ROM), Magnetic memory, flash memory, disk or optical disk.
  • SRAM static random access memory
  • EEPROM electrically erasable programmable read only memory
  • EPROM erasable Programmable read only memory
  • PROM programmable read only memory
  • ROM read only memory
  • Magnetic memory flash memory, disk or optical disk.
  • Power component 1206 provides power to various components of device 1200.
  • Power component 1206 can include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for device 1200.
  • the multimedia component 1208 includes a screen between the device 1200 and the user that provides an output interface.
  • the screen can include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive input signals from the user.
  • the touch panel includes one or more touch sensors to sense touches, slides, and gestures on the touch panel. The touch sensor can sense not only the boundaries of the touch or sliding action, but also the duration and pressure associated with the touch or slide operation.
  • the multimedia component 1208 includes a front camera and/or a rear camera. When the device 1200 is in an operation mode, such as a shooting mode or a video mode, the front camera and/or the rear camera can receive external multimedia data. Each front and rear camera can be a fixed optical lens system or have focal length and optical zoom capabilities.
  • the audio component 1210 is configured to output and/or input an audio signal.
  • audio component 1210 includes a microphone (MIC) that is configured to receive an external audio signal when device 1200 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode.
  • the received audio signal may be further stored in memory 1204 or transmitted via communication component 1216.
  • audio component 1210 also includes a speaker for outputting an audio signal.
  • the I/O interface 1212 provides an interface between the processing component 1202 and the peripheral interface module, which may be a keyboard, a click wheel, a button, or the like. These buttons may include, but are not limited to, a home button, a volume button, a start button, and a lock button.
  • Sensor assembly 1214 includes one or more sensors for providing status assessment of various aspects to device 1200.
  • sensor component 1214 can detect an open/closed state of device 1200, a relative positioning of components, such as a display and a keypad of device 1200, and sensor component 1214 can also detect a change in position of a component of device 1200 or device 1200, the user The presence or absence of contact with device 1200, device 1200 orientation or acceleration/deceleration and temperature change of device 1200.
  • Sensor assembly 1214 can include a proximity sensor configured to detect the presence of nearby objects without any physical contact.
  • Sensor assembly 1214 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications.
  • the sensor assembly 1214 can also include an acceleration sensor, a gyro sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
  • Communication component 1216 is configured to facilitate wired or wireless communication between device 1200 and other devices.
  • the device 1200 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof.
  • communication component 1216 receives a broadcast signal or broadcast associated message from an external broadcast management system via a broadcast channel. interest.
  • communication component 1216 also includes a near field communication (NFC) module to facilitate short range communication.
  • the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
  • RFID radio frequency identification
  • IrDA infrared data association
  • UWB ultra-wideband
  • Bluetooth Bluetooth
  • device 1200 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable A gate array (FPGA), controller, microcontroller, microprocessor, or other electronic component implementation for performing the above methods.
  • ASICs application specific integrated circuits
  • DSPs digital signal processors
  • DSPDs digital signal processing devices
  • PLDs programmable logic devices
  • FPGA field programmable A gate array
  • controller microcontroller, microprocessor, or other electronic component implementation for performing the above methods.
  • non-transitory computer readable storage medium comprising instructions, such as a memory 1204 comprising instructions executable by processor 1220 of apparatus 1200 to perform the above method.
  • the non-transitory computer readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device.
  • the device embodiment since it basically corresponds to the method embodiment, reference may be made to the partial description of the method embodiment.
  • the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment. Those of ordinary skill in the art can understand and implement without any creative effort.

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Abstract

本公开是关于一种控制无人机的方法及装置、无人机的操作方法及装置、控制器、基站、无人机和计算机可读存储介质。其中，控制无人机的方法包括：通过控制器所接入的基站向核心网上报无人机的飞行路线，以用于控制器所接入的基站从核心网获得飞行路线所覆盖的基站；向控制器所接入的基站发送控制信息，以用于控制器所接入的基站向飞行路线所覆盖的基站发送携带控制信息的寻呼信令。本公开实施例可以快速地找到并控制需要控制的无人机。

Description

控制无人机的方法及装置和无人机的操作方法及装置 技术领域
本公开涉及通信技术领域，尤其涉及一种控制无人机的方法及装置、无人机的操作方法及装置、控制器、基站、无人机和计算机可读存储介质。
背景技术
无人驾驶飞行器(Unmanned Aerial Vehicle，简称UAV)简称无人机，是利用无线电遥控设备和自备的程序控制装置操纵的不载人飞行器。无人机实际上是无人驾驶飞行器的统称，从技术角度定义可以分为：无人固定翼机、无人垂直起降机、无人飞艇、无人直升机、无人多旋翼飞行器和无人伞翼机等。
而随着无人机技术的快速发展、成本的降低以及功能的完善，无人机越来越多的应用于普通消费者中。目前无人接在航拍、农业、植保、微型自拍、快递运输、灾难救援、观察野生动物、监控传染病、测绘、新闻报道、电力巡检、救灾、影视拍摄、制造浪漫等等领域的应用，大大地拓展了无人机本身的用途，各个国家都在积极扩展行业应用与发展无人机技术。
为了进一步拓展无人机的应用范围，第三代合作伙伴计划(3rd Generation Partnership Project，3GPP)通过了增强支持无人机(Enhanced Support for Aerial Vehicles)的立项，旨在研究并标准化蜂窝网络为无人机提供满足需求的服务。
无人机一般有两种飞行模式，一种飞行模式为固定模式，也就是操控者在控制器上规划好无人机的飞行线路，这样无人机就可以按照规划好的路线飞行，控制器不用时时刻刻对无人机进行控制，另外一种飞行模式为动态模式，也就是控制者通过控制器时时刻刻对无人机进行实时地遥控。当无人机由固定模式切换到动态模式时，控制器需要快速地找到并控制需要控制的无人机。
相关技术中，蜂窝网络通过核心网向整个追踪区域寻呼来找到并控制需要控制的无人机，但是追踪区域内包含大量的基站，通过核心网寻呼会造成很高的信令负荷，并且时延较大。
发明内容
有鉴于此，本申请公开了一种控制无人机的方法及装置、无人机的操作方法及装置、控制器、基站、无人机和计算机可读存储介质，以实现快速地找到并控制需要控制的无人机。
根据本公开实施例的第一方面，提供一种控制无人机的方法，应用于控制器，所述方法包括：
通过所述控制器所接入的基站向核心网上报无人机的飞行路线，以用于所述控制器所接入的基站从所述核心网获得所述飞行路线所覆盖的基站；
向所述控制器所接入的基站发送控制信息，以用于所述控制器所接入的基站向所述飞行路线所覆盖的基站发送携带所述控制信息的寻呼信令。
根据本公开实施例的第二方面，提供一种控制无人机的方法，应用于控制器所接入的基站，所述方法包括：
接收控制器上报的无人机的飞行路线；
向核心网上报所述飞行路线；
接收所述核心网返回的所述飞行路线所覆盖的基站；
接收所述控制器发送的控制信息；
向所述飞行路线所覆盖的基站发送携带所述控制信息的寻呼信令，以用于所述无人机所接入的基站向所述无人机发送所述寻呼信令。
在一实施例中，所述向所述飞行路线所覆盖的基站发送携带所述控制信息的寻呼信令，包括：
通过X2接口或者S1接口向所述飞行路线所覆盖的基站发送携带所述控制信息的寻呼信令。
在一实施例中，所述方法还包括：
在所述向所述飞行路线所覆盖的基站发送携带所述控制信息的寻呼信令之后，接收所述无人机所接入的基站在与所述无人机建立连接之后发送的所述无人机所接入的基站的标识；
根据接收的所述标识向所述无人机所接入的基站发送控制信息。
根据本公开实施例的第三方面，提供一种控制无人机的方法，应用于无人机所接入的基站，所述方法包括：
接收控制器所接入的基站发送的携带控制信息的寻呼信令；
向无人机发送所述寻呼信令，以用于所述无人机按照所述寻呼信令中的所述控制信息进行操作。
在一实施例中，所述方法还包括：
在所述向无人机发送所述寻呼信令之后，向所述控制器所接入的基站发送所述无人机所接入的基站的标识；
接收所述控制器所接入的基站根据所述标识发送的控制信息。
根据本公开实施例的第四方面，提供一种无人机的操作方法，应用于无人机，所述方法包括：
接收无人机所接入的基站发送的携带控制信息的寻呼信令；
从接收到的所述寻呼信令中获取控制信息；
按照所述控制信息进行操作。
在一实施例中，所述方法还包括：
若所述无人机处于空闲状态，则在所述接收到所述寻呼信令之后切换为连接状态；
与所述无人机所接入的基站建立连接。
根据本公开实施例的第五方面，提供一种控制无人机的装置，应用于控制器，所述装置包括：
第一上报模块，被配置为通过所述控制器所接入的基站向核心网上报无人机的飞行路线，以用于所述控制器所接入的基站从所述核心网获得所述飞行路线所覆盖的基站；
第一发送模块，被配置为向所述控制器所接入的基站发送控制信息，以用于所述控制器所接入的基站向所述第一上报模块上报的所述飞行路线所覆盖的基站发送携带所述控制信息的寻呼信令。
根据本公开实施例的第六方面，提供一种控制无人机的装置，应用于控制器所接入的基站，所述装置包括：
第一接收模块，被配置为接收控制器上报的无人机的飞行路线；
第二上报模块，被配置为向核心网上报所述第一接收模块接收的所述飞行路线；
第二接收模块，被配置为接收所述核心网返回的所述第二上报模块上报的所述飞行路线所覆盖的基站；
第三接收模块，被配置为接收所述控制器发送的控制信息；
第二发送模块，被配置为向所述飞行路线所覆盖的基站发送携带所述第三接收模块接收的所述控制信息的寻呼信令，以用于所述无人机所接入的基站向所述无人机发送所述寻呼信令。
在一实施例中，所述发送模块，被配置为：
通过X2接口或者S1接口向所述飞行路线所覆盖的基站发送携带所述控制信息的寻呼信令。
在一实施例中，所述装置还包括：
第四接收模块，被配置为在所述第二发送模块向所述飞行路线所覆盖的基站发送携带所述控制信息的寻呼信令之后，接收所述无人机所接入的基站在与所述无人机建立连接之后发送的所述无人机所接入的基站的标识；
第三发送模块，被配置为根据所述第四接收模块接收的所述标识向所述无人机所接入的基站发送控制信息。
根据本公开实施例的第七方面，提供一种控制无人机的装置，应用于无人机所接入的基站，所述装置包括：
第五接收模块，被配置为接收控制器所接入的基站发送的携带控制信息的寻呼信令；
第四发送模块，被配置为向无人机发送所述第五接收模块接收的所述寻呼信令，以用于所述无人机按照所述寻呼信令中的所述控制信息进行操作。
在一实施例中，所述装置还包括：
第五发送模块，被配置为在所述第四发送模块向无人机发送所述寻呼信令之后，向所述控制器所接入的基站发送所述无人机所接入的基站的标识；
第六接收模块，被配置为接收所述控制器所接入的基站根据所述第五发送模块发送的所述标识发送的控制信息。
根据本公开实施例的第八方面，提供一种无人机的操作装置，应用于无人机，所述装置包括：
第七接收模块，被配置为接收无人机所接入的基站发送的携带控制信息的寻呼信令；
获取模块，被配置为从所述第七接收模块接收到的所述寻呼信令中获取控制信息；
操作模块，被配置为按照所述获取模块获取的所述控制信息进行操作。
在一实施例中，所述装置还包括：
切换模块，被配置为若所述无人机处于空闲状态，则在所述第七接收模块接收到所述寻呼信令之后切换为连接状态；
建立模块，被配置为在所述切换模块将所述无人机切换为连接状态之后，与所述无人机所接入的基站建立连接。
根据本公开实施例的第九方面，提供一种控制器，包括：
处理器；
用于存储处理器可执行指令的存储器；
其中，所述处理器被配置为：
通过所述控制器所接入的基站向核心网上报无人机的飞行路线，以用于所述控制器所接入的基站从所述核心网获得所述飞行路线所覆盖的基站；
向所述控制器所接入的基站发送控制信息，以用于所述控制器所接入的基站向所述飞行路线所覆盖的基站发送携带所述控制信息的寻呼信令。
根据本公开实施例的第十方面，提供一种基站，包括：
处理器；
用于存储处理器可执行指令的存储器；
其中，所述处理器被配置为：
接收控制器上报的无人机的飞行路线；
向核心网上报所述飞行路线；
接收所述核心网返回的所述飞行路线所覆盖的基站；
接收所述控制器发送的控制信息；
向所述飞行路线所覆盖的基站发送携带所述控制信息的寻呼信令，以用于所述无人机所接入的基站向所述无人机发送所述寻呼信令。
根据本公开实施例的第十一方面，提供一种基站，包括：
处理器；
用于存储处理器可执行指令的存储器；
其中，所述处理器被配置为：
接收控制器所接入的基站发送的携带控制信息的寻呼信令；
向无人机发送所述寻呼信令，以用于所述无人机按照所述寻呼信令中的所述控制信息进行操作。
根据本公开实施例的第十二方面，提供一种无人机，包括：
处理器；
用于存储处理器可执行指令的存储器；
其中，所述处理器被配置为：
接收无人机所接入的基站发送的携带控制信息的寻呼信令；
从接收到的所述寻呼信令中获取控制信息；
按照所述控制信息进行操作。
根据本公开实施例的第十三方面，提供一种计算机可读存储介质，其上存储有计算机指令，该指令被处理器执行时实现上述控制无人机的方法的步骤。
根据本公开实施例的第十四方面，提供一种计算机可读存储介质，其上存储有计算机指令，该指令被处理器执行时实现上述控制无人机的方法的步骤。
根据本公开实施例的第十五方面，提供一种计算机可读存储介质，其上存储有计算机指令，该指令被处理器执行时实现上述控制无人机的方法的步骤。
根据本公开实施例的第十六方面，提供一种计算机可读存储介质，其上存储有计算机指令，该指令被处理器执行时实现上述无人机的操作方法的步骤。
本公开的实施例提供的技术方案可以包括以下有益效果：
通过控制器所接入的基站向核心网上报无人机的飞行路线，使得控制器所接入的基站可以从核心网获得飞行路线所覆盖的基站，并向控制器所接入的基站发送控制信息，使得控制器所接入的基站向飞行路线所覆盖的基站发送携带控制信息的寻呼信令，而不是向整个追踪区域发送寻呼信令，因此，寻呼信令负荷小，可以快速地找到并控制需要控制的无人机。
通过接收核心网返回的飞行路线所覆盖的基站，使得控制器所接入的基站向飞行路线所覆盖的基站发送携带控制信息的寻呼信令，而不是向整个追踪区域发送寻呼信令，因此，寻呼信令负荷小，可以快速地找到并控制需要控制的无人机。
通过接收控制器所接入的基站发送的携带控制信息的寻呼信令，并向无人机发送寻呼信令，使得无人机按照寻呼信令中的控制信息进行操作，即可以实现快速地找到并控制需要控制的无人机。
通过接收无人机所接入的基站发送的携带控制信息的寻呼信令，并按照从该寻呼信令中获取的控制信息进行操作，可以实现按照控制器的控制指示进行操作。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本公开。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本发明的实施例，并与说明书一起用于解释本发明的原理。
图1是本申请一示例性实施例示出的一种控制无人机的方法的流程图；
图2A是本申请一示例性实施例示出的另一种控制无人机的方法的流程图；
图2B是本申请一示例性实施例示出的另一种控制无人机的方法的流程图；
图3A是本申请一示例性实施例示出的又一种控制无人机的方法的流程图；
图3B是本申请一示例性实施例示出的又一种控制无人机的方法的流程图；
图4是本申请一示例性实施例示出的一种无人机的操作方法的流程图；
图5是本申请一示例性实施例示出的一种控制无人机的方法的信令流程图；
图6是根据一示例性实施例示出的一种控制无人机的装置的框图；
图7A是根据一示例性实施例示出的另一种控制无人机的装置的框图；
图7B是根据一示例性实施例示出的另一种控制无人机的装置的框图；
图8A是根据一示例性实施例示出的又一种控制无人机的装置的框图；
图8B是根据一示例性实施例示出的另一种控制无人机的装置的框图；
图9A是根据一示例性实施例示出的一种无人机的操作装置的框图；
图9B是根据一示例性实施例示出的另一种无人机的操作装置的框图；
图10是根据一示例性实施例示出的一种适用于控制无人机的装置的框图；
图11是根据一示例性实施例示出的另一种适用于控制无人机的装置的框图；
图12是根据一示例性实施例示出的一种适用于无人机的操作装置的框图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本发明相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本发明的一些方面相一致的装置和方法的例子。
图1是本申请一示例性实施例示出的一种控制无人机的方法的流程图，该实施例从控制器侧进行描述，如图1所示，该控制无人机的方法包括：
在步骤S101中，通过控制器所接入的基站向核心网上报无人机的飞行路线，以用于控制器所接入的基站从核心网获得飞行路线所覆盖的基站。
当控制器为无人机设定好飞行线路且无人机开始起飞时，控制器可以通过蜂窝网络将飞行线路上报给自己接入的基站，然后该基站可以将该飞行线路上报给核心网。对于固定模式，由于无人机的飞行路线是固定的，因此核心网可以预判无人机会经过哪些蜂窝网络基站。核心网在接收到控制器所接入的基站上报的飞行路线后，可以检查该飞行路线所覆盖的基站，并将这些基站的信息告知给控制器所接入的基站。
在步骤S102中，向控制器所接入的基站发送控制信息，以用于控制器所接入的基站向飞行路线所覆盖的基站发送携带控制信息的寻呼信令。
当控制器需要找到并控制该无人机时，可以向自己接入的基站发送对无人机的控制信息，该控制器所接入的基站收到该控制信息后，可以向飞行路线所覆盖的基站发送寻呼信令，并在寻呼信令中携带该控制信息。
如果基站和基站之间具有X2接口，则可以通过X2接口发送寻呼信令，如果基站和基站间不具有X2接口，则可以通过S1接口发送寻呼信令，或者通过X2接口接力转发该寻呼信令。
无人机在收到自己所接入的基站的携带有控制信息的寻呼信令后，可以按照该控制信息进行相应的操作。
上述实施例，通过控制器所接入的基站向核心网上报无人机的飞行路线，使得控制器 所接入的基站可以从核心网获得飞行路线所覆盖的基站，并向控制器所接入的基站发送控制信息，使得控制器所接入的基站向飞行路线所覆盖的基站发送携带控制信息的寻呼信令，而不是向整个追踪区域发送寻呼信令，因此，寻呼信令负荷小，可以快速地找到并控制需要控制的无人机。
图2A是本申请一示例性实施例示出的另一种控制无人机的方法的流程图，该实施例从控制器所接入的基站侧进行描述，如图2A所示，该控制无人机的方法包括：
在步骤S201中，接收控制器上报的无人机的飞行路线。
在步骤S202中，向核心网上报飞行路线。
控制器可以通过蜂窝网络将飞行线路上报给自己接入的基站，然后该基站可以将该飞行线路上报给核心网。
在步骤S203中，接收核心网返回的飞行路线所覆盖的基站。
核心网在接收到控制器所接入的基站上报的飞行路线后，可以检查该飞行路线所覆盖的基站，并将这些基站的信息告知给控制器所接入的基站。
在步骤S204中，接收控制器发送的控制信息。
当控制器需要找到并控制该无人机时，可以向自己接入的基站发送对无人机的控制信息。
在步骤S205中，向飞行路线所覆盖的基站发送携带控制信息的寻呼信令，以用于无人机所接入的基站向无人机发送寻呼信令。
如果控制器所接入的基站和飞行路线所覆盖的基站之间具有X2接口，则可以通过X2接口发送寻呼信令，如果控制器所接入的基站和飞行路线所覆盖的基站之间不具有X2接口，则可以通过S1接口发送寻呼信令，或者通过X2接口接力转发该寻呼信令。
上述实施例，通过接收核心网返回的飞行路线所覆盖的基站，使得控制器所接入的基站向飞行路线所覆盖的基站发送携带控制信息的寻呼信令，而不是向整个追踪区域发送寻呼信令，因此，寻呼信令负荷小，可以快速地找到并控制需要控制的无人机。
图2B是本申请一示例性实施例示出的另一种控制无人机的方法的流程图，如图2B所示，在步骤S205之后，该控制无人机的方法还可以包括：
在步骤S206中，接收无人机所接入的基站在与无人机建立连接之后发送的无人机所接入的基站的标识。
无人机所接入的基站向无人机发送寻呼信令之后，如果此时无人机处于空闲状态，则在接收到寻呼信令后切换为连接状态，并与所接入的基站建立连接。所接入的基站可以将自己的标识告知控制器所接入的基站，这样，控制器所接入的基站后续可以直接将来自控制器的控制信息发送给无人机所接入的基站，无人机所接入的基站可以将控制信息发送给无人机。
在步骤S207中，根据接收的标识向无人机所接入的基站发送控制信息。
上述实施例，通过接收无人机所接入的基站在与无人机建立连接之后发送的无人机所接入的基站的标识，使得控制器所接入的基站可以根据接收的标识直接向无人机所接入的基站发送控制信息，提高控制信息的传输效率。
图3A是本申请一示例性实施例示出的又一种控制无人机的方法的流程图，该实施例从无人机所接入的基站侧进行描述，如图3A所示，该控制无人机的方法包括：
在步骤S301中，接收控制器所接入的基站发送的携带控制信息的寻呼信令。
当控制器需要找到并控制该无人机时，可以向自己接入的基站发送对无人机的控制信息，该控制器所接入的基站收到该控制信息后，可以向飞行路线所覆盖的基站发送寻呼信令，并在寻呼信令中携带该控制信息。其中，飞行路线所覆盖的基站包括无人机所接入的基站。
在步骤S302中，向无人机发送寻呼信令，以用于无人机按照寻呼信令中的控制信息进行操作。
无人机所接入的基站在接收到携带控制信息的寻呼信令后，可以向无人机发送寻呼信令，无人机在收到寻呼信令后，可以按照寻呼信令中携带的控制信息进行相应的操作。
上述实施例，通过接收控制器所接入的基站发送的携带控制信息的寻呼信令，并向无人机发送寻呼信令，使得无人机按照寻呼信令中的控制信息进行操作，即可以实现快速地找到并控制需要控制的无人机。
图3B是本申请一示例性实施例示出的又一种控制无人机的方法的流程图，如图3B所示，在步骤S302之后，该控制无人机的方法还可以包括：
在步骤S303中，向控制器所接入的基站发送无人机所接入的基站的标识。
无人机所接入的基站向无人机发送寻呼信令之后，如果此时无人机处于空闲状态，则在接收到寻呼信令后切换为连接状态，并与所接入的基站建立连接。无人机所接入的基站可以将自己的标识告知控制器所接入的基站。
在步骤S304中，接收控制器所接入的基站根据标识发送的控制信息。
无人机所接入的基站在将自己的标识告知控制器所接入的基站之后，控制器所接入的基站可以直接将来自控制器的控制信息发送给无人机所接入的基站，无人机所接入的基站可以将控制信息发送给无人机。
上述实施例，通过向控制器所接入的基站发送无人机所接入的基站的标识，并接收控制器所接入的基站根据该标识发送的控制信息，提高了控制信息的传输效率。
图4是本申请一示例性实施例示出的一种无人机的操作方法的流程图，该实施例从无人机侧进行描述，如图4所示，该无人机的操作方法包括：
在步骤S401中，接收无人机所接入的基站发送的携带控制信息的寻呼信令。
在步骤S402中，从接收到的寻呼信令中获取控制信息。
无人机在收到自己所接入的基站的携带有控制信息的寻呼信令后，可以从接收到的寻呼信令中获取控制信息。
在步骤S403中，按照该控制信息进行操作。
无人机在获取到控制信息之后，可以按照该控制信息进行相应的操作。
上述实施例，通过接收无人机所接入的基站发送的携带控制信息的寻呼信令，并按照从该寻呼信令中获取的控制信息进行操作，可以实现按照控制器的控制指示进行操作。
图5是本申请一示例性实施例示出的一种控制无人机的方法的信令流程图，该实施例从控制器、控制器所接入的基站、核心网、无人机的飞行路线所覆盖的基站和无人机交互的角度进行描述，如图5所示，该控制无人机的方法包括：
在步骤S501中，控制器向控制器所接入的基站上报飞行路线。
在步骤S502中，控制器所接入的基站向核心网上报飞行路线。
在步骤S503中，核心网检查该飞行路线所覆盖的基站。
在步骤S504中，核心网向控制器所接入的基站发送该飞行路线所覆盖的基站信息。
在步骤S505中，控制器向控制器所接入的基站发送控制信息。
在步骤S506中，控制器所接入的基站向飞行路线所覆盖的基站发送携带控制信息的寻呼信令。
其中，飞行路线所覆盖的基站包括无人机所接入的基站。
在步骤S507中，无人机所接入的基站向无人机发送寻呼信令。
在步骤S508中，若无人机处于空闲状态，则在接收到寻呼信令之后切换为连接状态，并与无人机所接入的基站建立连接。
在该实施例中，处于空闲状态的无人机在接收到寻呼信令之后切换为连接状态，并与无人机所接入的基站建立连接，从而为后续接收无人机所接入的基站发送的控制信息提供了条件。
在步骤S509中，无人机所接入的基站向控制器所接入的基站发送无人机所接入的基站的标识。
在步骤S510中，控制器所接入的基站根据上述标识向无人机所接入的基站发送控制信息。
在步骤S511中，无人机所接入的基站向无人机发送控制信息。
在步骤S512中，无人机按照该控制信息进行操作。
上述实施例，通过控制器、控制器所接入的基站、核心网、无人机的飞行路线所覆盖的基站和无人机之间的交互，使得控制器所接入的基站向飞行路线所覆盖的基站发送携带控制信息的寻呼信令，而不是向整个追踪区域发送寻呼信令，因此，寻呼信令负荷小，可以快速地找到并控制需要控制的无人机。
图6是根据一示例性实施例示出的一种控制无人机的装置的框图，该控制无人机的装置可以位于控制器中，如图6所示，该装置包括：第一上报模块61和第一发送模块62。
第一上报模块61被配置为通过控制器所接入的基站向核心网上报无人机的飞行路线，以用于控制器所接入的基站从核心网获得飞行路线所覆盖的基站。
当控制器为无人机设定好飞行线路且无人机开始起飞时，控制器可以通过蜂窝网络将飞行线路上报给自己接入的基站，然后该基站可以将该飞行线路上报给核心网。对于固定模式，由于无人机的飞行路线是固定的，因此核心网可以预判无人机会经过哪些蜂窝网络基站。核心网在接收到控制器所接入的基站上报的飞行路线后，可以检查该飞行路线所覆盖的基站，并将这些基站的信息告知给控制器所接入的基站。
第一发送模块62被配置为向控制器所接入的基站发送控制信息，以用于控制器所接入的基站向第一上报模块61上报的飞行路线所覆盖的基站发送携带控制信息的寻呼信令。
当控制器需要找到并控制该无人机时，可以向自己接入的基站发送对无人机的控制信息，该控制器所接入的基站收到该控制信息后，可以向飞行路线所覆盖的基站发送寻呼信令， 并在寻呼信令中携带该控制信息。
如果基站和基站之间具有X2接口，则可以通过X2接口发送寻呼信令，如果基站和基站间不具有X2接口，则可以通过S1接口发送寻呼信令，或者通过X2接口接力转发该寻呼信令。
无人机在收到自己所接入的基站的携带有控制信息的寻呼信令后，可以按照该控制信息进行相应的操作。
上述实施例，通过控制器所接入的基站向核心网上报无人机的飞行路线，使得控制器所接入的基站可以从核心网获得飞行路线所覆盖的基站，并向控制器所接入的基站发送控制信息，使得控制器所接入的基站向飞行路线所覆盖的基站发送携带控制信息的寻呼信令，而不是向整个追踪区域发送寻呼信令，因此，寻呼信令负荷小，可以快速地找到并控制需要控制的无人机。
图7A是根据一示例性实施例示出的另一种控制无人机的装置的框图，该控制无人机的装置可以位于控制器所接入的基站中，如图7A所示，该装置包括：第一接收模块71、第二上报模块72、第二接收模块73、第三接收模块74和第二发送模块75。
第一接收模块71被配置为接收控制器上报的无人机的飞行路线。
第二上报模块72被配置为向核心网上报第一接收模块71接收的飞行路线。
控制器可以通过蜂窝网络将飞行线路上报给自己接入的基站，然后该基站可以将该飞行线路上报给核心网。
第二接收模块73被配置为接收核心网返回的第二上报模块72上报的飞行路线所覆盖的基站。
核心网在接收到控制器所接入的基站上报的飞行路线后，可以检查该飞行路线所覆盖的基站，并将这些基站的信息告知给控制器所接入的基站。
第三接收模块74被配置为接收控制器发送的控制信息。
当控制器需要找到并控制该无人机时，可以向自己接入的基站发送对无人机的控制信息。
第二发送模块75被配置为向飞行路线所覆盖的基站发送携带第三接收模块74接收的控制信息的寻呼信令，以用于无人机所接入的基站向无人机发送寻呼信令。
如果控制器所接入的基站和飞行路线所覆盖的基站之间具有X2接口，则可以通过 X2接口发送寻呼信令，如果控制器所接入的基站和飞行路线所覆盖的基站之间不具有X2接口，则可以通过S1接口发送寻呼信令，或者通过X2接口接力转发该寻呼信令。
上述实施例，通过接收核心网返回的飞行路线所覆盖的基站，使得控制器所接入的基站向飞行路线所覆盖的基站发送携带控制信息的寻呼信令，而不是向整个追踪区域发送寻呼信令，因此，寻呼信令负荷小，可以快速地找到并控制需要控制的无人机。
图7B是根据一示例性实施例示出的另一种控制无人机的装置的框图，如图7B所示，在上述图7A所示实施例的基础上，该装置还可以包括：第四接收模块76和第三发送模块77。
第四接收模块76被配置为在第二发送模块75向飞行路线所覆盖的基站发送携带控制信息的寻呼信令之后，接收无人机所接入的基站在与无人机建立连接之后发送的无人机所接入的基站的标识。
无人机所接入的基站向无人机发送寻呼信令之后，如果此时无人机处于空闲状态，则在接收到寻呼信令后切换为连接状态，并与所接入的基站建立连接。所接入的基站可以将自己的标识告知控制器所接入的基站，这样，控制器所接入的基站后续可以直接将来自控制器的控制信息发送给无人机所接入的基站，无人机所接入的基站可以将控制信息发送给无人机。
第三发送模块77被配置为根据第四接收模块76接收的标识向无人机所接入的基站发送控制信息。
上述实施例，通过接收无人机所接入的基站在与无人机建立连接之后发送的无人机所接入的基站的标识，使得控制器所接入的基站可以根据接收的标识直接向无人机所接入的基站发送控制信息，提高控制信息的传输效率。
图8A是根据一示例性实施例示出的又一种控制无人机的装置的框图，该控制无人机的装置可以位于无人机所接入的基站中，如图8A所示，该装置包括：第五接收模块81和第四发送模块82。
第五接收模块81被配置为接收控制器所接入的基站发送的携带控制信息的寻呼信令。
当控制器需要找到并控制该无人机时，可以向自己接入的基站发送对无人机的控制信息，该控制器所接入的基站收到该控制信息后，可以向飞行路线所覆盖的基站发送寻呼信令，并在寻呼信令中携带该控制信息。其中，飞行路线所覆盖的基站包括无人机所接入的基站。
第四发送模块82被配置为向无人机发送第五接收模块81接收的寻呼信令，以用于无 人机按照寻呼信令中的控制信息进行操作。
无人机所接入的基站在接收到携带控制信息的寻呼信令后，可以向无人机发送寻呼信令，无人机在收到寻呼信令后，可以按照寻呼信令中携带的控制信息进行相应的操作。
上述实施例，通过接收控制器所接入的基站发送的携带控制信息的寻呼信令，并向无人机发送寻呼信令，使得无人机按照寻呼信令中的控制信息进行操作，即可以实现快速地找到并控制需要控制的无人机。
图8B是根据一示例性实施例示出的另一种控制无人机的装置的框图，如图8B所示，在上述图8A所示实施例的基础上，该装置还可以包括：第五发送模块83和第六接收模块84。
第五发送模块83被配置为在第四发送模块82向无人机发送寻呼信令之后，向控制器所接入的基站发送无人机所接入的基站的标识。
无人机所接入的基站向无人机发送寻呼信令之后，如果此时无人机处于空闲状态，则在接收到寻呼信令后切换为连接状态，并与所接入的基站建立连接。无人机所接入的基站可以将自己的标识告知控制器所接入的基站。
第六接收模块84被配置为接收控制器所接入的基站根据第五发送模块83发送的标识发送的控制信息。
无人机所接入的基站在将自己的标识告知控制器所接入的基站之后，控制器所接入的基站可以直接将来自控制器的控制信息发送给无人机所接入的基站，无人机所接入的基站可以将控制信息发送给无人机。
上述实施例，通过向控制器所接入的基站发送无人机所接入的基站的标识，并接收控制器所接入的基站根据该标识发送的控制信息，提高了控制信息的传输效率。
图9A是根据一示例性实施例示出的一种无人机的操作装置的框图，该无人机的操作装置可以位于无人机中，如图9A所示，该装置包括：第七接收模块91、获取模块92和操作模块93。
第七接收模块91被配置为接收无人机所接入的基站发送的携带控制信息的寻呼信令。
获取模块92被配置为从第七接收模块91接收到的寻呼信令中获取控制信息。
无人机在收到自己所接入的基站的携带有控制信息的寻呼信令后，可以从接收到的寻呼信令中获取控制信息。
操作模块93被配置为按照获取模块92获取的控制信息进行操作。
无人机在获取到控制信息之后，可以按照该控制信息进行相应的操作。
上述实施例，通过接收无人机所接入的基站发送的携带控制信息的寻呼信令，并按照从该寻呼信令中获取的控制信息进行操作，可以实现按照控制器的控制指示进行操作。
图9B是根据一示例性实施例示出的另一种无人机的操作装置的框图，如图9B所示，在上述图9A所示实施例的基础上，该装置还可以包括：切换模块94和建立模块95。
切换模块94被配置为若无人机处于空闲状态，则在第七接收模块91接收到寻呼信令之后切换为连接状态。
建立模块95被配置为在切换模块94将无人机切换为连接状态之后，与无人机所接入的基站建立连接。
上述实施例中，处于空闲状态的无人机在接收到寻呼信令之后切换为连接状态，并与无人机所接入的基站建立连接，从而为后续接收无人机所接入的基站发送的控制信息提供了条件。
图10是根据一示例性实施例示出的一种适用于控制无人机的装置的框图。例如，装置1000可以是移动电话，计算机，数字广播终端，消息收发设备，游戏控制台，平板设备，医疗设备，健身设备，无人机的控制器等设备。
参照图10，装置1000可以包括以下一个或多个组件：处理组件1002，存储器1004，电源组件1006，多媒体组件1008，音频组件1010，输入/输出(I/O)的接口1012，传感器组件1014，以及通信组件1016。
处理组件1002通常控制装置1000的整体操作，诸如与显示，电话呼叫，数据通信，相机操作和记录操作相关联的操作。处理元件1002可以包括一个或多个处理器1020来执行指令，以完成上述的方法的全部或部分步骤。此外，处理组件1002可以包括一个或多个模块，便于处理组件1002和其他组件之间的交互。例如，处理部件1002可以包括多媒体模块，以方便多媒体组件1008和处理组件1002之间的交互。
处理组件1002中的其中一个处理器1020可以被配置为：
通过控制器所接入的基站向核心网上报无人机的飞行路线，以用于控制器所接入的基站从核心网获得飞行路线所覆盖的基站；
向控制器所接入的基站发送控制信息，以用于控制器所接入的基站向飞行路线所覆盖 的基站发送携带控制信息的寻呼信令。
存储器1004被配置为存储各种类型的数据以支持在设备1000的操作。这些数据的示例包括用于在装置1000上操作的任何应用程序或方法的指令，联系人数据，电话簿数据，消息，图片，视频等。存储器1004可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器(SRAM)，电可擦除可编程只读存储器(EEPROM)，可擦除可编程只读存储器(EPROM)，可编程只读存储器(PROM)，只读存储器(ROM)，磁存储器，快闪存储器，磁盘或光盘。
电源组件1006为装置1000的各种组件提供电力。电源组件1006可以包括电源管理系统，一个或多个电源，及其他与为装置1000生成、管理和分配电力相关联的组件。
多媒体组件1008包括在装置1000和用户之间的提供一个输出接口的屏幕。在一些实施例中，屏幕可以包括液晶显示器(LCD)和触摸面板(TP)。如果屏幕包括触摸面板，屏幕可以被实现为触摸屏，以接收来自用户的输入信号。触摸面板包括一个或多个触摸传感器以感测触摸、滑动和触摸面板上的手势。触摸传感器可以不仅感测触摸或滑动动作的边界，而且还检测与触摸或滑动操作相关的持续时间和压力。在一些实施例中，多媒体组件1008包括一个前置摄像头和/或后置摄像头。当设备1000处于操作模式，如拍摄模式或视频模式时，前置摄像头和/或后置摄像头可以接收外部的多媒体数据。每个前置摄像头和后置摄像头可以是一个固定的光学透镜系统或具有焦距和光学变焦能力。
音频组件1010被配置为输出和/或输入音频信号。例如，音频组件1010包括一个麦克风(MIC)，当装置1000处于操作模式，如呼叫模式、记录模式和语音识别模式时，麦克风被配置为接收外部音频信号。所接收的音频信号可以被进一步存储在存储器1004或经由通信组件1016发送。在一些实施例中，音频组件1010还包括一个扬声器，用于输出音频信号。
I/O接口1012为处理组件1002和外围接口模块之间提供接口，上述外围接口模块可以是键盘，点击轮，按钮等。这些按钮可包括但不限于：主页按钮、音量按钮、启动按钮和锁定按钮。
传感器组件1014包括一个或多个传感器，用于为装置1000提供各个方面的状态评估。例如，传感器组件1014可以检测到设备1000的打开/关闭状态，组件的相对定位，例如组件为装置1000的显示器和小键盘，传感器组件1014还可以检测装置1000或装置1000一个组件的位置改变，用户与装置1000接触的存在或不存在，装置1000方位或加速/减速和装置1000的温度变化。传感器组件1014可以包括接近传感器，被配置用来在没有任何的物理接触时检 测附近物体的存在。传感器组件1014还可以包括光传感器，如CMOS或CCD图像传感器，用于在成像应用中使用。在一些实施例中，该传感器组件1014还可以包括加速度传感器，陀螺仪传感器，磁传感器，压力传感器或温度传感器。
通信组件1016被配置为便于装置1000和其他设备之间有线或无线方式的通信。装置1000可以接入基于通信标准的无线网络，如WiFi，2G或3G，或它们的组合。在一个示例性实施例中，通信部件1016经由广播信道接收来自外部广播管理系统的广播信号或广播相关信息。在一个示例性实施例中，通信部件1016还包括近场通信(NFC)模块，以促进短程通信。例如，在NFC模块可基于射频识别(RFID)技术，红外数据协会(IrDA)技术，超宽带(UWB)技术，蓝牙(BT)技术和其他技术来实现。
在示例性实施例中，装置1000可以被一个或多个应用专用集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理设备(DSPD)、可编程逻辑器件(PLD)、现场可编程门阵列(FPGA)、控制器、微控制器、微处理器或其他电子元件实现，用于执行上述方法。
在示例性实施例中，还提供了一种包括指令的非临时性计算机可读存储介质，例如包括指令的存储器1004，上述指令可由装置1000的处理器1020执行以完成上述方法。例如，非临时性计算机可读存储介质可以是ROM、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光数据存储设备等。
图11是根据一示例性实施例示出的另一种适用于控制无人机的装置的框图。装置1100可以被提供为一基站，该基站可以为控制器所接入的基站，也可以为无人机所接入的基站。参照图11，装置1100包括处理组件1122、无线发射/接收组件1124、天线组件1126、以及无线接口特有的信号处理部分，处理组件1122可进一步包括一个或多个处理器。
当该基站为控制器所接入的基站时，处理组件1122中的其中一个处理器可以被配置为：
接收控制器上报的无人机的飞行路线；
向核心网上报飞行路线；
接收核心网返回的飞行路线所覆盖的基站；
接收控制器发送的控制信息；
向飞行路线所覆盖的基站发送携带控制信息的寻呼信令，以用于无人机所接入的基站向无人机发送寻呼信令。
当该基站为无人机所接入的基站时，处理组件1122中的其中一个处理器可以被配置为：
接收控制器所接入的基站发送的携带控制信息的寻呼信令；
向无人机发送寻呼信令，以用于无人机按照寻呼信令中的控制信息进行操作。
在示例性实施例中，还提供了一种包括指令的非临时性计算机可读存储介质，上述指令可由装置1100的处理组件1122执行以完成上述控制无人机的方法。例如，非临时性计算机可读存储介质可以是ROM、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光数据存储设备等。
图12是根据一示例性实施例示出的一种适用于无人机的操作装置的框图。例如，装置1200可以是移动电话，计算机，数字广播终端，消息收发设备，游戏控制台，平板设备，医疗设备，健身设备，无人机等设备。
参照图12，装置1200可以包括以下一个或多个组件：处理组件1202，存储器1204，电源组件1206，多媒体组件1208，音频组件1210，输入/输出(I/O)的接口1212，传感器组件1214，以及通信组件1216。
处理组件1202通常控制装置1200的整体操作，诸如与显示，电话呼叫，数据通信，相机操作和记录操作相关联的操作。处理元件1202可以包括一个或多个处理器1220来执行指令，以完成上述的方法的全部或部分步骤。此外，处理组件1202可以包括一个或多个模块，便于处理组件1202和其他组件之间的交互。例如，处理部件1202可以包括多媒体模块，以方便多媒体组件1208和处理组件1202之间的交互。
处理组件1202中的其中一个处理器1220可以被配置为：
接收无人机所接入的基站发送的携带控制信息的寻呼信令；
从接收到的寻呼信令中获取控制信息；
按照控制信息进行操作。
存储器1204被配置为存储各种类型的数据以支持在设备1200的操作。这些数据的示例包括用于在装置1200上操作的任何应用程序或方法的指令，联系人数据，电话簿数据，消息，图片，视频等。存储器1204可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器(SRAM)，电可擦除可编程只读存储器(EEPROM)，可擦除可编程只读存储器(EPROM)，可编程只读存储器(PROM)，只读存储器(ROM)， 磁存储器，快闪存储器，磁盘或光盘。
电源组件1206为装置1200的各种组件提供电力。电源组件1206可以包括电源管理系统，一个或多个电源，及其他与为装置1200生成、管理和分配电力相关联的组件。
多媒体组件1208包括在装置1200和用户之间的提供一个输出接口的屏幕。在一些实施例中，屏幕可以包括液晶显示器(LCD)和触摸面板(TP)。如果屏幕包括触摸面板，屏幕可以被实现为触摸屏，以接收来自用户的输入信号。触摸面板包括一个或多个触摸传感器以感测触摸、滑动和触摸面板上的手势。触摸传感器可以不仅感测触摸或滑动动作的边界，而且还检测与触摸或滑动操作相关的持续时间和压力。在一些实施例中，多媒体组件1208包括一个前置摄像头和/或后置摄像头。当设备1200处于操作模式，如拍摄模式或视频模式时，前置摄像头和/或后置摄像头可以接收外部的多媒体数据。每个前置摄像头和后置摄像头可以是一个固定的光学透镜系统或具有焦距和光学变焦能力。
音频组件1210被配置为输出和/或输入音频信号。例如，音频组件1210包括一个麦克风(MIC)，当装置1200处于操作模式，如呼叫模式、记录模式和语音识别模式时，麦克风被配置为接收外部音频信号。所接收的音频信号可以被进一步存储在存储器1204或经由通信组件1216发送。在一些实施例中，音频组件1210还包括一个扬声器，用于输出音频信号。
I/O接口1212为处理组件1202和外围接口模块之间提供接口，上述外围接口模块可以是键盘，点击轮，按钮等。这些按钮可包括但不限于：主页按钮、音量按钮、启动按钮和锁定按钮。
传感器组件1214包括一个或多个传感器，用于为装置1200提供各个方面的状态评估。例如，传感器组件1214可以检测到设备1200的打开/关闭状态，组件的相对定位，例如组件为装置1200的显示器和小键盘，传感器组件1214还可以检测装置1200或装置1200一个组件的位置改变，用户与装置1200接触的存在或不存在，装置1200方位或加速/减速和装置1200的温度变化。传感器组件1214可以包括接近传感器，被配置用来在没有任何的物理接触时检测附近物体的存在。传感器组件1214还可以包括光传感器，如CMOS或CCD图像传感器，用于在成像应用中使用。在一些实施例中，该传感器组件1214还可以包括加速度传感器，陀螺仪传感器，磁传感器，压力传感器或温度传感器。
通信组件1216被配置为便于装置1200和其他设备之间有线或无线方式的通信。装置1200可以接入基于通信标准的无线网络，如WiFi，2G或3G，或它们的组合。在一个示例性实施例中，通信部件1216经由广播信道接收来自外部广播管理系统的广播信号或广播相关信 息。在一个示例性实施例中，通信部件1216还包括近场通信(NFC)模块，以促进短程通信。例如，在NFC模块可基于射频识别(RFID)技术，红外数据协会(IrDA)技术，超宽带(UWB)技术，蓝牙(BT)技术和其他技术来实现。
在示例性实施例中，装置1200可以被一个或多个应用专用集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理设备(DSPD)、可编程逻辑器件(PLD)、现场可编程门阵列(FPGA)、控制器、微控制器、微处理器或其他电子元件实现，用于执行上述方法。
在示例性实施例中，还提供了一种包括指令的非临时性计算机可读存储介质，例如包括指令的存储器1204，上述指令可由装置1200的处理器1220执行以完成上述方法。例如，非临时性计算机可读存储介质可以是ROM、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光数据存储设备等。
对于装置实施例而言，由于其基本对应于方法实施例，所以相关之处参见方法实施例的部分说明即可。以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
本领域技术人员在考虑说明书及实践这里公开的公开后，将容易想到本公开的其它实施方案。本申请旨在涵盖本公开的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本公开的一般性原理并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本公开的真正范围和精神由下面的权利要求指出。
应当理解的是，本公开并不局限于上面已经描述并在附图中示出的精确结构，并且可 以在不脱离其范围进行各种修改和改变。本公开的范围仅由所附的权利要求来限制。

Claims (24)

  1. 一种控制无人机的方法，其特征在于，应用于控制器，所述方法包括：
    通过所述控制器所接入的基站向核心网上报无人机的飞行路线，以用于所述控制器所接入的基站从所述核心网获得所述飞行路线所覆盖的基站；
    向所述控制器所接入的基站发送控制信息，以用于所述控制器所接入的基站向所述飞行路线所覆盖的基站发送携带所述控制信息的寻呼信令。
  2. 一种控制无人机的方法，其特征在于，应用于控制器所接入的基站，所述方法包括：
    接收控制器上报的无人机的飞行路线；
    向核心网上报所述飞行路线；
    接收所述核心网返回的所述飞行路线所覆盖的基站；
    接收所述控制器发送的控制信息；
    向所述飞行路线所覆盖的基站发送携带所述控制信息的寻呼信令，以用于所述无人机所接入的基站向所述无人机发送所述寻呼信令。
  3. 根据权利要求2所述的方法，其特征在于，所述向所述飞行路线所覆盖的基站发送携带所述控制信息的寻呼信令，包括：
    通过X2接口或者S1接口向所述飞行路线所覆盖的基站发送携带所述控制信息的寻呼信令。
  4. 根据权利要求2所述的方法，其特征在于，所述方法还包括：
    在所述向所述飞行路线所覆盖的基站发送携带所述控制信息的寻呼信令之后，接收所述无人机所接入的基站在与所述无人机建立连接之后发送的所述无人机所接入的基站的标识；
    根据接收的所述标识向所述无人机所接入的基站发送控制信息。
  5. 一种控制无人机的方法，其特征在于，应用于无人机所接入的基站，所述方法包括：
    接收控制器所接入的基站发送的携带控制信息的寻呼信令；
    向无人机发送所述寻呼信令，以用于所述无人机按照所述寻呼信令中的所述控制信息进行操作。
  6. 根据权利要求5所述的方法，其特征在于，所述方法还包括：
    在所述向无人机发送所述寻呼信令之后，向所述控制器所接入的基站发送所述无人机所接入的基站的标识；
    接收所述控制器所接入的基站根据所述标识发送的控制信息。
  7. 一种无人机的操作方法，其特征在于，应用于无人机，所述方法包括：
    接收无人机所接入的基站发送的携带控制信息的寻呼信令；
    从接收到的所述寻呼信令中获取控制信息；
    按照所述控制信息进行操作。
  8. 根据权利要求7所述的方法，其特征在于，所述方法还包括：
    若所述无人机处于空闲状态，则在所述接收到所述寻呼信令之后切换为连接状态；
    与所述无人机所接入的基站建立连接。
  9. 一种控制无人机的装置，其特征在于，应用于控制器，所述装置包括：
    第一上报模块，被配置为通过所述控制器所接入的基站向核心网上报无人机的飞行路线，以用于所述控制器所接入的基站从所述核心网获得所述飞行路线所覆盖的基站；
    第一发送模块，被配置为向所述控制器所接入的基站发送控制信息，以用于所述控制器所接入的基站向所述第一上报模块上报的所述飞行路线所覆盖的基站发送携带所述控制信息的寻呼信令。
  10. 一种控制无人机的装置，其特征在于，应用于控制器所接入的基站，所述装置包括：
    第一接收模块，被配置为接收控制器上报的无人机的飞行路线；
    第二上报模块，被配置为向核心网上报所述第一接收模块接收的所述飞行路线；
    第二接收模块，被配置为接收所述核心网返回的所述第二上报模块上报的所述飞行路线所覆盖的基站；
    第三接收模块，被配置为接收所述控制器发送的控制信息；
    第二发送模块，被配置为向所述飞行路线所覆盖的基站发送携带所述第三接收模块接收的所述控制信息的寻呼信令，以用于所述无人机所接入的基站向所述无人机发送所述寻呼信令。
  11. 根据权利要求10所述的装置，其特征在于，所述发送模块，被配置为：
    通过X2接口或者S1接口向所述飞行路线所覆盖的基站发送携带所述控制信息的寻呼信令。
  12. 根据权利要求10所述的装置，其特征在于，所述装置还包括：
    第四接收模块，被配置为在所述第二发送模块向所述飞行路线所覆盖的基站发送携带所述控制信息的寻呼信令之后，接收所述无人机所接入的基站在与所述无人机建立连接之后发送的所述无人机所接入的基站的标识；
    第三发送模块，被配置为根据所述第四接收模块接收的所述标识向所述无人机所接入的基站发送控制信息。
  13. 一种控制无人机的装置，其特征在于，应用于无人机所接入的基站，所述装置包括：
    第五接收模块，被配置为接收控制器所接入的基站发送的携带控制信息的寻呼信令；
    第四发送模块，被配置为向无人机发送所述第五接收模块接收的所述寻呼信令，以用于所述无人机按照所述寻呼信令中的所述控制信息进行操作。
  14. 根据权利要求13所述的装置，其特征在于，所述装置还包括：
    第五发送模块，被配置为在所述第四发送模块向无人机发送所述寻呼信令之后，向所述控制器所接入的基站发送所述无人机所接入的基站的标识；
    第六接收模块，被配置为接收所述控制器所接入的基站根据所述第五发送模块发送的所述标识发送的控制信息。
  15. 一种无人机的操作装置，其特征在于，应用于无人机，所述装置包括：
    第七接收模块，被配置为接收无人机所接入的基站发送的携带控制信息的寻呼信令；
    获取模块，被配置为从所述第七接收模块接收到的所述寻呼信令中获取控制信息；
    操作模块，被配置为按照所述获取模块获取的所述控制信息进行操作。
  16. 根据权利要求15所述的装置，其特征在于，所述装置还包括：
    切换模块，被配置为若所述无人机处于空闲状态，则在所述第七接收模块接收到所述寻呼信令之后切换为连接状态；
    建立模块，被配置为在所述切换模块将所述无人机切换为连接状态之后，与所述无人机所接入的基站建立连接。
  17. 一种控制器，其特征在于，包括：
    处理器；
    用于存储处理器可执行指令的存储器；
    其中，所述处理器被配置为：
    通过所述控制器所接入的基站向核心网上报无人机的飞行路线，以用于所述控制器所接入的基站从所述核心网获得所述飞行路线所覆盖的基站；
    向所述控制器所接入的基站发送控制信息，以用于所述控制器所接入的基站向所述飞行路线所覆盖的基站发送携带所述控制信息的寻呼信令。
  18. 一种基站，其特征在于，包括：
    处理器；
    用于存储处理器可执行指令的存储器；
    其中，所述处理器被配置为：
    接收控制器上报的无人机的飞行路线；
    向核心网上报所述飞行路线；
    接收所述核心网返回的所述飞行路线所覆盖的基站；
    接收所述控制器发送的控制信息；
    向所述飞行路线所覆盖的基站发送携带所述控制信息的寻呼信令，以用于所述无人机所接入的基站向所述无人机发送所述寻呼信令。
  19. 一种基站，其特征在于，包括：
    处理器；
    用于存储处理器可执行指令的存储器；
    其中，所述处理器被配置为：
    接收控制器所接入的基站发送的携带控制信息的寻呼信令；
    向无人机发送所述寻呼信令，以用于所述无人机按照所述寻呼信令中的所述控制信息进行操作。
  20. 一种无人机，其特征在于，包括：
    处理器；
    用于存储处理器可执行指令的存储器；
    其中，所述处理器被配置为：
    接收无人机所接入的基站发送的携带控制信息的寻呼信令；
    从接收到的所述寻呼信令中获取控制信息；
    按照所述控制信息进行操作。
  21. 一种计算机可读存储介质，其上存储有计算机指令，其特征在于，该指令被处理器执行时实现权利要求1所述的控制无人机的方法的步骤。
  22. 一种计算机可读存储介质，其上存储有计算机指令，其特征在于，该指令被处理器执行时实现权利要求2所述的控制无人机的方法的步骤。
  23. 一种计算机可读存储介质，其上存储有计算机指令，其特征在于，该指令被处理器执行时实现权利要求5所述的控制无人机的方法的步骤。
  24. 一种计算机可读存储介质，其上存储有计算机指令，其特征在于，该指令被处理器执行时实现权利要求7所述的无人机的操作方法的步骤。
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