WO2023193611A1 - Unmanned aerial vehicle, and control method, apparatus and system therefor - Google Patents

Abstract

An unmanned aerial vehicle, and a control method, apparatus and system therefor. The control method for an unmanned aerial vehicle comprises: determining one master remote-control device and at least one slave remote-control device, wherein the master remote-control device corresponds to a master control right, the master control right corresponds to all permissions of an unmanned aerial vehicle, the slave remote-control device corresponds to a slave control right, and the slave control right corresponds to some of the permissions of the unmanned aerial vehicle; and after the master remote-control device is disconnected from the unmanned aerial vehicle, re-determining one slave remote-control device to be a master remote-control device. By means of the method, the problem of the control efficiency of an unmanned aerial vehicle being insufficient can be solved, thereby improving the control efficiency of the unmanned aerial vehicle.

Description

Unmanned aerial vehicles and control methods, devices and systems thereof

This application claims priority to the Chinese patent application filed with the China Patent Office on April 8, 2022, with the application number CN2022103699830 and the application title "Unmanned aerial vehicle and its control method, device, and system", the entire content of which is incorporated by reference. in this application.

【Technical field】

The present application relates to the technical field of unmanned aerial vehicles, and in particular to an unmanned aerial vehicle and its control method, device and system.

【Background technique】

With the continuous development of unmanned aerial vehicle aerial photography technology, more and more consumer-grade unmanned aerial vehicles are being produced and developed. Unmanned aerial vehicles are also gradually becoming more and more popular.

During the flight of the drone, the drone is mainly controlled by the pilot using the remote controller to perform tasks. Usually one drone corresponds to one remote controller. However, if there is only one remote controller to control the drone, Control, when the remote controller fails, or the connection between the remote controller and the drone is interrupted, it may cause the drone to lose control and affect the execution of the drone's flight mission.

Currently, there are multiple remote controllers to control the UAV. It uses a distance algorithm to calculate the distance between the UAV and the remote controller in real time, and performs switching control of the remote controller based on the distance. This control method requires more distance judgment. High, and real-time calculation of distance and switching of remote controllers requires a large amount of processing resources, which can easily affect the control efficiency of the drone.

[Content of the invention]

Embodiments of the present application provide an unmanned aerial vehicle and its control method, device, and system to solve the problem of insufficient control efficiency of the unmanned aerial vehicle and improve the control efficiency of the unmanned aerial vehicle.

In order to solve the above technical problems, the embodiments of this application provide the following technical solutions:

In a first aspect, embodiments of the present application provide a control method for an unmanned aerial vehicle. The method includes:

When the unmanned aerial vehicle communicates with at least two remote control devices, a master remote control device and at least one slave remote control device are determined. The master remote control device corresponds to the master control right, and the master control right corresponds to all the permissions of the unmanned aerial vehicle; the slave remote control device corresponds to From the control right, the slave control right corresponds to some of the permissions of the unmanned aerial vehicle;

If the master remote control device is disconnected from the unmanned aerial vehicle, send the master remote control connection interruption information to at least one slave remote control device;

After sending the master remote control connection interruption information, the slave remote control device corresponding to the first received master control right application instruction is determined as the master remote control device.

In some embodiments, determining a master remote control device and at least one slave remote control device includes:

When the unmanned aerial vehicle has no communication connection with the remote control device, the first remote control device that communicates with the unmanned aerial vehicle is determined as the master remote control device, and the remote control devices connected thereafter are determined as the slave remote control device.

In some embodiments, the slave control right includes a first slave control right and a second slave control right, and the method further includes:

When a slave remote control device is connected to the UAV, set the slave remote control device to correspond to the second slave control right;

When receiving the first slave control right application instruction sent from the remote control device, forward the first slave control right application instruction to the master remote control device;

If the first slave control right determination instruction sent by the master remote control device is received, the control right of the slave remote control device is converted from the second slave control right to the first slave control right; where the first slave control right corresponds to the unmanned aerial vehicle. The operating rights of the gimbal and the second slave control rights correspond to the information viewing rights of the UAV.

In some embodiments,

The main remote control device communicates with the unmanned aerial vehicle through the first image transmission channel;

Connect the unmanned aerial vehicle from the remote control device through the second image transmission channel communication;

If the master remote control device is disconnected from the UAV, the master remote control connection interruption information is sent to at least one slave remote control device, including:

After the first image transmission channel is closed, the master remote control connection interruption information is sent to the slave remote control device through the second image transmission channel.

In some embodiments,

The main remote control device communicates with the unmanned aerial vehicle through the first image transmission channel;

At least one slave remote control device communicates with the same base station, and the base station communicates with the unmanned aerial vehicle through the second image transmission channel;

If the master remote control device is disconnected from the UAV, the master remote control connection interruption information is sent to at least one slave remote control device, including:

After the first video transmission channel is closed, the main remote control connection interruption information is sent to the base station through the second video transmission channel, so that the base station forwards the main remote control connection interruption information to at least one slave remote control device connected to it for communication.

In some embodiments,

The master remote control device and at least one slave remote control device are communicatively connected to the same base station, and the base station is communicatively connected to the unmanned aerial vehicle through the first image transmission channel;

At least one slave remote control device communicates with the unmanned aerial vehicle through the second image transmission channel;

If the master remote control device is disconnected from the UAV, the master remote control connection interruption information is sent to at least one slave remote control device, including:

When the master remote control device is disconnected from the unmanned aerial vehicle, the master remote control connection interruption information is sent to the base station to which the master remote control device is communicatively connected, so that the base station forwards the master remote control connection interruption information to at least one slave remote control device that is communicatively connected to it.

In some embodiments, the method further includes:

If the master message sent by the slave remote control device connected to the base station is not received within the preset time threshold, If the control right application instruction is issued, the master remote control connection interruption information is sent to at least one slave remote control device through the second image transmission channel.

In some embodiments,

The master remote control device and at least one slave remote control device are communicatively connected to the first base station, and the first base station is communicatively connected to the unmanned aerial vehicle through the first image transmission channel;

At least one slave remote control device is communicatively connected to the second base station, and the second base station is communicatively connected to the unmanned aerial vehicle through the second image transmission channel;

If the master remote control device is disconnected from the UAV, the master remote control connection interruption information is sent to at least one slave remote control device, including:

After the master remote control device disconnects from the unmanned aerial vehicle, the master remote control connection interruption information is sent to the first base station, so that the first base station forwards the master remote control connection interruption information to at least one slave remote control device that is communicatively connected with it.

In some embodiments, the method further includes:

If the master control right application instruction sent by the slave remote control device connected to the first base station is not received within the preset time threshold, the master remote control connection interruption information is sent to the second base station through the second image transmission channel, so that the second base station The base station forwards the master remote control connection interruption information to at least one slave remote control device that is communicatively connected to it.

In a second aspect, embodiments of the present application provide a control device for an unmanned aerial vehicle, which device includes:

The device connection module is used to communicate and connect at least two remote control devices;

The equipment determination module is used to determine a master remote control device and at least one slave remote control device. The master remote control device corresponds to the master control right, and the master control right corresponds to all the permissions of the unmanned aerial vehicle; the slave remote control device corresponds to the slave control right, and the slave control right Corresponding to some permissions of unmanned aerial vehicles;

An information sending module, used to send the main remote control connection interruption information to at least one slave remote control device if the main remote control device is disconnected from the unmanned aerial vehicle;

The master control determination module is used to determine the slave remote control device corresponding to the first master control right application instruction received as the master remote control device after sending the master remote control connection interruption information.

In a third aspect, embodiments of the present application provide an unmanned aerial vehicle, including:

at least one processor; and

A memory communicatively connected to at least one processor; wherein the memory stores instructions executable by at least one processor, and the instructions are executed by at least one processor so that at least one processor can be used to perform the unmanned operation as in the first aspect Methods of controlling aircraft.

In a fourth aspect, embodiments of the present application provide a control system for an unmanned aerial vehicle. The system includes:

Such as the third aspect of unmanned aerial vehicles;

At least one remote control device communicates with the unmanned aerial vehicle, and at least one remote control device is used to control the unmanned aerial vehicle.

In some embodiments, the system further includes:

A base station is used for communicating with at least one remote control device.

In a fifth aspect, embodiments of the present application provide a computer-readable storage medium, wherein the computer-readable storage medium is used to store a computer program, and the computer program causes the computer to execute instructions for some or all of the steps described in the first aspect.

In a sixth aspect, embodiments of the present application provide a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause the computer to execute as described in the first aspect some or all of the steps. The computer program product may be a software installation package.

An embodiment of the present application provides a control method for an unmanned aerial vehicle. The method includes: when the unmanned aerial vehicle is communicatively connected to at least two remote control devices, determining a master remote control device and at least one slave remote control device, wherein the master remote control device corresponds to The master control right corresponds to all the permissions of the unmanned aerial vehicle; the slave remote control device corresponds to the slave control right, and the slave control right corresponds to part of the permissions of the unmanned aerial vehicle; if the main remote control device is disconnected from the unmanned aerial vehicle, the remote control device is assigned to at least one The slave remote control device sends the master remote control connection interruption information; after sending the master remote control connection interruption information, the slave remote control device corresponding to the received first master control right application instruction is determined as the master remote control device. By determining a master remote control device and at least one slave remote control device, the control rights of the master remote control device and the slave remote control device are different, so that The unmanned aerial vehicle can realize host control and slave control, avoiding operational conflicts caused by multiple remote control devices having the same permissions, and improving control efficiency; and, after the master remote control device is disconnected from the unmanned aerial vehicle, a slave remote control device can be re-connected Determined as the main remote control device, this application can solve the problem of insufficient control efficiency of the unmanned aerial vehicle and improve the control efficiency of the unmanned aerial vehicle.

[Picture description]

One or more embodiments are exemplified by the pictures in the corresponding drawings. These illustrative illustrations do not constitute limitations to the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings are not intended to be limited to scale.

Figure 1 is a schematic diagram of an application scenario provided by an embodiment of the present application;

Figure 2 is a schematic flowchart of a control method for an unmanned aerial vehicle provided by an embodiment of the present application;

Figure 3 is a flow chart for determining the master remote control device and the slave remote control device provided by the embodiment of the present application;

Figure 4 is a flow chart for determining slave control rights provided by an embodiment of the present application;

Figure 5 is a schematic diagram of the connection relationship between the first master remote control device, the slave remote control device and the unmanned aerial vehicle provided by the embodiment of the present application;

Figure 6 is a flow chart of the first interrupt processing method of the main remote control device provided by the embodiment of the present application;

Figure 7 is a schematic diagram of the connection relationship between the second master remote control device, the slave remote control device and the unmanned aerial vehicle provided by the embodiment of the present application;

Figure 8 is a flow chart of the second interrupt processing method of the main remote control device provided by the embodiment of the present application;

Figure 9 is a schematic diagram of the connection relationship between the third master remote control device, the slave remote control device and the unmanned aerial vehicle provided by the embodiment of the present application;

Figure 10 is a flow chart of the third interrupt processing method of the main remote control device provided by the embodiment of the present application;

Figure 11 is a schematic diagram of the connection relationship between the fourth master remote control device, the slave remote control device and the unmanned aerial vehicle provided by the embodiment of the present application;

Figure 12 is a flow chart of the fourth interrupt processing method of the main remote control device provided by the embodiment of the present application;

Figure 13 is a schematic flowchart of another control method for an unmanned aerial vehicle provided by an embodiment of the present application;

Figure 14 is a schematic structural diagram of a control device for an unmanned aerial vehicle provided by an embodiment of the present application;

Figure 15 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present application;

Figure 16 is a schematic structural diagram of a remote control device provided by an embodiment of the present application;

Figure 17 is a schematic structural diagram of an unmanned aerial vehicle control system provided by an embodiment of the present application.

【Detailed ways】

In order to facilitate understanding of the present application, the present application will be described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is referred to as being "secured" to another element, it can be directly on the other element, or one or more intervening elements may be present therebetween. When an element is referred to as being "connected" to another element, it can be directly connected to the other element, or there may be one or more intervening elements present therebetween. The terms "upper", "lower", "inner", "outer" and "bottom" used in this specification indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing this invention. The application and simplified description are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as a limitation on the present application. Furthermore, the terms “first”, “second”, “third”, etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by a person skilled in the technical field belonging to this application. The terms used in the description of this application are only for the purpose of describing specific embodiments and are not used to limit this application. As used in this specification, the term "and/or" includes any and all combinations of one or more of the associated listed items.

In addition, the technical features involved in different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

The following examples illustrate the application environment of the unmanned aerial vehicle control method in the embodiment of the present application.

Please refer to Figure 1, which is a schematic diagram of an application scenario provided by an embodiment of the present application;

As shown in Figure 1, the application scenario includes an unmanned aerial vehicle 100 and multiple remote control devices 200, wherein, The unmanned aerial vehicle 100 communicates with each remote control device 200. For example, the unmanned aerial vehicle 100 communicates with each remote control device 200 through a wireless network. The pilot or user can operate the remote control device 200 to operate the unmanned aerial vehicle 100 through the wireless network.

In some embodiments, the unmanned aerial vehicle 100 includes: multi-rotor UAVs, fixed-wing UAVs, unmanned helicopters, hybrid-wing UAVs and other unmanned aerial vehicles. In some embodiments, the unmanned aerial vehicle 100 may also be an unmanned aerial vehicle driven by any type of power, including but not limited to rotary-wing unmanned aerial vehicles, fixed-wing unmanned aerial vehicles, parachute-wing unmanned aerial vehicles, or flapping-wing unmanned aerial vehicles. Man-machine and helicopter models, etc. In the embodiment of this application, a hybrid-wing UAV is taken as an example for description.

Furthermore, the unmanned aerial vehicle 100 can have corresponding volume or power according to the needs of actual situations, thereby providing load capacity, flight speed, flight cruising range, etc. that can meet the needs of use. One or more sensors can also be added to the unmanned aerial vehicle 100 so that the unmanned aerial vehicle 100 can collect corresponding data.

For example, in some embodiments, the UAV 100 is provided with at least one sensor among an accelerometer, a gyroscope, a magnetometer, a GPS navigator, and a vision sensor.

The UAV 100 also includes a flight controller, which serves as the control core for UAV flight and data transmission, integrating one or more modules to execute corresponding logic control programs.

In this embodiment of the present application, the unmanned aerial vehicle includes an unmanned aerial vehicle control system, and the unmanned aerial vehicle control system includes a state machine, a flight controller, an unmanned aerial vehicle power system, and unmanned aerial vehicle sensors.

Specifically, the UAV control system includes: a state machine, a flight controller and a UAV power system. Specifically, the state machine connects the flight controller and the UAV power system, and the input of the state machine is navigation data and user interaction. Commands are output as control instructions and corresponding flags. The main function of the state machine is to process user interaction commands and use navigation data to implement various functions of the drone, such as flight mode switching, status monitoring, waypoint flight, return to home and other upper-level functions. Among them, user interaction commands are interactive commands issued by ground users, such as: remote control stick measurement data, key control commands and other commands. It can be understood that this application is mainly implemented in a state machine. Specifically, the control commands and corresponding flags output by the state machine include position command, speed command, acceleration command, altitude command, and climb rate. command, climb acceleration command, attitude angle command, heading angle rate command, attitude mode flag and position mode flag.

Specifically, the flight controller is connected to the state machine and the flight controller, and is used to receive control commands and corresponding flag bits sent by the state machine, receive navigation data sent by the UAV power system, and output motor speed control commands, where, The flight controller includes two flight modes, namely position mode and attitude mode. The main function of the flight controller is to use control commands and navigation data to calculate the motor speed command through a certain algorithm, so that the aircraft can achieve position and attitude control, that is, the aircraft can position and posture to achieve the desired state. Specifically, the battery speed control command, taking a common rotorcraft as an example, the data is the pulse width modulation (Pulse Width Modulation, PWM) of the control motor.

Specifically, the UAV power system is connected to the flight controller. The UAV power system includes the UAV's execution system and status monitoring system, which is used to receive the motor speed control command sent by the flight controller and achieve the corresponding speed, thereby Realize the corresponding attitude angle and position, process the sensor data, and calculate the navigation data indirectly or directly. Specifically, the UAV power system uses a fusion algorithm to process UAV sensor data to obtain navigation data. For example, the drone power system includes GPS, gyroscope, accelerometer, and magnetometer. The position, speed, and acceleration data of the drone can be calculated through GPS, gyroscope, accelerometer, and magnetometer. The position, speed, and acceleration data of the drone can be calculated through binocular vision, gyroscope, accelerometer, and magnetometer. The attitude angle and attitude angular rate of the drone can be calculated through the gyroscope, accelerometer and magnetometer.

In some embodiments, the remote control device 200 includes a smart terminal, where the smart terminal can be any type of smart device used to establish a communication connection with the unmanned aerial vehicle 100, such as a mobile terminal such as a mobile phone, a tablet computer, or a smart remote control. The remote control device 200 may be equipped with one or more different user interaction devices to collect user instructions or display and feedback information to the user. Alternatively, the remote control device 200 includes a terminal device, where the terminal device includes a computer device, a PC, and other devices that establish a communication connection with the unmanned aerial vehicle 100. The terminal device may be equipped with one or more different user interaction devices for collecting data. User instructions or display and feedback information to users.

The above-mentioned user interaction devices include but are not limited to: buttons, mouse, keyboard, display screen, touch screen, etc. screens, speakers, remote control joysticks and other devices. For example, the remote control device 200 may be equipped with a touch display screen, through which it receives the user's remote control instructions for the unmanned aerial vehicle 100 and displays map information, that is, map images, and aerial photography to the user through the touch display screen. The obtained image information, that is, the image transmission screen, the user can also switch the image information currently displayed on the display screen through the remote control touch screen. The user can also control the movement of the unmanned aerial vehicle through mouse operations or keyboard key operations, or control the unmanned aerial vehicle. The direction of the gimbal of the human aircraft, the focal length of the gimbal camera of the unmanned aerial vehicle, etc.

In some embodiments, existing image vision processing technology can also be integrated between the unmanned aerial vehicle 100 and the remote control device 200 to further provide more intelligent services. For example, the unmanned aerial vehicle 100 can collect images through a dual-light camera, and the remote control device 200 can analyze the images, thereby realizing the user's gesture control of the unmanned aerial vehicle 100 .

In some embodiments, the wireless network may be a wireless communication network based on any type of data transmission principle for establishing a data transmission channel between two nodes, such as a Bluetooth network, a WiFi network, and a wireless cellular network located in different signal frequency bands. or a combination thereof.

The technical solution of this application will be described below in conjunction with the accompanying drawings of the description:

Please refer to Figure 2. Figure 2 is a schematic flowchart of a control method for an unmanned aerial vehicle provided by an embodiment of the present application;

The control method of the unmanned aerial vehicle is applied to the unmanned aerial vehicle. Specifically, the execution subject of the control method of the unmanned aerial vehicle is one or more processors of the unmanned aerial vehicle.

As shown in Figure 2, the control method of the unmanned aerial vehicle includes:

Step S201: When the unmanned aerial vehicle communicates with at least two remote control devices, determine a master remote control device and at least one slave remote control device, where the master remote control device corresponds to the master control right, and the master control right corresponds to all the permissions of the unmanned aerial vehicle; the slave The remote control device corresponds to the slave control right, and the slave control right corresponds to part of the authority of the unmanned aerial vehicle;

Among them, the unmanned aerial vehicle connects each remote control device through wireless network communication. For example, in the case of short distance, the unmanned aerial vehicle and the remote control device perform image transmission through the 2.4GHz frequency band or the 5.8GHz frequency band. Frequency direct connection communication, or, in the case of long distance, the unmanned aerial vehicle and the remote control device communicate through the base station relay. Specifically, the remote control device connects to the WiFi hotspot of the base station, and the base station serves as a transfer station for information exchange or command interaction.

Specifically, the unmanned aerial vehicle and each remote control device include an image transmission module, where the image transmission module includes an image transmission transmitting module and an image transmission receiving module. For example, the image transmission module of an unmanned aerial vehicle includes an image transmission transmitting module and an image transmission module. Receiving module. The image transmission module of each remote control device includes an image transmission transmitting module and an image transmission receiving module. The image transmission transmitting module is used to transmit data, and the image transmission receiving module is used to receive data. For example: image transmission of unmanned aerial vehicles. The receiving module is used to receive data sent by the image transmission transmitting module of the remote control device.

In the embodiment of this application, the wireless transmission frequency between the image transmission transmitting module and the image transmission receiving module uses the industry standard frequency of 2.4GHz or 5.8GHz for image transmission. It can be understood that the image transmission module refers to a module that directly transmits video images between two points through a wireless link.

After at least two remote control devices communicate with the unmanned aerial vehicle through direct communication through image transmission or through base station relay, at this time, the unmanned aerial vehicle needs to determine a master remote control device and determine the remaining remote control devices as slave remote control devices. , the main remote control device has all the authority to control the unmanned aerial vehicle.

In the embodiment of this application, the unmanned aerial vehicle includes at most two image transmission channels. One image transmission channel is used for data transmission of the main remote control device to realize the control of the unmanned aerial vehicle by the main remote control device. The other is used for the slave remote control device. Data transmission to control the unmanned aerial vehicle from the remote control device. Among them, the two image transmission channels are the first image transmission channel and the second image transmission channel respectively. The first image transmission channel and the second image transmission channel are implemented through communication protocols, such as: TCP communication protocol, UDP communication protocol, Netty communication protocol.

It can be understood that the first image transmission channel and the second image transmission channel can be based on the same communication protocol, or they can be based on different communication protocols. For example, the first image transmission channel is based on the TCP communication protocol, and the second image transmission channel is based on UDP. letter of agreement. Preferably, the first image transmission channel and the second image transmission channel in the embodiment of the present application are based on the same communication protocol, and the image transmission channel where the main remote control device is located is the first image transmission channel by default.

Please refer to Figure 3 again. Figure 3 is a flow chart for determining the master remote control device and the slave remote control device provided by the embodiment of the present application;

As shown in Figure 3, determine a master remote control device and at least one slave remote control device, including:

Step S301: When the unmanned aerial vehicle has no communication connection with the remote control device, the first remote control device that communicates with the unmanned aerial vehicle is determined as the master remote control device, and subsequent remote control devices connected are determined as the slave remote control device.

Specifically, when the unmanned aerial vehicle establishes a communication connection with a certain remote control device for the first time, the remote control device is determined to be the main remote control device, or when the unmanned aerial vehicle interrupts the communication connections with all remote control devices, the next first The first remote control device that establishes a communication connection with the unmanned aerial vehicle is determined as the master remote control device, and the remote control device connected thereafter is determined as the slave remote control device.

In the embodiment of this application, the main remote control device corresponds to the main control right, and the main control right corresponds to all the permissions of the unmanned aerial vehicle, such as: operating permissions of all modules of the unmanned aerial vehicle, task upload, electronic fence upload, manual flight, all modules Parameter settings, such as: flight control parameter settings, gimbal camera parameter settings, etc.

In the embodiment of this application, the slave remote control device corresponds to the slave control right, and the slave control right corresponds to some permissions of the unmanned aerial vehicle, such as: gimbal direction control, gimbal lock, gimbal camera zoom, gimbal reset, and unmanned aerial vehicle. View parameters, etc.

Further, the slave control right includes a first slave control right and a second slave control right. Please refer to Figure 4 again. Figure 4 is a flow chart for determining the slave control right provided by an embodiment of the present application;

As shown in Figure 4, the steps to determine slave control include:

Step S401: When a slave remote control device accesses the unmanned aerial vehicle, set the slave remote control device to correspond to the second slave control right;

Specifically, when the unmanned aerial vehicle has communicated with at least one remote control device, that is, the unmanned aerial vehicle has a master remote control device, and when a slave remote control device is connected to the unmanned aerial vehicle, by default the slave remote control device corresponds to the second slave control right. Among them, the second slave control right corresponds to the information viewing permission of the unmanned aerial vehicle, for example: viewing the video stream, real-time flight parameters and route trajectory of the unmanned aerial vehicle, where the flight Real-time parameters include but are not limited to the current coordinate position, altitude, speed, distance, waypoint, gimbal angle, camera status and other parameters of the UAV.

It can be understood that if a certain remote control device is connected to the unmanned aerial vehicle and the unmanned aerial vehicle has no communication connection with other remote control devices at this time, the remote control device will automatically obtain the master control right.

Step S402: When receiving the first slave control right application instruction sent from the slave remote control device, forward the first slave control right application instruction to the master remote control device;

Specifically, when the unmanned aerial vehicle receives the first slave control right application instruction sent by a certain slave remote control device, it forwards the first slave control right application instruction to the current master remote control device.

Step S403: If the first slave control right determination instruction sent by the master remote control device is received, the control right of the slave remote control device is converted from the second slave control right to the first slave control right; where the first slave control right corresponds to none. The second slave control right corresponds to the information viewing permission of the unmanned aerial vehicle.

Specifically, if a slave remote control device needs to obtain the first slave control right, it needs to send a first slave control right application instruction to the master remote control device, and the master remote control device determines whether it agrees to the slave remote control device obtaining the first slave control right. After the master remote control device receives the first slave control right application instruction sent by the unmanned aerial vehicle, the master remote control device presents the information corresponding to the first slave control right application instruction on its display screen, so that the operator of the master remote control device can view the information. The first slave control right applies for information corresponding to the instruction, and performs a first operation on the display screen so that the display screen responds to the first operation. If the first operation is a confirmation operation, a first slave control right confirmation instruction is generated, And send the first slave control right confirmation instruction to the unmanned aerial vehicle. If the first operation is a rejection operation, generate a rejection instruction and send the rejection instruction to the unmanned aerial vehicle, where the first slave control right application instruction corresponds to The information includes device information, sending time and other information from the remote control device.

In the embodiment of this application, if the control right of a certain slave remote control device is converted from the second slave control right to the first slave control right, the unmanned aerial vehicle will record. That is to say, the unmanned aerial vehicle is also used to count the current The number of slave remote control devices with first slave control rights. When the number of slave remote control devices with first slave control rights exceeds the first quantity threshold, the UAV will no longer forward the application for first slave control rights. Please send the command to the master remote control device, and return the first prompt information to the slave remote control device that sent the first slave control right application instruction, where the first prompt information is used to prompt the slave remote control device to currently have the first slave control right. The number of remote control devices is full. The first number threshold in the embodiment of the present application is set according to specific needs, for example, it is set to 3, which is not limited here. By setting the first quantity threshold to limit the number of remote control devices that have the first slave control rights, that is, the operating authority of the gimbal, competition and conflict caused by too many remote control devices can be avoided, which is beneficial to the operation of the gimbal of the unmanned aerial vehicle. Effective control.

Step S202: If the master remote control device is disconnected from the unmanned aerial vehicle, send master remote control connection interruption information to at least one slave remote control device;

Specifically, since the communication connection methods between the master remote control device and the slave remote control device and the unmanned aerial vehicle may be the same or different, the methods for sending the master remote control connection interruption information are also different.

The following is a specific example of how to send master remote control connection interruption information:

(1) Two-way image transmission direct connection mode:

Please refer to Figure 5. Figure 5 is a schematic diagram of the connection relationship between the first master remote control device, the slave remote control device and the unmanned aerial vehicle provided by the embodiment of the present application;

As shown in Figure 5, there is only one master remote control device and one slave remote control device, and they are connected to the unmanned aerial vehicle in a two-way image transmission direct connection. Specifically, a master remote control device communicates with the unmanned aerial vehicle through the first image transmission channel. Aircraft communication connection, a slave remote controller communicates with the unmanned aerial vehicle through the second image transmission channel.

In the embodiment of this application, the main remote control device and the unmanned aerial vehicle are paired through a pairing code. A pairing code is set on the pairing code setting keyboard of the unmanned aerial vehicle, and the corresponding pairing is entered on the password pairing keyboard of a certain remote control device. code, the remote control device and the unmanned aerial vehicle are paired successfully, and the remote control device is determined to be the main remote control device, which means that the remote control device can control the unmanned aerial vehicle; and the slave remote control device or base station and the unmanned aerial vehicle are also paired through the pairing code For example: after the master remote control device or base station obtains the slave pairing code through user triggering, the slave pairing code is informed to the slave pairing personnel, and the slave pairing personnel enters the slave pairing code and then performs pairing.

Or, pairing is performed by using the frequency linking button. Specifically, the remote control device is equipped with a main pairing button, and the unmanned aerial vehicle is also equipped with a physical button. When the user simultaneously triggers the main pairing button on the remote control device and the unmanned aerial vehicle. After pressing the physical button, the remote control device is triggered to pair with the unmanned aerial vehicle, and the remote control device is determined to be the master remote control device. Similarly, the slave remote control device and the unmanned aerial vehicle are paired in the same manner, which will not be described again here.

In the embodiment of this application, the master remote control device communicates with the unmanned aerial vehicle through the first image transmission channel; the slave remote control device communicates with the unmanned aerial vehicle through the second image transmission channel; if the main remote control device is disconnected from the unmanned aerial vehicle, then Sending the master remote control connection interruption information to at least one slave remote control device includes: after the first image transmission channel is closed, sending the master remote control connection interruption information to the slave remote control device through the second image transmission channel.

Specifically, please refer to Figure 6 again, which is a flow chart of the first interrupt processing method of the main remote control device provided by the embodiment of the present application;

As shown in Figure 6, the flow of the first interrupt processing method of the main remote control device includes:

Step S601: The main remote control device is disconnected from the unmanned aerial vehicle;

Specifically, if the communication between the main remote control device and the unmanned aerial vehicle is interrupted, for example: the main remote control device runs out of power and shuts down and goes offline, causing the image transmission module of the main remote control device to stop working, that is, the image transmission transmitting module and the image transmission receiving module stop working.

Step S602: The first image transmission channel is closed;

Specifically, when the communication connection between the main remote control device and the unmanned aerial vehicle is interrupted, the first image transmission channel is closed. For example, the image transmission transmitting module and/or the image transmission receiving module of the main remote control device and/or the unmanned aerial vehicle stop working. , then the first image transmission channel is closed.

Step S603: Send the master remote control connection interruption information to the slave remote control device through the second image transmission channel;

Specifically, the image transmission transmitting module of the unmanned aerial vehicle sends the main remote control connection interruption information to the image transmission receiving module of the slave remote control device through the second image transmission channel.

As shown in Figure 5, when the communication connection between the unmanned aerial vehicle and the main remote control device is interrupted, it is equivalent to the first image transmission channel being closed. At this time, the unmanned aerial vehicle sends a message to the slave remote control device through the second image transmission channel. Main remote control connection interruption message.

(2) The main remote control device connects to the UAV through image transmission, and the slave remote control device connects to the UAV through the base station:

Please refer to Figure 7. Figure 7 is a schematic diagram of the connection relationship between the second master remote control device, the slave remote control device and the unmanned aerial vehicle provided by the embodiment of the present application;

As shown in Figure 7, the master remote control device is connected to the unmanned aerial vehicle through the first image transmission channel, multiple slave remote control devices are connected to the unmanned aerial vehicle through base station communication, and multiple slave remote control devices are connected to the base station through wireless communication protocol communication, for example: Wireless-Fidelity (WiFi).

Please refer to Figure 8 again. Figure 8 is a flow chart of the second interrupt processing method of the main remote control device provided by the embodiment of the present application;

As shown in Figure 8, the flow of the second interrupt processing method of the main remote control device includes:

Step S801: The main remote control device is disconnected from the unmanned aerial vehicle;

Specifically, if the communication between the main remote control device and the unmanned aerial vehicle is interrupted, for example: the main remote control device runs out of power and shuts down and goes offline, causing the image transmission module of the main remote control device to stop working, that is, the image transmission transmitting module and the image transmission receiving module stop working.

Step S802: The first image transmission channel is closed;

Specifically, when the communication connection between the main remote control device and the unmanned aerial vehicle is interrupted, the first image transmission channel is closed. For example, the image transmission transmitting module and/or the image transmission receiving module of the main remote control device and/or the unmanned aerial vehicle stop working. , then the first image transmission channel is closed.

Step S803: Send the main remote control connection interruption information to the base station through the second image transmission channel;

Specifically, the base station includes a video transmission module. The video transmission module of the base station also includes a video transmission transmitting module and a video transmission receiving module. The video transmission transmitting module of the unmanned aerial vehicle sends main remote control connection interruption information to the video transmission receiving module of the base station.

Step S804: The base station forwards the master remote control connection interruption information to at least one slave remote control device connected to it for communication;

Specifically, after the base station's image transmission receiving module receives the main remote control connection interruption information, the base station The master remote control connection interruption information is further forwarded to at least one slave remote control device that is communicatively connected to the base station, that is, the base station broadcasts the master remote control connection interruption information to all slave remote control devices that are communicatively connected to it.

As shown in Figure 7, the master remote control device communicates with the unmanned aerial vehicle through the first image transmission channel; at least one slave remote control device connects to the same base station through WiFi communication, and the base station communicates with the unmanned aerial vehicle through the second image transmission channel; if the master remote control device When the device is disconnected from the unmanned aerial vehicle, after the first image transmission channel is closed, the main remote control connection interruption information is sent to the base station through the second image transmission channel, so that the base station forwards the main remote control connection interruption information to at least the communication connection with it. A slave remote control device.

(3) The master remote control device and at least one slave remote control device are connected to the UAV through the same base station, and at least one slave remote control device is connected to the UAV through image transmission:

Please refer to Figure 9. Figure 9 is a schematic diagram of the connection relationship between the third master remote control device, the slave remote control device and the unmanned aerial vehicle provided by the embodiment of the present application;

As shown in Figure 9, the master remote control device and at least one slave remote control device are connected to the same base station through WiFi, that is, the master remote control device and at least one slave remote control device are in the same wireless LAN. The base station is connected to the unmanned aerial vehicle through image transmission. At least one slave remote control device The device connects to the UAV via image transmission.

Please refer to Figure 10 again. Figure 10 is a flow chart of the third interrupt processing method of the main remote control device provided by the embodiment of the present application;

As shown in Figure 10, the process of the third interrupt processing method of the main remote control device includes:

Step S1001: Disconnect the main remote control device from the unmanned aerial vehicle;

Specifically, if the communication between the main remote control device and the unmanned aerial vehicle is interrupted, for example: the main remote control device runs out of power and shuts down and goes offline, interrupting the connection between the main remote control device and the base station, which in turn causes the connection between the main remote control device and the unmanned aerial vehicle. Interruption, or the connection between the main remote control device and the base station is interrupted due to other faults, which in turn causes the connection between the main remote control device and the UAV to be interrupted.

Step S1002: Send the main remote control connection interruption information to the base station to which the main remote control device is connected;

Specifically, the unmanned aerial vehicle sends the main remote control connection interruption information to the base station to which the main remote control device is communicated.

Step S1003: The base station forwards the main remote control connection interruption information to at least one communication connection with it. from a remote control device;

Specifically, the base station forwards the master remote control connection interruption information to at least one slave remote control device that is communicatively connected to it, so that at least one slave remote control device receives the master remote control connection interruption information.

In the embodiment of the present application, when the connection between the master remote control device and the unmanned aerial vehicle is interrupted, the master remote control connection interruption information is broadcast to the slave remote control device under the same base station through the base station connected to the master remote control device, which is conducive to connecting the connection between the master remote control device and the unmanned aerial vehicle. The conversion of the slave remote control device into the main remote control device is conducive to faster and better determination of the main remote control device and improves the stability of the control system.

As shown in Figure 9, the master remote control device and at least one slave remote control device communicate and connect to the same base station. The base station communicates and connects to the unmanned aerial vehicle through the first image transmission channel; at least one slave remote control device communicates and connects to the unmanned aerial vehicle through the second image transmission channel. ;

At this time, if the master remote control device is disconnected from the UAV, the master remote control connection interruption information is sent to at least one slave remote control device, including:

When the master remote control device is disconnected from the unmanned aerial vehicle, the master remote control connection interruption information is sent to the base station to which the master remote control device is communicatively connected, so that the base station forwards the master remote control connection interruption information to at least one slave remote control device that is communicatively connected to it.

After at least one slave remote control device receives the master remote control connection interruption information, a master control right application instruction can be sent to the base station, so that the base station forwards the master control right application instruction to the unmanned aerial vehicle, so that the unmanned aerial vehicle receives the master control right application. command, and establish a communication connection with the device that sent the master control right application command, that is, the UAV determines the first remote control device that communicates with the UAV as the master remote control device.

In the embodiment of this application, the method also includes:

If the master control right application instruction sent by the slave remote control device communicating with the base station is not received within the preset time threshold, master remote control connection interruption information is sent to at least one slave remote control device through the second image transmission channel. Among them, the preset time threshold can be set according to specific needs, for example: set to 1s.

(4) The master remote control device and at least one slave remote control device are connected to the same base station through WiFi. The station is connected to the unmanned aerial vehicle through image transmission, and at least one slave remote control device is connected to the same base station through WiFi, and the base station is connected to the unmanned aerial vehicle through image transmission.

Please refer to Figure 11. Figure 11 is a schematic diagram of the connection relationship between the fourth master remote control device, the slave remote control device and the unmanned aerial vehicle provided by the embodiment of the present application;

As shown in Figure 11, a master remote control device and at least one slave remote control device are connected to the first base station through WiFi, that is, a master remote control device and at least one slave remote control device are in the same wireless local area network, and the first base station is connected to the first base station through the first image transmission channel. For the unmanned aerial vehicle, at least one slave remote control device is connected to the second base station through WiFi, and the second base station is connected to the unmanned aerial vehicle through the second image transmission channel.

Please refer to Figure 12 again. Figure 12 is a flow chart of the fourth interrupt processing method of the main remote control device provided by the embodiment of the present application;

As shown in Figure 12, the flow of the fourth interrupt processing method of the main remote control device includes:

Step S1201: The main remote control device is disconnected from the unmanned aerial vehicle;

Specifically, if the communication between the main remote control device and the unmanned aerial vehicle is interrupted, for example: the main remote control device runs out of power and shuts down and goes offline, interrupting the connection between the main remote control device and the base station, which in turn causes the connection between the main remote control device and the unmanned aerial vehicle. Interruption, or the connection between the main remote control device and the base station is interrupted due to other faults, which in turn causes the connection between the main remote control device and the UAV to be interrupted.

Step S1202: Send main remote control connection interruption information to the first base station;

Specifically, the unmanned aerial vehicle sends the main remote control connection interruption information to the first base station, so that the first base station receives the main remote control connection interruption information.

Step S1203: The first base station forwards the master remote control connection interruption information to at least one slave remote control device that is communicatively connected to it;

Specifically, the first base station forwards the master remote control connection interruption information to at least one slave remote control device that is communicatively connected to it, so that at least one slave remote control device receives the master remote control connection interruption information.

Step S1204: If the master control right application instruction sent from the remote control device connected to the first base station is not received within the preset time threshold, send the master remote control connection interruption information to the second base station through the second image transmission channel;

Specifically, if the master control right application instruction sent by the slave remote control device communicating with the first base station is not received within the preset time threshold, master remote control connection interruption information is sent to the second base station through the second image transmission channel. Among them, the preset time threshold can be set according to specific needs, for example: set to 1s.

Step S1205: The second base station forwards the master remote control connection interruption information to at least one slave remote control device that is communicatively connected to it;

Specifically, the second base station forwards the master remote control connection interruption information to at least one slave remote control device that is communicatively connected to it, that is, the second base station broadcasts the master remote control connection interruption information to all slave remote control devices that are communicatively connected to it, so that the second base station can communicate with the second base station. The slave remote control device connected to the base station can send a master control right application instruction to the second base station.

As shown in Figure 11, the master remote control device and at least one slave remote control device are communicatively connected to the first base station, and the first base station is communicatively connected to the unmanned aerial vehicle through the first image transmission channel; at least one slave remote control device is communicatively connected to the second base station, and the second base station is communicatively connected. Connect the unmanned aerial vehicle through the second image transmission channel communication;

Wherein, if the master remote control device is disconnected from the unmanned aerial vehicle, sending the master remote control connection interruption information to at least one slave remote control device, including: when the master remote control device is disconnected from the unmanned aerial vehicle, sending the master remote control connection to the first base station Interrupt information, so that the first base station forwards the master remote control connection interruption information to at least one slave remote control device that is communicatively connected with it. If the master control right application instruction sent by the slave remote control device connected to the first base station is not received within the preset time threshold, the master remote control connection interruption information is sent to the second base station through the second image transmission channel, so that the second base station The base station forwards the master remote control connection interruption information to at least one slave remote control device that is communicatively connected to it.

Step S203: After sending the master remote control connection interruption information, determine the slave remote control device corresponding to the received first master control right application instruction as the master remote control device.

In the embodiment of the present application, by determining a master remote control device and at least one slave remote control device, the master remote control device and the slave remote control device have different control permissions, so that the unmanned aerial vehicle can realize host control and slave control, and avoid multiple remote control devices. operation conflicts caused by the same authority, improving control efficiency; and, after the master remote control device is disconnected from the unmanned aerial vehicle, re-connect a slave remote control device The equipment is determined as the main remote control device. This application can solve the problem of insufficient control efficiency of the unmanned aerial vehicle and improve the control efficiency of the unmanned aerial vehicle.

Please refer to Figure 13 again. Figure 13 is a schematic flowchart of another control method for an unmanned aerial vehicle provided by an embodiment of the present application;

As shown in Figure 13, the flow of the control method of the unmanned aerial vehicle includes:

Step S1301: The main remote control device establishes a communication connection with the unmanned aerial vehicle;

Step S1302: Determine the main remote control device;

Specifically, the first remote control device that establishes connection with the unmanned aerial vehicle is determined as the main remote control device.

Step S1303: The UAV establishes a communication connection with the slave remote control device;

Specifically, after the master remote control device is determined, the remote control devices that communicate with the unmanned aerial vehicle are all determined as slave remote control devices, and by default, all slave remote control devices correspond to the second slave control right, and the second slave control right is the unmanned aerial vehicle. information viewing permission.

Step S1304: Send the first slave control right application instruction from the remote control device to the unmanned aerial vehicle;

Specifically, if an operator of a slave remote control device wants the gimbal control authority of the unmanned aerial vehicle, the first slave control right application instruction is sent to the unmanned aerial vehicle through the slave remote control device.

Step S1305: The UAV forwards the first slave control right application instruction to the master remote control device;

Specifically, the unmanned aerial vehicle forwards the first slave control right application instruction sent from the remote control device to the master remote control device.

Step S1306: The master remote control device sends the first slave control right confirmation instruction to the unmanned aerial vehicle;

Specifically, if the operator of the master remote control device agrees that the slave remote control device obtains the first slave control right, then the master remote control device sends a first slave control right confirmation instruction to the unmanned aerial vehicle.

Step S1307: Determine the first slave control right of the slave remote control device;

Specifically, after the unmanned aerial vehicle receives the first slave control right confirmation instruction sent by the master remote control device, the first slave control right of the slave remote control device, that is, the pan/tilt control authority of the unmanned aerial vehicle is determined.

Step S1308: The connection between the main remote control device and the unmanned aerial vehicle is interrupted;

Specifically, if the communication between the main remote control device and the unmanned aerial vehicle is interrupted, for example: When the battery is exhausted, it shuts down and goes offline, interrupting the connection between the main remote control device and the base station, which in turn causes the connection between the main remote control device and the unmanned aerial vehicle to be interrupted. Or, the connection between the main remote control device and the base station is interrupted due to other faults, which in turn causes the main remote control device to be disconnected. The connection between the remote control device and the UAV is interrupted.

Step S1309: The UAV sends the master remote control connection interruption information to the slave remote control device;

Specifically, if the connection between the master remote control device and the unmanned aerial vehicle is interrupted, the unmanned aerial vehicle sends the master remote control connection interruption information to at least one slave remote control device, where the sending method can be directly sending to the slave remote control device through the image transmission channel, or , forwarded through the base station. For specific content, please refer to the relevant content mentioned in the above embodiments, and will not be described again here.

Step S1310: Send a master control right application instruction from the remote control device to the unmanned aerial vehicle;

Specifically, if at least one slave remote control device needs to apply for the master control right of the unmanned aerial vehicle after receiving the master remote control connection interruption information sent by the unmanned aerial vehicle, the slave remote control device sends a master control right application instruction to the unmanned aerial vehicle.

Step S1311: Convert the slave remote control device to the master remote control device.

Specifically, the UAV determines the slave remote control device corresponding to the first master control right application instruction received as the master remote control device, that is, the control authority of the slave remote control device is converted from slave control right to master control right. Obviously, the slave remote control right The remote control device is converted into the primary remote control device.

It should be noted that in the above-mentioned embodiments, there is not necessarily a certain sequence between the above-mentioned steps. Persons of ordinary skill in the art can understand from the description of the embodiments of the present application that in different embodiments, the above-mentioned steps There can be different execution orders, that is, they can be executed in parallel, they can be exchanged, etc.

In this embodiment of the present application, a method for controlling an unmanned aerial vehicle is provided. The method includes: when the unmanned aerial vehicle is communicatively connected to at least two remote control devices, determining a master remote control device and at least one slave remote control device, wherein the master remote control device Corresponds to the master control right, the master control right corresponds to all the permissions of the unmanned aerial vehicle; the slave remote control device corresponds to the slave control right, and the slave control right corresponds to part of the permissions of the unmanned aerial vehicle; if the main remote control device is disconnected from the unmanned aerial vehicle, then at least A slave remote control device sends the master remote control connection interruption message; after sending the master remote control connection interruption message, the first master remote control received The slave remote control device corresponding to the control right application instruction is determined as the master remote control device.

By determining a master remote control device and at least one slave remote control device, the control permissions of the master remote control device and the slave remote control device are different, so that the unmanned aerial vehicle can realize host control and slave control, and avoid operational conflicts caused by multiple remote control devices having the same permissions. , improve control efficiency; and, after the main remote control device is disconnected from the unmanned aerial vehicle, a slave remote control device is re-determined as the main remote control device. This application can solve the problem of insufficient control efficiency of the unmanned aerial vehicle and improve the unmanned aerial vehicle. control efficiency.

Please refer to Figure 14 again. Figure 14 is a schematic structural diagram of a control device for an unmanned aerial vehicle provided by an embodiment of the present application;

Wherein, the control device of the unmanned aerial vehicle is applied to the unmanned aerial vehicle. Specifically, it is applied to one or more processors of the unmanned aerial vehicle.

As shown in Figure 14, the control device 140 of the unmanned aerial vehicle includes:

The device connection module 141 is used to communicate with at least two remote control devices;

The device determination module 142 is used to determine a master remote control device and at least one slave remote control device, where the master remote control device corresponds to the master control right, and the master control right corresponds to all the permissions of the unmanned aerial vehicle; the slave remote control device corresponds to the slave control right, and the slave control right The rights correspond to some of the rights of unmanned aerial vehicles;

The information sending module 143 is used to send the main remote control connection interruption information to at least one slave remote control device if the main remote control device is disconnected from the unmanned aerial vehicle;

The master control determination module 144 is configured to determine the slave remote control device corresponding to the received first master control right application instruction as the master remote control device after sending the master remote control connection interruption information.

It should be noted that the above-mentioned control device of the unmanned aerial vehicle can execute the control method of the unmanned aerial vehicle provided by the embodiments of the present application, and has corresponding functional modules and beneficial effects for executing the method. For technical details that are not described in detail in the embodiments of the remote control device, please refer to the control method of the unmanned aerial vehicle provided by the embodiments of this application.

In the embodiment of the present application, a control device for an unmanned aerial vehicle is provided. The device includes: a device connection module for communicating with at least two remote control devices; and a device determination module for determining A master remote control device and at least one slave remote control device. The master remote control device corresponds to the master control right, and the master control right corresponds to all the permissions of the unmanned aerial vehicle; the slave remote control device corresponds to the slave control right, and the slave control right corresponds to part of the permissions of the unmanned aerial vehicle. ; The information sending module is used to send the main remote control connection interruption information to at least one slave remote control device if the main remote control device is disconnected from the unmanned aerial vehicle; the main control determination module is used to send the main remote control connection interruption information after sending the main remote control connection interruption information. The slave remote control device corresponding to the first received master control right application instruction is determined as the master remote control device.

By determining a master remote control device and at least one slave remote control device, the control permissions of the master remote control device and the slave remote control device are different, so that the unmanned aerial vehicle can realize host control and slave control, and avoid operational conflicts caused by multiple remote control devices having the same permissions. , improve control efficiency; and, after the main remote control device is disconnected from the unmanned aerial vehicle, a slave remote control device is re-determined as the main remote control device. This application can solve the problem of insufficient control efficiency of the unmanned aerial vehicle and improve the unmanned aerial vehicle. control efficiency.

Please refer to Figure 15, which is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present application;

As shown in Figure 15, the unmanned aerial vehicle 150 includes: a processor 151, a memory 152 and a communication module 153. Among them, the processor 151, the memory 152 and the communication module 153 establish a communication connection between any two through a bus.

The processor 151 can be any type of processor with one or more processing cores. It can perform single-threaded or multi-threaded operations and is used to parse instructions to perform operations such as obtaining data, performing logical operation functions, and issuing operation processing results.

The processor 151 is used to determine a master remote control device and at least one slave remote control device when the unmanned aerial vehicle communicates with at least two remote control devices, wherein the master remote control device corresponds to the master control right, and the master control right corresponds to the unmanned aerial vehicle. All permissions; the slave remote control device corresponds to the slave control right, and the slave control right corresponds to part of the permissions of the unmanned aerial vehicle; if the master remote control device is disconnected from the unmanned aerial vehicle, the master remote control connection interruption information is sent to at least one slave remote control device; after sending After the master remote control connection interruption message, the slave remote control device corresponding to the first master control right application instruction received is determined as the master remote control device.

By determining a master remote control device and at least one slave remote control device, the control permissions of the master remote control device and the slave remote control device are different, so that the unmanned aerial vehicle can realize host control and slave control, and avoid operational conflicts caused by multiple remote control devices having the same permissions. , improve control efficiency; and, after the main remote control device is disconnected from the unmanned aerial vehicle, a slave remote control device is re-determined as the main remote control device. This application can solve the problem of insufficient control efficiency of the unmanned aerial vehicle and improve the unmanned aerial vehicle. control efficiency.

As a non-transitory computer-readable storage medium, the memory 152 can be used to store non-transitory software programs, non-transitory computer executable programs and modules, such as the programs corresponding to the control method of the unmanned aerial vehicle in the embodiment of the present application. directive/module. The processor 151 implements the control method of the unmanned aerial vehicle in the above method embodiment by running non-transient software programs, instructions and modules stored in the memory 152 .

The memory 152 may include a program storage area and a data storage area, where the program storage area may store an operating system and an application program required for at least one function; the storage data area may store data created according to the use of the remote control device, etc. In addition, memory 152 may include high-speed random access memory and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 152 optionally includes memory located remotely relative to the processor 151 , and these remote memories may be connected to the UAV via a network. Examples of the above-mentioned networks include but are not limited to the Internet, intranets, local area networks, mobile communication networks and combinations thereof.

The memory 152 stores instructions that can be executed by at least one processor 151; at least one processor 151 is used to execute instructions to implement the control method of the unmanned aerial vehicle in any of the above method embodiments.

The communication module 153 is a functional module used to establish a communication connection and provide a physical channel. The communication module 153 can be any type of wireless or wired communication module, including but not limited to WiFi module or Bluetooth module.

Further, embodiments of the present application also provide a non-transitory computer-readable storage medium, which is The transient computer-readable storage medium stores computer-executable instructions. The computer-executable instructions are executed by one or more processors 151, which can cause the above-mentioned one or more processors 151 to execute the unmanned aerial vehicle in any of the above method embodiments. Control Method.

Please refer to Figure 16, which is a schematic structural diagram of a remote control device provided by an embodiment of the present application;

As shown in Figure 16, the remote control device 160 includes but is not limited to: radio frequency unit 161, network module 162, audio output unit 163, input unit 164, sensor 165, display unit 166, user input unit 167, interface unit 168, memory 169 , processor 1610, and power supply 1611 and other components. The remote control device 160 also includes a camera. Those skilled in the art can understand that the structure of the remote control device shown in Figure 16 does not constitute a limitation on the remote control device. The remote control device may include more or less components than shown in the figure, or combine certain components, or different components. Component placement. In this embodiment of the present application, the remote control device 160 includes but is not limited to mobile terminals such as mobile phones, tablet computers, or smart remote controls.

The processor 1610 is used to generate instructions, such as: a master control right application instruction and a first slave control right application instruction, where the master control right application instruction is used to apply for master control rights to the unmanned aerial vehicle, and the first slave control right application instruction The command is used to apply for gimbal control rights from the main remote control device that is connected to the UAV.

It should be understood that in the embodiment of the present application, the radio frequency unit 161 can be used to receive and send information or signals during a call. Specifically, after receiving the downlink data from the base station, it is processed by the processor 1610; in addition, Uplink data is sent to the base station. Generally, the radio frequency unit 161 includes, but is not limited to, an antenna, at least one amplifier, transceiver, coupler, low noise amplifier, duplexer, etc. In addition, the radio frequency unit 161 can also communicate with the network and other devices through a wireless communication system.

The remote control device 160 provides users with wireless broadband Internet access through the network module 162, such as helping users send and receive emails, browse web pages, and access streaming media.

The audio output unit 163 may convert the audio data received by the radio frequency unit 161 or the network module 162 or stored in the memory 169 into an audio signal and output it as a sound. Furthermore, the audio output unit 163 may also provide audio output related to a specific function performed by the remote control device 160 (eg, call signal reception sound, message reception sound, etc.). The audio output unit 163 includes a speaker speakers, buzzers and receivers, etc.

The input unit 164 is used to receive audio or video signals. The input unit 164 may include a graphics processor (Graphics Processing Unit, GPU) 1641 and a microphone 1642. The graphics processor 1641 targets still pictures or videos obtained by an image capture device (such as a camera) in a video capture mode or an image capture mode. Images are processed. The processed image frames may be displayed on the display unit 166. The image frames processed by the graphics processor 1641 may be stored in the memory 169 (or other storage media) or sent via the radio frequency unit 161 or the network module 162. Microphone 1642 can receive sounds and can process such sounds into audio data. The processed audio data can be converted into a format that can be sent to a mobile communication base station via the radio frequency unit 161 for output in the phone call mode.

The remote control device 160 also includes at least one sensor 165, such as a light sensor, a motion sensor, and other sensors. Specifically, the light sensor includes an ambient light sensor and a proximity sensor. The ambient light sensor can adjust the brightness of the display panel 1661 according to the brightness of the ambient light. The proximity sensor can close the display panel 1661 when the remote control device 160 moves to the ear. /or backlight. As a type of motion sensor, the accelerometer sensor can detect the magnitude of acceleration in various directions (usually three axes). It can detect the magnitude and direction of gravity when stationary, and can be used to identify the posture of remote control devices (such as horizontal and vertical screen switching, related games , magnetometer attitude calibration), vibration recognition related functions (such as pedometer, knock), etc.; the sensor 165 may also include a fingerprint sensor, a pressure sensor, an iris sensor, a molecular sensor, a gyroscope, a barometer, a hygrometer, a thermometer, Infrared sensors, etc. will not be described in detail here.

The display unit 166 is used to display information input by the user or information provided to the user. The display unit 166 may include a display panel 1661, which may be configured in the form of a liquid crystal display (Liquid Crystal Display, LCD), an organic light-emitting diode (OLED), etc.

The user input unit 167 may be used to receive input numeric or character information and generate key signal input related to user settings and function control of the remote control device. Specifically, the user input unit 167 Including touch panel 1671 and other input devices 1672. The touch panel 1671 , also known as a touch screen, can collect the user's touch operations on or near the touch panel 1671 (for example, the user uses a finger, stylus, or any suitable object or accessory on or near the touch panel 1671 operate). The touch panel 1671 may include two parts: a touch detection device and a touch controller. Among them, the touch detection device detects the user's touch orientation, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into contact point coordinates, and then sends it to the touch controller. To the processor 1610, receive the command sent by the processor 1610 and execute it. In addition, the touch panel 1671 can be implemented using various types such as resistive, capacitive, infrared, and surface acoustic wave. In addition to the touch panel 1671, the user input unit 167 may also include other input devices 1672. Specifically, other input devices 1672 may include but are not limited to physical keyboards, function keys (such as volume control keys, switch keys, etc.), trackballs, mice, and joysticks, which will not be described again here.

Further, the touch panel 1671 can be covered on the display panel 1661. When the touch panel 1671 detects a touch operation on or near it, it is sent to the processor 1610 to determine the type of touch event. Then the processor 1610 determines the type of touch event according to the touch. The type of event provides corresponding visual output on display panel 1661. Although in Figure 16, the touch panel 1671 and the display panel 1661 are used as two independent components to implement the input and output functions of the remote control device, in some embodiments, the touch panel 1671 and the display panel 1661 can be integrated. There are no specific limitations here on realizing the input and output functions of the remote control device.

The interface unit 168 is an interface for connecting external devices to the remote control device 160 . For example, external devices may include a wired or wireless headphone port, an external power (or battery charger) port, a wired or wireless data port, a memory card port, a port for connecting a device with an identification module, audio input/output (I/O) port, video I/O port, headphone port, etc. Interface unit 168 may be used to receive input (eg, data information, power, etc.) from an external device and transmit the received input to one or more elements within remote control device 160 or may be used to connect between remote control device 160 and an external device. Transfer data between devices.

Memory 169 may be used to store software programs as well as various data. Memory 169 may primarily include Storage program area and storage data area, wherein the storage program area can store at least one application program 1691 required for a function (such as sound playback function, image playback function, etc.) and operating system 1692, etc.; the storage data area can store according to the use of the mobile phone. Created data (such as audio data, phone book, etc.), etc. In addition, memory 169 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.

The processor 1610 is the control center of the remote control device 160, using various interfaces and lines to connect various parts of the entire remote control device, by running or executing software programs and/or modules stored in the memory 169, and calling programs stored in the memory 169. Data, perform various functions of the remote control device and process data, thereby overall monitoring the remote control device. The processor 1610 may include one or more processing units; in this embodiment of the present application, the processor 1610 may integrate an application processor and a modem processor, where the application processor mainly processes operating systems, user interfaces, application programs, etc. , the modem processor mainly handles wireless communications. It can be understood that the above modem processor may not be integrated into the processor 1610.

The remote control device 160 may also include a power supply 1611 (such as a battery) that supplies power to various components. In this embodiment of the present application, the power supply 1611 may be logically connected to the processor 1610 through a power management system, thereby managing charging, discharging, and And functions such as power consumption management.

In addition, the remote control device 160 includes some not-shown functional modules, which will not be described again here.

The embodiment of the present application also provides a remote control device, including a processor 1610, a memory 169, and a computer program stored on the memory 169 and executable on the processor 1610. When the computer program is executed by the processor 1610, the above-mentioned unmanned aerial vehicle is realized. Each process of the control method embodiment can achieve the same technical effect. To avoid repetition, it will not be described again here.

Please refer to Figure 17 again. Figure 17 is a schematic structural diagram of an unmanned aerial vehicle control system provided by an embodiment of the present application;

As shown in Figure 17, the control system 170 of the unmanned aerial vehicle includes: an unmanned aerial vehicle 171, a remote control device 172 and a base station 173.

Among them, there may be multiple remote control devices 172 in the embodiment of the present application. Multiple remote control devices 172 are directly connected to one unmanned aerial vehicle 171 through communication, or some or all of the multiple remote control devices 172 are connected to the unmanned aerial vehicle 171 through base station communication. , to complete the transfer of signals or commands through the base station 173 to achieve control of the unmanned aerial vehicle.

Among them, one of the plurality of remote control devices 172 is determined as the master remote control device, and the others are determined as slave remote control devices, and after the master remote control device disconnects from the unmanned aerial vehicle, the slave remote control device can be switched to the master remote control device.

The relevant content of the unmanned aerial vehicle 171 of the unmanned aerial vehicle control system 170 in the embodiment of the present application may be referred to the unmanned aerial vehicle mentioned in the above embodiment, and will not be described again here.

For the relevant content of the remote control device 172 of the unmanned aerial vehicle control system 170 in the embodiment of the present application, reference can be made to the remote control device mentioned in the above embodiment, and will not be described again here.

The base station 173 of the unmanned aerial vehicle control system 170 in the embodiment of the present application may include but is not limited to one or more of macro base stations, micro base stations, and distributed base stations, which are not limited here.

In the embodiment of the present application, by providing a control system for an unmanned aerial vehicle, the unmanned aerial vehicle is connected to the unmanned aerial vehicle through direct communication through multiple remote control devices, or the multiple remote control devices are partially or fully connected to the unmanned aerial vehicle through base station communication. By determining an The main remote control device and several slave remote control devices can improve the control efficiency of the unmanned aerial vehicle.

Further, embodiments of the present application also provide a non-transitory computer-readable storage medium. The non-transitory computer-readable storage medium stores computer-executable instructions. The computer-executable instructions are executed by one or more processors and can The above one or more processors are caused to execute the control method of the unmanned aerial vehicle in any of the above method embodiments.

Further, embodiments of the present application also provide a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause the computer to perform any of the above method embodiments. Some or all of the steps described in the control method of the unmanned aerial vehicle. The computer program product may be a software installation package.

The device embodiments described above are merely illustrative in which individual components are illustrated as separate components. Elements may or may not be physically separate, and components shown as units may or may not be physical units, i.e. they may be located in one place, or they may be distributed over multiple network elements. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Select some or all of the modules according to actual needs to achieve the purpose of the solution of this embodiment.

Through the above description of the embodiments, those of ordinary skill in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware. Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program in a computer program product. The computer program can be stored in a non-transitory computer-readable storage. In the medium, the computer program includes program instructions. When the program instructions are executed by the relevant device, the relevant device can perform the processes of the embodiments of the above methods. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM) or a random access memory (Random Access Memory, RAM), etc.

The above-mentioned products can execute the control method of the unmanned aerial vehicle provided by the embodiments of the present application, and have corresponding functional modules and beneficial effects for executing the control method of the unmanned aerial vehicle. For technical details that are not described in detail in this embodiment, please refer to the control method of the unmanned aerial vehicle provided in the embodiment of this application.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application, but not to limit it; under the idea of the present application, the technical features of the above embodiments or different embodiments can also be combined. The steps may be performed in any order, and there are many other variations to different aspects of the application as described above, which are not provided in detail for the sake of brevity; although the application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art It should be understood that the technical solutions described in the foregoing embodiments can still be modified, or some of the technical features can be equivalently replaced; and these modifications or substitutions do not deviate from the essence of the corresponding technical solutions from the technology of the embodiments of the present application. Scope of the program.

Claims (13)

A method for controlling an unmanned aerial vehicle, characterized in that the method includes: When the unmanned aerial vehicle communicates with at least two remote control devices, a master remote control device and at least one slave remote control device are determined, wherein the master remote control device corresponds to the master control right, and the master control right corresponds to all the permissions of the unmanned aerial vehicle; the slave remote control device The equipment corresponds to the slave control right, and the slave control right corresponds to some of the permissions of the unmanned aerial vehicle; If the master remote control device is disconnected from the unmanned aerial vehicle, sending master remote control connection interruption information to the at least one slave remote control device; After sending the master remote control connection interruption information, the slave remote control device corresponding to the received first master control right application instruction is determined as the master remote control device. The method according to claim 1, characterized in that determining a master remote control device and at least one slave remote control device includes: When the unmanned aerial vehicle has no communication connection with a remote control device, the first remote control device that is communicatively connected with the unmanned aerial vehicle is determined as the master remote control device, and the remote control device connected thereafter is determined as the slave remote control device. The method according to claim 1 or 2, characterized in that the slave control right includes a first slave control right and a second slave control right, and the method further includes: When a slave remote control device accesses the unmanned aerial vehicle, set the slave remote control device to correspond to the second slave control right; When receiving the first slave control right application instruction sent by the slave remote control device, forward the first slave control right application instruction to the master remote control device; If the first slave control right determination instruction sent by the master remote control device is received, the control right of the slave remote control device is converted from the second slave control right to the first slave control right; wherein, the first slave control right The second slave control right corresponds to the operating authority of the pan/tilt of the unmanned aerial vehicle, and the second slave control right corresponds to the information viewing authority of the unmanned aerial vehicle. The method according to claim 1 or 2, characterized in that, The main remote control device communicates with the unmanned aerial vehicle through a first image transmission channel; The slave remote control device communicates with the unmanned aerial vehicle through a second image transmission channel; If the master remote control device is disconnected from the unmanned aerial vehicle, sending master remote control connection interruption information to the at least one slave remote control device includes: After the first image transmission channel is closed, master remote control connection interruption information is sent to the slave remote control device through the second image transmission channel. The method according to claim 1 or 2, characterized in that, The main remote control device communicates with the unmanned aerial vehicle through a first image transmission channel; At least one slave remote control device is communicatively connected to the same base station, and the base station is communicatively connected to the unmanned aerial vehicle through a second image transmission channel; If the master remote control device is disconnected from the unmanned aerial vehicle, sending master remote control connection interruption information to the at least one slave remote control device includes: After the first image transmission channel is closed, the main remote control connection interruption information is sent to the base station through the second image transmission channel, so that the base station forwards the main remote control connection interruption information to at least one communication connection with it. A slave remote control device. The method according to claim 1 or 2, characterized in that, The master remote control device and at least one slave remote control device are communicatively connected to the same base station, and the base station is communicatively connected to the unmanned aerial vehicle through a first image transmission channel; At least one slave remote control device is communicatively connected to the unmanned aerial vehicle through a second video transmission channel; If the main remote control device is disconnected from the unmanned aerial vehicle, sending a signal to the at least one Send master remote control connection interruption information from the remote control device, including: After the main remote control device is disconnected from the unmanned aerial vehicle, the main remote control connection interruption information is sent to the base station to which the main remote control equipment is communicatively connected, so that the base station forwards the main remote control connection interruption information to the base station with which it is connected. Communication connection to at least one slave remote control device. The method of claim 6, further comprising: If the master control right application instruction sent by the slave remote control device communicating with the base station is not received within the preset time threshold, the master remote control connection interruption information is sent to at least one slave remote control device through the second image transmission channel. The method according to claim 1 or 2, characterized in that, The master remote control device and at least one slave remote control device are communicatively connected to a first base station, and the first base station is communicatively connected to the unmanned aerial vehicle through a first image transmission channel; At least one slave remote control device is communicatively connected to a second base station, and the second base station is communicatively connected to the unmanned aerial vehicle through a second image transmission channel; If the master remote control device is disconnected from the unmanned aerial vehicle, sending master remote control connection interruption information to the at least one slave remote control device includes: After the main remote control device is disconnected from the unmanned aerial vehicle, the main remote control connection interruption information is sent to the first base station, so that the first base station forwards the main remote control connection interruption information to its communication connection of at least one remote control device. The method of claim 8, further comprising: If the master control right application instruction sent from the remote control device connected to the first base station is not received within the preset time threshold, then the master remote control connection interruption information is sent to the second base station through the second image transmission channel, So that the second base station forwards the master remote control connection interruption information to at least one slave remote control device that is communicatively connected with it. A control device for an unmanned aerial vehicle, characterized in that the device includes: The device connection module is used to communicate and connect at least two remote control devices; The equipment determination module is used to determine a master remote control device and at least one slave remote control device, where the master remote control device corresponds to the master control right, and the master control right corresponds to all the permissions of the unmanned aerial vehicle; the slave remote control device corresponds to the slave control right, and the slave remote control device corresponds to the slave control right. The control right corresponds to part of the authority of the unmanned aerial vehicle; An information sending module, configured to send master remote control connection interruption information to the at least one slave remote control device if the master remote control device is disconnected from the unmanned aerial vehicle; The master control determination module is configured to determine the slave remote control device corresponding to the received first master control right application instruction as the master remote control device after sending the master remote control connection interruption information. An unmanned aerial vehicle is characterized by: at least one processor; and A memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to cause the at least one process The device can be used to perform the control method of an unmanned aerial vehicle according to any one of claims 1-9. A control system for an unmanned aerial vehicle, characterized in that the system includes: The unmanned aerial vehicle as claimed in claim 11; At least one remote control device is communicatively connected to the unmanned aerial vehicle, and at least one remote control device is used to control the unmanned aerial vehicle. The control system of an unmanned aerial vehicle according to claim 12, characterized in that the system further includes: A base station is used for communicating with at least one remote control device.