CN106716973A - Control method and ground control terminal of unmanned aerial vehicle - Google Patents
Control method and ground control terminal of unmanned aerial vehicle Download PDFInfo
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- CN106716973A CN106716973A CN201680002757.1A CN201680002757A CN106716973A CN 106716973 A CN106716973 A CN 106716973A CN 201680002757 A CN201680002757 A CN 201680002757A CN 106716973 A CN106716973 A CN 106716973A
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- unmanned vehicle
- remote server
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/08—Network architectures or network communication protocols for network security for authentication of entities
- H04L63/0807—Network architectures or network communication protocols for network security for authentication of entities using tickets, e.g. Kerberos
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/08—Network architectures or network communication protocols for network security for authentication of entities
- H04L63/0815—Network architectures or network communication protocols for network security for authentication of entities providing single-sign-on or federations
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/10—Network architectures or network communication protocols for network security for controlling access to devices or network resources
- H04L63/108—Network architectures or network communication protocols for network security for controlling access to devices or network resources when the policy decisions are valid for a limited amount of time
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
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Abstract
The embodiment of the present invention provides a control method and a ground control terminal of an unmanned aerial vehicle. The method comprising following steps of acquiring information of the unmanned aerial vehicle; transmitting the information to the remote server through a wireless communication device (41) such that the remote server can monitor the unmanned aerial vehicle in real time mode based on the information. The embodiment of the invention realizes the real-time communication between the remote control server and the remote server through the wireless communication device (41) by providing the wireless communication device in the control terminal (40) of the unmanned aerial vehicle for real-time monitoring, especially for agricultural unmanned aerial vehicles, the body is larger, higher prices, real-time monitoring of agricultural unmanned aerial vehicles to ensure the safety of agricultural unmanned aerial vehicles.
Description
Technical field
The present embodiments relate to unmanned plane field, more particularly to a kind of unmanned vehicle control method and ground control
End.
Background technology
Unmanned vehicle and earth station such as remote control can carry out radio communication in the prior art, and user is by manipulating remote control
Rocking bar control unmanned vehicle flight on device, in addition, remote control can also be connected with the mobile terminal of user such as mobile phone, nobody
The information of itself such as positional information, speed, height, angle etc. are sent to remote control by aircraft, and remote control is sent out by mobile phone
Give long-range server.
But the connection of mobile phone and long-range server is not real-time, is caused between remote control and long-range server
Communication nor in real time, long-range server cannot carry out monitor in real time to unmanned vehicle, especially for agriculture nothing
For man-machine, its body volume is larger, and price is higher, if monitor in real time cannot be carried out to agriculture unmanned plane, will be unable to ensure agriculture
The security of industry unmanned plane.
The content of the invention
The embodiment of the present invention provides a kind of control method and ground control terminal of unmanned vehicle, to ensure agriculture unmanned plane
Security.
The one side of the embodiment of the present invention is to provide a kind of control method of unmanned vehicle, and it uses ground control
End, the ground control terminal includes radio communication device, and the radio communication device is used for the ground control terminal with long-range clothes
Business device real-time Communication for Power；Methods described includes：
Obtain the information of the unmanned vehicle；
Described information is sent to the remote server by the radio communication device, so that the remote server
According to described information, unmanned vehicle described in monitor in real time.
The other side of the embodiment of the present invention is to provide a kind of ground control terminal, including：
Radio communication device, for the ground control terminal and remote server real-time Communication for Power；
One or more processors, work alone or synergistically, are connected with radio communication device communication, the processor
For：
Obtain the information of unmanned vehicle；
Described information is transferred to the radio communication device；
Described information is sent to the remote server by the radio communication device so that the remote server according to
Described information, unmanned vehicle described in monitor in real time.
The control method and ground control terminal of the unmanned vehicle that the present embodiment is provided, by control unmanned vehicle
Radio communication device is set in ground control terminal, ground control terminal is realized real-time with remote server by radio communication device
Communication, remote server can carry out monitor in real time to unmanned vehicle, for agriculture unmanned plane, its body volume
Larger, price is higher, and monitor in real time is carried out to agriculture unmanned plane, it is ensured that the security of agriculture unmanned plane.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, below will be to that will make needed for embodiment description
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are some embodiments of the present invention, for this
For the those of ordinary skill of field, without having to pay creative labor, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is the flow chart of the control method of unmanned vehicle provided in an embodiment of the present invention；
The flow chart of the control method of the unmanned vehicle that Fig. 2 is provided for another embodiment of the present invention；
The flow chart of the control method of the unmanned vehicle that Fig. 3 is provided for another embodiment of the present invention；
Fig. 4 is the structure chart of ground control terminal provided in an embodiment of the present invention；
The structure chart of the ground control terminal that Fig. 5 is provided for another embodiment of the present invention.
Reference：
40- ground control terminal 41- radio communication device 42- processors
43- display screen 44- memories
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly retouched
State, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Based on the present invention
In embodiment, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, belongs to the scope of protection of the invention.
It should be noted that when component is referred to as " being fixed on " another component, it can directly on another component
Or can also there is component placed in the middle.When a component is considered as " connection " another component, it can be directly connected to
To another component or may be simultaneously present component placed in the middle.
Unless otherwise defined, all of technologies and scientific terms used here by the article with belong to technical field of the invention
The implication that technical staff is generally understood that is identical.The term for being used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein " and/or " include one or more phases
The arbitrary and all of combination of the Listed Items of pass.
Below in conjunction with the accompanying drawings, some embodiments of the present invention are elaborated.It is following in the case where not conflicting
Feature in embodiment and embodiment can be mutually combined.
The embodiment of the present invention provides a kind of control method of unmanned vehicle.Fig. 1 for it is provided in an embodiment of the present invention nobody
The flow chart of the control method of aircraft.As shown in figure 1, the method in the present embodiment, can include：
Step S101, the information for obtaining the unmanned vehicle.
The executive agent of the present embodiment can be ground control terminal, and the ground control terminal can be for controlling unmanned flight
The remote control of device, or the ground maintenance base station of unmanned vehicle.In addition, in certain embodiments, ground control terminal is also
It can be following at least one：Wear-type shows glasses (VR glasses, VR helmets etc.), mobile phone, Intelligent bracelet, panel computer etc..
Ground control terminal in the present embodiment includes radio communication device, and the radio communication device is controlled for the ground
End processed and remote server real-time Communication for Power；The radio communication device includes following at least one：3G communicators, 4G communication dresses
Put, 5G communicators, WiMax communicators, Wireless Fidelity (WIreless-Fidelity, abbreviation WIFI) communicator.
Radio communication device in the present embodiment is by taking wireless network card as an example, ground control terminal by taking remote control as an example, that is, be used for
Control the remote control of unmanned vehicle that wireless network card is installed, remote control can in real time be led to by the wireless network card and remote server
Letter.Wireless network card is communicated in the way of 3G, 4G or 5G.
The information of the unmanned vehicle that the communication system that remote control obtains unmanned vehicle sends, the unmanned vehicle
Information includes following at least one：The ID of the unmanned vehicle, the flight path of the unmanned vehicle, the unmanned flight
The current state information of device.The current state information of the unmanned vehicle can be included but is not limited to：Flying height, attitude letter
Breath, flying speed, residing landform, offline mode, battery electrical parameter information, power system parameter etc..
Step S102, described information is sent to the remote server by the radio communication device, so that described
Remote server is according to described information, unmanned vehicle described in monitor in real time.
The information of the unmanned vehicle is sent to the remote server by remote control by wireless network card, so that described remote
Journey server is according to described information, unmanned vehicle described in monitor in real time, for example, the remote server is according to the unmanned vehicle
Flight path, the movement locus of monitor in real time unmanned vehicle, position the unmanned vehicle in real time；Or, according to this nobody
The current state information of aircraft, the state of monitor in real time unmanned vehicle, for example, battery whether failure, dynamical system whether
Whether whether superelevation, flying speed release souls from purgatory for failure, flying height.
The present embodiment sets radio communication device by the ground control terminal of control unmanned vehicle, realizes ground
Control end can in real time be supervised by radio communication device and remote server real-time Communication for Power, remote server to unmanned vehicle
Control, for agriculture unmanned plane, its body volume is larger, and price is higher, and monitor in real time is carried out to agriculture unmanned plane,
The security of agriculture unmanned plane can be ensured.
The embodiment of the present invention provides a kind of control method of unmanned vehicle.Fig. 2 is provided for another embodiment of the present invention
The flow chart of the control method of unmanned vehicle.As shown in Fig. 2 on the basis of embodiment illustrated in fig. 1, the side in the present embodiment
Method, can include：
Step S201, the information for obtaining the unmanned vehicle.
Step S201 is consistent with step S101, and here is omitted for specific method.
Step S202, described information is sent to the remote server by the radio communication device, so that described
Remote server is according to described information, unmanned vehicle described in monitor in real time.
Step S202 is consistent with step S102, and here is omitted for specific method.
Step S203, the control instruction for controlling the unmanned vehicle for receiving the remote server transmission.
While remote server monitor in real time unmanned vehicle, can also earthward control end such as remote control, send
Control instruction for controlling the unmanned vehicle；The control instruction includes following at least one：Lock instruction, make a return voyage finger
Make, flight altitude control instruction, flying speed control instruction, flight path control instruction.For example, unmanned vehicle is specially agriculture
Industry unmanned plane, each working time of agriculture unmanned plane is default, when remote server determines the work of the agriculture unmanned plane
During time time-out, lock instruction is sent to remote control.
Step S204, the control instruction is sent to the unmanned vehicle.
The control instruction that remote server is issued is sent to unmanned vehicle by remote control, such as by the lock in above-mentioned steps
Fixed instruction is sent to the agriculture unmanned plane, and the agriculture unmanned plane will be unable to continue operation, or, will after the agriculture unmanned plane landing
Cannot take off again.
The present embodiment receives the control instruction that remote server is issued by ground control terminal, and the control instruction is sent
To unmanned vehicle, due to being provided with wireless network card in ground control terminal, it is ensured that remote server can be controlled earthward in real time
End issues the control instruction for controlling unmanned vehicle, realizes real-time control of the remote server to unmanned vehicle.
The embodiment of the present invention provides a kind of control method of unmanned vehicle.Fig. 3 is provided for another embodiment of the present invention
The flow chart of the control method of unmanned vehicle.As shown in figure 3, on the basis of embodiment illustrated in fig. 1, the ground control terminal
Also include display screen, the display screen is used to show following at least one：Described information, the control instruction, for logging in
State the user interface of remote server.For example, after the information that is sent to unmanned vehicle of remote control, the presentation of information is existed
The display screen, so that the user for manipulating the remote control watches；For another example, the control that remote control can also issue remote server refers to
Order is displayed in the display screen, or the presentation of information that remote server is actively promoted is in the display screen；Additionally, the remote control
Device is also provided with operating system, based on the operating system, application software APP, the display screen can be installed in the remote control
The user interface that the application software is provided can be shown, the user interface can be the user described long-range by remote control login
The interface of server.
Method in the present embodiment, can include：
Step S301, the information for obtaining the unmanned vehicle.
When the user logs in the remote server by ground control terminal such as remote control to fail, in remote control
Wireless network card can also receive the information that the unmanned vehicle sends, and by the information and storage remote control memory
In, the information of storage unmanned vehicle in memory can be used as off-line data.
Step S302, the user profile for obtaining the user for manipulating the ground control terminal.
Obtaining a kind of achievable mode of the user profile of the user of the manipulation ground control terminal is：Obtain the user
In the log-on message for logging in the remote server of user interface input, log-on message can specifically include logging in
ID and login password.
Step S303, the user profile is sent to the remote server, so that the remote server is according to institute
User profile is stated, is determined whether the user has permission and the unmanned vehicle is controlled by the ground control terminal.
Remote control will be used to log in the log-on message such as login ID and login of the remote server by wireless network card
Password is sent to the remote server, and the remote server is previously stored with the user's letter for having permission control unmanned vehicle
Breath, remote server determines whether the user has according to the remote control log-on message for sending and the user profile for prestoring
Authority is by the remote control control unmanned vehicle.
Step S304, the checking information for receiving the remote server transmission, the checking information are used to identify the use
Family has permission and controls the unmanned vehicle by the ground control terminal.
When remote server determines that the user is had permission by the remote control control unmanned vehicle, to the remote control
Checking information is sent, the checking information can be specifically token Token, and the Token is had permission by this for identifying the user
The remote control control unmanned vehicle, and have permission the remote server is logged in by the remote control.
In addition, the checking information is additionally operable to identify the user by the ground control terminal login remote service
The time limit of device.For example, remote control is to after the Token, user can log in remote service in 24 hours according to the Token
Device, or, after the communication connection between remote control and remote server disconnects, user can also log in long-range clothes according to the Token
Business device.
Step S305, the ID of the unmanned vehicle is sent to the remote service by the radio communication device
Device, so that whether ID of the remote server according to the unmanned vehicle, determine the unmanned vehicle described long-range
In the monitoring range of server.
After the Token that remote control is issued to remote server, the ID of unmanned vehicle is sent by wireless network card
To remote server, remote server is previously stored with the ID of the unmanned vehicle that the remote server can be monitored, remote service
After device receives the ID of the unmanned vehicle of remote control transmission, determine the unmanned vehicle whether in the monitoring range of oneself
It is interior.
If step S306, the user have permission controls the unmanned vehicle by the ground control terminal, and described
Unmanned vehicle sets up the radio communication device with the remote server in the monitoring range of the remote server, then
Between communication connection.
If the user has permission controls the unmanned vehicle, and the unmanned vehicle by the ground control terminal
In the monitoring range of the remote server, remote control sets up communication connection by wireless network card and remote server, and this leads to
Letter connection can be specifically based on transmission control protocol (Transmission Control Protocol, abbreviation TCP) from group
A set of RTP, for example, safe transmission layer protocol (Transport Layer Security, abbreviation TLS) is connected.
Step S307, described information is sent to the remote server by the communication connection, so that described long-range
Server is according to described information, unmanned vehicle described in monitor in real time.
Remote control can pass through the information of unmanned vehicle after wireless network card and remote server set up communication connection
The communication connection is sent to remote server in real time, so that unmanned vehicle described in remote server monitor in real time.
In addition, when the ground control terminal and the remote server set up communication connection by the radio communication device
Afterwards, when user can also be logged in into remote server failure by remote control, the off-line data stored in the memory of remote control
Remote server is sent to by the communication connection.
The present embodiment passes through remote server verification user profile, the ID of unmanned vehicle, it is determined that manipulating the remote control
Whether user is had permission by the remote control control unmanned vehicle, and according to the ID of unmanned vehicle, and nobody flies to determine this
Whether row device further increases the security of unmanned vehicle in the monitoring range of the remote server, in addition, working as user
Have permission by the remote control control unmanned vehicle, and the unmanned vehicle in the monitoring range of the remote server when,
Remote control just sets up communication connection in real time by wireless network card and remote server, and communication link is set up compared to unconditional
Connect, not only increase the security of communication, while saving the Internet resources of communication system.
The embodiment of the present invention provides a kind of ground control terminal.Fig. 4 is the knot of ground control terminal provided in an embodiment of the present invention
Composition, as shown in figure 4, ground control terminal 40 include radio communication device 41, one or more processors 42, wherein, one or
Multiple processors 42 work alone or synergistically, and radio communication device 41 is used for the ground control terminal and remote server leads in real time
Letter；Radio communication device 41 and the communication connection of processor 42；Processor 42 is used for：Obtain the information of unmanned vehicle；Will be described
Information transfer is to radio communication device 41；Described information is sent to the remote server by radio communication device 41, so that institute
Remote server is stated according to described information, unmanned vehicle described in monitor in real time.
Optionally, the information of the unmanned vehicle includes following at least one：The ID of the unmanned vehicle, the nothing
The flight path of people's aircraft, the current state information of the unmanned vehicle.The ground control terminal includes following at least one
Kind：The remote control of the unmanned vehicle, the ground maintenance base station of the unmanned vehicle.The radio communication device is included such as
Lower at least one：3G communicators, 4G communicators, 5G communicators, WiMax communicators, WIFI communicators.
The concrete principle and implementation of ground control terminal provided in an embodiment of the present invention with embodiment illustrated in fig. 1 class
Seemingly, here is omitted.
The present embodiment sets radio communication device by the ground control terminal of control unmanned vehicle, realizes ground
Control end can in real time be supervised by radio communication device and remote server real-time Communication for Power, remote server to unmanned vehicle
Control, for agriculture unmanned plane, its body volume is larger, and price is higher, and monitor in real time is carried out to agriculture unmanned plane,
The security of agriculture unmanned plane can be ensured.
The embodiment of the present invention provides a kind of ground control terminal.On the basis of the technical scheme that embodiment illustrated in fig. 4 is provided,
Radio communication device 41 is additionally operable to receive the control instruction for controlling the unmanned vehicle that the remote server sends；
And the control instruction is sent to the unmanned vehicle.The control instruction includes following at least one：Lock instruction,
Make a return voyage instruction, flight altitude control instruction, flying speed control instruction, flight path control instruction.
The concrete principle and implementation of ground control terminal provided in an embodiment of the present invention with embodiment illustrated in fig. 2 class
Seemingly, here is omitted.
The present embodiment receives the control instruction that remote server is issued by ground control terminal, and the control instruction is sent
To unmanned vehicle, due to being provided with wireless network card in ground control terminal, it is ensured that remote server can be controlled earthward in real time
End issues the control instruction for controlling unmanned vehicle, realizes real-time control of the remote server to unmanned vehicle.
The embodiment of the present invention provides a kind of ground control terminal.The ground control terminal that Fig. 5 is provided for another embodiment of the present invention
Structure chart.On the basis of the technical scheme that embodiment illustrated in fig. 4 is provided, described information is sent to institute by ground control terminal 41
Before stating remote server, processor 42 is additionally operable to：Obtain the user profile of the user of the manipulation ground control terminal；Will be described
User profile is transferred to radio communication device 41；The user profile is sent to the remote service by radio communication device 41
Device, so that the remote server is according to the user profile, is determined whether the user has permission and is controlled by the ground
The end control unmanned vehicle.
Radio communication device 41 has when described information is sent into the remote server by the radio communication device
Body is used for：The ID of the unmanned vehicle is sent to the remote server by the radio communication device, so that described
Remote server according to the ID of the unmanned vehicle, determine the unmanned vehicle whether the remote server monitoring
In the range of.
The unmanned vehicle, and the unmanned vehicle is controlled to exist by ground control terminal 40 if the user has permission
In the monitoring range of the remote server, then radio communication device 41 is set up with the remote server and is communicated to connect.It is described
Communication connection can be specifically TLS connections
In addition, be sent to the user profile after the remote server by radio communication device 41, it is additionally operable to：Receive
The checking information that the remote server sends, the checking information is used to identifying the user to have permission to be controlled by the ground
End processed controls the unmanned vehicle.
Additionally, on the basis of the technical scheme that embodiment illustrated in fig. 4 is provided, the ground control terminal 40 that the present embodiment is provided
Also include：The display screen 43 being connected is communicated with processor 42, display screen 43 is used to show following at least one：Described information, institute
State control instruction, the user interface for logging in the remote server.Processor 42 obtains the manipulation ground control terminal
During the user profile of user specifically for：Obtain the user the user interface be input into for logging in the remote service
The log-on message of device.In addition, the checking information be additionally operable to identify the user logged in by ground control terminal 40 it is described long-range
The time limit of server.
Additionally, the ground control terminal 40 that the present embodiment is provided also includes：The memory 44 being connected is communicated with processor 42, when
When the user logs in the remote server and fails by ground control terminal 40, radio communication device 41 receive it is described nobody fly
The information that row device sends, and described information is transferred to processor 42, described information storage is arrived memory 44 by processor 42.
When ground control terminal 40 and the remote server set up communication connection by the radio communication device, treatment
Device 42 obtains described information from memory 44, and described information is transferred into radio communication device 41, and radio communication device 41 will
Described information is sent to the remote server by the communication connection.
In addition, on the basis of Fig. 4, radio communication device 41 is specifically included：Remote communication means 411 and server communication
Device 412, wherein, remote communication means 411 are communicated to connect with processor 42, for being communicated with the unmanned vehicle；Service
Device communicator 412 is communicated to connect with processor 42, for being communicated with the remote server；Remote communication means 411 it is logical
Letter mode is different from the communication mode of mobile communications device 412.Optionally, remote communication means 411 are WIFI communicators.
The concrete principle and implementation of ground control terminal provided in an embodiment of the present invention are similar with embodiment illustrated in fig. 3, herein not
Repeat again.
The present embodiment passes through remote server verification user profile, the ID of unmanned vehicle, it is determined that manipulating the remote control
Whether user is had permission by the remote control control unmanned vehicle, and according to the ID of unmanned vehicle, and nobody flies to determine this
Whether row device further increases the security of unmanned vehicle in the monitoring range of the remote server, in addition, working as user
Have permission by the remote control control unmanned vehicle, and the unmanned vehicle in the monitoring range of the remote server when,
Remote control just sets up communication connection in real time by wireless network card and remote server, and communication link is set up compared to unconditional
Connect, not only increase the security of communication, while saving the Internet resources of communication system.
In several embodiments provided by the present invention, it should be understood that disclosed apparatus and method, can be by it
Its mode is realized.For example, device embodiment described above is only schematical, for example, the division of the unit, only
Only a kind of division of logic function, can there is other dividing mode when actually realizing, such as multiple units or component can be tied
Another system is closed or is desirably integrated into, or some features can be ignored, or do not perform.It is another, it is shown or discussed
Coupling each other or direct-coupling or communication connection can be the INDIRECT COUPLINGs or logical of device or unit by some interfaces
Letter connection, can be electrical, mechanical or other forms.
The unit that is illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit
The part for showing can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be according to the actual needs selected to realize the mesh of this embodiment scheme
's.
In addition, during each functional unit in each embodiment of the invention can be integrated in a processing unit, it is also possible to
It is that unit is individually physically present, it is also possible to which two or more units are integrated in a unit.Above-mentioned integrated list
Unit can both be realized in the form of hardware, it would however also be possible to employ hardware adds the form of SFU software functional unit to realize.
The above-mentioned integrated unit realized in the form of SFU software functional unit, can store and be deposited in an embodied on computer readable
In storage media.Above-mentioned SFU software functional unit storage is in a storage medium, including some instructions are used to so that a computer
Equipment (can be personal computer, server, or network equipment etc.) or processor (processor) perform the present invention each
The part steps of embodiment methods described.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (Read-
Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disc or CD etc. it is various
Can be with the medium of store program codes.
Those skilled in the art can be understood that, for convenience and simplicity of description, only with above-mentioned each functional module
Division carry out for example, in practical application, can distribute complete by different functional modules by above-mentioned functions as needed
Into, will the internal structure of device be divided into different functional modules, to complete all or part of function described above.On
The specific work process of the device of description is stated, the corresponding process in preceding method embodiment is may be referred to, be will not be repeated here.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
Pipe has been described in detail with reference to foregoing embodiments to the present invention, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (34)
1. a kind of control method of unmanned vehicle, it uses ground control terminal, it is characterised in that the ground control terminal includes
Radio communication device, the radio communication device is used for the ground control terminal and remote server real-time Communication for Power；Methods described
Including：
Obtain the information of the unmanned vehicle；
Described information is sent to the remote server by the radio communication device so that the remote server according to
Described information, unmanned vehicle described in monitor in real time.
2. method according to claim 1, it is characterised in that the information of the unmanned vehicle includes following at least
Kind：
The ID of the unmanned vehicle, the flight path of the unmanned vehicle, the current state information of the unmanned vehicle.
3. method according to claim 1, it is characterised in that the ground control terminal includes following at least one：It is described
The remote control of unmanned vehicle, the ground maintenance base station of the unmanned vehicle.
4. method according to claim 1, it is characterised in that the radio communication device includes following at least one：
3G communicators, 4G communicators, 5G communicators, WIFI communicators, WiMax communicators.
5. method according to claim 1, it is characterised in that also include：
Receive the control instruction for controlling the unmanned vehicle that the remote server sends；
The control instruction is sent to the unmanned vehicle.
6. method according to claim 5, it is characterised in that the control instruction includes following at least one：
Lock instruction, instruction of making a return voyage, flight altitude control instruction, flying speed control instruction, flight path control instruction.
7. method according to claim 2, it is characterised in that described that described information is sent out by the radio communication device
Before giving the remote server, also include：
Obtain the user profile of the user of the manipulation ground control terminal；
The user profile is sent to the remote server, so that the remote server is according to the user profile, really
Whether the fixed user has permission and controls the unmanned vehicle by the ground control terminal.
8. method according to claim 7, it is characterised in that described that described information is sent out by the radio communication device
The remote server is given, including：The ID of the unmanned vehicle is sent to by the radio communication device described remote
Journey server, so that whether ID of the remote server according to the unmanned vehicle, determine the unmanned vehicle in institute
State in the monitoring range of remote server.
9. method according to claim 8, it is characterised in that if the user is had permission by the ground control terminal control
The unmanned vehicle is made, and the unmanned vehicle sets up described wireless in the monitoring range of the remote server, then
Communication connection between communicator and the remote server.
10. method according to claim 9, it is characterised in that the radio communication device is wireless network card, the communication
Connection is TLS connections.
11. methods according to claim 7, it is characterised in that described that the user profile is sent to the long-range clothes
After business device, also include：
The checking information that the remote server sends is received, the checking information is had permission by institute for identifying the user
State ground control terminal and control the unmanned vehicle.
12. method according to claim any one of 5-11, it is characterised in that the ground control terminal also includes display
Screen, the display screen is used to show following at least one：
Described information, the control instruction, the user interface for logging in the remote server.
13. methods according to claim 12, it is characterised in that the acquisition manipulates the user's of the ground control terminal
User profile, including：
Obtain the log-on message for logging in the remote server that the user is input into the user interface.
14. methods according to claim 13, it is characterised in that the checking information is additionally operable to identify the user and passes through
The ground control terminal logs in the time limit of the remote server.
15. methods according to claim 13, it is characterised in that the information of the acquisition unmanned vehicle, including：
When the user logs in the remote server by the ground control terminal to fail, receive and store it is described nobody fly
The information that row device sends.
16. methods according to claim 15, it is characterised in that the information that the reception unmanned vehicle sends it
Afterwards, also include：
When the ground control terminal and the remote server set up communication connection by the radio communication device, will be described
Information is sent to the remote server by the communication connection.
A kind of 17. ground control terminals, it is characterised in that including：
Radio communication device, for the ground control terminal and remote server real-time Communication for Power；
One or more processors, are worked alone or synergistically, are connected with radio communication device communication, and the processor is used
In：
Obtain the information of unmanned vehicle；
Described information is transferred to the radio communication device；
Described information is sent to the remote server by the radio communication device, so that the remote server is according to
Information, unmanned vehicle described in monitor in real time.
18. ground control terminals according to claim 17, it is characterised in that the information of the unmanned vehicle includes as follows
It is at least one：
The ID of the unmanned vehicle, the flight path of the unmanned vehicle, the current state information of the unmanned vehicle.
19. ground control terminals according to claim 17, it is characterised in that the ground control terminal includes following at least one
Kind：The remote control of the unmanned vehicle, the ground maintenance base station of the unmanned vehicle.
20. ground control terminals according to claim 17, it is characterised in that the radio communication device is included as follows at least
It is a kind of：
3G communicators, 4G communicators, 5G communicators, WIFI communicators, WiMax communicators.
21. ground control terminals according to claim 17, it is characterised in that the radio communication device is additionally operable to receive institute
State the control instruction for controlling the unmanned vehicle of remote server transmission；And the control instruction is sent to institute
State unmanned vehicle.
22. ground control terminals according to claim 21, it is characterised in that the control instruction includes following at least one
Kind：
Lock instruction, instruction of making a return voyage, flight altitude control instruction, flying speed control instruction, flight path control instruction.
23. ground control terminals according to claim 18, it is characterised in that the radio communication device sends out described information
Before giving the remote server, the processor is additionally operable to：
Obtain the user profile of the user of the manipulation ground control terminal；
The user profile is transferred to the radio communication device；
The user profile is sent to the remote server by the radio communication device so that the remote server according to
The user profile, determines whether the user has permission and controls the unmanned vehicle by the ground control terminal.
24. ground control terminals according to claim 23, it is characterised in that the radio communication device leads to described information
Cross when the radio communication device is sent to the remote server specifically for：
The ID of the unmanned vehicle is sent to the remote server by the radio communication device, so that described long-range
Server according to the ID of the unmanned vehicle, determine the unmanned vehicle whether the remote server monitoring range
It is interior.
25. ground control terminals according to claim 24, it is characterised in that if the user is had permission by the ground
Control end controls the unmanned vehicle, and the unmanned vehicle is in the monitoring range of the remote server, then described
Radio communication device is set up with the remote server and is communicated to connect.
26. ground control terminals according to claim 25, it is characterised in that the radio communication device is wireless network card,
The communication connection is TLS connections.
27. ground control terminals according to claim 23, it is characterised in that the radio communication device believes the user
Breath is sent to after the remote server, is additionally operable to：
The checking information that the remote server sends is received, the checking information is had permission by institute for identifying the user
State ground control terminal and control the unmanned vehicle.
28. ground control terminal according to claim any one of 21-27, it is characterised in that also include：
The display screen being connected with processor communication, the display screen is used to show following at least one：
Described information, the control instruction, the user interface for logging in the remote server.
29. ground control terminals according to claim 28, it is characterised in that the processor obtains the manipulation ground control
During the user profile of the user at end processed specifically for：
Obtain the log-on message for logging in the remote server that the user is input into the user interface.
30. ground control terminals according to claim 29, it is characterised in that the checking information is additionally operable to identify the use
Family logs in the time limit of the remote server by the ground control terminal.
31. ground control terminals according to claim 29, it is characterised in that also include：
The memory being connected with processor communication；
When the user logs in the remote server by the ground control terminal to fail, the radio communication device is received
The information that the unmanned vehicle sends, and described information is transferred to the processor；
Described information storage is arrived the memory by the processor.
32. ground control terminals according to claim 31, it is characterised in that when the ground control terminal and the long-range clothes
When business device sets up communication connection by the radio communication device, the processor obtains described information from the memory, and
Described information is transferred to the radio communication device；The radio communication device is by described information by the communication link sending and receiving
Give the remote server.
33. ground control terminals according to claim 17, it is characterised in that the radio communication device includes：
Remote communication means, are connected with the processor communication, for being communicated with the unmanned vehicle；And
Mobile communications device, is connected with the processor communication, for being communicated with the remote server；
Wherein, the communication mode of the remote communication means is different from the communication mode of the mobile communications device.
34. ground control terminals according to claim 33, it is characterised in that the remote communication means are WIFI communication dresses
Put.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/106825 WO2018094578A1 (en) | 2016-11-22 | 2016-11-22 | Unmanned aerial vehicle control method and ground control terminal |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106716973A true CN106716973A (en) | 2017-05-24 |
Family
ID=58903816
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680002757.1A Pending CN106716973A (en) | 2016-11-22 | 2016-11-22 | Control method and ground control terminal of unmanned aerial vehicle |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106716973A (en) |
| WO (1) | WO2018094578A1 (en) |
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Application publication date: 20170524 |