CN108933839A - A kind of unmanned aerial vehicle (UAV) control method, apparatus and system based on cloud platform - Google Patents
A kind of unmanned aerial vehicle (UAV) control method, apparatus and system based on cloud platform Download PDFInfo
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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
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- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses a kind of unmanned aerial vehicle (UAV) control method, apparatus and system based on cloud platform.This method, it include: to obtain to fly the flying quality that control module is sent, flying quality includes at least following any one or combinations thereof: location information, height value, flying speed, offline mode, station-keeping mode, parameter information, parameter information include course, yaw angle, pitch angle, roll angle；Flying quality is sent to cloud platform；Receive the control instruction that cloud platform is sent.Cloud platform is realized according to flying quality, control instruction is sent to Internet of Things module, to realize control of the cloud platform to unmanned plane, or terminal controls unmanned plane by cloud platform, it avoiding when can not be directly connected to unmanned plane due to terminal, terminal controls unmanned plane by cloud platform, or, cloud platform directly controls unmanned plane, and then improves the safety of control unmanned plane.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle control method, device and system based on a cloud platform.
Background
With the development of the unmanned aerial vehicle technology, the unmanned aerial vehicle has been widely applied to various aspects of people's life, such as aerial photography, plant protection and fire fighting.
Patent application No. 2014102502638 discloses a method for storing flight data of an unmanned aerial vehicle by using a cloud storage technology, specifically, a wireless network card is configured on the unmanned aerial vehicle, the flight data acquired by the unmanned aerial vehicle is transmitted to a cloud platform through a network in the flight process of the unmanned aerial vehicle, then, the cloud platform stores the acquired flight data, then, a terminal acquires the flight data stored on the cloud platform, and the terminal controls the unmanned aerial vehicle according to the flight data.
However, in the process of implementing the above prior art, a person skilled in the art finds that when the terminal and the drone cannot be connected, the terminal cannot control the drone.
Disclosure of Invention
In order to solve the technical problems, the invention provides a method, a device and a system for controlling an unmanned aerial vehicle based on a cloud platform, which can solve the problem that when a terminal and the unmanned aerial vehicle cannot be connected, the terminal cannot control the unmanned aerial vehicle.
In order to achieve the purpose of the invention, the invention provides an unmanned aerial vehicle control method based on a cloud platform, which comprises the following steps:
acquiring flight data sent by a flight control module, wherein the flight data at least comprises any one or a combination of the following items: the system comprises position information, a height value, flight speed, a flight mode, a positioning mode and parameter information, wherein the parameter information comprises course, yaw angle, pitch angle and roll angle;
sending the flight data to a cloud platform according to a preset condition;
and receiving a control instruction sent by the cloud platform.
Further, the control instruction is used for the cloud platform to control the flight control module, and the control instruction at least includes any one of the following items: hovering instructions, forced landing instructions and returning instructions.
Further, the receiving the control instruction sent by the cloud platform includes:
and receiving a control instruction sent by the terminal through the cloud platform, wherein the control instruction is used for controlling the flight control module through the cloud platform when the terminal cannot be connected with the flight control module.
Further, the sending the flight data to a cloud platform according to a preset condition includes:
when the fact that the linear displacement value of the unmanned aerial vehicle is larger than a preset linear displacement value is determined, the flight data are sent to a cloud platform, and the linear displacement value comprises the linear distance between the position information when the flight data are reported last time and the current position information of the unmanned aerial vehicle; or
When the altitude difference of the unmanned aerial vehicle is determined to be larger than a preset altitude value, the flight data are sent to a cloud platform, and the altitude difference comprises a difference value between the altitude value when the flight data are reported last time and the current altitude value of the unmanned aerial vehicle; or
When the change value of the flying speed of the unmanned aerial vehicle is determined to be larger than a preset speed value, the flying data is sent to a cloud platform, and the change value of the flying speed comprises the difference value between the current flying speed of the unmanned aerial vehicle and the flying speed when the flying data is reported last time; or
When the change of the flight mode of the unmanned aerial vehicle is determined, the flight data are sent to a cloud platform; or
When the positioning mode of the unmanned aerial vehicle is determined to be changed, the flight data are sent to a cloud platform; or
When the satellite number change of the unmanned aerial vehicle is determined to exceed the preset satellite number, the flight data are sent to a cloud platform; or
When the fact that the parameter information of the unmanned aerial vehicle exceeds a preset value is determined, the flight data are sent to a cloud platform, and the parameter information comprises any one of a course change value, a pitch angle change value or a roll angle change value, a temperature change value and a rotating speed change value; or
And sending the flight data to a cloud platform according to a reporting period, wherein the reporting period comprises a time interval of sending the flight data to the cloud platform by the Internet of things module.
The invention also provides an unmanned aerial vehicle control method based on the cloud platform, which comprises the following steps:
acquiring flight data sent by an internet of things module, wherein the flight data at least comprises any one or combination of the following items: the system comprises position information, a height value, flight speed, a flight mode, a positioning mode and parameter information, wherein the parameter information comprises course, yaw angle, pitch angle and roll angle;
determining a control instruction sent to the Internet of things module according to the flight data;
and sending the control instruction to the Internet of things module.
Further, the determining, by the flight data, to send a control instruction to the internet of things module includes:
determining whether the flight data exceeds an early warning range according to the flight data;
if the flight data is determined to exceed the early warning range, determining a control instruction sent to the internet of things module, wherein the control instruction is used for the cloud platform to control the flight control module, and the control instruction at least comprises any one of the following items: hovering instructions, forced landing instructions and returning instructions.
Further, the determining, by the flight data, to send a control instruction to the internet of things module includes:
transmitting the flight data to a terminal;
and acquiring the control instruction sent by the terminal, wherein the control instruction is used for controlling the flight control module through the cloud platform when the terminal cannot be connected with the flight control module.
The invention provides an Internet of things device, which comprises:
a processor;
and a memory storing computer executable instructions that, when executed, perform the cloud platform based drone controlling method described above with the processor.
The invention also provides a cloud platform, comprising:
a processor;
and a memory storing computer executable instructions that, when executed, perform the cloud platform based drone controlling method described above with the processor.
The invention also provides an unmanned aerial vehicle control system based on the cloud platform, which comprises the following components: the internet of things equipment, the cloud platform, the terminal and the flight control equipment are connected with the flight control equipment and the cloud platform respectively.
Compared with the prior art, the unmanned aerial vehicle control method, the unmanned aerial vehicle control device and the unmanned aerial vehicle control system based on the cloud platform provided by the invention have the advantages that by acquiring flight data sent by the flight control module, the flight data at least comprises any one or combination of the following items: the system comprises position information, a height value, flight speed, a flight mode, a positioning mode and parameter information, wherein the parameter information comprises course, yaw angle, pitch angle and roll angle; sending the flight data to a cloud platform; and receiving a control instruction sent by the cloud platform. The control command is sent to the internet of things module by the cloud platform according to flight data, so that the control of the cloud platform on the unmanned aerial vehicle is realized, or the terminal controls the unmanned aerial vehicle through the cloud platform, and the problem that the unmanned aerial vehicle is controlled by the terminal through the cloud platform when the terminal cannot be directly connected with the unmanned aerial vehicle is avoided, or the unmanned aerial vehicle is directly controlled by the cloud platform, and further the safety of controlling the unmanned aerial vehicle is improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the example serve to explain the principles of the invention and not to limit the invention.
Fig. 1 is a schematic flow chart of an embodiment of a cloud platform-based unmanned aerial vehicle control method according to the present invention;
fig. 2 is a schematic flow chart of a second embodiment of the unmanned aerial vehicle control method based on the cloud platform according to the present invention;
fig. 3 is a schematic flow chart of a third embodiment of the unmanned aerial vehicle control method based on the cloud platform according to the present invention;
fig. 4 is a schematic structural diagram of an embodiment of the cloud platform-based drone control system of the present invention;
fig. 5 is a schematic flow chart of a fourth embodiment of the unmanned aerial vehicle control method based on the cloud platform according to the present invention;
fig. 6 is a schematic flow chart of a fifth embodiment of the unmanned aerial vehicle control method based on the cloud platform according to the present invention;
fig. 7 is a schematic structural diagram of an embodiment of the internet of things device of the present invention;
fig. 8 is a schematic structural diagram of a cloud platform according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other without conflict.
The steps illustrated in the flow charts of the figures may be performed in a computer system such as a set of computer-executable instructions. Also, while a logical order is shown in the flow diagrams, in some cases, the steps shown or described may be performed in an order different than here.
Fig. 1 is a schematic flow chart of an embodiment of the unmanned aerial vehicle control method based on the cloud platform. As shown in fig. 1, the execution main body of this embodiment is an internet of things module, wherein the internet of things module can be an independently arranged device, and can also be a module arranged on an unmanned aerial vehicle, it should be noted that one end of the internet of things module is connected with a flight control module arranged on the unmanned aerial vehicle, the other end of the internet of things module is connected with a cloud platform, when the internet of things module cannot be connected with the cloud platform, the internet of things module can cache flight data of the unmanned aerial vehicle, and when the internet of things module is connected with the cloud platform, the flight data is sent to the cloud platform. The unmanned aerial vehicle control method provided by the embodiment comprises the following steps:
step 101, the internet of things module acquires flight data sent by the flight control module.
Specifically, at unmanned aerial vehicle flight in-process, the flight control module can acquire unmanned aerial vehicle's flight data, and simultaneously, thing networking module can acquire the flight data that the flight control module sent, wherein, flight data includes following arbitrary one or its combination at least: the system comprises position information, a height value, flight speed, a flight mode, a positioning mode and parameter information, wherein the parameter information comprises course, yaw angle, pitch angle and roll angle;
and 102, sending the flight data to a cloud platform according to preset conditions.
For example, when it is determined that a linear displacement value of the unmanned aerial vehicle is greater than a preset linear displacement value, the flight data is sent to a cloud platform, where the linear displacement value includes a linear distance between position information when the flight data is last reported and current position information of the unmanned aerial vehicle; or
When the altitude difference of the unmanned aerial vehicle is determined to be larger than a preset altitude value, the flight data are sent to a cloud platform, and the altitude difference comprises a difference value between the altitude value when the flight data are reported last time and the current altitude value of the unmanned aerial vehicle; or
When the change value of the flying speed of the unmanned aerial vehicle is determined to be larger than a preset speed value, the flying data is sent to a cloud platform, and the change value of the flying speed comprises the difference value between the current flying speed of the unmanned aerial vehicle and the flying speed when the flying data is reported last time; or
When the change of the flight mode of the unmanned aerial vehicle is determined, the flight data are sent to a cloud platform; or
When the positioning mode of the unmanned aerial vehicle is determined to be changed, the flight data are sent to a cloud platform; or
When the satellite number change of the unmanned aerial vehicle is determined to exceed the preset satellite number, the flight data are sent to a cloud platform; or
When the fact that the parameter information of the unmanned aerial vehicle exceeds a preset value is determined, the flight data are sent to a cloud platform, and the parameter information comprises any one of a course change value, a pitch angle change value or a roll angle change value, a temperature change value and a rotating speed change value; or
And sending the flight data to a cloud platform according to a reporting period, wherein the reporting period comprises a time interval of sending the flight data to the cloud platform by the Internet of things module. It should be noted that the reporting period may be acquired from the cloud platform in the process of registering the internet of things module on the cloud platform.
Through foretell implementation, the cloud platform not only can obtain flight data according to the cycle of reporting, that is to say, fixed time interval obtains the flight data that thing networking module sent promptly, can also obtain the flight data that thing networking module sent when unmanned aerial vehicle's flight parameter takes place great change, has realized the timely control to unmanned aerial vehicle.
And 103, receiving a control instruction sent by the cloud platform.
The method for receiving the control instruction sent by the cloud platform at least comprises two implementation modes:
in a first implementation manner, a control instruction sent by the cloud platform is received, where the control instruction is used for the cloud platform to control the flight control module, and the control instruction at least includes any one of the following: hovering instructions, forced landing instructions and returning instructions.
For example, the cloud platform determines that the unmanned aerial vehicle is in the no-fly area according to the position information in the flight data, and then sends a hovering instruction and a return instruction to the internet of things module; or the cloud platform determines that the unmanned aerial vehicle is in an abnormal working state according to a flight mode in the flight data, and then the cloud platform sends a forced landing instruction to the internet of things module.
Specifically, the cloud platform can confirm whether unmanned aerial vehicle exceeds the early warning scope according to flight data, if confirm flight data exceeds the early warning scope, then confirm that unmanned aerial vehicle is in the crisis moment, and the cloud platform can directly send control command to thing networking module simultaneously to need not to send control command to unmanned aerial vehicle through the terminal, and then avoid leading to the time delay because the terminal passes through the cloud platform and sends control command to unmanned aerial vehicle.
In a second implementation manner, a control instruction sent by a terminal through the cloud platform is received, where the control instruction is used for controlling the flight control module through the cloud platform when the terminal cannot be connected with the flight control module.
Specifically, when the terminal cannot acquire the information sent by the flight control module, the terminal can determine that the terminal cannot be connected with the unmanned aerial vehicle, and then the terminal can control the unmanned aerial vehicle through the cloud platform, namely the terminal sends a control instruction to the cloud platform, so that the cloud platform sends the control instruction to the flight control module through the internet of things module. Realized can't be connected at terminal and unmanned aerial vehicle, also can't control unmanned aerial vehicle directly when the terminal is also exactly, the terminal can control unmanned aerial vehicle through cloud platform to avoid the loss of contact of terminal and unmanned aerial vehicle, and then avoided unmanned aerial vehicle to be in the dangerous state of no control.
In this embodiment, flight data sent by a flight control module is obtained, where the flight data at least includes any one of or a combination of the following: the system comprises position information, a height value, flight speed, a flight mode, a positioning mode and parameter information, wherein the parameter information comprises course, yaw angle, pitch angle and roll angle; sending the flight data to a cloud platform; and receiving a control instruction sent by the cloud platform. The control command is sent to the internet of things module by the cloud platform according to flight data, so that the control of the cloud platform on the unmanned aerial vehicle is realized, or the terminal controls the unmanned aerial vehicle through the cloud platform, and the problem that the unmanned aerial vehicle is controlled by the terminal through the cloud platform when the terminal cannot be directly connected with the unmanned aerial vehicle is avoided, or the unmanned aerial vehicle is directly controlled by the cloud platform, and further the safety of controlling the unmanned aerial vehicle is improved.
Preferably, before receiving the control instruction sent by the cloud platform, the method further includes:
acquiring a no-fly area sent by the cloud platform;
and sending a flight instruction to the flight control module according to the no-fly zone so that the unmanned aerial vehicle flies in a safety zone outside the no-fly zone.
In this embodiment, when a no-fly area is newly added or reduced, the internet of things module may obtain the updated no-fly area on the cloud platform in real time, so as to achieve an effect of updating the no-fly area in real time.
It should be noted that the internet of things module in this embodiment includes at least two eSIM cards;
and determining the eSIM card with the highest priority in the eSIM cards which can be connected with the cloud platform as the eSIM card connected with the cloud platform according to the priority of the eSIM cards.
Specifically, the internet of things Module in this embodiment may include a mobile Module or a narrowband internet of things NBIOT Module, where the mobile Module may be a 3G Module or a 4G Module, and an Embedded Subscriber identity Module (eSIM) is set in the mobile Module, and an eSIM is set in the NBIOT Module. Preferably, the eSIM is soldered to the circuit board to prevent the vibration of the drone on the eSIM during flight. Meanwhile, at least two eSIM cards can be arranged in one internet of things module, and each eSIM card corresponds to a communication link provided by different operators. In this embodiment, the eSIM cards may be switched by using a General Purpose Input/Output circuit (GPIO for short) switching manner, for example, when it is detected that the connection between the current eSIM card and the cloud platform is unstable, the eSIM card with the highest priority in the eSIM cards that can be connected to the cloud platform may be determined as the eSIM card connected to the cloud platform according to the priority of the eSIM card, or the eSIM card with the best communication effect in the eSIM cards that can be connected to the cloud platform may be determined as the eSIM card connected to the cloud platform.
On the basis of the above embodiment, before the internet of things module acquires flight data sent by the flight control module, the method may further include:
and the Internet of things module sends login authentication information to the cloud platform.
The login authentication information in this embodiment at least includes an unmanned aerial vehicle number, unmanned aerial vehicle position information, and driver information, and the unmanned aerial vehicle number includes an international mobile equipment identity IMEI and time information of the unmanned aerial vehicle; it should be noted that, after the internet of things module sends login information to the cloud platform and it is determined that the login is successful, the internet of things module sends login authentication information to the cloud platform.
And the Internet of things module receives login authentication feedback information sent by the cloud platform.
Specifically, the login authentication feedback information includes indication information, and the indication information includes: when the unmanned aerial vehicle is determined to be allowed to fly, sending a flight instruction and a reporting period to the Internet of things module, wherein the reporting period comprises a time interval of sending the flight data to the cloud platform by the Internet of things module; and when determining that the unmanned aerial vehicle is not allowed to fly, sending a no-fly instruction to the Internet of things module.
Specifically, the cloud platform determines that the unmanned aerial vehicle is a no-fly unmanned aerial vehicle according to the unmanned aerial vehicle number, or determines that the unmanned aerial vehicle is in a no-fly area according to the unmanned aerial vehicle position information, or determines that the unmanned aerial vehicle is not allowed to fly if the driver does not have the authority to operate the unmanned aerial vehicle according to the driver information;
the cloud platform determines that the unmanned aerial vehicle is an unmanned aerial vehicle allowed to fly according to the unmanned aerial vehicle number, or determines that the unmanned aerial vehicle is in an allowed flight area according to the unmanned aerial vehicle position information, or determines that a driver has the permission to operate the unmanned aerial vehicle according to the driver information, and then determines that the unmanned aerial vehicle is allowed to fly.
After the cloud platform acquires the flight data of the unmanned aerial vehicle, the flying unmanned aerial vehicle can be seen through the cloud platform in real time. A cloud platform administrator or a drone driver may issue control instructions to a designated drone. The control instruction sent by the cloud platform to the internet of things module can be carried in a report feedback message, wherein the report feedback message is sent by the internet of things module to the internet of things module after the internet of things module sends the report message to the cloud platform, and the report message carries flight data.
Meanwhile, the embodiment can also be connected with a third-party unmanned aerial vehicle monitoring system to forward the flight data of the unmanned aerial vehicle to a monitoring mechanism of a related airspace in real time.
In the process of reporting flight data by the unmanned aerial vehicle, a driver of the unmanned aerial vehicle can upload operation plot information including plot area, mapping information, crops and pest and disease conditions to the cloud platform through the terminal. The information is stored in the cloud platform and can be shared in teams, the operation teams can assist in operation conveniently, meanwhile, the cloud platform can also count operation statistical data of all teams and members, a manager can conveniently master operation progress in time, pest and disease conditions of all places can be analyzed, pest and disease development trends can be analyzed, and prevention can be performed in advance.
Fig. 2 is a schematic flow chart of a second embodiment of the unmanned aerial vehicle control method based on the cloud platform. As shown in fig. 2, the execution subject of the embodiment is a cloud platform, wherein the cloud platform is an integrated cloud platform that can both store data and process data. The applicable scene of this embodiment is when unmanned aerial vehicle launches, descends and flies. The unmanned aerial vehicle control method provided by the embodiment comprises the following steps:
step 201, acquiring flight data sent by an internet of things module.
Specifically, during the flight process of the unmanned aerial vehicle, the unmanned aerial vehicle can collect flight data of the unmanned aerial vehicle in real time, wherein the flight data at least comprises any one or a combination of the following items: the system comprises position information, a height value, flight speed, a flight mode, a positioning mode and parameter information, wherein the parameter information comprises course, yaw angle, pitch angle and roll angle; meanwhile, in order that the terminal can acquire the flight data of the unmanned aerial vehicle in real time, the unmanned aerial vehicle can send the flight data to the cloud platform and store the flight data on the cloud platform.
Step 202, determining a control instruction sent to the internet of things module according to the flight data.
For the flight data, determining the control instruction sent to the internet of things module at least comprises the following two implementation modes:
according to the first implementation mode, whether the flight data exceed an early warning range is determined according to the flight data; if the flight data is determined to exceed the early warning range, determining a control instruction sent to the internet of things module, wherein the control instruction is used for the cloud platform to control the flight control module, and the control instruction at least comprises any one of the following items: hovering instructions, forced landing instructions and returning instructions.
For example, the cloud platform determines that the unmanned aerial vehicle is in the no-fly area according to the position information in the flight data, and then sends a hovering instruction and a return instruction to the internet of things module; or the cloud platform determines that the unmanned aerial vehicle is in an abnormal working state according to a flight mode in the flight data, and then the cloud platform sends a forced landing instruction to the internet of things module.
Specifically, the cloud platform can confirm whether unmanned aerial vehicle exceeds the early warning scope according to flight data, if confirm flight data exceeds the early warning scope, then confirm that unmanned aerial vehicle is in the crisis moment, and the cloud platform can directly send control command to thing networking module simultaneously to need not to send control command to unmanned aerial vehicle through the terminal, and then avoid leading to the time delay because the terminal passes through the cloud platform and sends control command to unmanned aerial vehicle.
In a second implementation manner, the flight data is sent to a terminal; and acquiring the control instruction sent by the terminal, wherein the control instruction is used for controlling the flight control module through the cloud platform when the terminal cannot be connected with the flight control module.
Specifically, be connected with unmanned aerial vehicle at the terminal, the terminal is connected with the flight control module who sets up at unmanned aerial vehicle promptly, when can't obtain the information that flight control module sent, can confirm simultaneously that terminal and unmanned aerial vehicle can't be connected to the terminal can control unmanned aerial vehicle through the cloud platform, also be exactly the terminal sends control command to the cloud platform, so that the cloud platform sends control command to flight control module through thing networking module. Realized, can't be connected at terminal and unmanned aerial vehicle, also can't control unmanned aerial vehicle directly when the terminal is also, the terminal is controlled unmanned aerial vehicle through the cloud platform to avoid the loss of contact of terminal and unmanned aerial vehicle, and then avoided leading to unmanned aerial vehicle's loss to contact.
And 203, sending the control instruction to the internet of things module.
For example, when the terminal is disconnected with the unmanned aerial vehicle or other abnormal conditions, a manager or an unmanned aerial vehicle driver can obtain the flight condition of the unmanned aerial vehicle in real time through the flight data sent by the cloud platform, and meanwhile, the terminal can control the unmanned aerial vehicle through the cloud platform, and even when an emergency occurs, the cloud platform can directly send a control instruction to the terminal so as to control the unmanned aerial vehicle.
In this embodiment, the cloud platform obtains flight data sent by the internet of things module, where the flight data at least includes any one of or a combination of the following: the system comprises position information, a height value, flight speed, a flight mode, a positioning mode and parameter information, wherein the parameter information comprises course, yaw angle, pitch angle and roll angle; determining a control instruction sent to the Internet of things module according to the flight data; and sending the control instruction to the Internet of things module. The control command is sent to the internet of things module by the cloud platform according to flight data, so that the control of the cloud platform on the unmanned aerial vehicle is realized, or the terminal controls the unmanned aerial vehicle through the cloud platform, and the problem that the unmanned aerial vehicle is controlled by the terminal through the cloud platform when the terminal cannot be directly connected with the unmanned aerial vehicle is avoided, or the unmanned aerial vehicle is directly controlled by the cloud platform, and further the safety of controlling the unmanned aerial vehicle is improved.
Preferably, the acquiring of the flight data sent by the internet of things module includes:
when the linear displacement value of the unmanned aerial vehicle is larger than a preset linear displacement value, acquiring the flight data sent by the Internet of things module, wherein the linear displacement value comprises a linear distance between position information when the flight data is reported last time and current position information of the unmanned aerial vehicle; or
When the altitude difference of the unmanned aerial vehicle is greater than a preset altitude value, acquiring the flight data sent by the Internet of things module, wherein the altitude difference comprises a difference value between the altitude value when the flight data is reported last time and the current altitude value of the unmanned aerial vehicle; or
When the change value of the flight speed of the unmanned aerial vehicle is larger than a preset speed value, acquiring the flight data sent by the Internet of things module, wherein the change value of the flight speed comprises a difference value between the current flight speed of the unmanned aerial vehicle and the flight speed when the flight data is reported last time; or
When the flight mode of the unmanned aerial vehicle changes, acquiring the flight data sent by the Internet of things module; or
When the positioning mode of the unmanned aerial vehicle changes, acquiring the flight data sent by the Internet of things module; or
When the satellite number of the unmanned aerial vehicle changes and exceeds a preset satellite number, acquiring the flight data sent by the Internet of things module; or
When the parameter information of the unmanned aerial vehicle exceeds a preset value, acquiring the flight data sent by the Internet of things module, wherein the parameter information comprises any one of a course change value, a pitch angle change value or a roll angle change value, a temperature and a rotating speed change value; or
And when a reporting period is reached, acquiring the flight data sent by the Internet of things module, wherein the reporting period comprises a time interval of sending the flight data to the cloud platform by the Internet of things module.
In this embodiment, the cloud platform can not only obtain flight data according to the reporting cycle, that is to say, the flight data that the thing networking module sent is obtained once to fixed time interval promptly, can also obtain the flight data that the thing networking module sent when unmanned aerial vehicle's flight parameter takes place great change, has realized the timely control to unmanned aerial vehicle.
On the basis of the above embodiment, before the cloud platform acquires the flight data sent by the internet of things module, the method may further include:
and obtaining login authentication information sent by the Internet of things module.
The login authentication information in this embodiment at least includes an unmanned aerial vehicle number, unmanned aerial vehicle position information, and driver information, and the unmanned aerial vehicle number includes an international mobile equipment identity IMEI and time information of the unmanned aerial vehicle; it should be noted that, after the internet of things module sends login information to the cloud platform and it is determined that the login is successful, the cloud platform may obtain login authentication information sent by the internet of things module.
Determining permission information of the unmanned aerial vehicle according to the login information, wherein the permission information comprises information whether the unmanned aerial vehicle is allowed to fly;
sending login authentication feedback information to the internet of things module, wherein the login authentication feedback information comprises indication information, and the indication information comprises: when the unmanned aerial vehicle is determined to be allowed to fly, sending a flight instruction and a reporting period to the Internet of things module, wherein the reporting period comprises a time interval of sending the flight data to the cloud platform by the Internet of things module; and when determining that the unmanned aerial vehicle is not allowed to fly, sending a no-fly instruction to the Internet of things module.
Specifically, the cloud platform determines that the unmanned aerial vehicle is a no-fly unmanned aerial vehicle according to the unmanned aerial vehicle number, or determines that the unmanned aerial vehicle is in a no-fly area according to the unmanned aerial vehicle position information, or determines that the unmanned aerial vehicle is not allowed to fly if the driver does not have the authority to operate the unmanned aerial vehicle according to the driver information;
the cloud platform determines that the unmanned aerial vehicle is an unmanned aerial vehicle allowed to fly according to the unmanned aerial vehicle number, or determines that the unmanned aerial vehicle is in an allowed flight area according to the unmanned aerial vehicle position information, or determines that a driver has the permission to operate the unmanned aerial vehicle according to the driver information, and then determines that the unmanned aerial vehicle is allowed to fly.
Fig. 3 is a schematic flow chart of a third embodiment of the unmanned aerial vehicle control method based on the cloud platform. As shown in fig. 3, the execution subject of the embodiment is a terminal, wherein the terminal may be a mobile terminal disposed on the ground, and the terminal may communicate with the cloud platform and the drone. The applicable scene of this embodiment is when the terminal can't be connected with unmanned aerial vehicle, or the link that terminal and unmanned aerial vehicle are connected is unstable. The unmanned aerial vehicle control method provided by the embodiment comprises the following steps:
step 301, the terminal acquires flight data sent by the cloud platform.
And step 302, the terminal determines a control instruction according to the flight data.
In this embodiment, the control instruction is used for a terminal to control the flight control module through a cloud platform;
and 303, the terminal sends a control instruction to the cloud platform so as to send the control instruction to the flight control module through the cloud platform.
In this embodiment, a terminal acquires flight data sent by a cloud platform; the terminal determines a control instruction according to the flight data, wherein the control instruction is used for controlling the flight control module; the terminal sends a control instruction to a cloud platform so as to send the control instruction to the flight control module through the cloud platform; the control of the terminal to the unmanned aerial vehicle through the cloud platform is achieved, and when the terminal cannot be connected with the unmanned aerial vehicle, the terminal controls the unmanned aerial vehicle through the cloud platform.
Fig. 4 is a schematic structural diagram of an embodiment of the cloud platform-based drone control system of the present invention; fig. 5 is a schematic flow chart of a fourth embodiment of the unmanned aerial vehicle control method based on the cloud platform. As shown in fig. 4, the terminal and the flight control module perform data transmission through a radio station data transmission manner, and meanwhile, the terminal may also perform data transmission through a mobile network and a cloud platform, and an internet of things module of the unmanned aerial vehicle and the cloud platform perform data transmission through the mobile network, wherein the terminal is configured to communicate between the flight control module and the internet of things module inside the unmanned aerial vehicle through a Serial Peripheral Interface (SPI) and/or a Universal Asynchronous Receiver Transmitter/Transmitter (UART), and wherein the terminal may be a mobile terminal configured at a ground station.
Specifically, as shown in fig. 5, the method for controlling an unmanned aerial vehicle provided in this embodiment includes:
step 501, the flight control module sends login authentication information to the internet of things module.
Step 502, the internet of things module sends login authentication information to the cloud platform.
Step 503, the cloud platform determines permission information of the internet of things module according to the login authentication information.
And step 504, the cloud platform sends login authentication feedback information to the Internet of things module.
The login authentication feedback information in this embodiment includes permission information.
And 505, the internet of things module sends login authentication feedback information to the flight control module.
Step 506, the flight control module sends flight data to the internet of things module.
And step 507, the Internet of things module sends flight data to the cloud platform.
Step 508, the cloud platform determines a control instruction sent to the internet of things module according to the flight data.
In this embodiment, the control instruction is used for the cloud platform to control the flight control module, where the control instruction at least includes any one of: hovering instructions, forced landing instructions and returning instructions.
Step 509, the cloud platform sends a control instruction to the internet of things module.
And step 510, the internet of things module sends a control instruction to the flight control module.
Fig. 6 is a schematic flow chart of a fifth embodiment of the unmanned aerial vehicle control method based on the cloud platform. As shown in fig. 6, the method for controlling an unmanned aerial vehicle provided by this embodiment includes:
step 601, the flight control module sends login authentication information to the internet of things module.
Step 602, the internet of things module sends login authentication information to the cloud platform.
Step 603, the cloud platform determines permission information of the internet of things module according to the login authentication information.
Step 604, the cloud platform sends login authentication feedback information to the internet of things module.
The login authentication feedback information in this embodiment includes permission information.
Step 605, the internet of things module sends login authentication feedback information to the flight control module.
And step 606, the flight control module sends flight data to the Internet of things module.
Step 607, the internet of things module sends flight data to the cloud platform.
Step 608, the cloud platform sends flight data to the terminal
And 609, determining a control instruction sent to the Internet of things module by the terminal according to the flight data.
In this embodiment, the control instruction is used for the terminal to control the flight control module.
And step 610, the terminal sends a control instruction to the cloud platform.
Step 611, the cloud platform sends a control instruction to the internet of things module.
And step 612, the Internet of things module sends a control instruction to the flight control module.
Fig. 7 is a schematic structural diagram of an embodiment of the internet of things device of the present invention. As shown in fig. 7, the internet of things module provided in this embodiment includes: an acquisition module 71 and a processing module 72; wherein,
an obtaining module 71, configured to obtain flight data sent by a flight control module, where the flight data at least includes any one of or a combination of the following: the system comprises position information, a height value, flight speed, a flight mode, a positioning mode and parameter information, wherein the parameter information comprises course, yaw angle, pitch angle and roll angle; and receiving a control instruction sent by the cloud platform.
The processing module 72 is configured to send the flight data to a cloud platform according to a preset condition;
in this embodiment, realized that the cloud platform passes through flight data, to the thing networking module sends control command, and then realized that the cloud platform controls unmanned aerial vehicle, perhaps the terminal controls unmanned aerial vehicle through the cloud platform, has avoided because the terminal can't be connected with unmanned aerial vehicle, and the terminal is to unmanned aerial vehicle's control.
On the basis of the above embodiment, the control instruction is used for the cloud platform to control the flight control module, and the control instruction at least includes any one of the following: hovering instructions, forced landing instructions and returning instructions.
The obtaining module 71 is further configured to receive a control instruction sent by the terminal through the cloud platform, where the control instruction is used for controlling the flight control module through the cloud platform when the terminal cannot be connected with the flight control module.
The processing module 72 is further configured to send the flight data to a cloud platform when it is determined that a linear displacement value of the unmanned aerial vehicle is greater than a preset linear displacement value, where the linear displacement value includes a linear distance between position information when the flight data is last reported and current position information of the unmanned aerial vehicle; or
When the altitude difference of the unmanned aerial vehicle is determined to be larger than a preset altitude value, the flight data are sent to a cloud platform, and the altitude difference comprises a difference value between the altitude value when the flight data are reported last time and the current altitude value of the unmanned aerial vehicle; or
When the change value of the flying speed of the unmanned aerial vehicle is determined to be larger than a preset speed value, the flying data is sent to a cloud platform, and the change value of the flying speed comprises the difference value between the current flying speed of the unmanned aerial vehicle and the flying speed when the flying data is reported last time; or
When the change of the flight mode of the unmanned aerial vehicle is determined, the flight data are sent to a cloud platform; or
When the positioning mode of the unmanned aerial vehicle is determined to be changed, the flight data are sent to a cloud platform; or
When the satellite number change of the unmanned aerial vehicle is determined to exceed the preset satellite number, the flight data are sent to a cloud platform; or
When the fact that the parameter information of the unmanned aerial vehicle exceeds a preset value is determined, the flight data are sent to a cloud platform, and the parameter information comprises any one of a course change value, a pitch angle change value or a roll angle change value, a temperature change value and a rotating speed change value; or
And sending the flight data to a cloud platform according to a reporting period, wherein the reporting period comprises a time interval of sending the flight data to the cloud platform by the Internet of things module.
In this embodiment, realized that the cloud platform sends control command to thing networking module according to flight data to realized the control of cloud platform to unmanned aerial vehicle, perhaps the terminal is controlled unmanned aerial vehicle through the cloud platform, avoided because the terminal can't control unmanned aerial vehicle through the cloud platform when directly connecting with unmanned aerial vehicle, the terminal is controlled unmanned aerial vehicle through the cloud platform, perhaps, cloud platform direct control unmanned aerial vehicle, and then improved control unmanned aerial vehicle's security.
Fig. 8 is a schematic structural diagram of a cloud platform according to an embodiment of the present invention. As shown in fig. 8, the cloud platform provided in this embodiment includes: an acquisition module 81, a processing module 82 and a sending module 83; wherein,
the obtaining module 81 is configured to obtain flight data sent by the internet of things module, where the flight data at least includes any one of or a combination of the following: the system comprises position information, a height value, flight speed, a flight mode, a positioning mode and parameter information, wherein the parameter information comprises course, yaw angle, pitch angle and roll angle;
the processing module 82 is configured to determine, according to the flight data, a control instruction sent to the internet of things module;
and the sending module 83 is configured to send the control instruction to the internet of things module.
In this embodiment, realized that the cloud platform passes through flight data, to the thing networking module sends control command, and then realized that the cloud platform controls unmanned aerial vehicle, perhaps the terminal controls unmanned aerial vehicle through the cloud platform, has avoided because the terminal can't be connected with unmanned aerial vehicle, and the terminal is to unmanned aerial vehicle's control.
Further, on the basis of the above embodiment, the processing module 82 is further configured to determine whether the flight data exceeds an early warning range according to the flight data;
if the flight data is determined to exceed the early warning range, determining a control instruction sent to the internet of things module, wherein the control instruction is used for the cloud platform to control the flight control module, and the control instruction at least comprises any one of the following items: hovering instructions, forced landing instructions and returning instructions.
A sending module 83, configured to send the flight data to a terminal;
the obtaining module 81 is further configured to obtain the control instruction sent by the terminal, where the control instruction is used for controlling, by the terminal, the instruction of the flight control module through the cloud platform when the terminal cannot be connected with the flight control module.
In this embodiment, realized that the cloud platform passes through flight data, to the thing networking module sends control command, and then realized that the cloud platform controls unmanned aerial vehicle, perhaps the terminal controls unmanned aerial vehicle through the cloud platform, has avoided because the terminal can't be connected with unmanned aerial vehicle, and the terminal is to unmanned aerial vehicle's control.
This embodiment still provides a cloud platform, includes:
a processor;
and a memory storing computer-executable instructions that, when executed by the processor, perform the cloud platform-based drone controlling method of fig. 1 described above.
In this embodiment, realized that the cloud platform sends control command to thing networking module according to flight data to realized the control of cloud platform to unmanned aerial vehicle, perhaps the terminal is controlled unmanned aerial vehicle through the cloud platform, avoided because the terminal can't control unmanned aerial vehicle through the cloud platform when directly connecting with unmanned aerial vehicle, the terminal is controlled unmanned aerial vehicle through the cloud platform, perhaps, cloud platform direct control unmanned aerial vehicle, and then improved control unmanned aerial vehicle's security.
This embodiment still provides a cloud platform, includes:
a processor;
and a memory storing computer-executable instructions that, when executed by the processor, perform the cloud platform-based drone controlling method of fig. 2 described above.
In this embodiment, realized that the cloud platform passes through flight data, to the thing networking module sends control command, and then realized that the cloud platform controls unmanned aerial vehicle, perhaps the terminal controls unmanned aerial vehicle through the cloud platform, has avoided because when the terminal can't be connected with unmanned aerial vehicle, control of terminal and cloud platform to unmanned aerial vehicle.
This embodiment still provides an unmanned aerial vehicle control system based on cloud platform, includes: the internet of things equipment in the above fig. 7, the cloud platform in the above fig. 8, and the terminal and the flight control equipment are connected to the flight control equipment and the cloud platform, respectively.
In this embodiment, realized that the cloud platform sends control command to thing networking module according to flight data to realized the control of cloud platform to unmanned aerial vehicle, perhaps the terminal is controlled unmanned aerial vehicle through the cloud platform, avoided because the terminal can't control unmanned aerial vehicle through the cloud platform when directly connecting with unmanned aerial vehicle, the terminal is controlled unmanned aerial vehicle through the cloud platform, perhaps, cloud platform direct control unmanned aerial vehicle, and then improved control unmanned aerial vehicle's security.
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. An unmanned aerial vehicle control method based on a cloud platform is characterized by comprising the following steps:
acquiring flight data sent by a flight control module, wherein the flight data at least comprises any one or a combination of the following items: the system comprises position information, a height value, flight speed, a flight mode, a positioning mode and parameter information, wherein the parameter information comprises course, yaw angle, pitch angle and roll angle;
sending the flight data to a cloud platform according to a preset condition;
and receiving a control instruction sent by the cloud platform.
2. The method according to claim 1, wherein the control instruction is an instruction for the cloud platform to control the flight control module, and the control instruction includes at least any one of: hovering instructions, forced landing instructions and returning instructions.
3. The method according to claim 1, wherein the receiving the control instruction sent by the cloud platform comprises:
and receiving a control instruction sent by the terminal through the cloud platform, wherein the control instruction is used for controlling the flight control module through the cloud platform when the terminal cannot be connected with the flight control module.
4. The method according to any one of claims 1 to 3, wherein the sending the flight data to the cloud platform according to the preset condition comprises:
when the fact that the linear displacement value of the unmanned aerial vehicle is larger than a preset linear displacement value is determined, the flight data are sent to a cloud platform, and the linear displacement value comprises the linear distance between the position information when the flight data are reported last time and the current position information of the unmanned aerial vehicle; or
When the altitude difference of the unmanned aerial vehicle is determined to be larger than a preset altitude value, the flight data are sent to a cloud platform, and the altitude difference comprises a difference value between the altitude value when the flight data are reported last time and the current altitude value of the unmanned aerial vehicle; or
When the change value of the flying speed of the unmanned aerial vehicle is determined to be larger than a preset speed value, the flying data is sent to a cloud platform, and the change value of the flying speed comprises the difference value between the current flying speed of the unmanned aerial vehicle and the flying speed when the flying data is reported last time; or
When the change of the flight mode of the unmanned aerial vehicle is determined, the flight data are sent to a cloud platform; or
When the positioning mode of the unmanned aerial vehicle is determined to be changed, the flight data are sent to a cloud platform; or
When the satellite number change of the unmanned aerial vehicle is determined to exceed the preset satellite number, the flight data are sent to a cloud platform; or
When the fact that the parameter information of the unmanned aerial vehicle exceeds a preset value is determined, the flight data are sent to a cloud platform, and the parameter information comprises any one of a course change value, a pitch angle change value or a roll angle change value, a temperature change value and a rotating speed change value; or
And sending the flight data to a cloud platform according to a reporting period, wherein the reporting period comprises a time interval of sending the flight data to the cloud platform by the Internet of things module.
5. An unmanned aerial vehicle control method based on a cloud platform is characterized by comprising the following steps:
acquiring flight data sent by an internet of things module, wherein the flight data at least comprises any one or combination of the following items: the system comprises position information, a height value, flight speed, a flight mode, a positioning mode and parameter information, wherein the parameter information comprises course, yaw angle, pitch angle and roll angle;
determining a control instruction sent to the Internet of things module according to the flight data;
and sending the control instruction to the Internet of things module.
6. The method of claim 5, wherein the determining, from the flight data, to send a control command to the IOT module comprises:
determining whether the flight data exceeds an early warning range according to the flight data;
if the flight data is determined to exceed the early warning range, determining a control instruction sent to the internet of things module, wherein the control instruction is used for the cloud platform to control the flight control module, and the control instruction at least comprises any one of the following items: hovering instructions, forced landing instructions and returning instructions.
7. The method of claim 5, wherein the determining, from the flight data, to send a control command to the IOT module comprises:
transmitting the flight data to a terminal;
and acquiring the control instruction sent by the terminal, wherein the control instruction is used for controlling the flight control module through the cloud platform when the terminal cannot be connected with the flight control module.
8. An internet of things device, comprising:
a processor;
and a memory storing computer-executable instructions that, when executed, perform the cloud platform-based drone controlling method of claims 1-4 above with the processor.
9. A cloud platform, comprising:
a processor;
and a memory storing computer-executable instructions that, when executed, perform the cloud platform-based drone controlling method of claims 5-7 above with the processor.
10. An unmanned aerial vehicle control system based on cloud platform, its characterized in that includes: the internet of things device as claimed in claim 8, the cloud platform as claimed in claim 9, and a terminal and an airplane control device, the terminal being connected to the airplane control device and the cloud platform, respectively.
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Application publication date: 20181204 |