CN108700886A - A kind of control method and control terminal of control terminal - Google Patents
A kind of control method and control terminal of control terminal Download PDFInfo
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- CN108700886A CN108700886A CN201780009991.1A CN201780009991A CN108700886A CN 108700886 A CN108700886 A CN 108700886A CN 201780009991 A CN201780009991 A CN 201780009991A CN 108700886 A CN108700886 A CN 108700886A
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- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000004891 communication Methods 0.000 claims description 33
- 238000001514 detection method Methods 0.000 claims description 12
- 238000010586 diagram Methods 0.000 description 27
- 230000002452 interceptive effect Effects 0.000 description 6
- 230000006399 behavior Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
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- 238000005516 engineering process Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
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- 238000003973 irrigation Methods 0.000 description 1
- 230000002262 irrigation Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/155—Ground-based stations
- H04B7/15528—Control of operation parameters of a relay station to exploit the physical medium
- H04B7/15542—Selecting at relay station its transmit and receive resources
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
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Abstract
A kind of control method and control terminal of control terminal, wherein method include:The first choice operation for detecting user, operates according to first choice and determines first identifier information (201);The the first control operation for detecting user determines the first control instruction (202) according to the first control operation;The first unmanned plane first control instruction and first identifier information being sent in unmanned plane relay system, so that the first control instruction reaches the UAV targets (203) in the unmanned plane relay system indicated by first identifier information by the first unmanned plane, wherein, the first unmanned plane is the unmanned plane being connect with control terminal.This method can reduce the quantity of required control terminal when relaying flight, improve the applicability of relaying flight.
Description
Technical field
The present invention relates to airmanship field more particularly to the control methods and control terminal of a kind of control terminal.
Background technology
As scientific and technical is constantly progressive, the aircraft such as unmanned plane (Unmanned Aerial Vehicle, UAV)
Function is enriched constantly, and application field is also constantly extending, including profession is taken photo by plane, agricultural irrigation, electric power cruise, remote sensing mapping,
Security monitoring etc..In blocking environment or Special use environment, unmanned plane is needed in long-distance flight using in unmanned plane
After flight.
At present when unmanned plane relays flight, in order to ensure flight safety, a control terminal is generally required to control a frame
Unmanned plane needs multiple control terminals in multi-hop relay, such as relays a richochet row for unmanned plane, needs two controls eventually
End manipulates unmanned plane, and so on, it flies for multi-hop, needs multiple control terminals, cause so complicated for operation, may lead
The increase for causing winged hand number causes the applicability that relaying flies relatively low.
Invention content
The embodiment of the invention discloses a kind of control method of control terminal and control terminals, to reduce relaying flight when institute
The quantity of control terminal is needed, operation is simplified, improves the applicability of relaying flight.
First aspect of the embodiment of the present invention discloses a kind of control method of control terminal, including:
The first choice operation for detecting user, operates according to the first choice and determines first identifier information;
The the first control operation for detecting user determines the first control instruction according to the first control operation;
By first control instruction and the first identifier information be sent in unmanned plane relay system first nobody
Machine, so that first control instruction reaches first identifier described in the unmanned plane relay system by first unmanned plane
UAV targets indicated by information, wherein first unmanned plane is the unmanned plane being connect with the control terminal.
Second aspect of the embodiment of the present invention discloses a kind of control device of control terminal, including:
Detection module is used for:
The first choice operation for detecting user, operates according to the first choice and determines first identifier information;
The the first control operation for detecting user determines the first control instruction according to the first control operation;
Sending module, for first control instruction and the first identifier information to be sent to unmanned plane relay system
In the first unmanned plane so that first control instruction is reached by first unmanned plane in the unmanned plane relay system
UAV targets indicated by the first identifier information, wherein first unmanned plane is connect with the control terminal
Unmanned plane.
The third aspect of the embodiment of the present invention discloses a kind of control terminal, including:Memory and processor,
The memory, for storing program instruction;
The processor, for calling described program to instruct, when described program instruction is performed, execution is following to be operated:
The first choice operation for detecting user, operates according to the first choice and determines first identifier information;
The the first control operation for detecting user determines the first control instruction according to the first control operation;
By first control instruction and the first identifier information be sent in unmanned plane relay system first nobody
Machine, so that first control instruction reaches first identifier described in the unmanned plane relay system by first unmanned plane
UAV targets indicated by information, wherein first unmanned plane is the unmanned plane being connect with the control terminal.
The embodiment of the present invention is determined by selecting the UAV targets in the unmanned plane relay system that will control to mesh
The control instruction of unmanned plane is marked, then control terminal can be incited somebody to action by the first unmanned plane in unmanned plane relay system connected to it
Control instruction is sent to UAV targets, in this way can be by a control terminal to multiple unmanned planes in unmanned plane relay system
It is controlled, reduces the quantity of required control terminal when relaying flight, improve the applicability of relaying flight.
Description of the drawings
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without having to pay creative labor, others are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is a kind of configuration diagram of unmanned plane relay system disclosed by the embodiments of the present invention;
Fig. 2 is a kind of flow diagram of the control method of control terminal disclosed by the embodiments of the present invention;
Fig. 3 A are a kind of structural schematic diagrams of unmanned plane relay system disclosed by the embodiments of the present invention;
Fig. 3 B are a kind of structural schematic diagrams of unmanned plane relay system disclosed in another embodiment of the present invention;
Fig. 3 C are a kind of structural schematic diagrams of unmanned plane relay system disclosed in another embodiment of the present invention;
Fig. 3 D are a kind of structural schematic diagrams of unmanned plane relay system disclosed in another embodiment of the present invention;
Fig. 3 E are a kind of structural schematic diagrams of unmanned plane relay system disclosed in another embodiment of the present invention;
Fig. 3 F are a kind of structural schematic diagrams of unmanned plane relay system disclosed in another embodiment of the present invention;
Fig. 3 G are a kind of structural schematic diagrams of unmanned plane relay system disclosed in another embodiment of the present invention;
Fig. 4 is a kind of structural schematic diagram of the control device of control terminal disclosed by the embodiments of the present invention;
Fig. 5 is a kind of structural schematic diagram of control terminal disclosed by the embodiments of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
As shown in Figure 1, being a kind of configuration diagram of unmanned plane relay system of the embodiment of the present invention, which includes making
Terminal 101, the first unmanned plane 102 and distal end unmanned plane 103 also wrap in unmanned plane relay system in some cases in order to control
Relaying unmanned plane 104 is included, relaying unmanned plane 104 can be one or more.The control terminal 101 can be remote controler,
One in smart mobile phone, tablet computer, UAV ground control station, wearable device (such as wrist-watch, bracelet, video glass etc.)
Kind is a variety of.
First unmanned plane 102 is the unmanned plane that direct communication link is established with control terminal 101.In the embodiment of the present invention
In, control terminal 101 can by one or more foundation in WIFI, bluetooth, zigbee, 3G/4G and the first unmanned plane it
Between direct communication link.Control terminal 101 can send control instruction to the first unmanned plane 102, wherein the control instruction
Can be the control instruction carried out to the first unmanned plane, control instruction can also be to other targets in unmanned plane relay system
The control instruction that unmanned plane (such as distal end unmanned plane 103 or relaying unmanned plane 104) is controlled, control instruction pass through the first nothing
It is man-machine to reach UAV targets.Control terminal can also receive the image of the acquisition of the capture apparatus on the first unmanned plane 102
Data, can also receive the status information from the first unmanned plane 102, and control terminal can also receive nothing by the first unmanned plane
The image data and/or status information that capture apparatus in man-machine relay system on other UAV targets obtains.Wherein, state
Information can indicate the data of any kind of state of unmanned plane, and specifically, status information can be electricity data, positional number
According to one or more in, attitude data, wireless communication connection status, the working condition of sensor.
Distal end unmanned plane 103 is the unmanned plane for being located at communication least significant end in unmanned plane relay system, it is generally the case that distal end
Unmanned plane is the unmanned plane for executing task.Specifically, when unmanned plane relay system include control terminal 101, first nobody
When machine 102 and distal end unmanned plane 103, the control instruction of distal end unmanned plane 103 is needed to forward ability by the first unmanned plane 102
Distal end unmanned plane 103 is reached, the image data and status information that the capture apparatus on distal end unmanned plane 103 obtains are needed by the
One unmanned plane 102 can just be transferred to control terminal 101.When there is relaying unmanned plane 104 in unmanned plane relay system, to distal end
The control instruction of unmanned plane 103 needs to pass sequentially through the first unmanned plane 102 and each relaying unmanned plane 104 is forwarded and could be arrived
Up to distal end unmanned plane 103, image data and status information needs that the capture apparatus on distal end unmanned plane 103 obtains pass sequentially through
Each relaying unmanned plane 104 and the first unmanned plane 102 can just be transferred to control terminal 101.
Currently, a unmanned plane corresponds to a control terminal, such as unmanned plane relaying in traditional unmanned plane relay system
When system includes the first unmanned plane and distal end unmanned plane, unmanned plane relay system further includes that the corresponding control of the first unmanned plane is whole
End and the corresponding control terminal of distal end unmanned plane.When executing specific tasks, crew shortage is bottleneck, therefore operator
Member mainly frequently switches between two or more control terminals, and operating personnel need frequent switching control terminal, are easy to cause
It accidentally manipulates, therefore causes the applicability that relaying flies relatively low using extremely inconvenience in sector application.
The embodiment of the present invention is by the way that the first control instruction and first identifier information to be sent in unmanned plane relay system
First unmanned plane, so that the first control instruction reaches first identifier information meaning in unmanned plane relay system by the first unmanned plane
The UAV targets shown, therefore multiple unmanned planes can be manipulated by a control terminal, operating personnel are without frequent
Switching control terminal can reduce the quantity of required control terminal when relaying flight, improve the applicability of relaying flight.
Based on the structural schematic diagram of unmanned plane relay system shown in FIG. 1, referring to Fig. 2, Fig. 2 carries for the embodiment of the present invention
A kind of flow diagram of the control method of the control terminal supplied.Specifically, as shown in Fig. 2, the control of the embodiment of the present invention is whole
The control method at end may comprise steps of:
201, the first choice operation of detection user, operates according to first choice and determines first identifier information.
Specifically, control terminal can specifically include:Remote controler, wearable device, smart mobile phone, tablet computer or nobody
One kind in machine ground control station or combinations thereof etc..User can carry out first choice behaviour on the interactive interface of control terminal
Make, control terminal can operate according to first choice and determine first identifier information.
For example, control terminal can show the icon of each unmanned plane in unmanned plane relay system on interactive interface, use
When family needs to control some unmanned plane in unmanned plane relay system by control terminal, that is, need to target nobody
When machine is controlled, the icon of UAV targets can be clicked on interactive interface, or by directionkeys selection target nobody
The icon of machine, after control terminal detects the first choice operation of user, the processor of control terminal can be according to the first choosing
Select operation and determine first identifier information, first identifier information indicate user in unmanned plane relay system want control target nobody
Machine, wherein the target can be the first unmanned plane being connect with control terminal, relaying unmanned plane in unmanned plane relay system
Or any of distal end unmanned plane, i.e. user can choose any one of unmanned plane relay system nothing in control terminal
It is man-machine.
Optionally, control terminal can detect the identification information edit operation of user, be according to identification information edit operation
Each unmanned plane configuration identifier information in unmanned plane relay system.Wherein, with unmanned plane relay system shown in Fig. 3 A
For structural schematic diagram, which includes control terminal, the first unmanned plane, relaying unmanned plane 1, relaying unmanned plane
2 and distal end unmanned plane, user is identified information editing's operation in control terminal, is the first unmanned plane, relaying unmanned plane
1, each corresponding identification information of setting in unmanned plane 2 and distal end unmanned plane is relayed.
In certain embodiments, can be obtained with clock synchronization to the identification information of each unmanned plane configuration.Specifically,
After the booting of all devices that unmanned plane relay system is included, each two node (such as control terminal, the first unmanned plane, in
After unmanned plane or distal end unmanned plane) between establish point-to-point link, when control terminal and the first unmanned plane are to frequency, configuration first
The identification information of unmanned plane;When the first unmanned plane and relaying unmanned plane are to frequency, the identification information of configuration relaying unmanned plane;In
When unmanned plane and distal end unmanned plane are to frequency, the identification information of distal end unmanned plane is configured.In certain embodiments, each nobody
The identification information of machine configuration can be solidificated on unmanned plane by writing code.
202, the first control operation of detection user determines the first control instruction according to the first control operation.
Specifically, user can carry out control terminal the first control operation, then control terminal detects the first of user
After control operation, the first control instruction can be determined according to the first control operation.Wherein, the first control instruction may include connecting
Control instruction is connect, control instruction of making a return voyage, landing control instruction, rate control instruction, height control instruction or direction controlling refer to
Enable etc..
It should be noted that the embodiment of the present invention does not limit step 201 and the priority of step 202 executes sequence, such as
Control terminal can execute step 202 after executing step 201;For another example control terminal can be held after performing step 202
Row step 201;For another example control terminal may be performed simultaneously step 201 and step 202.
203, the first control instruction and first identifier information are sent to the first unmanned plane in unmanned plane relay system, with
Make the first control instruction by the first unmanned plane reach target in unmanned plane relay system indicated by first identifier information nobody
Machine.
Specifically, by taking the structural schematic diagram of unmanned plane relay system shown in Fig. 3 A as an example, control terminal determines the first control
After system instruction and first identifier information, the first control instruction and first identifier information can be sent to the first unmanned plane.The
It, can be by the identification information of the first unmanned plane and first after one unmanned plane receives the first control instruction and first identifier information
Identification information is compared, and when the identification information of the first unmanned plane is identical with first identifier information, then first identifier information refers to
The UAV targets shown are the first unmanned plane, and the first unmanned plane can carry out corresponding operating according to the first control instruction;When first
When the identification information and first identifier information of unmanned plane differ, the first unmanned plane is by the first control instruction and first identifier information
It is sent to the relaying unmanned plane 1 that direct communication link is established with the first unmanned plane.Similarly, relaying unmanned plane 1 receives the first control
After system instruction and first identifier information, the identification information for relaying unmanned plane 1 and first identifier information can be compared, when
When the identification information of relaying unmanned plane 1 is identical with first identifier information, then during the UAV targets of first identifier information instruction are
After unmanned plane 1, relaying unmanned plane 1 can determine that first control instruction is destined to relaying unmanned plane 1, and then according to first
Control instruction carries out corresponding operating;When the identification information and first identifier information that relay unmanned plane 1 differ, unmanned plane is relayed
1 is sent to the first control instruction and first identifier information the relaying unmanned plane that direct communication link is established with relaying unmanned plane 1
2.Similarly, after relaying unmanned plane 2 receives the first control instruction and first identifier information, the mark of unmanned plane 2 will can be relayed
Know information and first identifier information to be compared, when the identification information for relaying unmanned plane 2 is identical with first identifier information, then the
The UAV targets of one identification information instruction are relaying unmanned plane 2, and relaying unmanned plane 2 can determine that first control instruction is hair
Relaying unmanned plane 2 is given, and then corresponding operating is carried out according to the first control instruction;When relaying unmanned plane 2 identification information and
When first identifier information differs, the first control instruction and first identifier information are sent to and relay nobody by relaying unmanned plane 2
Machine 2 establishes the distal end unmanned plane of direct communication link.Distal end unmanned plane receive the first control instruction and first identifier information it
Afterwards, the identification information of distal end unmanned plane and first identifier information can be compared, when distal end unmanned plane identification information and
When first identifier information is identical, then the UAV targets of first identifier information instruction are distal end unmanned plane, and distal end unmanned plane can be with
It determines that first control instruction is destined to distal end unmanned plane, and then corresponding operating is carried out according to the first control instruction;When remote
When the identification information of unmanned plane and first identifier information being held to differ, distal end unmanned plane can carry out preset operation, such as delete
The instruction message that control fails is sent except the first control instruction and first identifier information, or to relaying unmanned plane 2.
Optionally, control terminal can obtain the shape of each unmanned plane in unmanned plane relay system by the first unmanned plane
State information.Specifically, control terminal can obtain the shape of each unmanned plane using preset duration as the period by the first unmanned plane
State information.
Specifically, by taking the structural schematic diagram of unmanned plane relay system shown in Fig. 3 A as an example, for example, control terminal can connect
Receive the status information of the first unmanned plane of the first unmanned plane transmission.For another example, relaying unmanned plane 1 can will relay the shape of unmanned plane 1
State information is sent to the first unmanned plane, and control terminal obtains the status information of relaying unmanned plane 1 by the first unmanned plane.For another example,
The status information for relaying unmanned plane 2 can be sent to relaying unmanned plane 1 by relaying unmanned plane 2, and relaying unmanned plane 1 will relay nobody
The status information of machine 2 is forwarded to the first unmanned plane, and the state that control terminal obtains relaying unmanned plane 2 by the first unmanned plane is believed
Breath.For another example, the status information of distal end unmanned plane can be sent to relaying unmanned plane 2 by distal end unmanned plane, and relaying unmanned plane 2 will be remote
The status information of end unmanned plane is forwarded to relaying unmanned plane 1, and the status information of distal end unmanned plane is forwarded to the by relaying unmanned plane 1
One unmanned plane, control terminal obtain the status information of distal end unmanned plane by the first unmanned plane.
Optionally, control terminal can obtain the bat in unmanned plane relay system on the unmanned plane of distal end by the first unmanned plane
Take the photograph the image data of equipment acquisition.
Specifically, by taking the structural schematic diagram of unmanned plane relay system shown in Fig. 3 A as an example, distal end unmanned plane passes through shooting
After equipment obtains image data, which can be sent to relaying unmanned plane 2, relay unmanned plane 2 by the picture number
According to relaying unmanned plane 1 is transmitted to, which is transmitted to the first unmanned plane by relaying unmanned plane 1, and control terminal can pass through
First unmanned plane obtains the image data.
Optionally, when one or more of unmanned plane relay system unmanned plane fails, control terminal can detect use
Second selection operation at family determines second identifier information according to the second selection operation;The the second control operation for detecting user, according to
Second control operation determines the second control instruction;And it establishes and the target indicated by second identifier information in unmanned plane relay system
The direct communication link of unmanned plane, and then send the second control instruction to UAV targets.
By taking the structural schematic diagram of unmanned plane relay system shown in Fig. 3 B as an example, when the failure of the first unmanned plane, and user is uncommon
Hope that user can click the relaying unmanned plane 2 configured in control terminal when being controlled relaying unmanned plane 2 by control terminal
Corresponding physical button, or the icon of relaying unmanned plane 2 is clicked in the interactive interface of control terminal, control terminal detects use
After above-mentioned second selection operation at family, it may be determined that second identifier information, wherein second identifier information instruction relaying unmanned plane
2, the direct communication link of unmanned plane 2 can be established and be relayed to control terminal.User carries out the second control behaviour in control terminal
Make, control terminal can determine that the second control instruction, control control terminal are based on and relaying unmanned plane 2 according to the second control operation
Second control instruction is sent to relaying unmanned plane 2 by the direct communication link of foundation, and relaying unmanned plane 2 is receiving control instruction
Afterwards, according to the control instruction according to corresponding operation, such as landing operation, operation of making a return voyage, the image data for obtaining shooting
It is sent to the operation etc. of control terminal.
By taking the structural schematic diagram of unmanned plane relay system shown in Fig. 3 C as an example, when the first unmanned plane and relaying unmanned plane 2
When failure, user wishes to control distal end unmanned plane, then user can click the distal end unmanned plane configured in control terminal
Corresponding physical button, or the icon of distal end unmanned plane is clicked in the interactive interface of control terminal, control terminal detects use
After above-mentioned second selection operation at family, control terminal can determine the second control instruction according to the second control operation, wherein the
Two identification informations indicate that distal end unmanned plane, control terminal can establish the direct communication link with distal end unmanned plane.User may be used also
It being operated with carrying out the second control to distal end unmanned plane, control terminal can determine the second control instruction according to the second control operation,
Control terminal is controlled based on the direct communication link established with distal end unmanned plane, by the second control instruction be sent to distally nobody
Machine, distal end unmanned plane is after receiving control instruction, according to the control instruction according to corresponding operation, such as landing operation, returns
Boat operation, the operation etc. that the image data that shooting obtains is sent to control terminal.
In the embodiment of the present invention, when one or more of unmanned plane relay system unmanned plane fails, control terminal can
To establish the direct communication link with the UAV targets in unmanned plane relay system indicated by second identifier information, and then to mesh
It marks unmanned plane and sends the second control instruction, the second control instruction is forwarded to UAV targets without passing through other unmanned planes, it can
Improve efficiency of transmission.
Optionally, when distal end unmanned plane fails, the third selection operation of user is detected, is determined according to third selection operation
Third identification information is obtained by the first unmanned plane on the UAV targets that third identification information indicates in unmanned plane relay system
Capture apparatus obtain image data.
Specifically, under normal circumstances, distal end unmanned plane is the unmanned plane for executing task, and control terminal can generally be shown
The image data that distal end unmanned plane photographs equipment shooting obtains, when distal end unmanned plane fails, control terminal can determine far
Unmanned plane is held to break down, the image data that the capture apparatus on the unmanned plane of distal end obtains can not be sent to control by distal end unmanned plane
Terminal processed is based on this, and user can obtain the capture apparatus in unmanned plane relay system on other unmanned planes by control terminal
The image data got.By taking the structural schematic diagram of unmanned plane relay system shown in Fig. 3 D as an example, user wishes to obtain relaying
When the image data that the capture apparatus on unmanned plane 2 is got, user can click the relaying unmanned plane 2 configured in control terminal
Corresponding physical button, or the icon of relaying unmanned plane 2 is clicked in the interactive interface of control terminal, control terminal detects use
After the above-mentioned third selection operation at family, control terminal can determine third identification information, control according to the third selection detected
The control instruction of third identification information and acquisition image data can be sent to the first unmanned plane, third identification information by terminal processed
Relaying unmanned plane 2 is reached by foregoing mode with the control instruction for obtaining image data, relaying unmanned plane 2 sets shooting
The image that standby shooting obtains is sent to relaying unmanned plane 1, and relaying unmanned plane 1 is after receiving image data, by described image number
According to the first unmanned plane is transmitted to, control terminal obtains the image that the capture apparatus on relaying unmanned plane 2 obtains from the first unmanned plane
Data.
Optionally, when the first unmanned plane fails, control terminal can establish in unmanned plane relay system with first nobody
Direct communication link between the relaying unmanned plane of machine connection, relaying nothing is sent to by the first control instruction and first identifier information
It is man-machine, so that the first control instruction reaches the mesh in unmanned plane relay system indicated by first identifier information by relaying unmanned plane
Mark unmanned plane.It should be noted that when the first unmanned plane fails, control terminal can be established and be connect with the first unmanned plane automatically
Relaying unmanned plane between direct communication link.Optionally, when the first unmanned plane fails, user can pair with first nobody
The relaying unmanned plane of machine connection carries out selection operation, after the selection operation for detecting user, control terminal establish with first nobody
Direct communication link between the relaying unmanned plane of machine connection.
Optionally, the first control instruction can be make a return voyage control instruction, the either other kinds of control of landing control instruction
System instruction etc..The UAV targets that first control instruction can be used for controlling in unmanned plane relay system make a return voyage or land
Deng operation.Either the first control instruction can be used for control unmanned plane relay system in each unmanned plane maked a return voyage or
The operations such as landing.
By taking the structural schematic diagram of unmanned plane relay system shown in Fig. 3 E as an example, when the first unmanned plane fails, control is eventually
End can determine that the first unmanned plane breaks down, and control terminal can not be by its in the first unmanned plane and unmanned plane relay system
Transmission data between his unmanned plane, then control terminal can with relaying unmanned plane 1 between direct communication link, by first control
Instruction and first identifier information are sent to relaying unmanned plane 1, and first identifier information and control instruction can be by relaying unmanned plane 1
Reach the UAV targets of the first identifier information instruction in unmanned plane relay system.Specifically, when first identifier information is in
When the identification information of unmanned plane 1 is identical, relaying unmanned plane 1 can carry out corresponding operating according to the first control instruction.When first
When the identification information of identification information and relaying unmanned plane 1 differs, relaying unmanned plane 1 can mark the first control instruction and first
Know information and be sent to relaying unmanned plane 2, when first identifier information is identical with the relaying identification information of unmanned plane 2, relays nobody
Machine 2 can carry out corresponding operating according to the first control instruction.When the identification information not phase of first identifier information and relaying unmanned plane 2
Meanwhile the first control instruction and first identifier information can be sent to distal end unmanned plane by relaying unmanned plane 2.
Further alternative, control terminal establishes the relaying unmanned plane being connect with the first unmanned plane in unmanned plane relay system
Between direct communication link after, unmanned plane relay system can be obtained by the relaying unmanned plane that is connect with the first unmanned plane
In relaying unmanned plane and distal end unmanned plane status information.
By taking the structural schematic diagram of unmanned plane relay system shown in Fig. 3 E as an example, control terminal is established and relaying unmanned plane 1
Between direct communication link after, can from relaying unmanned plane 1 obtain relaying unmanned plane 1 status information.Relay unmanned plane 2
The status information for relaying unmanned plane 2 can be sent to relaying unmanned plane 1, control terminal obtains relaying by relaying unmanned plane 1
The status information of unmanned plane 2.The status information of distal end unmanned plane can be sent to relaying unmanned plane 2, relaying by distal end unmanned plane
The status information of distal end unmanned plane can be sent to relaying unmanned plane 1 by unmanned plane 2, and control terminal is obtained by relaying unmanned plane 1
Take the status information of distal end unmanned plane.
Optionally, in the case where the first control instruction includes connection control instruction, when unmanned plane relay system is included
Relaying unmanned plane in first relaying unmanned plane failure when, will connection control instruction and first identifier information be sent to the first nothing
It is man-machine, so that connection control instruction reaches the UAV targets indicated by first identifier information by the first unmanned plane.
Wherein, the UAV targets indicated by first identifier information be with first relaying unmanned plane connect it is previous nobody
Machine, connection control instruction are used to indicate UAV targets and establish the direct of the latter unmanned plane being connect with the first relaying unmanned plane
Communication connection.Wherein, the first relaying unmanned plane can be any one unmanned plane relayed in unmanned plane.
By taking the structural schematic diagram of unmanned plane relay system shown in Fig. 3 F as an example, the first relaying unmanned plane can be relaying nothing
Man-machine 1, when relaying the failure of unmanned plane 1, user can be before relaying unmanned plane 1 be chosen in control terminal progress first choice operation
UAV targets, i.e. the first unmanned plane, control terminal determines first identifier information according to the first choice operation detected, the
One identification information indicates that the first unmanned plane, user can carry out establishing attended operation in control terminal in user, and control is eventually
End determines that connection control instruction, control terminal can be by connection control instruction and the first nothings according to the attended operation of establishing detected
Man-machine identification information is sent to the first unmanned plane, and the first unmanned plane can be established according to connection control instruction and relay nobody
Direct communication link between machine 2.
By taking the structural schematic diagram of unmanned plane relay system shown in Fig. 3 G as an example, the first relaying unmanned plane can be relaying nothing
Man-machine 2, when relaying the failure of unmanned plane 2, user can be before relaying unmanned plane 2 be chosen in control terminal progress first choice operation
UAV targets, that is, relay unmanned plane 1, control terminal according to the first choice operation determination first identifier information detected,
First identifier information instruction relaying unmanned plane 1, user can carry out establishing attended operation in control terminal in user, control
Terminal determines that connection control instruction, control terminal can will connect control instruction and first according to the attended operation of establishing detected
The identification information of unmanned plane is sent to the first unmanned plane, and first identifier information and connection control instruction are transmitted to by the first unmanned plane
Unmanned plane 1 is relayed, relaying unmanned plane 1 can be according to connection control instruction, and the Direct Communication established between the unmanned plane of distal end connects
It connects.
Optionally, control terminal can detect whether the unmanned plane in unmanned plane relay system fails.By taking Fig. 3 A as an example, control
Terminal processed can detect the status information for whether receiving distal end unmanned plane within a preset period of time, when within a preset period of time not
When receiving the status information of distal end unmanned plane, control terminal can determine distal end unmanned plane failure.Control terminal can detect
Distal end unmanned plane whether is received within a preset period of time and relays the status information of unmanned plane 2, when equal within a preset period of time
When not receiving distal end unmanned plane and relaying the status information of unmanned plane 2, control terminal can determine that relaying unmanned plane 2 fails.
Whether control terminal can detect receives distal end unmanned plane, relaying unmanned plane 2 and relaying unmanned plane 1 within a preset period of time
Status information, when the state for not receiving distal end unmanned plane, relaying unmanned plane 2 and relaying unmanned plane 1 within a preset period of time
When information, control terminal can determine that relaying unmanned plane 1 fails.Whether control terminal can detect receives within a preset period of time
To the status information of any unmanned plane in unmanned plane relay system, when not receiving any unmanned plane within a preset period of time
When status information, control terminal can determine that the first unmanned plane fails.
Optionally, after control terminal detects UAV targets' failure, prompt message can be exported, to prompt user's mesh
Mark unmanned plane failure.For example, control terminal can show that network topology, network topology may include unmanned plane within display screen
The connection relation of all unmanned planes and each unmanned plane in relay system, wherein the display face for the UAV targets failed
The display color of color and other unmanned planes differs, to prompt ownership goal unmanned plane to fail.
When one or more of relatively traditional unmanned plane relay system unmanned plane fails, since control cannot be switched in time
System causes accidents, any unmanned planes that the embodiment of the present invention can be detected automatically in unmanned plane relay system such as collision or air crash to be
The safety and reliability of unmanned plane can be improved to control other unmanned planes rapidly in no failure.
The embodiment of the present invention is by the way that the first control instruction and first identifier information to be sent in unmanned plane relay system
First unmanned plane, so that the first control instruction reaches first identifier information meaning in unmanned plane relay system by the first unmanned plane
The UAV targets shown, therefore multiple unmanned planes can be manipulated by a control terminal, operating personnel are without frequent
Switching control terminal can reduce the quantity of required control terminal when relaying flight, improve the applicability of relaying flight.
The embodiment of the present invention additionally provides a kind of computer storage media, and have program stored therein finger in the computer storage media
It enables, described program may include when executing such as some or all of the control method of control terminal in Fig. 2 corresponding embodiments step.
Referring to Fig. 4, being a kind of structural schematic diagram of the control device of control terminal provided in an embodiment of the present invention.This reality
The control device of the control terminal described in example is applied, including:
Detection module 401, is used for:
The first choice operation for detecting user, operates according to the first choice and determines first identifier information;
The the first control operation for detecting user determines the first control instruction according to the first control operation;
Sending module 402, for first control instruction and the first identifier information to be sent to unmanned plane relaying
The first unmanned plane in system, so that first control instruction reaches unmanned plane relaying system by first unmanned plane
UAV targets indicated by first identifier information described in system, wherein first unmanned plane is connected with the control terminal
The unmanned plane connect.
Optionally, the UAV targets be the unmanned plane relay system in relaying unmanned plane, distal end unmanned plane or
Any one of first unmanned plane described in person.
Optionally, the detection module 401 is additionally operable to the identification information edit operation of detection user, according to the mark
Information editing's operation is each unmanned plane configuration identifier information in the unmanned plane relay system.
Optionally, the control device of the control terminal in the embodiment of the present invention can also include:
Receiving module 403, for by first unmanned plane obtain each in the unmanned plane relay system nobody
The status information of machine.
Optionally, the control device of the control terminal in the embodiment of the present invention can also include:
Connection establishment module 404, for when first unmanned plane fail, establish in the unmanned plane relay system and
Direct communication link between the relaying unmanned plane of the first unmanned plane connection;
The sending module 402 is additionally operable to first control instruction and the first identifier information being sent to described
Unmanned plane is relayed, so that first control instruction is reached by the relaying unmanned plane described in the unmanned plane relay system
UAV targets indicated by first identifier information.
Optionally, the receiving module 403 is additionally operable to obtain the unmanned plane relay system by the relaying unmanned plane
In relaying unmanned plane and distal end unmanned plane status information.
Optionally, first control instruction includes connection control instruction;
First control instruction and the first identifier information are sent to unmanned plane relaying system by the sending module 402
The first unmanned plane in system, so that first control instruction reaches the unmanned plane relay system by first unmanned plane
Described in UAV targets indicated by first identifier information, be specifically used for:
It, will be described when the first relaying unmanned plane failure in the relaying unmanned plane that the unmanned plane relay system is included
Connection control instruction and the first identifier information are sent to first unmanned plane, so that the connection control instruction passes through institute
It states the first unmanned plane and reaches UAV targets indicated by the first identifier information;
Wherein, the UAV targets indicated by the first identifier information are before being connect with the first relaying unmanned plane
One unmanned plane, the connection control instruction are used to indicate UAV targets' foundation and are connect with the first relaying unmanned plane
The latter unmanned plane direct communication link.
Optionally, the detection module 401 is additionally operable to when one or more of unmanned plane relay system unmanned plane
When failure, the second selection operation of user is detected, second identifier information is determined according to second selection operation;
The detection module 401 is additionally operable to the second control operation of detection user, is determined according to the second control operation
Second control instruction;
The control device of control terminal in the embodiment of the present invention can also include:
Connection establishment module 404, indicated by second identifier information described in foundation and the unmanned plane relay system
UAV targets direct communication link;
The sending module 402 is additionally operable to send second control instruction to the UAV targets.
Optionally, the control device of the control terminal in the embodiment of the present invention can also include:
Receiving module 403, for obtaining distal end unmanned plane in the unmanned plane relay system by first unmanned plane
On capture apparatus obtain image data.
Optionally, the detection module 401 is additionally operable to detect the third choosing of user when the distal end unmanned plane fails
Operation is selected, third identification information is determined according to the third selection operation;
The receiving module 403 is additionally operable to obtain described in the unmanned plane relay system by first unmanned plane
The image data that capture apparatus on the UAV targets of third identification information instruction obtains.
It is understood that the function of each function module of the control device of the control terminal of the embodiment of the present invention can basis
Method specific implementation in above method embodiment, the correlation that specific implementation process is referred to above method embodiment are retouched
It states, details are not described herein again.
The embodiment of the present invention is by the way that the first control instruction and first identifier information to be sent in unmanned plane relay system
First unmanned plane, so that the first control instruction reaches first identifier information meaning in unmanned plane relay system by the first unmanned plane
The UAV targets shown, therefore multiple unmanned planes can be manipulated by a control terminal, operating personnel are without frequent
Switching control terminal can reduce the quantity of required control terminal when relaying flight, improve the applicability of relaying flight.
Referring to Fig. 5, being a kind of structural schematic diagram of control terminal provided in an embodiment of the present invention.It is retouched in the present embodiment
The control stated, including:Memory 501 and processor 502.Above-mentioned processor 502 is connected with memory 501 by bus.
Above-mentioned processor 502 can be central processing unit (Central Processing Unit, CPU), the processor
It can also be other general processors, digital signal processor (Digital Signal Processor, DSP), special integrated
Circuit (Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor can also be any conventional processor
Deng.
Above-mentioned memory 501 may include read-only memory and random access memory, and provide instruction to processor 502
And data.The a part of of memory 501 can also include nonvolatile RAM.Wherein:
The memory 501, for storing program instruction;
The processor 502, for calling described program to instruct, when described program instruction is performed, execution is following to grasp
Make:
The first choice operation for detecting user, operates according to the first choice and determines first identifier information;
The the first control operation for detecting user determines the first control instruction according to the first control operation;
By first control instruction and the first identifier information be sent in unmanned plane relay system first nobody
Machine, so that first control instruction reaches first identifier described in the unmanned plane relay system by first unmanned plane
UAV targets indicated by information, wherein first unmanned plane is the unmanned plane being connect with the control terminal.
Optionally, the UAV targets be the unmanned plane relay system in relaying unmanned plane, distal end unmanned plane or
Any one of first unmanned plane described in person.
Optionally, the processor 502 is additionally operable to the identification information edit operation of detection user, is believed according to the mark
It is each unmanned plane configuration identifier information in the unmanned plane relay system to cease edit operation.
Optionally, the processor 502 is additionally operable to obtain in the unmanned plane relay system by first unmanned plane
The status information of each unmanned plane.
Optionally, the processor 502, is additionally operable to:
When first unmanned plane fails, establishes and connect with first unmanned plane in the unmanned plane relay system
Relay the direct communication link between unmanned plane;
First control instruction and the first identifier information are sent to the relaying unmanned plane, so that described first
Control instruction reaches the mesh indicated by first identifier information described in the unmanned plane relay system by the relaying unmanned plane
Mark unmanned plane.
Optionally, the processor 502 is additionally operable to obtain in the unmanned plane relay system by the relaying unmanned plane
Relaying unmanned plane and distal end unmanned plane status information.
Optionally, first control instruction includes connection control instruction;
First control instruction and the first identifier information are sent to unmanned plane relay system by the processor 502
In the first unmanned plane so that first control instruction is reached by first unmanned plane in the unmanned plane relay system
When UAV targets indicated by the first identifier information, it is specifically used for:
It, will be described when the first relaying unmanned plane failure in the relaying unmanned plane that the unmanned plane relay system is included
Connection control instruction and the first identifier information are sent to first unmanned plane, so that the connection control instruction passes through institute
It states the first unmanned plane and reaches UAV targets indicated by the first identifier information;
Wherein, the UAV targets indicated by the first identifier information are before being connect with the first relaying unmanned plane
One unmanned plane, the connection control instruction are used to indicate UAV targets' foundation and are connect with the first relaying unmanned plane
The latter unmanned plane direct communication link.
Optionally, the processor 502, is additionally operable to:
When one or more of unmanned plane relay system unmanned plane fails, the second selection behaviour of user is detected
Make, second identifier information is determined according to second selection operation;
The the second control operation for detecting user determines the second control instruction according to the second control operation;
It establishes directly logical with the UAV targets indicated by second identifier information described in the unmanned plane relay system
News connection;
Second control instruction is sent to the UAV targets.
Optionally, the processor 502 is additionally operable to obtain in the unmanned plane relay system by first unmanned plane
The image data that capture apparatus on the unmanned plane of distal end obtains.
Optionally, the processor 502, is additionally operable to:
When the distal end unmanned plane fails, the third selection operation of user is detected, it is true according to the third selection operation
Determine third identification information;
The target of the instruction of third identification information described in the unmanned plane relay system is obtained by first unmanned plane
The image data that capture apparatus on unmanned plane obtains.
In the specific implementation, processor 502 described in the embodiment of the present invention can perform the control that Fig. 2 of the embodiment of the present invention is provided
Realization method described in the control method of terminal processed also can perform control terminal described in Fig. 4 of the embodiment of the present invention
The realization method of control device, details are not described herein.
It should be noted that for each embodiment of the method above-mentioned, for simple description, therefore it is all expressed as to a system
The combination of actions of row, but those skilled in the art should understand that, the present invention is not limited by the described action sequence, because
For according to the application, certain some step can be performed in other orders or simultaneously.Secondly, those skilled in the art also should
Know, embodiment described in this description belongs to preferred embodiment, involved action and module not necessarily this Shen
It please be necessary.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storage
Medium may include:Flash disk, read-only memory (Read-Only Memory, ROM), random access device (Random Access
Memory, RAM), disk or CD etc..
Be provided for the embodiments of the invention above a kind of control method of control terminal, device, equipment and aircraft into
It has gone and has been discussed in detail, principle and implementation of the present invention are described for specific case used herein, the above implementation
The explanation of example is merely used to help understand the method and its core concept of the present invention;Meanwhile for the general technology people of this field
Member, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion this explanation
Book content should not be construed as limiting the invention.
Claims (20)
1. a kind of control method of control terminal, which is characterized in that including:
The first choice operation for detecting user, operates according to the first choice and determines first identifier information;
The the first control operation for detecting user determines the first control instruction according to the first control operation;
First control instruction and the first identifier information are sent to the first unmanned plane in unmanned plane relay system, with
First control instruction is set to reach first identifier information described in the unmanned plane relay system by first unmanned plane
Indicated UAV targets, wherein first unmanned plane is the unmanned plane being connect with the control terminal.
2. according to the method described in claim 1, it is characterized in that,
The UAV targets are relaying unmanned plane, distal end unmanned plane or first nothing in the unmanned plane relay system
It is any one of man-machine.
3. method according to claim 1 or 2, which is characterized in that the method further includes:
The identification information edit operation for detecting user is in the unmanned plane relay system according to the identification information edit operation
Each unmanned plane configuration identifier information.
4. according to claim 1-3 any one of them methods, which is characterized in that the method further includes:
The status information of each unmanned plane in the unmanned plane relay system is obtained by first unmanned plane.
5. according to the method described in claim 4, it is characterized in that, the method further includes:
When first unmanned plane fails, the relaying being connect with first unmanned plane in the unmanned plane relay system is established
Direct communication link between unmanned plane;
First control instruction and the first identifier information are sent to the relaying unmanned plane, so that first control
Instruction by the relaying unmanned plane reach the target indicated by first identifier information described in the unmanned plane relay system without
It is man-machine.
6. according to the method described in claim 5, it is characterized in that, the method further includes:
The state of the relaying unmanned plane and distal end unmanned plane in the unmanned plane relay system is obtained by the relaying unmanned plane
Information.
7. according to claim 1-4 any one of them methods, which is characterized in that first control instruction includes that connection controls
Instruction;
It is described by first control instruction and the first identifier information be sent in unmanned plane relay system first nobody
Machine, so that first control instruction reaches first identifier described in the unmanned plane relay system by first unmanned plane
UAV targets indicated by information, including:
When the first relaying unmanned plane failure in the relaying unmanned plane that the unmanned plane relay system is included, by the connection
Control instruction and the first identifier information are sent to first unmanned plane, so that the connection control instruction is by described the
One unmanned plane reaches the UAV targets indicated by the first identifier information;
Wherein, the UAV targets indicated by the first identifier information are previous to be connect with the first relaying unmanned plane
Unmanned plane, the connection control instruction, which is used to indicate the UAV targets, to be established and is relayed after unmanned plane connect with described first
The direct communication link of one unmanned plane.
8. according to claim 1-7 any one of them methods, which is characterized in that the method further includes:
When one or more of unmanned plane relay system unmanned plane fails, the second selection operation of user, root are detected
Second identifier information is determined according to second selection operation;
The the second control operation for detecting user determines the second control instruction according to the second control operation;
It establishes and connects with the Direct Communication of the UAV targets indicated by second identifier information described in the unmanned plane relay system
It connects;
Second control instruction is sent to the UAV targets.
9. according to the method described in claim 1, it is characterized in that, the method further includes:
The figure of the acquisition of the capture apparatus in the unmanned plane relay system on the unmanned plane of distal end is obtained by first unmanned plane
As data.
10. according to the method described in claim 9, it is characterized in that, the method further includes:
When the distal end unmanned plane fails, the third selection operation of user is detected, is determined according to the third selection operation
Three identification informations;
By first unmanned plane obtain third identification information described in the unmanned plane relay system instruction target nobody
The image data that capture apparatus on machine obtains.
11. a kind of control terminal, which is characterized in that including:Memory and processor;
The memory, for storing program instruction;
The processor, for calling described program to instruct, when described program instruction is performed, execution is following to be operated:
The first choice operation for detecting user, operates according to the first choice and determines first identifier information;
The the first control operation for detecting user determines the first control instruction according to the first control operation;
First control instruction and the first identifier information are sent to the first unmanned plane in unmanned plane relay system, with
First control instruction is set to reach first identifier information described in the unmanned plane relay system by first unmanned plane
Indicated UAV targets, wherein first unmanned plane is the unmanned plane being connect with the control terminal.
12. control terminal according to claim 11, which is characterized in that
The UAV targets are relaying unmanned plane, distal end unmanned plane or first nothing in the unmanned plane relay system
It is any one of man-machine.
13. control terminal according to claim 11 or 12, which is characterized in that
The processor is additionally operable to the identification information edit operation of detection user, is institute according to the identification information edit operation
State each unmanned plane configuration identifier information in unmanned plane relay system.
14. according to claim 11-13 any one of them control terminals, which is characterized in that
The processor is additionally operable to obtain each unmanned plane in the unmanned plane relay system by first unmanned plane
Status information.
15. control terminal according to claim 14, which is characterized in that the processor is additionally operable to:
When first unmanned plane fails, the relaying being connect with first unmanned plane in the unmanned plane relay system is established
Direct communication link between unmanned plane;
First control instruction and the first identifier information are sent to the relaying unmanned plane, so that first control
Instruction by the relaying unmanned plane reach the target indicated by first identifier information described in the unmanned plane relay system without
It is man-machine.
16. control terminal according to claim 15, which is characterized in that
The processor, be additionally operable to by the relaying unmanned plane obtain relaying unmanned plane in the unmanned plane relay system and
The status information of distal end unmanned plane.
17. according to claim 11-14 any one of them control terminals, which is characterized in that first control instruction includes
Connect control instruction;
First control instruction and the first identifier information are sent in unmanned plane relay system by the processor
One unmanned plane, so that first control instruction reaches described in the unmanned plane relay system the by first unmanned plane
When UAV targets indicated by one identification information, it is specifically used for:
When the first relaying unmanned plane failure in the relaying unmanned plane that the unmanned plane relay system is included, by the connection
Control instruction and the first identifier information are sent to first unmanned plane, so that the connection control instruction is by described the
One unmanned plane reaches the UAV targets indicated by the first identifier information;
Wherein, the UAV targets indicated by the first identifier information are previous to be connect with the first relaying unmanned plane
Unmanned plane, the connection control instruction, which is used to indicate the UAV targets, to be established and is relayed after unmanned plane connect with described first
The direct communication link of one unmanned plane.
18. according to claim 11-17 any one of them control terminals, which is characterized in that the processor is additionally operable to:
When one or more of unmanned plane relay system unmanned plane fails, the second selection operation of user, root are detected
Second identifier information is determined according to second selection operation;
The the second control operation for detecting user determines the second control instruction according to the second control operation;
It establishes and connects with the Direct Communication of the UAV targets indicated by second identifier information described in the unmanned plane relay system
It connects;
Second control instruction is sent to the UAV targets.
19. control terminal according to claim 11, which is characterized in that
The processor is additionally operable to obtain in the unmanned plane relay system on the unmanned plane of distal end by first unmanned plane
The image data that capture apparatus obtains.
20. control terminal according to claim 19, which is characterized in that the processor is additionally operable to:
When the distal end unmanned plane fails, the third selection operation of user is detected, is determined according to the third selection operation
Three identification informations;
By first unmanned plane obtain third identification information described in the unmanned plane relay system instruction target nobody
The image data that capture apparatus on machine obtains.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/104210 WO2019061224A1 (en) | 2017-09-29 | 2017-09-29 | Control method of control terminal, and control terminal |
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| Publication Number | Publication Date |
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| CN108700886A true CN108700886A (en) | 2018-10-23 |
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| WO (1) | WO2019061224A1 (en) |
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| CN110865652A (en) * | 2019-11-18 | 2020-03-06 | 捷开通讯(深圳)有限公司 | Unmanned aerial vehicle control method and device and storage medium |
| CN112805651A (en) * | 2020-03-30 | 2021-05-14 | 深圳市大疆创新科技有限公司 | Control method, control terminal, server and storage medium for unmanned aerial vehicle |
| WO2021195888A1 (en) * | 2020-03-30 | 2021-10-07 | 深圳市大疆创新科技有限公司 | Control method for unmanned aerial vehicle, control terminal, server, and storage medium |
| CN113630741A (en) * | 2021-08-02 | 2021-11-09 | 北京远度互联科技有限公司 | Relay unmanned aerial vehicle switching method, relay unmanned aerial vehicle, controller and system |
| CN113630741B (en) * | 2021-08-02 | 2022-09-13 | 北京远度互联科技有限公司 | Relay unmanned aerial vehicle switching method, relay unmanned aerial vehicle, controller and system |
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| WO2019061224A1 (en) | 2019-04-04 |
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