CN110177391B - Control information transmission method and system for four-axis aircraft - Google Patents
Control information transmission method and system for four-axis aircraft Download PDFInfo
- Publication number
- CN110177391B CN110177391B CN201910488912.0A CN201910488912A CN110177391B CN 110177391 B CN110177391 B CN 110177391B CN 201910488912 A CN201910488912 A CN 201910488912A CN 110177391 B CN110177391 B CN 110177391B
- Authority
- CN
- China
- Prior art keywords
- base station
- quadcopter
- request
- message
- emergency
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W48/00—Access restriction; Network selection; Access point selection
- H04W48/02—Access restriction performed under specific conditions
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W48/00—Access restriction; Network selection; Access point selection
- H04W48/08—Access restriction or access information delivery, e.g. discovery data delivery
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W72/00—Local resource management
- H04W72/20—Control channels or signalling for resource management
- H04W72/23—Control channels or signalling for resource management in the downlink direction of a wireless link, i.e. towards a terminal
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/90—Services for handling of emergency or hazardous situations, e.g. earthquake and tsunami warning systems [ETWS]
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
- H04W84/04—Large scale networks; Deep hierarchical networks
- H04W84/06—Airborne or Satellite Networks
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Computer Security & Cryptography (AREA)
- Physics & Mathematics (AREA)
- Astronomy & Astrophysics (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention discloses a control information transmission method for a four-axis aircraft, which comprises the following steps: receiving, by the quadcopter, access control category information sent by the base station; when an event requiring a control message from a base station occurs, generating a corresponding access request by a quadrotor; judging the access control type of the generated corresponding access request by the quadcopter based on the access control type rule and the generated corresponding access request; generating, by the base station, an access barring category message based on the current load; sending an access prohibition type message to the four-axis aircraft by the base station; in response to receiving the access barring category message, determining, by the quadcopter, whether the generated corresponding access request is barred from being sent; if the access request is not prohibited to be sent, the four-axis aircraft sends the generated corresponding access request to the base station; in response to receiving the generated corresponding access request, a request-to-send-permission message is sent by the base station to the quad-pod.
Description
Technical Field
The present invention relates to the field of quadcopters, and more particularly, to a method and system for transmitting control information for quadcopters.
Background
The quadcopter is also called a quadrotor and a quadrotor helicopter, and is called a quadcopter and a quadrotor for short. The quadoror is a multi-rotor aircraft. Four propellers of the four-axis aircraft are simple mechanisms with directly connected motors, and the cross-shaped layout allows the aircraft to obtain the force for rotating the aircraft body by changing the rotating speed of the motors, so that the self posture of the aircraft can be adjusted.
The prior art CN109164821B relates to an unmanned aerial vehicle attitude training method and apparatus, the method includes: acquiring sensor information and panel contact information of the unmanned aerial vehicle in a set scene and actual attitude information of the unmanned aerial vehicle in the set scene based on control information; determining reward information based on the panel contact information, the actual posture information and the target posture information; training the deep neural network for reinforcement learning based on reward information according to a minimum loss principle so as to enable the actual attitude to quickly respond to the target attitude, and obtaining a trained deep neural network model for controlling the flight attitude of the unmanned aerial vehicle through the environmental state information. The power device of the unmanned aerial vehicle is directly controlled through the reinforcement learning model, end-to-end direct learning control is achieved, the unmanned aerial vehicle has intelligent decision control capability through reinforcement learning, automatic attitude control can be achieved, and the unmanned aerial vehicle can be suitable for more complex real scenes.
Prior art CN105141851B discloses a control system and method for an unmanned aerial vehicle for photographing a specific object, the unmanned aerial vehicle being provided with a camera for photographing, the control system comprising: a communication unit for receiving an external photographing instruction; the analysis unit is used for analyzing the position information of the specific target to be shot and the channel track information of the scheduled flight in the shooting instruction received by the communication unit; the positioning unit is used for controlling the unmanned aerial vehicle to fly to a specified position for shooting according to the channel track information of the scheduled flight according to the position information analyzed by the analysis unit and the channel track information of the scheduled flight, and the channel track information of the scheduled flight is stored in the control system in advance according to the environment where the specific target is located; and the target identification unit is used for identifying a specific target when the unmanned aerial vehicle reaches the position specified by the positioning unit.
The prior art CN105388913B discloses an intelligent parking lot based on a quadcopter and a navigation method, wherein the intelligent parking lot includes the quadcopter, so that when a vehicle drives into the intelligent parking lot, the quadcopter takes off to the periphery of the vehicle, navigates the vehicle according to a navigation planning path sent by a cloud computing server, and obtains environmental data around the vehicle in real time and sends the environmental data to the cloud computing server; when the car owner searches for the car parked in the intelligent parking lot, the car owner takes off to the periphery of the car owner, the car owner is navigated according to the navigation planning path sent by the cloud computing server, and the environmental data around the car owner is obtained in real time and then sent to the cloud computing server; and the cloud computing server is used for generating a navigation planning path to be sent to the quadcopter.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention aims to provide a control information transmission method and a control information transmission system for a four-axis aircraft, which can overcome the defects of the prior art.
In order to achieve the above object, the present invention provides a control information transmission method for a quadcopter, including the steps of:
receiving, by the quadcopter, access control category information sent by the base station, wherein the access control category information indicates access control category rules, and wherein the access control category rules assign different priorities to access requests having different content;
when an event needing to request a control message from the base station occurs, generating a corresponding access request by the quadcopter based on the event requesting the control message;
judging the access control type of the generated corresponding access request by the quadcopter based on the access control type rule and the generated corresponding access request;
generating, by the base station, an access barring category message based on a current load of the base station, wherein the access barring category message indicates that access requests with different contents of low priority sent to the base station are barred;
sending an access prohibition type message to the four-axis aircraft by the base station;
in response to receiving the access barring category message, determining, by the quadcopter, whether the generated corresponding access request is barred from being sent;
if the generated corresponding access request is not forbidden to be sent, the four-axis aircraft sends the generated corresponding access request to the base station;
in response to receiving the generated corresponding access request, sending a request-to-send permission message to the quadcopter by the base station, wherein the request-to-send permission message includes an indication of a resource for sending information used to request control information;
transmitting, by the quadcopter, information to request control information to the base station on the indicated resource in response to receiving the request to transmit permission message; and
the control information is sent by the base station to the quadrotor in response to receiving the information for requesting the control information.
In a preferred embodiment, the control information transmission method for a quadcopter further comprises the steps of:
if the generated corresponding access request is forbidden to be sent, the quadrotor does not send the generated corresponding access request to the base station; and
in response to not sending the generated corresponding access request to the base station, continuing to listen by the quadcopter for access control category information sent by the base station.
In a preferred embodiment, the control information transmission method for a quadcopter further comprises the steps of:
allocating, by the base station, emergency transmission resources for emergency message transmission to the quadcopter;
when the event needing to request the control message from the base station is a low-battery state alarm, generating a corresponding emergency access request by the quadcopter based on the event requesting the control message;
informing the emergency state to the base station by the four-axis aircraft by using the emergency transmission resource;
in response to receiving the notification, changing, by the base station, the barring category message and sending the changed barring category message to other quadcopters in communication with the base station to ensure that the base station is able to receive the emergency access request;
sending an emergency access request to a base station by a four-axis aircraft;
in response to receiving the emergency access request, sending a request-to-send permission message to the quadcopter by the base station, wherein the request-to-send permission message includes an indication of resources used to send information used to request control information;
transmitting, by the quadcopter, information to request control information to the base station on the indicated resource in response to receiving the request to transmit permission message; and
the control information is sent by the base station to the quadrotor in response to receiving the information for requesting the control information.
In a preferred embodiment, the control information transmission method for a quadcopter further comprises the steps of:
allocating, by the base station, emergency transmission resources for emergency message transmission to the quadcopter;
when the event needing to request the control message from the base station is a low-battery state alarm, generating a corresponding emergency access request by the quadcopter based on the event requesting the control message;
informing the emergency state to the base station by the four-axis aircraft by using the emergency transmission resource; and
in response to receiving the notification, a change transmission mode notification is sent by the base station to the quad-copter if the base station determines that the base station cannot ensure that the base station can receive the emergency access request by changing the barring category message and sending the changed barring category message to other quad-copters in communication with the base station.
In a preferred embodiment, the control information transmission method for a quadcopter further comprises the steps of:
in response to receiving the change transmission mode notification, sending, by the quadcopter, an emergency access request to the base station on an emergency transmission resource for emergency message transmission;
transmitting, by the base station, a request-to-send permission message to the quadcopter in response to receiving the emergency access request, wherein the request-to-send permission message includes an indication of a resource for transmitting information to request control information, wherein the resource can be an emergency transmission resource;
transmitting, by the quadcopter, information to request control information to the base station on the indicated resource in response to receiving the request to transmit permission message; and
the control information is sent by the base station to the quadrotor in response to receiving the information for requesting the control information.
The present invention also provides a control information transmission system for a quadcopter, comprising:
means for receiving, by the quadcopter, access control category information sent by the base station, wherein the access control category information indicates an access control category rule, and wherein the access control category rule assigns different priorities to access requests having different content;
a unit for generating, by the quadcopter, a corresponding access request based on an event requesting a control message when the event requiring the control message from the base station occurs;
means for determining, by the quadcopter, an access control category for the generated corresponding access request based on the access control category rules and the generated corresponding access request;
means for generating, by the base station, a barring category message based on a current load of the base station, wherein the barring category message indicates barring access requests of low priority with different content sent to the base station;
means for sending, by the base station, an access barring category message to the quadcopter;
means for determining, by the quadcopter, whether the generated corresponding access request is prohibited from being sent in response to receiving the access barring category message;
means for transmitting, by the quadcopter, the generated corresponding access request to the base station if it is determined that the generated corresponding access request is not prohibited from being transmitted;
means for transmitting, by the base station, a request-to-transmit permission message to the quadcopter in response to receiving the generated corresponding access request, wherein the request-to-transmit permission message includes an indication of a resource for transmitting information used to request control information;
means for transmitting, by the quadcopter, information requesting control information to the base station on the indicated resource in response to receiving the request to transmit permission message; and
means for transmitting, by the base station, the control information to the quadcopter in response to receiving the information for requesting the control information.
In a preferred embodiment, the control information transmission system for a quadcopter further comprises:
means for, if it is determined that the generated corresponding access request is prohibited from being sent, not sending the generated corresponding access request to the base station by the quadcopter; and
means for continuing, by the quadcopter, to listen for access control class information transmitted by the base station in response to not transmitting the generated corresponding access request to the base station.
In a preferred embodiment, the control information transmission system for a quadcopter further comprises:
means for allocating, by the base station, emergency transmission resources for emergency message transmission to the quadcopter;
means for generating, by the quadcopter, a corresponding emergency access request based on an event requesting a control message when the event requiring a control message from the base station is a low battery status alert;
means for notifying, by the quadcopter, the emergency status to the base station using the emergency transmission resource;
means for changing, by the base station and transmitting the changed barring category message to other quadcopters in communication with the base station to ensure that the base station is able to receive the emergency access request in response to receiving the notification;
means for sending an emergency access request by the quadcopter to the base station;
means for transmitting, by the base station, a request-to-transmit permission message to the quadcopter in response to receiving the emergency access request, wherein the request-to-transmit permission message includes an indication of a resource for transmitting information used to request control information;
means for transmitting, by the quadcopter, information requesting control information to the base station on the indicated resource in response to receiving the request to transmit permission message; and
means for transmitting, by the base station, the control information to the quadcopter in response to receiving the information for requesting the control information.
In a preferred embodiment, the control information transmission system for a quadcopter further comprises:
means for allocating, by the base station, emergency transmission resources for emergency message transmission to the quadcopter;
means for generating, by the quadcopter, a corresponding emergency access request based on an event requesting a control message when the event requiring a control message from the base station is a low battery status alert;
means for notifying, by the quadcopter, the emergency status to the base station using the emergency transmission resource; and
means for transmitting, by the base station, a change transmission mode notification to the quad-copter if the base station determines that the base station cannot receive the emergency access request by changing the barring category message and transmitting the changed barring category message to other quad-copters in communication with the base station in response to receiving the notification.
In a preferred embodiment, the control information transmission system for a quadcopter further comprises:
means for transmitting, by the quadcopter, an emergency access request to the base station on an emergency transmission resource for emergency message transmission in response to receiving the change transmission mode notification;
means for transmitting, by the base station, a request-to-send permission message to the quadcopter in response to receiving the emergency access request, wherein the request-to-send permission message includes an indication of a resource for transmitting information to request control information, wherein the resource can be an emergency transmission resource;
means for transmitting, by the quadcopter, information requesting control information to the base station on the indicated resource in response to receiving the request to transmit permission message; and
means for transmitting, by the base station, the control information to the quadcopter in response to receiving the information for requesting the control information.
Compared with the prior art, the invention has the following advantages: with the continuous development of the internet of things technology, the quadcopter must be fused with a communication network to a higher degree, and although various control methods for the quadcopter are designed in the prior art, the prior art generally rarely relates to the design of information transmission between the quadcopter and the TRP. The invention designs a control information transmission method for a four-axis aircraft, and because the number of the four-axis aircraft in each cell (whether a macro cell or a small cell) is larger, the invention designs a method for adjusting the access prohibition state of the aircraft at any time. In addition, in order to prevent the delay of important events (such as low battery or mechanical failure, etc.) from being too large, the invention designs a step of allocating emergency transmission resources for transmitting emergency messages to the quadcopter and related steps thereof, wherein the step ensures that the emergency alarm messages transmitted by the quadcopter can be received in time even if the base station is heavily loaded.
Drawings
Fig. 1 is a flowchart of a control information transmission method for a quadcopter according to an embodiment of the present invention.
Detailed Description
The following detailed description of the present invention is provided in conjunction with the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the specific embodiments.
Throughout the specification and claims, unless explicitly stated otherwise, the word "comprise", or variations such as "comprises" or "comprising", will be understood to imply the inclusion of a stated element or component but not the exclusion of any other element or component.
Fig. 1 is a flowchart of a control information transmission method for a quadcopter according to an embodiment of the present invention. As shown in the figure, the control information transmission method for the quadcopter comprises the following steps:
step 101: receiving, by a quadcopter (quadcopter with e.g. low cost low complexity communication equipment), access control class information sent by a base station (legacy base station or transmission reception point or central node), wherein the access control class information indicates an access control class rule, and wherein the access control class rule assigns different priorities to access requests with different content;
step 102: when an event needing to request a control message from the base station occurs, generating a corresponding access request by the quadcopter based on the event requesting the control message;
step 103: judging the access control type of the generated corresponding access request by the quadcopter based on the access control type rule and the generated corresponding access request;
step 104: generating, by the base station, an access barring category message based on a current load of the base station, wherein the access barring category message indicates that access requests with different contents of low priority sent to the base station are barred;
step 105: sending an access prohibition type message to the four-axis aircraft by the base station;
step 106: in response to receiving the access barring category message, determining, by the quadcopter, whether the generated corresponding access request is barred from being sent;
step 107: if the generated corresponding access request is not forbidden to be sent, the four-axis aircraft sends the generated corresponding access request to the base station;
step 108: in response to receiving the generated corresponding access request, sending a request-to-send permission message to the quadcopter by the base station, wherein the request-to-send permission message comprises an indication of resources (resources are time and frequency resources) used for sending information used for requesting control information;
step 109: transmitting, by the quadcopter, information to request control information to the base station on the indicated resource in response to receiving the request to transmit permission message; and
step 110: the control information is sent by the base station to the quadrotor in response to receiving the information for requesting the control information.
In a preferred embodiment, the control information transmission method for a quadcopter further comprises the steps of: if the generated corresponding access request is forbidden to be sent, the quadrotor does not send the generated corresponding access request to the base station; and in response to not sending the generated corresponding access request to the base station, continuing to listen, by the quadcopter, for access control category information sent by the base station.
In a preferred embodiment, the control information transmission method for a quadcopter further comprises the steps of: allocating, by the base station, emergency transmission resources for emergency message transmission to the quadcopter; when the event needing to request the control message from the base station is a low-battery state alarm, generating a corresponding emergency access request by the quadcopter based on the event requesting the control message; informing the emergency state to the base station by the four-axis aircraft by using the emergency transmission resource; in response to receiving the notification, changing, by the base station, the barring category message and sending the changed barring category message to other quadcopters in communication with the base station to ensure that the base station is able to receive the emergency access request; sending an emergency access request to a base station by a four-axis aircraft; in response to receiving the emergency access request, sending a request-to-send permission message to the quadcopter by the base station, wherein the request-to-send permission message includes an indication of resources used to send information used to request control information; transmitting, by the quadcopter, information to request control information to the base station on the indicated resource in response to receiving the request to transmit permission message; and transmitting, by the base station, the control information to the quadcopter in response to receiving the information for requesting the control information.
In a preferred embodiment, the control information transmission method for a quadcopter further comprises the steps of: allocating, by the base station, emergency transmission resources for emergency message transmission to the quadcopter; when the event needing to request the control message from the base station is a low-battery state alarm, generating a corresponding emergency access request by the quadcopter based on the event requesting the control message; informing the emergency state to the base station by the four-axis aircraft by using the emergency transmission resource; and in response to receiving the notification, sending, by the base station, a change transmission mode notification to the quad-copter if the base station determines that the base station cannot ensure that the base station can receive the emergency access request by changing the barring category message and sending the changed barring category message to other quad-copters in communication with the base station.
In a preferred embodiment, the control information transmission method for a quadcopter further comprises the steps of: in response to receiving the change transmission mode notification, sending, by the quadcopter, an emergency access request to the base station on an emergency transmission resource for emergency message transmission; transmitting, by the base station, a request-to-send permission message to the quadcopter in response to receiving the emergency access request, wherein the request-to-send permission message includes an indication of a resource for transmitting information to request control information, wherein the resource can be an emergency transmission resource; transmitting, by the quadcopter, information to request control information to the base station on the indicated resource in response to receiving the request to transmit permission message; and transmitting, by the base station, the control information to the quadcopter in response to receiving the information for requesting the control information.
The present invention also provides a control information transmission system for a quadcopter, comprising: means for receiving, by the quadcopter, access control category information sent by the base station, wherein the access control category information indicates an access control category rule, and wherein the access control category rule assigns different priorities to access requests having different content; a unit for generating, by the quadcopter, a corresponding access request based on an event requesting a control message when the event requiring the control message from the base station occurs; means for determining, by the quadcopter, an access control category for the generated corresponding access request based on the access control category rules and the generated corresponding access request; means for generating, by the base station, a barring category message based on a current load of the base station, wherein the barring category message indicates barring access requests of low priority with different content sent to the base station; means for sending, by the base station, an access barring category message to the quadcopter; means for determining, by the quadcopter, whether the generated corresponding access request is prohibited from being sent in response to receiving the access barring category message; means for transmitting, by the quadcopter, the generated corresponding access request to the base station if it is determined that the generated corresponding access request is not prohibited from being transmitted; means for transmitting, by the base station, a request-to-transmit permission message to the quadcopter in response to receiving the generated corresponding access request, wherein the request-to-transmit permission message includes an indication of a resource for transmitting information used to request control information; means for transmitting, by the quadcopter, information requesting control information to the base station on the indicated resource in response to receiving the request to transmit permission message; and means for transmitting, by the base station, the control information to the quadcopter in response to receiving the information for requesting the control information.
In a preferred embodiment, the control information transmission system for a quadcopter further comprises: means for, if it is determined that the generated corresponding access request is prohibited from being sent, not sending the generated corresponding access request to the base station by the quadcopter; and means for continuing to listen, by the quadcopter, for the access control class information transmitted by the base station in response to not transmitting the generated corresponding access request to the base station.
In a preferred embodiment, the control information transmission system for a quadcopter further comprises: means for allocating, by the base station, emergency transmission resources for emergency message transmission to the quadcopter; means for generating, by the quadcopter, a corresponding emergency access request based on an event requesting a control message when the event requiring a control message from the base station is a low battery status alert; means for notifying, by the quadcopter, the emergency status to the base station using the emergency transmission resource; means for changing, by the base station and transmitting the changed barring category message to other quadcopters in communication with the base station to ensure that the base station is able to receive the emergency access request in response to receiving the notification; means for sending an emergency access request by the quadcopter to the base station; means for transmitting, by the base station, a request-to-transmit permission message to the quadcopter in response to receiving the emergency access request, wherein the request-to-transmit permission message includes an indication of a resource for transmitting information used to request control information; means for transmitting, by the quadcopter, information requesting control information to the base station on the indicated resource in response to receiving the request to transmit permission message; and means for transmitting, by the base station, the control information to the quadcopter in response to receiving the information for requesting the control information.
In a preferred embodiment, the control information transmission system for a quadcopter further comprises: means for allocating, by the base station, emergency transmission resources for emergency message transmission to the quadcopter; means for generating, by the quadcopter, a corresponding emergency access request based on an event requesting a control message when the event requiring a control message from the base station is a low battery status alert; means for notifying, by the quadcopter, the emergency status to the base station using the emergency transmission resource; and means for transmitting, by the base station, a change transmission mode notification to the quad-copter if the base station determines that the base station cannot receive the emergency access request by changing the barring category message and transmitting the changed barring category message to other quad-coppers in communication with the base station in response to receiving the notification.
In a preferred embodiment, the control information transmission system for a quadcopter further comprises: means for transmitting, by the quadcopter, an emergency access request to the base station on an emergency transmission resource for emergency message transmission in response to receiving the change transmission mode notification; means for transmitting, by the base station, a request-to-send permission message to the quadcopter in response to receiving the emergency access request, wherein the request-to-send permission message includes an indication of a resource for transmitting information to request control information, wherein the resource can be an emergency transmission resource; means for transmitting, by the quadcopter, information requesting control information to the base station on the indicated resource in response to receiving the request to transmit permission message; and means for transmitting, by the base station, the control information to the quadcopter in response to receiving the information for requesting the control information.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. It is not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application to enable one skilled in the art to make and use various exemplary embodiments of the invention and various alternatives and modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the claims and their equivalents.
Claims (2)
1. A control information transmission method for a four-axis aircraft is characterized by comprising the following steps: the control information transmission method for the quadcopter comprises the following steps:
receiving, by a quadcopter, access control category information sent by a base station, wherein the access control category information indicates access control category rules, and wherein the access control category rules assign different priorities to access requests having different content;
when an event needing to request a control message from a base station occurs, generating a corresponding access request by the quadcopter based on the event requesting the control message;
determining, by the quadcopter, an access control category of the generated corresponding access request based on the access control category rule and the generated corresponding access request;
generating, by the base station, an access barring category message based on a current load of the base station, wherein the access barring category message indicates barring of low priority access requests with different content sent to the base station;
sending, by the base station, the barring category message to the quadcopter;
in response to receiving the access barring category message, determining, by the quadcopter, whether the generated corresponding access request is barred from being sent;
if the generated corresponding access request is not prohibited to be sent, the four-axis aircraft sends the generated corresponding access request to the base station;
transmitting, by the base station, a request-to-send permission message to the quadcopter in response to receiving the generated corresponding access request, wherein the request-to-send permission message includes an indication of resources used to transmit information used to request control information;
transmitting, by the quadcopter to the base station, the information to request control information on the indicated resource in response to receiving the request to transmit permission message; and
transmitting, by the base station, the control information to the quad copter in response to receiving the information to request control information,
the control information transmission method for the quadcopter further comprises the following steps:
if the generated corresponding access request is forbidden to be sent, the quadrotor does not send the generated corresponding access request to the base station; and
in response to not sending the generated corresponding access request to the base station, continuing to listen by the quadcopter for access control class information sent by the base station,
the control information transmission method for the quadcopter further comprises the following steps:
allocating, by the base station, emergency transmission resources for emergency message transmission to the quadcopter;
when the event needing to request the control message from the base station is a low-battery state alarm, generating a corresponding emergency access request by the four-axis aircraft based on the event requesting the control message;
notifying, by the quadcopter, the emergency status to the base station using the emergency transmission resource;
in response to receiving the notification, changing, by the base station, a barring category message and sending the changed barring category message to other quadcopters in communication with the base station to ensure that the base station is able to receive the emergency access request;
sending, by the quadcopter, the emergency access request to the base station;
transmitting, by the base station to the quadcopter, a request-to-send permission message in response to receiving the emergency access request, wherein the request-to-send permission message includes an indication of resources used to transmit information used to request control information;
transmitting, by the quadcopter to the base station, the information to request control information on the indicated resource in response to receiving the request to transmit permission message; and
transmitting, by the base station, the control information to the quad copter in response to receiving the information to request control information,
the control information transmission method for the quadcopter further comprises the following steps:
allocating, by the base station, emergency transmission resources for emergency message transmission to the quadcopter;
when the event needing to request the control message from the base station is a low-battery state alarm, generating a corresponding emergency access request by the four-axis aircraft based on the event requesting the control message;
notifying, by the quadcopter, the emergency status to the base station using the emergency transmission resource; and
in response to receiving the notification, sending, by the base station, a change transmission mode notification to the quad copter if the base station determines that the base station cannot guarantee that the base station can receive the emergency access request by changing a barring access class message and sending the changed barring access class message to other quad copters in communication with the base station,
the control information transmission method for the quadcopter further comprises the following steps:
in response to receiving the change transmission mode notification, sending, by the quadcopter, the emergency access request to the base station on the emergency transmission resource for emergency message transmission;
transmitting, by a base station, a request-to-send permission message to the quadcopter in response to receiving the emergency access request, wherein the request-to-send permission message includes an indication of a resource for transmitting information to request control information, wherein the resource can be the emergency transmission resource;
transmitting, by the quadcopter to the base station, the information to request control information on the indicated resource in response to receiving the request to transmit permission message; and
transmitting, by the base station, the control information to the quadcopter in response to receiving the information to request control information.
2. A control information transmission system for a quadcopter, characterized in that: the control information transmission system for the quadcopter comprises:
means for receiving, by a quadcopter, access control category information transmitted by a base station, wherein the access control category information indicates access control category rules, and wherein the access control category rules assign different priorities to access requests having different content;
means for generating, by the quadcopter, a corresponding access request based on an event requesting a control message from a base station when the event requiring the control message occurs;
means for determining, by the quadcopter, an access control category for the generated corresponding access request based on the access control category rule and the generated corresponding access request;
means for generating, by the base station, a barring category message based on a current load of the base station, wherein the barring category message indicates barring of low priority access requests with different content sent to the base station;
means for transmitting, by the base station, the barring category message to the quadcopter;
means for determining, by the quadcopter, whether the generated corresponding access request is prohibited from being sent in response to receiving the barring access category message;
means for transmitting, by the quadcopter, the generated corresponding access request to the base station if it is determined that the generated corresponding access request is not prohibited from being transmitted;
means for transmitting, by the base station, a request-to-send grant message to the quadcopter in response to receiving the generated corresponding access request, wherein the request-to-send grant message includes an indication of resources for transmitting information to request control information;
means for transmitting, by the quadcopter, the information to request control information to the base station on the indicated resource in response to receiving the request to transmit permission message; and
means for transmitting, by the base station, control information to the quadcopter in response to receiving the information to request control information,
the control information transmission system for the quadcopter further comprises:
means for, if it is determined that the generated corresponding access request is prohibited from being transmitted, not transmitting the generated corresponding access request to the base station by the quadcopter; and
means for continuing, by the quadcopter, listening to access control class information transmitted by a base station in response to not transmitting the generated corresponding access request to the base station,
the control information transmission system for the quadcopter further comprises:
means for allocating, by the base station, emergency transmission resources for emergency message transmission to a quadcopter;
means for generating, by the quad-pod, a corresponding emergency access request based on the event requesting a control message when the event requiring a control message from a base station is a low battery status alert;
means for notifying, by the quadcopter, the emergency status to the base station using the emergency transmission resource;
means for changing, by the base station and sending a changed barring category message to other quadcopters in communication with the base station to ensure that the base station can receive the emergency access request in response to receiving the notification;
means for transmitting, by the quadcopter, the emergency access request to the base station;
means for transmitting, by the base station, a request-to-transmit permission message to the quadcopter in response to receiving the emergency access request, wherein the request-to-transmit permission message includes an indication of resources used to transmit information used to request control information;
means for transmitting, by the quadcopter, the information to request control information to the base station on the indicated resource in response to receiving the request to transmit permission message; and
means for transmitting, by the base station, control information to the quadcopter in response to receiving the information to request control information,
the control information transmission system for the quadcopter further comprises:
means for allocating, by the base station, emergency transmission resources for emergency message transmission to a quadcopter;
means for generating, by the quad-pod, a corresponding emergency access request based on the event requesting a control message when the event requiring a control message from a base station is a low battery status alert;
means for notifying, by the quadcopter, the emergency status to the base station using the emergency transmission resource; and
means for transmitting, by the base station, a change transmission mode notification to the quadcopter if the base station determines that the base station cannot guarantee that the base station can receive the emergency access request by changing a barring access class message and transmitting the changed barring access class message to other quadcopters in communication with the base station in response to receiving the notification,
the control information transmission system for the quadcopter further comprises:
means for transmitting, by the quadcopter, the emergency access request to the base station on the emergency transmission resource for emergency message transmission in response to receiving the change transmission mode notification;
means for transmitting, by the base station, a request-to-send-grant message to the quadcopter in response to receiving the emergency access request, wherein the request-to-send-grant message includes an indication of a resource for transmitting information to request control information, wherein the resource can be the emergency transmission resource;
means for transmitting, by the quadcopter, the information to request control information to the base station on the indicated resource in response to receiving the request to transmit permission message; and
means for transmitting, by the base station, control information to the quadcopter in response to receiving the information to request control information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910488912.0A CN110177391B (en) | 2019-06-06 | 2019-06-06 | Control information transmission method and system for four-axis aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910488912.0A CN110177391B (en) | 2019-06-06 | 2019-06-06 | Control information transmission method and system for four-axis aircraft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110177391A CN110177391A (en) | 2019-08-27 |
| CN110177391B true CN110177391B (en) | 2021-06-18 |
Family
ID=67698107
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910488912.0A Active CN110177391B (en) | 2019-06-06 | 2019-06-06 | Control information transmission method and system for four-axis aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110177391B (en) |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105635944A (en) * | 2010-04-30 | 2016-06-01 | 中兴通讯股份有限公司 | Machine communication access control method and system and system |
| CN103096495A (en) * | 2011-11-03 | 2013-05-08 | 中兴通讯股份有限公司 | Access control method and system |
| US9961527B2 (en) * | 2016-06-30 | 2018-05-01 | Verizon Patent And Licensing Inc. | Access control and scheduling mechanism for MTC devices |
| JP2020506596A (en) * | 2017-01-23 | 2020-02-27 | オッポ広東移動通信有限公司 | Access method and terminal |
| CN109275174A (en) * | 2017-07-17 | 2019-01-25 | ***通信有限公司研究院 | A kind of connection control method of terminal and base station |
| CN109327882B (en) * | 2017-08-01 | 2020-07-31 | 捷开通讯(深圳)有限公司 | Access control method, communication equipment and equipment with storage function |
| EP3796571B1 (en) * | 2018-05-17 | 2023-08-23 | Beijing Xiaomi Mobile Software Co., Ltd. | Method and device for controlling unmanned aerial vehicle to access network |
| CN108700894A (en) * | 2018-05-22 | 2018-10-23 | 北京小米移动软件有限公司 | Unmanned aerial vehicle (UAV) control method, apparatus, base station and unmanned plane |
| US11995997B2 (en) * | 2018-08-30 | 2024-05-28 | Beijing Xiaomi Mobile Software Co., Ltd. | Methods and apparatuses for configuring flight route, flight methods and apparatuses, and base stations |
-
2019
- 2019-06-06 CN CN201910488912.0A patent/CN110177391B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110177391A (en) | 2019-08-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3347270B1 (en) | Unmanned aerial vehicle in controlled airspace | |
| EP3346441A1 (en) | Method, user terminal, server, and detecting device for monitoring flight of unmanned aerial vehicle | |
| JP6960466B2 (en) | Information processing device | |
| WO2016164892A1 (en) | Methods and systems for unmanned aircraft system (uas) traffic management | |
| US20180268723A1 (en) | System, method, and program for controlling traffic of uninhabited vehicle | |
| US10464669B2 (en) | Unmanned aerial vehicle collision avoidance system | |
| US10937324B2 (en) | Orchestration in heterogeneous drone swarms | |
| CN113479195A (en) | Method for automatic valet parking and system for carrying out said method | |
| CN111627256A (en) | Unmanned aerial vehicle control method, vehicle-mounted terminal and computer-readable storage medium | |
| JP2020071724A (en) | Airplanes on which pilots do not ride, and flight system and control system thereof | |
| CN108475065B (en) | Safety control method and device for unmanned aerial vehicle flight and machine readable storage medium | |
| JP7196189B2 (en) | Method, device and control system for controlling a mobile robot | |
| JP7171364B2 (en) | Information processing equipment | |
| CN113272749A (en) | Autonomous vehicle guidance authority framework | |
| CN110177391B (en) | Control information transmission method and system for four-axis aircraft | |
| US11620913B2 (en) | Movable object application framework | |
| US11508362B2 (en) | Voice recognition method of artificial intelligence robot device | |
| CN109631853A (en) | A kind of depth map processing method, device and unmanned plane | |
| JP7365520B1 (en) | Information processing device and information processing method | |
| WO2021014747A1 (en) | Information processing device, information processing method, and program | |
| JP7261334B1 (en) | Flight management device, flight management method and program | |
| Obdržálek | Software environment for simulation of UAV multi-agent system | |
| CN109286435B (en) | Data transmission method, device and system | |
| JP7190325B2 (en) | Information processing equipment | |
| KR20190113067A (en) | Control system for unmanned aerial vehicle and control method therefor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210531 Address after: 1226-2, 12 / F, 18 Zhongguancun Street, Haidian District, Beijing 100089 Applicant after: Beijing Zhile spatiotemporal Technology Co.,Ltd. Address before: No.15-1, Wuzhong District, xiawubao, Yinglin Town, Jinjiang City, Quanzhou City, Fujian Province, 362256 Applicant before: QUANZHOU HUAXIANG INDUSTRIAL DESIGN Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |