CN114531194A - Wireless communication method and device, unmanned aerial vehicle and unmanned aerial vehicle control system - Google Patents
Wireless communication method and device, unmanned aerial vehicle and unmanned aerial vehicle control system Download PDFInfo
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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
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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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04W76/10—Connection setup
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W8/00—Network data management
- H04W8/18—Processing of user or subscriber data, e.g. subscribed services, user preferences or user profiles; Transfer of user or subscriber data
- H04W8/20—Transfer of user or subscriber data
- H04W8/205—Transfer to or from user equipment or user record carrier
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention relates to the technical field of unmanned aerial vehicles, in particular to a wireless communication method and device, an unmanned aerial vehicle and an unmanned aerial vehicle control system. The method comprises the following steps: acquiring flight state information of the unmanned aerial vehicle; determining that the first communication link is broken; and sending the flight state information to a remote control terminal through a second communication link, so that the remote control terminal determines the flight state of the unmanned aerial vehicle according to the flight state information. This embodiment can master unmanned aerial vehicle's flight state all the time to ensured that unmanned aerial vehicle can not lose the antithetical couplet, improved unmanned aerial vehicle's security, reduced user's loss.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of unmanned aerial vehicles, in particular to a wireless communication method and device, an unmanned aerial vehicle and an unmanned aerial vehicle control system.
[ background of the invention ]
Unmanned aerial vehicle is as a remote control's flight equipment, and it can be applied to in a plurality of fields, realizes diversified function. For example, video images are captured by a drone. However, in practical application, the unmanned aerial vehicle is easily out of contact with the control end due to various reasons, and the unmanned aerial vehicle is easily lost.
[ summary of the invention ]
The invention aims to provide a wireless communication method, a wireless communication device, an unmanned aerial vehicle and an unmanned aerial vehicle control system, and solves the technical problem that the unmanned aerial vehicle is easy to lose contact with a control end.
In one aspect of the embodiments of the present invention, a wireless communication method is provided, which is applied to an unmanned aerial vehicle, and the method includes:
acquiring flight state information of the unmanned aerial vehicle;
determining that the first communication link is broken;
and sending the flight state information to a remote control terminal through a second communication link, so that the remote control terminal determines the flight state of the unmanned aerial vehicle according to the flight state information.
Optionally, before the determining that the first communication link is disconnected, the method further comprises:
and establishing a first communication link according to a first eSIM card and a second eSIM card, wherein the first eSIM card is arranged in the unmanned aerial vehicle, and the second eSIM card is arranged in the remote control terminal.
Optionally, the unmanned aerial vehicle includes a GPS module and a first beidou module, then, acquiring the flight status information of the unmanned aerial vehicle includes:
obtaining base station positioning information of the first eSIM card;
acquiring position information and speed information of the unmanned aerial vehicle, which are acquired by a GPS module;
acquiring position information and speed information of the unmanned aerial vehicle, which are acquired by the first Beidou module;
calculating the base station positioning information, the position information and the speed information acquired by the GPS module, and the position information and the speed information acquired by the first Beidou module to obtain data fusion information, wherein the data fusion information comprises the position and the flight speed of the unmanned aerial vehicle;
and packaging according to the base station positioning information, the position information and the speed information acquired by the GPS module, the position information and the speed information acquired by the first Beidou module and the data fusion information to generate the flight state information of the unmanned aerial vehicle.
Optionally, the method further comprises:
sending flight warning information to the remote control terminal through the second communication link;
and searching communication signals of the first communication link in real time to connect the first communication link.
Optionally, the searching for the communication signal of the first communication link in real time includes:
and acquiring a historical flight path of the unmanned aerial vehicle, and searching the communication signal of the first communication link on the historical flight path in real time.
Optionally, the method further comprises:
and starting a return flight program to enable the unmanned aerial vehicle to fly back to a flying point.
In another aspect of the embodiments of the present invention, a wireless communication device is provided, which is applied to an unmanned aerial vehicle, and the device includes:
the information acquisition module is used for acquiring the flight state information of the unmanned aerial vehicle;
a communication link status determination module for determining that the first communication link is disconnected;
and the first information sending module is used for sending the flight state information to a remote control terminal through a second communication link so that the remote control terminal can determine the flight state of the unmanned aerial vehicle according to the flight state information.
Optionally, the apparatus further comprises:
a communication link establishing module, configured to establish a first communication link according to a first eSIM card and a second eSIM card, where the first eSIM card is disposed in the drone and the second eSIM card is disposed in the remote control terminal.
Optionally, the unmanned aerial vehicle includes a GPS module and a first beidou module, the information acquisition module includes:
a first obtaining unit, configured to obtain base station location information of the first eSIM card;
the second acquisition unit is used for acquiring the position information and the speed information of the unmanned aerial vehicle acquired by the GPS module;
the third acquisition unit is used for acquiring the position information and the speed information of the unmanned aerial vehicle acquired by the first Beidou module;
the calculation unit is used for calculating the base station positioning information, the position information and the speed information acquired by the GPS module and the position information and the speed information acquired by the first Beidou module to obtain data fusion information, wherein the data fusion information comprises the position and the flight speed of the unmanned aerial vehicle;
and the processing unit is used for packaging according to the base station positioning information, the position information and the speed information acquired by the GPS module, the position information and the speed information acquired by the first Beidou module and the data fusion information to generate the flight state information of the unmanned aerial vehicle.
Optionally, the apparatus further comprises:
the second information sending module is used for sending flight warning information to the remote control terminal through the second communication link;
and the signal searching module is used for searching the communication signals of the first communication link in real time so as to enable the first communication link to be communicated.
Optionally, the signal search module is specifically configured to:
and acquiring a historical flight path of the unmanned aerial vehicle, and searching the communication signal of the first communication link on the historical flight path in real time to communicate the first communication link.
Optionally, the apparatus further comprises:
and the program starting module is used for starting a preset return program so that the unmanned aerial vehicle flies back to the flying point.
In another aspect of the embodiments of the present invention, an unmanned aerial vehicle is provided, where the unmanned aerial vehicle includes a body, a horn connected to the body, and a power device for providing power for the unmanned aerial vehicle to fly, and is characterized in that the unmanned aerial vehicle further includes a first eSIM card, a first beidou module, and a flight controller disposed in the body, and the flight controller is in communication connection with the first eSIM card and the first beidou module; wherein the content of the first and second substances,
the first eSIM card is used for establishing a first communication link;
the first Beidou module is used for establishing a second communication link;
the flight controller is used for acquiring flight state information of the unmanned aerial vehicle; determining that the first communication link is broken; and sending the flight state information to a remote control terminal through the second communication link, so that the remote control terminal determines the flight state of the unmanned aerial vehicle according to the flight state information.
Optionally, the drone further comprises a GPS module communicatively coupled with the flight controller,
the GPS module is used for acquiring the position information and the speed information of the unmanned aerial vehicle;
the first eSIM card is used for acquiring base station positioning information corresponding to the first eSIM card;
the first Beidou module is used for acquiring position information and speed information of the unmanned aerial vehicle;
the flight controller is used for calculating the base station positioning information, the position information and the speed information acquired by the GPS module and the position information and the speed information acquired by the first Beidou module to obtain data fusion information, wherein the data fusion information comprises the position and the flight speed of the unmanned aerial vehicle;
the flight controller is further configured to:
and packaging according to the base station positioning information, the position information and the speed information acquired by the GPS module, the position information and the speed information acquired by the Beidou module and the data fusion information to generate the flight state information of the unmanned aerial vehicle.
Optionally, the flight controller is further configured to:
sending flight warning information to the remote control terminal through the second communication link;
and searching communication signals of the first communication link in real time to connect the first communication link.
Optionally, the flight controller is further configured to:
and starting a return flight program to enable the unmanned aerial vehicle to fly back to a flying point.
In a further aspect of the embodiments of the present invention, there is provided an unmanned aerial vehicle control system, including:
a drone as described above;
the remote control terminal is provided with a second eSIM card and a second Beidou module;
the first eSIM card is connected with the second eSIM card to establish the first communication link, and the first Beidou module is connected with the second Beidou module to establish the second communication link;
and the remote control terminal is used for receiving the flight state information sent by the unmanned aerial vehicle through the second communication link when the first communication link is disconnected, and determining the flight state of the unmanned aerial vehicle according to the flight state information.
Optionally, the system further includes a cloud server, where the cloud server is configured to receive and store image information uploaded by the drone through the first eSIM card or the first beidou module.
In the embodiment of the invention, by acquiring the flight state information of the unmanned aerial vehicle and monitoring the connection state of the first communication link, when the disconnection of the first communication link is monitored, the flight state information is sent to the remote control terminal through the second communication link, so that the remote control terminal determines the flight state of the unmanned aerial vehicle according to the flight state information. This embodiment can master unmanned aerial vehicle's flight state all the time to ensured that unmanned aerial vehicle can not lose the antithetical couplet, improved unmanned aerial vehicle's security, reduced user's loss.
[ description of the drawings ]
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle control system provided in an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a hardware structure of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a remote control terminal according to an embodiment of the present invention;
fig. 5 is a flowchart of a wireless communication method according to an embodiment of the present invention;
fig. 6 is a flowchart of a method for acquiring flight status information of the unmanned aerial vehicle in a wireless communication method according to an embodiment of the present invention;
fig. 7 is a flowchart of a wireless communication method according to another embodiment of the present invention;
fig. 8 is a flowchart of a wireless communication method according to another embodiment of the present invention;
fig. 9 is a flowchart of a wireless communication method according to yet another embodiment of the present invention;
fig. 10 is a schematic structural diagram of a wireless communication device according to an embodiment of the present invention.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that, if not conflicted, the various features of the embodiments of the invention may be combined with each other within the scope of protection of the invention. Additionally, while functional block divisions are performed in the device diagrams, with logical sequences shown in the flowcharts, in some cases, the steps shown or described may be performed in a different order than the block divisions in the device diagrams, or the flowcharts.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an unmanned aerial vehicle control system according to an embodiment of the present invention. As shown in fig. 1, the system 100 includes: a drone 10 and a remote control terminal 20.
In the embodiment of the invention, the unmanned aerial vehicle control system mainly provides a composite communication positioning mode based on a GPS technology, a 5G eSIM card and a Beidou technology to ensure that the unmanned aerial vehicle 10 cannot be disconnected with the remote control terminal 20; and, after the drone 10 is disconnected from the remote control terminal 20, a solution is provided to protect the drone 10 in an effort to reduce the loss; in addition, the problem that the unmanned aerial vehicle 10 is easily limited by distance and by a shelter when transmitting images to the remote control terminal 20 can be solved.
Wherein, unmanned aerial vehicle 10 with remote control terminal 20 communication connection, remote control terminal 20 can control unmanned aerial vehicle 10's flight, sends the instruction to unmanned aerial vehicle 10 to make unmanned aerial vehicle 10 return corresponding information according to the instruction, for example, unmanned aerial vehicle 10 sends the image information of shooing to remote control terminal 20 according to the instruction. In this embodiment, when the unmanned aerial vehicle 10 flies normally, the unmanned aerial vehicle 10 and the remote control terminal 20 establish a communication connection based on a composite communication mode formed by a GPS technology, a 5G eSIM card, and a Beidou technology.
It should be noted that the unmanned aerial vehicle 10 and the remote control terminal 20 may be in a one-to-one correspondence relationship. Or a many-to-one relationship, for example, the multiple drones 10 correspond to one remote control terminal 20, where each drone 10 of the multiple drones 10 may communicate with the remote control terminal 20 based on a composite communication mode composed of a GPS technology, a 5G eSIM card, and a beidou technology. The structure of the drone control system 100 is not limited by fig. 1.
Specifically, referring to fig. 2 and 3, the unmanned aerial vehicle 10 includes: the aircraft comprises an airframe 101, four airframes 102 extending from the airframe 101, a power device 103 respectively mounted on each airframe 102, and a first eSIM card 104, a first beidou module 105 and a flight controller 106 arranged in the airframe 101. The flight controller 106 is in communication with the first eSIM card 104 and the first beidou module 105, respectively.
The drone 10 shown in fig. 2 is a quad-rotor drone, the number of power plants 103 being four. In other possible embodiments, the drone 10 may be any other type of unmanned aerial vehicle, such as a fixed wing drone vehicle or the like. Where the power plant 103 is applied to other types of unmanned aerial vehicles, the number of the power plants 103 may be changed according to actual needs, and the invention is not limited thereto.
In an embodiment of the invention, the horn 102 is fixedly connected to the body 101, and preferably, the horn 102 is integrally formed with the body 101. In other possible embodiments, the horn 102 may also be coupled to the body 101 in a manner that it may be unfolded or folded with respect to the body 101. For example, the horn 102 may be coupled to the body 101 via a pivoting mechanism to allow the horn 102 to be unfolded or folded relative to the body 101.
In an embodiment of the invention, the power device 103 includes a driving device 1031 and a propeller assembly 1032 driven by the driving device 1031, the propeller assembly 1032 is mounted on an output shaft of the driving device 1031, and the propeller assembly 1032 is driven by the driving device 1031 to rotate to generate lift force or thrust force for flying the unmanned aerial vehicle 10. The driving device 1031 may be any suitable type of motor, such as a brush motor, a brushless motor, a dc motor, a stepper motor, an ac induction motor, or the like.
Referring to fig. 3, the first eSIM card 104 is configured to establish a first communication link. The first eSIM card 104 may specifically be an eSIM card having a 4G communication function or a 5G communication function, and has the advantages of small size and light weight, and is conveniently installed on the drone 10. The first eSIM card 104 is configured to obtain base station location information corresponding to the first eSIM card 104, where the base station location information refers to location information of the drone 10, and the specific manner of obtaining the base station location information is that the first eSIM card 104 performs location according to a base station corresponding to the first eSIM card, so as to output location information of the drone 10. The first communication link refers to a communication link for realizing communication between the unmanned aerial vehicle 10 and the remote control terminal 20 based on a 5G communication technology or a 4G communication technology. In the embodiment of the present invention, the remote control terminal 20 may control the drone 10 according to the first communication link, such as controlling the drone 10 to take off, land, take video, return images, and so on.
The first beidou module 105 is used for establishing a second communication link. First big dipper module 105 specifically can be the chip that is used for receiving big dipper signal of loading on unmanned aerial vehicle 10, first big dipper module 105 can be used for navigation positioning, provides unmanned aerial vehicle 10's position, speed measurement information etc. The first Beidou module 105 can also connect the unmanned aerial vehicle 10 with the remote control terminal 20, and send the position information, the flight speed information and the like of the unmanned aerial vehicle 10 to the remote control terminal 20 through the second communication link. The second communication link is a communication link for realizing communication between the unmanned aerial vehicle 10 and the remote control terminal 20 based on the Beidou technology. In the embodiment of the present invention, the second communication link is mainly used for transmitting flight state information of the unmanned aerial vehicle 10 to the remote control terminal 20, where the flight state information includes a position, a flight speed, and the like of the unmanned aerial vehicle 10.
It should be noted that, because the beidou communication is a short message communication mode, the short message communication usually delays 0.5 seconds, and only can send data once in 1 second, so that data delay is large, and update frequency is low, the remote control terminal 20 generally does not control the flight of the unmanned aerial vehicle 10 through the second communication link, and of course, in practical application, the second communication link may be selected to control the unmanned aerial vehicle 10 according to specific situations, and preferably, the first communication link or the radio frequency communication mode is used to control the unmanned aerial vehicle 10, or the first communication link and the second communication link are used in combination to control the unmanned aerial vehicle 10.
The flight controller 106 is specifically a flight control system of the unmanned aerial vehicle 10, and is configured to ensure normal flight of the unmanned aerial vehicle 10, and the flight controller 106 may include a processor, a sensor, a memory, a power supply, and other devices. In this embodiment, the flight controller 106 is configured to obtain flight state information of the unmanned aerial vehicle 10, monitor a connection condition of the first communication link, and send the flight state information to the remote control terminal 20 through the second communication link when the first communication link is disconnected, so that the remote control terminal 20 determines the flight state of the unmanned aerial vehicle 10 according to the flight state information. The flight state information refers to the flight speed of the unmanned aerial vehicle 10, the longitude and latitude information of the current position, the flight altitude, and the like. And determining the flight state of the unmanned aerial vehicle 10 according to the flight state information, namely determining the position and the flight speed of the unmanned aerial vehicle according to the flight state information. The process of acquiring the flight state information of the unmanned aerial vehicle 10 and the process of monitoring the communication condition of the first communication link can be performed simultaneously, the flight state information can be acquired all the time after the unmanned aerial vehicle 10 takes off, and the communication condition of the first communication link is monitored all the time.
In this embodiment, the flight status information specifically includes base station positioning information corresponding to the first eSIM card 104, and the position and speed information of the unmanned aerial vehicle 10 detected by the first beidou module 105. The flight controller 106 packages the acquired base station positioning information and the position and speed information of the unmanned aerial vehicle 10 detected by the first beidou module 105, and sends the packaged information to the remote control terminal 20 through the second communication link. Wherein, carry out the information of fixing a position to unmanned aerial vehicle 10 through basic station and detect through first big dipper module 105 unmanned aerial vehicle 10's positional information is probably the same, also can be inequality, when these two positional information are inequality, can these two positions of simultaneous display on the remote control terminal 20, judge whether the distance of these two positions is less than and predetermine the distance threshold value, if, can regard as the intermediate position that these two positions correspond unmanned aerial vehicle 10 current position. Or analyzing historical base station positioning information corresponding to the first eSIM card 104 and historical positions of the unmanned aerial vehicle 10 detected by the first beidou module 105, respectively determining flight trajectories of the unmanned aerial vehicle 10 according to the obtained two sets of historical position information, at this time, obtaining two flight trajectories, and then determining the current position of the unmanned aerial vehicle 10 according to the two flight trajectories.
In some embodiments, referring also to fig. 3, the drone 10 also includes a GPS module 107. The GPS module 107 is communicatively connected to the flight controller 106.
The GPS module 107 may specifically be a GPS module included in the drone 10 itself, and is configured to acquire the position and the flight speed of the drone 10.
In this embodiment, the flight controller 106 is configured to calculate the base station positioning information acquired by the first eSIM card 104, the position information and the speed information acquired by the GPS module 107, and the position information and the speed information acquired by the first beidou module 105 to obtain data fusion information, where the data fusion information includes the position and the flight speed of the unmanned aerial vehicle 10. When the data fusion information is calculated, the position and the flight speed of the unmanned aerial vehicle 10 may be calculated specifically by using a kalman filter method, or the position and the flight speed of the unmanned aerial vehicle 10 may be calculated by using other methods. After the position information and the flight speed of the unmanned aerial vehicle 10 are obtained through calculation, the position information and the flight speed are sent to the flight controller 106, and the flight controller 106 generates a pwm command of a motor according to the position information and the flight speed according to a preset control algorithm and transmits the pwm command to the aircraft. In this embodiment, the flight controller 106 performs comprehensive calculation on the position information and the speed information acquired by the first eSIM card 104, the first beidou module 105 and the GPS module 107, so that more accurate position information and speed information can be obtained, and the accuracy of positioning the unmanned aerial vehicle 10 is improved.
After acquiring the data fusion information, when detecting that the first communication link is disconnected, the flight controller 106 may send the data fusion information, the position information acquired by the first eSIM card 104, the position and speed information acquired by the first beidou module 105, and the position and speed information acquired by the GPS module 107 to the remote control terminal 20 through the second communication link, so that the remote control terminal 20 can acquire the position and flight speed of the unmanned aerial vehicle 10 more accurately. When the position information and the speed information are transmitted through the second communication link, the position information and the speed information can be packed and compressed, and then the packed and compressed data is transmitted through the second communication link, so that the transmission efficiency of the data can be improved.
In general, after the remote control terminal 20 obtains the current position and the flight speed of the unmanned aerial vehicle 10, the remote control terminal 20 cannot control the unmanned aerial vehicle 10 to fly through the second communication link, so that the unmanned aerial vehicle 10 can be protected in the following manner in order to ensure the safety of the unmanned aerial vehicle 10.
Specifically, the flight controller 106 is further configured to send flight warning information to the remote control terminal 20 through the second communication link. The flight warning message is used to remind the user corresponding to the remote control terminal 20 that the unmanned aerial vehicle 10 may be lost, so that the user can respond to the loss of contact accident in time. At the same time, the flight controller 106 is further configured to search for the communication signal of the first communication link in real time to connect the first communication link. Wherein the searching for the communication signal of the first communication link in real time specifically includes: and acquiring a historical flight path of the unmanned aerial vehicle 10, and searching the communication signal of the first communication link on the historical flight path in real time. In this embodiment, when the first communication link of the drone 10 is disconnected, it is determined that the drone 10 is disconnected from the remote control terminal 20, at this time, the drone 10 autonomously decides to fly, the drone 10 flies according to its historical flight path, and a signal for connecting the first communication link is automatically searched during the flight. After the first communication link is connected, the remote control terminal 20 can control the unmanned aerial vehicle 10 to fly. When the unmanned aerial vehicle 10 autonomously decides to fly, a preset offline processing instruction is triggered, and the flight controller 106 generates a corresponding pwm instruction according to the offline processing instruction, so as to drive a motor and control the unmanned aerial vehicle 10 to autonomously fly. After the first communication link is connected, the unmanned aerial vehicle 10 remains hovering in place, and waits for the remote control terminal 20 to send an operation instruction.
In some embodiments, after the drone 10 loses contact, the flight controller 106 is further configured to initiate a preset fly-back procedure to fly the drone 10 back to the point of departure. Wherein, unmanned aerial vehicle 10 has recorded its point of departure when taking off. In this embodiment, the drone 10 may automatically fly back to the point of departure, thereby protecting the drone 10.
Optionally, the drone 10 further includes an SD card, and the SD card is used for storing data information of the drone 10, for example, storing image information taken by the drone 10.
Referring to fig. 4, the remote control terminal 20 includes a second eSIM card 201 and a second beidou module 202. The second eSIM card 201 has the same composition and the same realized function as the first eSIM card 104, and the second beidou module 202 has the same composition and the same realized function as the first beidou module 105. The second eSIM card 201 is in communication connection with the first eSIM card 104 to establish the first communication link; the second beidou module 201 is in communication connection with the first beidou module 105 to establish the second communication link.
The remote control terminal 20 may be a remote controller, or a mobile terminal device such as a smart phone and a tablet computer. When the remote control terminal 20 is a mobile terminal device, the drone 10 may be operated by an APP installed on the mobile terminal device.
Optionally, the remote control terminal 20 further includes an SD card, and the SD card is used for storing data information, such as image information returned by the drone 10, a flight status of the drone 10, and the like.
It should be noted that the SD card is optional, the SD card is set in the remote control terminal 20 by default, and when the SD card is not set in the remote control terminal 20, the SD card is set in the unmanned aerial vehicle 10. When the unmanned aerial vehicle 10 and the remote control terminal 20 are not provided with the SD card, the image information shot by the unmanned aerial vehicle 10 may be stored in a cloud server. The image information includes pictures, video, audio, and the like.
Optionally, the remote control terminal 20 further includes a display module, and the display module may specifically be an LED display screen or the like. The display module is configured to display flight status information of the unmanned aerial vehicle 10, for example, display a map on a screen, and highlight the unmanned aerial vehicle 10 on the map according to the position of the unmanned aerial vehicle 10. The map may be a two-dimensional planar map or a three-dimensional map, and the display mode of the unmanned aerial vehicle 10 is adjusted according to the format of the map.
In this embodiment, the drone control system 100 establishes a first communication link with the second eSIM card 201 through the first eSIM card 104, establishes a second communication link with the second beidou module 202 through the first beidou module 105, and when the first communication link is disconnected, the remote control terminal 20 obtains the flight state of the drone 10 through the second communication link, so that the probability of loss of connection of the drone 10 is reduced, and the stability of the drone 10 is improved.
In some embodiments, the drone control system 100 further includes a cloud server for receiving and storing image information uploaded by the drone 10 through the first eSIM card 104 or the first beidou module 105.
The embodiment of the invention provides an unmanned aerial vehicle control system, which is used for acquiring flight state information of an unmanned aerial vehicle, monitoring the connection state of a first communication link, and sending the flight state information to a remote control terminal through a second communication link when the first communication link is monitored to be disconnected, so that the remote control terminal can determine the flight state of the unmanned aerial vehicle according to the flight state information. This embodiment can master unmanned aerial vehicle's flight state all the time to ensured that unmanned aerial vehicle can not lose the antithetical couplet, improved unmanned aerial vehicle's security, reduced user's loss.
Referring to fig. 5, an embodiment of the present invention provides a wireless communication method, which is applied to the above-mentioned unmanned aerial vehicle 10, and the method is specifically executed by the flight controller 106, where the method includes:
s11, acquiring flight state information of the unmanned aerial vehicle;
wherein, unmanned aerial vehicle includes GPS module and first big dipper module, please refer to fig. 6, the flight status information who obtains unmanned aerial vehicle includes:
s111, obtaining base station positioning information of the first eSIM card;
s112, acquiring the position information and the speed information of the unmanned aerial vehicle, which are acquired by a GPS module;
s113, acquiring position information and speed information of the unmanned aerial vehicle, which are acquired by a first Beidou module;
s114, calculating the base station positioning information, the position information and the speed information acquired by the GPS module, and the position information and the speed information acquired by the first Beidou module to obtain data fusion information, wherein the data fusion information comprises the position and the flight speed of the unmanned aerial vehicle;
s115, packing according to the base station positioning information, the position information and the speed information acquired by the GPS module, the position information and the speed information acquired by the Beidou module and the data fusion information to generate the flight state information of the unmanned aerial vehicle.
S13, determining that the first communication link is disconnected;
s14, sending the flight state information to a remote control terminal through a second communication link, so that the remote control terminal determines the flight state of the unmanned aerial vehicle according to the flight state information.
The steps S11 to S14 are executed by the drone 10 in the above embodiment, and specific implementation thereof may refer to the above embodiment of the drone control system, and details are not described herein again.
In some embodiments, referring to fig. 7, the main difference between fig. 7 and fig. 5 is that, before determining that the first communication link is disconnected at step S13, the method further includes:
and S12, establishing a first communication link according to the first eSIM card and the second eSIM card, wherein the first eSIM card is arranged in the unmanned aerial vehicle, and the second eSIM card is arranged in the remote control terminal.
In some embodiments, referring to fig. 8, the main difference between fig. 8 and fig. 7 is that the method further includes:
s15, sending flight warning information to the remote control terminal through the second communication link;
and S16, searching the communication signal of the first communication link in real time to connect the first communication link.
The searching for the communication signal of the first communication link in real time specifically includes: and acquiring a historical flight path of the unmanned aerial vehicle, and searching the communication signal of the first communication link on the historical flight path in real time.
In some embodiments, referring to fig. 9, the main difference between fig. 9 and the above fig. 8 is that the method further includes:
and S17, starting a return flight program to enable the unmanned aerial vehicle to fly back to the flying point.
For details of the wireless communication method provided by the embodiment of the present invention, reference may be made to the embodiment of the unmanned aerial vehicle control system provided by the embodiment of the present invention, and details are not described here.
The embodiment of the invention provides a wireless communication method, which comprises the steps of acquiring flight state information of an unmanned aerial vehicle, monitoring the connection state of a first communication link, and sending the flight state information to a remote control terminal through a second communication link when the first communication link is monitored to be disconnected, so that the remote control terminal can determine the flight state of the unmanned aerial vehicle according to the flight state information. This embodiment can master unmanned aerial vehicle's flight state all the time to ensured that unmanned aerial vehicle can not lose the antithetical couplet, improved unmanned aerial vehicle's security, reduced user's loss.
Referring to fig. 10, fig. 10 is a schematic structural diagram of a wireless communication device 30 according to an embodiment of the present invention, where the wireless communication device 30 is applied to the unmanned aerial vehicle 10. The wireless communication apparatus 30 includes: an information acquisition module 31, a communication link status determination module 32, and a first information transmission module 33. In an embodiment of the present invention, the information acquiring module 31, the communication link status determining module 32, and the first information sending module 33 may be flight controllers in the unmanned aerial vehicle.
The information acquisition module 31 is configured to acquire flight state information of the unmanned aerial vehicle; a communication link status determination module 32 for determining that the first communication link is broken; the first information sending module 33 is configured to send the flight state information to a remote control terminal through a second communication link, so that the remote control terminal determines the flight state of the unmanned aerial vehicle according to the flight state information.
Wherein, the unmanned aerial vehicle 10 includes a GPS module and a first beidou module, and at this time, please refer to fig. 10 as well, the information acquisition module 31 includes: a first acquisition unit 311, a second acquisition unit 312, a third acquisition unit 313, a calculation unit 314, and a processing unit 315. A first obtaining unit 311, configured to obtain base station location information of the first eSIM card; a second obtaining unit 312, configured to obtain position information and speed information of the unmanned aerial vehicle, which are acquired by a GPS module; the third obtaining unit 313 is used for obtaining the position information and the speed information of the unmanned aerial vehicle, which are collected by the Beidou module; a calculating unit 314, configured to calculate the base station positioning information, the position information and the speed information acquired by the GPS module, and the position information and the speed information acquired by the beidou module to obtain data fusion information, where the data fusion information includes a position and a flight speed of the drone; and the processing unit 315 is configured to package the base station positioning information, the position information and the speed information acquired by the GPS module, the position information and the speed information acquired by the beidou module, and the data fusion information, and generate flight state information of the unmanned aerial vehicle.
In some embodiments, referring also to fig. 10, the apparatus 30 further includes a communication link establishment module 34. The communication link establishing module 34 is configured to establish a first communication link according to a first eSIM card and a second eSIM card, where the first eSIM card is disposed in the drone and the second eSIM card is disposed in the remote control terminal. In one embodiment of the present invention, the communication link establishment module 34 may be a flight controller within the drone.
In some embodiments, referring also to fig. 10, the apparatus 30 further includes a second information sending module 35 and a signal searching module 36. A second information sending module 35, configured to send flight warning information to the remote control terminal through the second communication link; and the signal searching module 36 is configured to search the communication signal of the first communication link in real time to connect the first communication link. In an embodiment of the present invention, the second information sending module 35 and the signal searching module 36 may be a flight controller in an unmanned aerial vehicle.
The signal search module 36 is specifically configured to: and acquiring a historical flight path of the unmanned aerial vehicle, and searching the communication signal of the first communication link on the historical flight path in real time to communicate the first communication link.
In some embodiments, referring also to fig. 10, the device 30 further includes a program initiation module 37. The program starting module 37 is configured to start a preset return program, so that the unmanned aerial vehicle 10 flies back to the flying point. In an embodiment of the present invention, the program starting module 37 may be a flight controller in an unmanned aerial vehicle.
It should be noted that, in the embodiment of the present invention, contents such as information interaction and execution process between each module and each unit in the wireless communication device are based on the same concept as that of the embodiment of the method of the present invention, and specific contents are also applicable to the wireless communication device. The respective modules in the embodiments of the present invention can be implemented as separate hardware or software, and the combination of the functions of the respective units can be implemented using separate hardware or software as necessary.
The embodiment of the invention provides a wireless communication device, which is used for acquiring flight state information of an unmanned aerial vehicle, monitoring the connection state of a first communication link, and sending the flight state information to a remote control terminal through a second communication link when the first communication link is monitored to be disconnected, so that the remote control terminal can determine the flight state of the unmanned aerial vehicle according to the flight state information. This embodiment can master unmanned aerial vehicle's flight state all the time to ensured that unmanned aerial vehicle can not lose the antithetical couplet, improved unmanned aerial vehicle's security, reduced user's loss.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a computer readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A wireless communication method is applied to an unmanned aerial vehicle, and is characterized by comprising the following steps:
acquiring flight state information of the unmanned aerial vehicle;
determining that the first communication link is broken;
sending the flight state information to a remote control terminal through a second communication link, so that the remote control terminal determines the flight state of the unmanned aerial vehicle according to the flight state information;
sending flight warning information to the remote control terminal through the second communication link;
and searching communication signals of the first communication link in real time to connect the first communication link.
2. The method of claim 1, wherein prior to said determining that the first communication link is down, the method further comprises:
and establishing a first communication link according to a first eSIM card and a second eSIM card, wherein the first eSIM card is arranged in the unmanned aerial vehicle, and the second eSIM card is arranged in the remote control terminal.
3. The method of claim 2, wherein the drone includes a GPS module and a first beidou module, and the obtaining the flight status information of the drone includes:
obtaining base station positioning information of the first eSIM card;
acquiring the position information and the speed information of the unmanned aerial vehicle acquired by the GPS module;
acquiring position information and speed information of the unmanned aerial vehicle, which are acquired by the first Beidou module;
calculating the base station positioning information, the position information and the speed information acquired by the GPS module, and the position information and the speed information acquired by the first Beidou module to obtain data fusion information, wherein the data fusion information comprises the position and the flight speed of the unmanned aerial vehicle;
and packaging according to the base station positioning information, the position information and the speed information acquired by the GPS module, the position information and the speed information acquired by the first Beidou module and the data fusion information to generate the flight state information of the unmanned aerial vehicle.
4. The method of claim 1, wherein searching for the communication signal of the first communication link in real-time comprises:
and acquiring a historical flight path of the unmanned aerial vehicle, and searching the communication signal of the first communication link on the historical flight path in real time.
5. The method according to any one of claims 1 to 3, further comprising:
and starting a return flight program to enable the unmanned aerial vehicle to fly back to the flying point.
6. An unmanned aerial vehicle is characterized by comprising a body, a horn connected with the body, and a power device used for providing flying power for the unmanned aerial vehicle, and further comprising a first eSIM card, a first Beidou module and a flying controller which are arranged in the body, wherein the flying controller is in communication connection with the first eSIM card and the first Beidou module; wherein the content of the first and second substances,
the first eSIM card is used for establishing a first communication link;
the first Beidou module is used for establishing a second communication link;
the flight controller is used for acquiring flight state information of the unmanned aerial vehicle; determining that the first communication link is broken; sending the flight state information to a remote control terminal through the second communication link, so that the remote control terminal determines the flight state of the unmanned aerial vehicle according to the flight state information;
the flight controller is further configured to:
sending flight warning information to the remote control terminal through the second communication link;
and searching communication signals of the first communication link in real time to connect the first communication link.
7. The drone of claim 6, further comprising a GPS module communicatively connected with the flight controller,
the GPS module is used for acquiring the position information and the speed information of the unmanned aerial vehicle;
the first eSIM card is used for acquiring base station positioning information corresponding to the first eSIM card;
the first Beidou module is used for acquiring position information and speed information of the unmanned aerial vehicle;
the flight controller is used for calculating the base station positioning information, the position information and the speed information acquired by the GPS module and the position information and the speed information acquired by the first Beidou module to obtain data fusion information, wherein the data fusion information comprises the position and the flight speed of the unmanned aerial vehicle;
the flight controller is further configured to:
and packaging according to the base station positioning information, the position information and the speed information acquired by the GPS module, the position information and the speed information acquired by the Beidou module and the data fusion information to generate the flight state information of the unmanned aerial vehicle.
8. A drone as claimed in claim 6 or 7, wherein the flight controller is further configured to:
and starting a return flight program to enable the unmanned aerial vehicle to fly back to a flying point.
9. An unmanned aerial vehicle control system, the system comprising:
the drone of any one of claims 6 to 8;
the remote control terminal is provided with a second eSIM card and a second Beidou module;
the first eSIM card is connected with the second eSIM card to establish the first communication link, and the first Beidou module is connected with the second Beidou module to establish the second communication link;
and the remote control terminal is used for receiving the flight state information sent by the unmanned aerial vehicle through the second communication link when the first communication link is disconnected, and determining the flight state of the unmanned aerial vehicle according to the flight state information.
10. The system of claim 9, further comprising: a cloud-end server for storing the cloud-end data,
the cloud server is used for receiving and storing image information uploaded by the unmanned aerial vehicle through the first eSIM card or the first Beidou module.
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| CN111212384B (en) * | 2019-12-05 | 2021-02-09 | 北京航空航天大学杭州创新研究院 | Unmanned aerial vehicle multi-data-chain intelligent switching method |
| US11720095B2 (en) * | 2020-06-23 | 2023-08-08 | Ford Global Technologies, Llc | Remote controlled flexible modular platform system |
| CN112306092A (en) * | 2020-10-29 | 2021-02-02 | 吉林化工学院 | Unmanned aerial vehicle system of patrolling and examining |
| CN114731578A (en) * | 2020-11-05 | 2022-07-08 | 深圳市大疆创新科技有限公司 | Communication method, unmanned aerial vehicle and storage medium |
| CN114745710B (en) * | 2022-04-13 | 2023-04-18 | 中国联合网络通信集团有限公司 | Airspace admission method, device and system |
| CN115484692B (en) * | 2022-09-08 | 2024-03-22 | 山东新一代信息产业技术研究院有限公司 | Method, equipment and medium for cooperative communication of unmanned aerial vehicle and robot cluster |
| CN115767450A (en) * | 2022-11-22 | 2023-03-07 | 亿航智能设备（广州）有限公司 | Beidou short message communication method and equipment and computer readable storage medium |
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