CN207082215U - Unmanned aerial vehicle control system based on WIFI, control terminal and unmanned plane - Google Patents
Unmanned aerial vehicle control system based on WIFI, control terminal and unmanned plane Download PDFInfo
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- CN207082215U CN207082215U CN201720952291.3U CN201720952291U CN207082215U CN 207082215 U CN207082215 U CN 207082215U CN 201720952291 U CN201720952291 U CN 201720952291U CN 207082215 U CN207082215 U CN 207082215U
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Abstract
Unmanned aerial vehicle (UAV) control field is the utility model is related to, proposes a kind of unmanned aerial vehicle control system based on WIFI, control terminal and unmanned plane.The unmanned aerial vehicle control system includes：Terminal is controlled, for sending a control signal to unmanned plane by first network, so that unmanned plane performs action according to the control signal；The vision signal of unmanned plane return is received by first network；Unmanned plane, for receiving the control signal of control terminal transmission by first network, and action is performed according to the control signal；Gather and vision signal is sent to controlling terminal by first network；Wherein, terminal is controlled to access the first network by WIFI modes, the transmission priority of the control signal is higher than the transmission priority of the vision signal.When WIFI signal is interfered, because the transmission priority of control signal is higher than the transmission priority of vision signal, therefore it can preferentially ensure the normal transmission of control signal on the premise of video signal quality is sacrificed, so as to avoid the out of control of unmanned plane.
Description
Technical field
It the utility model is related to unmanned aerial vehicle (UAV) control field, more particularly to a kind of unmanned aerial vehicle control system based on WIFI, control
Terminal processed and unmanned plane.
Background technology
Unmanned plane is the non-manned aircraft using radio robot or the presetting apparatus provided for oneself manipulation, widely
Various fields applied to current social.One of most important application function of unmanned plane is video capture and transmission, and to be realized
The video capture of unmanned plane and transmission be unable to do without being wirelessly transferred for remote control signal and video transfer signal.
In order to avoid interfering between signal, the remote control signal and video transfer signal of unmanned plane can be distinguished
It is transmitted using different wireless standards or wireless frequency mode.Respectively different signals is needed to set using aforesaid way
Different software and hardware schemes is counted, development cost is higher.Occur the unmanned aerial vehicle (UAV) control scheme using WIFI transmission, Neng Gouyou in recent years
Effect reduces development cost.However, when WIFI signal is interfered, WIFI transmission speeds can reduce, and then influence transmission of video
, unmanned plane risk out of control be present in the stable transmission of signal and remote control signal.
Utility model content
In view of this, the utility model embodiment provides a kind of unmanned aerial vehicle control system based on WIFI, control terminal
And unmanned plane, it is intended to solve the unmanned plane that may be present risk out of control when WIFI signal is interfered.
The first aspect of the utility model embodiment provides a kind of unmanned aerial vehicle control system based on WIFI, including：
Terminal is controlled, for sending a control signal to unmanned plane by first network, so that the unmanned plane is according to
Control signal performs action；The vision signal of the unmanned plane return is received by the first network；
Unmanned plane, for receiving the control signal of the control terminal transmission by the first network；And according to described
Control signal performs action；Gather and vision signal is sent to the control terminal by the first network；
Wherein, the control terminal accesses the first network by WIFI modes, in the first network, the control
The transmission priority of signal processed is higher than the transmission priority of the vision signal.
The second aspect of the utility model embodiment provides a kind of control terminal, including：
Control signal sending module, for sending a control signal to unmanned plane by first network, so that the unmanned plane
Action is performed according to the control signal；
Video reception module, for receiving the vision signal of the unmanned plane return by the first network；
Wherein, the control terminal accesses the first network by WIFI modes, in the first network, the control
The transmission priority of signal processed is higher than the transmission priority of the vision signal.
The third aspect of the utility model embodiment provides a kind of unmanned plane, including：
Control signal receiving module, for receiving the control signal of control terminal transmission by first network, and according to institute
State control signal and perform action；
Vision signal sending module, it is whole to the control for gathering and sending vision signal by the first network
End；
Wherein, the control terminal accesses the first network by WIFI modes, in the first network, the control
The transmission priority of signal processed is higher than the transmission priority of the vision signal.
A kind of unmanned aerial vehicle control system based on WIFI that the utility model embodiment proposes includes：Terminal is controlled, is used for
Unmanned plane is sent a control signal to by first network, so that unmanned plane performs action according to the control signal；Pass through first
Network receives the vision signal that unmanned plane returns；Unmanned plane, the control for receiving control terminal transmission by first network are believed
Number, and action is performed according to the control signal；Gather and vision signal is sent to controlling terminal by first network；Wherein,
Control terminal accesses the first network by WIFI modes, and the transmission priority of the control signal is higher than the vision signal
Transmission priority.When WIFI signal is interfered, because the transmission priority of control signal is more excellent than the transmission of vision signal
First level is high, therefore can preferentially ensure the normal transmission of control signal on the premise of video signal quality is sacrificed, so as to avoid
Unmanned plane it is out of control.
Brief description of the drawings
, below will be to embodiment or prior art in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
The required accompanying drawing used is briefly described in description, it should be apparent that, drawings in the following description are only that this practicality is new
Some embodiments of type, for those of ordinary skill in the art, without having to pay creative labor, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is a kind of one embodiment for unmanned aerial vehicle control system based on WIFI that the utility model embodiment provides
Structure chart；
Fig. 2 is a kind of schematic diagram for control terminal that the utility model embodiment provides；
Fig. 3 is a kind of schematic diagram for unmanned plane that the utility model embodiment provides.
Embodiment
In describing below, in order to illustrate rather than in order to limit, it is proposed that such as tool of particular system structure, technology etc
Body details, thoroughly to understand the utility model embodiment.However, it will be clear to one skilled in the art that there is no these
The utility model can also be realized in the other embodiments of detail.In other situations, omit to well-known system,
The detailed description of device, circuit and method, in case unnecessary details hinders description of the present utility model.
The utility model embodiment provides a kind of unmanned aerial vehicle control system based on WIFI, control terminal and unmanned plane,
Aim to solve the problem that the risk that unmanned plane that may be present is out of control when WIFI signal is interfered.
A kind of referring to Fig. 1, one embodiment of the unmanned aerial vehicle control system based on WIFI in the utility model embodiment
Including：
Terminal 101 is controlled, for sending a control signal to unmanned plane by first network, so that the unmanned plane is according to institute
State control signal and perform action；The vision signal of the unmanned plane return is received by the first network；
Unmanned plane 102, for receiving the control signal of the control terminal transmission by the first network；And according to institute
State control signal and perform action；Gather and vision signal is sent to the control terminal by the first network.
The basic functional principle and related description of the unmanned aerial vehicle control system based on WIFI are as follows：
The control terminal can be all kinds of smart mobile phones, PC or other terminal devices, for manipulating nobody
Machine.The control terminal sends control signal to unmanned plane by first network so that unmanned plane performs corresponding according to control signal
Action.The first network is some specific network, for example can be internet, and the control terminal accesses institute by WIFI
State first network.The control terminal receives the vision signal of the unmanned plane return by the first network, can control
The video information of the vision signal carrying is watched in end side.In actual applications, unmanned plane can also be by the flight shape of itself
State information is sent to the control terminal, so that operator grasps the dynamic parameter of unmanned plane in time.
The unmanned plane receives the control signal of the control terminal transmission by the first network, and according to the control
Signal processed performs corresponding action, such as acceleration and deceleration, straight trip or steering etc..The unmanned plane accesses the mode of the first network
Can be the other manners such as WIFI or 4G.The unmanned plane gathers vision signal by the camera carried, and passes through
The first network sends vision signal to the control terminal.
In the first network, the transmission priority of the control signal is higher than the transmission preferences of the vision signal
Level.In general, the data volume of vision signal will be far longer than the data volume of control signal, therefore during data transfer
Vision signal can take substantial amounts of bandwidth, must be than the transmission priority of vision signal if the transmission priority of control signal is set
It height, then when WIFI signal is bad, can preferentially ensure the normal transmission of control signal, and then can ensure to unmanned plane just
Often manipulation.
Further, the different transmission priorities of the control signal and the vision signal pass through radio multimedium technology
(WMM) realize.WMM is a subset of 802.11e standards, it is allowed to which radio communication is according to one priority model of dtd--data type definition
Enclose, there will be higher transmission priority than common data for the data of time-sensitive, such as video/audio data, and
Wherein voice data is higher than the priority of video data.
It is used to adjust transmission priority in the head for the message that specific mode of operation carries the control signal for modification
Data bit numerical value so that the transmission priority of the control signal is identical with the transmission priority of voice data, i.e., than regarding
The transmission priority of frequency signal (video data) is high.
In IPv4 message header structure, the data bit for having 8 is used to represent service type (Type of
Service), the explanation of 8 data bit is as shown in table 1.
Table 1 (Type of Service)
| Bits 0-2:Precedence |
| Bit 3:0=Normal Delay 1=Low Delay |
| Bit 4:0=Normal Throughput 1=High Throughput |
| Bit 5:0=Normal Reliability 1=High Reliability |
| Bits 6-7:Explicit Congestion Notification |
In table 1,0-2 is used to define the priority level of transmission for totally 3, and wherein priority level 5 is language in WMM technologies
The priority level that sound data use, therefore corresponding 3 data bit in the head for the message for carrying the control signal are set
For 101 (i.e. priority levels 5) so that the transmission priority of the control signal is identical with the transmission priority of voice data.This
Sample disguises oneself as voice signal once by control signal, can preferentially ensure the normal transmission of control signal.
Further, the unmanned plane accesses the first network by WIFI modes, and the unmanned aerial vehicle control system is also
It can include：
Terrestrial repetition end 103, the first network is accessed by WIFI modes, for it is described control terminal and it is described nobody
The transfer of receiving and transmitting signal between machine.
The terrestrial repetition end is used for the transfer of signal, that is, receives the control signal that control terminal is sent and be transmitted to nobody
Machine, receive the vision signal that unmanned plane is sent and be transmitted to control terminal, can greatly increase between control terminal and unmanned plane
Manipulate distance.
Wherein, the WIFI network segments accessed between the control terminal, the unmanned plane and the terrestrial repetition end are identical.Separately
Outside, the WIFI connections of the unmanned plane use the principle at preferential attachment terrestrial repetition end, as long as i.e. unmanned plane connection terrestrial repetition
End is used as AP, then disconnects the connection of other WIFI access points automatically, be so achieved that the roaming of unmanned plane and terrestrial repetition end
Linkage function.
Further, the unmanned plane accesses the first network by WIFI modes, and the unmanned aerial vehicle control system is also
It can include：
First adjusting module, if to control terminal be IOS systems for described, the WIFI connections of the unmanned plane are adjusted
For ap mode, and the WIFI connections of the control terminal are adjusted to STA mode；
Second adjusting module, if to control terminal be Android system for described, the WIFI connections of the unmanned plane are adjusted
Whole is STA mode, and the WIFI connections of the control terminal are adjusted into ap mode.
First adjusting module and the second adjusting module can integrate in the same apparatus or two independences
Module.IOS systems and Android system are current most widely used two kinds of terminal systems, in order to realize two kinds of different terminals systems
The control terminal of system can realize the manipulation to unmanned plane, if described, to control terminal be IOS systems, by the unmanned plane
WIFI connections are adjusted to ap mode, and the WIFI connections of the control terminal are adjusted into STA mode, so can be achieved normal
Networking linkage function.Further, when it is described control terminal to be connected as STA mode for IOS systems and WIFI when, AP is accessed
The gateway function at end is closed, and can so ensure to control terminal 4G can also be used to access network while unmanned plane is manipulated.
If described, to control terminal be Android system, and the WIFI connections of the unmanned plane are adjusted into STA mode, and by institute
The WIFI connections for stating control terminal are adjusted to ap mode, and normal networking linkage function so can be achieved.Moreover, work as Android system
When the control terminal of system is arranged to STA mode, does not interfere with it and the function of network is accessed by 4G.
By judging the system type of control terminal, different WIFI companies are formulated respectively for the control terminal of different system
Setting pattern is connect, can ensure the control terminal of different system can realize the manipulation to unmanned plane, greatly strengthen unmanned plane
The flexibility of manipulation and practicality.Further, moreover it is possible to ensure that control terminal being capable of positive normal open while unmanned plane is manipulated
Cross 4G and access network.
A kind of unmanned aerial vehicle control system based on WIFI that the utility model embodiment proposes includes：Terminal is controlled, is used for
Unmanned plane is sent a control signal to by first network, so that unmanned plane performs action according to the control signal；Pass through first
Network receives the vision signal that unmanned plane returns；Unmanned plane, the control for receiving control terminal transmission by first network are believed
Number, and action is performed according to the control signal；Gather and vision signal is sent to controlling terminal by first network；Wherein,
Control terminal accesses the first network by WIFI modes, and the transmission priority of the control signal is higher than the vision signal
Transmission priority.When WIFI signal is interfered, because the transmission priority of control signal is more excellent than the transmission of vision signal
First level is high, therefore can preferentially ensure the normal transmission of control signal on the premise of video signal quality is sacrificed, so as to avoid
Unmanned plane it is out of control.
Referring to Fig. 2, a kind of one embodiment for controlling terminal includes in the utility model embodiment：
Control signal sending module 201, for sending a control signal to unmanned plane by first network so that it is described nobody
Machine performs action according to the control signal；
Video reception module 202, for receiving the vision signal of the unmanned plane return by the first network；
Wherein, the control terminal accesses the first network by WIFI modes, in the first network, the control
The transmission priority of signal processed is higher than the transmission priority of the vision signal.
Further, the control terminal can also include：
3rd adjusting module, if to control terminal be IOS systems for described, by the WIFI connections tune of the control terminal
Whole is STA mode；
4th adjusting module, if to control terminal be Android system for described, by the WIFI connections of the control terminal
It is adjusted to ap mode.
Further, the control terminal can also include：
Second gateway closedown module, for when it is described control terminal to be connected as STA mode for IOS systems and WIFI when, will
The gateway function of AP incoming ends is closed.
Referring to Fig. 3, a kind of one embodiment of unmanned plane includes in the utility model embodiment：
Control signal receiving module 301, for the control signal sent by first network reception control terminal, and according to
The control signal performs action；
Vision signal sending module 302, for gathering and sending vision signal to the control by the first network
Terminal；
Wherein, the control terminal accesses the first network by WIFI modes, in the first network, the control
The transmission priority of signal processed is higher than the transmission priority of the vision signal.
Further, the unmanned plane can also include：
5th adjusting module, if to control terminal be IOS systems for described, the WIFI connections of the unmanned plane are adjusted
For ap mode；
6th adjusting module, if to control terminal be Android system for described, the WIFI connections of the unmanned plane are adjusted
Whole is STA mode.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each work(
Can unit, module division progress for example, in practical application, can be as needed and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device are divided into different functional units or module, more than completion
The all or part of function of description.Each functional unit, module in embodiment can be integrated in a processing unit, also may be used
To be that unit is individually physically present, can also two or more units it is integrated in a unit, it is above-mentioned integrated
Unit can both be realized in the form of hardware, can also be realized in the form of SFU software functional unit.In addition, each function list
Member, the specific name of module are not limited to the protection domain of the application also only to facilitate mutually distinguish.Said system
The specific work process of middle unit, module, the corresponding process in preceding method embodiment is may be referred to, will not be repeated here.
In the above-described embodiments, the description to each embodiment all emphasizes particularly on different fields, and is not described in detail or remembers in some embodiment
The part of load, it may refer to the associated description of other embodiments.
Those of ordinary skill in the art are it is to be appreciated that the list of each example described with reference to the embodiments described herein
Member and algorithm steps, it can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
Performed with hardware or software mode, application-specific and design constraint depending on technical scheme.Professional and technical personnel
Described function can be realized using distinct methods to each specific application, but this realization is it is not considered that exceed
The scope of the utility model.
In embodiment provided by the utility model, it should be understood that disclosed apparatus and method, it can be passed through
Its mode is realized.For example, system embodiment described above is only schematical, for example, the module or unit
Division, only a kind of division of logic function, can there is other dividing mode, such as multiple units or component when actually realizing
Another system can be combined or be desirably integrated into, or some features can be ignored, or do not perform.It is another, it is shown or
The mutual coupling discussed or direct-coupling or communication connection can be the indirect couplings by some interfaces, device or unit
Close or communication connects, can be electrical, mechanical or other forms.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the utility model can be integrated in a processing unit,
Can be that unit is individually physically present, can also two or more units it is integrated in a unit.It is above-mentioned integrated
Unit can both be realized in the form of hardware, can also be realized in the form of SFU software functional unit.
If the integrated unit is realized in the form of SFU software functional unit and is used as independent production marketing or use
When, it can be stored in a computer read/write memory medium.Based on such understanding, the utility model realizes above-mentioned implementation
All or part of flow in example method, by computer program the hardware of correlation can also be instructed to complete, described meter
Calculation machine program can be stored in a computer-readable recording medium, and the computer program can be achieved when being executed by processor
The step of stating each embodiment of the method..Wherein, the computer program includes computer program code, the computer program
Code can be source code form, object identification code form, executable file or some intermediate forms etc..Computer-readable Jie
Matter can include：Can carry any entity or device of the computer program code, recording medium, USB flash disk, mobile hard disk,
Magnetic disc, CD, computer storage, read-only storage (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It is it should be noted that described
The content that computer-readable medium includes can carry out appropriate increasing according to legislation in jurisdiction and the requirement of patent practice
Subtract, such as in some jurisdictions, according to legislation and patent practice, computer-readable medium do not include be electric carrier signal and
Telecommunication signal.
Embodiment described above is only to illustrate the technical solution of the utility model, rather than its limitations；Although with reference to before
Embodiment is stated the utility model is described in detail, it will be understood by those within the art that：It still can be with
Technical scheme described in foregoing embodiments is modified, or equivalent substitution is carried out to which part technical characteristic；And
These modifications are replaced, and the essence of appropriate technical solution is departed from the spirit of various embodiments of the utility model technical scheme
And scope, it should be included within the scope of protection of the utility model.
Claims (10)
- A kind of 1. unmanned aerial vehicle control system based on WIFI, it is characterised in that including：Terminal is controlled, for sending a control signal to unmanned plane by first network, so that the unmanned plane is according to the control Signal performs action；The vision signal of the unmanned plane return is received by the first network；Unmanned plane, for receiving the control signal of the control terminal transmission by the first network, and according to the control Signal performs action；Gather and vision signal is sent to the control terminal by the first network；Wherein, the control terminal accesses the first network by WIFI modes, in the first network, the control letter Number transmission priority be higher than the vision signal transmission priority.
- 2. the unmanned aerial vehicle control system based on WIFI as described in claim 1, it is characterised in that the unmanned plane passes through WIFI modes access the first network, and the unmanned aerial vehicle control system also includes：Terrestrial repetition end, the first network is accessed by WIFI modes, between the control terminal and the unmanned plane The transfer of receiving and transmitting signal；Wherein, the WIFI network segments accessed between the control terminal, the unmanned plane and the terrestrial repetition end are identical.
- 3. the unmanned aerial vehicle control system based on WIFI as described in claim 1, it is characterised in that the control signal and institute The different transmission priorities for stating vision signal are realized by radio multimedium technology, carry the head of the message of the control signal In be used to adjust the preset numerical value specified of data bit of transmission priority so that the transmission priority and audio of the control signal The transmission priority of data is identical.
- 4. the unmanned aerial vehicle control system based on WIFI as claimed any one in claims 1 to 3, it is characterised in that the nothing Man-machine to access the first network by WIFI modes, the unmanned aerial vehicle control system also includes：First adjusting module, if to control terminal be IOS systems for described, the WIFI connections of the unmanned plane are adjusted to AP Pattern, and the WIFI connections of the control terminal are adjusted to STA mode；Second adjusting module, if to control terminal be Android system for described, the WIFI connections of the unmanned plane are adjusted to STA mode, and the WIFI connections of the control terminal are adjusted to ap mode.
- 5. the unmanned aerial vehicle control system based on WIFI as described in claim 4, it is characterised in that also include：First gateway closedown module, for when it is described control terminal to be connected as STA mode for IOS systems and WIFI when, AP is connect The gateway function for entering end is closed.
- 6. one kind control terminal, it is characterised in that including：Control signal sending module, for sending a control signal to unmanned plane by first network so that the unmanned plane according to The control signal performs action；Video reception module, for receiving the vision signal of the unmanned plane return by the first network；Wherein, the control terminal accesses the first network by WIFI modes, in the first network, the control letter Number transmission priority be higher than the vision signal transmission priority.
- 7. control terminal as claimed in claim 6, it is characterised in that also include：3rd adjusting module, if to control terminal be IOS systems for described, the WIFI connections of the control terminal are adjusted to STA mode；4th adjusting module, if to control terminal be Android system for described, by the WIFI connections adjustment of the control terminal For ap mode.
- 8. control terminal as claimed in claim 7, it is characterised in that also include：Second gateway closedown module, for when it is described control terminal to be connected as STA mode for IOS systems and WIFI when, AP is connect The gateway function for entering end is closed.
- A kind of 9. unmanned plane, it is characterised in that including：Control signal receiving module, for receiving the control signal of control terminal transmission by first network, and according to the control Signal processed performs action；Vision signal sending module, for gathering and sending vision signal to the control terminal by the first network；Wherein, the control terminal accesses the first network by WIFI modes, in the first network, the control letter Number transmission priority be higher than the vision signal transmission priority.
- 10. unmanned plane as claimed in claim 9, it is characterised in that also include：5th adjusting module, if to control terminal be IOS systems for described, the WIFI connections of the unmanned plane are adjusted to AP Pattern；6th adjusting module, if to control terminal be Android system for described, the WIFI connections of the unmanned plane are adjusted to STA mode.
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| CN109326108A (en) * | 2017-08-01 | 2019-02-12 | 深圳市天工测控技术有限公司 | Unmanned aerial vehicle (UAV) control method, system, controlling terminal and unmanned plane based on WIFI |
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| CN109326108A (en) * | 2017-08-01 | 2019-02-12 | 深圳市天工测控技术有限公司 | Unmanned aerial vehicle (UAV) control method, system, controlling terminal and unmanned plane based on WIFI |
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