WO2017185651A1 - Method and device for switching unmanned aerial vehicle image transmission modes, and unmanned aerial vehicle - Google Patents

Method and device for switching unmanned aerial vehicle image transmission modes, and unmanned aerial vehicle Download PDF

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Publication number
WO2017185651A1
WO2017185651A1 PCT/CN2016/101242 CN2016101242W WO2017185651A1 WO 2017185651 A1 WO2017185651 A1 WO 2017185651A1 CN 2016101242 W CN2016101242 W CN 2016101242W WO 2017185651 A1 WO2017185651 A1 WO 2017185651A1
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Prior art keywords
image transmission
drone
transmission mode
remote
distance
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PCT/CN2016/101242
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French (fr)
Chinese (zh)
Inventor
杨震
李大龙
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乐视控股（北京）有限公司
乐视体育文化产业发展（北京）有限公司
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Publication of WO2017185651A1 publication Critical patent/WO2017185651A1/en

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N1/00—Scanning, transmission or reproduction of documents or the like, e.g. facsimile transmission; Details thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N1/00—Scanning, transmission or reproduction of documents or the like, e.g. facsimile transmission; Details thereof
    • H04N1/00095—Systems or arrangements for the transmission of the picture signal
    • H04N1/00103—Systems or arrangements for the transmission of the picture signal specially adapted for radio transmission, e.g. via satellites
    • H04N1/00106—Systems or arrangements for the transmission of the picture signal specially adapted for radio transmission, e.g. via satellites using land mobile radio networks, e.g. mobile telephone

Definitions

  • the present application relates to the field of flight control, and in particular, to a method and device for switching an image transmission mode of a drone, and a drone thereof.
  • the drone is a non-manned aerial vehicle that is operated by a remote controller. There is no cockpit on the aircraft, but there are equipment such as autopilot and program control device. During the flight of the drone, in order to facilitate the control, the image taken by the drone needs to be transmitted to the remote control or ground control station.
  • the inventors have found that in the prior art, the image transmission modes of the drone cannot be switched according to actual conditions, and thus the image transmission mode is not flexible enough.
  • the embodiment of the present application aims to provide a method and device for switching an image transmission mode of a drone and a drone thereof, and switch image transmission mode according to the distance between the drone and the remote controller, so that the image transmission of the drone is further improved.
  • an embodiment of the present application provides a method for switching an image transmission mode of a drone, including:
  • the remote controller is configured to receive an image sent by the drone
  • the image transmission mode including a remote image transmission mode and a remote image transmission mode
  • the image transmission mode of the drone is switched.
  • the obtaining the distance between the UAV and the remote controller includes:
  • the determining the current image transmission mode of the drone includes:
  • the image transmission mode signal comprising a remote image transmission signal or a remote image transmission signal
  • the switching the image transmission mode of the drone according to the distance between the drone and the remote controller comprises:
  • the image transmission mode of the drone is switched to the remote image transmission mode, or
  • the image transmission mode of the drone is switched to the remote image transmission mode.
  • the switching distance is less than a remote transmission distance of the remote controller.
  • the remote control mode is a cellular mobile communication transmission mode.
  • the method further includes:
  • the image transmission mode of the drone is switched to the remote image transmission mode.
  • an embodiment of the present application provides a UAV image transmission mode switching apparatus, including:
  • An acquiring unit configured to acquire a distance between the drone and a remote controller, where the remote controller is configured to receive an image sent by the drone,
  • a determining unit configured to determine a current image transmission mode of the drone, wherein the image transmission mode includes a remote image transmission mode and a remote image transmission mode,
  • the switching unit is configured to switch the image transmission mode of the drone according to the distance between the drone and the remote controller.
  • the obtaining unit is specifically configured to:
  • the determining unit is specifically configured to:
  • the image transmission mode signal comprising a remote image transmission signal or a remote image transmission signal
  • the switching unit is specifically configured to:
  • the image transmission mode of the drone is switched to the remote image transmission mode, or
  • the image transmission mode of the drone is switched to the remote image transmission mode.
  • the switching distance is smaller than a remote control distance of the remote controller.
  • the remote control mode is a cellular mobile communication transmission mode.
  • the switching unit is further configured to:
  • the image transmission mode of the drone is switched to the remote image transmission mode.
  • an embodiment of the present application provides a drone, including:
  • a central processor configured to acquire a distance between the drone and the remote controller, and determine a current image transmission mode of the drone according to the received remote control image transmission signal or an image transmission control signal, where the image transmission mode includes a remote control
  • the image transmission mode and the remote image transmission mode switch the image transmission mode of the drone according to the distance between the drone and the remote controller.
  • an electronic device including:
  • At least one processor and,
  • the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method as described above.
  • embodiments of the present application provide a non-transitory computer readable storage medium storing computer executable instructions for causing a computer to execute as described above Methods.
  • an embodiment of the present application provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, when the program When the instructions are executed by the computer, the computer is caused to perform the method as described above.
  • the remote controller by acquiring the distance between the drone and the remote controller, the remote controller is configured to receive an image sent by the drone, and determine a current image transmission mode of the drone.
  • the image transmission mode includes a remote image transmission mode and a remote image transmission mode, and according to the distance between the drone and the remote controller, the image transmission mode of the drone is switched, and the flexible transmission mode of the image transmission mode of the drone is realized. It is beneficial to ensure the effectiveness of image transmission of drones.
  • FIG. 1 is a schematic flowchart of a method for switching an image transmission mode of a drone according to an embodiment of the present application
  • FIG. 2 is a schematic structural diagram of an apparatus for switching an image transmission mode of a drone according to an embodiment of the present application
  • FIG. 3 is a schematic structural diagram of a drone provided by an embodiment of the present application.
  • FIG. 4 is a structural block diagram of an electronic device according to an embodiment of the present application.
  • the drone transmits an image to the remote controller, and may also send an image to the ground control station, and the image is transmitted to the remote controller in a remote image transmission mode, and the image is transmitted to the ground control station as a remote image transmission mode.
  • image transmission can be performed by means of cellular mobile communication, and the cellular mobile communication method includes various wireless communication systems, for example, 2G, 3G or 4G communication methods, and in the remote image transmission mode, a ground control
  • the device can receive images transmitted by multiple drones, and each drone is provided with a cellular mobile communication unit, such as a 2G, 3G or 4G communication unit.
  • the drone identification can be carried in the image transmitted by the drone.
  • a satellite positioning system can be installed on the drone, for example, a GPS satellite positioning system, and the current position of the drone can be obtained through the satellite positioning system, thereby obtaining the drone and the remote controller and the ground controller.
  • the distance between the remote control image transmission mode and the remote image transmission mode is realized according to the distance between the drone and the remote controller.
  • the unmanned aerial vehicle may include: an unmanned fixed wing aircraft, an unmanned vertical take-off and landing machine, an unmanned airship, an unmanned helicopter, an unmanned multi-rotor aircraft, an unmanned wing aircraft, and the like.
  • FIG. 1 is a schematic flowchart of a method for switching an image transmission mode of a drone according to an embodiment of the present application. As shown in Figure 1, the method includes the following steps:
  • the image transmitted by the drone is mainly received by the remote controller, and during the flight, the current position of the drone can be obtained by satellite positioning or radar on the drone. Set and calculate the distance between the drone and the remote control based on the current position.
  • the drone receives image transmission through the remote control, it has a certain remote transmission distance. For example, the remote transmission distance is 10KM. If the distance is exceeded, it needs to be switched to the remote image transmission mode.
  • the drone In the remote image mode, the drone can pass the ground.
  • the satellite positioning or radar system of the control station monitors the current position of the drone and obtains the distance between the drone and the remote control.
  • the ground control station can separately locate the position of the drone and the remote controller through the GPS positioning system, thereby obtaining the distance between the drone and the remote controller, and transmitting the distance to the drone.
  • the image transmission mode includes a remote image transmission mode and a remote image transmission mode.
  • the drone can respectively receive the remote image transmission signal and the remote image transmission signal through the remote control system and the cellular mobile communication unit, and transmit the signal according to the received image. Determine the current image transfer mode of the drone.
  • the current image transmission mode of the drone is the remote image transmission mode.
  • the current image transmission mode of the drone is the remote image transmission mode.
  • the drone in order to realize the switching of the image transmission mode of the drone, especially when the flight distance of the drone is about to exceed the remote control transmission distance of the remote controller, in order to effectively transmit the image, the drone needs to be transmitted by the remote control image.
  • the mode is switched to the remote image transmission mode. Therefore, according to the distance between the drone and the remote controller, in the process of switching the image transmission mode of the drone, the switching distance of the switching image transmission mode needs to be set in advance, and the switching distance should be smaller than the remote control transmission distance of the remote controller, so as to facilitate The image transmission mode is switched before the drone exceeds the remote control transmission range of the remote controller to ensure effective image transmission.
  • the switching the image transmission mode of the drone according to the distance between the drone and the remote controller includes:
  • the image transmission mode of the drone is switched to the remote image transmission mode, or
  • the image transmission mode of the drone is switched to the remote image transmission mode.
  • the image transmitted by the UAV carries the identity of the UAV, and the identity identifier can be used by the ground control station for its image transmission range.
  • the drone is distributed and sent to the drone, or it can be the device identifier of the drone. By transmitting the identity of the drone carried in the image, the ground control station can distinguish the images transmitted by different drones.
  • the cellular mobile communication system in order to realize remote image transmission of the drone, the cellular mobile communication system is used for communication between the drone and the ground control station. Therefore, the cellular mobile communication unit needs to be installed on the drone, for example, 2G, 3G or 4G communication unit.
  • the image size that can be transmitted by the remote image transmission mode and the remote image transmission mode is different, and since the remote image transmission mode adopts the wireless transmission mode, the transmission bandwidth is larger than the remote control transmission bandwidth, and therefore, when the image is transmitted When it is large, the remote image transmission method is preferred.
  • the image transmission mode of the drone when the current image transmission mode of the drone is a remote image transmission mode, and the actual transmission image size is larger than the preset transmission image size, the image transmission mode of the drone can be switched to the remote image transmission mode.
  • the remote controller is configured to receive an image sent by the drone to determine a current image transmission mode of the drone by acquiring a distance between the drone and the remote controller, where the image transmission mode includes The remote control image transmission mode and the remote image transmission mode switch the image transmission mode of the drone according to the distance between the drone and the remote controller, thereby realizing the flexible switching of the image transmission mode of the drone, which is beneficial to guarantee the drone
  • the effectiveness of image transmission, at the same time, the remote image transmission method using mobile cellular networks can achieve longer distances, for example, beyond the existing distance of more than 10 kilometers of image transmission.
  • the apparatus 2 is a schematic structural diagram of an apparatus for switching an image transmission mode of a drone according to an embodiment of the present application. As shown in FIG. 2, the apparatus 2 includes:
  • An acquiring unit 21 configured to acquire a distance between the drone and a remote controller, where the remote controller is configured to receive an image sent by the drone,
  • the determining unit 22 is configured to determine a current image transmission mode of the drone, and the image transmission mode includes a remote image transmission mode and a remote image transmission mode.
  • a switching unit 23 configured to switch according to a distance between the drone and the remote controller UAV image transmission method.
  • the obtaining unit 21 is specifically configured to:
  • the determining unit 22 is specifically configured to:
  • the image transmission mode signal comprising a remote image transmission signal or a remote image transmission signal
  • the switching unit 23 is specifically configured to:
  • the image transmission mode of the drone is switched to the remote image transmission mode, or
  • the image transmission mode of the drone is switched to the remote image transmission mode.
  • the drone obtains the current position of the drone through the satellite positioning or radar through the acquiring unit 21, thereby acquiring the distance between the drone and the remote controller, and the receiving unit 22 according to the received
  • the image transmission signal determines the current image transmission mode of the drone
  • the switching unit 23 switches the image transmission mode of the drone according to the distance between the drone and the remote controller.
  • the switching unit 23 connects the drone with The distance between the remote controller and the switching distance are compared. If the distance between the drone and the remote controller is greater than the switching distance, and the current image transmission of the drone is the remote image transmission mode, the image of the drone is transmitted. The mode is switched to the remote image transmission mode.
  • the image transmission mode of the drone is switched to the remote image.
  • the transmission mode wherein the switching distance is smaller than the remote control transmission distance of the remote controller in order to realize the effectiveness of the image transmission of the drone.
  • the remote image transmission mode is a cellular mobile communication transmission mode.
  • the mobile communication system is used for communication between the drone and the ground control station. Therefore, cellular movement is required on the drone.
  • a communication unit such as a 2G, 3G or 4G communication unit.
  • the switching unit 23 is further configured to:
  • the image transmission mode of the drone is switched to the remote image transmission mode.
  • the image transmitted by the UAV carries the identity of the UAV, and the identity identifier can be used by the ground control station for its image transmission range.
  • the drone is distributed and sent to the drone, or it can be the device identifier of the drone. By transmitting the identity of the drone carried in the image, the ground control station can distinguish the images transmitted by different drones.
  • the remote controller is configured to receive an image sent by the drone to determine a current image transmission mode of the drone by acquiring a distance between the drone and the remote controller, where the image transmission mode includes The remote control image transmission mode and the remote image transmission mode switch the image transmission mode of the drone according to the distance between the drone and the remote controller, thereby realizing the flexible switching of the image transmission mode of the drone, which is beneficial to guarantee the drone
  • the effectiveness of image transmission, at the same time, the remote image transmission method using mobile cellular networks can achieve longer distances, for example, beyond the existing distance of more than 10 kilometers of image transmission.
  • FIG. 3 is a schematic structural diagram of a drone provided by an embodiment of the present application. As shown in FIG. 3, the drone 3 includes:
  • a remote control antenna 31 for receiving a remote image transmission signal
  • the central processing unit 33 is configured to acquire a distance between the drone and the remote controller, and determine a current image transmission mode of the drone according to the received remote control image transmission signal or an image transmission control signal, according to the drone The distance between the remote control and the remote control is switched.
  • the unmanned aerial vehicle may be an unmanned fixed wing aircraft, an unmanned vertical take-off and landing machine, an unmanned airship, an unmanned helicopter, an unmanned multi-rotor aircraft, an unmanned wing aircraft, and the like.
  • the central processing unit is a control center of the drone, and connects various parts of the entire electronic device by using various interfaces and lines, by running or executing software programs and/or modules stored in the storage unit. And invoking data stored in the storage unit to perform various functions of the electronic device and/or process data.
  • the processor may be composed of an integrated circuit, or may be composed of a plurality of sealed integrated chips that connect the same function or different functions. That is, the processor can be a combination of a GPU, a digital signal processor, and a control chip in the communication unit.
  • the computer software can be stored in a computer readable storage medium, which, when executed, can include the flow of an embodiment of the methods described above.
  • the storage medium may be a magnetic disk, an optical disk, a read-only storage memory, or a random storage memory.
  • the remote controller is configured to receive an image sent by the drone to determine a current image transmission mode of the drone by acquiring a distance between the drone and the remote controller, where the image transmission mode includes The remote control image transmission mode and the remote image transmission mode switch the image transmission mode of the drone according to the distance between the drone and the remote controller, thereby realizing the flexible switching of the image transmission mode of the drone, which is beneficial to guarantee the drone The effectiveness of the image transmission.
  • the electronic device 4 includes:
  • One or more processors 41 and a memory 42 are exemplified by a processor 41 in FIG.
  • the processor 41 and the memory 42 may be connected by a bus or other means, and the connection by a bus is taken as an example in FIG.
  • the memory 42 is a non-volatile computer readable storage medium, and is applicable to a non-volatile software program, a non-volatile computer-executable program, and a module, such as an image acquisition method of a terminal in the embodiment of the present application.
  • Program instructions/modules for example, the acquisition unit 21 of the UAV image transmission mode switching device 2 shown in FIG. 2, the determination unit 22, the switching unit 23).
  • the processor 41 executes various functional applications and data processing of the electronic device 4 by executing non-volatile software programs, instructions, and modules stored in the memory 42, that is, the UAV image transmission mode switching of the foregoing method embodiment is implemented.
  • the method and the functions of the respective modules of the above-described UAV image transmission mode switching device embodiment are examples of the respective modules of the above-described UAV image transmission mode switching device embodiment.
  • Memory 42 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device.
  • memory 42 may optionally include memory remotely located relative to processor 41, which may be coupled to processor 41 via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • the program instructions/modules are stored in the memory 42 and, when executed by the one or more processors 41, the UAV image transmission mode switching method in any of the above method embodiments may be performed, for example, performing the above The method steps S11 to S15 in Fig. 1 are described; the functions of the modules 21-23 in Fig. 2 can also be implemented.
  • the electronic device 4 of the embodiment of the present application may exist in various forms, including but not limited to:
  • Unmanned fixed-wing aircraft unmanned vertical take-off and landing aircraft, unmanned airships, unmanned helicopters, unmanned multi-rotor aircraft, unmanned parachute aircraft.
  • the embodiment of the present application further provides a non-volatile computer storage medium storing computer-executable instructions executed by one or more processors, such as one of the processes in FIG.
  • the above-mentioned one or more processors may perform the unmanned image transmission mode switching method in any of the above method embodiments, for example, perform the method steps S11 to S15 in FIG. 1 described above; The function of module 21-23 in 2.
  • the apparatus or device embodiments described above are merely illustrative in which The units described by the separate components may or may not be physically separate, and the components displayed as the units may or may not be physical units, that is, may be located in one place, or may be distributed to 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 embodiment.

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Abstract

The present application relates to a method and a device for switching unmanned aerial vehicle image transmission modes, and to an unmanned aerial vehicle. The method for switching unmanned aerial vehicle image transmission modes comprises: obtaining the distance between an unmanned aerial vehicle and a remote control, the remote control being used for receiving images sent by the unmanned aerial vehicle; determining the current image transmission mode of said unmanned aerial vehicle, the image transmission mode comprising a remote-control image transmission mode and a long-range image transmission mode; and, on the basis of the distance between the unmanned aerial vehicle and the remote control, switching unmanned aerial vehicle image transmission modes. In embodiments of the present application, switching image transmission modes on the basis of the distance between the unmanned aerial vehicle and the remote control allows for more flexible unmanned aerial vehicle image transmission, and improves unmanned aerial vehicle image transmission effectiveness. Moreover, the long-range image transmission mode utilizes a mobile cellular network, allowing for image transmission at distances even greater than, for example, the 10 kilometer-plus image transmission in the prior art.

Description

一种无人机图像传输方式切换方法、装置及其无人机Method and device for switching image transmission mode of drone and its drone
本申请要求于2016年04月29日提交中国专利局、申请号为201610282362.3、申请名称为“一种无人机图像传输方式切换方法、装置及其无人机”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of the Chinese patent application filed on April 29, 2016, the Chinese Patent Office, the application number is 201610282362.3, and the application name is "an unmanned aerial vehicle image transmission mode switching method, device and its drone". The entire contents of this application are incorporated herein by reference.
技术领域Technical field
本申请涉及飞行控制领域，尤其涉及一种无人机图像传输方式切换方法、装置及其无人机。The present application relates to the field of flight control, and in particular, to a method and device for switching an image transmission mode of a drone, and a drone thereof.
背景技术Background technique
无人机，是利用遥控器操纵的不载人飞行器。机上无驾驶舱，但安装有自动驾驶仪、程序控制装置等设备，在无人机飞行过程中，为了方便控制，需要将无人机拍摄的图像传输至遥控器或地面控制站。The drone is a non-manned aerial vehicle that is operated by a remote controller. There is no cockpit on the aircraft, but there are equipment such as autopilot and program control device. During the flight of the drone, in order to facilitate the control, the image taken by the drone needs to be transmitted to the remote control or ground control station.
在实现本申请过程中，发明人发现：现有技术中，无人机的图像传输方式之间不能根据实际情况进行切换，因而，图像传输方式不够灵活。In the process of implementing the present application, the inventors have found that in the prior art, the image transmission modes of the drone cannot be switched according to actual conditions, and thus the image transmission mode is not flexible enough.
发明内容Summary of the invention
本申请实施例旨在提供一种无人机图像传输方式切换方法、装置及其无人机，根据无人机与遥控器之间的距离进行图像传输方式切换，使得无人机的图像传输更加灵活，有利于保证无人机的图像传输的有效性。The embodiment of the present application aims to provide a method and device for switching an image transmission mode of a drone and a drone thereof, and switch image transmission mode according to the distance between the drone and the remote controller, so that the image transmission of the drone is further improved. Flexible, it is beneficial to ensure the effectiveness of image transmission of drones.
在第一方面，本申请实施例提供一种无人机图像传输方式切换方法，包括：In a first aspect, an embodiment of the present application provides a method for switching an image transmission mode of a drone, including:
获取所述无人机与遥控器之间的距离，所述遥控器用于接收无人机发送的图像，Obtaining a distance between the drone and a remote controller, and the remote controller is configured to receive an image sent by the drone,
确定无人机当前图像传输方式，所述图像传输方式包括遥控图像传输方式及远程图像传输方式， Determining a current image transmission mode of the drone, the image transmission mode including a remote image transmission mode and a remote image transmission mode,
根据所述无人机与遥控器之间的距离，切换无人机图像传输方式。According to the distance between the drone and the remote controller, the image transmission mode of the drone is switched.
可选地，所述获取所述无人机与遥控器之间的距离，具体包括：Optionally, the obtaining the distance between the UAV and the remote controller includes:
通过卫星定位或雷达获得无人机的当前位置，Obtain the current position of the drone by satellite positioning or radar,
根据无人机的当前位置计算无人机与遥控器之间的距离。Calculate the distance between the drone and the remote control based on the current position of the drone.
可选地，所述确定无人机当前图像传输方式，具体包括：Optionally, the determining the current image transmission mode of the drone includes:
接收图像传输信号，所述图像传输方式信号包括遥控图像传输信号或远程图像传输信号，Receiving an image transmission signal, the image transmission mode signal comprising a remote image transmission signal or a remote image transmission signal,
根据所述接收到的图像传输信号确定无人机当前图像传输方式。Determining a current image transmission mode of the drone based on the received image transmission signal.
可选地，所述根据所述无人机与遥控器之间的距离切换无人机图像传输方式，具体包括：Optionally, the switching the image transmission mode of the drone according to the distance between the drone and the remote controller comprises:
当无人机当前图像传输方式为遥控图像传输方式，且无人机与遥控器之间的距离超出切换距离时，将无人机图像传输方式切换为远程图像传输方式，或者，When the current image transmission mode of the drone is a remote image transmission mode, and the distance between the drone and the remote controller exceeds the switching distance, the image transmission mode of the drone is switched to the remote image transmission mode, or
当无人机当前控制方式为远程图像传输方式，且无人机与遥控器之间的距离小于切换距离时，将无人机图像传输方式切换为遥控图像传输方式。When the current control mode of the drone is remote image transmission mode, and the distance between the drone and the remote controller is less than the switching distance, the image transmission mode of the drone is switched to the remote image transmission mode.
可选地，所述切换距离小于遥控器的遥控传输距离。Optionally, the switching distance is less than a remote transmission distance of the remote controller.
可选地，所述远程控制方式为蜂窝移动通信传输方式。Optionally, the remote control mode is a cellular mobile communication transmission mode.
可选地，所述方法进一步包括：Optionally, the method further includes:
当无人机当前图像传输方式为遥控图像传输方式，且实际传输图像大小大于预设的传输图像大小时，将无人机图像传输方式切换为远程图像传输方式。When the current image transmission mode of the drone is a remote image transmission mode, and the actual transmission image size is larger than the preset transmission image size, the image transmission mode of the drone is switched to the remote image transmission mode.
在第二方面，本申请实施例提供一种无人机图像传输方式切换装置，包括：In a second aspect, an embodiment of the present application provides a UAV image transmission mode switching apparatus, including:
获取单元，用于获取所述无人机与遥控器之间的距离，所述遥控器用于接收无人机发送的图像，An acquiring unit, configured to acquire a distance between the drone and a remote controller, where the remote controller is configured to receive an image sent by the drone,
确定单元，用于确定无人机当前图像传输方式，所述图像传输方式包括遥控图像传输方式及远程图像传输方式，a determining unit, configured to determine a current image transmission mode of the drone, wherein the image transmission mode includes a remote image transmission mode and a remote image transmission mode,
切换单元，用于根据所述无人机与遥控器之间的距离，切换无人机图像传输方式。 The switching unit is configured to switch the image transmission mode of the drone according to the distance between the drone and the remote controller.
可选地，所述获取单元具体用于：Optionally, the obtaining unit is specifically configured to:
通过卫星定位或雷达获得无人机的当前位置，Obtain the current position of the drone by satellite positioning or radar,
根据无人机的当前位置计算无人机与遥控器之间的距离。Calculate the distance between the drone and the remote control based on the current position of the drone.
可选地，所述确定单元，具体用于：Optionally, the determining unit is specifically configured to:
接收图像传输信号，所述图像传输方式信号包括遥控图像传输信号或远程图像传输信号，Receiving an image transmission signal, the image transmission mode signal comprising a remote image transmission signal or a remote image transmission signal,
根据所述接收到的图像传输信号确定无人机当前图像传输方式。Determining a current image transmission mode of the drone based on the received image transmission signal.
可选地，所述切换单元，具体用于：Optionally, the switching unit is specifically configured to:
当无人机当前图像传输方式为遥控图像传输方式，且无人机与遥控器之间的距离超出切换距离时，将无人机图像传输方式切换为远程图像传输方式，或者，When the current image transmission mode of the drone is a remote image transmission mode, and the distance between the drone and the remote controller exceeds the switching distance, the image transmission mode of the drone is switched to the remote image transmission mode, or
当无人机当前控制方式为远程图像传输方式，且无人机与遥控器之间的距离小于切换距离时，将无人机图像传输方式切换为遥控图像传输方式。When the current control mode of the drone is remote image transmission mode, and the distance between the drone and the remote controller is less than the switching distance, the image transmission mode of the drone is switched to the remote image transmission mode.
可选地，所述切换距离小于遥控器的遥控距离。Optionally, the switching distance is smaller than a remote control distance of the remote controller.
可选地，所述远程控制方式为蜂窝移动通信传输方式。Optionally, the remote control mode is a cellular mobile communication transmission mode.
可选地，所述切换单元还用于：Optionally, the switching unit is further configured to:
当无人机当前图像传输方式为遥控图像传输方式，且实际传输图像大小大于预设的传输图像大小时，将无人机图像传输方式切换为远程图像传输方式。When the current image transmission mode of the drone is a remote image transmission mode, and the actual transmission image size is larger than the preset transmission image size, the image transmission mode of the drone is switched to the remote image transmission mode.
在第三方面，本申请实施例提供一种无人机，包括：In a third aspect, an embodiment of the present application provides a drone, including:
遥控天线，用于接收遥控图像传输信号，Remote antenna for receiving remote image transmission signals,
射频天线，用于接收远程图像传输信号，RF antenna for receiving remote image transmission signals,
中央处理器，用于获取所述无人机与遥控器之间的距离，根据接收到的遥控图像传输信号或图像传输控制信号，确定无人机当前图像传输方式，所述图像传输方式包括遥控图像传输方式及远程图像传输方式，根据所述无人机与遥控器之间的距离，切换无人机图像传输方式。a central processor, configured to acquire a distance between the drone and the remote controller, and determine a current image transmission mode of the drone according to the received remote control image transmission signal or an image transmission control signal, where the image transmission mode includes a remote control The image transmission mode and the remote image transmission mode switch the image transmission mode of the drone according to the distance between the drone and the remote controller.
在第四方面，本申请实施例提供一种电子设备，包括： In a fourth aspect, an embodiment of the present application provides an electronic device, including:
至少一个处理器；以及，At least one processor; and,
与所述至少一个处理器通信连接的存储器；其中，a memory communicatively coupled to the at least one processor; wherein
所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行如上所述的方法。The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method as described above.
第五方面，本申请实施例提供了一种非易失性计算机可读存储介质，所述计算机可读存储介质存储有计算机可执行指令，所述计算机可执行指令用于使计算机执行如上所述的方法。In a fifth aspect, embodiments of the present application provide a non-transitory computer readable storage medium storing computer executable instructions for causing a computer to execute as described above Methods.
第六方面，本申请实施例提供了一种计算机程序产品，所述计算机程序产品包括存储在非易失性计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，使所述计算机执行如上所述的方法。在本申请实施例中，在本申请实施例中，通过获取所述无人机与遥控器之间的距离，所述遥控器用于接收无人机发送的图像，确定无人机当前图像传输方式，所述图像传输方式包括遥控图像传输方式及远程图像传输方式，根据所述无人机与遥控器之间的距离，切换无人机图像传输方式，实现了无人机图像传输方式的灵活切换，有利于保证无人机的图像传输的有效性。In a sixth aspect, an embodiment of the present application provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, when the program When the instructions are executed by the computer, the computer is caused to perform the method as described above. In the embodiment of the present application, in the embodiment of the present application, by acquiring the distance between the drone and the remote controller, the remote controller is configured to receive an image sent by the drone, and determine a current image transmission mode of the drone. The image transmission mode includes a remote image transmission mode and a remote image transmission mode, and according to the distance between the drone and the remote controller, the image transmission mode of the drone is switched, and the flexible transmission mode of the image transmission mode of the drone is realized. It is beneficial to ensure the effectiveness of image transmission of drones.
附图说明DRAWINGS
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。The one or more embodiments are exemplified by the accompanying drawings in the accompanying drawings, and FIG. The figures in the drawings do not constitute a scale limitation unless otherwise stated.
图1是本申请实施例提供的一种无人机图像传输方式切换方法流程示意图；1 is a schematic flowchart of a method for switching an image transmission mode of a drone according to an embodiment of the present application;
图2是本申请实施例提供的一种无人机图像传输方式切换装置结构示意图；2 is a schematic structural diagram of an apparatus for switching an image transmission mode of a drone according to an embodiment of the present application;
图3是本申请实施例提供的一种无人机结构示意图；3 is a schematic structural diagram of a drone provided by an embodiment of the present application;
图4为本申请实施例提出的一种电子设备的结构框图。 FIG. 4 is a structural block diagram of an electronic device according to an embodiment of the present application.
具体实施方式detailed description
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本申请，并不用于限定本申请。In order to make the objects, technical solutions, and advantages of the present application more comprehensible, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the application and are not intended to be limiting.
此外，下面所描述的本申请各个实施方式中所涉及到的技术特征只要彼此之间未构成冲突就可以相互组合。Further, the technical features involved in the various embodiments of the present application described below may be combined with each other as long as they do not constitute a conflict with each other.
在本申请实施例中，无人机向遥控器发送图像，也可以向地面控制站发送图像，向遥控器发送图像的方式为遥控图像传输方式，向地面控制站发送图像为远程图像传输方式。在远程图像传输方式中，可以通过蜂窝移动通信方式进行图像传输，蜂窝移动通信方式包括各种无线通信***，比如，2G、3G或4G通信方式，而且，在远程图像传输方式下，一个地面控制器可以接收多台无人机传输的图像，每台无人机上设置有蜂窝移动通信单元，比如，2G、3G或4G通信单元。为实现地面控制器接收多台无人机的传输的图像，可以在无人机传输的图像中携带无人机身份标识。In the embodiment of the present application, the drone transmits an image to the remote controller, and may also send an image to the ground control station, and the image is transmitted to the remote controller in a remote image transmission mode, and the image is transmitted to the ground control station as a remote image transmission mode. In the remote image transmission mode, image transmission can be performed by means of cellular mobile communication, and the cellular mobile communication method includes various wireless communication systems, for example, 2G, 3G or 4G communication methods, and in the remote image transmission mode, a ground control The device can receive images transmitted by multiple drones, and each drone is provided with a cellular mobile communication unit, such as a 2G, 3G or 4G communication unit. In order to realize that the ground controller receives images transmitted by multiple drones, the drone identification can be carried in the image transmitted by the drone.
在本申请实施例中，无人机上可以安装有卫星定位***，比如，GPS卫星定位***，可以通过卫星定位***获得无人机的当前位置，从而获得无人机与遥控器与地面控制器之间的距离，以便于根据无人机与遥控器之间的距离实现遥控图像传输方式及远程图像传输方式之间的切换。In the embodiment of the present application, a satellite positioning system can be installed on the drone, for example, a GPS satellite positioning system, and the current position of the drone can be obtained through the satellite positioning system, thereby obtaining the drone and the remote controller and the ground controller. The distance between the remote control image transmission mode and the remote image transmission mode is realized according to the distance between the drone and the remote controller.
本申请实施例中，无人机可以包括：无人固定翼机、无人垂直起降机、无人飞艇、无人直升机、无人多旋翼飞行器、无人伞翼机等。In the embodiment of the present application, the unmanned aerial vehicle may include: an unmanned fixed wing aircraft, an unmanned vertical take-off and landing machine, an unmanned airship, an unmanned helicopter, an unmanned multi-rotor aircraft, an unmanned wing aircraft, and the like.
下面以无人多旋翼飞行器结合具体附图对本申请实施例作具体阐述。The embodiments of the present application are specifically described below with the unmanned multi-rotor aircraft in conjunction with specific drawings.
图1是本申请实施例提供的一种无人机图像传输方式切换方法流程示意图。如图1所示，该方法包括以下步骤：FIG. 1 is a schematic flowchart of a method for switching an image transmission mode of a drone according to an embodiment of the present application. As shown in Figure 1, the method includes the following steps:
S11、获取所述无人机与遥控器之间的距离，所述遥控器用于接收无人机发送的图像。S11. Obtain a distance between the drone and a remote controller, and the remote controller is configured to receive an image sent by the drone.
在本申请实施例中，无人机传输的图像主要由遥控器接收，在飞行过程中，可以通过无人机上的卫星定位或雷达获得无人机的当前位 置，并根据当前位置计算无人机与遥控器之间的距离。无人机通过遥控器接收图像传输时，具有一定的遥控传输距离，比如，遥控传输距离为10KM，超出该距离则需要切换为远程图像传输方式，在远程图像方式下，无人机可以通过地面控制站的卫星定位或雷达***监测无人机的当前位置，并获得无人机与遥控器之间的距离。比如，地面控制站可以分别通过GPS定位***分别定位无人机及遥控器的位置，从而获得无人机与遥控器之间的距离，并发送给无人机。In the embodiment of the present application, the image transmitted by the drone is mainly received by the remote controller, and during the flight, the current position of the drone can be obtained by satellite positioning or radar on the drone. Set and calculate the distance between the drone and the remote control based on the current position. When the drone receives image transmission through the remote control, it has a certain remote transmission distance. For example, the remote transmission distance is 10KM. If the distance is exceeded, it needs to be switched to the remote image transmission mode. In the remote image mode, the drone can pass the ground. The satellite positioning or radar system of the control station monitors the current position of the drone and obtains the distance between the drone and the remote control. For example, the ground control station can separately locate the position of the drone and the remote controller through the GPS positioning system, thereby obtaining the distance between the drone and the remote controller, and transmitting the distance to the drone.
S13、确定无人机当前图像传输方式，所述图像传输方式包括遥控图像传输方式及远程图像传输方式。S13. Determine a current image transmission mode of the drone, and the image transmission mode includes a remote image transmission mode and a remote image transmission mode.
在本申请实施例中，在无人机的图像传输过程中，无人机可以通过遥控***以及蜂窝移动通信单元分别接收遥控图像传输信号和远程图像传输信号，根据所述接收到的图像传输信号确定无人机当前图像传输方式。当无人机接收到遥控图像传输信号时，无人机当前图像传输方式为遥控图像传输方式，当无人机接收到远程图像传输信号时，无人机当前图像传输方式为远程图像传输方式。In the embodiment of the present application, during the image transmission process of the drone, the drone can respectively receive the remote image transmission signal and the remote image transmission signal through the remote control system and the cellular mobile communication unit, and transmit the signal according to the received image. Determine the current image transfer mode of the drone. When the drone receives the remote image transmission signal, the current image transmission mode of the drone is the remote image transmission mode. When the drone receives the remote image transmission signal, the current image transmission mode of the drone is the remote image transmission mode.
S15、根据所述无人机与遥控器之间的距离，切换无人机图像传输方式。S15. Switch the image transmission mode of the drone according to the distance between the drone and the remote controller.
在本申请实施例中，为了实现无人机图像传输方式的切换，尤其是当无人机飞行距离即将超出遥控器的遥控传输距离时，为有效传输图像，需要将无人机由遥控图像传输方式切换为远程图像传输方式。因此，根据所述无人机与遥控器的之间距离，切换无人机图像传输方式过程中，需要预先设置切换图像传输方式的切换距离，切换距离应当小于遥控器的遥控传输距离，以便于在无人机超出遥控器遥控传输范围之前进行图像传输方式的切换，以保证有效的图像传输。In the embodiment of the present application, in order to realize the switching of the image transmission mode of the drone, especially when the flight distance of the drone is about to exceed the remote control transmission distance of the remote controller, in order to effectively transmit the image, the drone needs to be transmitted by the remote control image. The mode is switched to the remote image transmission mode. Therefore, according to the distance between the drone and the remote controller, in the process of switching the image transmission mode of the drone, the switching distance of the switching image transmission mode needs to be set in advance, and the switching distance should be smaller than the remote control transmission distance of the remote controller, so as to facilitate The image transmission mode is switched before the drone exceeds the remote control transmission range of the remote controller to ensure effective image transmission.
在本申请实施例中，所述根据所述无人机与遥控器之间的距离切换无人机图像传输方式，具体包括：In the embodiment of the present application, the switching the image transmission mode of the drone according to the distance between the drone and the remote controller includes:
当无人机当前图像传输方式为遥控图像传输方式，且无人机与遥控器之间的距离超出切换距离时，将无人机图像传输方式切换为远程图像传输方式，或者，When the current image transmission mode of the drone is a remote image transmission mode, and the distance between the drone and the remote controller exceeds the switching distance, the image transmission mode of the drone is switched to the remote image transmission mode, or
当无人机当前控制方式为远程图像传输方式，且无人机与遥控器 之间的距离小于切换距离时，将无人机图像传输方式切换为遥控图像传输方式。When the drone is currently controlled by remote image transmission, and the drone and remote control When the distance between them is less than the switching distance, the image transmission mode of the drone is switched to the remote image transmission mode.
在本申请实施例中，在无人机切换为远程图像传输方式后，无人机传输的图像中携带有无人机的身份标识，所述身份标识可以由地面控制站为其图像传输范围内的无人机分配并发送给无人机，也可以是无人机自带的设备标识，通过传输图像中携带的无人机身份标识，地面控制站可以区分不同无人机传输的图像。In the embodiment of the present application, after the UAV switches to the remote image transmission mode, the image transmitted by the UAV carries the identity of the UAV, and the identity identifier can be used by the ground control station for its image transmission range. The drone is distributed and sent to the drone, or it can be the device identifier of the drone. By transmitting the identity of the drone carried in the image, the ground control station can distinguish the images transmitted by different drones.
在本申请实施例中，为了实现对无人机的图像远程传输，无人机与地面控制站之间采用蜂窝移动通信***进行通信，因此，无人机上需要安装有蜂窝移动通信单元，比如，2G、3G或4G通信单元。In the embodiment of the present application, in order to realize remote image transmission of the drone, the cellular mobile communication system is used for communication between the drone and the ground control station. Therefore, the cellular mobile communication unit needs to be installed on the drone, for example, 2G, 3G or 4G communication unit.
在本申请实施例中，由于遥控图像传输方式及远程图像传输方式可以传输的图像大小不同，其中，由于远程图像传输方式采用无线传输方式，其传输带宽比遥控传输带宽大，因此，当传输图像较大时，优先采取远程图像传输方式。在本申请实施例中，当无人机当前图像传输方式为遥控图像传输方式，且实际传输图像大小大于预设的传输图像大小时，可以将无人机图像传输方式切换为远程图像传输方式。In the embodiment of the present application, the image size that can be transmitted by the remote image transmission mode and the remote image transmission mode is different, and since the remote image transmission mode adopts the wireless transmission mode, the transmission bandwidth is larger than the remote control transmission bandwidth, and therefore, when the image is transmitted When it is large, the remote image transmission method is preferred. In the embodiment of the present application, when the current image transmission mode of the drone is a remote image transmission mode, and the actual transmission image size is larger than the preset transmission image size, the image transmission mode of the drone can be switched to the remote image transmission mode.
在本申请实施例中，通过获取所述无人机与遥控器之间的距离，所述遥控器用于接收无人机发送的图像，确定无人机当前图像传输方式，所述图像传输方式包括遥控图像传输方式及远程图像传输方式，根据所述无人机与遥控器之间的距离，切换无人机图像传输方式，实现了无人机图像传输方式的灵活切换，有利于保证无人机的图像传输的有效性，同时，远程图像传输方式采用移动蜂窝网络，可以实现更长距离，比如，超出现有10公里以上距离的图像传输。In the embodiment of the present application, the remote controller is configured to receive an image sent by the drone to determine a current image transmission mode of the drone by acquiring a distance between the drone and the remote controller, where the image transmission mode includes The remote control image transmission mode and the remote image transmission mode switch the image transmission mode of the drone according to the distance between the drone and the remote controller, thereby realizing the flexible switching of the image transmission mode of the drone, which is beneficial to guarantee the drone The effectiveness of image transmission, at the same time, the remote image transmission method using mobile cellular networks, can achieve longer distances, for example, beyond the existing distance of more than 10 kilometers of image transmission.
图2是本申请实施例提供的一种无人机图像传输方式切换装置结构示意图，如图2所示，所述装置2包括：2 is a schematic structural diagram of an apparatus for switching an image transmission mode of a drone according to an embodiment of the present application. As shown in FIG. 2, the apparatus 2 includes:
获取单元21，用于获取所述无人机与遥控器之间的距离，所述遥控器用于接收无人机发送的图像，An acquiring unit 21, configured to acquire a distance between the drone and a remote controller, where the remote controller is configured to receive an image sent by the drone,
确定单元22，用于确定无人机当前图像传输方式，所述图像传输方式包括遥控图像传输方式及远程图像传输方式，The determining unit 22 is configured to determine a current image transmission mode of the drone, and the image transmission mode includes a remote image transmission mode and a remote image transmission mode.
切换单元23，用于根据所述无人机与遥控器之间的距离，切换 无人机图像传输方式。a switching unit 23, configured to switch according to a distance between the drone and the remote controller UAV image transmission method.
在本申请实施例中，获取单元21具体用于：In the embodiment of the present application, the obtaining unit 21 is specifically configured to:
通过卫星定位或雷达获得无人机的当前位置，Obtain the current position of the drone by satellite positioning or radar,
根据无人机的当前位置计算无人机与遥控器之间的距离。Calculate the distance between the drone and the remote control based on the current position of the drone.
在本申请实施例中，所述确定单元22具体用于：In the embodiment of the present application, the determining unit 22 is specifically configured to:
接收图像传输信号，所述图像传输方式信号包括遥控图像传输信号或远程图像传输信号，Receiving an image transmission signal, the image transmission mode signal comprising a remote image transmission signal or a remote image transmission signal,
根据所述接收到的图像传输信号确定无人机当前图像传输方式。Determining a current image transmission mode of the drone based on the received image transmission signal.
在本申请实施例中，所述切换单元23具体用于：In the embodiment of the present application, the switching unit 23 is specifically configured to:
当无人机当前图像传输方式为遥控图像传输方式，且无人机与遥控器之间的距离超出切换距离时，将无人机图像传输方式切换为远程图像传输方式，或者，When the current image transmission mode of the drone is a remote image transmission mode, and the distance between the drone and the remote controller exceeds the switching distance, the image transmission mode of the drone is switched to the remote image transmission mode, or
当无人机当前控制方式为远程图像传输方式，且无人机与遥控器之间的距离小于切换距离时，将无人机图像传输方式切换为遥控图像传输方式。When the current control mode of the drone is remote image transmission mode, and the distance between the drone and the remote controller is less than the switching distance, the image transmission mode of the drone is switched to the remote image transmission mode.
在本申请实施例中，无人机通过获取单元21通过卫星定位或雷达获得无人机的当前位置，由此获取无人机与遥控器之间的距离，并由确定单元22根据接收到的图像传输信号确定无人机的当前图像传输方式，然后切换单元23根据无人机与遥控器之间的距离，切换无人机的图像传输方式，切换过程中，切换单元23将无人机与遥控器之间的距离与切换距离之间进行比较，如果无人机与遥控器之间的距离大于切换距离，且无人机当前图像传输为遥控图像传输方式，则将无人机的图像传输方式切换为远程图像传输方式，如果无人机与遥控器之间的距离小于切换距离，且无人机当前图像传输方式为远程图像传输方式，则将无人机的图像传输方式切换为遥控图像传输方式，其中，为了实现无人机的图像传输的有效性，所述切换距离小于遥控器的遥控传输距离。In the embodiment of the present application, the drone obtains the current position of the drone through the satellite positioning or radar through the acquiring unit 21, thereby acquiring the distance between the drone and the remote controller, and the receiving unit 22 according to the received The image transmission signal determines the current image transmission mode of the drone, and then the switching unit 23 switches the image transmission mode of the drone according to the distance between the drone and the remote controller. During the switching process, the switching unit 23 connects the drone with The distance between the remote controller and the switching distance are compared. If the distance between the drone and the remote controller is greater than the switching distance, and the current image transmission of the drone is the remote image transmission mode, the image of the drone is transmitted. The mode is switched to the remote image transmission mode. If the distance between the drone and the remote controller is less than the switching distance, and the current image transmission mode of the drone is the remote image transmission mode, the image transmission mode of the drone is switched to the remote image. The transmission mode, wherein the switching distance is smaller than the remote control transmission distance of the remote controller in order to realize the effectiveness of the image transmission of the drone.
在本申请实施例中，所述远程图像传输方式蜂窝移动通信传输方式。为了实现对无人机的远程图像传输，无人机与地面控制站之间采用蜂窝移动通信***进行通信，因此，无人机上需要安装有蜂窝移动 通信单元，比如，2G、3G或4G通信单元。In the embodiment of the present application, the remote image transmission mode is a cellular mobile communication transmission mode. In order to realize remote image transmission to the drone, the mobile communication system is used for communication between the drone and the ground control station. Therefore, cellular movement is required on the drone. A communication unit, such as a 2G, 3G or 4G communication unit.
在本申请实施例中，所述切换单元23还用于：In the embodiment of the present application, the switching unit 23 is further configured to:
当无人机当前图像传输方式为遥控图像传输方式，且实际传输图像大小大于预设的传输图像大小时，将无人机图像传输方式切换为远程图像传输方式。When the current image transmission mode of the drone is a remote image transmission mode, and the actual transmission image size is larger than the preset transmission image size, the image transmission mode of the drone is switched to the remote image transmission mode.
在本申请实施例中，在无人机切换为远程图像传输方式后，无人机传输的图像中携带有无人机的身份标识，所述身份标识可以由地面控制站为其图像传输范围内的无人机分配并发送给无人机，也可以是无人机自带的设备标识，通过传输图像中携带的无人机身份标识，地面控制站可以区分不同无人机传输的图像。In the embodiment of the present application, after the UAV switches to the remote image transmission mode, the image transmitted by the UAV carries the identity of the UAV, and the identity identifier can be used by the ground control station for its image transmission range. The drone is distributed and sent to the drone, or it can be the device identifier of the drone. By transmitting the identity of the drone carried in the image, the ground control station can distinguish the images transmitted by different drones.
需要说明的是，由于无人机图像传输方式切换方法与无人机图像传输方式切换装置基于相同的申请构思，方法实施例与装置实施例中的相应技术内容可相互适用，此处不再详述。It should be noted that, since the UAV image transmission mode switching method and the UAV image transmission mode switching device are based on the same application concept, the corresponding technical contents in the method embodiment and the device embodiment may be mutually applicable, and the details are not described herein. Said.
在本申请实施例中，通过获取所述无人机与遥控器之间的距离，所述遥控器用于接收无人机发送的图像，确定无人机当前图像传输方式，所述图像传输方式包括遥控图像传输方式及远程图像传输方式，根据所述无人机与遥控器之间的距离，切换无人机图像传输方式，实现了无人机图像传输方式的灵活切换，有利于保证无人机的图像传输的有效性，同时，远程图像传输方式采用移动蜂窝网络，可以实现更长距离，比如，超出现有10公里以上距离的图像传输。In the embodiment of the present application, the remote controller is configured to receive an image sent by the drone to determine a current image transmission mode of the drone by acquiring a distance between the drone and the remote controller, where the image transmission mode includes The remote control image transmission mode and the remote image transmission mode switch the image transmission mode of the drone according to the distance between the drone and the remote controller, thereby realizing the flexible switching of the image transmission mode of the drone, which is beneficial to guarantee the drone The effectiveness of image transmission, at the same time, the remote image transmission method using mobile cellular networks, can achieve longer distances, for example, beyond the existing distance of more than 10 kilometers of image transmission.
图3是本申请实施例提供的一种无人机结构示意图。如图3所示，该无人机3包括：FIG. 3 is a schematic structural diagram of a drone provided by an embodiment of the present application. As shown in FIG. 3, the drone 3 includes:
遥控天线31，用于接收遥控图像传输信号，a remote control antenna 31 for receiving a remote image transmission signal,
射频天线32，用于接收远程图像传输信号，An RF antenna 32 for receiving a remote image transmission signal,
中央处理器33，用于获取所述无人机与遥控器之间的距离，根据接收到的遥控图像传输信号或图像传输控制信号，确定无人机当前图像传输方式，根据所述无人机与遥控器之间的距离，切换无人机图像传输方式。The central processing unit 33 is configured to acquire a distance between the drone and the remote controller, and determine a current image transmission mode of the drone according to the received remote control image transmission signal or an image transmission control signal, according to the drone The distance between the remote control and the remote control is switched.
本申请实施例中，无人机可以是无人固定翼机、无人垂直起降机、无人飞艇、无人直升机、无人多旋翼飞行器、无人伞翼机等。 In the embodiment of the present application, the unmanned aerial vehicle may be an unmanned fixed wing aircraft, an unmanned vertical take-off and landing machine, an unmanned airship, an unmanned helicopter, an unmanned multi-rotor aircraft, an unmanned wing aircraft, and the like.
在本申请实施例中，中央处理器为该无人机的控制中心，利用各种接口和线路连接整个电子设备的各个部分，通过运行或执行存储在存储单元内的软件程序和/或模块，以及调用存储在存储单元内的数据，以执行电子设备的各种功能和/或处理数据。所述处理器可以由集成电路组成，也可以由连接多颗相同功能或不同功能的封表集成芯片而组成。即处理器可以是GPU、数字信号处理器、及通信单元中的控制芯片的组合。In the embodiment of the present application, the central processing unit is a control center of the drone, and connects various parts of the entire electronic device by using various interfaces and lines, by running or executing software programs and/or modules stored in the storage unit. And invoking data stored in the storage unit to perform various functions of the electronic device and/or process data. The processor may be composed of an integrated circuit, or may be composed of a plurality of sealed integrated chips that connect the same function or different functions. That is, the processor can be a combination of a GPU, a digital signal processor, and a control chip in the communication unit.
专业人员应该还可以进一步意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、计算机软件或者二者的结合来实现，为了清楚地说明硬件和软件的可互换性，在上述说明中已经按照功能一般性地描述了各示例的组成及步骤。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。所述的计算机软件可存储于计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体或随机存储记忆体等。A person skilled in the art should further appreciate that the elements and algorithm steps of the various examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both, in order to clearly illustrate hardware and software. Interchangeability, the composition and steps of the various examples have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the solution. A person skilled in the art can use different methods to implement the described functions for each particular application, but such implementation should not be considered to be beyond the scope of the present application. The computer software can be stored in a computer readable storage medium, which, when executed, can include the flow of an embodiment of the methods described above. The storage medium may be a magnetic disk, an optical disk, a read-only storage memory, or a random storage memory.
在本申请实施例中，通过获取所述无人机与遥控器之间的距离，所述遥控器用于接收无人机发送的图像，确定无人机当前图像传输方式，所述图像传输方式包括遥控图像传输方式及远程图像传输方式，根据所述无人机与遥控器之间的距离，切换无人机图像传输方式，实现了无人机图像传输方式的灵活切换，有利于保证无人机的图像传输的有效性。In the embodiment of the present application, the remote controller is configured to receive an image sent by the drone to determine a current image transmission mode of the drone by acquiring a distance between the drone and the remote controller, where the image transmission mode includes The remote control image transmission mode and the remote image transmission mode switch the image transmission mode of the drone according to the distance between the drone and the remote controller, thereby realizing the flexible switching of the image transmission mode of the drone, which is beneficial to guarantee the drone The effectiveness of the image transmission.
图4为本申请实施例提出的一种电子设备的结构框图，如图4所示，该电子设备4包括：4 is a structural block diagram of an electronic device according to an embodiment of the present application. As shown in FIG. 4, the electronic device 4 includes:
一个或多个处理器41以及存储器42，图4中以一个处理器41为例。One or more processors 41 and a memory 42 are exemplified by a processor 41 in FIG.
处理器41、存储器42可以通过总线或者其他方式连接，图4中以通过总线连接为例。 The processor 41 and the memory 42 may be connected by a bus or other means, and the connection by a bus is taken as an example in FIG.
存储器42作为一种非易失性计算机可读存储介质，可用于存储非易失性软件程序、非易失性计算机可执行程序以及模块，如本申请实施例中的终端的图像采集方法对应的程序指令/模块(例如，附图2所示的无人机图像传输方式切换装置2的获取单元21，确定单元22，切换单元23)。处理器41通过运行存储在存储器42中的非易失性软件程序、指令以及模块，从而执行电子设备4的各种功能应用以及数据处理，即实现上述方法实施例的无人机图像传输方式切换方法和上述无人机图像传输方式切换装置实施例的各个模块的功能。The memory 42 is a non-volatile computer readable storage medium, and is applicable to a non-volatile software program, a non-volatile computer-executable program, and a module, such as an image acquisition method of a terminal in the embodiment of the present application. Program instructions/modules (for example, the acquisition unit 21 of the UAV image transmission mode switching device 2 shown in FIG. 2, the determination unit 22, the switching unit 23). The processor 41 executes various functional applications and data processing of the electronic device 4 by executing non-volatile software programs, instructions, and modules stored in the memory 42, that is, the UAV image transmission mode switching of the foregoing method embodiment is implemented. The method and the functions of the respective modules of the above-described UAV image transmission mode switching device embodiment.
存储器42可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实施例中，存储器42可选包括相对于处理器41远程设置的存储器，这些远程存储器可以通过网络连接至处理器41。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。 Memory 42 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 42 may optionally include memory remotely located relative to processor 41, which may be coupled to processor 41 via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
所述程序指令/模块存储在所述存储器42中，当被所述一个或者多个处理器41执行时，可执行上述任意方法实施例中的无人机图像传输方式切换方法，例如，执行以上描述的图1中的方法步骤S11至步骤S15；也可实现图2中的模块21－23的功能。The program instructions/modules are stored in the memory 42 and, when executed by the one or more processors 41, the UAV image transmission mode switching method in any of the above method embodiments may be performed, for example, performing the above The method steps S11 to S15 in Fig. 1 are described; the functions of the modules 21-23 in Fig. 2 can also be implemented.
本申请实施例的电子设备4可以多种形式存在，包括但不限于：The electronic device 4 of the embodiment of the present application may exist in various forms, including but not limited to:
无人固定翼机、无人垂直起降机、无人飞艇、无人直升机、无人多旋翼飞行器、无人伞翼机。Unmanned fixed-wing aircraft, unmanned vertical take-off and landing aircraft, unmanned airships, unmanned helicopters, unmanned multi-rotor aircraft, unmanned parachute aircraft.
本申请实施例还提供了一种非易失性计算机存储介质，所述计算机存储介质存储有计算机可执行指令，该计算机可执行指令被一个或多个处理器执行，例如图4中的一个处理器41，可使得上述一个或多个处理器执行上述任意方法实施例中的无人机图像传输方式切换方法，例如，执行以上描述的图1中的方法步骤S11至步骤S15；也可实现图2中的模块21－23的功能。The embodiment of the present application further provides a non-volatile computer storage medium storing computer-executable instructions executed by one or more processors, such as one of the processes in FIG. The above-mentioned one or more processors may perform the unmanned image transmission mode switching method in any of the above method embodiments, for example, perform the method steps S11 to S15 in FIG. 1 described above; The function of module 21-23 in 2.
以上所描述的装置或设备实施例仅仅是示意性的，其中所述作为 分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。The apparatus or device embodiments described above are merely illustrative in which The units described by the separate components may or may not be physically separate, and the components displayed as the units may or may not be physical units, that is, may be located in one place, or may be distributed to 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 embodiment.
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到各实施方式可借助软件加通用硬件平台的方式来实现，当然也可以通过硬件。基于这样的理解，上述技术方案本质上或者说对相关技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如ROM/RAM、磁碟、光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行各个实施例或者实施例的某些部分所述的方法。Through the description of the above embodiments, those skilled in the art can clearly understand that the various embodiments can be implemented by means of software plus a general hardware platform, and of course, by hardware. Based on such understanding, the above technical solutions may be embodied in the form of software products in essence or in the form of software products, which may be stored in a computer readable storage medium such as a ROM/RAM or a disk. , an optical disk, etc., includes instructions for causing a computer device (which may be a personal computer, server, or network device, etc.) to perform the methods described in various embodiments or portions of the embodiments.
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；在本申请的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本申请的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。 Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not limited thereto; in the idea of the present application, the technical features in the above embodiments or different embodiments may also be combined. The steps may be carried out in any order, and there are many other variations of the various aspects of the present application as described above, which are not provided in the details for the sake of brevity; although the present application has been described in detail with reference to the foregoing embodiments, The skilled person should understand that the technical solutions described in the foregoing embodiments may be modified, or some of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the embodiments of the present application. The scope of the technical solution.

Claims (15)

  1. 一种无人机图像传输方式切换方法，其特征在于，包括：A method for switching an image transmission mode of a drone, characterized in that it comprises:
    获取所述无人机与遥控器之间的距离，所述遥控器用于接收无人机发送的图像，Obtaining a distance between the drone and a remote controller, and the remote controller is configured to receive an image sent by the drone,
    确定无人机当前图像传输方式，所述图像传输方式包括遥控图像传输方式及远程图像传输方式，Determining a current image transmission mode of the drone, the image transmission mode including a remote image transmission mode and a remote image transmission mode,
    根据所述无人机与遥控器之间的距离，切换无人机图像传输方式。According to the distance between the drone and the remote controller, the image transmission mode of the drone is switched.
  2. 根据权利要求1所述的方法，其特征在于，所述获取所述无人机与遥控器之间的距离，具体包括：The method according to claim 1, wherein the obtaining the distance between the drone and the remote controller comprises:
    通过卫星定位或雷达获得无人机的当前位置，Obtain the current position of the drone by satellite positioning or radar,
    根据无人机的当前位置计算无人机与遥控器之间的距离。Calculate the distance between the drone and the remote control based on the current position of the drone.
  3. 根据权利要求1所述的方法，其特征在于，所述确定无人机当前图像传输方式，具体包括：The method according to claim 1, wherein the determining the current image transmission mode of the drone comprises:
    接收图像传输信号，所述图像传输方式信号包括遥控图像传输信号或远程图像传输信号，Receiving an image transmission signal, the image transmission mode signal comprising a remote image transmission signal or a remote image transmission signal,
    根据所述接收到的图像传输信号确定无人机当前图像传输方式。Determining a current image transmission mode of the drone based on the received image transmission signal.
  4. 根据权利要求1－3任一项所述的方法，其特征在于，所述根据所述无人机与遥控器之间的距离切换无人机图像传输方式，具体包括：The method according to any one of claims 1 to 3, wherein the switching the image transmission mode of the drone according to the distance between the drone and the remote controller comprises:
    当无人机当前图像传输方式为遥控图像传输方式，且无人机与遥控器之间的距离超出切换距离时，将无人机图像传输方式切换为远程图像传输方式，或者，When the current image transmission mode of the drone is a remote image transmission mode, and the distance between the drone and the remote controller exceeds the switching distance, the image transmission mode of the drone is switched to the remote image transmission mode, or
    当无人机当前控制方式为远程图像传输方式，且无人机与遥控器之间的距离小于切换距离时，将无人机图像传输方式切换为遥控图像传输方式。When the current control mode of the drone is remote image transmission mode, and the distance between the drone and the remote controller is less than the switching distance, the image transmission mode of the drone is switched to the remote image transmission mode.
  5. 根据权利要求4所述的方法，其特征在于，所述切换距离小于遥控器的遥控传输距离。The method of claim 4 wherein said switching distance is less than a remote transmission distance of the remote control.
  6. 根据权利要求4所述的方法，其特征在于，所述远程控制方 式为蜂窝移动通信传输方式。The method of claim 4 wherein said remote control party The formula is a cellular mobile communication transmission method.
  7. 根据权利要求4所述的方法，其特征在于，所述方法进一步包括：The method of claim 4, wherein the method further comprises:
    当无人机当前图像传输方式为遥控图像传输方式，且实际传输图像大小大于预设的传输图像大小时，将无人机图像传输方式切换为远程图像传输方式。When the current image transmission mode of the drone is a remote image transmission mode, and the actual transmission image size is larger than the preset transmission image size, the image transmission mode of the drone is switched to the remote image transmission mode.
  8. 一种无人机图像传输方式切换装置，其特征在于，包括：A UAV image transmission mode switching device, comprising:
    获取单元，用于获取所述无人机与遥控器之间的距离，所述遥控器用于接收无人机发送的图像，An acquiring unit, configured to acquire a distance between the drone and a remote controller, where the remote controller is configured to receive an image sent by the drone,
    确定单元，用于确定无人机当前图像传输方式，所述图像传输方式包括遥控图像传输方式及远程图像传输方式，a determining unit, configured to determine a current image transmission mode of the drone, wherein the image transmission mode includes a remote image transmission mode and a remote image transmission mode,
    切换单元，用于根据所述无人机与遥控器之间的距离，切换无人机图像传输方式。The switching unit is configured to switch the image transmission mode of the drone according to the distance between the drone and the remote controller.
  9. 根据权利要求8所述的装置，其特征在于，所述获取单元具体用于：The device according to claim 8, wherein the obtaining unit is specifically configured to:
    通过卫星定位或雷达获得无人机的当前位置，Obtain the current position of the drone by satellite positioning or radar,
    根据无人机的当前位置计算无人机与遥控器之间的距离。Calculate the distance between the drone and the remote control based on the current position of the drone.
  10. 根据权利要求8所述的装置，其特征在于，所述确定单元，具体用于：The device according to claim 8, wherein the determining unit is specifically configured to:
    接收图像传输信号，所述图像传输方式信号包括遥控图像传输信号或远程图像传输信号，Receiving an image transmission signal, the image transmission mode signal comprising a remote image transmission signal or a remote image transmission signal,
    根据所述接收到的图像传输信号确定无人机当前图像传输方式。Determining a current image transmission mode of the drone based on the received image transmission signal.
  11. 根据权利要求8－10任一项所述的装置，其特征在于，所述切换单元，具体用于：The device according to any one of claims 8 to 10, wherein the switching unit is specifically configured to:
    当无人机当前图像传输方式为遥控图像传输方式，且无人机与遥控器之间的距离超出切换距离时，将无人机图像传输方式切换为远程图像传输方式，或者，When the current image transmission mode of the drone is a remote image transmission mode, and the distance between the drone and the remote controller exceeds the switching distance, the image transmission mode of the drone is switched to the remote image transmission mode, or
    当无人机当前控制方式为远程图像传输方式，且无人机与遥控器之间的距离小于切换距离时，将无人机图像传输方式切换为遥控图像传输方式。 When the current control mode of the drone is remote image transmission mode, and the distance between the drone and the remote controller is less than the switching distance, the image transmission mode of the drone is switched to the remote image transmission mode.
  12. 根据权利要求11所述的装置，其特征在于，所述切换距离小于遥控器的遥控距离。The apparatus of claim 11 wherein said switching distance is less than a remote control distance of the remote control.
  13. 根据权利要求11所述的装置，其特征在于，所述远程控制方式为蜂窝移动通信传输方式。The apparatus according to claim 11, wherein said remote control mode is a cellular mobile communication transmission mode.
  14. 根据权利要求11所述的装置，其特征在于，所述切换单元还用于：The device according to claim 11, wherein the switching unit is further configured to:
    当无人机当前图像传输方式为遥控图像传输方式，且实际传输图像大小大于预设的传输图像大小时，将无人机图像传输方式切换为远程图像传输方式。When the current image transmission mode of the drone is a remote image transmission mode, and the actual transmission image size is larger than the preset transmission image size, the image transmission mode of the drone is switched to the remote image transmission mode.
  15. 一种无人机，其特征在于，包括：A drone, characterized in that it comprises:
    遥控天线，用于接收遥控图像传输信号，Remote antenna for receiving remote image transmission signals,
    射频天线，用于接收远程图像传输信号，RF antenna for receiving remote image transmission signals,
    中央处理器，用于获取所述无人机与遥控器之间的距离，根据接收到的遥控图像传输信号或图像传输控制信号，确定无人机当前图像传输方式，所述图像传输方式包括遥控图像传输方式及远程图像传输方式，根据所述无人机与遥控器之间的距离，切换无人机图像传输方式。 a central processor, configured to acquire a distance between the drone and the remote controller, and determine a current image transmission mode of the drone according to the received remote control image transmission signal or an image transmission control signal, where the image transmission mode includes a remote control The image transmission mode and the remote image transmission mode switch the image transmission mode of the drone according to the distance between the drone and the remote controller.
PCT/CN2016/101242 2016-04-29 2016-09-30 Method and device for switching unmanned aerial vehicle image transmission modes, and unmanned aerial vehicle WO2017185651A1 (en)

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