WO2017185651A1 - Procédé et dispositif pour commuter des modes de transmission d'image de véhicule aérien sans équipage, et véhicule aérien sans équipage - Google Patents

Procédé et dispositif pour commuter des modes de transmission d'image de véhicule aérien sans équipage, et véhicule aérien sans équipage 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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WO
WIPO (PCT)
Prior art keywords
image transmission
drone
transmission mode
remote
distance
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PCT/CN2016/101242
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English (en)
Chinese (zh)
Inventor
杨震
李大龙
Original Assignee
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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Application filed by 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 filed Critical 乐视控股（北京）有限公司
Publication of WO2017185651A1 publication Critical patent/WO2017185651A1/fr

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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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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • Astronomy & Astrophysics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Selective Calling Equipment (AREA)

Abstract

La présente invention concerne un procédé et un dispositif pour commuter des modes de transmission d'image de véhicule aérien sans équipage, et un véhicule aérien sans équipage. Le procédé pour commuter des modes de transmission d'image de véhicule aérien sans équipage consiste : à obtenir la distance entre un véhicule aérien sans équipage et une télécommande, la télécommande étant utilisée pour recevoir des images envoyées par le véhicule aérien sans équipage ; à déterminer le mode de transmission d'image actuel dudit véhicule aérien sans équipage, le mode de transmission d'image comprenant un mode de transmission d'image de télécommande et un mode de transmission d'image à longue portée ; et, sur la base de la distance entre le véhicule aérien sans équipage et la télécommande, à commuter des modes de transmission d'image de véhicule aérien sans équipage. Dans des modes de réalisation de la présente invention, la commutation de modes de transmission d'image sur la base de la distance entre le véhicule aérien sans équipage et la télécommande permet une transmission d'image de véhicule aérien sans équipage plus souple, et améliore l'efficacité de transmission d'image de véhicule aérien sans équipage. En outre, le mode de transmission d'image à longue portée utilise un réseau cellulaire mobile, permettant une transmission d'image à des distances même supérieures, par exemple, à la transmission d'image de plus de 10 kilomètres dans l'état de la technique.
PCT/CN2016/101242 2016-04-29 2016-09-30 Procédé et dispositif pour commuter des modes de transmission d'image de véhicule aérien sans équipage, et véhicule aérien sans équipage WO2017185651A1 (fr)

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CN201610282362.3A CN105898099A (zh) 2016-04-29 2016-04-29 一种无人机图像传输方式切换方法、装置及其无人机
CN201610282362.3 2016-04-29

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CN105898099A (zh) * 2016-04-29 2016-08-24 乐视控股（北京）有限公司 一种无人机图像传输方式切换方法、装置及其无人机
WO2018170884A1 (fr) * 2017-03-24 2018-09-27 深圳市大疆创新科技有限公司 Véhicule aérien sans pilote et procédé de traitement d'informations associé
CN208207368U (zh) * 2017-11-21 2018-12-07 深圳市大疆创新科技有限公司 头戴式显示设备、飞行器和图像传输***
WO2019104633A1 (fr) * 2017-11-30 2019-06-06 深圳市大疆创新科技有限公司 Système de véhicule aérien sans équipage et procédé de communication
CN108429903A (zh) * 2018-05-14 2018-08-21 安徽佳讯皖之翼科技有限公司 一种无人机飞行数据及图像传输***

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