WO2021035641A1 - Control method, remote server, control station and storage medium - Google Patents

Control method, remote server, control station and storage medium Download PDF

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Publication number
WO2021035641A1
WO2021035641A1 PCT/CN2019/103427 CN2019103427W WO2021035641A1 WO 2021035641 A1 WO2021035641 A1 WO 2021035641A1 CN 2019103427 W CN2019103427 W CN 2019103427W WO 2021035641 A1 WO2021035641 A1 WO 2021035641A1
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WO
WIPO (PCT)
Prior art keywords
control station
unmanned aerial
aerial vehicle
verification information
communication verification
Prior art date
Application number
PCT/CN2019/103427
Other languages
French (fr)
Chinese (zh)
Inventor
陈文月
尹小俊
饶雄斌
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201980030362.6A priority Critical patent/CN112119648A/en
Priority to PCT/CN2019/103427 priority patent/WO2021035641A1/en
Publication of WO2021035641A1 publication Critical patent/WO2021035641A1/en

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/0005—Control or signalling for completing the hand-off
    • H04W36/0083—Determination of parameters used for hand-off, e.g. generation or modification of neighbour cell lists
    • H04W36/0085—Hand-off measurements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/24—Reselection being triggered by specific parameters
    • H04W36/30—Reselection being triggered by specific parameters by measured or perceived connection quality data

Definitions

  • the present invention relates to the field of communication technology, in particular to a control method, a remote server, a control station and a storage medium.
  • the current drones can be used in many fields such as aerial photography, oil pipeline inspections, power inspections, and border patrols.
  • the user controls the drone to perform tasks through the remote control, and the remote control can receive the data collected by the drone during the execution of the task.
  • the power limitation of the radio management regulations and the size of the remote control's own antenna the ultimate communication distance reached by the drone in an ideal environment is about 10 kilometers. In the case of electromagnetic environment interference, terrain occlusion, etc., the communication distance will be greatly reduced.
  • the embodiment of the present invention provides a control method, a remote server, a control station, and a storage medium.
  • the remote server can control the unmanned aerial vehicle to switch the control station connected to it during flight according to the signal reception strength of multiple control stations.
  • the control station is connected for flight, which can realize the effective long-distance communication of the unmanned aerial vehicle.
  • an embodiment of the present invention provides a control method, characterized in that the control method is applied to a remote server, and the remote server is in communication connection with a selected control station and a candidate control station, and the selected control station
  • the two-way data interaction with the unmanned aerial vehicle, the method includes:
  • the switching instruction is sent to the selected control station so that the selected control station controls the unmanned aerial vehicle to disconnect the two-way data interaction with the selected control station, and controls the unmanned aerial vehicle to establish a connection with the unmanned aerial vehicle.
  • the two-way data exchange of the candidate control station is sent to the selected control station so that the selected control station controls the unmanned aerial vehicle to disconnect the two-way data interaction with the selected control station, and controls the unmanned aerial vehicle to establish a connection with the unmanned aerial vehicle.
  • an embodiment of the present invention provides another control method, characterized in that the control method is applied to a selected control station that has established a two-way data interaction with an unmanned aerial vehicle, and the selected control station is connected to a remote server. Communication connection, the method includes:
  • the switching instruction sent by the remote server where the switching instruction is generated by the remote server according to the first signal reception strength and the second signal reception strength sent by the candidate control station received by the remote server ,
  • the second signal reception strength is determined by the candidate control station according to the downlink service data received from the unmanned aerial vehicle by the candidate control station;
  • an embodiment of the present invention provides a remote server, which is characterized in that:
  • the remote server is in communication connection with the selected control station and the candidate control station, the selected control station performs two-way data interaction with the unmanned aerial vehicle, and the remote server includes a memory and a processor:
  • the memory is used to store program codes
  • the processor calls the program code, and when the program code is executed, is used to perform the following operations:
  • the switching instruction is sent to the selected control station so that the selected control station controls the UAV to disconnect the two-way data interaction with the selected control station, and establishes a connection with the candidate control station Two-way data interaction.
  • an embodiment of the present invention provides a control station, which is characterized in that:
  • the control station is a selected control station that establishes two-way data interaction with the unmanned aerial vehicle, the selected control station is in communication connection with a remote server, and the remote server is also communicatively connected to a candidate control station.
  • the control station includes memory and processing Device:
  • the memory is used to store program code
  • the processor calls the program code, and when the program code is executed, is used to perform the following operations:
  • the switching instruction is generated by the remote server according to the first signal reception strength and the second signal reception strength sent by the candidate control station received by the remote server Yes, the second signal reception strength is determined by the candidate control station according to the downlink service data received from the unmanned aerial vehicle by the candidate control station;
  • the unmanned aerial vehicle is controlled to disconnect the two-way data interaction with the selected control station, so that the unmanned aerial vehicle establishes the two-way data interaction with the candidate control station.
  • an embodiment of the present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a first computer program, and the first computer program includes first program instructions, and The first program instruction, when executed by a processor, causes the processor to execute the control method of the above-mentioned first aspect, or the computer-readable storage medium stores a second computer program, and the second computer program includes second program instructions , The execution of the second program commands the processor to execute the control method of the second aspect when executed by the processor.
  • Figure 1 is a structural diagram of a control system provided by an embodiment of the present invention.
  • Figure 2 is an application scenario diagram of an unmanned aerial vehicle provided by an embodiment of the present invention.
  • FIG. 3 is a schematic flowchart of a control method provided by an embodiment of the present invention.
  • Figure 4a is a schematic diagram of a selected control station obtaining uplink control data according to an embodiment of the present invention
  • Figure 4b is a schematic diagram of another selected control station obtaining uplink control data according to an embodiment of the present invention.
  • FIG. 5 is a schematic flowchart of another control method provided by an embodiment of the present invention.
  • Figure 6 is a schematic structural diagram of a remote server provided by an embodiment of the present invention.
  • Fig. 7 is a schematic structural diagram of a control station provided by an embodiment of the present invention.
  • the embodiment of the present invention provides a control scheme, which can be applied to the application scenario of the unmanned aerial vehicle for long-distance navigation, specifically: the two-way data between the selected control station and the unmanned aerial vehicle among a plurality of preset control stations
  • the remote server can send uplink control data to the selected control, so that the selected control station sends the uplink control data to the unmanned aerial vehicle to control the unmanned aerial vehicle's flight or perform tasks; the unmanned aerial vehicle is in accordance with the selected control station
  • the downlink service data will be generated during the flight or mission execution of the uplink control data.
  • the unmanned aerial vehicle sends the downlink service data to the selected control station, and the selected control station determines the first signal reception strength according to the reception of the downlink service data.
  • candidate control stations among multiple preset control stations will also detect the downlink service data, and determine the second signal reception according to the reception of the downlink service data. strength.
  • the remote server receives the first signal receiving strength sent by the selected control station and the second signal receiving strength sent by the candidate control station, and generates a switching instruction based on the first receiving strength and the second signal receiving strength, and sends the switching instruction to the selected control Station, so that the selected control station controls the unmanned aerial vehicle to disconnect the two-way data interaction with the selected control station, and controls the unmanned aerial vehicle to establish the two-way data interaction with the candidate control.
  • the remote server can control the unmanned aerial vehicle to switch the connection between different preset control stations during the flight according to the signal reception strength of multiple preset control stations, and through different preset control stations.
  • the control station is connected to obtain the uplink control data for controlling the flight of the unmanned aerial vehicle, which avoids the phenomenon of blind flight due to the long distance between the unmanned aerial vehicle and its corresponding control terminal or remote terminal, and can realize the effective long-distance flight of the unmanned aerial vehicle. Distance flight.
  • FIG. 1 is a schematic structural diagram of a control system provided by an embodiment of the present invention.
  • the control system shown in FIG. 1 may include a remote server 101, an unmanned aerial vehicle 102, a preset control station 103, and a smart device 104 corresponding to the unmanned aerial vehicle 102.
  • the smart device 104 may be a control terminal such as a remote control, or a smart device.
  • 104 may also be a remote terminal such as a mobile phone or a computer.
  • the unmanned aerial vehicle 102 may include an unmanned aerial vehicle
  • the preset control station 103 includes at least two preset control stations.
  • the preset control station 103 as shown in FIG. 1 includes the preset control station A and the preset control station. Station B and preset control station C. Each preset control station corresponds to a signal coverage area, and any signal or data falling within the signal range can be collected by the preset control station. The signal coverage of each preset control station can be the same or different.
  • the preset control station 103 in the control system shown in FIG. 1 may be set by the relevant personnel in the operation area of the selected UAV 102. Specifically, assuming that the signal coverage of each preset control station is the same, in the selected operation area, the preset control that needs to be deployed in the operation area is determined according to the signal coverage of the preset control station and the total area of the operation area The number of stations and the deployment location of each preset control station; in each deployment location, the preset control station is deployed at the same or close distance to each other, as shown in Figure 1 for the preset control station A, the preset control station B and the preset control station. Set up control station C.
  • the application scenario of the unmanned aerial vehicle performing flight tasks is shown in FIG. 2 under normal circumstances.
  • the user can input a control command to the unmanned aerial vehicle 102 through the smart device 104, and then
  • the smart device 104 carries the control instruction in the uplink control data and sends it to the UAV 102, so that the UAV 102 executes the flight task according to the control instruction in the uplink control data; at the same time, the UAV 102 will generate the flight tasks during the execution of the flight task.
  • the downlink service data is sent to the smart device 104 so that the user can detect the task execution status of the unmanned aerial vehicle through the smart device 104.
  • the above-mentioned control method for UAV 102 may have the following problems in practical applications: the distance between UAV 102 and smart device 104 is relatively long, and the uplink control data of smart device 104 cannot be sent to UAV 102. Similarly, the downlink service data generated by the UAV 102 cannot be sent to the smart device 104 either. In this way, the unmanned aerial vehicle may have a blind flight phenomenon, which causes the unmanned aerial vehicle 102 to have a safety hazard.
  • the remote server 101 may determine a selected control station from a plurality of preset control stations 103, assuming it is A, and notify the unmanned aerial vehicle 102 and the selected control station. Two-way data interaction is established between the control stations A.
  • the remote server 101 due to the limited signal coverage of each control station, in order to enable the UAV to achieve long-distance navigation, the remote server 101 also needs to determine a candidate control station hypothesis B from the preset control stations 103, so that it can be used as an unmanned aircraft.
  • the UAV 102 can be controlled to disconnect from the unmanned aerial vehicle 102. Select the two-way data interaction between the control station A and establish the two-way data interaction with the candidate control station B to continue the flight mission.
  • the remote server 101 may send the uplink control data to the selected control station A so that the selected control station is based on the uplink control data.
  • the uplink control data may be controlling the unmanned aerial vehicle to adjust the flight speed, flight direction, and other data for controlling the unmanned aerial vehicle to fly.
  • the unmanned aerial vehicle 102 can transmit the downlink service data collected during the flight to the selected control station A.
  • the selected control station A may determine the first signal reception strength according to the received downlink service data, and send the first signal reception strength to the remote server 101.
  • the unmanned aerial vehicle 102 may fly to the overlapping area of the signal coverage of the selected control station A and the candidate control station B. At this time, the unmanned aerial vehicle 102 transmits downlink service data to the selected control station A It will also be detected by the candidate control station B.
  • the candidate control station B may determine the second signal reception strength according to the received downlink service data, and send the second signal reception strength to the remote server 101.
  • the remote server 101 compares the first signal reception strength with the second signal reception strength, and if it detects that the difference between the second signal reception strength and the first signal reception strength is greater than the preset value, it indicates that the UAV 102 is in contact with the candidate control at this time.
  • the data transmission quality during the two-way data exchange between station B is higher than the data transmission quality between the UAV 102 and the selected control station A.
  • the remote server 101 can generate a switching instruction to instruct the UAV 102 to disconnect A two-way data interactive connection with the selected control station A, and a two-way data interactive connection with the candidate control station B.
  • FIG. 3 it is a schematic flowchart of a control method provided by an embodiment of the present invention.
  • the control method shown in FIG. 3 can be applied to a remote server.
  • the remote server communicates with a selected control station and a candidate control station.
  • the selected control station performs two-way data interaction with the unmanned aerial vehicle.
  • the control method shown in FIG. 3 It can include the following steps:
  • Step S301 Send uplink control data to the selected control station so that the selected control station controls the unmanned aerial vehicle according to the uplink control data.
  • the uplink control data may include basic flight setting data such as the flight direction and flight speed of the unmanned aerial vehicle; or, the uplink control data may also include setting data related to the flight mission performed by the unmanned aerial vehicle, for example, assuming no The flight task performed by the human aircraft is to collect image data, and the uplink control data may include setting data such as the shooting delay and shooting resolution of the shooting device on the unmanned aerial vehicle.
  • the uplink control data sent by the remote server to the selected control station may be generated by the remote terminal corresponding to the unmanned aerial vehicle and sent to the remote server.
  • the remote terminal refers to a terminal device that can be used to monitor the flight status of the unmanned aerial vehicle and send control instructions to the unmanned aerial vehicle.
  • the terminal device may be a mobile phone or a computer.
  • Fig. 4a is a schematic diagram of a selected control station obtaining uplink control data according to an embodiment of the present invention.
  • the unmanned aerial vehicle 401 is an unmanned aerial vehicle
  • the remote terminal corresponding to the unmanned aerial vehicle 401 is a terminal device. 402.
  • the user can start the setting interface for setting the drone in the user interface of the terminal device 402, and can input control operations or control instructions, such as control instructions, in the setting interface through a terminal device related input device such as a keyboard or a microphone. It is “set the shooting delay of 3 seconds” or the control command can also be “adjust a certain parameter of the shooting device to XX value”.
  • the terminal device 402 generates uplink control data according to the detected control or control instruction, and sends the uplink control data to the remote server 403, and the remote server 403 sends the uplink control data to the selected control station 404, so that the selected control station according to the uplink
  • the control data controls the flight of the unmanned aerial vehicle 401.
  • the selected control station may also obtain the uplink service data through the control terminal corresponding to the unmanned aerial vehicle.
  • the control terminal can refer to the remote control matched with the unmanned aerial vehicle.
  • the user can input control operations on the control terminal corresponding to the unmanned aerial vehicle.
  • the control terminal generates uplink control data according to the control operation input by the user and sends it to the remote server.
  • FIG. 4b a schematic diagram of a selected control station obtaining uplink control data according to an embodiment of the present invention.
  • the unmanned aerial vehicle 401 is an unmanned aerial vehicle
  • the control terminal corresponding to the unmanned aerial vehicle 401 is a remote controller. 405.
  • the user can control the flight direction and flight speed of the drone through the remote control 405.
  • the remote controller 405 generates uplink control data according to the detected user operation, and sends the uplink control data to the selected control station 404, so that the selected control station 404 controls the unmanned aerial vehicle to fly according to the uplink control data.
  • the selected control station and remote server are introduced between the unmanned aerial vehicle and the control terminal or remote terminal to solve this problem.
  • the uplink service data generated by the control terminal or remote terminal is first sent to the remote server.
  • the remote server then forwards the uplink control data to the selected control station, so that the selected control station controls the UAV according to the uplink control data.
  • the remote server may first determine the selected control station and the candidate control station from a plurality of preset control stations.
  • the preset control station can be set in advance in the operation area of the unmanned aerial vehicle. Specifically: first, the operation area of the unmanned aerial vehicle is selected, according to the total area of the operation area and the signal coverage of each preset control station The scope determines the number of preset control stations required in the operation area and the deployment location of each preset control station; at each deployment location, each preset control station is deployed at the same or close distance from each other.
  • the total area of the operation area of the selected UAV is 100
  • the signal coverage of each preset control station is 18, and the number of preset control stations required in the operation area is at least 6, which can be set in Deploy 6, or 8 or any number of preset control stations in the operation area.
  • the implementation manner of determining the selected control station and the candidate control station from a plurality of preset control stations may be: receiving the control station indication information sent by the control terminal or the remote terminal of the unmanned aerial vehicle, where: The control station indication information is determined by the control terminal or the remote terminal based on the detection of the user's control station selection operation; the selected control station and the candidate control station are determined from a plurality of preset control stations according to the control station indication information.
  • the user can use the control terminal or the remote terminal to set the selected control station for two-way data interaction with the UAV at the current moment, and the candidate control station that is about to conduct two-way data interaction with the UAV.
  • the user interface of the control terminal or the remote terminal may display the current position of the UAV in the selected operation area, as well as various preset control stations included in the selected operation area, and the user Select the selected control station and candidate control station according to the current position of the UAV.
  • the selected work area map is displayed in the user interface of the remote terminal, and the work area map includes the location identifier corresponding to the current position of the drone in the work area, and the control corresponding to each preset control station identifier.
  • Station ID such as (A, 1, 1 km).
  • the control station identifier corresponding to each preset control station may include the name of the corresponding preset control station, such as A and a number such as 1, or even the distance between the preset control station and the drone.
  • the user can select the preset control station closest to the drone as the selected control station according to the control station identifier of each preset control station, and then select from other preset control stations except the selected control station
  • the preset control station closest to the selected control station is used as a candidate control station.
  • the method for determining the selected control station and the candidate control station from a plurality of preset control stations may also be: receiving the position information of the unmanned aerial vehicle sent by the control terminal of the unmanned aerial vehicle according to the position.
  • the information determines the selected control station and candidate control from a plurality of preset control stations. Because when multiple preset control stations are deployed in the operation area, the remote server can record the location information of each preset control station. After obtaining the location information of the unmanned aerial vehicle from the control terminal, it can be based on the location information of the unmanned aerial vehicle and each The position information of the preset control station determines the distance between the UAV and each pre-control station, and the selected controller is selected according to the calculated distance.
  • the uplink control data received by the remote server from the control terminal or the remote terminal may include the route data of the unmanned aerial vehicle, and the selected control station and the implementation of the candidate control are determined from a plurality of preset control stations.
  • the method may also be: determining the selected control station and the candidate control station from a plurality of preset control stations according to the location information of the waypoint in the route data.
  • the specific method for determining the selected control station and the candidate control station from a plurality of preset control stations according to the waypoint position information in the route data may be: set a corresponding preset for each waypoint in advance
  • the control station according to the position information of the waypoint at the current moment, determines the current waypoint of the UAV, finds the preset control station corresponding to the waypoint as the determined selected control station, and then obtains the next one of the waypoint The waypoint, and the preset control station corresponding to the next waypoint, determine the preset control station corresponding to the next waypoint as the candidate control station of the unmanned aerial vehicle at the current moment.
  • Step S302 Receive the first signal reception strength sent by the selected control station.
  • the selected control station can send the received uplink control data sent by the remote server to the UAV, and the UAV will follow the uplink
  • the control data controls the unmanned aerial vehicle to fly; when the unmanned aerial vehicle is flying based on the uplink control data, it sends the generated downlink service data to the selected control station.
  • Step S305 Send a switching instruction to the selected control station so that the selected control station controls the unmanned aerial vehicle to disconnect the two-way data interaction with the selected control station, and controls the unmanned aerial vehicle to establish two-way data interaction with the candidate control station .
  • step S304 the switching instruction is used to instruct the selected controller to control the UAV to disconnect the two-way data interaction with the selected control station, and to control the UAV to establish the two-way data interaction with the candidate control station .
  • the remote server may also detect whether the strength difference between the second signal receiving strength and the first signal receiving strength is greater than a preset value When the intensity difference is greater than the preset value, a switching instruction is generated. If the intensity difference is not greater than the preset value, no switching instruction is generated; when the intensity difference is not greater than the preset value, the switching instruction may not be generated.
  • the selected control station informs the UAV to disconnect from the selected control station and establish a connection with the candidate control station.
  • the remote server sends the uplink control data received in step S301 to the candidate control station so that the candidate control station controls the unmanned aerial vehicle according to the uplink control data .
  • the candidate control station is received to send downlink service data, and the downlink service data is sent by the unmanned aerial vehicle to the candidate control station.
  • the two-way data interaction between the unmanned aerial vehicle and the candidate control station is determined based on the first communication verification information of the unmanned aerial vehicle and the third communication verification information of the candidate control station.
  • the third communication verification information may include the identity identification and/or communication key of the candidate control station, the identity identification may be the SN code of the candidate control station, and the communication key may be the communication identification and/or communication password of the candidate control station.
  • the unmanned aerial vehicle and the selected control station can exchange their respective communication verification information through the remote server.
  • the remote server receives the first communication verification information of the unmanned aerial vehicle sent by the planting terminal of the unmanned aerial vehicle, and Send the first communication verification information to the selected control station and the candidate control station; obtain the second communication verification information of the selected control station and the third communication verification information of the candidate control station, and combine the second communication verification information with the third communication
  • the verification information is sent to the control terminal, so that the control terminal sends the second communication verification information and the third communication verification information to the unmanned aerial vehicle; wherein the first communication verification information and the second communication verification information are used to establish the The two-way data exchange between the unmanned aerial vehicle and the selected control station, the first communication verification information and the third communication verification information are used to establish the communication between the unmanned aerial vehicle and the candidate control station Two-way data interaction.
  • the method for the remote server to receive the first communication verification information of the unmanned aerial vehicle sent by the control terminal of the unmanned aerial vehicle may include: receiving the first communication verification information of the unmanned aerial vehicle sent by the control terminal through a mobile communication network.
  • An implementation manner in which the remote server sends the second communication verification information and the third communication verification information to the control terminal may be: sending the second communication verification information and the third communication verification information to the control terminal via a mobile communication network.
  • the acquiring of the second communication verification information of the selected control station and the third communication verification of the candidate control station by the remote server includes: acquiring the second communication from the selected control station Verification information; or, obtain the second communication verification information of the selected control station from a local storage device; obtain the third communication verification information from the candidate control station; or obtain the candidate from the local storage device The third communication verification information of the control station. It should be understood that if the remote server has previously acquired the second communication verification information of the selected control station through interaction with the selected control station, or has acquired the candidate control station’s information through interaction with the candidate control station. The third communication verification information, the remote server may store the acquired second communication verification information or the third communication verification information in the local storage device. When it is detected that the remote server needs to obtain the second communication verification information and the third communication verification information, the second communication verification information and the third communication verification information can be directly obtained from the local storage device, avoiding the remote server and the selected control Frequent interaction between stations.
  • the unmanned aerial vehicle may store the second communication verification information and the third communication verification information in the pairing information of the unmanned aerial vehicle In; After receiving the first communication verification information, the selected control station and the candidate control station can store the first communication verification information in their respective pairing information.
  • the implementation manner of establishing a two-way data interaction between the unmanned aerial vehicle and the selected control station based on the first communication verification information and the second communication verification information may be: the unmanned aerial vehicle can use its own first communication verification information And the second communication verification information is sent to the selected control station; the selected control station receives and verifies the received second communication verification information, if the received second communication verification information is the second communication verification of the selected control station itself If the information is the same, it is further verified whether the received first communication verification information is the same as the first communication verification information stored in the pairing information; if they are the same, a two-way data interaction between the unmanned aerial vehicle and the selected control station is established.
  • the implementation of establishing two-way data interaction between the unmanned aerial vehicle and the candidate control station based on the first communication verification information and the third communication verification information is the same as the foregoing establishment based on the first communication verification information and the second communication verification information.
  • the two-way data exchange method between the UAV and the selected control station is the same, so I won't repeat it here.
  • the remote server sends uplink control data to the selected control station so that the selected control station controls the UAV according to the uplink control data; receives the first signal reception strength sent by the selected control station, and the first signal is received The strength is determined by the selected control station in the process of controlling the UAV according to the received downlink service data sent by the UAV; at the same time, the remote server also receives the second signal reception strength sent by the candidate control station, and the second signal is received The strength is determined by the candidate control station based on the downlink service data received from the unmanned aerial vehicle; the switching command is generated according to the first signal reception strength and the second signal reception strength; the switching command is sent to the selected control station to enable the selected control station The station control UAV disconnects the two-way data interaction with the selected control station, and establishes the two-way data interaction with the candidate control station.
  • the remote server can control the UAV to switch the connection with different control stations during the flight according to the signal receiving intensity of multiple control stations.
  • FIG. 5 another control method provided by an embodiment of the present invention is applied to a selected control station that establishes two-way data interaction with an unmanned aerial vehicle.
  • the selected control station communicates with a remote server, and the remote server also communicates with the remote server.
  • the method shown in FIG. 5 can be executed by the selected control station, and specifically can be executed by the processor of the selected control station.
  • the control method shown in Figure 5 may include the following steps:
  • Step S501 Obtain the downlink service data sent by the unmanned aerial vehicle and the first signal reception strength of the selected control station regarding the downlink service data.
  • Step S502 Send the first signal strength to the remote server.
  • the selected control station can receive the uplink control data sent by the remote server, and control the unmanned aerial vehicle to fly according to the uplink control data.
  • the uplink control data received by the selected control station may be generated by the remote terminal corresponding to the unmanned aerial vehicle.
  • the remote server can communicate with the remote terminal of the unmanned aerial vehicle and the selected control station, and the selected control station can Two-way data interaction with unmanned aerial vehicles.
  • the remote terminal After the remote terminal generates uplink control data according to the user's operating instructions, it sends the uplink control data to the remote server, and the remote server sends the uplink control data to the selected control station.
  • the selected control station sends the uplink control data to the UAV to control the flight of the UAV.
  • the selected control station may also receive the uplink service data sent by the control terminal corresponding to the unmanned aerial vehicle. Specifically, the control terminal generates uplink control data according to the user's control instruction; directly sends the uplink control data to the selected control station.
  • the unmanned aerial vehicle will generate downlink service data under the control of the selected control station.
  • the so-called downlink service data may include image data or other data collected by the unmanned aerial vehicle.
  • the unmanned aerial vehicle sends the downlink service data to the selected control station.
  • the selected control station evaluates the first signal reception strength of the received downlink service data.
  • the selected control may also send the downlink service data to the remote server, and the remote server sends the downlink service data to the control terminal or the remote terminal for the user to view.
  • the selected control station may also directly send the downlink service data to the control terminal or the remote terminal for the user to view.
  • the selected control station also receives the first communication verification information of the unmanned aerial vehicle sent by the remote server, the first communication verification information is sent to the remote controller by the control terminal of the unmanned aerial vehicle; the selected control station obtains The second communication verification information of the selected control station, and the second communication verification information is sent to the remote server, so that the remote server sends the second communication verification information to the control terminal of the unmanned aerial vehicle to save the pairing information in the unmanned aerial vehicle
  • the control terminal For the implementation manner for the control terminal to send the first communication verification information to the remote server, reference may be made to the description in the related embodiment in the embodiment of FIG. 2, which will not be repeated here.
  • the unmanned aerial vehicle flies, the distance between the unmanned aerial vehicle and the selected control station is getting farther and farther, and the distance between the unmanned aerial vehicle and the candidate control station is getting closer and closer.
  • the unmanned aerial vehicle flies to the selected control station and the candidate
  • the candidate control station determines the second signal reception strength based on the detected downlink service data.
  • the second signal receiving strength is sent to the remote server, and the remote server generates a switching instruction according to the first signal receiving strength and the second signal receiving strength.
  • the switching instruction sent by the remote server may include the candidate control station identification, and the selected control station sends a switching instruction to the unmanned aerial vehicle according to the candidate control station identification, so that the unmanned aerial vehicle actively disconnects from the selected control station The two-way data interaction between the two, and the establishment of two-way data interaction with the candidate control station identified by the candidate control station identifier.
  • the embodiment of the present invention also provides a remote server.
  • a remote server Refer to FIG. 6 for a schematic structural diagram of a remote server provided by an embodiment of the present invention.
  • the remote server is in communication connection with the selected control station and the candidate control station.
  • the selected control station and the UAV conduct two-way data interaction, the remote server may include a processor 601 and a memory 602, and the processor 601 and the memory 602 may be connected via a bus 603.
  • the processor 601 when the processor 601 generates a switching instruction according to the first signal reception strength and the second signal reception strength, the following operations are performed: when the first signal reception strength is less than the second signal reception strength When the signal is received, a switching command is generated.
  • the uplink control data includes route data
  • the processor 601 performs the following operations when determining the selected control station and the candidate control station from a plurality of preset control stations:
  • the location information of the waypoint in the route data determines the selected control station and the candidate control station from a plurality of preset control stations.

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Abstract

A control method, a remote server, a control station and a storage medium. The control method may comprise: sending uplink control data to a selected control station, so as to enable the selected control station to control an unmanned aerial vehicle according to the uplink control data; receiving a first signal receiving strength sent by the selected control station, the first signal receiving strength being determined according to downlink service data of the unmanned aerial vehicle received by the selected control station; receiving a second signal receiving strength sent by a candidate control station, the second signal receiving strength being determined according to downlink service data of the unmanned aerial vehicle received by the candidate control station; generating a switching instruction according to the first signal receiving strength and the second signal receiving strength; sending the switching instruction to the selected control station, so that the selected control station controls the unmanned aerial vehicle to disconnect bidirectional data interaction with the selected control station, and controls the unmanned aerial vehicle to establish bidirectional data interaction with the candidate control station. The method can achieve long-distance flight of unmanned aerial vehicles.

Description

控制方法、远程服务器、控制站及存储介质Control method, remote server, control station and storage medium 技术领域Technical field
本发明涉及通信技术领域，尤其涉及一种控制方法、远程服务器、控制站及存储介质。The present invention relates to the field of communication technology, in particular to a control method, a remote server, a control station and a storage medium.
背景技术Background technique
随着信息时代的发展，更多先进的信息处理与通信技术被应用在移动平台中，使得移动平台的种类不断增多，应用的领域也越来越广泛。以无人机为例，目前的无人机可以应用在航拍、石油管道巡检、电力巡检以及边境巡逻等诸多领域中。无人机应用于上述领域时，用户通过遥控器控制无人机执行任务，遥控器可接收无人机在执行任务过程中采集到的数据。但是受限于无人机上接收机自身灵敏度有限，以及无线电管理法规对功率的限制和遥控器自身天线体积等因素，无人机一般在理想环境下达到的极限通信距离在10千米左右，如果遇到电磁环境干扰，地形遮挡等影响，通信距离会大大降低。With the development of the information age, more advanced information processing and communication technologies have been applied to mobile platforms, making the types of mobile platforms increasing and the fields of application more and more extensive. Taking drones as an example, the current drones can be used in many fields such as aerial photography, oil pipeline inspections, power inspections, and border patrols. When the drone is used in the above-mentioned fields, the user controls the drone to perform tasks through the remote control, and the remote control can receive the data collected by the drone during the execution of the task. However, due to the limited sensitivity of the receiver on the drone, the power limitation of the radio management regulations and the size of the remote control's own antenna, the ultimate communication distance reached by the drone in an ideal environment is about 10 kilometers. In the case of electromagnetic environment interference, terrain occlusion, etc., the communication distance will be greatly reduced.
基于上述原因，无人机在长距离巡航领域中，经常出现由于遥控器与无人机之间的通信距离达不到覆盖巡检区域，而导致无人机失控或者盲飞的问题。目前针对该问题的解决只能依靠人为携带无人机分别在不同位置起飞来执行巡检，缩小无人机航程，该种方法在一定程度上较低了无人机的工作效率。因此，如何保证无人机有效的进行长距离作业成为当今无人机领域研究的热点问题。Based on the above reasons, in the long-distance cruise field of UAVs, the communication distance between the remote control and the UAV often does not reach the coverage inspection area, which causes the UAV to lose control or fly blindly. At present, the solution to this problem can only rely on humans carrying UAVs to take off at different locations to perform inspections and reduce the range of UAVs. This method reduces the work efficiency of UAVs to a certain extent. Therefore, how to ensure the effective long-distance operations of UAVs has become a hot issue in the field of UAVs today.
发明内容Summary of the invention
本发明实施例提供了一种控制方法、远程服务器、控制站及存储介质，远程服务器可以根据多个控制站的信号接收强度控制无人飞行器在飞行过程中切换与其连接的控制站，通过与不同的控制站连接以进行飞行，可以实现无人飞行器有效的进行长距离通信。The embodiment of the present invention provides a control method, a remote server, a control station, and a storage medium. The remote server can control the unmanned aerial vehicle to switch the control station connected to it during flight according to the signal reception strength of multiple control stations. The control station is connected for flight, which can realize the effective long-distance communication of the unmanned aerial vehicle.
第一方面，本发明实施例提供了一种控制方法，其特征在于，所述控制方法应用于远程服务器，所述远程服务器与已选控制站和候选控制站通信连接，所述已选控制站与无人飞行器进行双向数据交互，所述方法包括：In the first aspect, an embodiment of the present invention provides a control method, characterized in that the control method is applied to a remote server, and the remote server is in communication connection with a selected control station and a candidate control station, and the selected control station The two-way data interaction with the unmanned aerial vehicle, the method includes:
向所述已选控制站发送上行控制数据以使所述已选控制站根据所述上行控制数据控制所述无人飞行器；Sending uplink control data to the selected control station so that the selected control station controls the unmanned aerial vehicle according to the uplink control data;
接收所述已选控制站发送的第一信号接收强度，所述第一信号接收强度是根据所述已选控制站接收到的来自所述无人飞行器的下行业务数据确定的；Receiving a first signal reception strength sent by the selected control station, where the first signal reception strength is determined according to the downlink service data from the unmanned aerial vehicle received by the selected control station;
接收所述候选控制站发送的第二信号接收强度，所述第二信号接收强度是根据所述候选控制站接收到来自所述无人飞行器的所述下行业务数据确定的；Receiving a second signal reception strength sent by the candidate control station, where the second signal reception strength is determined according to the downlink service data received by the candidate control station from the unmanned aerial vehicle;
根据所述第一信号接收强度和所述第二信号接收强度生成切换指令；Generating a switching instruction according to the first signal receiving strength and the second signal receiving strength;
将所述切换指令发送给所述已选控制站以使所述已选控制站控制所述无人飞行器断开与所述已选控制站的双向数据交互，并控制所述无人飞行器建立与所述候选控制站的双向数据交互。The switching instruction is sent to the selected control station so that the selected control station controls the unmanned aerial vehicle to disconnect the two-way data interaction with the selected control station, and controls the unmanned aerial vehicle to establish a connection with the unmanned aerial vehicle. The two-way data exchange of the candidate control station.
第二方面，本发明实施例提供了另一种控制方法，其特征在于，所述控制方法应用于与无人飞行器已建立双向数据交互的已选控制站，所述已选控制站与远程服务器通信连接，所述方法包括：In the second aspect, an embodiment of the present invention provides another control method, characterized in that the control method is applied to a selected control station that has established a two-way data interaction with an unmanned aerial vehicle, and the selected control station is connected to a remote server. Communication connection, the method includes:
获取所述无人飞行器发送的下行业务数据和所述已选控制站关于所述下行业务数据的第一信号接收强度；Acquiring the downlink service data sent by the unmanned aerial vehicle and the first signal reception strength of the selected control station regarding the downlink service data;
将所述第一信号接收强度发送至所述远程服务器；Sending the first signal reception strength to the remote server;
获取所述远程服务器发送的切换指令，其中，所述切换指令是所述远程服务器根据所述第一信号接收强度和所述远程服务器接收的所述候选控制站发送的第二信号接收强度生成的，所述第二信号接收强度是所述候选控制站根据所述候选控制站接收到来自所述无人飞行器的下行业务数据确定的；Acquire the switching instruction sent by the remote server, where the switching instruction is generated by the remote server according to the first signal reception strength and the second signal reception strength sent by the candidate control station received by the remote server , The second signal reception strength is determined by the candidate control station according to the downlink service data received from the unmanned aerial vehicle by the candidate control station;
根据所述切换指令控制所述无人飞行器断开与所述已选控制站的双向数据交互，以使所述无人飞行器建立与所述候选控制站的双向数据交互。Control the unmanned aerial vehicle to disconnect the two-way data interaction with the selected control station according to the switching instruction, so that the unmanned aerial vehicle establishes the two-way data interaction with the candidate control station.
第三方面，本发明实施例提供了一种远程服务器，其特征在于，In the third aspect, an embodiment of the present invention provides a remote server, which is characterized in that:
所述远程服务器与已选控制站和候选控制站通信连接，所述已选控制站与无人飞行器进行双向数据交互，所述远程服务器包括存储器和处理器：The remote server is in communication connection with the selected control station and the candidate control station, the selected control station performs two-way data interaction with the unmanned aerial vehicle, and the remote server includes a memory and a processor:
所述存储器用于存储程序代码；The memory is used to store program codes;
所述处理器，调用所述程序代码，当所述程序代码被执行时，用于执行以下操作：The processor calls the program code, and when the program code is executed, is used to perform the following operations:
向所述已选控制站发送上行控制数据以使所述已选控制站根据所述上行 控制数据控制所述无人飞行器；Sending uplink control data to the selected control station so that the selected control station controls the unmanned aerial vehicle according to the uplink control data;
接收所述已选控制站发送的第一信号接收强度，所述第一信号接收强度是根据所述已选控制站接收到来自所述无人飞行器的下行业务数据确定的；Receiving a first signal reception strength sent by the selected control station, where the first signal reception strength is determined based on the downlink service data received by the selected control station from the unmanned aerial vehicle;
接收所述候选控制站发送的第二信号接收强度，所述第二信号接收强度是根据所述候选控制站接收到来自所述无人飞行器的所述下行业务数据确定的；Receiving a second signal reception strength sent by the candidate control station, where the second signal reception strength is determined according to the downlink service data received by the candidate control station from the unmanned aerial vehicle;
根据所述第一信号接收强度和所述第二信号接收强度生成切换指令；Generating a switching instruction according to the first signal receiving strength and the second signal receiving strength;
将所述切换指令发送给所述已选控制站以使所述已选控制站控制所述无人飞行器断开与所述已选控制站的双向数据交互，并建立与所述候选控制站的双向数据交互。The switching instruction is sent to the selected control station so that the selected control station controls the UAV to disconnect the two-way data interaction with the selected control station, and establishes a connection with the candidate control station Two-way data interaction.
第四方面，本发明实施例提供了一种控制站，其特征在于，In a fourth aspect, an embodiment of the present invention provides a control station, which is characterized in that:
所述控制站是与无人飞行器建立双向数据交互的已选控制站，所述已选控制站与远程服务器通信连接，所述远程服务器还通信连接候选控制站，所述控制站包括存储器和处理器：The control station is a selected control station that establishes two-way data interaction with the unmanned aerial vehicle, the selected control station is in communication connection with a remote server, and the remote server is also communicatively connected to a candidate control station. The control station includes memory and processing Device:
所述存储器，用于存储程序代码；The memory is used to store program code;
所述处理器，调用所述程序代码，当所述程序代码被执行时，用于执行以下操作：The processor calls the program code, and when the program code is executed, is used to perform the following operations:
获取所述无人飞行器发送的下行业务数据和所述已选控制站关于所述下行业务数据的第一信号接收强度；Acquiring the downlink service data sent by the unmanned aerial vehicle and the first signal reception strength of the selected control station regarding the downlink service data;
将所述第一信号接收强度发送至所述远程服务器；Sending the first signal reception strength to the remote server;
获取所述远程服务器发送的切换指令，其中，所述切换指令是所述远程服务器根据所述第一信号接收强度和所述远程服务器接收到的所述候选控制站发送的第二信号接收强度生成的，所述第二信号接收强度是所述候选控制站根据所述候选控制站接收到来自所述无人飞行器的下行业务数据确定的；Acquire a switching instruction sent by the remote server, where the switching instruction is generated by the remote server according to the first signal reception strength and the second signal reception strength sent by the candidate control station received by the remote server Yes, the second signal reception strength is determined by the candidate control station according to the downlink service data received from the unmanned aerial vehicle by the candidate control station;
根据所述切换执行控制所述无人飞行器断开与所述已选控制站的双向数据交互，以使所述无人飞行器建立与所述候选控制站的双向数据交互。According to the switching execution, the unmanned aerial vehicle is controlled to disconnect the two-way data interaction with the selected control station, so that the unmanned aerial vehicle establishes the two-way data interaction with the candidate control station.
相应的，本发明实施例还提供了一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有第一计算机程序，所述第一计算机程序包括第一程序指令，所述第一程序指令当被处理器执行时使所述处理器执行上述第一方面的控制方法，或者所述计算机可读存储介质存储有第二计算机程序，所述 第二计算机程序包括第二程序指令，所述第二程序执行令当被处理器执行时所述处理器执行上述第二方面的控制方法。Correspondingly, an embodiment of the present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a first computer program, and the first computer program includes first program instructions, and The first program instruction, when executed by a processor, causes the processor to execute the control method of the above-mentioned first aspect, or the computer-readable storage medium stores a second computer program, and the second computer program includes second program instructions , The execution of the second program commands the processor to execute the control method of the second aspect when executed by the processor.
附图说明Description of the drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings that need to be used in the embodiments. Obviously, the drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, without creative work, other drawings can be obtained based on these drawings.
图1是本发明实施例提供的一种控制***的结构图；Figure 1 is a structural diagram of a control system provided by an embodiment of the present invention;
图2是本发明实施例提供的一种无人飞行器的应用场景图；Figure 2 is an application scenario diagram of an unmanned aerial vehicle provided by an embodiment of the present invention;
图3是本发明实施例提供的一种控制方法的流程示意图；FIG. 3 is a schematic flowchart of a control method provided by an embodiment of the present invention;
图4a是本发明实施例提供的一种已选控制站获取上行控制数据的示意图；Figure 4a is a schematic diagram of a selected control station obtaining uplink control data according to an embodiment of the present invention;
图4b是本发明实施例提供的另一种已选控制站获取上行控制数据的示意图；Figure 4b is a schematic diagram of another selected control station obtaining uplink control data according to an embodiment of the present invention;
图5是本发明实施例提供的另一种控制方法的流程示意图；FIG. 5 is a schematic flowchart of another control method provided by an embodiment of the present invention;
图6是本发明实施例提供的一种远程服务器的结构示意图；Figure 6 is a schematic structural diagram of a remote server provided by an embodiment of the present invention;
图7是本发明实施例提供的一种控制站的结构示意图。Fig. 7 is a schematic structural diagram of a control station provided by an embodiment of the present invention.
具体实施方式detailed description
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
本发明实施例提供了一种控制方案，可以应用在无人飞行器远距离航行的应用场景中，具体地：在多个预设控制站中的已选控制站与无人飞行器之间的双向数据交互建立时，远程服务器可以向已选控制发送上行控制数据，以使得已选控制站将上行控制数据发送给无人飞行器来控制无人飞行器飞行或执行任务；无人飞行器在根据已选控制站的上行控制数据飞行或执行任务过程中会产生下行业务数据，无人飞行器将下行业务数据发送给已选控制站，由已选控 制站根据对下行业务数据的接收情况确定第一信号接收强度。另外，无人飞行器在向已选控制站发送下行业务数据时，多个预设控制站中的候选控制站也会检测到下行业务数据，并根据对下行业务数据的接收情况确定第二信号接收强度。远程服务器接收已选控制站发送的第一信号接收强度和候选控制站发送的第二信号接收强度，并根据第一接收强度和第二信号接收强度生成切换指令，将切换指令发送给已选控制站，以使已选控制站控制无人飞行器断开与已选控制站的双向数据交互，并控制所述无人飞行器建立与候选控制之间的双向数据交互。The embodiment of the present invention provides a control scheme, which can be applied to the application scenario of the unmanned aerial vehicle for long-distance navigation, specifically: the two-way data between the selected control station and the unmanned aerial vehicle among a plurality of preset control stations When the interaction is established, the remote server can send uplink control data to the selected control, so that the selected control station sends the uplink control data to the unmanned aerial vehicle to control the unmanned aerial vehicle's flight or perform tasks; the unmanned aerial vehicle is in accordance with the selected control station The downlink service data will be generated during the flight or mission execution of the uplink control data. The unmanned aerial vehicle sends the downlink service data to the selected control station, and the selected control station determines the first signal reception strength according to the reception of the downlink service data. In addition, when the UAV sends downlink service data to the selected control station, candidate control stations among multiple preset control stations will also detect the downlink service data, and determine the second signal reception according to the reception of the downlink service data. strength. The remote server receives the first signal receiving strength sent by the selected control station and the second signal receiving strength sent by the candidate control station, and generates a switching instruction based on the first receiving strength and the second signal receiving strength, and sends the switching instruction to the selected control Station, so that the selected control station controls the unmanned aerial vehicle to disconnect the two-way data interaction with the selected control station, and controls the unmanned aerial vehicle to establish the two-way data interaction with the candidate control.
本发明实施例所示的控制方案中，远程服务器可以根据多个预设控制站的信号接收强度控制无人飞行器在飞行过程中切换与不同预设控制站之间的连接，通过与不同的预设控制站连接以获取控制无人飞行器飞行的上行控制数据，避免了由于无人飞行器与其对应的控制终端或远程终端的距离较远而出现盲飞的现象，可以实现无人飞行器有效的进行长距离飞行。In the control scheme shown in the embodiment of the present invention, the remote server can control the unmanned aerial vehicle to switch the connection between different preset control stations during the flight according to the signal reception strength of multiple preset control stations, and through different preset control stations. The control station is connected to obtain the uplink control data for controlling the flight of the unmanned aerial vehicle, which avoids the phenomenon of blind flight due to the long distance between the unmanned aerial vehicle and its corresponding control terminal or remote terminal, and can realize the effective long-distance flight of the unmanned aerial vehicle. Distance flight.
基于本发明实施例提供的控制方案，本发明实施例还提供了一种控制***，参考图1所示为本发明实施例提供的一种控制***的结构示意图。如图1所示的控制***可包括远程服务器101、无人飞行器102、预设控制站103以及无人飞行器102对应的智能设备104，该智能设备104可以是控制终端比如遥控器，或者智能设备104还可以是远程终端比如手机或者电脑等。其中，无人飞行器102可以包括无人机，预设控制站103中包括至少两个预设控制站，假设如图1所示的预设控制站103中包括预设控制站A、预设控制站B以及预设控制站C。每个预设控制站都对应一个信号覆盖范围，凡是落入在该信号范围内的信号或者数据都能被该预设控制站采集到。各个预设控制站的信号覆盖范围可以相同，也可以不同。Based on the control scheme provided by the embodiment of the present invention, the embodiment of the present invention also provides a control system. Refer to FIG. 1 which is a schematic structural diagram of a control system provided by an embodiment of the present invention. The control system shown in FIG. 1 may include a remote server 101, an unmanned aerial vehicle 102, a preset control station 103, and a smart device 104 corresponding to the unmanned aerial vehicle 102. The smart device 104 may be a control terminal such as a remote control, or a smart device. 104 may also be a remote terminal such as a mobile phone or a computer. Among them, the unmanned aerial vehicle 102 may include an unmanned aerial vehicle, and the preset control station 103 includes at least two preset control stations. It is assumed that the preset control station 103 as shown in FIG. 1 includes the preset control station A and the preset control station. Station B and preset control station C. Each preset control station corresponds to a signal coverage area, and any signal or data falling within the signal range can be collected by the preset control station. The signal coverage of each preset control station can be the same or different.
在一个实施例中，图1所示的控制***中的预设控制站103可以是相关人员在选定的无人飞行器102的作业区域中设置的。具体地，假设各个预设控制站的信号覆盖范围相同，在选定的作业区域内，根据预设控制站的信号覆盖范围以及作业区域的总面积确定在作业区域内所需布置的预设控制站的数量以及各个预设控制站的部署地点；在各个部署地点上，以彼此相同或者相近的距离部署预设控制站，如图1中的预设控制站A、预设控制站B和预设控制站C。In one embodiment, the preset control station 103 in the control system shown in FIG. 1 may be set by the relevant personnel in the operation area of the selected UAV 102. Specifically, assuming that the signal coverage of each preset control station is the same, in the selected operation area, the preset control that needs to be deployed in the operation area is determined according to the signal coverage of the preset control station and the total area of the operation area The number of stations and the deployment location of each preset control station; in each deployment location, the preset control station is deployed at the same or close distance to each other, as shown in Figure 1 for the preset control station A, the preset control station B and the preset control station. Set up control station C.
应当理解的，通常情况下无人飞行器执行飞行任务的应用场景中如图2所示，在图2所示的应用场景中，用户可以通过智能设备104输入对无人飞行器102的控制指令，然后智能设备104将控制指令携带在上行控制数据中发送给无人飞行器102，以使得无人飞行器102根据上行控制数据中的控制指令执行飞行任务；同时，无人飞行器102将执行飞行任务过程中产生的下行业务数据发送给智能设备104，以便于用户通过智能设备104检测无人飞行器的任务执行情况。It should be understood that the application scenario of the unmanned aerial vehicle performing flight tasks is shown in FIG. 2 under normal circumstances. In the application scenario shown in FIG. 2, the user can input a control command to the unmanned aerial vehicle 102 through the smart device 104, and then The smart device 104 carries the control instruction in the uplink control data and sends it to the UAV 102, so that the UAV 102 executes the flight task according to the control instruction in the uplink control data; at the same time, the UAV 102 will generate the flight tasks during the execution of the flight task. The downlink service data is sent to the smart device 104 so that the user can detect the task execution status of the unmanned aerial vehicle through the smart device 104.
但是，上述对无人飞行器102的控制方法在实际应用中会出现如下问题：无人飞行器102与智能设备104之间的距离较远，智能设备104的上行控制数据无法发送给无人飞行器102，同样的，无人飞行器102产生的下行业务数据也无法发送到智能设备104。这样一来，无人飞行器会出现盲飞的现象，使得无人飞行器102存在安全隐患。However, the above-mentioned control method for UAV 102 may have the following problems in practical applications: the distance between UAV 102 and smart device 104 is relatively long, and the uplink control data of smart device 104 cannot be sent to UAV 102. Similarly, the downlink service data generated by the UAV 102 cannot be sent to the smart device 104 either. In this way, the unmanned aerial vehicle may have a blind flight phenomenon, which causes the unmanned aerial vehicle 102 to have a safety hazard.
本发明实施例提供的控制***可以解决上述问题，在图1所述的控制***中，远程服务器101作为无人飞行器102、智能设备104以及预设控制站103之间的中转设备。智能设备104可以将上行控制数据发送给远程服务器101，由远程服务器101将上行控制数据发送给预设控制站中的已选控制假设为A(已选控制站的选择将在后面具体介绍)，由已选控制站A实现与无人飞行器之间的双向数据交互，即已选控制站A向无人飞行器102发送上行控制数据，无人飞行器102向已选控制站A发送下行业务数据。已选控制站A可以直接将下行业务数据发送给智能设备104，或者已选控制站A也可以将下行业务数据发送给远程服务器101，由远程服务器101将下行业务数据发送给智能设备104以供用户查看。The control system provided by the embodiment of the present invention can solve the above-mentioned problems. In the control system shown in FIG. 1, the remote server 101 serves as a transfer device between the UAV 102, the smart device 104, and the preset control station 103. The smart device 104 can send the uplink control data to the remote server 101, and the remote server 101 sends the uplink control data to the preset control station. The selected control hypothesis is A (the selection of the selected control station will be described in detail later), The selected control station A realizes two-way data interaction with the unmanned aerial vehicle, that is, the selected control station A sends uplink control data to the unmanned aerial vehicle 102, and the unmanned aerial vehicle 102 sends downlink service data to the selected control station A. The selected control station A can directly send the downlink service data to the smart device 104, or the selected control station A can also send the downlink service data to the remote server 101, and the remote server 101 sends the downlink service data to the smart device 104 for supply User view.
在一个实施例中，在控制无人飞行器执行任务过程中，远程服务器101可以从多个预设控制站103中确定一个已选控制站，假设为A，并通知无人飞行器102与该已选控制站A之间建立双向数据交互。另外，由于每一个控制站的信号覆盖范围有限，为了使得无人飞行器能够实现长距离航行，远程服务器101还需要从预设控制站103中确定一个候选控制站假设为B，以便于当无人飞行器102的飞行距离超出了已选控制站A的信号覆盖范围或者已选控制站A与无人飞行器102之间的双向数据交互的传输质量较弱时，可以控制无人飞行器102断开与已选控制站A之间的双向数据交互，并建立与候选控制 站B之间的双向数据交互，以继续执行飞行任务。In one embodiment, in the process of controlling the unmanned aerial vehicle to perform tasks, the remote server 101 may determine a selected control station from a plurality of preset control stations 103, assuming it is A, and notify the unmanned aerial vehicle 102 and the selected control station. Two-way data interaction is established between the control stations A. In addition, due to the limited signal coverage of each control station, in order to enable the UAV to achieve long-distance navigation, the remote server 101 also needs to determine a candidate control station hypothesis B from the preset control stations 103, so that it can be used as an unmanned aircraft. When the flying distance of the aircraft 102 exceeds the signal coverage range of the selected control station A, or the transmission quality of the two-way data interaction between the selected control station A and the UAV 102 is weak, the UAV 102 can be controlled to disconnect from the unmanned aerial vehicle 102. Select the two-way data interaction between the control station A and establish the two-way data interaction with the candidate control station B to continue the flight mission.
具体地，当无人飞行器102建立了与已选控制站A之间的双向数据交互后，远程服务器101可以向已选控制站A发送上行控制数据以使所述已选控制站根据上行控制数据控制无人飞行器102，所述上行控制数据可以是控制无人飞行器调整飞行速度、飞行方向以及其他控制无人飞行器飞行的数据。无人飞行器102可以将在飞行过程中采集到的下行业务数据传输给已选控制站A。进一步的，为了监测无人飞行器的长距离航行，已选控制站A可以根据接收到的下行业务数据确定第一信号接收强度，并将该第一信号接收强度发送给远程服务器101。Specifically, after the UAV 102 establishes a two-way data exchange with the selected control station A, the remote server 101 may send the uplink control data to the selected control station A so that the selected control station is based on the uplink control data. For controlling the unmanned aerial vehicle 102, the uplink control data may be controlling the unmanned aerial vehicle to adjust the flight speed, flight direction, and other data for controlling the unmanned aerial vehicle to fly. The unmanned aerial vehicle 102 can transmit the downlink service data collected during the flight to the selected control station A. Further, in order to monitor the long-distance navigation of the UAV, the selected control station A may determine the first signal reception strength according to the received downlink service data, and send the first signal reception strength to the remote server 101.
随着飞行飞行器102的飞行，无人飞行器102可能飞行到已选控制站A与候选控制站B的信号覆盖范围重叠区域，此时，无人飞行器102向已选控制站A传输的下行业务数据也会被候选控制站B检测到。候选控制站B可以根据接收到的下行业务数据确定第二信号接收强度，并将第二信号接收强度发送给远程服务器101。With the flight of the aerial vehicle 102, the unmanned aerial vehicle 102 may fly to the overlapping area of the signal coverage of the selected control station A and the candidate control station B. At this time, the unmanned aerial vehicle 102 transmits downlink service data to the selected control station A It will also be detected by the candidate control station B. The candidate control station B may determine the second signal reception strength according to the received downlink service data, and send the second signal reception strength to the remote server 101.
远程服务器101比较第一信号接收强度和第二信号接收强度，如果检测到第二信号接收强度与第一信号接收强度之间的差值大于预设值，表明此时无人飞行器102与候选控制站B之间进行双向数据交互时的数据传输质量，高于无人飞行器102与已选控制站A之间的数据传输质量，远程服务器101可以生成切换指令，用于指示无人飞行器102断开与已选控制站A之间的双向数据交互连接，建立与候选控制站B之间的双向数据交互连接。The remote server 101 compares the first signal reception strength with the second signal reception strength, and if it detects that the difference between the second signal reception strength and the first signal reception strength is greater than the preset value, it indicates that the UAV 102 is in contact with the candidate control at this time. The data transmission quality during the two-way data exchange between station B is higher than the data transmission quality between the UAV 102 and the selected control station A. The remote server 101 can generate a switching instruction to instruct the UAV 102 to disconnect A two-way data interactive connection with the selected control station A, and a two-way data interactive connection with the candidate control station B.
应当理解的，上述过程本发明实施例只是以无人飞行器飞行过程中，某一次无人飞行器从与已选控制站连接切换到与候选控制站连接为例，介绍了为了实现无人飞行器有效的长距离通信，控制***中各个部分所执行的步骤。对于无人飞行器飞行过程中的每一次连接切换，控制***中各个部分所执行的步骤与上述相同，以及具体的连接切换的实现方式也与上述描述相同，在此不再赘述。It should be understood that the above-mentioned process in this embodiment of the present invention is only an example in which the unmanned aerial vehicle switches from being connected to a selected control station to being connected to a candidate control station during the flight of the unmanned aerial vehicle. Long-distance communication controls the steps performed by each part of the system. For each connection switching during the flight of the unmanned aerial vehicle, the steps performed by each part of the control system are the same as the above, and the specific connection switching implementation is also the same as the above description, and will not be repeated here.
基于上述的控制***，参考图3，为本发明实施例提供的一种控制方法的流程示意图。图3所示的控制方法可以应用于远程服务器中，远程服务器与已选控制站和候选控制站通信连接，所述已选控制站与无人飞行器进行双向数据 交互，图3所示的控制方法具体可包括如下步骤：Based on the above-mentioned control system, referring to FIG. 3, it is a schematic flowchart of a control method provided by an embodiment of the present invention. The control method shown in FIG. 3 can be applied to a remote server. The remote server communicates with a selected control station and a candidate control station. The selected control station performs two-way data interaction with the unmanned aerial vehicle. The control method shown in FIG. 3 It can include the following steps:
步骤S301、向已选控制站发送上行控制数据以使已选控制站根据上行控制数据控制无人飞行器。Step S301: Send uplink control data to the selected control station so that the selected control station controls the unmanned aerial vehicle according to the uplink control data.
其中，上行控制数据可包括对无人飞行器的飞行方向、飞行速度等基本飞行的设置数据；或者，所述上行控制数据还可以包括与无人飞行器执行的飞行任务相关的设置数据，例如假设无人飞行器执行的飞行任务是采集图像数据，则上行控制数据可包括对无人飞行器上的拍摄装置的拍摄延时以及拍摄分辨率等设置数据。Wherein, the uplink control data may include basic flight setting data such as the flight direction and flight speed of the unmanned aerial vehicle; or, the uplink control data may also include setting data related to the flight mission performed by the unmanned aerial vehicle, for example, assuming no The flight task performed by the human aircraft is to collect image data, and the uplink control data may include setting data such as the shooting delay and shooting resolution of the shooting device on the unmanned aerial vehicle.
在一个实施例中，远程服务器向已选控制站发送的上行控制数据可以是无人飞行器对应的远程终端生成并发送给远程服务器。其中，远程终端是指可以用来监测无人飞行器的飞行情况并向无人飞行器发送控制指令的终端设备，该终端设备可以是手机或者电脑等。In one embodiment, the uplink control data sent by the remote server to the selected control station may be generated by the remote terminal corresponding to the unmanned aerial vehicle and sent to the remote server. Among them, the remote terminal refers to a terminal device that can be used to monitor the flight status of the unmanned aerial vehicle and send control instructions to the unmanned aerial vehicle. The terminal device may be a mobile phone or a computer.
例如，参考图4a为本发明实施例提供的一种已选控制站获取上行控制数据的示意图，在图4a中假设无人飞行器401为无人机，无人飞行器401对应的远程终端为终端设备402，用户可在终端设备402的用户界面中启动对无人机进行设置的设置界面，并可以通过终端设备相关的输入设备比如键盘或者麦克风在设置界面中输入控制操作或者控制指令，比如控制指令为“设置3秒的拍摄延时”或者控制指令还可以为“将拍摄装置的某某参数调整为XX值”。终端设备402根据检测到的控制或者控制指令生成上行控制数据，并将上行控制数据发送给远程服务器403，远程服务器403将上行控制数据发送给已选控制站404，以使得已选控制站根据上行控制数据控制无人飞行器401的飞行。For example, referring to Fig. 4a is a schematic diagram of a selected control station obtaining uplink control data according to an embodiment of the present invention. In Fig. 4a, it is assumed that the unmanned aerial vehicle 401 is an unmanned aerial vehicle, and the remote terminal corresponding to the unmanned aerial vehicle 401 is a terminal device. 402. The user can start the setting interface for setting the drone in the user interface of the terminal device 402, and can input control operations or control instructions, such as control instructions, in the setting interface through a terminal device related input device such as a keyboard or a microphone. It is “set the shooting delay of 3 seconds” or the control command can also be “adjust a certain parameter of the shooting device to XX value”. The terminal device 402 generates uplink control data according to the detected control or control instruction, and sends the uplink control data to the remote server 403, and the remote server 403 sends the uplink control data to the selected control station 404, so that the selected control station according to the uplink The control data controls the flight of the unmanned aerial vehicle 401.
在其他实施例中，已选控制站还可以通过与无人飞行器对应的控制终端获取上行业务数据。其中，控制终端可以指与无人飞行器相匹配的遥控器，用户可以在无人飞行器对应的控制终端上输入控制操作，控制终端根据用户输入的控制操作生成上行控制数据，并将其发送给远程服务器。In other embodiments, the selected control station may also obtain the uplink service data through the control terminal corresponding to the unmanned aerial vehicle. Among them, the control terminal can refer to the remote control matched with the unmanned aerial vehicle. The user can input control operations on the control terminal corresponding to the unmanned aerial vehicle. The control terminal generates uplink control data according to the control operation input by the user and sends it to the remote server.
例如，参考图4b为本发明实施例提供的一种已选控制站获取上行控制数据的示意图，在图4b中假设无人飞行器401为无人机，无人飞行器401对应的控制终端为遥控器405，用户可以通过遥控器405控制无人机的飞行方向以及飞行速度。遥控器405根据检测到的用户操作生成上行控制数据，并将上行控制数据发送给已选控制站404，以使得已选控制站404根据上行控制数据控 制无人飞行器飞行。For example, referring to FIG. 4b, a schematic diagram of a selected control station obtaining uplink control data according to an embodiment of the present invention. In FIG. 4b, it is assumed that the unmanned aerial vehicle 401 is an unmanned aerial vehicle, and the control terminal corresponding to the unmanned aerial vehicle 401 is a remote controller. 405. The user can control the flight direction and flight speed of the drone through the remote control 405. The remote controller 405 generates uplink control data according to the detected user operation, and sends the uplink control data to the selected control station 404, so that the selected control station 404 controls the unmanned aerial vehicle to fly according to the uplink control data.
应当理解的，如果无人飞行器与远程终端或者控制终端之间的距离过大，可能导致远程终端或者控制终端中的上行控制数据不能传输到无人飞行器，这样，无人飞行器可能就会出现盲飞的状态，这样一来，使得无人飞行器存在飞行安全性的问题。本发明实施例中，在无人飞行器与控制终端或者远程终端之间引入了已选控制站和远程服务器解决了这一问题，将控制终端或者远程终端生成的上行业务数据首先发送给远程服务器，再由远程服务器将上行控制数据转发给已选控制站，以使得已选控制站根据上行控制数据控制无人飞行器。It should be understood that if the distance between the unmanned aerial vehicle and the remote terminal or the control terminal is too large, the uplink control data in the remote terminal or the control terminal may not be transmitted to the unmanned aerial vehicle. In this way, the unmanned aerial vehicle may become blind. The flying state, as a result, makes the unmanned aerial vehicle have flight safety problems. In the embodiment of the present invention, the selected control station and remote server are introduced between the unmanned aerial vehicle and the control terminal or remote terminal to solve this problem. The uplink service data generated by the control terminal or remote terminal is first sent to the remote server. The remote server then forwards the uplink control data to the selected control station, so that the selected control station controls the UAV according to the uplink control data.
在一个实施例中，在执行步骤S201之前，远程服务器可以首先从多个预设控制站中确定出已选控制站和候选控制站。其中，预设控制站可以是预先在无人飞行器的作业区域内设置的，具体地：首先，选定无人飞行器的作业区域，根据作业区域的总面积和每个预设控制站的信号覆盖范围确定作业区域内所需的预设控制站的个数以及各个预设控制站的部署地点；在每个部署地点上，以彼此相同或相近的距离，部署各个预设控制站。例如，选定无人飞行器的作业区域总面积为100，每个预设控制站的信号覆盖范围为18，在该作业区域内所需的预设控制站的数量至少为6个，可以设置在作业区域内部署6，或者8个或者根据需求设置任意数量个预设控制站。In one embodiment, before performing step S201, the remote server may first determine the selected control station and the candidate control station from a plurality of preset control stations. Among them, the preset control station can be set in advance in the operation area of the unmanned aerial vehicle. Specifically: first, the operation area of the unmanned aerial vehicle is selected, according to the total area of the operation area and the signal coverage of each preset control station The scope determines the number of preset control stations required in the operation area and the deployment location of each preset control station; at each deployment location, each preset control station is deployed at the same or close distance from each other. For example, the total area of the operation area of the selected UAV is 100, the signal coverage of each preset control station is 18, and the number of preset control stations required in the operation area is at least 6, which can be set in Deploy 6, or 8 or any number of preset control stations in the operation area.
在一个实施例中，所述从多个预设控制站中确定已选控制站和候选控制站的实施方式可以为：接收无人飞行器的控制终端或远程终端发送的控制站指示信息，其中，所述控制站指示信息是控制终端或远程终端根据检测到用户的控制站选择操作确定；根据所述控制站指示信息从多个预设控制站中确定已选控制站和候选控制站。In an embodiment, the implementation manner of determining the selected control station and the candidate control station from a plurality of preset control stations may be: receiving the control station indication information sent by the control terminal or the remote terminal of the unmanned aerial vehicle, where: The control station indication information is determined by the control terminal or the remote terminal based on the detection of the user's control station selection operation; the selected control station and the candidate control station are determined from a plurality of preset control stations according to the control station indication information.
换句话说，用户可以通过控制终端或者远程终端设置当前时刻与无人飞行器进行双向数据交互的已选控制站，以及即将与无人飞行器进行双向数据交互的候选控制站。可选的，控制终端或者远程终端中可在用户界面中显示有无人飞行器在选定的作业区域中当前所处的位置，以及在选定的作业区域内包括的各个预设控制站，用户根据无人飞行器当前所处的位置选择已选控制站和候选控制站。In other words, the user can use the control terminal or the remote terminal to set the selected control station for two-way data interaction with the UAV at the current moment, and the candidate control station that is about to conduct two-way data interaction with the UAV. Optionally, the user interface of the control terminal or the remote terminal may display the current position of the UAV in the selected operation area, as well as various preset control stations included in the selected operation area, and the user Select the selected control station and candidate control station according to the current position of the UAV.
例如，在远程终端的用户界面中显示有选定的作业区域地图，在作业区域地图中包括无人机在作业区域当前所处的位置对应的位置标识，以及各个预设 控制站标识对应的控制站标识，比如(A，1，1千米)。在一个实施例中，每个预设控制站对应的控制站标识可包括相应预设控制站的名称比如A以及编号比如1，甚至还可以包括该预设控制站与无人机之间的距离比如1千米，用户可以根据每个预设控制站的控制站标识选择距离无人机最近的预设控制站作为已选控制站，然后从除去已选控制站的其他预设控制站中选择与已选控制站之间距离最近预设控制站作为候选控制站。For example, the selected work area map is displayed in the user interface of the remote terminal, and the work area map includes the location identifier corresponding to the current position of the drone in the work area, and the control corresponding to each preset control station identifier. Station ID, such as (A, 1, 1 km). In one embodiment, the control station identifier corresponding to each preset control station may include the name of the corresponding preset control station, such as A and a number such as 1, or even the distance between the preset control station and the drone. For example, for 1 km, the user can select the preset control station closest to the drone as the selected control station according to the control station identifier of each preset control station, and then select from other preset control stations except the selected control station The preset control station closest to the selected control station is used as a candidate control station.
另一个实施例中，所述从多个预设控制站中确定已选控制站和候选控制站的方法还可以是：接收无人飞行器的控制终端发送的无人飞行器的位置信息根据所述位置信息从多个预设控制站中确定出已选控制站和候选控制。由于在作业区域部署多个预设控制站的时候远程服务器可以记录各个预设控制站的位置信息，从控制终端获取到无人飞行器的位置信息后，可以根据无人飞行器的位置信息和每个预设控制站的位置信息确定无人飞行器与各个预先控制站之间的距离，依据计算得到的距离选择已选控制器。In another embodiment, the method for determining the selected control station and the candidate control station from a plurality of preset control stations may also be: receiving the position information of the unmanned aerial vehicle sent by the control terminal of the unmanned aerial vehicle according to the position. The information determines the selected control station and candidate control from a plurality of preset control stations. Because when multiple preset control stations are deployed in the operation area, the remote server can record the location information of each preset control station. After obtaining the location information of the unmanned aerial vehicle from the control terminal, it can be based on the location information of the unmanned aerial vehicle and each The position information of the preset control station determines the distance between the UAV and each pre-control station, and the selected controller is selected according to the calculated distance.
又一个实施例中，远程服务器接收到来自控制终端或者远程终端的上行控制数据中可包括无人飞行器的航线数据，所述从多个预设控制站中确定已选控制站和候选控制的实施方式还可以为：根据航线数据中航点的位置信息从多个预设控制站中确定已选控制站和候选控制站。可选的，所述根据航线数据中的航点位置信息从多个预设控制站中确定已选控制站和候选控制站的具体方式可以为；预先为每个航点设置一个对应的预设控制站，根据当前时刻的航点的位置信息确定无人飞行器当前所处的航点，找到与该航点对应的预设控制站作为确定的已选控制站，然后获取该航点的下一个航点，以及下一个航点对应的预设控制站，将下一个航点对应的预设控制站确定为当前时刻无人飞行器的候选控制站。In another embodiment, the uplink control data received by the remote server from the control terminal or the remote terminal may include the route data of the unmanned aerial vehicle, and the selected control station and the implementation of the candidate control are determined from a plurality of preset control stations. The method may also be: determining the selected control station and the candidate control station from a plurality of preset control stations according to the location information of the waypoint in the route data. Optionally, the specific method for determining the selected control station and the candidate control station from a plurality of preset control stations according to the waypoint position information in the route data may be: set a corresponding preset for each waypoint in advance The control station, according to the position information of the waypoint at the current moment, determines the current waypoint of the UAV, finds the preset control station corresponding to the waypoint as the determined selected control station, and then obtains the next one of the waypoint The waypoint, and the preset control station corresponding to the next waypoint, determine the preset control station corresponding to the next waypoint as the candidate control station of the unmanned aerial vehicle at the current moment.
步骤S302、接收已选控制站发送的第一信号接收强度。Step S302: Receive the first signal reception strength sent by the selected control station.
步骤S303、接收候选控制站发送的第二信号接收强度。Step S303: Receive the second signal reception strength sent by the candidate control station.
在一个实施例中，已选控制站与无人飞行器之间建立了双向数据交互后，已选控制站可以将接收到的远程服务器发送的上行控制数据发送给无人飞行器，无人飞行器根据上行控制数据控制无人飞行器进行飞行；无人飞行器在依据上行控制数据进行飞行时，将产生的下行业务数据发送给已选控制站。In one embodiment, after a two-way data exchange is established between the selected control station and the UAV, the selected control station can send the received uplink control data sent by the remote server to the UAV, and the UAV will follow the uplink The control data controls the unmanned aerial vehicle to fly; when the unmanned aerial vehicle is flying based on the uplink control data, it sends the generated downlink service data to the selected control station.
在一个实施例中，在步骤S202中已选控制站确定接收下行业务数据的第 一信号接收强度并将第一信号接收强度发送给远程服务器。其中，第一信号接收强度反映已选控制站与无人飞行器之间下行业务数据的数据传输质量，第一信号接收强度越高表明数据传输质量越高，反之则表明数据传输质量越低。In one embodiment, in step S202, the selected control station determines the first signal reception strength for receiving downlink service data and sends the first signal reception strength to the remote server. Among them, the first signal reception strength reflects the data transmission quality of the downlink service data between the selected control station and the UAV, the higher the first signal reception strength indicates the higher the data transmission quality, and vice versa, the lower the data transmission quality.
在一个实施例中，随着无人飞行器的飞行，无人飞行器与已选控制站之间的距离越来越远，与候选控制站之间的距离越来越近。如果无人飞行器飞行到已选控制站的信号覆盖范围和候选控制站的信号覆盖范围的重叠区域时，无人飞行器发送给已选控制站的下行业务数据也会被候选控制站检测到，在步骤S203中候选控制站确定检测到下行业务数据的第二信号接收强度，并将第二信号接收强度发送给远程服务器。其中，第二信号接收强度反映候选控制站与无人飞行器之间的下行业务数据的数据传输质量，第二信号接收强度越高表明数据传输质量越高，反之则表明数据传输质量越低。In one embodiment, as the unmanned aerial vehicle flies, the distance between the unmanned aerial vehicle and the selected control station is getting farther and farther, and the distance between the unmanned aerial vehicle and the candidate control station is getting closer and closer. If the unmanned aerial vehicle flies to the overlapping area between the signal coverage area of the selected control station and the signal coverage area of the candidate control station, the downlink service data sent by the unmanned aerial vehicle to the selected control station will also be detected by the candidate control station. In step S203, the candidate control station determines the second signal reception strength of the detected downlink service data, and sends the second signal reception strength to the remote server. Wherein, the second signal reception strength reflects the data transmission quality of the downlink service data between the candidate control station and the UAV. The higher the second signal reception strength indicates the higher the data transmission quality, and vice versa, the lower the data transmission quality.
步骤S304、根据第一信号接收强度和第二信号接收强度生成切换指令。Step S304: Generate a switching instruction according to the first signal receiving strength and the second signal receiving strength.
步骤S305、将切换指令发送给已选控制站以使已选控制站控制无人飞行器断开与已选控制站的双向数据交互，并控制所述无人飞行器建立与候选控制站的双向数据交互。Step S305: Send a switching instruction to the selected control station so that the selected control station controls the unmanned aerial vehicle to disconnect the two-way data interaction with the selected control station, and controls the unmanned aerial vehicle to establish two-way data interaction with the candidate control station .
其中，在步骤S304中，切换指令用于指示已选控制器控制无人飞行器断开与已选控制站之间的双向数据交互，并控制所述无人飞行器建立与候选控制站的双向数据交互。Wherein, in step S304, the switching instruction is used to instruct the selected controller to control the UAV to disconnect the two-way data interaction with the selected control station, and to control the UAV to establish the two-way data interaction with the candidate control station .
在一个实施例中，步骤S304根据第一信号接收强度和第二信号接收强度生成切换指令的实施方式可以为：当第一信号接收强度小于第二信号接收强度时，生成切换指令。第一信号接收强度小于第二信号接收强度表明无人飞行器与已选控制站之间的下行业务数据的传输质量低于无人飞行器与候选控制站之间的下行业务数据的传输质量。由此可以推断，已选控制站与无人飞行器之间的距离较远，无人飞行器与候选控制站之间的距离较近，此时远程服务器可以生成切换指令，以指示无人飞行器断开与已选控制站之间的连接，建立与候选控制站之间的连接。In an embodiment, in step S304, an implementation manner of generating a switching instruction according to the first signal receiving strength and the second signal receiving strength may be: when the first signal receiving strength is less than the second signal receiving strength, generating the switching instruction. The first signal reception strength being less than the second signal reception strength indicates that the transmission quality of the downlink service data between the unmanned aerial vehicle and the selected control station is lower than the transmission quality of the downlink service data between the unmanned aerial vehicle and the candidate control station. It can be inferred from this that the distance between the selected control station and the unmanned aerial vehicle is relatively long, and the distance between the unmanned aerial vehicle and the candidate control station is relatively short. At this time, the remote server can generate a switching command to instruct the unmanned aerial vehicle to disconnect. The connection with the selected control station and the connection with the candidate control station are established.
进一步的，在检测到第一信号接收强度小于第二信号接收强度后，生成切换指令之前，远程服务器还可以检测是否第二信号接收强度与第一信号接收强度之间的强度差值大于预设值，在强度差值大于预设值时，再生成切换指令。如果强度差值不大于预设值时，则不生成切换指令；在强度差值不大于预设值 时，可不生成切换指令。Further, after detecting that the first signal receiving strength is less than the second signal receiving strength, before generating the switching instruction, the remote server may also detect whether the strength difference between the second signal receiving strength and the first signal receiving strength is greater than a preset value When the intensity difference is greater than the preset value, a switching instruction is generated. If the intensity difference is not greater than the preset value, no switching instruction is generated; when the intensity difference is not greater than the preset value, the switching instruction may not be generated.
在一个实施例中，在远程服务器将切换指令发送给已选控制站后，已选控制站通知无人飞行器断开与已选控制站的连接，建立与候选控制站之间的连接。可选的，当无人飞行器建立与候选控制站的双向数据交互后，远程服务器将在步骤S301中接收到的上行控制数据发送给候选控制站以使候选控制站根据上行控制数据控制无人飞行器。同时，当无人飞行器建立与候选控制站的双向数据交互后，接收候选控制站发送下行业务数据，该下行业务数据是无人飞行器发送给候选控制站的。In one embodiment, after the remote server sends the switching instruction to the selected control station, the selected control station informs the UAV to disconnect from the selected control station and establish a connection with the candidate control station. Optionally, after the UAV establishes two-way data interaction with the candidate control station, the remote server sends the uplink control data received in step S301 to the candidate control station so that the candidate control station controls the unmanned aerial vehicle according to the uplink control data . At the same time, after the unmanned aerial vehicle establishes two-way data interaction with the candidate control station, the candidate control station is received to send downlink service data, and the downlink service data is sent by the unmanned aerial vehicle to the candidate control station.
在一个实施例中，无人飞行器与已选控制站之间的双向数据交互是基于无人飞行器的第一通信验证信息和已选控制站的第二通信验证信息确定的。其中，第一通信验证信息可以包括无人飞行器的身份标识和/或通信密钥，所述无人飞行器的身份标识可以是无人飞行器的产品序列号(Serial Number，SN)码，无人飞行器的通信密钥可以是无人飞行器的通信标识和/或通信密码；同理的，第二通信验证信息可以包括已选控制站的身份标识和/或通信密钥，所述已选控制站的身份标识可以是已选控制站的产品序列号(SN)码，已选控制站的通信密钥可以是已选控制站的通信标识和/或通信密码。In one embodiment, the two-way data interaction between the unmanned aerial vehicle and the selected control station is determined based on the first communication verification information of the unmanned aerial vehicle and the second communication verification information of the selected control station. The first communication verification information may include the identity and/or communication key of the unmanned aerial vehicle, and the identity of the unmanned aerial vehicle may be the serial number (SN) code of the unmanned aerial vehicle. The communication key may be the communication identification and/or communication password of the unmanned aerial vehicle; similarly, the second communication verification information may include the identification and/or communication key of the selected control station. The identification may be the product serial number (SN) code of the selected control station, and the communication key of the selected control station may be the communication identification and/or communication password of the selected control station.
在一个实施例中，无人飞行器与候选控制站之间的双向数据交互是基于无人飞行器的第一通信验证信息和候选控制站的第三通信验证信息确定的。其中，第三通信验证信息可以包括候选控制站的身份标识和/通信密钥，身份标识可以是候选控制站的SN码，通信密钥可以是候选控制站的通信标识和/或通信密码。In one embodiment, the two-way data interaction between the unmanned aerial vehicle and the candidate control station is determined based on the first communication verification information of the unmanned aerial vehicle and the third communication verification information of the candidate control station. Wherein, the third communication verification information may include the identity identification and/or communication key of the candidate control station, the identity identification may be the SN code of the candidate control station, and the communication key may be the communication identification and/or communication password of the candidate control station.
应当理解的，为了基于第一通信验证信息和第二通信验证信息建立无人飞行器与已选控制站之间的双向数据交互，以及基于第一通信验证信息和第三通信验证信息建立无人飞行器与候选控制站之间的双向数据交互，无人飞行器需要知道第二通信验证信息和第三通信验证信息，并且已选控制站和候选控制站也需要知道第一通信验证信息。It should be understood that in order to establish two-way data interaction between the unmanned aerial vehicle and the selected control station based on the first communication verification information and the second communication verification information, and to establish the unmanned aerial vehicle based on the first communication verification information and the third communication verification information For the two-way data interaction with the candidate control station, the UAV needs to know the second communication verification information and the third communication verification information, and the selected control station and the candidate control station also need to know the first communication verification information.
在一个实施例中，无人飞行器和已选控制站可以通过远程服务器交互各自的通信验证信息，具体地：远程服务器接收无人飞行器的种植终端发送的无人飞行器的第一通信验证信息，并将第一通信验证信息发送给已选控制站和候选控制站；获取已选控制站的第二通信验证信息和候选控制站的第三通信验证信 息，并将第二通信验证信息和第三通信验证信息发送给控制终端，以使控制终端将第二通信验证信息和第三通信验证信息发送给无人飞行器；其中，所述第一通信验证信息和所述第二通信验证信息用于建立所述无人飞行器与所述已选控制站之间的双向数据交互，所述第一通信验证信息和所述第三通信验证信息用于建立所述无人飞行器与所述候选控制站之间的双向数据交互。In one embodiment, the unmanned aerial vehicle and the selected control station can exchange their respective communication verification information through the remote server. Specifically: the remote server receives the first communication verification information of the unmanned aerial vehicle sent by the planting terminal of the unmanned aerial vehicle, and Send the first communication verification information to the selected control station and the candidate control station; obtain the second communication verification information of the selected control station and the third communication verification information of the candidate control station, and combine the second communication verification information with the third communication The verification information is sent to the control terminal, so that the control terminal sends the second communication verification information and the third communication verification information to the unmanned aerial vehicle; wherein the first communication verification information and the second communication verification information are used to establish the The two-way data exchange between the unmanned aerial vehicle and the selected control station, the first communication verification information and the third communication verification information are used to establish the communication between the unmanned aerial vehicle and the candidate control station Two-way data interaction.
在一个实施例中，远程服务器接收无人飞行器的控制终端发送的无人飞行器的第一通信验证信息的方法可以包括：通过移动通信网络接收控制终端发送的无人飞行器的第一通信验证信息。远程服务器将第二通信验证信息和第三通信验证信息发送给控制终端的实施方式可以为：通过移动通信网络将第二通信验证信息和第三通信验证信息发送给控制终端。In one embodiment, the method for the remote server to receive the first communication verification information of the unmanned aerial vehicle sent by the control terminal of the unmanned aerial vehicle may include: receiving the first communication verification information of the unmanned aerial vehicle sent by the control terminal through a mobile communication network. An implementation manner in which the remote server sends the second communication verification information and the third communication verification information to the control terminal may be: sending the second communication verification information and the third communication verification information to the control terminal via a mobile communication network.
在一个实施例中，远程服务器所述获取所述已选控制站的第二通信验证信息和所述候选控制站的第三通信验证，包括：从所述已选控制站获取所述第二通信验证信息；或者，从本地存储装置获取所述已选控制站的第二通信验证信息；从所述候选控制站获取所述第三通信验证信息；或者，从所述本地存储装置获取所述候选控制站的第三通信验证信息。应当理解的，如果远程服务器在此之前已经与已选控制站之间通过交互获取到已选控制站的第二通信验证信息，或者，已经与候选控制站之间通过交互获取到候选控制站的第三通信验证信息，则远程服务器可以将获取到的第二通信验证信息或者第三通信验证信息存储在本地存储装置中。当检测到远程服务器需要获取第二通信验证信息和第三通信验证信息时，可直接从本地存储装置中获取到该第二通信验证信息和第三通信验证信息，避免了远程服务器与已选控制站之间频繁的交互。In one embodiment, the acquiring of the second communication verification information of the selected control station and the third communication verification of the candidate control station by the remote server includes: acquiring the second communication from the selected control station Verification information; or, obtain the second communication verification information of the selected control station from a local storage device; obtain the third communication verification information from the candidate control station; or obtain the candidate from the local storage device The third communication verification information of the control station. It should be understood that if the remote server has previously acquired the second communication verification information of the selected control station through interaction with the selected control station, or has acquired the candidate control station’s information through interaction with the candidate control station. The third communication verification information, the remote server may store the acquired second communication verification information or the third communication verification information in the local storage device. When it is detected that the remote server needs to obtain the second communication verification information and the third communication verification information, the second communication verification information and the third communication verification information can be directly obtained from the local storage device, avoiding the remote server and the selected control Frequent interaction between stations.
在一个实施例中，无人飞行器在接收到远程服务器发送的第二通信验证信息和第三通信验证信息之后，可以将第二通信验证信息和第三通信验证信息存储在无人飞行器的配对信息中；已选控制站和候选控制站接收到第一通信验证信息后，可以将第一通信验证信息存储在各自的配对信息中。在一个实施例中，基于第一通信验证信息和第二通信验证信息建立无人飞行器与已选控制站之间的双向数据交互的实施方式可以为：无人飞行器可以自身的第一通信验证信息和第二通信验证信息发送给已选控制站；已选控制站接收对接收到的第二通信验证信息进行验证，如果接收到的第二通信验证信息与已选控制站自身的第二通信验证信息相同，则进一步验证接收到的第一通信验证信息是否与配对信 息中存储的第一通信验证信息相同；如果相同，则建立无人飞行器与已选控制站之间的双向数据交互。在其他实施例中，基于第一通信验证信息和第三通信验证信息建立无人飞行器与候选控制站之间的双向数据交互的实施方式与上述基于第一通信验证信息和第二通信验证信息建立无人飞行器与已选控制站之间的双向数据交互的方式相同，在此不再赘述。In one embodiment, after receiving the second communication verification information and the third communication verification information sent by the remote server, the unmanned aerial vehicle may store the second communication verification information and the third communication verification information in the pairing information of the unmanned aerial vehicle In; After receiving the first communication verification information, the selected control station and the candidate control station can store the first communication verification information in their respective pairing information. In an embodiment, the implementation manner of establishing a two-way data interaction between the unmanned aerial vehicle and the selected control station based on the first communication verification information and the second communication verification information may be: the unmanned aerial vehicle can use its own first communication verification information And the second communication verification information is sent to the selected control station; the selected control station receives and verifies the received second communication verification information, if the received second communication verification information is the second communication verification of the selected control station itself If the information is the same, it is further verified whether the received first communication verification information is the same as the first communication verification information stored in the pairing information; if they are the same, a two-way data interaction between the unmanned aerial vehicle and the selected control station is established. In other embodiments, the implementation of establishing two-way data interaction between the unmanned aerial vehicle and the candidate control station based on the first communication verification information and the third communication verification information is the same as the foregoing establishment based on the first communication verification information and the second communication verification information. The two-way data exchange method between the UAV and the selected control station is the same, so I won't repeat it here.
上述第二通信验证信息和第三通信验证信息可以是相同的，也可以是不同的。为了方便无人飞行器对配对信息的管理，本发明实施例中可以将第二通信验证信息和第三通信验证信息设置为相同的。The above-mentioned second communication verification information and the third communication verification information may be the same or different. In order to facilitate the management of the pairing information by the unmanned aerial vehicle, the second communication verification information and the third communication verification information may be set to be the same in the embodiment of the present invention.
本发明实施例中，远程服务器向已选控制站发送上行控制数据以使已选控制站根据上行控制数据控制无人飞行器；接收已选控制站发送的第一信号接收强度，该第一信号接收强度是已选控制站在控制无人飞行器过程中根据接收到的无人飞行器发送的下行业务数据确定的；同时，远程服务器还接收候选控制站发送的第二信号接收强度，该第二信号接收强度是候选控制站根据接收到来自无人飞行器的下行业务数据确定的；根据第一信号接收强度和第二信号接收强度生成切换指令；将该切换指令发送给已选控制站以使已选控制站控制无人飞行器断开与已选控制站的双向数据交互，并建立与候选控制站的双向数据交互。在上述过程中，远程服务器可以根据多个控制站的信号接收强度控制无人飞行器在飞行过程中切换与不同控制站之间的连接，通过与不同的控制站连接以进行航行，可以实现无人飞行器有效的进行长距离通信。In the embodiment of the present invention, the remote server sends uplink control data to the selected control station so that the selected control station controls the UAV according to the uplink control data; receives the first signal reception strength sent by the selected control station, and the first signal is received The strength is determined by the selected control station in the process of controlling the UAV according to the received downlink service data sent by the UAV; at the same time, the remote server also receives the second signal reception strength sent by the candidate control station, and the second signal is received The strength is determined by the candidate control station based on the downlink service data received from the unmanned aerial vehicle; the switching command is generated according to the first signal reception strength and the second signal reception strength; the switching command is sent to the selected control station to enable the selected control station The station control UAV disconnects the two-way data interaction with the selected control station, and establishes the two-way data interaction with the candidate control station. In the above process, the remote server can control the UAV to switch the connection with different control stations during the flight according to the signal receiving intensity of multiple control stations. By connecting with different control stations for navigation, unmanned aircraft can be realized. The aircraft effectively communicates over long distances.
参考图5，为本发明实施例提供的另一种控制方法，该控制方法应用于与无人飞行器以建立双向数据交互的已选控制站，已选控制站与远程服务器通信连接，远程服务器还通信连接候选控制站，图5所示的方法可由已选控制站执行，具体可由已选控制站的处理器执行。图5所示的控制方式可包括如下步骤：Referring to Figure 5, another control method provided by an embodiment of the present invention is applied to a selected control station that establishes two-way data interaction with an unmanned aerial vehicle. The selected control station communicates with a remote server, and the remote server also communicates with the remote server. For communication connection candidate control stations, the method shown in FIG. 5 can be executed by the selected control station, and specifically can be executed by the processor of the selected control station. The control method shown in Figure 5 may include the following steps:
步骤S501、获取无人飞行器发送的下行业务数据和已选控制站关于下行业务数据的第一信号接收强度。Step S501: Obtain the downlink service data sent by the unmanned aerial vehicle and the first signal reception strength of the selected control station regarding the downlink service data.
步骤S502、将第一信号强度发送至远程服务器。Step S502: Send the first signal strength to the remote server.
在一个实施例中，已选控制站可以接收远程服务器发送的上行控制数据，并根据上行控制数据控制无人飞行器飞行。在一个实施例中，已选控制站接收到的上行控制数据可以是无人飞行器对应远程终端生成的。为了避免无人飞行 器与远程终端距离过大，而出现无人飞行器盲飞的现象，本发明实施例中，远程服务器可以与无人飞行器远程终端和已选控制站通信连接，已选控制站可以与无人飞行器进行双向数据交互，远程终端在根据用户的操作指令生成上行控制数据后，将上行控制数据发送给远程服务器，由远程服务器将上行控制数据发送给已选控制站，进一步的，由已选控制站将上行控制数据发送给无人飞行器以控制无人飞行器飞行。In one embodiment, the selected control station can receive the uplink control data sent by the remote server, and control the unmanned aerial vehicle to fly according to the uplink control data. In one embodiment, the uplink control data received by the selected control station may be generated by the remote terminal corresponding to the unmanned aerial vehicle. In order to prevent the unmanned aerial vehicle from being too far away from the remote terminal and the phenomenon of blind flying of the unmanned aerial vehicle, in the embodiment of the present invention, the remote server can communicate with the remote terminal of the unmanned aerial vehicle and the selected control station, and the selected control station can Two-way data interaction with unmanned aerial vehicles. After the remote terminal generates uplink control data according to the user's operating instructions, it sends the uplink control data to the remote server, and the remote server sends the uplink control data to the selected control station. The selected control station sends the uplink control data to the UAV to control the flight of the UAV.
在其他实施例中，已选控制站也可以接收无人飞行器对应的控制终端发送的上行业务数据。具体地，控制终端根据用户的控制指令生成上行控制数据；直接将上行控制数据发送给已选控制站。In other embodiments, the selected control station may also receive the uplink service data sent by the control terminal corresponding to the unmanned aerial vehicle. Specifically, the control terminal generates uplink control data according to the user's control instruction; directly sends the uplink control data to the selected control station.
无人飞行器在已选控制站的控制下会产生下行业务数据，所谓下行业务数据可以包括无人飞行器采集到的图像数据或者其他数据，无人飞行器将下行业务数据发送给已选控制站，已选控制站评估接收到下行业务数据的第一信号接收强度。The unmanned aerial vehicle will generate downlink service data under the control of the selected control station. The so-called downlink service data may include image data or other data collected by the unmanned aerial vehicle. The unmanned aerial vehicle sends the downlink service data to the selected control station. The selected control station evaluates the first signal reception strength of the received downlink service data.
在一个实施例中，已选控制在获取到下行业务数据之后，也可以将下行业务数据发送给远程服务器，由远程服务器将下行业务数据发送给控制终端或者远程终端以供用户查看。或者，在其他实施例中，如果已选控制站和控制终端或者远程终端之间的距离较近时，已选控制站也可以将下行业务数据直接发送给控制终端或者远程终端以供用户查看。In one embodiment, after obtaining the downlink service data, the selected control may also send the downlink service data to the remote server, and the remote server sends the downlink service data to the control terminal or the remote terminal for the user to view. Or, in other embodiments, if the distance between the selected control station and the control terminal or the remote terminal is relatively short, the selected control station may also directly send the downlink service data to the control terminal or the remote terminal for the user to view.
在一个实施例中，已选控制站还接收远程服务器发送的无人飞行器的第一通信验证信息，第一通信验证信息是无人飞行器的控制终端发送给远程控制器的；已选控制站获取已选控制站的第二通信验证信息，并将第二通信验证信息发送给远程服务器，以使得远程服务器将第二通信验证信息发送给无人飞行器的控制终端以保存在无人飞行器的配对信息中，以便于后续建立无人飞行器与已选控制站之间的双向数据交互。其中，对于控制终端向远程服务器发送第一通信验证信息的实施方式可以参考图2实施例中相关实施例中的描述，在此不再赘述。In one embodiment, the selected control station also receives the first communication verification information of the unmanned aerial vehicle sent by the remote server, the first communication verification information is sent to the remote controller by the control terminal of the unmanned aerial vehicle; the selected control station obtains The second communication verification information of the selected control station, and the second communication verification information is sent to the remote server, so that the remote server sends the second communication verification information to the control terminal of the unmanned aerial vehicle to save the pairing information in the unmanned aerial vehicle In order to facilitate the subsequent establishment of two-way data interaction between the UAV and the selected control station. For the implementation manner for the control terminal to send the first communication verification information to the remote server, reference may be made to the description in the related embodiment in the embodiment of FIG. 2, which will not be repeated here.
同理的，候选控制站也可以获取候选控制站的第三通信验证信息，并将第三通信验证信息发送给远程服务器，远程服务器将第三通信验证信息发送给无人飞行器的控制终端，以保存在无人飞行器的配对信息中，以便于后续建立无人飞行器与候选控制站之间的双向数据交互。Similarly, the candidate control station can also obtain the third communication verification information of the candidate control station and send the third communication verification information to the remote server, and the remote server sends the third communication verification information to the control terminal of the unmanned aerial vehicle. It is stored in the pairing information of the unmanned aerial vehicle to facilitate the subsequent establishment of two-way data interaction between the unmanned aerial vehicle and the candidate control station.
步骤S503、获取远程服务器发送的切换指令。Step S503: Obtain the switching instruction sent by the remote server.
其中，该切换指令是远程服务器根据第一信号接收强度和远程服务器接收到的候选控制站发送的第二信号接收强度生成的，第二信号接收强度是候选控制站根据候选控制站接收到来自无人飞行器的下行业务数据确定的。Wherein, the switching instruction is generated by the remote server according to the first signal receiving strength and the second signal receiving strength sent by the candidate control station received by the remote server, and the second signal receiving strength is the candidate control station receiving from the candidate control station according to the candidate control station. The downlink service data of the human aircraft is determined.
随着无人飞行器的飞行，无人飞行器与已选控制站之间的距离越来越远，与候选控制站之间的距离越来越近，当无人飞行器飞行到已选控制站与候选控制站的信号覆盖范围的重叠区域时，无人飞行器发送给已选控制站的下行业务数据也可以被候选控制站检测到，候选控制站根据检测到的下行业务数据确定第二信号接收强度，并将该第二信号接收强度发送给远程服务器，由远程服务器根据第一信号接收强度和第二信号接收强度生成切换指令。As the unmanned aerial vehicle flies, the distance between the unmanned aerial vehicle and the selected control station is getting farther and farther, and the distance between the unmanned aerial vehicle and the candidate control station is getting closer and closer. When the unmanned aerial vehicle flies to the selected control station and the candidate When the signal coverage area of the control station overlaps, the downlink service data sent by the UAV to the selected control station can also be detected by the candidate control station, and the candidate control station determines the second signal reception strength based on the detected downlink service data. The second signal receiving strength is sent to the remote server, and the remote server generates a switching instruction according to the first signal receiving strength and the second signal receiving strength.
步骤S504、根据切换指令控制无人飞行器断开与已选控制站的双向数据交互，以使无人飞行器建立与候选控制站的双向数据交互。Step S504: Control the unmanned aerial vehicle to disconnect the two-way data interaction with the selected control station according to the switching instruction, so that the unmanned aerial vehicle establishes the two-way data interaction with the candidate control station.
在一个实施例中，远程服务器发送的切换指令中可包括候选控制站标识，已选控制站根据候选控制站标识向无人飞行器发送切换指示，以便于无人飞行器主动断开与已选控制站之间的双向数据交互，并建立与候选控制站标识所标识的候选控制站之间的双向数据交互。In one embodiment, the switching instruction sent by the remote server may include the candidate control station identification, and the selected control station sends a switching instruction to the unmanned aerial vehicle according to the candidate control station identification, so that the unmanned aerial vehicle actively disconnects from the selected control station The two-way data interaction between the two, and the establishment of two-way data interaction with the candidate control station identified by the candidate control station identifier.
本发明实施例中，已选控制站根据接收到的远程服务器法发送的上行控制数据控制无人飞行器飞行；无人飞行器在飞行过程中会产生下行业务数据，已选控制器接收无人飞行器发送的下行业务数据并确定关于下行业务数据的第一信号接收强度；将第一信号接收强度发送给远程服务器，以便于远程服务器根据第一信号接收强度和来自于候选控制站的第二信号接收强度生成切换指令；已选控制站接收切换指令，并根据切换指令控制无人飞行器断开与已选控制站的双向数据交互，建立无人飞行器与候选控制站之间的双向数据交互。在上述过程中，远程服务器可以根据多个预设控制站的信号接收强度控制无人飞行器在飞行过程中切换与不同预设控制站之间的连接，通过与不同的预设控制站连接以进行航行，可以实现无人飞行器有效的进行长距离通信。In the embodiment of the present invention, the selected control station controls the unmanned aerial vehicle to fly according to the received uplink control data sent by the remote server method; the unmanned aerial vehicle generates downlink service data during the flight, and the selected controller receives the unmanned aerial vehicle's transmission And determine the first signal reception strength of the downlink service data; send the first signal reception strength to the remote server so that the remote server can be based on the first signal reception strength and the second signal reception strength from the candidate control station Generate a switching instruction; the selected control station receives the switching instruction, and controls the UAV to disconnect the two-way data interaction with the selected control station according to the switching instruction, and establish a two-way data interaction between the UAV and the candidate control station. In the above process, the remote server can control the UAV to switch the connection with different preset control stations during the flight according to the signal reception strength of multiple preset control stations, and connect to different preset control stations to proceed. Navigation can realize the effective long-distance communication of the unmanned aerial vehicle.
基于上述的控制方法，本发明实施例还提供了一种远程服务器，参考图6为本发明实施例提供的一种远程服务器的结构示意图，该远程服务器与已选控制站和候选控制站通信连接，已选控制站与无人飞行器进行双向数据交互，远 程服务器可包括处理器601和存储器602，处理器601和存储器602可通过总线603相连接。Based on the above control method, the embodiment of the present invention also provides a remote server. Refer to FIG. 6 for a schematic structural diagram of a remote server provided by an embodiment of the present invention. The remote server is in communication connection with the selected control station and the candidate control station. , The selected control station and the UAV conduct two-way data interaction, the remote server may include a processor 601 and a memory 602, and the processor 601 and the memory 602 may be connected via a bus 603.
在一个实施例中，存储器602中存储程序代码，所述处理器601调用程序代码，当所述程序代码被执行时，用于执行：向所述已选控制站发送上行控制数据以使所述已选控制站根据所述上行控制数据控制所述无人飞行器；接收所述已选控制站发送的第一信号接收强度，所述第一信号接收强度是根据所述已选控制站接收到来自所述无人飞行器的下行业务数据确定的；接收所述候选控制站发送的第二信号接收强度，所述第二信号接收强度是根据所述候选控制站接收到来自所述无人飞行器的所述下行业务数据确定的；根据所述第一信号接收强度和所述第二信号接收强度生成切换指令；将所述切换指令发送给所述已选控制站以使所述已选控制站控制所述无人飞行器断开与所述已选控制站的双向数据交互，并控制所述无人飞行器建立与所述候选控制站的双向数据交互。In one embodiment, a program code is stored in the memory 602, and the processor 601 calls the program code. When the program code is executed, it is used to execute: send uplink control data to the selected control station to enable the The selected control station controls the UAV according to the uplink control data; receives the first signal reception strength sent by the selected control station, and the first signal reception strength is based on the signal received from the selected control station The downlink service data of the unmanned aerial vehicle is determined; the second signal receiving intensity sent by the candidate control station is received, and the second signal receiving intensity is based on the candidate control station receiving all the signals from the unmanned aerial vehicle. The downlink service data is determined; a switching instruction is generated according to the first signal reception strength and the second signal reception strength; the switching instruction is sent to the selected control station so that the selected control station controls the station The unmanned aerial vehicle disconnects the two-way data interaction with the selected control station, and controls the unmanned aerial vehicle to establish the two-way data interaction with the candidate control station.
在一个实施例中，所述处理器601在根据所述第一信号接收强度和所述第二信号接收强度生成切换指令时，执行如下操作：当所述第一信号接收强度小于所述第二信号接收强度时，生成切换指令。In an embodiment, when the processor 601 generates a switching instruction according to the first signal reception strength and the second signal reception strength, the following operations are performed: when the first signal reception strength is less than the second signal reception strength When the signal is received, a switching command is generated.
在一个实施例中，所述处理器601在当所述第一信号接收强度小于所述第二信号接收强度时，生成切换指令时，执行如下操作：当所述第二信号接收强度与所述第一信号接收强度之间的强度差值大于预设值时，生成切换指令。In one embodiment, when the processor 601 generates a switching instruction when the first signal receiving strength is less than the second signal receiving strength, the processor 601 performs the following operations: When the strength difference between the received strengths of the first signal is greater than the preset value, a switching instruction is generated.
在一个实施例中，所述处理器601还用于执行如下操作：在所述无人飞行器与所述已选控制站双向数据交互过程中，接收所述已选控制站发送的下行业务数据，所述下行业务数据是所述无人飞行器发送给所述已选控制站的。In one embodiment, the processor 601 is further configured to perform the following operations: in the process of two-way data interaction between the UAV and the selected control station, receiving downlink service data sent by the selected control station, The downlink service data is sent by the unmanned aerial vehicle to the selected control station.
在一个实施例中，所述处理器601还用于执行如下操作：当所述无人飞行器建立与所述候选控制站的双向数据交互后，向所述候选控制站发送上行控制数据以使所述候选控制站根据所述上行控制数据控制所述无人飞行器。In an embodiment, the processor 601 is further configured to perform the following operations: after the UAV establishes a two-way data interaction with the candidate control station, it sends uplink control data to the candidate control station to enable all The candidate control station controls the unmanned aerial vehicle according to the uplink control data.
在一个实施例中，所述处理器601还用于执行如下操作：当所述无人飞行器建立与所述候选控制站的双向数据交互后，接收所述候选控制站发送下行业务数据，所述下行业务数据是所述无人飞行器发送给所述候选控制站的。In an embodiment, the processor 601 is further configured to perform the following operations: after the UAV establishes a two-way data interaction with the candidate control station, receiving the candidate control station to send downlink service data, the Downlink service data is sent by the unmanned aerial vehicle to the candidate control station.
在一个实施例中，所述处理器601还用于执行如下操作：接收所述无人飞 行器的控制终端发送的所述无人飞行器的第一通信验证信息，并将所述第一通信验证信息发送给所述已选控制站和所述候选控制站；获取所述已选控制站的第二通信验证信息和所述候选控制站的第三通信验证信息，并将所述第二通信验证信息和所述第三通信验证信息发送给所述控制终端，以使所述控制终端将所述第二通信验证信息和所述第三通信验证信息发送给所述无人飞行器，其中，所述第一通信验证信息和所述第二通信验证信息用于建立所述无人飞行器与所述已选控制站之间的双向数据交互，所述第一通信验证信息和所述第三通信验证信息用于建立所述无人飞行器与所述候选控制站之间的双向数据交互。In an embodiment, the processor 601 is further configured to perform the following operations: receiving the first communication verification information of the unmanned aerial vehicle sent by the control terminal of the unmanned aerial vehicle, and combining the first communication verification information Send to the selected control station and the candidate control station; obtain the second communication verification information of the selected control station and the third communication verification information of the candidate control station, and combine the second communication verification information And the third communication verification information are sent to the control terminal, so that the control terminal sends the second communication verification information and the third communication verification information to the unmanned aerial vehicle, wherein the first The first communication verification information and the second communication verification information are used to establish a two-way data exchange between the UAV and the selected control station, and the first communication verification information and the third communication verification information are used for To establish a two-way data exchange between the UAV and the candidate control station.
在一个实施例中，所述处理器601在接收所述无人飞行器的控制终端发送的所述无人飞行器的第一通信验证信息时，执行如下操作：通过移动通信网络接收所述控制终端发送的所述无人飞行器的第一通信验证信息；所述处理器601在将所述第二通信验证信息和所述第三通信验证信息发送给所述控制终端时，执行如下操作：通过移动通信网络将所述第二通信验证信息和所述第三通信验证信息发送给所述控制终端。In an embodiment, when the processor 601 receives the first communication verification information of the unmanned aerial vehicle sent by the control terminal of the unmanned aerial vehicle, it performs the following operations: The first communication verification information of the UAV; the processor 601 performs the following operations when sending the second communication verification information and the third communication verification information to the control terminal: The network sends the second communication verification information and the third communication verification information to the control terminal.
在一个实施例中，所述处理器601在获取所述已选控制站的第二通信验证信息和所述候选控制站的第三通信验证信息时，执行如下操作：从所述已选控制站获取所述第二通信验证信息；或者，从本地存储装置获取所述已选控制站的第二通信验证信息；从所述候选控制站获取所述第三通信验证信息；或者，从所述本地存储装置获取所述候选控制站的第三通信验证信息。In one embodiment, the processor 601 performs the following operations when acquiring the second communication verification information of the selected control station and the third communication verification information of the candidate control station: Obtain the second communication verification information; or obtain the second communication verification information of the selected control station from a local storage device; obtain the third communication verification information from the candidate control station; or, obtain the third communication verification information from the local storage device; The storage device obtains the third communication verification information of the candidate control station.
在一个实施例中，所述处理器601还用于执行如下操作：从多个预设控制站中确定所述已选控制站和所述候选控制站。In an embodiment, the processor 601 is further configured to perform the following operations: determine the selected control station and the candidate control station from a plurality of preset control stations.
在一个实施例中，所述处理器601在从多个预设控制站中确定所述已选控制站和所述候选控制站时，执行如下操作：接收所述无人飞行器的控制终端或远程终端发送的控制站指示信息，其中，所述控制站指示信息是所述控制终端或所述远程终端根据检测到的用户的控制站选择操作确定的；根据所述控制站指示信息从多个预设控制站中确定所述已选控制站和所述候选控制站。In one embodiment, when the processor 601 determines the selected control station and the candidate control station from a plurality of preset control stations, it performs the following operations: receiving the control terminal or remote control of the unmanned aerial vehicle The control station indication information sent by the terminal, wherein the control station indication information is determined by the control terminal or the remote terminal according to a detected user’s control station selection operation; according to the control station indication information from multiple presets It is assumed that the selected control station and the candidate control station are determined in the control station.
在一个实施例中，所述处理器601在从多个预设控制站中确定所述已选控制站和所述候选控制站时，执行如下操作：接收所述无人飞行器的控制终端发送的所述无人飞行器的位置信息；根据所述位置信息从所述多个预设控制站中 确定出所述已选控制站和所述候选控制站。In one embodiment, when the processor 601 determines the selected control station and the candidate control station from a plurality of preset control stations, it performs the following operations: receiving the control terminal of the UAV The position information of the unmanned aerial vehicle; the selected control station and the candidate control station are determined from the plurality of preset control stations according to the position information.
在一个实施例中，所述上行控制数据包括航线数据，所述处理器601在从多个预设控制站中确定所述已选控制站和所述候选控制站时，执行如下操作：根据所述航线数据中航点的位置信息从多个预设控制站中确定所述已选控制站和所述候选控制站。In one embodiment, the uplink control data includes route data, and the processor 601 performs the following operations when determining the selected control station and the candidate control station from a plurality of preset control stations: The location information of the waypoint in the route data determines the selected control station and the candidate control station from a plurality of preset control stations.
在一个实施例中，所述第一通信验证信息包括所述无人飞行器的身份标识和/或通信密钥，所述第二通信验证信息包括所述已选控制站的身份标识和/或通信密钥，所述第三通信验证信息包括所述候选控制站的身份标识和/或通信密钥。In one embodiment, the first communication verification information includes the identity and/or communication key of the UAV, and the second communication verification information includes the identity and/or communication of the selected control station. The key, the third communication verification information includes the identity and/or the communication key of the candidate control station.
本发明实施例还提供了一种控制站，参考图7为本发明实施例提供的一种控制站的结构示意图，图7所示的控制站对应于前述的已选控制站。图7所述的控制站可包括处理器701和存储器702，处理器701和存储器702之间可通过总线703相连接。The embodiment of the present invention also provides a control station. Refer to FIG. 7 for a schematic structural diagram of a control station provided by an embodiment of the present invention. The control station shown in FIG. 7 corresponds to the aforementioned selected control station. The control station shown in FIG. 7 may include a processor 701 and a memory 702, and the processor 701 and the memory 702 may be connected through a bus 703.
在一个实施例中，存储器702中存储有程序代码，处理器701调用程序代码，当程序代码被执行时，用于执行以下操作：获取所述无人飞行器发送的下行业务数据和所述已选控制站关于所述下行业务数据的第一信号接收强度；将所述第一信号接收强度发送至所述远程服务器；获取所述远程服务器发送的切换指令，其中，所述切换指令是所述远程服务器根据所述第一信号接收强度和所述远程服务器接收到的所述候选控制站发送的第二信号接收强度生成的，所述第二信号接收强度是所述候选控制站根据所述候选控制站接收到来自所述无人飞行器的下行业务数据确定的；根据所述切换执行控制所述无人飞行器断开与所述已选控制站的双向数据交互，以使所述无人飞行器建立与所述候选控制站的双向数据交互。In one embodiment, a program code is stored in the memory 702, and the processor 701 calls the program code. When the program code is executed, it is used to perform the following operations: Obtain the downlink service data sent by the UAV and the selected The first signal receiving strength of the control station regarding the downlink service data; sending the first signal receiving strength to the remote server; acquiring the switching instruction sent by the remote server, wherein the switching instruction is the remote The server generates the signal according to the first signal reception strength and the second signal reception strength sent by the candidate control station received by the remote server, and the second signal reception strength is the candidate control station according to the candidate control station. Station receives the downlink service data from the unmanned aerial vehicle; controls the unmanned aerial vehicle to disconnect the two-way data interaction with the selected control station according to the switching execution, so that the unmanned aerial vehicle establishes and The two-way data exchange of the candidate control station.
在一个实施例中，所述处理器701还用于执行如下操作：在所述无人飞行器与所述已选控制站进行双向数据交互的过程中，将接收到的所述无人飞行器发送的下行业务数据发送给所述远程服务器。In an embodiment, the processor 701 is further configured to perform the following operations: in the process of two-way data interaction between the unmanned aerial vehicle and the selected control station, send the received unmanned aerial vehicle The downlink service data is sent to the remote server.
在一个实施例中，所述处理器701还用于执行如下操作：接收所述远程服务器发送的所述无人飞行器的第一通信验证信息，所述第一通信验证信息时所 述无人飞行器的控制终端发送给所述远程控制器的；获取所述已选控制站的第二通信验证信息，并将所述通信验证信息发送给所述远程服务器；其中，所述第一通信验证信息和所述第二通信验证信息用于建立所述无人飞行器与所述已选控制站之间的双向数据交互。In an embodiment, the processor 701 is further configured to perform the following operations: receiving the first communication verification information of the unmanned aerial vehicle sent by the remote server, and the first communication verification information is the unmanned aerial vehicle The control terminal sent to the remote controller; acquires the second communication verification information of the selected control station, and sends the communication verification information to the remote server; wherein, the first communication verification information and The second communication verification information is used to establish a two-way data interaction between the UAV and the selected control station.
在一个实施例中，所述第一通信验证信息包括所述无人机飞行器的身份标识和/或通信密钥，所述第二通信验证信息包括所述已选控制站的身份标识和/或通信密钥。In an embodiment, the first communication verification information includes the identity and/or communication key of the UAV aircraft, and the second communication verification information includes the identity and/or the selected control station. Communication key.
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一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(Read-Only Memory，ROM)或随机存储记忆体(Random Access Memory，RAM)等。A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing relevant hardware through a computer program. The program can be stored in a computer readable storage medium. During execution, it may include the procedures of the above-mentioned method embodiments. Wherein, the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.
以上所揭露的仅为本发明部分实施例而已，当然不能以此来限定本发明之权利范围，因此依本发明权利要求所作的等同变化，仍属本发明所涵盖的范围。The above-disclosed are only some of the embodiments of the present invention, which of course cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope of the present invention.

Claims (37)

  1. 一种控制方法，其特征在于，所述控制方法应用于远程服务器，所述远程服务器与已选控制站和候选控制站通信连接，所述已选控制站与无人飞行器进行双向数据交互，所述方法包括：A control method, characterized in that the control method is applied to a remote server, the remote server is in communication connection with a selected control station and a candidate control station, and the selected control station performs two-way data interaction with an unmanned aerial vehicle. The methods include:
    向所述已选控制站发送上行控制数据以使所述已选控制站根据所述上行控制数据控制所述无人飞行器；Sending uplink control data to the selected control station so that the selected control station controls the unmanned aerial vehicle according to the uplink control data;
    接收所述已选控制站发送的第一信号接收强度，所述第一信号接收强度是根据所述已选控制站接收到的来自所述无人飞行器的下行业务数据确定的；Receiving a first signal reception strength sent by the selected control station, where the first signal reception strength is determined according to the downlink service data from the unmanned aerial vehicle received by the selected control station;
    接收所述候选控制站发送的第二信号接收强度，所述第二信号接收强度是根据所述候选控制站接收到来自所述无人飞行器的所述下行业务数据确定的；Receiving a second signal reception strength sent by the candidate control station, where the second signal reception strength is determined according to the downlink service data received by the candidate control station from the unmanned aerial vehicle;
    根据所述第一信号接收强度和所述第二信号接收强度生成切换指令；Generating a switching instruction according to the first signal receiving strength and the second signal receiving strength;
    将所述切换指令发送给所述已选控制站以使所述已选控制站控制所述无人飞行器断开与所述已选控制站的双向数据交互，并控制所述无人飞行器建立与所述候选控制站的双向数据交互。The switching instruction is sent to the selected control station so that the selected control station controls the unmanned aerial vehicle to disconnect the two-way data interaction with the selected control station, and controls the unmanned aerial vehicle to establish a connection with the unmanned aerial vehicle. The two-way data exchange of the candidate control station.
  2. 根据权利要求1所述的方法，其特征在于，所述根据所述第一信号接收强度和所述第二信号接收强度生成切换指令，包括：The method according to claim 1, wherein said generating a switching instruction according to said first signal receiving strength and said second signal receiving strength comprises:
    当所述第一信号接收强度小于所述第二信号接收强度时，生成切换指令。When the first signal receiving strength is less than the second signal receiving strength, a switching instruction is generated.
  3. 根据权利要求2所述的方法，其特征在于，所述当所述第一信号接收强度小于所述第二信号接收强度时，生成切换指令，包括：The method according to claim 2, wherein said generating a switching instruction when said first signal receiving strength is less than said second signal receiving strength comprises:
    当所述第二信号接收强度与所述第一信号接收强度之间的强度差值大于预设值时，生成切换指令。When the strength difference between the second signal reception strength and the first signal reception strength is greater than a preset value, a switching instruction is generated.
  4. 根据权利要求1所述的方法，其特征在于，所述方法还包括：The method according to claim 1, wherein the method further comprises:
    在所述无人飞行器与所述已选控制站进行双向数据交互过程中，接收所述已选控制站发送的下行业务数据，所述下行业务数据是所述无人飞行器发送给 所述已选控制站的。During the two-way data interaction between the UAV and the selected control station, the downlink service data sent by the selected control station is received, and the downlink service data is sent by the UAV to the selected control station. Of the control station.
  5. 根据权利要求1-4任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 1-4, wherein the method further comprises:
    当所述无人飞行器建立与所述候选控制站的双向数据交互后，向所述候选控制站发送上行控制数据以使所述候选控制站根据所述上行控制数据控制所述无人飞行器。After the unmanned aerial vehicle establishes a two-way data exchange with the candidate control station, it sends uplink control data to the candidate control station so that the candidate control station controls the unmanned aerial vehicle according to the uplink control data.
  6. 根据权利要求1-5任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 1-5, wherein the method further comprises:
    当所述无人飞行器建立与所述候选控制站的双向数据交互后，接收所述候选控制站发送下行业务数据，所述下行业务数据是所述无人飞行器发送给所述候选控制站的。After the unmanned aerial vehicle establishes a two-way data exchange with the candidate control station, it receives downlink service data sent by the candidate control station, and the downlink service data is sent by the unmanned aerial vehicle to the candidate control station.
  7. 根据权利要求1-6任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 1-6, wherein the method further comprises:
    接收所述无人飞行器的控制终端发送的所述无人飞行器的第一通信验证信息，并将所述第一通信验证信息发送给所述已选控制站和所述候选控制站；Receiving the first communication verification information of the unmanned aerial vehicle sent by the control terminal of the unmanned aerial vehicle, and sending the first communication verification information to the selected control station and the candidate control station;
    获取所述已选控制站的第二通信验证信息和所述候选控制站的第三通信验证信息，并将所述第二通信验证信息和所述第三通信验证信息发送给所述控制终端，以使所述控制终端将所述第二通信验证信息和所述第三通信验证信息发送给所述无人飞行器；Acquiring the second communication verification information of the selected control station and the third communication verification information of the candidate control station, and sending the second communication verification information and the third communication verification information to the control terminal, So that the control terminal sends the second communication verification information and the third communication verification information to the unmanned aerial vehicle;
    其中，所述第一通信验证信息和所述第二通信验证信息用于建立所述无人飞行器与所述已选控制站之间的双向数据交互，所述第一通信验证信息和所述第三通信验证信息用于建立所述无人飞行器与所述候选控制站之间的双向数据交互。Wherein, the first communication verification information and the second communication verification information are used to establish a two-way data exchange between the unmanned aerial vehicle and the selected control station, and the first communication verification information and the first communication verification information 3. Communication verification information is used to establish a two-way data exchange between the UAV and the candidate control station.
  8. 根据权利要求7所述的方法，其特征在于，所述接收所述无人飞行器的控制终端发送的所述无人飞行器的第一通信验证信息，包括：The method according to claim 7, wherein the receiving the first communication verification information of the unmanned aerial vehicle sent by the control terminal of the unmanned aerial vehicle comprises:
    通过移动通信网络接收所述控制终端发送的所述无人飞行器的第一通信验证信息；Receiving the first communication verification information of the unmanned aerial vehicle sent by the control terminal through a mobile communication network;
    所述将所述第二通信验证信息和所述第三通信验证信息发送给所述控制 终端，包括：The sending the second communication verification information and the third communication verification information to the control terminal includes:
    通过移动通信网络将所述第二通信验证信息和所述第三通信验证信息发送给所述控制终端。The second communication verification information and the third communication verification information are sent to the control terminal through a mobile communication network.
  9. 根据权利要求7或8所述的方法，其特征在于，所述获取所述已选控制站的第二通信验证信息和所述候选控制站的第三通信验证信息，包括：The method according to claim 7 or 8, wherein said acquiring the second communication verification information of the selected control station and the third communication verification information of the candidate control station comprises:
    从所述已选控制站获取所述第二通信验证信息；或者，从本地存储装置获取所述已选控制站的第二通信验证信息；Acquiring the second communication verification information from the selected control station; or acquiring the second communication verification information of the selected control station from a local storage device;
    从所述候选控制站获取所述第三通信验证信息；或者，从所述本地存储装置获取所述候选控制站的第三通信验证信息。Obtain the third communication verification information from the candidate control station; or obtain the third communication verification information of the candidate control station from the local storage device.
  10. 根据权利要求7-9任一项所述的方法，其特征在于，所述方法还包括：从多个预设控制站中确定所述已选控制站和所述候选控制站。The method according to any one of claims 7-9, wherein the method further comprises: determining the selected control station and the candidate control station from a plurality of preset control stations.
  11. 根据权利要求10所述的方法，其特征在于，所述从多个预设控制站中确定所述已选控制站和所述候选控制站，包括：The method according to claim 10, wherein the determining the selected control station and the candidate control station from a plurality of preset control stations comprises:
    接收所述无人飞行器的控制终端或远程终端发送的控制站指示信息，其中，所述控制站指示信息是所述控制终端或所述远程终端根据检测到的用户的控制站选择操作确定的；Receiving control station indication information sent by the control terminal or remote terminal of the unmanned aerial vehicle, where the control station indication information is determined by the control terminal or the remote terminal according to a detected user's control station selection operation;
    根据所述控制站指示信息从多个预设控制站中确定所述已选控制站和所述候选控制站。The selected control station and the candidate control station are determined from a plurality of preset control stations according to the control station instruction information.
  12. 根据权利要求10所述的方法，其特征在于，所述从多个预设控制站中确定所述已选控制站和所述候选控制站，包括：The method according to claim 10, wherein the determining the selected control station and the candidate control station from a plurality of preset control stations comprises:
    接收所述无人飞行器的控制终端发送的所述无人飞行器的位置信息；Receiving the location information of the unmanned aerial vehicle sent by the control terminal of the unmanned aerial vehicle;
    根据所述位置信息从所述多个预设控制站中确定出所述已选控制站和所述候选控制站。The selected control station and the candidate control station are determined from the plurality of preset control stations according to the location information.
  13. 根据权利要求10所述的方法，其特征在于，所述上行控制数据包括 航线数据，所述从多个预设控制站中确定所述已选控制站和所述候选控制站，包括：The method according to claim 10, wherein the uplink control data includes route data, and the determining the selected control station and the candidate control station from a plurality of preset control stations comprises:
    根据所述航线数据中航点的位置信息从多个预设控制站中确定所述已选控制站和所述候选控制站。The selected control station and the candidate control station are determined from a plurality of preset control stations according to the location information of the waypoint in the route data.
  14. 根据权利要求7-13任一项所述的方法，其特征在于，所述第一通信验证信息包括所述无人飞行器的身份标识和/或通信密钥，所述第二通信验证信息包括所述已选控制站的身份标识和/或通信密钥，所述第三通信验证信息包括所述候选控制站的身份标识和/或通信密钥。The method according to any one of claims 7-13, wherein the first communication verification information includes the identity and/or communication key of the UAV, and the second communication verification information includes all The identification and/or communication key of the selected control station, and the third communication verification information includes the identification and/or communication key of the candidate control station.
  15. 一种控制方法，其特征在于，所述控制方法应用于与无人飞行器已建立双向数据交互的已选控制站，所述已选控制站与远程服务器通信连接，所述远程服务器还通信连接候选控制站，所述方法包括：A control method, characterized in that the control method is applied to a selected control station that has established a two-way data interaction with an unmanned aerial vehicle, the selected control station is in communication connection with a remote server, and the remote server also communicates with connection candidates Control station, the method includes:
    获取所述无人飞行器发送的下行业务数据和所述已选控制站关于所述下行业务数据的第一信号接收强度；Acquiring the downlink service data sent by the unmanned aerial vehicle and the first signal reception strength of the selected control station regarding the downlink service data;
    将所述第一信号接收强度发送至所述远程服务器；Sending the first signal reception strength to the remote server;
    获取所述远程服务器发送的切换指令，所述切换指令是所述远程服务器根据所述第一信号接收强度和所述远程服务器接收的所述候选控制站发送的第二信号接收强度生成的，所述第二信号接收强度是所述候选控制站根据所述候选控制站接收到来自所述无人飞行器的下行业务数据确定的；Acquire the switching instruction sent by the remote server, the switching instruction is generated by the remote server according to the first signal reception strength and the second signal reception strength sent by the candidate control station received by the remote server, and The second signal reception strength is determined by the candidate control station according to the downlink service data received from the unmanned aerial vehicle by the candidate control station;
    根据所述切换指令控制所述无人飞行器断开与所述已选控制站的双向数据交互，以使所述无人飞行器建立与所述候选控制站的双向数据交互。Control the unmanned aerial vehicle to disconnect the two-way data interaction with the selected control station according to the switching instruction, so that the unmanned aerial vehicle establishes the two-way data interaction with the candidate control station.
  16. 根据权利要求15所述的方法，其特征在于，所述方法还包括：The method according to claim 15, wherein the method further comprises:
    在所述无人飞行器与所述已选控制站进行双向数据交互的过程中，将接收到的所述无人飞行器发送的下行业务数据发送给所述远程服务器。In the process of two-way data interaction between the unmanned aerial vehicle and the selected control station, the received downlink service data sent by the unmanned aerial vehicle is sent to the remote server.
  17. 根据权利要求15或16所述的方法，其特征在于，所述方法还包括：The method according to claim 15 or 16, wherein the method further comprises:
    接收所述远程服务器发送的所述无人飞行器的第一通信验证信息，所述第 一通信验证信息是所述无人飞行器的控制终端发送给所述远程控制器的；Receiving the first communication verification information of the unmanned aerial vehicle sent by the remote server, where the first communication verification information is sent to the remote controller by the control terminal of the unmanned aerial vehicle;
    获取所述已选控制站的第二通信验证信息，并将所述第二通信验证信息发送给所述远程服务器；Acquiring the second communication verification information of the selected control station, and sending the second communication verification information to the remote server;
    其中，所述第一通信验证信息和所述第二通信验证信息用于建立所述无人飞行器与所述已选控制站之间的双向数据交互。Wherein, the first communication verification information and the second communication verification information are used to establish a two-way data interaction between the unmanned aerial vehicle and the selected control station.
  18. 根据权利要求17所述的方法，其特征在于，所述第一通信验证信息包括所述无人机飞行器的身份标识和/或通信密钥，所述第二通信验证信息包括所述已选控制站的身份标识和/或通信密钥。The method according to claim 17, wherein the first communication verification information includes the identity and/or communication key of the UAV aircraft, and the second communication verification information includes the selected control Station’s identity and/or communication key.
  19. 一种远程服务器，其特征在于，所述远程服务器与已选控制站和候选控制站通信连接，所述已选控制站与无人飞行器进行双向数据交互，所述远程服务器包括存储器和处理器：A remote server, characterized in that the remote server is in communication connection with a selected control station and a candidate control station, the selected control station performs two-way data interaction with an unmanned aerial vehicle, and the remote server includes a memory and a processor:
    所述存储器用于存储程序代码；The memory is used to store program codes;
    所述处理器，调用所述程序代码，当所述程序代码被执行时，用于执行以下操作：The processor calls the program code, and when the program code is executed, is used to perform the following operations:
    向所述已选控制站发送上行控制数据以使所述已选控制站根据所述上行控制数据控制所述无人飞行器；Sending uplink control data to the selected control station so that the selected control station controls the unmanned aerial vehicle according to the uplink control data;
    接收所述已选控制站发送的第一信号接收强度，所述第一信号接收强度是根据所述已选控制站接收到来自所述无人飞行器的下行业务数据确定的；Receiving a first signal reception strength sent by the selected control station, where the first signal reception strength is determined based on the downlink service data received by the selected control station from the unmanned aerial vehicle;
    接收所述候选控制站发送的第二信号接收强度，所述第二信号接收强度是根据所述候选控制站接收到来自所述无人飞行器的所述下行业务数据确定的；Receiving a second signal reception strength sent by the candidate control station, where the second signal reception strength is determined according to the downlink service data received by the candidate control station from the unmanned aerial vehicle;
    根据所述第一信号接收强度和所述第二信号接收强度生成切换指令；Generating a switching instruction according to the first signal receiving strength and the second signal receiving strength;
    将所述切换指令发送给所述已选控制站以使所述已选控制站控制所述无人飞行器断开与所述已选控制站的双向数据交互，并控制所述无人飞行器建立与所述候选控制站的双向数据交互。The switching instruction is sent to the selected control station so that the selected control station controls the unmanned aerial vehicle to disconnect the two-way data interaction with the selected control station, and controls the unmanned aerial vehicle to establish a connection with the unmanned aerial vehicle. The two-way data exchange of the candidate control station.
  20. 根据权利要求19所述的远程服务器，其特征在于，所述处理器在根 据所述第一信号接收强度和所述第二信号接收强度生成切换指令时，执行如下操作：The remote server according to claim 19, wherein the processor performs the following operations when generating the switching instruction according to the first signal receiving strength and the second signal receiving strength:
    当所述第一信号接收强度小于所述第二信号接收强度时，生成切换指令。When the first signal receiving strength is less than the second signal receiving strength, a switching instruction is generated.
  21. 根据权利要求20所述的远程服务器，其特征在于，所述处理器在当所述第一信号接收强度小于所述第二信号接收强度时，生成切换指令时，执行如下操作：The remote server according to claim 20, wherein the processor performs the following operations when generating a switching instruction when the first signal receiving strength is less than the second signal receiving strength:
    当所述第二信号接收强度与所述第一信号接收强度之间的强度差值大于预设值时，生成切换指令。When the strength difference between the second signal reception strength and the first signal reception strength is greater than a preset value, a switching instruction is generated.
  22. 根据权利要求19所述的远程服务器，其特征在于，所述处理器还用于执行如下操作：The remote server according to claim 19, wherein the processor is further configured to perform the following operations:
    在所述无人飞行器与所述已选控制站双向数据交互过程中，接收所述已选控制站发送的下行业务数据，所述下行业务数据是所述无人飞行器发送给所述已选控制站的。In the process of two-way data interaction between the unmanned aerial vehicle and the selected control station, the downlink service data sent by the selected control station is received, and the downlink service data is sent by the unmanned aerial vehicle to the selected control station. Standing.
  23. 根据权利要求19-22任一项所述的远程服务器，其特征在于，所述处理器还用于执行如下操作：The remote server according to any one of claims 19-22, wherein the processor is further configured to perform the following operations:
    当所述无人飞行器建立与所述候选控制站的双向数据交互后，向所述候选控制站发送上行控制数据以使所述候选控制站根据所述上行控制数据控制所述无人飞行器。After the unmanned aerial vehicle establishes a two-way data exchange with the candidate control station, it sends uplink control data to the candidate control station so that the candidate control station controls the unmanned aerial vehicle according to the uplink control data.
  24. 根据权利要求19-23任一项所述的远程服务器，其特征在于，所述处理器还用于执行如下操作：The remote server according to any one of claims 19-23, wherein the processor is further configured to perform the following operations:
    当所述无人飞行器建立与所述候选控制站的双向数据交互后，接收所述候选控制站发送下行业务数据，所述下行业务数据是所述无人飞行器发送给所述候选控制站的。After the unmanned aerial vehicle establishes a two-way data exchange with the candidate control station, it receives downlink service data sent by the candidate control station, and the downlink service data is sent by the unmanned aerial vehicle to the candidate control station.
  25. 根据权利要求19-24任一项所述的远程服务器，其特征在于，所述处理器还用于执行如下操作：The remote server according to any one of claims 19-24, wherein the processor is further configured to perform the following operations:
    接收所述无人飞行器的控制终端发送的所述无人飞行器的第一通信验证信息，并将所述第一通信验证信息发送给所述已选控制站和所述候选控制站；Receiving the first communication verification information of the unmanned aerial vehicle sent by the control terminal of the unmanned aerial vehicle, and sending the first communication verification information to the selected control station and the candidate control station;
    获取所述已选控制站的第二通信验证信息和所述候选控制站的第三通信验证信息，并将所述第二通信验证信息和所述第三通信验证信息发送给所述控制终端，以使所述控制终端将所述第二通信验证信息和所述第三通信验证信息发送给所述无人飞行器，其中，所述第一通信验证信息和所述第二通信验证信息用于建立所述无人飞行器与所述已选控制站之间的双向数据交互，所述第一通信验证信息和所述第三通信验证信息用于建立所述无人飞行器与所述候选控制站之间的双向数据交互。Acquiring the second communication verification information of the selected control station and the third communication verification information of the candidate control station, and sending the second communication verification information and the third communication verification information to the control terminal, So that the control terminal sends the second communication verification information and the third communication verification information to the unmanned aerial vehicle, wherein the first communication verification information and the second communication verification information are used to establish The two-way data exchange between the unmanned aerial vehicle and the selected control station, the first communication verification information and the third communication verification information are used to establish a connection between the unmanned aerial vehicle and the candidate control station Two-way data exchange.
  26. 根据权利要求25所述的远程服务器，其特征在于，所述处理器在接收所述无人飞行器的控制终端发送的所述无人飞行器的第一通信验证信息时，执行如下操作：The remote server according to claim 25, wherein the processor performs the following operations when receiving the first communication verification information of the unmanned aerial vehicle sent by the control terminal of the unmanned aerial vehicle:
    通过移动通信网络接收所述控制终端发送的所述无人飞行器的第一通信验证信息；Receiving the first communication verification information of the unmanned aerial vehicle sent by the control terminal through a mobile communication network;
    所述处理器在将所述第二通信验证信息和所述第三通信验证信息发送给所述控制终端时，执行如下操作：When sending the second communication verification information and the third communication verification information to the control terminal, the processor performs the following operations:
    通过移动通信网络将所述第二通信验证信息和所述第三通信验证信息发送给所述控制终端。The second communication verification information and the third communication verification information are sent to the control terminal through a mobile communication network.
  27. 根据权利要求25或26所述的远程服务器，其特征在于，所述处理器在获取所述已选控制站的第二通信验证信息和所述候选控制站的第三通信验证信息时，执行如下操作：The remote server according to claim 25 or 26, wherein the processor executes the following when acquiring the second communication verification information of the selected control station and the third communication verification information of the candidate control station operating:
    从所述已选控制站获取所述第二通信验证信息；或者，从本地存储装置获取所述已选控制站的第二通信验证信息；Acquiring the second communication verification information from the selected control station; or acquiring the second communication verification information of the selected control station from a local storage device;
    从所述候选控制站获取所述第三通信验证信息；或者，从所述本地存储装置获取所述候选控制站的第三通信验证信息。Obtain the third communication verification information from the candidate control station; or obtain the third communication verification information of the candidate control station from the local storage device.
  28. 根据权利要求25-27任一项所述的远程服务器，其特征在于，所述处理器还用于执行如下操作：The remote server according to any one of claims 25-27, wherein the processor is further configured to perform the following operations:
    从多个预设控制站中确定所述已选控制站和所述候选控制站。The selected control station and the candidate control station are determined from a plurality of preset control stations.
  29. 根据权利要求28所述的远程控制器，其特征在于，所述处理器在从多个预设控制站中确定所述已选控制站和所述候选控制站时，执行如下操作：The remote controller according to claim 28, wherein the processor performs the following operations when determining the selected control station and the candidate control station from a plurality of preset control stations:
    接收所述无人飞行器的控制终端或远程终端发送的控制站指示信息，其中，所述控制站指示信息是所述控制终端或所述远程终端根据检测到的用户的控制站选择操作确定的；Receiving control station indication information sent by the control terminal or remote terminal of the unmanned aerial vehicle, where the control station indication information is determined by the control terminal or the remote terminal according to a detected user's control station selection operation;
    根据所述控制站指示信息从多个预设控制站中确定所述已选控制站和所述候选控制站。The selected control station and the candidate control station are determined from a plurality of preset control stations according to the control station instruction information.
  30. 根据权利要求28所述的远程服务器，其特征在于，所述处理器在从多个预设控制站中确定所述已选控制站和所述候选控制站时，执行如下操作：The remote server according to claim 28, wherein the processor performs the following operations when determining the selected control station and the candidate control station from a plurality of preset control stations:
    接收所述无人飞行器的控制终端发送的所述无人飞行器的位置信息；Receiving the location information of the unmanned aerial vehicle sent by the control terminal of the unmanned aerial vehicle;
    根据所述位置信息从所述多个预设控制站中确定出所述已选控制站和所述候选控制站。The selected control station and the candidate control station are determined from the plurality of preset control stations according to the location information.
  31. 根据权利要求28所述的远程控制器，其特征在于，所述上行控制数据包括航线数据，所述处理器在从多个预设控制站中确定所述已选控制站和所述候选控制站时，执行如下操作：The remote controller according to claim 28, wherein the uplink control data includes route data, and the processor determines the selected control station and the candidate control station from a plurality of preset control stations When, do the following:
    根据所述航线数据中航点的位置信息从多个预设控制站中确定所述已选控制站和所述候选控制站。The selected control station and the candidate control station are determined from a plurality of preset control stations according to the location information of the waypoint in the route data.
  32. 根据权利要求25-31任一项所述的远程控制器，其特征在于，所述第一通信验证信息包括所述无人飞行器的身份标识和/或通信密钥，所述第二通信验证信息包括所述已选控制站的身份标识和/或通信密钥，所述第三通信验证信息包括所述候选控制站的身份标识和/或通信密钥。The remote controller according to any one of claims 25-31, wherein the first communication verification information includes an identity and/or a communication key of the UAV, and the second communication verification information It includes the identity and/or communication key of the selected control station, and the third communication verification information includes the identity and/or communication key of the candidate control station.
  33. 一种控制站，其特征在于，所述控制站是与无人飞行器建立双向数据交互的已选控制站，所述已选控制站与远程服务器通信连接，所述远程服务器还通信连接候选控制站，所述控制站包括存储器和处理器：A control station, characterized in that the control station is a selected control station that establishes two-way data interaction with an unmanned aerial vehicle, the selected control station is communicatively connected with a remote server, and the remote server is also communicatively connected to a candidate control station , The control station includes a memory and a processor:
    所述存储器，用于存储程序代码；The memory is used to store program code;
    所述处理器，调用所述程序代码，当所述程序代码被执行时，用于执行以下操作：The processor calls the program code, and when the program code is executed, is used to perform the following operations:
    获取所述无人飞行器发送的下行业务数据和所述已选控制站关于所述下行业务数据的第一信号接收强度；Acquiring the downlink service data sent by the unmanned aerial vehicle and the first signal reception strength of the selected control station regarding the downlink service data;
    将所述第一信号接收强度发送至所述远程服务器；Sending the first signal reception strength to the remote server;
    获取所述远程服务器发送的切换指令，其中，所述切换指令是所述远程服务器根据所述第一信号接收强度和所述远程服务器接收到的所述候选控制站发送的第二信号接收强度生成的，所述第二信号接收强度是所述候选控制站根据所述候选控制站接收到来自所述无人飞行器的下行业务数据确定的；Acquire a switching instruction sent by the remote server, where the switching instruction is generated by the remote server according to the first signal reception strength and the second signal reception strength sent by the candidate control station received by the remote server Yes, the second signal reception strength is determined by the candidate control station according to the downlink service data received from the unmanned aerial vehicle by the candidate control station;
    根据所述切换执行控制所述无人飞行器断开与所述已选控制站的双向数据交互，以使所述无人飞行器建立与所述候选控制站的双向数据交互。According to the switching execution, the unmanned aerial vehicle is controlled to disconnect the two-way data interaction with the selected control station, so that the unmanned aerial vehicle establishes the two-way data interaction with the candidate control station.
  34. 根据权利要求33所述的控制站，其特征在于，所述处理器还用于执行如下操作：The control station according to claim 33, wherein the processor is further configured to perform the following operations:
    在所述无人飞行器与所述已选控制站进行双向数据交互的过程中，将接收到的所述无人飞行器发送的下行业务数据发送给所述远程服务器。In the process of two-way data interaction between the unmanned aerial vehicle and the selected control station, the received downlink service data sent by the unmanned aerial vehicle is sent to the remote server.
  35. 根据权利要求33或34所述的控制站，其特征在于，所述处理器还用于执行如下操作：The control station according to claim 33 or 34, wherein the processor is further configured to perform the following operations:
    接收所述远程服务器发送的所述无人飞行器的第一通信验证信息，所述第一通信验证信息时所述无人飞行器的控制终端发送给所述远程控制器的；Receiving the first communication verification information of the unmanned aerial vehicle sent by the remote server, where the first communication verification information is sent to the remote controller by the control terminal of the unmanned aerial vehicle;
    获取所述已选控制站的第二通信验证信息，并将所述通信验证信息发送给所述远程服务器；Acquiring the second communication verification information of the selected control station, and sending the communication verification information to the remote server;
    其中，所述第一通信验证信息和所述第二通信验证信息用于建立所述无人飞行器与所述已选控制站之间的双向数据交互。Wherein, the first communication verification information and the second communication verification information are used to establish a two-way data interaction between the unmanned aerial vehicle and the selected control station.
  36. 根据权利要求35所述的控制站，其特征在于，所述第一通信验证信息包括所述无人机飞行器的身份标识和/或通信密钥，所述第二通信验证信息包括所述已选控制站的身份标识和/或通信密钥。The control station according to claim 35, wherein the first communication verification information includes the identity and/or communication key of the UAV aircraft, and the second communication verification information includes the selected The identity and/or communication key of the control station.
  37. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有第一计算机程序，所述第一计算机程序包括第一程序指令，所述第一程序指令当被处理器执行时使所述处理器执行如权利要求1-14所述的控制方法；或者，所述计算机可读存储介质存储有第二计算机程序，所述第二计算机程序包括第二程序指令，所述第二程序指令当被处理器执行时所述处理器执行如权利要求15-18所述的控制方法。A computer-readable storage medium, wherein the computer-readable storage medium stores a first computer program, the first computer program includes first program instructions, and when the first program instructions are executed by a processor Cause the processor to execute the control method according to claims 1-14; or, the computer-readable storage medium stores a second computer program, the second computer program includes second program instructions, and the second When the program instructions are executed by the processor, the processor executes the control method according to claims 15-18.
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