WO2018094747A1 - Control method, remote control and drone - Google Patents
Control method, remote control and drone Download PDFInfo
- Publication number
- WO2018094747A1 WO2018094747A1 PCT/CN2016/107542 CN2016107542W WO2018094747A1 WO 2018094747 A1 WO2018094747 A1 WO 2018094747A1 CN 2016107542 W CN2016107542 W CN 2016107542W WO 2018094747 A1 WO2018094747 A1 WO 2018094747A1
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- Prior art keywords
- remote
- communication
- module
- mobile phone
- communication link
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
- H04B7/18508—Communications with or from aircraft, i.e. aeronautical mobile service with satellite system used as relay, i.e. aeronautical mobile satellite service
Definitions
- the invention relates to a consumer electronic technology, in particular to a control method, a remote controller and a drone.
- UAVs are gradually applied to fields such as aerial photography, exploration, rescue, inspection, delivery, and data information collection.
- UAVs often need to know the data such as the positioning, altitude, wind speed, and power of the drone during operation in various fields.
- this data information is transmitted back to the remote or ground station via a communication link established between the drone and the remote control or ground station.
- the drone loses the communication conditions corresponding to the remote communication link, for example, when it is separated from the remote control distance or in a mountainous terrain or a wasteland or the like.
- the communication signal in the remote communication link will be unstable, or even no signal at all, that is, the remote communication link completely fails, thereby affecting the data transmission.
- Embodiments of the present invention aim to solve at least one of the technical problems existing in the prior art. To this end, embodiments of the present invention need to provide a control method, a remote controller, and a drone.
- the present invention provides a control method for controlling an electronic device, the electronic device comprising a remote control communication module and a Beidou satellite message communication module, the remote control communication module being capable of establishing a remote communication link with a remote terminal and under remote communication conditions Transmitting data with the remote terminal through the remote communication link, the Beidou satellite message communication module is capable of establishing a Beidou satellite message communication link with the remote terminal to transmit data with the remote terminal;
- the control method includes the following step:
- the Beidou satellite message communication module To transmit data by using a Beidou satellite message communication link and the remote terminal.
- the invention provides a remote controller for controlling a drone, the remote controller comprising:
- a remote communication module capable of establishing a remote communication link with the drone and transmitting data with the drone through the remote communication link under remote communication conditions
- the Beidou satellite message communication module is capable of establishing a Beidou satellite message communication link with the drone and transmitting data to the drone through the Beidou satellite message communication link under the Beidou satellite message communication condition;
- a first startup module configured to activate the remote communication module to establish a remote communication link between the remote communication module and the drone
- a first detecting module configured to detect whether a signal feature in the remote communication link satisfies the remote communication condition
- a first control module configured to control the remote communication module to transmit data by using the remote communication link and the drone when the detected signal feature in the remote communication link satisfies the remote communication condition
- a second control module configured to control, when the detected signal feature in the remote communication link does not satisfy the remote communication condition, the Beidou satellite message communication module adopts a Beidou satellite message communication link and the absence Human machine transmits data.
- the invention provides a drone for controlling by a remote terminal, the drone comprising:
- a remote communication module capable of establishing a remote communication link with the remote terminal and transmitting data with the remote terminal through the remote communication link under remote communication conditions
- the Beidou satellite message communication module is capable of establishing a Beidou satellite message communication link with the remote terminal and transmitting data to the remote terminal through the Beidou satellite message communication link under the Beidou satellite message communication condition;
- a first startup module configured to activate the remote communication module to establish a remote communication link between the remote communication module and the remote terminal
- a first detecting module configured to detect whether a signal feature in the remote communication link satisfies the remote communication condition
- a first control module configured to control the remote communication module to transmit data by using the remote communication link and the remote terminal when the detected signal feature in the remote communication link satisfies the remote communication condition
- a second control module configured to control, when the detected signal feature in the remote communication link does not satisfy the remote communication condition, the Beidou satellite message communication module adopts a Beidou satellite message communication link and the remote The terminal transmits data.
- the control method, the remote controller, and the drone in the embodiment of the present invention are provided with a remote communication link and a Beidou satellite message communication link, and when the detected signal characteristics in the remote communication link do not satisfy the remote communication condition Control the Beidou satellite message communication module to transmit data using the Beidou satellite message communication link and the drone/remote control.
- the Beidou satellite message communication link can be used. Data transmission ensures the stability of data transmission.
- FIG. 1 is a schematic diagram of a physical device and a remote terminal according to some embodiments of the present invention.
- FIG. 2 is a flow chart of a control method of some embodiments of the present invention.
- FIG. 3 is a schematic diagram of functional modules of a drone and a remote terminal according to some embodiments of the present invention.
- FIG. 4 is a schematic diagram of functional modules of a Beidou satellite message communication module according to some embodiments of the present invention.
- FIG. 5 is a schematic diagram of functional modules of a drone and a remote controller according to some embodiments of the present invention.
- FIG. 6 is a flow chart of a control method of some embodiments of the present invention.
- FIG. 7 is a schematic diagram of functional modules of a drone and a remote terminal according to some embodiments of the present invention.
- FIG. 8 is a schematic diagram of functional modules of a drone and a remote controller according to some embodiments of the present invention.
- FIG. 9 is a schematic diagram of a physical device and a remote terminal in accordance with some embodiments of the present invention.
- FIG. 10 is a flow chart of a control method of some embodiments of the present invention.
- FIG. 11 is a schematic diagram of functional modules of a drone and a remote terminal according to some embodiments of the present invention.
- FIG. 12 is a schematic diagram of functional modules of a mobile phone network communication module according to some embodiments of the present invention.
- FIG. 13 is a schematic diagram of functional modules of a drone and a remote controller according to some embodiments of the present invention.
- FIG. 14 is a flow diagram of a control method of some embodiments of the present invention.
- 15 is a schematic diagram of functional modules of a drone and a remote terminal according to some embodiments of the present invention.
- 16 is a schematic diagram of functional modules of a drone and a remote controller according to some embodiments of the present invention.
- 17 is a flow chart showing a control method of some embodiments of the present invention.
- first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
- features defining “first” or “second” may include one or more of the described features either explicitly or implicitly.
- the meaning of "a plurality" is two or more unless specifically and specifically defined otherwise.
- connection In the description of the present invention, it should be noted that the terms “installation”, “connected”, and “connected” are to be understood broadly, and may be fixed or detachable, for example, unless otherwise explicitly defined and defined. Connected, or connected in one piece; can be mechanical, electrical, or can communicate with each other; either directly or through an intermediary Indirectly connected, it can be the internal communication of two components or the interaction of two components.
- Connected, or connected in one piece can be mechanical, electrical, or can communicate with each other; either directly or through an intermediary Indirectly connected, it can be the internal communication of two components or the interaction of two components.
- the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.
- a control method is used to control an electronic device 100.
- the electronic device 100 includes a remote control communication module 104 and a Beidou satellite message communication module 108.
- the remote terminal 200 includes a remote communication module 104.
- the remote control communication module 204 and the Beidou satellite message communication module 208 corresponding to the Beidou satellite message communication module 108.
- the remote communication module 104 of the electronic device 100 is capable of establishing a remote communication link 140 with the remote communication module 204 of the remote terminal 200 and transmitting data with the remote communication module 204 of the remote terminal 200 via the remote communication link 140 under remote communication conditions.
- the Beidou satellite message communication module 108 of the electronic device 100 can establish a Beidou satellite message communication link 180 with the Beidou satellite message communication module 208 of the remote terminal 200 and pass the Beidou satellite message communication link under the Beidou satellite message communication condition.
- the data communicates with the Beidou satellite message communication module 208 of the remote terminal 200.
- control method includes:
- the remote communication module 104 is activated to establish a remote communication link 140 between the remote communication module 104 and the remote terminal 200;
- the remote control communication module 104 controls the remote communication module 104 to transmit data with the remote terminal 200 by using the remote communication link 140 when the detected signal characteristics in the remote communication link 140 satisfy the remote communication condition;
- the remote communication condition includes a range of remote control distance (distance between the electronic device 100 and the remote terminal 200) and/or a signal (signal in the remote control communication link 140), and the electronic device 100 usually sets a remote control before leaving the factory.
- the range of distance and/or the range of signal strength for example, a setting of less than or equal to 1500 meters is a range of remote control distances, and X is greater than or equal to a range of signal strengths.
- the remote communication condition is satisfied.
- the first condition is that the electronic device 100 is within the remote control distance range.
- the electronic device 100 meets the remote communication condition by the remote terminal 200 being less than or equal to 1500 meters.
- the electronic device 100 is in the remote communication.
- the signal strength in the link 140 is within the signal strength range.
- the signal strength in the remote control communication link 140 is greater than or equal to X, that is, the remote communication condition is satisfied;
- the electronic device 100 is within the remote control distance while the signal strength in the remote communication link 140 is within the signal strength range, for example, the electronic device 100 is less than or equal to 1500 meters from the remote terminal 200, and the signal strength in the remote communication link 140 Greater than or equal to X meets the remote communication conditions.
- the remote communication condition in which one of the above cases is adopted can be set by the remote terminal 200 in accordance with the factory setting of the electronic device 100.
- the content included in the remote communication condition is not limited to the embodiment of the present invention, and the setting means for satisfying the remote communication condition is not limited to the embodiment of the present invention, and may be set by other means.
- the electronic device 100 can be a drone 100
- the remote terminal 200 can be a remote controller, such as a ground station, a mobile phone, a tablet, a remote controller, a smart watch, smart glasses, a smart helmet, and other virtual devices. Any one of a reality wearable device, other augmented reality wearable device, and the like.
- the remote terminal 200 is used to monitor and/or control the flight conditions of the drone 100, including flight attitude, flight speed, and the like.
- the remote terminal 200 can include a display unit for viewing flight information of the drone 100.
- the remote terminal 200 can display information of the drone 100 including orientation, translational speed, translational acceleration, direction, angular velocity, angular acceleration, and combinations thereof.
- the remote terminal 200 can display information collected by the drone 100, such as image data captured by a camera carried by the drone 100.
- the remote communication condition includes a range of the remote control distance (distance between the drone 100 and the remote terminal 200) and/or a signal (signal in the remote communication link 140) intensity range, and the drone 100 is usually set before leaving the factory.
- Set a remote distance range and / or signal strength range for example, set the distance of 1500 meters is less than or equal to the range of remote control distance, X is greater than or equal to the signal strength range.
- the following conditions are met: First, the drone 100 is within the remote control distance range. For example, the drone 100 meets the remote communication condition by being less than or equal to 1500 meters from the remote terminal 200.
- the drone 100 The signal strength in the remote communication link 140 is within the signal strength range, for example, the signal strength in the remote communication link 140 is greater than or equal to X, that is, the remote communication condition is satisfied; and third, the drone 100 is within the remote control range while remotely controlling.
- the signal strength in the communication link 140 must be within the signal strength range.
- the drone 100 is less than or equal to 1500 meters from the remote terminal 200, and the signal strength in the remote communication link 140 is greater than or equal to X to satisfy the remote communication condition.
- the remote communication condition in which one of the above cases is adopted can be set by the remote terminal 200 in accordance with the factory setting of the drone 100.
- the content included in the remote communication condition is not limited to the embodiment of the present invention, and the setting means for satisfying the remote communication condition is not limited to the embodiment of the present invention, and may be set by other means.
- the unmanned aerial vehicle 100 includes a remote control communication module 104, a Beidou satellite message communication module 108, a first startup module 111, a first detection module 112, a first control module 113, and a second control module 114.
- the first startup module 111, the first detection module 112, the first control module 113, and the second control module 114 are respectively configured to execute S1, S2, S3, and S4.
- the remote communication module 104 is configured to establish a remote communication link 140 with the remote terminal 200 and transmit it to the remote terminal 200 via the remote communication link 140 under remote communication conditions. Lose data.
- the Beidou satellite message communication module 108 is configured to establish a Beidou satellite message communication link 180 with the remote terminal 200 and transmit data to the remote terminal 200 through the Beidou satellite message communication link under the Beidou satellite message communication condition.
- the first activation module 111 is used to activate the remote communication module 104 to establish a remote communication link 140 between the remote communication module 104 and the remote terminal 200.
- the first detection module 112 is configured to detect whether the signal characteristics in the remote communication link 140 meet the remote communication conditions.
- the first control module 113 is configured to control the remote communication module 104 to transmit data with the remote terminal 200 using the remote communication link 140 when the detected signal characteristics in the remote communication link 140 satisfy the remote communication condition.
- the second control module 114 is configured to control the Beidou satellite message communication module 108 to transmit data using the Beidou satellite message communication link 180 and the remote terminal 200 when the detected signal characteristics in the remote communication link 140 do not satisfy the remote communication condition.
- the remote terminal 200 can be a ground station or a remote control
- the remote communication link 140 can be a link of a remote control or a link of a ground station, wherein the link of the remote control is via 2.4Ghz or 5.8Ghz radio and none
- the human machine 100 transmits data, and the link of the ground station transmits data to the drone 100 through a 900 Mhz or 433 Mhz radio frequency.
- the Beidou satellite message communication module 108 includes an antenna unit 1082, a radio frequency unit 1084, a baseband unit 1086, and an information output unit 1088.
- the antenna unit 1082 is configured to receive a Beidou radio frequency signal.
- the radio frequency unit 1084 is configured to convert the radio frequency signal into a digital signal.
- the baseband unit 1086 is configured to receive digital signals to perform acquisition, tracking, demodulation, frame synchronization, and positioning solution.
- the information output unit 1088 is configured to provide positioning results and time information for the user according to the acquisition, tracking, demodulation, frame synchronization, and positioning solution performed by the baseband unit 1086.
- the information output unit 1088 includes a plurality of civilian SIM cards.
- the Beidou satellite message communication module 108 needs to be separated by 60 seconds for each message. If the dual SIM card design is used, the message interval period can be reduced to 30 seconds. If a higher communication frequency is required, the SIM card can be increased by analogy. quantity. Since the Beidou satellite message communication module 108 is generally not limited by terrain, terrain, remote control distance, etc., the signal strength in the Beidou satellite message communication link 180 will be strong, and the signal loss frequency is extremely low. Therefore, the Beidou satellite is adopted. The message communication link 140 always implements data transmission.
- the control method in the embodiment of the present invention and the drone 100 are provided with a remote communication link 140 and a Beidou satellite message communication link 180, and when the detected signal characteristics in the remote communication link 140 do not satisfy the remote communication condition
- the Beidou satellite message communication module 108 is controlled to transmit data using the Beidou satellite message communication link 180 and the remote terminal 200.
- the Beidou satellite message communication link can be utilized. Data transmission ensures the stability of data transmission.
- the electronic device 100 can be the remote controller 100.
- the remote terminal 200 can be an airborne vehicle, such as a drone, a manned aircraft, etc.; a vehicle in the water, such as a ship, a submarine, etc.; a carrier on the ground, such as a car, a truck, a bus, a van Trucks, motorcycles, light rails, etc.; carriers under the ground, such as subways; vehicles in space, such as space shuttles.
- the remote terminal 200 It is not limited to various types of carriers, as long as it is any device that requires data transmission, such as satellites, detectors, and the like.
- the remote terminal 200 is an unmanned aerial vehicle 200 as an example.
- the remote controller 100 is used to monitor and/or control the flight conditions of the drone 200, including monitoring and/or controlling the flight attitude, flight speed, and the like of the drone 200.
- the remote controller 100 can include a display unit for viewing flight information of the drone 200.
- the remote controller 100 can display information of the drone 200 including orientation, translational speed, translational acceleration, direction, angular velocity, angular acceleration, and combinations thereof.
- the remote control 100 can display information collected by the drone 200, such as image data captured by a camera carried by the drone 200.
- the remote communication condition includes a range of the remote control distance (distance between the remote controller 100 and the drone 200) and/or a signal (signal in the remote communication link 140) intensity range, and the remote controller 100 is usually set before leaving the factory.
- a remote control range and/or signal strength range for example, a setting of less than or equal to 1500 meters is a remote control range, and X is greater than or equal to a signal strength range.
- the following conditions are met: First, the drone 100 is within the range of the remote control distance. For example, the drone 200 meets the remote communication condition by being less than or equal to 1500 meters from the remote controller 100. Second, the drone 200 The signal strength in the remote communication link 140 is within the signal strength range.
- the signal strength in the remote control communication link 140 is greater than or equal to X, that is, the remote communication condition is satisfied.
- the drone 200 is within the remote control distance while remotely controlling.
- the signal strength in the communication link 140 must be within the signal strength range.
- the drone 200 is less than or equal to 1500 meters from the remote controller 100, and the signal strength in the remote communication link 140 is greater than or equal to X to satisfy the remote communication condition.
- the remote communication condition in which one of the above cases is adopted can be set by the remote controller 100 in accordance with the factory setting of the remote controller 100.
- the content included in the remote communication condition is not limited to the embodiment of the present invention, and the setting means for satisfying the remote communication condition is not limited to the embodiment of the present invention, and may be set by other means.
- the remote controller 100 includes a remote control communication module 104, a Beidou satellite message communication module 108, a first startup module 111, a first detection module 112, a first control module 113, and a second control module 114.
- the first startup module 111, the first detection module 112, the first control module 113, and the second control module 114 are respectively configured to execute S1, S2, S3, and S4.
- the remote control communication module 104 is configured to establish a remote communication link 140 with the drone 200 and transmit data to the drone 200 via the remote communication link 140 under remote communication conditions.
- the Beidou satellite message communication module 108 is configured to establish a Beidou satellite message communication link 180 with the drone 200 and transmit data through the Beidou satellite message communication link and the drone 200 under the Beidou satellite message communication condition.
- the first activation module 111 is used to activate the remote communication module 104 to establish a remote communication link 140 between the remote communication module 104 and the drone 200.
- the first detection module 112 is configured to detect whether the signal characteristics in the remote communication link 140 meet the remote communication conditions.
- the first control module 113 is configured to control the remote communication module 104 to transmit data with the drone 200 using the remote communication link 140 when the detected signal characteristics in the remote communication link 140 satisfy the remote communication condition.
- the second control module 114 is configured to not satisfy the signal characteristics in the detected remote communication link 140
- the Beidou satellite message communication module 108 controls the Beidou satellite message communication link 180 and the drone 200 to transmit data.
- the remote communication link 140 in the present embodiment is a link of a remote controller, and transmits data through the 2.4Ghz or 5.8Ghz radio and the drone 200.
- the Beidou satellite message communication module 108 includes an antenna unit 1082, a radio frequency unit 1084, a baseband unit 1086, and an information output unit 1088.
- the antenna unit 1082 is configured to receive a Beidou radio frequency signal.
- the radio frequency unit 1084 is configured to convert the radio frequency signal into a digital signal.
- the baseband unit 1086 is configured to receive digital signals to perform acquisition, tracking, demodulation, frame synchronization, and positioning solution.
- the information output unit 1088 is configured to provide positioning results and time information for the user according to the acquisition, tracking, demodulation, frame synchronization, and positioning solution performed by the baseband unit 1086.
- the information output unit 1088 includes a plurality of civilian SIM cards.
- the Beidou satellite message communication module 108 needs to be separated by 60 seconds for each message. If the dual SIM card design is used, the message interval period can be reduced to 30 seconds. If a higher communication frequency is required, the SIM card can be increased by analogy. quantity. Since the Beidou satellite message communication module 108 is generally not limited by terrain, terrain, remote control distance, etc., the signal strength in the Beidou satellite message communication link 180 will be strong, and the signal loss frequency is extremely low. Therefore, the Beidou satellite is adopted. The message communication link 140 always implements data transmission.
- the control method and the remote controller 100 in the embodiment of the present invention are provided with a remote control communication link 140 and a Beidou satellite message communication link 180, and are controlled when the detected signal characteristics in the remote communication link 140 do not satisfy the remote communication condition.
- the Beidou satellite message communication module 108 uses the Beidou satellite message communication link 180 and the drone 200 to transmit data.
- the Beidou satellite message communication link can be utilized. Data transmission ensures the stability of data transmission.
- control method further includes:
- the Beidou satellite message communication module 108 is switched to the remote communication module 104 to transmit data with the remote terminal 200 using the remote communication link 140.
- the unmanned aerial vehicle 100 further includes a scanning module 115, a determining module 116, and a switching module 117 for performing S5, S6, and S7, respectively. That is, the scanning module 115 is used to scan communication signals in the environment.
- the determining module 116 is configured to determine whether the signal characteristic of the scanned communication signal satisfies the remote communication condition.
- the switching module 117 is configured to switch from the Beidou satellite message communication module 108 to the remote communication module 104 to transmit data with the remote terminal 200 using the remote communication link 140 if the signal characteristics of the scanned communication signal satisfy the remote communication condition.
- the control method in the embodiment of the present invention and the drone 100 are provided with a remote communication link 140 and a Beidou satellite message communication link 180, and the signal characteristics in the detected remote communication link 140 do not satisfy the remote communication condition.
- the Beidou satellite message communication module 108 uses the Beidou satellite message communication link 180 to transmit data with the remote terminal 200.
- the Beidou satellite message communication link can be utilized. 180 data transmission ensures the stability of data transmission.
- the remote communication link 140 can be reused to transmit data with the remote terminal 200, which saves cost.
- the remote controller 100 further includes a scanning module 115, a determining module 116, and a switching module 117 for executing S5, S6, and S7, respectively. That is, the scanning module 115 is used to scan communication signals in the environment.
- the determining module 116 is configured to determine whether the signal characteristic of the scanned communication signal satisfies the remote communication condition.
- the switching module 117 is configured to switch from the Beidou satellite message communication module 108 to the remote communication module 104 to transmit data with the remote terminal 200 using the remote communication link 140 if the signal characteristics of the scanned communication signal satisfy the remote communication condition.
- the control method and the remote controller 100 in the embodiment of the present invention are provided with a remote control communication link 140 and a Beidou satellite message communication link 180, and are controlled when the detected signal characteristics in the remote communication link 140 do not satisfy the remote communication condition.
- the Beidou satellite message communication module 108 uses the Beidou satellite message communication link 180 and the drone 200 to transmit data.
- the Beidou satellite message communication link can be utilized. Data transmission ensures the stability of data transmission.
- the remote controller 100 re-satisfies the remote communication condition, the remote communication link 140 and the drone 200 can be reused to transmit data, which saves cost.
- the electronic device 100 includes a remote control communication module 104, a mobile phone network communication module 106, and a Beidou satellite message communication module 108.
- the remote terminal 200 includes a remote control communication module 204 corresponding to the remote control communication module 104, a mobile phone network communication module 206 corresponding to the mobile phone network communication module 106, and a Beidou satellite message communication module 208 corresponding to the Beidou satellite message communication module 108.
- the remote communication module 104 of the electronic device 100 is capable of establishing a remote communication link 140 with the remote communication module 204 of the remote terminal 200 and transmitting data with the remote communication module 204 of the remote terminal 200 via the remote communication link 140 under remote communication conditions.
- the mobile phone network communication module 106 of the electronic device 100 can establish a mobile phone network communication link 160 with the mobile phone network communication module 206 of the remote terminal 200 and communicate with the mobile phone network communication module of the remote terminal 200 through the mobile phone network communication link 160 under the mobile phone network communication condition. 206 transmits data.
- the Beidou satellite message communication module 108 of the electronic device 100 can establish a Beidou satellite message communication link 180 with the Beidou satellite message communication module 208 of the remote terminal 200 and pass the Beidou satellite message communication link under the Beidou satellite message communication condition.
- the data communicates with the Beidou satellite message communication module 208 of the remote terminal 200.
- control method includes:
- the remote communication module 104 is activated to establish a remote communication link 140 between the remote communication module 104 and the remote terminal 200;
- the remote control communication module 104 controls the remote communication module 104 to transmit data with the remote terminal 200 by using the remote communication link 140 when the detected signal characteristics in the remote communication link 140 satisfy the remote communication condition;
- the mobile phone network communication module 106 when the detected signal feature in the remote communication link 140 does not meet the remote communication condition, the mobile phone network communication module 106 is activated to establish a mobile phone network communication link 160 between the mobile phone network communication module 106 and the remote terminal 200;
- the Beidou satellite message communication module 108 is controlled to transmit data by using the Beidou satellite message communication link 180 and the remote terminal 200 when the detected signal characteristics in the mobile phone network communication link 160 do not satisfy the mobile phone network communication condition.
- the remote communication condition includes a range of remote control distance (distance between the electronic device 100 and the remote terminal 200) and/or a signal (signal in the remote control communication link 140), and the electronic device 100 usually sets a remote control before leaving the factory.
- the range of distance and/or the range of signal strength for example, a setting of less than or equal to 1500 meters is a range of remote control distances, and X is greater than or equal to a range of signal strengths.
- the remote communication condition is satisfied.
- the first condition is that the electronic device 100 is within the remote control distance range.
- the electronic device 100 meets the remote communication condition by the remote terminal 200 being less than or equal to 1500 meters.
- the electronic device 100 is in the remote communication.
- the signal strength in the link 140 is within the signal strength range.
- the signal strength in the remote control communication link 140 is greater than or equal to X, that is, the remote communication condition is satisfied.
- the electronic device 100 is within the remote control distance, and the remote communication link 140 is simultaneously controlled.
- the signal strength in the signal strength must be within the signal strength range.
- the electronic device 100 is less than or equal to 1500 meters from the remote terminal 200, and the signal strength in the remote communication link 140 is greater than or equal to X to satisfy the remote communication condition.
- the remote communication condition in which one of the above cases is adopted can be set by the remote terminal 200 in accordance with the factory setting of the electronic device 100.
- the content included in the remote communication condition is not limited to the embodiment of the present invention, and the setting means for satisfying the remote communication condition is not limited to the embodiment of the present invention, and may be set by other means.
- Cellular network communication conditions include a range of signals (signals in the mobile network communication link 160) and/or a signal (signal in the mobile network communication link 160) loss frequency range (number of signal losses in a particular time).
- the electronic device 100 usually sets a signal strength range and/or a signal loss frequency range before leaving the factory. For example, setting X is greater than or equal to X is a signal strength range, and setting less than or equal to Y is a signal loss frequency range.
- the following conditions are met for the mobile phone network communication conditions: First, the signal strength of the electronic device 100 in the mobile phone network communication link 160 is within the signal strength range, for example, the signal strength in the mobile phone network communication link 160 is greater than or equal to X.
- the signal loss frequency of the electronic device 100 in the mobile phone network communication link is in the signal loss frequency Within the rate range, for example, the signal loss frequency in the mobile phone network communication link 160 is less than or equal to Y, that is, the mobile phone network communication condition is satisfied; third, the signal strength of the electronic device 100 in the mobile phone network communication link 160 is within the signal strength range, and The signal loss frequency must be within the signal loss frequency range.
- the signal strength in the mobile phone network communication link 160 is greater than or equal to X, and the signal loss frequency in the mobile phone network communication link 160 is less than or equal to Y to satisfy the mobile network communication condition.
- the mobile phone network communication condition using which of the above cases can be set by the remote terminal 200 according to the factory setting of the electronic device 100.
- the content included in the mobile phone network communication condition is not limited to the embodiment of the present invention, and the setting means for satisfying the communication condition of the mobile phone network is not limited to the embodiment of the present invention, and may be set by other means.
- the electronic device 100 can be a drone 100
- the remote terminal 200 can be a remote controller, such as: a ground station, a mobile phone, a tablet computer, a remote controller, a smart watch, smart glasses, a smart helmet, and other virtual devices. Any one of a reality wearable device, other augmented reality wearable device, and the like.
- the remote terminal 200 is used to monitor and/or control the flight conditions of the drone 100, including flight attitude, flight speed, and the like.
- the remote terminal 200 can include a display unit for viewing flight information of the drone 100.
- the remote terminal 200 can display information of the drone 100 including orientation, translational speed, translational acceleration, direction, angular velocity, angular acceleration, and combinations thereof.
- the remote terminal 200 can display information collected by the drone 100, such as image data captured by a camera carried by the drone 100.
- the remote communication condition includes a range of the remote control distance (distance between the drone 100 and the remote terminal 200) and/or a signal (signal in the remote communication link 140) intensity range, and the drone 100 is usually set before leaving the factory.
- Set a remote distance range and / or signal strength range for example, set the distance of 1500 meters is less than or equal to the range of remote control distance, X is greater than or equal to the signal strength range.
- the following conditions are met: First, the drone 100 is within the remote control distance range. For example, the drone 100 meets the remote communication condition by being less than or equal to 1500 meters from the remote terminal 200.
- the drone 100 The signal strength in the remote communication link 140 is within the signal strength range, for example, the signal strength in the remote communication link 140 is greater than or equal to X, that is, the remote communication condition is satisfied; and third, the drone 100 is within the remote control range while remotely controlling.
- the signal strength in the communication link 140 must be within the signal strength range.
- the drone 100 is less than or equal to 1500 meters from the remote terminal 200, and the signal strength in the remote communication link 140 is greater than or equal to X to satisfy the remote communication condition.
- the remote communication condition in which one of the above cases is adopted can be set by the remote terminal 200 in accordance with the factory setting of the drone 100.
- the content included in the remote communication condition is not limited to the embodiment of the present invention, and the setting means for satisfying the remote communication condition is not limited to the embodiment of the present invention, and may be set by other means.
- the unmanned aerial vehicle 100 includes a remote control communication module 104, a mobile phone network communication module 106, a Beidou satellite message communication module 108, a first startup module 111, a first detection module 112, a first control module 113, and a The second control module 114, the second startup module 118, the second detection module 119, and the third control module 120.
- the first startup module 111, the first detection module 112, the first control module 113, the second control module 114, the second startup module 118, the second detection module 119, and the third control module 120 are respectively configured to execute S1. , S2, S3, S4, S8, S9 and S10.
- the remote control communication module 104 is configured to establish a remote communication link 140 with the remote terminal 200 and transmit data to the remote terminal 200 over the remote communication link 140 under remote communication conditions.
- the mobile phone network communication module 106 is configured to establish a mobile phone network communication link 160 with the remote terminal 200 and transmit data to the remote terminal 200 via the mobile phone network communication link 160 under mobile phone network communication conditions.
- the Beidou satellite message communication module 108 is configured to establish a Beidou satellite message communication link 180 with the remote terminal 200 and transmit data to the remote terminal 200 through the Beidou satellite message communication link under the Beidou satellite message communication condition.
- the first activation module 111 is used to activate the remote communication module 104 to establish a remote communication link 140 between the remote communication module 104 and the remote terminal 200.
- the first detection module 112 is configured to detect whether the signal characteristics in the remote communication link 140 meet the remote communication conditions.
- the first control module 113 is configured to control the remote communication module 104 to transmit data with the remote terminal 200 using the remote communication link 140 when the detected signal characteristics in the remote communication link 140 satisfy the remote communication condition.
- the second activation module 118 is configured to activate the mobile phone network communication module 106 to establish a mobile phone network communication link between the mobile phone network communication module 106 and the remote terminal 200 when the detected signal characteristics in the remote communication link 140 do not satisfy the remote communication condition.
- Road 160 The second detecting module 119 is configured to detect whether the signal feature in the mobile phone network communication link 160 satisfies the mobile phone network communication condition.
- the third control module 120 is configured to control the mobile phone network communication module 106 to transmit data using the mobile phone network communication link 160 and the remote terminal 200 when the detected signal characteristics in the mobile phone network communication link 160 satisfy the mobile phone network communication condition.
- the second control module 114 is configured to control the Beidou satellite newspaper when the detected signal characteristics in the remote control communication link 140 do not satisfy the remote communication condition and the detected signal characteristics in the mobile phone network communication link 160 do not satisfy the mobile network communication condition.
- the text communication module 108 transmits data using the Beidou satellite message communication link 180 and the remote terminal 200.
- the remote terminal 200 can be a ground station or a remote control
- the remote communication link 140 can be a link of a remote control or a link of a ground station, wherein the link of the remote control is via 2.4Ghz or 5.8Ghz radio and none
- the human machine 100 transmits data
- the link of the ground station transmits data to the drone 100 through a 900 Mhz or 433 Mhz radio frequency.
- the Beidou satellite message communication module 108 includes an antenna unit 1082, a radio frequency unit 1084, a baseband unit 1086, and an information output unit 1088.
- the antenna unit 1082 is configured to receive a Beidou radio frequency signal.
- the radio frequency unit 1084 is configured to convert the radio frequency signal into a digital signal.
- the baseband unit 1086 is configured to receive digital signals to perform acquisition, tracking, demodulation, frame synchronization, and positioning solution.
- the information output unit 1088 is configured to provide positioning results and time information for the user according to the acquisition, tracking, demodulation, frame synchronization, and positioning solution performed by the baseband unit 1086.
- the information output unit 1088 includes a plurality of civilian SIM cards.
- the Beidou satellite message communication module 108 needs to send a message every 60 seconds. If the dual SIM card design is used, the message interval can be reduced to 30 seconds. For higher communication frequencies, you can increase the number of SIM cards by analogy. Since the Beidou satellite message communication module 108 is generally not limited by terrain, terrain, remote control distance, etc., the signal strength in the Beidou satellite message communication link 180 will be strong, and the signal loss frequency is extremely low. Therefore, the Beidou satellite is adopted. The message communication link 140 always implements data transmission.
- the mobile phone network communication module 106 can include a mobile phone network communication unit 1062, a positioning unit 1064, and a Bluetooth communication unit 1066.
- the handset network communication unit 1062 is configured to establish a handset network communication link 160 with the remote terminal 200 and transmit data to the remote terminal 200 over the handset network communication link 160 under mobile network communication conditions.
- the positioning unit 1064 can be used to locate the drone 100.
- the positioning unit 1064 can be any one or more combinations of a GPS positioning unit, a Beidou positioning unit, a GLONASS positioning unit, and a GNS positioning unit.
- the Bluetooth communication unit 1066 is configured to transmit data with the remote terminal 200 using a Bluetooth communication link under Bluetooth communication conditions.
- the control method in the embodiment of the present invention and the drone 100 are provided with a remote communication link 140, a mobile phone network communication link 160, and a Beidou satellite message communication link 180, and the signals in the detected remote communication link 140 are detected.
- the mobile phone network communication module 106 uses the mobile phone network communication link 160 to transmit data with the remote terminal 200. Only the detected signal characteristics in the mobile phone network communication link 160 do not satisfy the mobile phone network communication condition.
- the Beidou satellite message communication module 108 is controlled to transmit data using the Beidou satellite message communication link 180 and the remote terminal 200. Thus, the stability of data transmission can be ensured while saving costs as much as possible.
- the electronic device 100 can be the remote controller 100 .
- the remote terminal 200 can be an airborne vehicle, such as a drone, a manned aircraft, etc.; a vehicle in the water, such as a ship, a submarine, etc.; a carrier on the ground, such as a car, a truck, a bus, a van Trucks, motorcycles, light rails, etc.; carriers under the ground, such as subways; vehicles in space, such as space shuttles.
- the remote terminal 200 is not limited to various types of carriers, as long as it is any device that requires data transmission, such as satellites, detectors, and the like.
- the remote terminal 200 is an unmanned aerial vehicle 200 as an example.
- the remote controller 100 is used to monitor and/or control the flight conditions of the drone 200, including monitoring and/or controlling the flight attitude, flight speed, and the like of the drone 200.
- the remote controller 100 can include a display unit for viewing flight information of the drone 200.
- the remote controller 100 can display information of the drone 200 including orientation, translational speed, translational acceleration, direction, angular velocity, angular acceleration, and combinations thereof.
- the remote control 100 can display information collected by the drone 200, such as image data captured by a camera carried by the drone 200.
- the remote communication condition includes a range of the remote control distance (distance between the remote controller 100 and the drone 200) and/or a signal (signal in the remote communication link 140) intensity range, and the remote controller 100 is usually set before leaving the factory.
- a range of remote control distances and/or signal strength ranges for example, a setting of less than or equal to 1500 meters for remote control distance range, greater than, etc.
- X is the signal strength range.
- the following conditions are met: First, the drone 100 is within the range of the remote control distance. For example, the drone 200 meets the remote communication condition by being less than or equal to 1500 meters from the remote controller 100. Second, the drone 200 The signal strength in the remote communication link 140 is within the signal strength range.
- the signal strength in the remote control communication link 140 is greater than or equal to X, that is, the remote communication condition is satisfied.
- the drone 200 is within the remote control distance while remotely controlling.
- the signal strength in the communication link 140 must be within the signal strength range.
- the drone 200 is less than or equal to 1500 meters from the remote controller 100, and the signal strength in the remote communication link 140 is greater than or equal to X to satisfy the remote communication condition.
- the remote communication condition in which one of the above cases is adopted can be set by the remote controller 100 in accordance with the factory setting of the remote controller 100.
- the content included in the remote communication condition is not limited to the embodiment of the present invention, and the setting means for satisfying the remote communication condition is not limited to the embodiment of the present invention, and may be set by other means.
- the remote controller 100 includes a remote control communication module 104, a mobile phone network communication module 106, a Beidou satellite message communication module 108, a first startup module 111, a first detection module 112, a first control module 113, and a second The control module 114, the second startup module 118, the second detection module 119, and the third control module 120.
- the first startup module 111, the first detection module 112, the first control module 113, the second control module 114, the second startup module 118, the second detection module 119, and the third control module 120 are respectively configured to execute S1. , S2, S3, S4, S8, S9 and S10.
- the remote control communication module 104 is configured to establish a remote communication link 140 with the drone 200 and transmit data to the drone 200 via the remote communication link 140 under remote communication conditions.
- the mobile phone network communication module 106 is configured to establish a mobile phone network communication link 160 with the drone 200 and transmit data to the drone 200 via the mobile phone network communication link 160 under mobile phone network communication conditions.
- the Beidou satellite message communication module 108 is configured to establish a Beidou satellite message communication link 180 with the drone 200 and transmit data through the Beidou satellite message communication link and the drone 200 under the Beidou satellite message communication condition.
- the first activation module 111 is used to activate the remote communication module 104 to establish a remote communication link 140 between the remote communication module 104 and the drone 200.
- the first detection module 112 is configured to detect whether the signal characteristics in the remote communication link 140 meet the remote communication conditions.
- the first control module 113 is configured to control the remote communication module 104 to transmit data with the drone 200 using the remote communication link 140 when the detected signal characteristics in the remote communication link 140 satisfy the remote communication condition.
- the second activation module 118 is configured to activate the mobile phone network communication module 106 to establish a mobile phone network communication between the mobile phone network communication module 106 and the drone 200 when the detected signal characteristics in the remote communication link 140 do not satisfy the remote communication condition.
- the second detecting module 119 is configured to detect whether the signal feature in the mobile phone network communication link 160 satisfies the mobile phone network communication condition.
- the third control module 120 is configured to control the mobile phone network communication module 106 to transmit data by using the mobile phone network communication link 160 and the drone 200 when the detected signal characteristics in the mobile phone network communication link 160 satisfy the mobile phone network communication condition.
- the second control module 114 is configured to detect that the signal characteristics in the remote control communication link 140 do not satisfy the remote communication condition and the detected signal characteristics in the mobile phone network communication link 160 do not satisfy the mobile network communication bar.
- the Beidou satellite message communication module 108 controls the Beidou satellite message communication link 180 and the drone 200 to transmit data.
- the remote communication link 140 in the present embodiment is a link of a remote controller, and transmits data through the 2.4Ghz or 5.8Ghz radio and the drone 200.
- the Beidou satellite message communication module 108 includes an antenna unit 1082, a radio frequency unit 1084, a baseband unit 1086, and an information output unit 1088.
- the antenna unit 1082 is configured to receive a Beidou radio frequency signal.
- the radio frequency unit 1084 is configured to convert the radio frequency signal into a digital signal.
- the baseband unit 1086 is configured to receive digital signals to perform acquisition, tracking, demodulation, frame synchronization, and positioning solution.
- the information output unit 1088 is configured to provide positioning results and time information for the user according to the acquisition, tracking, demodulation, frame synchronization, and positioning solution performed by the baseband unit 1086.
- the information output unit 1088 includes a plurality of civilian SIM cards.
- the Beidou satellite message communication module 108 needs to be separated by 60 seconds for each message. If the dual SIM card design is used, the message interval period can be reduced to 30 seconds. If a higher communication frequency is required, the SIM card can be increased by analogy. quantity. Since the Beidou satellite message communication module 108 is generally not limited by terrain, terrain, remote control distance, etc., the signal strength in the Beidou satellite message communication link 180 will be strong, and the signal loss frequency is extremely low. Therefore, the Beidou satellite is adopted. The message communication link 140 always implements data transmission.
- the mobile phone network communication module 106 can include a mobile phone network communication unit 1062, a positioning unit 1064, and a Bluetooth communication unit 1066.
- the mobile phone network communication unit 1062 is configured to establish a mobile phone network communication link 160 with the drone 200 and transmit data to the drone 200 via the mobile phone network communication link 160 under mobile phone network communication conditions.
- the positioning unit 1064 can be used to locate the remote controller 100.
- the positioning unit 1064 can be any one or more combinations of a GPS positioning unit, a Beidou positioning unit, a GLONASS positioning unit, and a GNS positioning unit.
- the Bluetooth communication unit 1066 is configured to transmit data with the drone 200 using a Bluetooth communication link under Bluetooth communication conditions.
- the control method in the embodiment of the present invention and the remote controller 100 are provided with a remote communication link 140, a mobile phone network communication link 160, and a Beidou satellite message communication link 180, and the signal characteristics in the detected remote communication link 140.
- the mobile phone network communication module 106 preferentially enables the mobile phone network communication link 160 to transmit data with the drone 200. Only the detected signal characteristics in the mobile phone network communication link 160 do not satisfy the mobile phone network communication condition.
- the Beidou satellite message communication module 108 is controlled to transmit data using the Beidou satellite message communication link 180 and the drone 200. Thus, the stability of the data transmission can be ensured while saving costs as much as possible.
- control method further includes:
- the Beidou satellite message communication module 108 is switched to the remote communication module 104 to transmit data with the remote terminal 200 using the remote communication link 140.
- a drone 100 further includes a scan module 115, a determination module 116, and a switch module 117 for executing S5, S6, and S7, respectively. That is, the scanning module 115 is used to scan communication signals in the environment.
- the determining module 116 is configured to determine whether the signal characteristic of the scanned communication signal satisfies the remote communication condition.
- the switching module 117 is configured to switch from the Beidou satellite message communication module 108 to the remote communication module 104 to transmit data with the remote terminal 200 using the remote communication link 140 if the signal characteristics of the scanned communication signal satisfy the remote communication condition.
- the control method in the embodiment of the present invention and the drone 100 are provided with a remote communication link 140, a mobile phone network communication link 160, and a Beidou satellite message communication link 180, and the signals in the detected remote communication link 140 are detected.
- the mobile phone network communication module 106 uses the mobile phone network communication link 160 to transmit data with the remote terminal 200. Only the detected signal characteristics in the mobile phone network communication link 160 do not satisfy the mobile phone network communication condition.
- the Beidou satellite message communication module 108 is controlled to transmit data using the Beidou satellite message communication link 180 and the remote terminal 200.
- the remote communication link 140 can be reused to transmit data with the remote terminal 200, which further saves cost.
- a remote controller 100 further includes a scanning module 115, a determining module 116, and a switching module 117 for performing S5, S6, and S7, respectively. That is, the scanning module 115 is used to scan communication signals in the environment.
- the determining module 116 is configured to determine whether the signal characteristic of the scanned communication signal satisfies the remote communication condition.
- the switching module 117 is configured to switch from the Beidou satellite message communication module 108 to the remote communication module 104 to transmit data with the remote terminal 200 using the remote communication link 140 if the signal characteristics of the scanned communication signal satisfy the remote communication condition.
- the control method in the embodiment of the present invention and the remote controller 100 are provided with a remote communication link 140, a mobile phone network communication link 160, and a Beidou satellite message communication link 180, and the signal characteristics in the detected remote communication link 140.
- the mobile phone network communication module 106 preferentially enables the mobile phone network communication link 160 to transmit data with the drone 200. Only the detected signal characteristics in the mobile phone network communication link 160 do not satisfy the mobile phone network communication condition.
- the Beidou satellite message communication module 108 is controlled to transmit data using the Beidou satellite message communication link 180 and the drone 200.
- the remote communication link 140 and the drone 200 can be reused to transmit data, which further saves cost.
- control method further includes:
- the Beidou satellite message if the signal characteristic of the scanned communication signal satisfies the communication condition of the mobile phone network, the Beidou satellite message
- the communication module 108 switches to the mobile phone network communication module 106 to transmit data with the remote terminal 200 using the mobile phone network communication link 160.
- Steps S11 and S12 can be performed by the determination module 116 and the switching module 117, respectively.
- a "computer-readable medium” can be any apparatus that can contain, store, communicate, propagate, or transport a program for use in an instruction execution system, apparatus, or device, or in conjunction with the instruction execution system, apparatus, or device.
- computer readable media include the following: electrical connections (electronic devices) having one or more wires, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM).
- the computer readable medium may even be a paper or other suitable medium on which the program can be printed, as it may be optically scanned, for example by paper or other medium, followed by editing, interpretation or, if appropriate, other suitable The method is processed to obtain the program electronically and then stored in computer memory.
- portions of the invention may be implemented in hardware, software, firmware or a combination thereof.
- multiple steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system.
- a suitable instruction execution system For example, if implemented in hardware, as in another embodiment, it can be implemented by any one or combination of the following techniques well known in the art: having logic gates for implementing logic functions on data signals. Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.
- each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one module.
- the above integrated modules can be implemented in the form of hardware or in the form of software functional modules.
- the integrated modules, if implemented in the form of software functional modules and sold or used as stand-alone products, may also be stored in a computer readable storage medium.
- the above mentioned storage medium may be a read only memory, a magnetic disk or an optical disk or the like.
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Abstract
The present invention discloses a control method for controlling an electronic device (100). The control method comprises: (S1) activating a remote communication module to establish a remote communication link between the remote communication module and the remote terminal; (S2) detecting whether a signal characteristic in the remote communication link satisfies the remote communication condition; (S3) controlling the remote communication module to transmit data with the remote terminal by using the remote communication link when the detected signal characteristic in the remote communication link satisfies the remote communication condition; (S4) controlling a BeiDou satellite message communication module to transmit data with the remote terminal by using a Beidou satellite message communication link when the detected signal characteristic in the remote communication link does not satisfy the remote communication condition. The present invention also discloses a remote control (100) and a drone (100).
Description
本发明涉及消费性电子技术,特别涉及一种控制方法、遥控器及无人机。The invention relates to a consumer electronic technology, in particular to a control method, a remote controller and a drone.
随着无人机技术的发展,无人机逐渐应用到如航拍、勘探、救援、巡检、投送、数据信息采集等领域。无人机在各领域作业过程中往往需要知道无人机的定位、高度、风速、电量等数据信息。通常地,这些数据信息是通过无人机与遥控器或地面站之间建立的一条通信链路回传给遥控器或地面站。然而,由于只建立了一遥控通信链路,无人机一旦失去了与所述遥控通信链路相对应的通信条件,例如:脱离遥控距离或者处在山区或者荒原等地形复杂的环境中时,遥控通信链路中的通信信号就会不稳定,甚至是完全没有信号,即遥控通信链路完全失效,从而影响数据的传输。With the development of drone technology, drones are gradually applied to fields such as aerial photography, exploration, rescue, inspection, delivery, and data information collection. UAVs often need to know the data such as the positioning, altitude, wind speed, and power of the drone during operation in various fields. Typically, this data information is transmitted back to the remote or ground station via a communication link established between the drone and the remote control or ground station. However, since only one remote communication link is established, the drone loses the communication conditions corresponding to the remote communication link, for example, when it is separated from the remote control distance or in a mountainous terrain or a wasteland or the like. The communication signal in the remote communication link will be unstable, or even no signal at all, that is, the remote communication link completely fails, thereby affecting the data transmission.
发明内容Summary of the invention
本发明的实施方式旨在至少解决现有技术中存在的技术问题之一。为此,本发明的实施方式需要提供一种控制方法、遥控器及无人机。Embodiments of the present invention aim to solve at least one of the technical problems existing in the prior art. To this end, embodiments of the present invention need to provide a control method, a remote controller, and a drone.
本发明提供一种控制方法,用于控制电子装置,所述电子装置包括遥控通信模块与北斗卫星报文通信模块,所述遥控通信模块能够与远程终端建立遥控通信链路并在遥控通信条件下通过所述遥控通信链路与所述远程终端传输数据,所述北斗卫星报文通信模块能够与远程终端建立北斗卫星报文通信链路以与所述远程终端传输数据;所述控制方法包括以下步骤:The present invention provides a control method for controlling an electronic device, the electronic device comprising a remote control communication module and a Beidou satellite message communication module, the remote control communication module being capable of establishing a remote communication link with a remote terminal and under remote communication conditions Transmitting data with the remote terminal through the remote communication link, the Beidou satellite message communication module is capable of establishing a Beidou satellite message communication link with the remote terminal to transmit data with the remote terminal; the control method includes the following step:
启动所述遥控通信模块以在所述遥控通信模块和所述远程终端之间建立遥控通信链路;Activating the remote communication module to establish a remote communication link between the remote communication module and the remote terminal;
检测所述遥控通信链路中的信号特征是否满足所述遥控通信条件;及Detecting whether a signal characteristic in the remote communication link satisfies the remote communication condition; and
在检测到的所述遥控通信链路中的信号特征满足所述遥控通信条件时控制所述遥控通信模块采用所述遥控通信链路与所述远程终端传输数据;Controlling, by the remote control communication module, the remote communication module to transmit data with the remote terminal when the detected signal feature in the remote communication link satisfies the remote communication condition;
在检测到的所述遥控通信链路中的信号特征不满足所述遥控通信条件时控制所述北斗卫星报文通信模块采用北斗卫星报文通信链路与所述远程终端传输数据。And controlling, when the detected signal feature in the remote communication link does not satisfy the remote communication condition, the Beidou satellite message communication module to transmit data by using a Beidou satellite message communication link and the remote terminal.
本发明提供一种遥控器,用于控制无人机,所述遥控器包括:The invention provides a remote controller for controlling a drone, the remote controller comprising:
遥控通信模块,能够与所述无人机建立遥控通信链路并在遥控通信条件下通过所述遥控通信链路与所述无人机传输数据;
a remote communication module capable of establishing a remote communication link with the drone and transmitting data with the drone through the remote communication link under remote communication conditions;
北斗卫星报文通信模块,能够与所述无人机建立北斗卫星报文通信链路并在北斗卫星报文通信条件下通过所述北斗卫星报文通信链路与所述无人机传输数据;The Beidou satellite message communication module is capable of establishing a Beidou satellite message communication link with the drone and transmitting data to the drone through the Beidou satellite message communication link under the Beidou satellite message communication condition;
第一启动模块,用于启动所述遥控通信模块以在所述遥控通信模块和所述无人机之间建立遥控通信链路;a first startup module, configured to activate the remote communication module to establish a remote communication link between the remote communication module and the drone;
第一检测模块,用于检测所述遥控通信链路中的信号特征是否满足所述遥控通信条件;a first detecting module, configured to detect whether a signal feature in the remote communication link satisfies the remote communication condition;
第一控制模块,用于在检测到的所述遥控通信链路中的信号特征满足所述遥控通信条件时控制所述遥控通信模块采用所述遥控通信链路与所述无人机传输数据;及a first control module, configured to control the remote communication module to transmit data by using the remote communication link and the drone when the detected signal feature in the remote communication link satisfies the remote communication condition; and
第二控制模块,用于在检测到的所述遥控通信链路中的信号特征不满足所述遥控通信条件时控制所述北斗卫星报文通信模块采用北斗卫星报文通信链路与所述无人机传输数据。a second control module, configured to control, when the detected signal feature in the remote communication link does not satisfy the remote communication condition, the Beidou satellite message communication module adopts a Beidou satellite message communication link and the absence Human machine transmits data.
本发明提供一种无人机,用于被远程终端控制,所述无人机包括:The invention provides a drone for controlling by a remote terminal, the drone comprising:
遥控通信模块,能够与所述远程终端建立遥控通信链路并在遥控通信条件下通过所述遥控通信链路与所述远程终端传输数据;a remote communication module capable of establishing a remote communication link with the remote terminal and transmitting data with the remote terminal through the remote communication link under remote communication conditions;
北斗卫星报文通信模块,能够与所述远程终端建立北斗卫星报文通信链路并在北斗卫星报文通信条件下通过所述北斗卫星报文通信链路与所述远程终端传输数据;The Beidou satellite message communication module is capable of establishing a Beidou satellite message communication link with the remote terminal and transmitting data to the remote terminal through the Beidou satellite message communication link under the Beidou satellite message communication condition;
第一启动模块,用于启动所述遥控通信模块以在所述遥控通信模块和所述远程终端之间建立遥控通信链路;a first startup module, configured to activate the remote communication module to establish a remote communication link between the remote communication module and the remote terminal;
第一检测模块,用于检测所述遥控通信链路中的信号特征是否满足所述遥控通信条件;a first detecting module, configured to detect whether a signal feature in the remote communication link satisfies the remote communication condition;
第一控制模块,用于在检测到的所述遥控通信链路中的信号特征满足所述遥控通信条件时控制所述遥控通信模块采用所述遥控通信链路与所述远程终端传输数据;及a first control module, configured to control the remote communication module to transmit data by using the remote communication link and the remote terminal when the detected signal feature in the remote communication link satisfies the remote communication condition; and
第二控制模块,用于在检测到的所述遥控通信链路中的信号特征不满足所述遥控通信条件时控制所述北斗卫星报文通信模块采用北斗卫星报文通信链路与所述远程终端传输数据。a second control module, configured to control, when the detected signal feature in the remote communication link does not satisfy the remote communication condition, the Beidou satellite message communication module adopts a Beidou satellite message communication link and the remote The terminal transmits data.
本发明实施方式中的控制方法、遥控器、及无人机设置了遥控通信链路及北斗卫星报文通信链路,并在检测到的遥控通信链路中的信号特征不满足遥控通信条件时控制北斗卫星报文通信模块采用北斗卫星报文通信链路与无人机/遥控器传输数据,如此,在遥控通信链路失效或者失稳的情况下,可以利用北斗卫星报文通信链路进行数据传输,保证了数据传输的稳定性。The control method, the remote controller, and the drone in the embodiment of the present invention are provided with a remote communication link and a Beidou satellite message communication link, and when the detected signal characteristics in the remote communication link do not satisfy the remote communication condition Control the Beidou satellite message communication module to transmit data using the Beidou satellite message communication link and the drone/remote control. Thus, in the case of failure or instability of the remote communication link, the Beidou satellite message communication link can be used. Data transmission ensures the stability of data transmission.
本发明的实施方式的附加方面和优点将在下面的描述中部分给出,部分将从下面的描述中变得明显,或通过本发明的实施方式的实践了解到。
The additional aspects and advantages of the embodiments of the present invention will be set forth in part in the description which follows.
本发明的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中将变得明显和容易理解,其中:The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from
图1是本发明某些实施方式的电子装置与远程终端的实物示意图。1 is a schematic diagram of a physical device and a remote terminal according to some embodiments of the present invention.
图2是本发明某些实施方式的控制方法的流程示意图。2 is a flow chart of a control method of some embodiments of the present invention.
图3是本发明某些实施方式的无人机及远程终端的功能模块示意图。3 is a schematic diagram of functional modules of a drone and a remote terminal according to some embodiments of the present invention.
图4是本发明某些实施方式的北斗卫星报文通信模块的功能模块示意图。4 is a schematic diagram of functional modules of a Beidou satellite message communication module according to some embodiments of the present invention.
图5是本发明某些实施方式的无人机及遥控器的功能模块示意图。FIG. 5 is a schematic diagram of functional modules of a drone and a remote controller according to some embodiments of the present invention.
图6是本发明某些实施方式的控制方法的流程示意图。6 is a flow chart of a control method of some embodiments of the present invention.
图7是本发明某些实施方式的无人机及远程终端的功能模块示意图。7 is a schematic diagram of functional modules of a drone and a remote terminal according to some embodiments of the present invention.
图8是本发明某些实施方式的无人机及遥控器的功能模块示意图。8 is a schematic diagram of functional modules of a drone and a remote controller according to some embodiments of the present invention.
图9是本发明某些实施方式的电子装置与远程终端的实物示意图。9 is a schematic diagram of a physical device and a remote terminal in accordance with some embodiments of the present invention.
图10是本发明某些实施方式的控制方法的流程示意图。10 is a flow chart of a control method of some embodiments of the present invention.
图11是本发明某些实施方式的无人机及远程终端的功能模块示意图。11 is a schematic diagram of functional modules of a drone and a remote terminal according to some embodiments of the present invention.
图12是本发明某些实施方式的手机网络通信模块的功能模块示意图。FIG. 12 is a schematic diagram of functional modules of a mobile phone network communication module according to some embodiments of the present invention.
图13是本发明某些实施方式的无人机及遥控器的功能模块示意图。13 is a schematic diagram of functional modules of a drone and a remote controller according to some embodiments of the present invention.
图14是本发明某些实施方式的控制方法的流程示意图。14 is a flow diagram of a control method of some embodiments of the present invention.
图15是本发明某些实施方式的无人机及远程终端的功能模块示意图。15 is a schematic diagram of functional modules of a drone and a remote terminal according to some embodiments of the present invention.
图16是本发明某些实施方式的无人机及遥控器的功能模块示意图。16 is a schematic diagram of functional modules of a drone and a remote controller according to some embodiments of the present invention.
图17是本发明某些实施方式的控制方法的流程示意图。17 is a flow chart showing a control method of some embodiments of the present invention.
下面详细描述本发明的实施方式,所述实施方式的示例在附图中示出,其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的,仅用于解释本发明,而不能理解为对本发明的限制。The embodiments of the present invention are described in detail below, and the examples of the embodiments are illustrated in the drawings, wherein the same or similar reference numerals indicate the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the drawings are intended to be illustrative of the invention and are not to be construed as limiting.
在本发明的描述中,需要理解的是,术语“第一”、“第二”仅用于描述目的,而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此,限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个所述特征。在本发明的描述中,“多个”的含义是两个或两个以上,除非另有明确具体的限定。In the description of the present invention, it is to be understood that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, features defining "first" or "second" may include one or more of the described features either explicitly or implicitly. In the description of the present invention, the meaning of "a plurality" is two or more unless specifically and specifically defined otherwise.
在本发明的描述中,需要说明的是,除非另有明确的规定和限定,术语“安装”、“相连”、“连接”应做广义理解,例如,可以是固定连接,也可以是可拆卸连接,或一体地连接;可以是机械连接,也可以是电连接或可以相互通信;可以是直接相连,也可以通过中间媒介
间接相连,可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言,可以根据具体情况理解上述术语在本发明中的具体含义。In the description of the present invention, it should be noted that the terms "installation", "connected", and "connected" are to be understood broadly, and may be fixed or detachable, for example, unless otherwise explicitly defined and defined. Connected, or connected in one piece; can be mechanical, electrical, or can communicate with each other; either directly or through an intermediary
Indirectly connected, it can be the internal communication of two components or the interaction of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.
下文的公开提供了许多不同的实施方式或例子用来实现本发明的不同结构。为了简化本发明的公开,下文中对特定例子的部件和设置进行描述。当然,它们仅仅为示例,并且目的不在于限制本发明。此外,本发明可以在不同例子中重复参考数字和/或参考字母,这种重复是为了简化和清楚的目的,其本身不指示所讨论各种实施方式和/或设置之间的关系。此外,本发明提供了的各种特定的工艺和材料的例子,但是本领域普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。The following disclosure provides many different embodiments or examples for implementing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and arrangements of the specific examples are described below. Of course, they are merely examples and are not intended to limit the invention. In addition, the present invention may be repeated with reference to the numerals and/or reference numerals in the various examples, which are for the purpose of simplicity and clarity, and do not indicate the relationship between the various embodiments and/or arrangements discussed. Moreover, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize the use of other processes and/or the use of other materials.
请一并参阅图1,本发明一实施方式的控制方法,用于控制电子装置100,电子装置100包括遥控通信模块104与北斗卫星报文通信模块108,远程终端200包括与遥控通信模块104对应的遥控通信模块204及与北斗卫星报文通信模块108对应的北斗卫星报文通信模块208。电子装置100的遥控通信模块104能够与远程终端200的遥控通信模块204建立遥控通信链路140并在遥控通信条件下通过遥控通信链路140与远程终端200的遥控通信模块204传输数据。电子装置100的北斗卫星报文通信模块108能够与远程终端200的北斗卫星报文通信模块208建立北斗卫星报文通信链路180并在北斗卫星报文通信条件下通过北斗卫星报文通信链路180与远程终端200的北斗卫星报文通信模块208传输数据。Referring to FIG. 1 , a control method according to an embodiment of the present invention is used to control an electronic device 100. The electronic device 100 includes a remote control communication module 104 and a Beidou satellite message communication module 108. The remote terminal 200 includes a remote communication module 104. The remote control communication module 204 and the Beidou satellite message communication module 208 corresponding to the Beidou satellite message communication module 108. The remote communication module 104 of the electronic device 100 is capable of establishing a remote communication link 140 with the remote communication module 204 of the remote terminal 200 and transmitting data with the remote communication module 204 of the remote terminal 200 via the remote communication link 140 under remote communication conditions. The Beidou satellite message communication module 108 of the electronic device 100 can establish a Beidou satellite message communication link 180 with the Beidou satellite message communication module 208 of the remote terminal 200 and pass the Beidou satellite message communication link under the Beidou satellite message communication condition. The data communicates with the Beidou satellite message communication module 208 of the remote terminal 200.
请参阅图2,所述控制方法包括:Referring to FIG. 2, the control method includes:
S1,启动遥控通信模块104以在遥控通信模块104和远程终端200之间建立遥控通信链路140;S1, the remote communication module 104 is activated to establish a remote communication link 140 between the remote communication module 104 and the remote terminal 200;
S2,检测遥控通信链路140中的信号特征是否满足遥控通信条件;及S2, detecting whether the signal feature in the remote communication link 140 satisfies the remote communication condition; and
S3,在检测到的遥控通信链路140中的信号特征满足遥控通信条件时控制遥控通信模块104采用遥控通信链路140与远程终端200传输数据;S3. The remote control communication module 104 controls the remote communication module 104 to transmit data with the remote terminal 200 by using the remote communication link 140 when the detected signal characteristics in the remote communication link 140 satisfy the remote communication condition;
S4,在检测到的遥控通信链路140中的信号特征不满足遥控通信条件时控制北斗卫星报文通信模块108采用北斗卫星报文通信链路180与远程终端200传输数据。S4. Controlling the Beidou satellite message communication module 108 to transmit data using the Beidou satellite message communication link 180 and the remote terminal 200 when the detected signal characteristics in the remote communication link 140 do not satisfy the remote communication condition.
其中,遥控通信条件包括遥控距离(电子装置100与远程终端200之间的距离)范围和/或信号(遥控通信链路140中的信号)强度范围,电子装置100出厂之前通常会设定一个遥控距离范围和/或信号强度范围,例如,设定小于等于1500米为遥控距离范围,大于等于X为信号强度范围。满足遥控通信条件包括以下几种情况:第一,电子装置100在遥控距离范围内,例如,电子装置100距离远程终端200小于等于1500米即满足遥控通信条件;第二,电子装置100在遥控通信链路140中的信号强度在信号强度范围内,例如遥控通信链路140中的信号强度大于等于X即满足遥控通信条件;第三,
电子装置100在遥控距离范围内,同时遥控通信链路140中的信号强度须在信号强度范围内,例如电子装置100距离远程终端200小于等于1500米,且在遥控通信链路140中的信号强度大于等于X才满足遥控通信条件。采用上述哪种情况的遥控通信条件可以根据电子装置100的出厂设置通过远程终端200来设定。遥控通信条件包括的内容不局限于本发明实施方式所列举,满足遥控通信条件的情况设定手段也不局限于本发明实施方式所列举,可以采用其他手段来设定。The remote communication condition includes a range of remote control distance (distance between the electronic device 100 and the remote terminal 200) and/or a signal (signal in the remote control communication link 140), and the electronic device 100 usually sets a remote control before leaving the factory. The range of distance and/or the range of signal strength, for example, a setting of less than or equal to 1500 meters is a range of remote control distances, and X is greater than or equal to a range of signal strengths. The remote communication condition is satisfied. The first condition is that the electronic device 100 is within the remote control distance range. For example, the electronic device 100 meets the remote communication condition by the remote terminal 200 being less than or equal to 1500 meters. Second, the electronic device 100 is in the remote communication. The signal strength in the link 140 is within the signal strength range. For example, the signal strength in the remote control communication link 140 is greater than or equal to X, that is, the remote communication condition is satisfied;
The electronic device 100 is within the remote control distance while the signal strength in the remote communication link 140 is within the signal strength range, for example, the electronic device 100 is less than or equal to 1500 meters from the remote terminal 200, and the signal strength in the remote communication link 140 Greater than or equal to X meets the remote communication conditions. The remote communication condition in which one of the above cases is adopted can be set by the remote terminal 200 in accordance with the factory setting of the electronic device 100. The content included in the remote communication condition is not limited to the embodiment of the present invention, and the setting means for satisfying the remote communication condition is not limited to the embodiment of the present invention, and may be set by other means.
请参阅图3,电子装置100可为无人机100,远程终端200可为一远程控制器,例如为:地面站、手机、平板电脑、遥控器、智能手表、智能眼镜、智能头盔、其他虚拟现实穿戴设备、其他增强现实穿戴设备等中的任意一种。远程终端200用于监控和/或控制无人机100的飞行情况,包括飞行姿态、飞行速度等等。远程终端200可包括一个用于观看无人机100飞行信息的显示单元。例如,远程终端200能够显示无人机100的包括方位、平移速度、平移加速度、方向、角速度、角加速度及其组合的信息。在一些实施例中,远程终端200能够显示无人机100采集的信息,例如无人机100携带的摄像机所采集的图像数据。Referring to FIG. 3, the electronic device 100 can be a drone 100, and the remote terminal 200 can be a remote controller, such as a ground station, a mobile phone, a tablet, a remote controller, a smart watch, smart glasses, a smart helmet, and other virtual devices. Any one of a reality wearable device, other augmented reality wearable device, and the like. The remote terminal 200 is used to monitor and/or control the flight conditions of the drone 100, including flight attitude, flight speed, and the like. The remote terminal 200 can include a display unit for viewing flight information of the drone 100. For example, the remote terminal 200 can display information of the drone 100 including orientation, translational speed, translational acceleration, direction, angular velocity, angular acceleration, and combinations thereof. In some embodiments, the remote terminal 200 can display information collected by the drone 100, such as image data captured by a camera carried by the drone 100.
此时,遥控通信条件包括遥控距离(无人机100与远程终端200之间的距离)范围和/或信号(遥控通信链路140中的信号)强度范围,无人机100出厂之前通常会设定一个遥控距离范围和/或信号强度范围,例如,设定小于等于1500米为遥控距离范围,大于等于X为信号强度范围。满足遥控通信条件包括以下几种情况:第一,无人机100在遥控距离范围内,例如,无人机100距离远程终端200小于等于1500米即满足遥控通信条件;第二,无人机100在遥控通信链路140中的信号强度在信号强度范围内,例如遥控通信链路140中的信号强度大于等于X即满足遥控通信条件;第三,无人机100在遥控距离范围内,同时遥控通信链路140中的信号强度须在信号强度范围内,例如无人机100距离远程终端200小于等于1500米,且在遥控通信链路140中的信号强度大于等于X才满足遥控通信条件。采用上述哪种情况的遥控通信条件可以根据无人机100的出厂设置通过远程终端200来设定。遥控通信条件包括的内容不局限于本发明实施方式所列举,满足遥控通信条件的情况设定手段也不局限于本发明实施方式所列举,可以采用其他手段来设定。At this time, the remote communication condition includes a range of the remote control distance (distance between the drone 100 and the remote terminal 200) and/or a signal (signal in the remote communication link 140) intensity range, and the drone 100 is usually set before leaving the factory. Set a remote distance range and / or signal strength range, for example, set the distance of 1500 meters is less than or equal to the range of remote control distance, X is greater than or equal to the signal strength range. The following conditions are met: First, the drone 100 is within the remote control distance range. For example, the drone 100 meets the remote communication condition by being less than or equal to 1500 meters from the remote terminal 200. Second, the drone 100 The signal strength in the remote communication link 140 is within the signal strength range, for example, the signal strength in the remote communication link 140 is greater than or equal to X, that is, the remote communication condition is satisfied; and third, the drone 100 is within the remote control range while remotely controlling. The signal strength in the communication link 140 must be within the signal strength range. For example, the drone 100 is less than or equal to 1500 meters from the remote terminal 200, and the signal strength in the remote communication link 140 is greater than or equal to X to satisfy the remote communication condition. The remote communication condition in which one of the above cases is adopted can be set by the remote terminal 200 in accordance with the factory setting of the drone 100. The content included in the remote communication condition is not limited to the embodiment of the present invention, and the setting means for satisfying the remote communication condition is not limited to the embodiment of the present invention, and may be set by other means.
本发明一实施方式提供的无人机100包括遥控通信模块104、北斗卫星报文通信模块108、第一启动模块111、第一检测模块112、第一控制模块113及第二控制模块114。其中,第一启动模块111、第一检测模块112、第一控制模块113及第二控制模块114可分别用于执行S1、S2、S3及S4。具体地,遥控通信模块104用于与远程终端200建立遥控通信链路140并在遥控通信条件下通过遥控通信链路140与远程终端200传
输数据。北斗卫星报文通信模块108用于与远程终端200建立北斗卫星报文通信链路180并在北斗卫星报文通信条件下通过北斗卫星报文通信链路与远程终端200传输数据。第一启动模块111用于启动遥控通信模块104以在遥控通信模块104和远程终端200之间建立遥控通信链路140。第一检测模块112用于检测遥控通信链路140中的信号特征是否满足遥控通信条件。第一控制模块113用于在检测到的遥控通信链路140中的信号特征满足遥控通信条件时控制遥控通信模块104采用遥控通信链路140与远程终端200传输数据。第二控制模块114用于在检测到的遥控通信链路140中的信号特征不满足遥控通信条件时控制北斗卫星报文通信模块108采用北斗卫星报文通信链路180与远程终端200传输数据。由于远程终端200可为地面站或遥控器,则遥控通信链路140可为遥控器的链路或者地面站的链路,其中,遥控器的链路是通过2.4Ghz或者5.8Ghz的无线电与无人机100传输数据,而地面站的链路则是通过900Mhz或者433Mhz无线电频率与无人机100传输数据。The unmanned aerial vehicle 100 according to an embodiment of the present invention includes a remote control communication module 104, a Beidou satellite message communication module 108, a first startup module 111, a first detection module 112, a first control module 113, and a second control module 114. The first startup module 111, the first detection module 112, the first control module 113, and the second control module 114 are respectively configured to execute S1, S2, S3, and S4. Specifically, the remote communication module 104 is configured to establish a remote communication link 140 with the remote terminal 200 and transmit it to the remote terminal 200 via the remote communication link 140 under remote communication conditions.
Lose data. The Beidou satellite message communication module 108 is configured to establish a Beidou satellite message communication link 180 with the remote terminal 200 and transmit data to the remote terminal 200 through the Beidou satellite message communication link under the Beidou satellite message communication condition. The first activation module 111 is used to activate the remote communication module 104 to establish a remote communication link 140 between the remote communication module 104 and the remote terminal 200. The first detection module 112 is configured to detect whether the signal characteristics in the remote communication link 140 meet the remote communication conditions. The first control module 113 is configured to control the remote communication module 104 to transmit data with the remote terminal 200 using the remote communication link 140 when the detected signal characteristics in the remote communication link 140 satisfy the remote communication condition. The second control module 114 is configured to control the Beidou satellite message communication module 108 to transmit data using the Beidou satellite message communication link 180 and the remote terminal 200 when the detected signal characteristics in the remote communication link 140 do not satisfy the remote communication condition. Since the remote terminal 200 can be a ground station or a remote control, the remote communication link 140 can be a link of a remote control or a link of a ground station, wherein the link of the remote control is via 2.4Ghz or 5.8Ghz radio and none The human machine 100 transmits data, and the link of the ground station transmits data to the drone 100 through a 900 Mhz or 433 Mhz radio frequency.
其中,请结合图4,北斗卫星报文通信模块108包括天线单元1082、射频单元1084、基带单元1086及信息输出单元1088。天线单元1082用于接收北斗射频信号。射频单元1084用于将射频信号转换为数字信号。基带单元1086用于接收数字信号以完成捕获、跟踪、解调、帧同步以及定位解算。信息输出单元1088用于根据基带单元1086完成的捕获、跟踪、解调、帧同步以及定位解算为用户提供定位结果与时间信息。信息输出单元1088包括多张民用SIM卡。北斗卫星报文通信模块108每发一条报文需要间隔60秒时间,若使用双SIM卡设计,可以使报文间隔周期减少到30秒,如果需要更高通信频率,可以以此类推增加SIM卡的数量。由于北斗卫星报文通信模块108通常不会受到地形、地势、遥控距离等因素的限制,北斗卫星报文通信链路180中的信号强度都会很强,信号丢失频率极低,因此,采用北斗卫星报文通信链路140总能实现数据传输。4, the Beidou satellite message communication module 108 includes an antenna unit 1082, a radio frequency unit 1084, a baseband unit 1086, and an information output unit 1088. The antenna unit 1082 is configured to receive a Beidou radio frequency signal. The radio frequency unit 1084 is configured to convert the radio frequency signal into a digital signal. The baseband unit 1086 is configured to receive digital signals to perform acquisition, tracking, demodulation, frame synchronization, and positioning solution. The information output unit 1088 is configured to provide positioning results and time information for the user according to the acquisition, tracking, demodulation, frame synchronization, and positioning solution performed by the baseband unit 1086. The information output unit 1088 includes a plurality of civilian SIM cards. The Beidou satellite message communication module 108 needs to be separated by 60 seconds for each message. If the dual SIM card design is used, the message interval period can be reduced to 30 seconds. If a higher communication frequency is required, the SIM card can be increased by analogy. quantity. Since the Beidou satellite message communication module 108 is generally not limited by terrain, terrain, remote control distance, etc., the signal strength in the Beidou satellite message communication link 180 will be strong, and the signal loss frequency is extremely low. Therefore, the Beidou satellite is adopted. The message communication link 140 always implements data transmission.
本发明实施方式中的控制方法及无人机100设置了遥控通信链路140及北斗卫星报文通信链路180,并在检测到的遥控通信链路140中的信号特征不满足遥控通信条件时控制北斗卫星报文通信模块108采用北斗卫星报文通信链路180与远程终端200传输数据,如此,在遥控通信链路140失效或者失稳的情况下,可以利用北斗卫星报文通信链路180进行数据传输,保证了数据传输的稳定性。The control method in the embodiment of the present invention and the drone 100 are provided with a remote communication link 140 and a Beidou satellite message communication link 180, and when the detected signal characteristics in the remote communication link 140 do not satisfy the remote communication condition The Beidou satellite message communication module 108 is controlled to transmit data using the Beidou satellite message communication link 180 and the remote terminal 200. Thus, in the event that the remote communication link 140 fails or is unstable, the Beidou satellite message communication link can be utilized. Data transmission ensures the stability of data transmission.
请参阅图5,电子装置100可为遥控器100。远程终端200可为空中的载运工具,例如:无人机、载人飞行器等;水中的载运工具,例如:轮船、潜艇等;地面上的载运工具,例如:轿车、卡车、公交车、厢式货车、摩托车、轻轨等;地面下的载运工具,例如:地铁等;太空中的载运工具,例如:航天飞机等。当然,远程终端200并
不局限于各种类型的载运工具,只要是任何需要数据传输的装置即可,例如:卫星、探测器等。本实施方式以远程终端200为无人机200为例来说明。遥控器100用于监控和/或控制无人机200的飞行情况,包括监控和/或控制无人机200的飞行姿态、飞行速度等等。遥控器100可包括一个用于观看无人机200飞行信息的显示单元。例如,遥控器100能够显示无人机200的包括方位、平移速度、平移加速度、方向、角速度、角加速度及其组合的信息。在一些实施例中,遥控器100能够显示无人机200采集的信息,例如无人机200携带的摄像机所采集的图像数据。Referring to FIG. 5, the electronic device 100 can be the remote controller 100. The remote terminal 200 can be an airborne vehicle, such as a drone, a manned aircraft, etc.; a vehicle in the water, such as a ship, a submarine, etc.; a carrier on the ground, such as a car, a truck, a bus, a van Trucks, motorcycles, light rails, etc.; carriers under the ground, such as subways; vehicles in space, such as space shuttles. Of course, the remote terminal 200
It is not limited to various types of carriers, as long as it is any device that requires data transmission, such as satellites, detectors, and the like. In the present embodiment, the remote terminal 200 is an unmanned aerial vehicle 200 as an example. The remote controller 100 is used to monitor and/or control the flight conditions of the drone 200, including monitoring and/or controlling the flight attitude, flight speed, and the like of the drone 200. The remote controller 100 can include a display unit for viewing flight information of the drone 200. For example, the remote controller 100 can display information of the drone 200 including orientation, translational speed, translational acceleration, direction, angular velocity, angular acceleration, and combinations thereof. In some embodiments, the remote control 100 can display information collected by the drone 200, such as image data captured by a camera carried by the drone 200.
此时,遥控通信条件包括遥控距离(遥控器100与无人机200之间的距离)范围和/或信号(遥控通信链路140中的信号)强度范围,遥控器100出厂之前通常会设定一个遥控距离范围和/或信号强度范围,例如,设定小于等于1500米为遥控距离范围,大于等于X为信号强度范围。满足遥控通信条件包括以下几种情况:第一,无人机100在遥控距离范围内,例如,无人机200距离遥控器100小于等于1500米即满足遥控通信条件;第二,无人机200在遥控通信链路140中的信号强度在信号强度范围内,例如遥控通信链路140中的信号强度大于等于X即满足遥控通信条件;第三,无人机200在遥控距离范围内,同时遥控通信链路140中的信号强度须在信号强度范围内,例如无人机200距离遥控器100小于等于1500米,且在遥控通信链路140中的信号强度大于等于X才满足遥控通信条件。采用上述哪种情况的遥控通信条件可以根据遥控器100的出厂设置通过遥控器100来设定。遥控通信条件包括的内容不局限于本发明实施方式所列举,满足遥控通信条件的情况设定手段也不局限于本发明实施方式所列举,可以采用其他手段来设定。At this time, the remote communication condition includes a range of the remote control distance (distance between the remote controller 100 and the drone 200) and/or a signal (signal in the remote communication link 140) intensity range, and the remote controller 100 is usually set before leaving the factory. A remote control range and/or signal strength range, for example, a setting of less than or equal to 1500 meters is a remote control range, and X is greater than or equal to a signal strength range. The following conditions are met: First, the drone 100 is within the range of the remote control distance. For example, the drone 200 meets the remote communication condition by being less than or equal to 1500 meters from the remote controller 100. Second, the drone 200 The signal strength in the remote communication link 140 is within the signal strength range. For example, the signal strength in the remote control communication link 140 is greater than or equal to X, that is, the remote communication condition is satisfied. Third, the drone 200 is within the remote control distance while remotely controlling. The signal strength in the communication link 140 must be within the signal strength range. For example, the drone 200 is less than or equal to 1500 meters from the remote controller 100, and the signal strength in the remote communication link 140 is greater than or equal to X to satisfy the remote communication condition. The remote communication condition in which one of the above cases is adopted can be set by the remote controller 100 in accordance with the factory setting of the remote controller 100. The content included in the remote communication condition is not limited to the embodiment of the present invention, and the setting means for satisfying the remote communication condition is not limited to the embodiment of the present invention, and may be set by other means.
本发明一实施方式提供的遥控器100包括遥控通信模块104、北斗卫星报文通信模块108、第一启动模块111、第一检测模块112、第一控制模块113及第二控制模块114。其中,第一启动模块111、第一检测模块112、第一控制模块113及第二控制模块114可分别用于执行S1、S2、S3及S4。具体地,遥控通信模块104用于与无人机200建立遥控通信链路140并在遥控通信条件下通过遥控通信链路140与无人机200传输数据。北斗卫星报文通信模块108用于与无人机200建立北斗卫星报文通信链路180并在北斗卫星报文通信条件下通过北斗卫星报文通信链路与无人机200传输数据。第一启动模块111用于启动遥控通信模块104以在遥控通信模块104和无人机200之间建立遥控通信链路140。第一检测模块112用于检测遥控通信链路140中的信号特征是否满足遥控通信条件。第一控制模块113用于在检测到的遥控通信链路140中的信号特征满足遥控通信条件时控制遥控通信模块104采用遥控通信链路140与无人机200传输数据。第二控制模块114用于在检测到的遥控通信链路140中的信号特征不满足遥
控通信条件时控制北斗卫星报文通信模块108采用北斗卫星报文通信链路180与无人机200传输数据。本实施方式中的遥控通信链路140为遥控器的链路,通过2.4Ghz或者5.8Ghz的无线电与无人机200传输数据。The remote controller 100 according to an embodiment of the present invention includes a remote control communication module 104, a Beidou satellite message communication module 108, a first startup module 111, a first detection module 112, a first control module 113, and a second control module 114. The first startup module 111, the first detection module 112, the first control module 113, and the second control module 114 are respectively configured to execute S1, S2, S3, and S4. Specifically, the remote control communication module 104 is configured to establish a remote communication link 140 with the drone 200 and transmit data to the drone 200 via the remote communication link 140 under remote communication conditions. The Beidou satellite message communication module 108 is configured to establish a Beidou satellite message communication link 180 with the drone 200 and transmit data through the Beidou satellite message communication link and the drone 200 under the Beidou satellite message communication condition. The first activation module 111 is used to activate the remote communication module 104 to establish a remote communication link 140 between the remote communication module 104 and the drone 200. The first detection module 112 is configured to detect whether the signal characteristics in the remote communication link 140 meet the remote communication conditions. The first control module 113 is configured to control the remote communication module 104 to transmit data with the drone 200 using the remote communication link 140 when the detected signal characteristics in the remote communication link 140 satisfy the remote communication condition. The second control module 114 is configured to not satisfy the signal characteristics in the detected remote communication link 140
When the communication condition is controlled, the Beidou satellite message communication module 108 controls the Beidou satellite message communication link 180 and the drone 200 to transmit data. The remote communication link 140 in the present embodiment is a link of a remote controller, and transmits data through the 2.4Ghz or 5.8Ghz radio and the drone 200.
其中,请结合图4,北斗卫星报文通信模块108包括天线单元1082、射频单元1084、基带单元1086及信息输出单元1088。天线单元1082用于接收北斗射频信号。射频单元1084用于将射频信号转换为数字信号。基带单元1086用于接收数字信号以完成捕获、跟踪、解调、帧同步以及定位解算。信息输出单元1088用于根据基带单元1086完成的捕获、跟踪、解调、帧同步以及定位解算为用户提供定位结果与时间信息。信息输出单元1088包括多张民用SIM卡。北斗卫星报文通信模块108每发一条报文需要间隔60秒时间,若使用双SIM卡设计,可以使报文间隔周期减少到30秒,如果需要更高通信频率,可以以此类推增加SIM卡的数量。由于北斗卫星报文通信模块108通常不会受到地形、地势、遥控距离等因素的限制,北斗卫星报文通信链路180中的信号强度都会很强,信号丢失频率极低,因此,采用北斗卫星报文通信链路140总能实现数据传输。4, the Beidou satellite message communication module 108 includes an antenna unit 1082, a radio frequency unit 1084, a baseband unit 1086, and an information output unit 1088. The antenna unit 1082 is configured to receive a Beidou radio frequency signal. The radio frequency unit 1084 is configured to convert the radio frequency signal into a digital signal. The baseband unit 1086 is configured to receive digital signals to perform acquisition, tracking, demodulation, frame synchronization, and positioning solution. The information output unit 1088 is configured to provide positioning results and time information for the user according to the acquisition, tracking, demodulation, frame synchronization, and positioning solution performed by the baseband unit 1086. The information output unit 1088 includes a plurality of civilian SIM cards. The Beidou satellite message communication module 108 needs to be separated by 60 seconds for each message. If the dual SIM card design is used, the message interval period can be reduced to 30 seconds. If a higher communication frequency is required, the SIM card can be increased by analogy. quantity. Since the Beidou satellite message communication module 108 is generally not limited by terrain, terrain, remote control distance, etc., the signal strength in the Beidou satellite message communication link 180 will be strong, and the signal loss frequency is extremely low. Therefore, the Beidou satellite is adopted. The message communication link 140 always implements data transmission.
本发明实施方式中的控制方法及遥控器100设置了遥控通信链路140及北斗卫星报文通信链路180,并在检测到的遥控通信链路140中的信号特征不满足遥控通信条件时控制北斗卫星报文通信模块108采用北斗卫星报文通信链路180与无人机200传输数据,如此,在遥控通信链路140失效或者失稳的情况下,可以利用北斗卫星报文通信链路180进行数据传输,保证了数据传输的稳定性。The control method and the remote controller 100 in the embodiment of the present invention are provided with a remote control communication link 140 and a Beidou satellite message communication link 180, and are controlled when the detected signal characteristics in the remote communication link 140 do not satisfy the remote communication condition. The Beidou satellite message communication module 108 uses the Beidou satellite message communication link 180 and the drone 200 to transmit data. Thus, in the event that the remote communication link 140 fails or is unstable, the Beidou satellite message communication link can be utilized. Data transmission ensures the stability of data transmission.
请参阅图6,在某些实施方式中,控制方法还包括:Referring to FIG. 6, in some embodiments, the control method further includes:
S5,扫描环境中的通信信号;S5, scanning a communication signal in the environment;
S6,判断扫描到的通信信号的信号特征是否满足遥控通信条件;及S6, determining whether the signal characteristic of the scanned communication signal satisfies the remote communication condition; and
S7,若扫描到的通信信号的信号特征满足遥控通信条件,则由北斗卫星报文通信模块108切换为遥控通信模块104以采用遥控通信链路140与远程终端200传输数据。S7. If the signal characteristic of the scanned communication signal satisfies the remote communication condition, the Beidou satellite message communication module 108 is switched to the remote communication module 104 to transmit data with the remote terminal 200 using the remote communication link 140.
请参阅图7,本发明一实施方式提供的无人机100还包括扫描模块115、判断模块116及切换模块117,分别用于执行S5、S6及S7。也就是说,扫描模块115用于扫描环境中的通信信号。判断模块116用于判断扫描到的通信信号的信号特征是否满足遥控通信条件。切换模块117用于若扫描到的通信信号的信号特征满足遥控通信条件,则由北斗卫星报文通信模块108切换为遥控通信模块104以采用遥控通信链路140与远程终端200传输数据。Referring to FIG. 7, the unmanned aerial vehicle 100 according to an embodiment of the present invention further includes a scanning module 115, a determining module 116, and a switching module 117 for performing S5, S6, and S7, respectively. That is, the scanning module 115 is used to scan communication signals in the environment. The determining module 116 is configured to determine whether the signal characteristic of the scanned communication signal satisfies the remote communication condition. The switching module 117 is configured to switch from the Beidou satellite message communication module 108 to the remote communication module 104 to transmit data with the remote terminal 200 using the remote communication link 140 if the signal characteristics of the scanned communication signal satisfy the remote communication condition.
本发明实施方式中的控制方法及无人机100设置了遥控通信链路140及北斗卫星报文通信链路180,并在检测到的遥控通信链路140中的信号特征不满足遥控通信条件
时控制北斗卫星报文通信模块108采用北斗卫星报文通信链路180与远程终端200传输数据,如此,在遥控通信链路140失效或者失稳的情况下,可以利用北斗卫星报文通信链路180进行数据传输,保证了数据传输的稳定性。而且在无人机100重新满足了遥控通信条件时能够重新采用遥控通信链路140与远程终端200传输数据,节省了成本。The control method in the embodiment of the present invention and the drone 100 are provided with a remote communication link 140 and a Beidou satellite message communication link 180, and the signal characteristics in the detected remote communication link 140 do not satisfy the remote communication condition.
The Beidou satellite message communication module 108 uses the Beidou satellite message communication link 180 to transmit data with the remote terminal 200. Thus, in the event that the remote communication link 140 fails or is unstable, the Beidou satellite message communication link can be utilized. 180 data transmission ensures the stability of data transmission. Moreover, when the drone 100 re-satisfies the remote communication condition, the remote communication link 140 can be reused to transmit data with the remote terminal 200, which saves cost.
请参阅图8,本发明一实施方式提供的遥控器100还包括扫描模块115、判断模块116及切换模块117,分别用于执行S5、S6及S7。也就是说,扫描模块115用于扫描环境中的通信信号。判断模块116用于判断扫描到的通信信号的信号特征是否满足遥控通信条件。切换模块117用于若扫描到的通信信号的信号特征满足遥控通信条件,则由北斗卫星报文通信模块108切换为遥控通信模块104以采用遥控通信链路140与远程终端200传输数据。Referring to FIG. 8, the remote controller 100 according to an embodiment of the present invention further includes a scanning module 115, a determining module 116, and a switching module 117 for executing S5, S6, and S7, respectively. That is, the scanning module 115 is used to scan communication signals in the environment. The determining module 116 is configured to determine whether the signal characteristic of the scanned communication signal satisfies the remote communication condition. The switching module 117 is configured to switch from the Beidou satellite message communication module 108 to the remote communication module 104 to transmit data with the remote terminal 200 using the remote communication link 140 if the signal characteristics of the scanned communication signal satisfy the remote communication condition.
本发明实施方式中的控制方法及遥控器100设置了遥控通信链路140及北斗卫星报文通信链路180,并在检测到的遥控通信链路140中的信号特征不满足遥控通信条件时控制北斗卫星报文通信模块108采用北斗卫星报文通信链路180与无人机200传输数据,如此,在遥控通信链路140失效或者失稳的情况下,可以利用北斗卫星报文通信链路180进行数据传输,保证了数据传输的稳定性。而且在遥控器100重新满足了遥控通信条件时能够重新采用遥控通信链路140与无人机200传输数据,节省了成本。The control method and the remote controller 100 in the embodiment of the present invention are provided with a remote control communication link 140 and a Beidou satellite message communication link 180, and are controlled when the detected signal characteristics in the remote communication link 140 do not satisfy the remote communication condition. The Beidou satellite message communication module 108 uses the Beidou satellite message communication link 180 and the drone 200 to transmit data. Thus, in the event that the remote communication link 140 fails or is unstable, the Beidou satellite message communication link can be utilized. Data transmission ensures the stability of data transmission. Moreover, when the remote controller 100 re-satisfies the remote communication condition, the remote communication link 140 and the drone 200 can be reused to transmit data, which saves cost.
请参阅图9,本发明一实施方式的控制方法,用于控制电子装置100。电子装置100包括遥控通信模块104、手机网络通信模块106及北斗卫星报文通信模块108。远程终端200包括与遥控通信模块104对应的遥控通信模块204、与手机网络通信模块106对应的手机网络通信模块206、及与北斗卫星报文通信模块108对应的北斗卫星报文通信模块208。电子装置100的遥控通信模块104能够与远程终端200的遥控通信模块204建立遥控通信链路140并在遥控通信条件下通过遥控通信链路140与远程终端200的遥控通信模块204传输数据。电子装置100的手机网络通信模块106能够与远程终端200的手机网络通信模块206建立手机网络通信链路160并在手机网络通信条件下通过手机网络通信链路160与远程终端200的手机网络通信模块206传输数据。电子装置100的北斗卫星报文通信模块108能够与远程终端200的北斗卫星报文通信模块208建立北斗卫星报文通信链路180并在北斗卫星报文通信条件下通过北斗卫星报文通信链路180与远程终端200的北斗卫星报文通信模块208传输数据。Referring to FIG. 9, a control method according to an embodiment of the present invention is used to control the electronic device 100. The electronic device 100 includes a remote control communication module 104, a mobile phone network communication module 106, and a Beidou satellite message communication module 108. The remote terminal 200 includes a remote control communication module 204 corresponding to the remote control communication module 104, a mobile phone network communication module 206 corresponding to the mobile phone network communication module 106, and a Beidou satellite message communication module 208 corresponding to the Beidou satellite message communication module 108. The remote communication module 104 of the electronic device 100 is capable of establishing a remote communication link 140 with the remote communication module 204 of the remote terminal 200 and transmitting data with the remote communication module 204 of the remote terminal 200 via the remote communication link 140 under remote communication conditions. The mobile phone network communication module 106 of the electronic device 100 can establish a mobile phone network communication link 160 with the mobile phone network communication module 206 of the remote terminal 200 and communicate with the mobile phone network communication module of the remote terminal 200 through the mobile phone network communication link 160 under the mobile phone network communication condition. 206 transmits data. The Beidou satellite message communication module 108 of the electronic device 100 can establish a Beidou satellite message communication link 180 with the Beidou satellite message communication module 208 of the remote terminal 200 and pass the Beidou satellite message communication link under the Beidou satellite message communication condition. The data communicates with the Beidou satellite message communication module 208 of the remote terminal 200.
请参阅图10,所述控制方法包括:Referring to FIG. 10, the control method includes:
S1,启动遥控通信模块104以在遥控通信模块104和远程终端200之间建立遥控通信链路140;
S1, the remote communication module 104 is activated to establish a remote communication link 140 between the remote communication module 104 and the remote terminal 200;
S2,检测遥控通信链路140中的信号特征是否满足遥控通信条件;S2. Detect whether the signal feature in the remote communication link 140 satisfies the remote communication condition;
S3,在检测到的遥控通信链路140中的信号特征满足遥控通信条件时控制遥控通信模块104采用遥控通信链路140与远程终端200传输数据;S3. The remote control communication module 104 controls the remote communication module 104 to transmit data with the remote terminal 200 by using the remote communication link 140 when the detected signal characteristics in the remote communication link 140 satisfy the remote communication condition;
S8,在检测到的遥控通信链路140中的信号特征不满足遥控通信条件时启动手机网络通信模块106以在手机网络通信模块106与远程终端200之间建立手机网络通信链路160;S8, when the detected signal feature in the remote communication link 140 does not meet the remote communication condition, the mobile phone network communication module 106 is activated to establish a mobile phone network communication link 160 between the mobile phone network communication module 106 and the remote terminal 200;
S9,检测手机网络通信链路160中的信号特征是否满足手机网络通信条件;及S9, detecting whether a signal feature in the mobile phone network communication link 160 satisfies a mobile phone network communication condition; and
S10,在检测到的手机网络通信链路160中的信号特征满足手机网络通信条件时控制手机网络通信模块106采用手机网络通信链路160与远程终端200传输数据;S10, controlling the mobile phone network communication module 106 to transmit data by using the mobile phone network communication link 160 and the remote terminal 200 when the detected signal characteristics in the mobile phone network communication link 160 satisfy the mobile phone network communication condition;
S4,在检测到的手机网络通信链路160中的信号特征不满足手机网络通信条件时控制北斗卫星报文通信模块108采用北斗卫星报文通信链路180与远程终端200传输数据。S4. The Beidou satellite message communication module 108 is controlled to transmit data by using the Beidou satellite message communication link 180 and the remote terminal 200 when the detected signal characteristics in the mobile phone network communication link 160 do not satisfy the mobile phone network communication condition.
其中,遥控通信条件包括遥控距离(电子装置100与远程终端200之间的距离)范围和/或信号(遥控通信链路140中的信号)强度范围,电子装置100出厂之前通常会设定一个遥控距离范围和/或信号强度范围,例如,设定小于等于1500米为遥控距离范围,大于等于X为信号强度范围。满足遥控通信条件包括以下几种情况:第一,电子装置100在遥控距离范围内,例如,电子装置100距离远程终端200小于等于1500米即满足遥控通信条件;第二,电子装置100在遥控通信链路140中的信号强度在信号强度范围内,例如遥控通信链路140中的信号强度大于等于X即满足遥控通信条件;第三,电子装置100在遥控距离范围内,同时遥控通信链路140中的信号强度须在信号强度范围内,例如电子装置100距离远程终端200小于等于1500米,且在遥控通信链路140中的信号强度大于等于X才满足遥控通信条件。采用上述哪种情况的遥控通信条件可以根据电子装置100的出厂设置通过远程终端200来设定。遥控通信条件包括的内容不局限于本发明实施方式所列举,满足遥控通信条件的情况设定手段也不局限于本发明实施方式所列举,可以采用其他手段来设定。The remote communication condition includes a range of remote control distance (distance between the electronic device 100 and the remote terminal 200) and/or a signal (signal in the remote control communication link 140), and the electronic device 100 usually sets a remote control before leaving the factory. The range of distance and/or the range of signal strength, for example, a setting of less than or equal to 1500 meters is a range of remote control distances, and X is greater than or equal to a range of signal strengths. The remote communication condition is satisfied. The first condition is that the electronic device 100 is within the remote control distance range. For example, the electronic device 100 meets the remote communication condition by the remote terminal 200 being less than or equal to 1500 meters. Second, the electronic device 100 is in the remote communication. The signal strength in the link 140 is within the signal strength range. For example, the signal strength in the remote control communication link 140 is greater than or equal to X, that is, the remote communication condition is satisfied. Third, the electronic device 100 is within the remote control distance, and the remote communication link 140 is simultaneously controlled. The signal strength in the signal strength must be within the signal strength range. For example, the electronic device 100 is less than or equal to 1500 meters from the remote terminal 200, and the signal strength in the remote communication link 140 is greater than or equal to X to satisfy the remote communication condition. The remote communication condition in which one of the above cases is adopted can be set by the remote terminal 200 in accordance with the factory setting of the electronic device 100. The content included in the remote communication condition is not limited to the embodiment of the present invention, and the setting means for satisfying the remote communication condition is not limited to the embodiment of the present invention, and may be set by other means.
手机网络通信条件包括信号(手机网络通信链路160中的信号)强度范围和/或信号(手机网络通信链路160中的信号)丢失频率范围(特定时间内信号丢失的次数)。电子装置100出厂之前通常会设定信号强度范围和/或信号丢失频率范围,例如,设定大于等于X为信号强度范围,设定小于等于Y为信号丢失频率范围。满足手机网络通信条件包括以下几种情况:第一,电子装置100在手机网络通信链路160中的信号强度在信号强度范围内,例如手机网络通信链路160中的信号强度大于等于X即满足手机网络通信条件;第二,电子装置100在手机网络通信链路中的信号丢失频率在信号丢失频
率范围内,例如手机网络通信链路160中的信号丢失频率小于等于Y即满足手机网络通信条件;第三,电子装置100在手机网络通信链路160中的信号强度在信号强度范围内,同时信号丢失频率须在信号丢失频率范围内,例如手机网络通信链路160中的信号强度大于等于X,且手机网络通信链路160中的信号丢失频率小于等于Y才满足手机网络通信条件。同样地,采用上述哪种情况的手机网络通信条件可以根据电子装置100的出厂设置通过远程终端200来设定。手机网络通信条件包括的内容不局限于本发明实施方式所列举,满足手机网络通信条件的情况设定手段也不局限于本发明实施方式所列举,可以采用其他手段来设定。Cellular network communication conditions include a range of signals (signals in the mobile network communication link 160) and/or a signal (signal in the mobile network communication link 160) loss frequency range (number of signal losses in a particular time). The electronic device 100 usually sets a signal strength range and/or a signal loss frequency range before leaving the factory. For example, setting X is greater than or equal to X is a signal strength range, and setting less than or equal to Y is a signal loss frequency range. The following conditions are met for the mobile phone network communication conditions: First, the signal strength of the electronic device 100 in the mobile phone network communication link 160 is within the signal strength range, for example, the signal strength in the mobile phone network communication link 160 is greater than or equal to X. Mobile phone network communication condition; second, the signal loss frequency of the electronic device 100 in the mobile phone network communication link is in the signal loss frequency
Within the rate range, for example, the signal loss frequency in the mobile phone network communication link 160 is less than or equal to Y, that is, the mobile phone network communication condition is satisfied; third, the signal strength of the electronic device 100 in the mobile phone network communication link 160 is within the signal strength range, and The signal loss frequency must be within the signal loss frequency range. For example, the signal strength in the mobile phone network communication link 160 is greater than or equal to X, and the signal loss frequency in the mobile phone network communication link 160 is less than or equal to Y to satisfy the mobile network communication condition. Similarly, the mobile phone network communication condition using which of the above cases can be set by the remote terminal 200 according to the factory setting of the electronic device 100. The content included in the mobile phone network communication condition is not limited to the embodiment of the present invention, and the setting means for satisfying the communication condition of the mobile phone network is not limited to the embodiment of the present invention, and may be set by other means.
请参阅图11,电子装置100可为无人机100,远程终端200可为一远程控制器,例如为:地面站、手机、平板电脑、遥控器、智能手表、智能眼镜、智能头盔、其他虚拟现实穿戴设备、其他增强现实穿戴设备等中的任意一种。远程终端200用于监控和/或控制无人机100的飞行情况,包括飞行姿态、飞行速度等等。远程终端200可包括一个用于观看无人机100飞行信息的显示单元。例如,远程终端200能够显示无人机100的包括方位、平移速度、平移加速度、方向、角速度、角加速度及其组合的信息。在一些实施例中,远程终端200能够显示无人机100采集的信息,例如无人机100携带的摄像机所采集的图像数据。Referring to FIG. 11 , the electronic device 100 can be a drone 100 , and the remote terminal 200 can be a remote controller, such as: a ground station, a mobile phone, a tablet computer, a remote controller, a smart watch, smart glasses, a smart helmet, and other virtual devices. Any one of a reality wearable device, other augmented reality wearable device, and the like. The remote terminal 200 is used to monitor and/or control the flight conditions of the drone 100, including flight attitude, flight speed, and the like. The remote terminal 200 can include a display unit for viewing flight information of the drone 100. For example, the remote terminal 200 can display information of the drone 100 including orientation, translational speed, translational acceleration, direction, angular velocity, angular acceleration, and combinations thereof. In some embodiments, the remote terminal 200 can display information collected by the drone 100, such as image data captured by a camera carried by the drone 100.
此时,遥控通信条件包括遥控距离(无人机100与远程终端200之间的距离)范围和/或信号(遥控通信链路140中的信号)强度范围,无人机100出厂之前通常会设定一个遥控距离范围和/或信号强度范围,例如,设定小于等于1500米为遥控距离范围,大于等于X为信号强度范围。满足遥控通信条件包括以下几种情况:第一,无人机100在遥控距离范围内,例如,无人机100距离远程终端200小于等于1500米即满足遥控通信条件;第二,无人机100在遥控通信链路140中的信号强度在信号强度范围内,例如遥控通信链路140中的信号强度大于等于X即满足遥控通信条件;第三,无人机100在遥控距离范围内,同时遥控通信链路140中的信号强度须在信号强度范围内,例如无人机100距离远程终端200小于等于1500米,且在遥控通信链路140中的信号强度大于等于X才满足遥控通信条件。采用上述哪种情况的遥控通信条件可以根据无人机100的出厂设置通过远程终端200来设定。遥控通信条件包括的内容不局限于本发明实施方式所列举,满足遥控通信条件的情况设定手段也不局限于本发明实施方式所列举,可以采用其他手段来设定。At this time, the remote communication condition includes a range of the remote control distance (distance between the drone 100 and the remote terminal 200) and/or a signal (signal in the remote communication link 140) intensity range, and the drone 100 is usually set before leaving the factory. Set a remote distance range and / or signal strength range, for example, set the distance of 1500 meters is less than or equal to the range of remote control distance, X is greater than or equal to the signal strength range. The following conditions are met: First, the drone 100 is within the remote control distance range. For example, the drone 100 meets the remote communication condition by being less than or equal to 1500 meters from the remote terminal 200. Second, the drone 100 The signal strength in the remote communication link 140 is within the signal strength range, for example, the signal strength in the remote communication link 140 is greater than or equal to X, that is, the remote communication condition is satisfied; and third, the drone 100 is within the remote control range while remotely controlling. The signal strength in the communication link 140 must be within the signal strength range. For example, the drone 100 is less than or equal to 1500 meters from the remote terminal 200, and the signal strength in the remote communication link 140 is greater than or equal to X to satisfy the remote communication condition. The remote communication condition in which one of the above cases is adopted can be set by the remote terminal 200 in accordance with the factory setting of the drone 100. The content included in the remote communication condition is not limited to the embodiment of the present invention, and the setting means for satisfying the remote communication condition is not limited to the embodiment of the present invention, and may be set by other means.
本发明一实施方式提供的无人机100包括遥控通信模块104、手机网络通信模块106、北斗卫星报文通信模块108、第一启动模块111、第一检测模块112、第一控制模块113、第二控制模块114、第二启动模块118、第二检测模块119、及第三控制模块
120。其中,第一启动模块111、第一检测模块112、第一控制模块113、第二控制模块114、第二启动模块118、第二检测模块119、及第三控制模块120可分别用于执行S1、S2、S3、S4、S8、S9及S10。具体地,遥控通信模块104用于与远程终端200建立遥控通信链路140并在遥控通信条件下通过遥控通信链路140与远程终端200传输数据。手机网络通信模块106用于与远程终端200建立手机网络通信链路160并在手机网络通信条件下通过手机网络通信链路160与远程终端200传输数据。北斗卫星报文通信模块108用于与远程终端200建立北斗卫星报文通信链路180并在北斗卫星报文通信条件下通过北斗卫星报文通信链路与远程终端200传输数据。第一启动模块111用于启动遥控通信模块104以在遥控通信模块104和远程终端200之间建立遥控通信链路140。第一检测模块112用于检测遥控通信链路140中的信号特征是否满足遥控通信条件。第一控制模块113用于在检测到的遥控通信链路140中的信号特征满足遥控通信条件时控制遥控通信模块104采用遥控通信链路140与远程终端200传输数据。第二启动模块118用于在检测到的遥控通信链路140中的信号特征不满足遥控通信条件时启动手机网络通信模块106以在手机网络通信模块106与远程终端200之间建立手机网络通信链路160。第二检测模块119用于检测手机网络通信链路160中的信号特征是否满足手机网络通信条件。第三控制模块120用于在检测到的手机网络通信链路160中的信号特征满足手机网络通信条件时控制手机网络通信模块106采用手机网络通信链路160与远程终端200传输数据。第二控制模块114用于在检测到的遥控通信链路140中的信号特征不满足遥控通信条件且检测到的手机网络通信链路160中的信号特征不满足手机网络通信条件时控制北斗卫星报文通信模块108采用北斗卫星报文通信链路180与远程终端200传输数据。The unmanned aerial vehicle 100 according to an embodiment of the present invention includes a remote control communication module 104, a mobile phone network communication module 106, a Beidou satellite message communication module 108, a first startup module 111, a first detection module 112, a first control module 113, and a The second control module 114, the second startup module 118, the second detection module 119, and the third control module
120. The first startup module 111, the first detection module 112, the first control module 113, the second control module 114, the second startup module 118, the second detection module 119, and the third control module 120 are respectively configured to execute S1. , S2, S3, S4, S8, S9 and S10. Specifically, the remote control communication module 104 is configured to establish a remote communication link 140 with the remote terminal 200 and transmit data to the remote terminal 200 over the remote communication link 140 under remote communication conditions. The mobile phone network communication module 106 is configured to establish a mobile phone network communication link 160 with the remote terminal 200 and transmit data to the remote terminal 200 via the mobile phone network communication link 160 under mobile phone network communication conditions. The Beidou satellite message communication module 108 is configured to establish a Beidou satellite message communication link 180 with the remote terminal 200 and transmit data to the remote terminal 200 through the Beidou satellite message communication link under the Beidou satellite message communication condition. The first activation module 111 is used to activate the remote communication module 104 to establish a remote communication link 140 between the remote communication module 104 and the remote terminal 200. The first detection module 112 is configured to detect whether the signal characteristics in the remote communication link 140 meet the remote communication conditions. The first control module 113 is configured to control the remote communication module 104 to transmit data with the remote terminal 200 using the remote communication link 140 when the detected signal characteristics in the remote communication link 140 satisfy the remote communication condition. The second activation module 118 is configured to activate the mobile phone network communication module 106 to establish a mobile phone network communication link between the mobile phone network communication module 106 and the remote terminal 200 when the detected signal characteristics in the remote communication link 140 do not satisfy the remote communication condition. Road 160. The second detecting module 119 is configured to detect whether the signal feature in the mobile phone network communication link 160 satisfies the mobile phone network communication condition. The third control module 120 is configured to control the mobile phone network communication module 106 to transmit data using the mobile phone network communication link 160 and the remote terminal 200 when the detected signal characteristics in the mobile phone network communication link 160 satisfy the mobile phone network communication condition. The second control module 114 is configured to control the Beidou satellite newspaper when the detected signal characteristics in the remote control communication link 140 do not satisfy the remote communication condition and the detected signal characteristics in the mobile phone network communication link 160 do not satisfy the mobile network communication condition. The text communication module 108 transmits data using the Beidou satellite message communication link 180 and the remote terminal 200.
由于远程终端200可为地面站或遥控器,则遥控通信链路140可为遥控器的链路或者地面站的链路,其中,遥控器的链路是通过2.4Ghz或者5.8Ghz的无线电与无人机100传输数据,而地面站的链路则是通过900Mhz或者433Mhz无线电频率与无人机100传输数据。Since the remote terminal 200 can be a ground station or a remote control, the remote communication link 140 can be a link of a remote control or a link of a ground station, wherein the link of the remote control is via 2.4Ghz or 5.8Ghz radio and none The human machine 100 transmits data, and the link of the ground station transmits data to the drone 100 through a 900 Mhz or 433 Mhz radio frequency.
其中,请结合图4,北斗卫星报文通信模块108包括天线单元1082、射频单元1084、基带单元1086及信息输出单元1088。天线单元1082用于接收北斗射频信号。射频单元1084用于将射频信号转换为数字信号。基带单元1086用于接收数字信号以完成捕获、跟踪、解调、帧同步以及定位解算。信息输出单元1088用于根据基带单元1086完成的捕获、跟踪、解调、帧同步以及定位解算为用户提供定位结果与时间信息。信息输出单元1088包括多张民用SIM卡。北斗卫星报文通信模块108每发一条报文需要间隔60秒时间,若使用双SIM卡设计,可以使报文间隔周期减少到30秒,如果需要
更高通信频率,可以以此类推增加SIM卡的数量。由于北斗卫星报文通信模块108通常不会受到地形、地势、遥控距离等因素的限制,北斗卫星报文通信链路180中的信号强度都会很强,信号丢失频率极低,因此,采用北斗卫星报文通信链路140总能实现数据传输。4, the Beidou satellite message communication module 108 includes an antenna unit 1082, a radio frequency unit 1084, a baseband unit 1086, and an information output unit 1088. The antenna unit 1082 is configured to receive a Beidou radio frequency signal. The radio frequency unit 1084 is configured to convert the radio frequency signal into a digital signal. The baseband unit 1086 is configured to receive digital signals to perform acquisition, tracking, demodulation, frame synchronization, and positioning solution. The information output unit 1088 is configured to provide positioning results and time information for the user according to the acquisition, tracking, demodulation, frame synchronization, and positioning solution performed by the baseband unit 1086. The information output unit 1088 includes a plurality of civilian SIM cards. The Beidou satellite message communication module 108 needs to send a message every 60 seconds. If the dual SIM card design is used, the message interval can be reduced to 30 seconds.
For higher communication frequencies, you can increase the number of SIM cards by analogy. Since the Beidou satellite message communication module 108 is generally not limited by terrain, terrain, remote control distance, etc., the signal strength in the Beidou satellite message communication link 180 will be strong, and the signal loss frequency is extremely low. Therefore, the Beidou satellite is adopted. The message communication link 140 always implements data transmission.
请结合图12,手机网络通信模块106可以包括手机网络通信单元1062、定位单元1064、以及蓝牙通信单元1066。手机网络通信单元1062用于与远程终端200建立手机网络通信链路160并在手机网络通信条件下通过手机网络通信链路160与远程终端200传输数据。定位单元1064可用于定位无人机100,定位单元1064可以为GPS定位单元、北斗定位单元、GLONASS定位单元及GNS定位单元中的任意一种或多种组合。蓝牙通信单元1066用于在蓝牙通信条件下采用蓝牙通信链路与远程终端200传输数据。Referring to FIG. 12, the mobile phone network communication module 106 can include a mobile phone network communication unit 1062, a positioning unit 1064, and a Bluetooth communication unit 1066. The handset network communication unit 1062 is configured to establish a handset network communication link 160 with the remote terminal 200 and transmit data to the remote terminal 200 over the handset network communication link 160 under mobile network communication conditions. The positioning unit 1064 can be used to locate the drone 100. The positioning unit 1064 can be any one or more combinations of a GPS positioning unit, a Beidou positioning unit, a GLONASS positioning unit, and a GNS positioning unit. The Bluetooth communication unit 1066 is configured to transmit data with the remote terminal 200 using a Bluetooth communication link under Bluetooth communication conditions.
本发明实施方式中的控制方法及无人机100设置了遥控通信链路140、手机网络通信链路160及北斗卫星报文通信链路180,并在检测到的遥控通信链路140中的信号特征不满足遥控通信条件时优先启用手机网络通信模块106采用手机网络通信链路160与远程终端200传输数据,只有在检测到的手机网络通信链路160中的信号特征也不满足手机网络通信条件时才控制北斗卫星报文通信模块108采用北斗卫星报文通信链路180与远程终端200传输数据,如此,能够始终保证数据传输的稳定性的同时尽量做到节省成本。The control method in the embodiment of the present invention and the drone 100 are provided with a remote communication link 140, a mobile phone network communication link 160, and a Beidou satellite message communication link 180, and the signals in the detected remote communication link 140 are detected. When the feature does not satisfy the remote communication condition, the mobile phone network communication module 106 uses the mobile phone network communication link 160 to transmit data with the remote terminal 200. Only the detected signal characteristics in the mobile phone network communication link 160 do not satisfy the mobile phone network communication condition. The Beidou satellite message communication module 108 is controlled to transmit data using the Beidou satellite message communication link 180 and the remote terminal 200. Thus, the stability of data transmission can be ensured while saving costs as much as possible.
请参阅图13,电子装置100可为遥控器100。远程终端200可为空中的载运工具,例如:无人机、载人飞行器等;水中的载运工具,例如:轮船、潜艇等;地面上的载运工具,例如:轿车、卡车、公交车、厢式货车、摩托车、轻轨等;地面下的载运工具,例如:地铁等;太空中的载运工具,例如:航天飞机等。当然,远程终端200并不局限于各种类型的载运工具,只要是任何需要数据传输的装置即可,例如:卫星、探测器等。本实施方式以远程终端200为无人机200为例来说明。遥控器100用于监控和/或控制无人机200的飞行情况,包括监控和/或控制无人机200的飞行姿态、飞行速度等等。遥控器100可包括一个用于观看无人机200飞行信息的显示单元。例如,遥控器100能够显示无人机200的包括方位、平移速度、平移加速度、方向、角速度、角加速度及其组合的信息。在一些实施例中,遥控器100能够显示无人机200采集的信息,例如无人机200携带的摄像机所采集的图像数据。Referring to FIG. 13 , the electronic device 100 can be the remote controller 100 . The remote terminal 200 can be an airborne vehicle, such as a drone, a manned aircraft, etc.; a vehicle in the water, such as a ship, a submarine, etc.; a carrier on the ground, such as a car, a truck, a bus, a van Trucks, motorcycles, light rails, etc.; carriers under the ground, such as subways; vehicles in space, such as space shuttles. Of course, the remote terminal 200 is not limited to various types of carriers, as long as it is any device that requires data transmission, such as satellites, detectors, and the like. In the present embodiment, the remote terminal 200 is an unmanned aerial vehicle 200 as an example. The remote controller 100 is used to monitor and/or control the flight conditions of the drone 200, including monitoring and/or controlling the flight attitude, flight speed, and the like of the drone 200. The remote controller 100 can include a display unit for viewing flight information of the drone 200. For example, the remote controller 100 can display information of the drone 200 including orientation, translational speed, translational acceleration, direction, angular velocity, angular acceleration, and combinations thereof. In some embodiments, the remote control 100 can display information collected by the drone 200, such as image data captured by a camera carried by the drone 200.
此时,遥控通信条件包括遥控距离(遥控器100与无人机200之间的距离)范围和/或信号(遥控通信链路140中的信号)强度范围,遥控器100出厂之前通常会设定一个遥控距离范围和/或信号强度范围,例如,设定小于等于1500米为遥控距离范围,大于等
于X为信号强度范围。满足遥控通信条件包括以下几种情况:第一,无人机100在遥控距离范围内,例如,无人机200距离遥控器100小于等于1500米即满足遥控通信条件;第二,无人机200在遥控通信链路140中的信号强度在信号强度范围内,例如遥控通信链路140中的信号强度大于等于X即满足遥控通信条件;第三,无人机200在遥控距离范围内,同时遥控通信链路140中的信号强度须在信号强度范围内,例如无人机200距离遥控器100小于等于1500米,且在遥控通信链路140中的信号强度大于等于X才满足遥控通信条件。采用上述哪种情况的遥控通信条件可以根据遥控器100的出厂设置通过遥控器100来设定。遥控通信条件包括的内容不局限于本发明实施方式所列举,满足遥控通信条件的情况设定手段也不局限于本发明实施方式所列举,可以采用其他手段来设定。At this time, the remote communication condition includes a range of the remote control distance (distance between the remote controller 100 and the drone 200) and/or a signal (signal in the remote communication link 140) intensity range, and the remote controller 100 is usually set before leaving the factory. A range of remote control distances and/or signal strength ranges, for example, a setting of less than or equal to 1500 meters for remote control distance range, greater than, etc.
X is the signal strength range. The following conditions are met: First, the drone 100 is within the range of the remote control distance. For example, the drone 200 meets the remote communication condition by being less than or equal to 1500 meters from the remote controller 100. Second, the drone 200 The signal strength in the remote communication link 140 is within the signal strength range. For example, the signal strength in the remote control communication link 140 is greater than or equal to X, that is, the remote communication condition is satisfied. Third, the drone 200 is within the remote control distance while remotely controlling. The signal strength in the communication link 140 must be within the signal strength range. For example, the drone 200 is less than or equal to 1500 meters from the remote controller 100, and the signal strength in the remote communication link 140 is greater than or equal to X to satisfy the remote communication condition. The remote communication condition in which one of the above cases is adopted can be set by the remote controller 100 in accordance with the factory setting of the remote controller 100. The content included in the remote communication condition is not limited to the embodiment of the present invention, and the setting means for satisfying the remote communication condition is not limited to the embodiment of the present invention, and may be set by other means.
本发明一实施方式提供的遥控器100包括遥控通信模块104、手机网络通信模块106、北斗卫星报文通信模块108、第一启动模块111、第一检测模块112、第一控制模块113、第二控制模块114、第二启动模块118、第二检测模块119、及第三控制模块120。其中,第一启动模块111、第一检测模块112、第一控制模块113、第二控制模块114、第二启动模块118、第二检测模块119、及第三控制模块120可分别用于执行S1、S2、S3、S4、S8、S9及S10。具体地,遥控通信模块104用于与无人机200建立遥控通信链路140并在遥控通信条件下通过遥控通信链路140与无人机200传输数据。手机网络通信模块106用于与无人机200建立手机网络通信链路160并在手机网络通信条件下通过手机网络通信链路160与无人机200传输数据。北斗卫星报文通信模块108用于与无人机200建立北斗卫星报文通信链路180并在北斗卫星报文通信条件下通过北斗卫星报文通信链路与无人机200传输数据。第一启动模块111用于启动遥控通信模块104以在遥控通信模块104和无人机200之间建立遥控通信链路140。第一检测模块112用于检测遥控通信链路140中的信号特征是否满足遥控通信条件。第一控制模块113用于在检测到的遥控通信链路140中的信号特征满足遥控通信条件时控制遥控通信模块104采用遥控通信链路140与无人机200传输数据。第二启动模块118用于在检测到的遥控通信链路140中的信号特征不满足遥控通信条件时启动手机网络通信模块106以在手机网络通信模块106与无人机200之间建立手机网络通信链路160。第二检测模块119用于检测手机网络通信链路160中的信号特征是否满足手机网络通信条件。第三控制模块120用于在检测到的手机网络通信链路160中的信号特征满足手机网络通信条件时控制手机网络通信模块106采用手机网络通信链路160与无人机200传输数据。第二控制模块114用于在检测到的遥控通信链路140中的信号特征不满足遥控通信条件且检测到的手机网络通信链路160中的信号特征不满足手机网络通信条
件时控制北斗卫星报文通信模块108采用北斗卫星报文通信链路180与无人机200传输数据。本实施方式中的遥控通信链路140为遥控器的链路,通过2.4Ghz或者5.8Ghz的无线电与无人机200传输数据。The remote controller 100 according to an embodiment of the present invention includes a remote control communication module 104, a mobile phone network communication module 106, a Beidou satellite message communication module 108, a first startup module 111, a first detection module 112, a first control module 113, and a second The control module 114, the second startup module 118, the second detection module 119, and the third control module 120. The first startup module 111, the first detection module 112, the first control module 113, the second control module 114, the second startup module 118, the second detection module 119, and the third control module 120 are respectively configured to execute S1. , S2, S3, S4, S8, S9 and S10. Specifically, the remote control communication module 104 is configured to establish a remote communication link 140 with the drone 200 and transmit data to the drone 200 via the remote communication link 140 under remote communication conditions. The mobile phone network communication module 106 is configured to establish a mobile phone network communication link 160 with the drone 200 and transmit data to the drone 200 via the mobile phone network communication link 160 under mobile phone network communication conditions. The Beidou satellite message communication module 108 is configured to establish a Beidou satellite message communication link 180 with the drone 200 and transmit data through the Beidou satellite message communication link and the drone 200 under the Beidou satellite message communication condition. The first activation module 111 is used to activate the remote communication module 104 to establish a remote communication link 140 between the remote communication module 104 and the drone 200. The first detection module 112 is configured to detect whether the signal characteristics in the remote communication link 140 meet the remote communication conditions. The first control module 113 is configured to control the remote communication module 104 to transmit data with the drone 200 using the remote communication link 140 when the detected signal characteristics in the remote communication link 140 satisfy the remote communication condition. The second activation module 118 is configured to activate the mobile phone network communication module 106 to establish a mobile phone network communication between the mobile phone network communication module 106 and the drone 200 when the detected signal characteristics in the remote communication link 140 do not satisfy the remote communication condition. Link 160. The second detecting module 119 is configured to detect whether the signal feature in the mobile phone network communication link 160 satisfies the mobile phone network communication condition. The third control module 120 is configured to control the mobile phone network communication module 106 to transmit data by using the mobile phone network communication link 160 and the drone 200 when the detected signal characteristics in the mobile phone network communication link 160 satisfy the mobile phone network communication condition. The second control module 114 is configured to detect that the signal characteristics in the remote control communication link 140 do not satisfy the remote communication condition and the detected signal characteristics in the mobile phone network communication link 160 do not satisfy the mobile network communication bar.
The Beidou satellite message communication module 108 controls the Beidou satellite message communication link 180 and the drone 200 to transmit data. The remote communication link 140 in the present embodiment is a link of a remote controller, and transmits data through the 2.4Ghz or 5.8Ghz radio and the drone 200.
其中,请结合图4,北斗卫星报文通信模块108包括天线单元1082、射频单元1084、基带单元1086及信息输出单元1088。天线单元1082用于接收北斗射频信号。射频单元1084用于将射频信号转换为数字信号。基带单元1086用于接收数字信号以完成捕获、跟踪、解调、帧同步以及定位解算。信息输出单元1088用于根据基带单元1086完成的捕获、跟踪、解调、帧同步以及定位解算为用户提供定位结果与时间信息。信息输出单元1088包括多张民用SIM卡。北斗卫星报文通信模块108每发一条报文需要间隔60秒时间,若使用双SIM卡设计,可以使报文间隔周期减少到30秒,如果需要更高通信频率,可以以此类推增加SIM卡的数量。由于北斗卫星报文通信模块108通常不会受到地形、地势、遥控距离等因素的限制,北斗卫星报文通信链路180中的信号强度都会很强,信号丢失频率极低,因此,采用北斗卫星报文通信链路140总能实现数据传输。4, the Beidou satellite message communication module 108 includes an antenna unit 1082, a radio frequency unit 1084, a baseband unit 1086, and an information output unit 1088. The antenna unit 1082 is configured to receive a Beidou radio frequency signal. The radio frequency unit 1084 is configured to convert the radio frequency signal into a digital signal. The baseband unit 1086 is configured to receive digital signals to perform acquisition, tracking, demodulation, frame synchronization, and positioning solution. The information output unit 1088 is configured to provide positioning results and time information for the user according to the acquisition, tracking, demodulation, frame synchronization, and positioning solution performed by the baseband unit 1086. The information output unit 1088 includes a plurality of civilian SIM cards. The Beidou satellite message communication module 108 needs to be separated by 60 seconds for each message. If the dual SIM card design is used, the message interval period can be reduced to 30 seconds. If a higher communication frequency is required, the SIM card can be increased by analogy. quantity. Since the Beidou satellite message communication module 108 is generally not limited by terrain, terrain, remote control distance, etc., the signal strength in the Beidou satellite message communication link 180 will be strong, and the signal loss frequency is extremely low. Therefore, the Beidou satellite is adopted. The message communication link 140 always implements data transmission.
请结合图12,手机网络通信模块106可以包括手机网络通信单元1062、定位单元1064、以及蓝牙通信单元1066。手机网络通信单元1062用于与无人机200建立手机网络通信链路160并在手机网络通信条件下通过手机网络通信链路160与无人机200传输数据。定位单元1064可用于定位遥控器100,定位单元1064可以为GPS定位单元、北斗定位单元、GLONASS定位单元及GNS定位单元中的任意一种或多种组合。蓝牙通信单元1066用于在蓝牙通信条件下采用蓝牙通信链路与无人机200传输数据。Referring to FIG. 12, the mobile phone network communication module 106 can include a mobile phone network communication unit 1062, a positioning unit 1064, and a Bluetooth communication unit 1066. The mobile phone network communication unit 1062 is configured to establish a mobile phone network communication link 160 with the drone 200 and transmit data to the drone 200 via the mobile phone network communication link 160 under mobile phone network communication conditions. The positioning unit 1064 can be used to locate the remote controller 100. The positioning unit 1064 can be any one or more combinations of a GPS positioning unit, a Beidou positioning unit, a GLONASS positioning unit, and a GNS positioning unit. The Bluetooth communication unit 1066 is configured to transmit data with the drone 200 using a Bluetooth communication link under Bluetooth communication conditions.
本发明实施方式中的控制方法及遥控器100设置了遥控通信链路140、手机网络通信链路160及北斗卫星报文通信链路180,并在检测到的遥控通信链路140中的信号特征不满足遥控通信条件时优先启用手机网络通信模块106采用手机网络通信链路160与无人机200传输数据,只有在检测到的手机网络通信链路160中的信号特征也不满足手机网络通信条件时才控制北斗卫星报文通信模块108采用北斗卫星报文通信链路180与无人机200传输数据,如此,能够始终保证数据传输的稳定性的同时尽量做到节省成本。The control method in the embodiment of the present invention and the remote controller 100 are provided with a remote communication link 140, a mobile phone network communication link 160, and a Beidou satellite message communication link 180, and the signal characteristics in the detected remote communication link 140. When the remote communication condition is not satisfied, the mobile phone network communication module 106 preferentially enables the mobile phone network communication link 160 to transmit data with the drone 200. Only the detected signal characteristics in the mobile phone network communication link 160 do not satisfy the mobile phone network communication condition. The Beidou satellite message communication module 108 is controlled to transmit data using the Beidou satellite message communication link 180 and the drone 200. Thus, the stability of the data transmission can be ensured while saving costs as much as possible.
请参阅图14,在某些实施方式中,控制方法还包括:Referring to FIG. 14, in some embodiments, the control method further includes:
S5,扫描环境中的通信信号;S5, scanning a communication signal in the environment;
S6,判断扫描到的通信信号的信号特征是否满足遥控通信条件;及S6, determining whether the signal characteristic of the scanned communication signal satisfies the remote communication condition; and
S7,若扫描到的通信信号的信号特征满足遥控通信条件,则由北斗卫星报文通信模块108切换为遥控通信模块104以采用遥控通信链路140与远程终端200传输数据。
S7. If the signal characteristic of the scanned communication signal satisfies the remote communication condition, the Beidou satellite message communication module 108 is switched to the remote communication module 104 to transmit data with the remote terminal 200 using the remote communication link 140.
请参阅图15,本发明一实施方式提供的无人机100还包括扫描模块115、判断模块116及切换模块117,分别用于执行S5、S6及S7。也就是说,扫描模块115用于扫描环境中的通信信号。判断模块116用于判断扫描到的通信信号的信号特征是否满足遥控通信条件。切换模块117用于若扫描到的通信信号的信号特征满足遥控通信条件,则由北斗卫星报文通信模块108切换为遥控通信模块104以采用遥控通信链路140与远程终端200传输数据。Referring to FIG. 15, a drone 100 according to an embodiment of the present invention further includes a scan module 115, a determination module 116, and a switch module 117 for executing S5, S6, and S7, respectively. That is, the scanning module 115 is used to scan communication signals in the environment. The determining module 116 is configured to determine whether the signal characteristic of the scanned communication signal satisfies the remote communication condition. The switching module 117 is configured to switch from the Beidou satellite message communication module 108 to the remote communication module 104 to transmit data with the remote terminal 200 using the remote communication link 140 if the signal characteristics of the scanned communication signal satisfy the remote communication condition.
本发明实施方式中的控制方法及无人机100设置了遥控通信链路140、手机网络通信链路160及北斗卫星报文通信链路180,并在检测到的遥控通信链路140中的信号特征不满足遥控通信条件时优先启用手机网络通信模块106采用手机网络通信链路160与远程终端200传输数据,只有在检测到的手机网络通信链路160中的信号特征也不满足手机网络通信条件时才控制北斗卫星报文通信模块108采用北斗卫星报文通信链路180与远程终端200传输数据,如此,能够始终保证数据传输的稳定性的同时尽量做到节省成本。而且在无人机100重新满足了遥控通信条件时能够重新采用遥控通信链路140与远程终端200传输数据,进一步节省了成本。The control method in the embodiment of the present invention and the drone 100 are provided with a remote communication link 140, a mobile phone network communication link 160, and a Beidou satellite message communication link 180, and the signals in the detected remote communication link 140 are detected. When the feature does not satisfy the remote communication condition, the mobile phone network communication module 106 uses the mobile phone network communication link 160 to transmit data with the remote terminal 200. Only the detected signal characteristics in the mobile phone network communication link 160 do not satisfy the mobile phone network communication condition. The Beidou satellite message communication module 108 is controlled to transmit data using the Beidou satellite message communication link 180 and the remote terminal 200. Thus, the stability of data transmission can be ensured while saving costs as much as possible. Moreover, when the drone 100 re-satisfies the remote communication condition, the remote communication link 140 can be reused to transmit data with the remote terminal 200, which further saves cost.
请参阅图16,本发明一实施方式提供的遥控器100还包括扫描模块115、判断模块116及切换模块117,分别用于执行S5、S6及S7。也就是说,扫描模块115用于扫描环境中的通信信号。判断模块116用于判断扫描到的通信信号的信号特征是否满足遥控通信条件。切换模块117用于若扫描到的通信信号的信号特征满足遥控通信条件,则由北斗卫星报文通信模块108切换为遥控通信模块104以采用遥控通信链路140与远程终端200传输数据。Referring to FIG. 16, a remote controller 100 according to an embodiment of the present invention further includes a scanning module 115, a determining module 116, and a switching module 117 for performing S5, S6, and S7, respectively. That is, the scanning module 115 is used to scan communication signals in the environment. The determining module 116 is configured to determine whether the signal characteristic of the scanned communication signal satisfies the remote communication condition. The switching module 117 is configured to switch from the Beidou satellite message communication module 108 to the remote communication module 104 to transmit data with the remote terminal 200 using the remote communication link 140 if the signal characteristics of the scanned communication signal satisfy the remote communication condition.
本发明实施方式中的控制方法及遥控器100设置了遥控通信链路140、手机网络通信链路160及北斗卫星报文通信链路180,并在检测到的遥控通信链路140中的信号特征不满足遥控通信条件时优先启用手机网络通信模块106采用手机网络通信链路160与无人机200传输数据,只有在检测到的手机网络通信链路160中的信号特征也不满足手机网络通信条件时才控制北斗卫星报文通信模块108采用北斗卫星报文通信链路180与无人机200传输数据,如此,能够始终保证数据传输的稳定性的同时尽量做到节省成本。而且在遥控器100重新满足了遥控通信条件时能够重新采用遥控通信链路140与无人机200传输数据,进一步节省了成本。The control method in the embodiment of the present invention and the remote controller 100 are provided with a remote communication link 140, a mobile phone network communication link 160, and a Beidou satellite message communication link 180, and the signal characteristics in the detected remote communication link 140. When the remote communication condition is not satisfied, the mobile phone network communication module 106 preferentially enables the mobile phone network communication link 160 to transmit data with the drone 200. Only the detected signal characteristics in the mobile phone network communication link 160 do not satisfy the mobile phone network communication condition. The Beidou satellite message communication module 108 is controlled to transmit data using the Beidou satellite message communication link 180 and the drone 200. Thus, the stability of the data transmission can be ensured while saving costs as much as possible. Moreover, when the remote controller 100 re-satisfies the remote communication condition, the remote communication link 140 and the drone 200 can be reused to transmit data, which further saves cost.
请参阅图17,在某些实施方式中,控制方法还包括:Referring to FIG. 17, in some embodiments, the control method further includes:
S11,若扫描到的通信信号的信号特征不满足遥控通信条件,则判断扫描到的通信信号的信号特征是否满足手机网络通信条件;及S11, if the signal characteristic of the scanned communication signal does not satisfy the remote communication condition, determining whether the signal characteristic of the scanned communication signal satisfies the mobile network communication condition;
S12,若扫描到的通信信号的信号特征满足手机网络通信条件,则由北斗卫星报文
通信模块108切换为手机网络通信模块106采用手机网络通信链路160与远程终端200传输数据。S12, if the signal characteristic of the scanned communication signal satisfies the communication condition of the mobile phone network, the Beidou satellite message
The communication module 108 switches to the mobile phone network communication module 106 to transmit data with the remote terminal 200 using the mobile phone network communication link 160.
步骤S11与S12可分别由判断模块116及切换模块117来执行。Steps S11 and S12 can be performed by the determination module 116 and the switching module 117, respectively.
在本说明书的描述中,参考术语“某些实施方式”、“一个实施方式”、“一些实施方式”、“示意性实施方式”、“示例”、“具体示例”、或“一些示例”等的描述意指结合所述实施方式或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施方式或示例中。在本说明书中,对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且,描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。In the description of the present specification, reference is made to the terms "some embodiments", "one embodiment", "some embodiments", "illustrative embodiments", "example", "specific examples", or "some examples", etc. The descriptions of the specific features, structures, materials or features described in connection with the embodiments or examples are included in at least one embodiment or example of the invention. In the present specification, the schematic representation of the above terms does not necessarily mean the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples.
流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为,表示包括一个或更多个用于实现特定逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分,并且本发明的优选实施方式的范围包括另外的实现,其中可以不按所示出或讨论的顺序,包括根据所涉及的功能按基本同时的方式或按相反的顺序,来执行功能,这应被本发明的实施例所属技术领域的技术人员所理解。Any process or method description in the flowcharts or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a particular logical function or process. And the scope of the preferred embodiments of the invention includes additional implementations, in which the functions may be performed in a substantially simultaneous manner or in an opposite order depending on the functions involved, in the order shown or discussed. It will be understood by those skilled in the art to which the embodiments of the present invention pertain.
在流程图中表示或在此以其他方式描述的逻辑和/或步骤,例如,可以被认为是用于实现逻辑功能的可执行指令的定序列表,可以具体实现在任何计算机可读介质中,以供指令执行系统、装置或设备(如基于计算机的系统、包括处理器的系统或其他可以从指令执行系统、装置或设备取指令并执行指令的系统)使用,或结合这些指令执行系统、装置或设备而使用。就本说明书而言,"计算机可读介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行系统、装置或设备或结合这些指令执行系统、装置或设备而使用的装置。计算机可读介质的更具体的示例(非穷尽性列表)包括以下:具有一个或多个布线的电连接部(电子装置),便携式计算机盘盒(磁装置),随机存取存储器(RAM),只读存储器(ROM),可擦除可编辑只读存储器(EPROM或闪速存储器),光纤装置,以及便携式光盘只读存储器(CDROM)。另外,计算机可读介质甚至可以是可在其上打印所述程序的纸或其他合适的介质,因为可以例如通过对纸或其他介质进行光学扫描,接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得所述程序,然后将其存储在计算机存储器中。The logic and/or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for implementing logical functions, and may be embodied in any computer readable medium, Used in conjunction with, or in conjunction with, an instruction execution system, apparatus, or device (eg, a computer-based system, a system including a processor, or other system that can fetch instructions and execute instructions from an instruction execution system, apparatus, or device) Or use with equipment. For the purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport a program for use in an instruction execution system, apparatus, or device, or in conjunction with the instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer readable media include the following: electrical connections (electronic devices) having one or more wires, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM). In addition, the computer readable medium may even be a paper or other suitable medium on which the program can be printed, as it may be optically scanned, for example by paper or other medium, followed by editing, interpretation or, if appropriate, other suitable The method is processed to obtain the program electronically and then stored in computer memory.
应当理解,本发明的各部分可以用硬件、软件、固件或它们的组合来实现。在上述实施方式中,多个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或固件来实现。例如,如果用硬件来实现,和在另一实施方式中一样,可用本领域公知的下列技术中的任一项或他们的组合来实现:具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路,具有合适的组合逻辑门电路的专用集成电路,可编程门阵列(PGA),现场可编程门阵列(FPGA)等。
It should be understood that portions of the invention may be implemented in hardware, software, firmware or a combination thereof. In the above-described embodiments, multiple steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one or combination of the following techniques well known in the art: having logic gates for implementing logic functions on data signals. Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.
本技术领域的普通技术人员可以理解实现上述实施方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成,所述的程序可以存储于一种计算机可读存储介质中,该程序在执行时,包括方法实施例的步骤之一或其组合。A person skilled in the art can understand that all or part of the steps carried in implementing the above implementation method can be completed by a program to instruct related hardware, and the program can be stored in a computer readable storage medium, and the program is executed. Including one or a combination of the steps of the method embodiments.
此外,在本发明各个实施例中的各功能单元可以集成在一个处理模块中,也可以是各个单元单独物理存在,也可以两个或两个以上单元集成在一个模块中。上述集成的模块既可以采用硬件的形式实现,也可以采用软件功能模块的形式实现。所述集成的模块如果以软件功能模块的形式实现并作为独立的产品销售或使用时,也可以存储在一个计算机可读取存储介质中。In addition, each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. The integrated modules, if implemented in the form of software functional modules and sold or used as stand-alone products, may also be stored in a computer readable storage medium.
上述提到的存储介质可以是只读存储器,磁盘或光盘等。尽管上面已经示出和描述了本发明的实施例,可以理解的是,上述实施例是示例性的,不能理解为对本发明的限制,本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。
The above mentioned storage medium may be a read only memory, a magnetic disk or an optical disk or the like. Although the embodiments of the present invention have been shown and described, it is understood that the above-described embodiments are illustrative and are not to be construed as limiting the scope of the invention. The embodiments are subject to variations, modifications, substitutions and variations.
Claims (25)
- 一种控制方法,用于控制电子装置,所述电子装置包括遥控通信模块与北斗卫星报文通信模块,所述遥控通信模块能够与远程终端建立遥控通信链路并在遥控通信条件下通过所述遥控通信链路与所述远程终端传输数据,所述北斗卫星报文通信模块能够与远程终端建立北斗卫星报文通信链路以与所述远程终端传输数据;其特征在于,所述控制方法包括以下步骤:A control method for controlling an electronic device, the electronic device comprising a remote control communication module and a Beidou satellite message communication module, the remote communication module being capable of establishing a remote communication link with the remote terminal and passing the remote communication condition Transmitting a data with the remote terminal and the remote terminal, the BeiDou satellite message communication module being capable of establishing a Beidou satellite message communication link with the remote terminal to transmit data with the remote terminal; wherein the control method comprises The following steps:启动所述遥控通信模块以在所述遥控通信模块和所述远程终端之间建立遥控通信链路;Activating the remote communication module to establish a remote communication link between the remote communication module and the remote terminal;检测所述遥控通信链路中的信号特征是否满足所述遥控通信条件;及Detecting whether a signal characteristic in the remote communication link satisfies the remote communication condition; and在检测到的所述遥控通信链路中的信号特征满足所述遥控通信条件时控制所述遥控通信模块采用所述遥控通信链路与所述远程终端传输数据;Controlling, by the remote control communication module, the remote communication module to transmit data with the remote terminal when the detected signal feature in the remote communication link satisfies the remote communication condition;在检测到的所述遥控通信链路中的信号特征不满足所述遥控通信条件时控制所述北斗卫星报文通信模块采用北斗卫星报文通信链路与所述远程终端传输数据。And controlling, when the detected signal feature in the remote communication link does not satisfy the remote communication condition, the Beidou satellite message communication module to transmit data by using a Beidou satellite message communication link and the remote terminal.
- 如权利要求1所述的控制方法,其特征在于,所述控制方法还包括:The control method according to claim 1, wherein the control method further comprises:扫描环境中的通信信号;Scanning communication signals in the environment;判断扫描到的所述通信信号的信号特征是否满足所述遥控通信条件;及Determining whether the signal characteristic of the scanned communication signal satisfies the remote communication condition; and若所述扫描到的所述通信信号的信号特征满足所述遥控通信条件,则由所述北斗卫星报文通信模块切换为所述遥控通信模块以采用所述遥控通信链路与所述远程终端传输数据。And if the signal characteristic of the scanned communication signal satisfies the remote communication condition, the Beidou satellite message communication module switches to the remote communication module to adopt the remote communication link and the remote terminal. transfer data.
- 如权利要求1所述的控制方法,其特征在于,所述电子装置还包括手机网络通信模块,所述手机网络通信模块能够与所述远程终端建立手机网络通信链路并在手机网络通信条件下通过所述手机网络通信链路与所述远程终端传输数据;在检测到的所述遥控通信链路中的信号特征不满足所述遥控通信条件且启动所述北斗卫星报文通信模块之前还包括以下步骤:The control method according to claim 1, wherein the electronic device further comprises a mobile phone network communication module, wherein the mobile phone network communication module is capable of establishing a mobile phone network communication link with the remote terminal and under the condition of mobile phone network communication Transmitting data with the remote terminal through the mobile phone network communication link; further comprising before detecting that the signal feature in the remote communication link does not satisfy the remote communication condition and starting the Beidou satellite message communication module The following steps:启动所述手机网络通信模块以在所述手机网络通信模块与所述远程终端之间建立所述手机网络通信链路;Activating the mobile phone network communication module to establish the mobile phone network communication link between the mobile phone network communication module and the remote terminal;检测所述手机网络通信链路中的信号特征是否满足所述手机网络通信条件;及Detecting whether a signal feature in the mobile phone network communication link satisfies the mobile phone network communication condition; and在检测到的所述手机网络通信链路中的信号特征满足所述手机网络通信条件时控制所述手机网络通信模块采用所述手机网络通信链路与所述远程终端传输数据;Controlling, by the mobile phone network communication module, the mobile phone network communication link and the remote terminal to transmit data when the detected signal feature in the mobile phone network communication link satisfies the mobile phone network communication condition;所述在检测到的所述遥控通信链路中的信号特征不满足所述遥控通信条件时启动所述 北斗卫星报文通信模块采用北斗卫星报文通信链路与所述远程终端传输数据的步骤是在检测到的所述遥控通信链路中的信号特征不满足所述遥控通信条件且不满足所述手机网络通信条件时执行。The initiating the detecting when the detected signal feature in the remote communication link does not satisfy the remote communication condition The step of the Beidou satellite message communication module transmitting data using the Beidou satellite message communication link and the remote terminal is that the detected signal characteristics in the remote communication link do not satisfy the remote communication condition and do not satisfy the Execute when the mobile phone network communication conditions.
- 如权利要求3所述的控制方法,其特征在于,所述控制方法还包括:The control method according to claim 3, wherein the control method further comprises:扫描环境中的通信信号;Scanning communication signals in the environment;判断扫描到的所述通信信号的信号特征是否满足所述遥控通信条件;Determining whether the signal characteristic of the scanned communication signal satisfies the remote communication condition;若所述扫描到的所述通信信号的信号特征满足所述遥控通信条件,则由所述北斗卫星报文通信模块或所述手机网络通信模块切换为所述遥控通信模块采用所述遥控通信链路与所述远程终端传输数据。And if the signal characteristic of the scanned communication signal satisfies the remote communication condition, the remote communication communication module is switched by the Beidou satellite message communication module or the mobile phone network communication module, and the remote communication link is adopted. The road transmits data with the remote terminal.
- 如权利要求4所述的控制方法,其特征在于,所述控制方法还包括:The control method according to claim 4, wherein the control method further comprises:若所述扫描到的所述通信信号的信号特征不满足所述遥控通信条件,则判断扫描到的所述通信信号的信号特征是否满足所述手机网络通信条件;及Determining whether the signal characteristic of the scanned communication signal satisfies the mobile phone network communication condition if the scanned signal characteristic of the communication signal does not satisfy the remote communication condition;若扫描到的所述通信信号的信号特征满足所述手机网络通信条件,则由所述北斗卫星报文通信模块切换为所述手机网络通信模块采用所述手机网络通信链路与所述远程终端传输数据。If the signal characteristic of the scanned communication signal satisfies the mobile phone network communication condition, the Beidou satellite message communication module switches to the mobile phone network communication module to use the mobile phone network communication link and the remote terminal. transfer data.
- 一种遥控器,用于控制无人机,其特征在于,所述遥控器包括:A remote controller for controlling a drone, wherein the remote controller comprises:遥控通信模块,能够与所述无人机建立遥控通信链路并在遥控通信条件下通过所述遥控通信链路与所述无人机传输数据;a remote communication module capable of establishing a remote communication link with the drone and transmitting data with the drone through the remote communication link under remote communication conditions;北斗卫星报文通信模块,能够与所述无人机建立北斗卫星报文通信链路并在北斗卫星报文通信条件下通过所述北斗卫星报文通信链路与所述无人机传输数据;The Beidou satellite message communication module is capable of establishing a Beidou satellite message communication link with the drone and transmitting data to the drone through the Beidou satellite message communication link under the Beidou satellite message communication condition;第一启动模块,用于启动所述遥控通信模块以在所述遥控通信模块和所述无人机之间建立遥控通信链路;a first startup module, configured to activate the remote communication module to establish a remote communication link between the remote communication module and the drone;第一检测模块,用于检测所述遥控通信链路中的信号特征是否满足所述遥控通信条件;a first detecting module, configured to detect whether a signal feature in the remote communication link satisfies the remote communication condition;第一控制模块,用于在检测到的所述遥控通信链路中的信号特征满足所述遥控通信条件时控制所述遥控通信模块采用所述遥控通信链路与所述无人机传输数据;及a first control module, configured to control the remote communication module to transmit data by using the remote communication link and the drone when the detected signal feature in the remote communication link satisfies the remote communication condition; and第二控制模块,用于在检测到的所述遥控通信链路中的信号特征不满足所述遥控通信条件时控制所述北斗卫星报文通信模块采用北斗卫星报文通信链路与所述无人机传输数据。 a second control module, configured to control, when the detected signal feature in the remote communication link does not satisfy the remote communication condition, the Beidou satellite message communication module adopts a Beidou satellite message communication link and the absence Human machine transmits data.
- 如权利要求6所述的遥控器,其特征在于,所述遥控器还包括:The remote controller according to claim 6, wherein the remote controller further comprises:扫描模块,用于扫描环境中的通信信号;a scanning module for scanning communication signals in an environment;判断模块,用于判断扫描到的所述通信信号的信号特征是否满足所述遥控通信条件;及a determining module, configured to determine whether a signal feature of the scanned communication signal meets the remote communication condition; and切换模块,用于若所述扫描到的所述通信信号的信号特征满足所述遥控通信条件,则由所述北斗卫星报文通信模块切换为所述遥控通信模块以采用所述遥控通信链路与所述无人机传输数据。a switching module, configured to switch from the Beidou satellite message communication module to the remote communication module to adopt the remote communication link, if the signal characteristic of the scanned communication signal satisfies the remote communication condition Data is transmitted with the drone.
- 如权利要求6所述的遥控器,其特征在于,所述遥控器还包括:The remote controller according to claim 6, wherein the remote controller further comprises:手机网络通信模块,用于与所述无人机建立手机网络通信链路并在手机网络通信条件下通过所述手机网络通信链路与所述无人机传输数据;a mobile phone network communication module, configured to establish a mobile phone network communication link with the drone and transmit data to the drone through the mobile phone network communication link under mobile phone network communication conditions;第二启动模块,用于在检测到的所述遥控通信链路中的信号特征不满足所述遥控通信条件时启动所述手机网络通信模块以在所述手机网络通信模块与所述无人机之间建立所述手机网络通信链路;a second startup module, configured to start the mobile phone network communication module to detect the mobile phone network communication module and the drone when the detected signal feature in the remote communication link does not satisfy the remote communication condition Establishing the mobile phone network communication link between;第二检测模块,用于检测所述手机网络通信链路中的信号特征是否满足所述手机网络通信条件;及a second detecting module, configured to detect whether a signal feature in the mobile phone network communication link meets the mobile phone network communication condition; and第三控制模块,用于在检测到的所述手机网络通信链路中的信号特征满足所述手机网络通信条件时控制所述手机网络通信模块采用所述手机网络通信链路与所述无人机传输数据;a third control module, configured to control, by the mobile phone network communication module, the mobile phone network communication link and the unmanned when the detected signal feature in the mobile phone network communication link satisfies the mobile phone network communication condition Machine transfer data;所述第二控制模块用于在检测到的所述遥控通信链路中的信号特征不满足所述遥控通信条件且检测到的所述手机网络通信链路中的信号特征不满足所述手机网络通信条件时控制所述北斗卫星报文通信模块采用北斗卫星报文通信链路与所述无人机传输数据。The second control module is configured to: when the detected signal feature in the remote communication link does not satisfy the remote communication condition, and the detected signal feature in the mobile phone network communication link does not satisfy the mobile phone network When the communication condition is controlled, the Beidou satellite message communication module uses the Beidou satellite message communication link and the drone to transmit data.
- 如权利要求8所述的遥控器,其特征在于,所述遥控器还包括:The remote controller according to claim 8, wherein the remote controller further comprises:扫描模块,用于扫描环境中的通信信号;a scanning module for scanning communication signals in an environment;判断模块,用于判断扫描到的所述通信信号的信号特征是否满足所述遥控通信条件;a determining module, configured to determine whether a signal feature of the scanned communication signal meets the remote communication condition;切换模块,用于若所述扫描到的所述通信信号的信号特征满足所述遥控通信条件,则由所述北斗卫星报文通信模块或所述手机网络通信模块切换为所述遥控通信模块采用所述遥控通信链路与所述无人机传输数据。a switching module, configured to switch from the Beidou satellite message communication module or the mobile phone network communication module to the remote communication module if the signal characteristic of the scanned communication signal satisfies the remote communication condition The remote communication link transmits data with the drone.
- 如权利要求9所述的遥控器,其特征在于,The remote controller according to claim 9, wherein所述判断模块还用于若所述扫描到的所述通信信号的信号特征不满足所述遥控通信条 件,则判断扫描到的所述通信信号的信号特征是否满足所述手机网络通信条件;及The determining module is further configured to: if the signal feature of the scanned communication signal does not satisfy the remote control communication bar And determining whether the signal characteristic of the scanned communication signal satisfies the communication condition of the mobile phone network; and所述切换模块还用于若扫描到的所述通信信号的信号特征满足所述手机网络通信条件,则由所述北斗卫星报文通信模块切换为所述手机网络通信模块采用所述手机网络通信链路与所述无人机传输数据。The switching module is further configured to: if the signal characteristic of the scanned communication signal meets the mobile phone network communication condition, switch from the Beidou satellite message communication module to the mobile phone network communication module, and use the mobile phone network communication The link transmits data with the drone.
- 如权利要求8-10任意一项所述的遥控器,其特征在于,所述手机网络通信链路包括2G网络通信链路、3G网络通信链路、4G网络通信链路中的任意一种或多种。The remote controller according to any one of claims 8 to 10, wherein the mobile phone network communication link comprises any one of a 2G network communication link, a 3G network communication link, and a 4G network communication link or A variety.
- 如权利要求8-10任意一项所述的遥控器,其特征在于,所述手机网络通信模块包括:The remote controller according to any one of claims 8 to 10, wherein the mobile phone network communication module comprises:手机网络通信单元,用于与所述无人机建立所述手机网络通信链路并在所述手机网络通信条件下通过所述手机网络通信链路与所述无人机传输数据;a mobile phone network communication unit, configured to establish the mobile phone network communication link with the drone and transmit data to the drone through the mobile phone network communication link under the mobile phone network communication condition;定位单元,用于定位所述无人机;和/或a positioning unit for positioning the drone; and/or蓝牙通信单元,用于在蓝牙通信条件下采用蓝牙通信链路与所述无人机传输数据。a Bluetooth communication unit for transmitting data with the drone using a Bluetooth communication link under Bluetooth communication conditions.
- 如权利要求12所述的遥控器,其特征在于,所述定位单元包括GPS定位单元、北斗定位单元、GLONASS定位单元及GNS定位单元中任意一种或多种。The remote controller according to claim 12, wherein the positioning unit comprises any one or more of a GPS positioning unit, a Beidou positioning unit, a GLONASS positioning unit, and a GNS positioning unit.
- 如权利要求6-10任意一项所述的遥控器,其特征在于,所述北斗卫星报文通信模块包括:The remote controller according to any one of claims 6 to 10, wherein the Beidou satellite message communication module comprises:天线单元,用于接收北斗射频信号;An antenna unit for receiving a Beidou RF signal;射频单元,用于将所述射频信号转换为数字信号;a radio frequency unit for converting the radio frequency signal into a digital signal;基带单元,用于接收所述数字信号以完成捕获、跟踪、解调、帧同步以及定位解算;以及a baseband unit for receiving the digital signal to perform acquisition, tracking, demodulation, frame synchronization, and positioning solution;信息输出单元,用于为用户提供定位结果与时间信息。An information output unit is configured to provide positioning results and time information for the user.
- 如权利要求14所述的遥控器,其特征在于,所述信息输出单元包括多张民用SIM卡。The remote controller according to claim 14, wherein said information output unit comprises a plurality of civilian SIM cards.
- 一种无人机,用于被远程终端控制,其特征在于,所述无人机包括:A drone for controlling by a remote terminal, wherein the drone includes:遥控通信模块,能够与所述远程终端建立遥控通信链路并在遥控通信条件下通过所述遥控通信链路与所述远程终端传输数据; a remote communication module capable of establishing a remote communication link with the remote terminal and transmitting data with the remote terminal through the remote communication link under remote communication conditions;北斗卫星报文通信模块,能够与所述远程终端建立北斗卫星报文通信链路并在北斗卫星报文通信条件下通过所述北斗卫星报文通信链路与所述远程终端传输数据;The Beidou satellite message communication module is capable of establishing a Beidou satellite message communication link with the remote terminal and transmitting data to the remote terminal through the Beidou satellite message communication link under the Beidou satellite message communication condition;第一启动模块,用于启动所述遥控通信模块以在所述遥控通信模块和所述远程终端之间建立遥控通信链路;a first startup module, configured to activate the remote communication module to establish a remote communication link between the remote communication module and the remote terminal;第一检测模块,用于检测所述遥控通信链路中的信号特征是否满足所述遥控通信条件;a first detecting module, configured to detect whether a signal feature in the remote communication link satisfies the remote communication condition;第一控制模块,用于在检测到的所述遥控通信链路中的信号特征满足所述遥控通信条件时控制所述遥控通信模块采用所述遥控通信链路与所述远程终端传输数据;及a first control module, configured to control the remote communication module to transmit data by using the remote communication link and the remote terminal when the detected signal feature in the remote communication link satisfies the remote communication condition; and第二控制模块,用于在检测到的所述遥控通信链路中的信号特征不满足所述遥控通信条件时控制所述北斗卫星报文通信模块采用北斗卫星报文通信链路与所述远程终端传输数据。a second control module, configured to control, when the detected signal feature in the remote communication link does not satisfy the remote communication condition, the Beidou satellite message communication module adopts a Beidou satellite message communication link and the remote The terminal transmits data.
- 如权利要求16所述的无人机,其特征在于,所述无人机还包括:The drone of claim 16, wherein the drone further comprises:扫描模块,用于扫描环境中的通信信号;a scanning module for scanning communication signals in an environment;判断模块,用于判断扫描到的所述通信信号的信号特征是否满足所述遥控通信条件;及a determining module, configured to determine whether a signal feature of the scanned communication signal meets the remote communication condition; and切换模块,用于若所述扫描到的所述通信信号的信号特征满足所述遥控通信条件,则由所述北斗卫星报文通信模块切换为所述遥控通信模块以采用所述遥控通信链路与所述远程终端传输数据。a switching module, configured to switch from the Beidou satellite message communication module to the remote communication module to adopt the remote communication link, if the signal characteristic of the scanned communication signal satisfies the remote communication condition Transmitting data with the remote terminal.
- 如权利要求16所述的无人机,其特征在于,所述无人机还包括:The drone of claim 16, wherein the drone further comprises:手机网络通信模块,用于与所述远程终端建立手机网络通信链路并在手机网络通信条件下通过所述手机网络通信链路与所述远程终端传输数据;a mobile phone network communication module, configured to establish a mobile phone network communication link with the remote terminal and transmit data to the remote terminal through the mobile phone network communication link under mobile phone network communication conditions;第二启动模块,用于在检测到的所述遥控通信链路中的信号特征不满足所述遥控通信条件时启动所述手机网络通信模块以在所述手机网络通信模块与所述远程终端之间建立所述手机网络通信链路;a second startup module, configured to activate the mobile phone network communication module to detect the mobile phone network communication module and the remote terminal when the detected signal feature in the remote communication link does not satisfy the remote communication condition Establishing the mobile phone network communication link;第二检测模块,用于检测所述手机网络通信链路中的信号特征是否满足所述手机网络通信条件;及a second detecting module, configured to detect whether a signal feature in the mobile phone network communication link meets the mobile phone network communication condition; and第三控制模块,用于在检测到的所述手机网络通信链路中的信号特征满足所述手机网络通信条件时控制所述手机网络通信模块采用所述手机网络通信链路与所述远程终端传输数据;a third control module, configured to control, by the mobile phone network communication module, the mobile phone network communication link and the remote terminal when the detected signal feature in the mobile phone network communication link satisfies the mobile phone network communication condition transfer data;所述第二控制模块用于在检测到的所述遥控通信链路中的信号特征不满足所述遥控通信条件且检测到的所述手机网络通信链路中的信号特征不满足所述手机网络通信条件时控 制所述北斗卫星报文通信模块采用北斗卫星报文通信链路与所述远程终端传输数据。The second control module is configured to: when the detected signal feature in the remote communication link does not satisfy the remote communication condition, and the detected signal feature in the mobile phone network communication link does not satisfy the mobile phone network Communication condition time control The Beidou satellite message communication module uses the Beidou satellite message communication link to transmit data with the remote terminal.
- 如权利要求18所述的无人机,其特征在于,所述无人机还包括:The drone of claim 18, wherein the drone further comprises:扫描模块,用于扫描环境中的通信信号;a scanning module for scanning communication signals in an environment;判断模块,用于判断扫描到的所述通信信号的信号特征是否满足所述遥控通信条件;a determining module, configured to determine whether a signal feature of the scanned communication signal meets the remote communication condition;切换模块,用于若所述扫描到的所述通信信号的信号特征满足所述遥控通信条件,则由所述北斗卫星报文通信模块或所述手机网络通信模块切换为所述遥控通信模块采用所述遥控通信链路与所述远程终端传输数据。a switching module, configured to switch from the Beidou satellite message communication module or the mobile phone network communication module to the remote communication module if the signal characteristic of the scanned communication signal satisfies the remote communication condition The remote communication link transmits data with the remote terminal.
- 如权利要求19所述的无人机,其特征在于,The drone of claim 19, wherein所述判断模块还用于若所述扫描到的所述通信信号的信号特征不满足所述遥控通信条件,则判断扫描到的所述通信信号的信号特征是否满足所述手机网络通信条件;及The determining module is further configured to: if the signal feature of the scanned communication signal does not satisfy the remote communication condition, determine whether the signal characteristic of the scanned communication signal satisfies the mobile phone network communication condition;所述切换模块还用于若扫描到的所述通信信号的信号特征满足所述手机网络通信条件,则由所述北斗卫星报文通信模块切换为所述手机网络通信模块采用所述手机网络通信链路与所述远程终端传输数据。The switching module is further configured to: if the signal characteristic of the scanned communication signal meets the mobile phone network communication condition, switch from the Beidou satellite message communication module to the mobile phone network communication module, and use the mobile phone network communication The link transmits data with the remote terminal.
- 如权利要求18-20任意一项所述的无人机,其特征在于,所述手机网络通信链路包括2G网络通信链路、3G网络通信链路、4G网络通信链路中的任意一种或多种。The drone according to any one of claims 18 to 20, wherein the mobile phone network communication link comprises any one of a 2G network communication link, a 3G network communication link, and a 4G network communication link. Or a variety.
- 如权利要求18-20任意一项所述的无人机,其特征在于,所述手机网络通信模块包括:The UAV according to any one of claims 18 to 20, wherein the mobile phone network communication module comprises:手机网络通信单元,用于与所述无人机建立所述手机网络通信链路并在所述手机网络通信条件下通过所述手机网络通信链路与所述无人机传输数据;a mobile phone network communication unit, configured to establish the mobile phone network communication link with the drone and transmit data to the drone through the mobile phone network communication link under the mobile phone network communication condition;定位单元,用于定位所述无人机;和/或a positioning unit for positioning the drone; and/or蓝牙通信单元,用于在蓝牙通信条件下采用蓝牙通信链路与所述无人机传输数据。a Bluetooth communication unit for transmitting data with the drone using a Bluetooth communication link under Bluetooth communication conditions.
- 如权利要求22所述的无人机,其特征在于,所述定位单元包括GPS定位单元、北斗定位单元、GLONASS定位单元及GNS定位单元中任意一种或多种。The drone according to claim 22, wherein the positioning unit comprises any one or more of a GPS positioning unit, a Beidou positioning unit, a GLONASS positioning unit, and a GNS positioning unit.
- 如权利要求16-20任意一项所述的无人机,其特征在于,所述北斗卫星报文通信模块包括:The UAV according to any one of claims 16 to 20, wherein the Beidou satellite message communication module comprises:天线单元,用于接收北斗射频信号; An antenna unit for receiving a Beidou RF signal;射频单元,用于将所述射频信号转换为数字信号;a radio frequency unit for converting the radio frequency signal into a digital signal;基带单元,用于接收所述数字信号以完成捕获、跟踪、解调、帧同步以及定位解算;以及a baseband unit for receiving the digital signal to perform acquisition, tracking, demodulation, frame synchronization, and positioning solution;信息输出单元,用于为用户提供定位结果与时间信息。An information output unit is configured to provide positioning results and time information for the user.
- 如权利要求24所述的无人机,其特征在于,所述信息输出单元包括多张民用SIM卡。 A drone according to claim 24, wherein said information output unit comprises a plurality of civilian SIM cards.
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