Control method

Abstract

A method for controlling a first unmanned vehicle system, comprising: determining whether each of a plurality of working channels is occupied by a second unmanned vehicle system in one or more second unmanned vehicle systems to obtain the status of the plurality of working channels; and outputting the status of the plurality of working channels via a control terminal of the first unmanned vehicle system. Each status includes an occupied status or an idle status.

Description

Technical Field

[0001] The present disclosure relates to wireless communication technologies, and more particularly, to an unmanned carrier vehicle system and a method for controlling an unmanned carrier vehicle system. Background Art

[0002] Data (such as images and remote control instructions) is transmitted between an unmanned aerial vehicle (UAV) and a ground station via a wireless channel. When multiple UAVs (such as first-person view (FPV) racing UAVs) operate in the same airspace, the wireless signals of the multiple UAVs interfere with each other, resulting in image transmission failure and even UAV crashes.

[0003] To avoid channel interference, a computer is usually used to preset a fixed channel configuration or plan. Multiple UAVs can perform image transmission on different pre-allocated channels. However, dynamic configuration cannot be achieved. If the channel configuration needs to be changed, the reconfiguration process is cumbersome, and the coordination efficiency of multiple UAVs is very low. The channel configuration is usually determined through oral communication and coordination among users of multiple UAVs. Thus, when the distance between users is far, there are problems such as users being unclear about the actual occupancy status of the channel, users being unable to track channel changes in a timely manner, or poor communication or low communication efficiency.

[0004] Conventionally, dynamic configuration is achieved by deploying a wireless base station at an operation site and using a centralized management mode. The channel configuration is wirelessly notified to the UAV via the wireless base station. However, deploying a wireless base station is complex and expensive. Due to site and cost limitations, most UAV flight performances and competitions do not support the deployment of wireless base stations.

[0005] Therefore, there is an urgent need for a simple and low-cost channel management method that supports dynamic channel adjustment and coordination. Summary of the Invention

[0006] According to the present disclosure, there is provided a method for controlling a first unmanned carrier vehicle system, the method including: determining whether each of a plurality of working channels is occupied by a second unmanned carrier vehicle system among one or more second unmanned carrier vehicle systems to obtain the states of the plurality of working channels; and outputting the states of the plurality of working channels via a control terminal of the first unmanned carrier vehicle system. Each state includes an occupied state or an idle state.

[0007] According to the present disclosure, there is also provided a method for controlling a first unmanned vehicle system, the method comprising: determining an occupied working channel occupied by the occupied unmanned vehicle system as a target channel; sending a preemption message to the occupied unmanned vehicle system; and switching a wireless communication link of the first unmanned vehicle system to the target channel. The occupied unmanned vehicle system is a second unmanned vehicle system among one or more second unmanned vehicle systems. The preemption message requests the occupied unmanned vehicle system to exit the target channel.

[0008] According to the present disclosure, there is also provided a method for controlling a second unmanned vehicle system, the method comprising: receiving a preemption message from a first unmanned vehicle system; and in response to the preemption message, outputting a preemption notice via a control terminal of the second unmanned vehicle system. The preemption message requests the second unmanned vehicle system occupying the target channel to exit the target channel

[0009] According to the present disclosure, there is also provided a system, the system comprising: one or more processors; and one or more memories coupled to the one or more processors and storing instructions that, when executed by the one or more processors, cause the one or more processors to: determine whether each of a plurality of working channels is occupied by a second unmanned vehicle system among one or more second unmanned vehicle systems to obtain states of the plurality of working channels; and output the states of the plurality of working channels via a control terminal of a first unmanned vehicle system. Each state includes an occupied state or an idle state.

[0010] According to the present disclosure, there is also provided a system, the system comprising: one or more processors; and one or more memories coupled to the one or more processors and storing instructions that, when executed by the one or more processors, cause the one or more processors to: determine an occupied working channel occupied by the occupied unmanned vehicle system as a target channel; send a preemption message to the occupied unmanned vehicle system; and switch a wireless communication link of the first unmanned vehicle system to the target channel. The occupied unmanned vehicle system is a second unmanned vehicle system among one or more second unmanned vehicle systems. The preemption message requests the occupied unmanned vehicle system to exit the target channel.

[0011] According to the present disclosure, a system is also provided, the system including: one or more processors; and one or more memories coupled to the one or more processors and storing instructions that, when executed by the one or more processors, cause the one or more processors to: receive a preemption message from a first unmanned vehicle system; and in response to the preemption message, output a preemption notice via a control terminal of the second unmanned vehicle system. The preemption message requests the second unmanned vehicle system occupying a target channel to exit the target channel. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 is a schematic diagram of a multi-unmanned vehicle network according to the present disclosure.

[0013] Figure 2 is according to the present disclosure Figure 1 a schematic diagram of a channel for planning a multi-unmanned vehicle network in

[0014] Figure 3 is according to the present disclosure Figure 1 a schematic diagram of an unmanned vehicle system of a multi-unmanned vehicle network in

[0015] Figure 4 is according to the present disclosure Figure 1 a schematic diagram of another unmanned vehicle system of a multi-unmanned vehicle network in

[0016] Figure 5 is according to the present disclosure Figure 1 a schematic diagram of another unmanned vehicle system of a multi-unmanned vehicle network in

[0017] Figure 6 is a schematic flowchart of a method for controlling an unmanned vehicle system according to the present disclosure.

[0018] Figure 7 is a schematic flowchart of scanning multiple working channels according to the present disclosure.

[0019] Figure 8 is a schematic diagram of a user interface (UI) according to the present disclosure.

[0020] Figure 9 is a schematic flowchart of switching a wireless communication link of a first unmanned vehicle system to a target channel according to the present disclosure.

[0021] Figure 10A 、 10B and 10C are schematic flowcharts of another method for controlling an unmanned vehicle system according to the present disclosure.

[0022] Figure 11A and Figure 11B is a schematic diagram of another UI according to the present disclosure.

[0023] Figure 12 Schematically shows a pre-emptive communication link according to the present disclosure.

[0024] Figure 13 is a schematic flowchart for sending a pre-emptive message to an occupied unmanned vehicle system according to the present disclosure.

[0025] Figure 14 is a schematic flowchart for determining the reception time point of an occupied unmanned vehicle system receiving a pre-emptive message according to the present disclosure.

[0026] Figure 15 is another schematic flowchart for switching the wireless communication link of the first unmanned vehicle system to a target channel according to the present disclosure.

[0027] Figure 16 is a schematic diagram of another UI according to the present disclosure.

[0028] Figure 17A 、 Figure 17B and Figure 17C is a schematic flowchart of a method for controlling an occupied unmanned vehicle system according to the present disclosure.

[0029] Figure 18 is a schematic flowchart of another method for controlling an unmanned vehicle system according to the present disclosure. Detailed Description of the Invention

[0030] Hereinafter, embodiments according to the present disclosure will be described with reference to the accompanying drawings, which are only examples for illustrative purposes and are not intended to limit the scope of the present disclosure. In all the drawings, the same reference numerals will be used as much as possible to denote the same or similar components.

[0031] Figure 1 is a schematic diagram of an exemplary multi-unmanned vehicle network 100 according to the present disclosure. As Figure 1 shown, the multi-unmanned vehicle network 100 includes a plurality of unmanned vehicle systems denoted as 110 to 1N0. In some embodiments, at least two of the plurality of unmanned vehicle systems can work simultaneously. To avoid communication interference between the plurality of unmanned vehicle systems, the plurality of unmanned vehicle systems can be dynamically allocated to different channels among a plurality of working channels.

[0032] Figure 2 is a schematic diagram of an exemplary channel for the planning of the multi-unmanned vehicle network 100 according to the present disclosure. As Figure 2As shown, the operating frequency band of the multi-unmanned vehicle network 100 is divided into a plurality of operating channels denoted as 1 to N. The number of the plurality of operating channels may be not less than the number of the plurality of unmanned vehicle systems of the multi-unmanned vehicle network 100. For example, as Figure 1 shown, the number of the plurality of unmanned vehicle systems is N, and as Figure 2 shown, the number of the plurality of operating channels is equal to N.

[0033] The operating frequency band of the multi-unmanned vehicle network 100 may be any suitable frequency band, such as, for example, a radio frequency band, a microwave frequency band, a millimeter wave frequency band, a centimeter wave frequency band, an optical wave frequency band, etc. In some embodiments, a frequency interval is set between adjacent operating channels among the plurality of operating channels to, for example, prevent inter-channel interference. Such a frequency interval may also be referred to as a "safe frequency interval". The frequency interval may be set according to the operating frequency band of the multi-unmanned vehicle network 100. For example, if the operating frequency band of the multi-unmanned vehicle network 100 is a radio frequency band, the frequency interval may be about 25 kHz, about 20 kHz, about 12.5 kHz, etc. As another example, if the operating frequency band of the multi-unmanned vehicle network 100 is an optical wave frequency band, the frequency interval may be about 25 GHz, about 50 GHz, about 100 GHz, etc.

[0034] In some embodiments, as Figure 2 shown, the plurality of operating channels further includes a common channel. For example, when one of the plurality of unmanned vehicle systems (e.g., the unmanned vehicle system 110) is powered on, the unmanned vehicle system 110 may be first assigned to the common channel instead of directly assigning the unmanned vehicle system 100 to a target channel (i.e., one of the plurality of operating channels). If the target channel is occupied by another unmanned vehicle system among the plurality of unmanned vehicle systems, such as the unmanned vehicle system 130, directly assigning the unmanned vehicle system 110 to the target channel will cause communication interference between the unmanned vehicle system 110 and the unmanned vehicle system 130. As another example, when the target channel is occupied by the unmanned vehicle system 120 and the unmanned vehicle system 110 determines to preempt the target channel, the unmanned vehicle system 120 may switch to the common channel before the unmanned vehicle system 110 switches to the target channel, thereby avoiding communication interference between the unmanned vehicle system 110 and the unmanned vehicle system 120.

[0035] Referring again to Figure 1, each of multiple unmanned carrier vehicle systems includes an unmanned carrier vehicle and a control terminal. For example, the unmanned carrier vehicle system 110 includes an unmanned carrier vehicle 111 and a control terminal 113, the unmanned carrier vehicle system 120 includes an unmanned carrier vehicle 121 and a control terminal 123, and the unmanned carrier vehicle system 1N0 includes an unmanned carrier vehicle 1N1 and a control terminal 1N3. In some embodiments, the common channel can be a peer-to-peer communication channel, and the multiple working channels represented as 1 to N can be broadcast communication channels. For example, when the unmanned carrier vehicle system 110 is in the common channel, the unmanned carrier vehicle 111 can send communication signals in peer-to-peer mode, for example, communicate only with the corresponding control terminal 113. When the unmanned carrier vehicle system 110 is in one of the multiple working channels represented as 1 to N, the unmanned carrier vehicle 111 can send communication signals in broadcast mode. That is, one or more unmanned carrier vehicles (such as the unmanned carrier vehicle 121, the unmanned carrier vehicle 1N1, etc.) and control terminals (such as the control terminal 123 of the unmanned carrier vehicle system 130, the control terminal 1N3 of the unmanned carrier vehicle system 1N0, etc.) switch to the communication channel of the unmanned carrier vehicle system 110 (i.e., one of the multiple working channels represented as 1 to N), and receive communication signals from the unmanned carrier vehicle 111 in broadcast mode.

[0036] Figure 3 is a schematic diagram of an example unmanned carrier vehicle system of the multi-unmanned carrier vehicle network 100 according to the present disclosure. As Figure 3 shown, taking the unmanned carrier vehicle system 110 as an example, the unmanned carrier vehicle 111 includes: an image capture device 1111 configured to capture images; an encoder 1113 coupled to the image capture device 1111 and configured to encode the captured images to generate encoded data; and a transceiver 1115 coupled to the encoder 1113. In some embodiments, the encoder 1113 can be completely bypassed or omitted, and the transceiver 1115 can be directly coupled to the image capture device 1111.

[0037] In some embodiments, the image capture device 1111 may include an image sensor. The image capture device 1111 may also include a lens or a lens group. The image sensor may be, for example, a photoelectric sensor such as a charge-coupled device (CCD) sensor or a complementary metal oxide semiconductor (CMOS) sensor. The image capture device 1111 may also be configured to send the captured image to the encoder 1113 to encode the captured image. In some embodiments, the image capture device 1111 may include a memory for temporarily or permanently storing the captured image. The image may be, for example, a still image such as a picture and / or a moving image such as a video. Hereinafter, the term "image" is used to refer to a still image or a moving image.

[0038] In some embodiments, the encoder 1113 may support any suitable digital coding standard, such as the Moving Picture Experts Group (MPEG, e.g., MPEG-1, MPEG-2, or MPEG-4), H.26x (e.g., H.261, H.262, H.263, or H.264), etc.; any suitable analog coding standard, such as SoftCast, etc.; and / or any suitable HDA coding standard, such as WSVC, etc.

[0039] In some embodiments, the transceiver 1115 may include a transmitter and a receiver, and the transceiver 1115 is configured to have two-way communication capabilities, that is, it can both send data and receive data, etc. For example, the unmanned vehicle 111 may send image data to the control terminal 113 via the transmitter of the transceiver 1115 and receive control instructions from the control terminal 113 via the receiver of the transceiver 1115. In some embodiments, the transmitter and the receiver may share common circuitry. In some other embodiments, the transmitter and the receiver may be separate two parts sharing a single housing.

[0040] In some embodiments, the communication channel of the transceiver 1115 may be switched to Figure 2 any one of the multiple working channels in the working frequency band of the multi-unmanned vehicle network 100 shown in. That is, the working frequency of the transceiver 1115 may be tuned to the working frequency of any one of the multiple working channels. For example, the transceiver 1115 may receive indication information corresponding to the target channel from the control terminal 113. The transceiver 1115 may switch the communication channel to the target channel according to the indication information. As another example, the transceiver 1115 may store information about the last used working channel. The last used working channel refers to one of the multiple working channels that the unmanned vehicle 111 used last before restarting, and the transceiver 1115 may switch the communication channel to the last used working channel after the unmanned vehicle 111 restarts.

[0041] According to the present disclosure, the image capture device 1111, the encoder 1113, and the transceiver 1115 may be separate devices, or any two or more of them may be integrated in one device. In some embodiments, the image capture device 1111, the encoder 1113, and the transceiver 1115 are separate devices that may be connected or coupled to each other. For example, the image capture device 1111 may be a camera, a camcorder, or a smart phone with a camera function. The encoder 1113 may be a stand-alone device including a processor and a memory, and is coupled to the image capture device 1111 and the transceiver 1115 by wired or wireless means. The transceiver 1115 may be a stand-alone device that combines a transmitter / receiver in a single package.

[0042] In some other embodiments, any two of the image capture device 1111, the encoder 1113, and the transceiver 1115 may be integrated in the same device. For example, the image capture device 1111 and the encoder 1113 may be two parts of the same device including a camera, a lens, a processor, and a memory. The processor may be any type of processor, and the memory may be any type of memory. In this example, the device may further include an electrical interface (wired or wireless) for coupling to the transceiver 1115.

[0043] In some other embodiments, the image capture device 1111, the encoder 1113, and the transceiver 1115 may be integrated in the same electronic device. For example, the image capture device 1111 may include an image sensor and a lens or a lens group of the electronic device. The encoder 1113 may be implemented by a single-chip encoder, a single-chip codec, an image processor, an image processing engine, etc. integrated in the electronic device. The transceiver 1115 may be implemented by an integrated circuit, a chip, or a chipset integrated in the electronic device. For example, the electronic device may be a smart phone with a built-in camera and a main board integrating the encoder 1113 and the transceiver 1115.

[0044] In some embodiments, the unmanned carrier vehicle 111 may be a moving object, such as a drone (UAV), an autonomous vehicle, a mobile robot, an unmanned ship, a submarine, a spacecraft, a satellite, etc. The image capture device 1111, the encoder 1113, and the transceiver 1115 may be integrated in the unmanned carrier vehicle 111. In some other embodiments, the image capture device 1111, the encoder 1113, and the transceiver 1115 may carry a payload carried by the unmanned carrier vehicle 111.

[0045] As Figure 3As shown, the control terminal 113 includes a transceiver 1131, a decoder 1133 coupled to the transceiver 1131 and configured to decode received data, and a screen 1135 coupled to the decoder 1133. In some embodiments, the decoder 1133 can be completely bypassed or omitted, and the screen 1135 can be directly coupled to the transceiver 1131.

[0046] In some embodiments, the transceiver 1131 can include a transmitter and a receiver and is configured to have two-way communication capabilities, that is, it can both send and receive data, etc. For example, the control terminal 113 can receive image data from the unmanned carrier vehicle 111 via the receiver of the transceiver 1131 and send a control instruction to the unmanned carrier vehicle 111 via the transmitter of the transceiver 1131. In some embodiments, the transmitter and the receiver can share common circuitry. In some other embodiments, the transmitter and the receiver can be separate two parts sharing a single housing.

[0047] In some embodiments, the communication channel of the transceiver 1131 can be switched to Figure 2 any one of the multiple working channels in the working frequency band of the multi-unmanned carrier vehicle network 100 shown in. That is to say, the working frequency of the transceiver 1131 can be tuned to the working frequency of any one of the multiple working channels. For example, the transceiver 1131 can receive a selection input from the user, and the selection input can include information about the target channel of the control terminal 113. The transceiver 1131 can switch the communication channel to the target channel in response to the selection input. As another example, the transceiver 1131 can store information about the last used working channel. The last used working channel refers to one of the multiple working channels that the control terminal 113 used last before restarting, and the transceiver 1131 can switch the communication channel to the last used working channel after the control terminal 113 restarts.

[0048] In some embodiments, the transceiver 1131 can have the ability to preempt a communication channel and is configured to communicate with the transceiver of the control terminal of the occupied unmanned carrier vehicle system, that is, to communicate with the transceiver of the control terminal of the unmanned carrier vehicle system operating on the target channel. The occupied unmanned carrier vehicle system can be, for example, any one of the unmanned carrier vehicle systems 120 to 1N0. For example, the transceiver 1131 can send a preemption message to request the occupied unmanned carrier vehicle system to exit the target channel and receive feedback (such as a permission preemption feedback, a prohibition preemption feedback, etc.) from the transceiver of the control terminal of the occupied unmanned carrier vehicle system.

[0049] In some embodiments, the decoder 1133 may be configured to obtain the received data from the transceiver 1131 and decode the received data to recover the image captured by the image capture device 1111. The decoder 1133 may support any digital coding standard adopted in the encoder 1113, any analog coding standard adopted in the encoder 1113, and / or any HDA coding standard adopted in the encoder 1113.

[0050] In some embodiments, the screen 1135 may be configured to display the recovered image and / or other information to the user (e.g., the status of multiple working channels, such as the occupied state or the idle state; notifications, such as a permit preemption notification or a prohibition preemption notification, etc.). In some embodiments, the screen 1135 may include a touch panel for receiving user input, e.g., a selection input indicating that the user selects one of the multiple working channels as the target channel of the unmanned carrier vehicle system 110. The user may touch the screen 1135 with an external object such as the user's finger or a stylus. In some embodiments, the user may adjust image parameters, such as brightness, contrast, saturation, and / or similar parameters, by touching the screen 1135. For example, the user may scroll vertically on the image to select a parameter and then slide horizontally to change the value of the parameter. In some embodiments, the user may input a control command for controlling the unmanned carrier vehicle 111 by touching the screen 1135. For example, the user may input a control command for controlling the unmanned carrier vehicle 111 to start or stop capturing an image.

[0051] According to the present disclosure, the transceiver 1131, the decoder 1133, and the screen 1135 may be separate devices, or any two or more of them may be integrated in one device. In some embodiments, the transceiver 1131, the decoder 1133, and the screen 1135 are separate devices that may be connected or coupled to each other. For example, the transceiver 1131 may be an independent device that combines a transmitter / receiver in a single package. The decoder 1133 may be an independent device that includes a processor and a memory and is coupled to the transceiver 1131 and the screen 1135. The screen 1135 may be a display device that is coupled to the transceiver 1131 and the decoder 1133 by wire or wirelessly.

[0052] In some other embodiments, any two of the transceiver 1131, the decoder 1133, and the screen 1135 can be integrated in the same device. For example, the decoder 1133 and the screen 1135 can be two parts of the same device including a processor, a memory, and a screen. The processor can be any type of processor, and the memory can be any type of memory, and the present disclosure is not limited thereto. In this example, the device can also include an electrical interface (wired or wireless) for coupling to the transceiver 1131.

[0053] In some other embodiments, the transceiver 1131, the decoder 1133, and the screen 1135 can be integrated in the same electronic device. For example, the transceiver 1131 can be implemented by an integrated circuit, a chip, or a chipset integrated in the electronic device. The decoder 1133 can be implemented by a single-chip decoder, a single-chip codec, an image processor, an image processing engine, etc. integrated in the electronic device. For example, the electronic device can be a tablet computer having a screen and a motherboard integrating the transceiver 1131 and the decoder 1133.

[0054] In some embodiments, the control terminal 113 can be a remote controller, a terminal device having an application (app) that can control the unmanned carrier vehicle 111, or a device integrating the control terminal 113, such as a smart phone, a tablet computer, a game device, smart glasses, a smart watch, etc.

[0055] Other unmanned carrier vehicle systems in the multiple unmanned carrier vehicle systems, such as 130 to 1N0, are similar to Figure 3 the unmanned carrier vehicle system 110 shown, and the detailed description thereof is omitted here.

[0056] Figure 4 is a schematic diagram of another unmanned carrier vehicle system of the multi-unmanned carrier vehicle network 100 according to the present disclosure. In this figure, the UAV system takes the unmanned carrier vehicle system 110 as an example. In Figure 4 it, the unmanned carrier vehicle 111 is a UAV 410, and the control terminal 113 is smart glasses 420.

[0057] As Figure 4 shown, the UAV 410 includes a body 401, a propulsion system, a navigation system 402, a control system 403, an image acquisition device 404, a gimbal 405, and a communication system 406. The propulsion system includes one or more propellers 411, one or more electric motors 412, and an electronic speed controller 413. The propulsion system can be disposed on the body 401 to provide flight power.

[0058] The navigation system 402 may include one or more of a motion sensor (e.g., an accelerometer), a rotation sensor (e.g., a gyroscope), a magnetic sensor (a magnetometer), etc. The navigation system 402 may be configured to detect the speed, acceleration, and / or attitude parameters (such as pitch angle, roll angle, yaw angle, etc.) of the UAV 410, the attitude parameters of the image acquisition device 404, and / or the attitude parameters of the gimbal 405. The navigation system 402 may be disposed inside the body 401 of the UAV 410 or on the body 401.

[0059] The control system 403 is coupled to the navigation system 402, the electronic speed controller 413, and the gimbal 405. The control system 403 may be configured to control the flight attitude of the UAV 410 and / or the rotation of the gimbal 404 according to the attitude parameters obtained by the navigation system 402. In some embodiments, the control system 403 may be coupled to the image acquisition device 404 and configured to control the attitude of the image acquisition device 404, such as rotation. The control system 403 may be disposed inside the body 401 of the UAV 410.

[0060] The image acquisition device 404 is connected to the body 401 of the UAV 410 via the gimbal 405. In some embodiments, the image acquisition device 404 may be directly connected to the body 401 without using the gimbal 405. The image acquisition device 404 may be disposed below or above the body 401 of the UAV 410. The image acquisition device 404 may include an image sensor and a lens or a lens group. The image acquisition device 404 is configured to capture images. The image sensor may include, for example, a photoelectric sensor, such as a charge-coupled device (CCD) sensor, a complementary metal oxide semiconductor (CMOS) sensor, etc. The image acquisition device 404 may rotate together with the gimbal 405 so that the image acquisition device 404 can perform tracking shooting on a target object.

[0061] The communication system 406 may include a receiver and / or a transmitter. The receiver may be configured to receive the wireless signal 430 transmitted by the antenna 421 of the smart glasses 420, and the communication system 406 may also transmit the wireless signal 430 (e.g., encoded data, the status information of the UAV, etc.) to the smart glasses 420. The communication system 406 may be similar to the transceiver 1115 described above. The communication system 406 may be disposed inside the body 401 of the UAV 410 or on the body 401.

[0062] The smart glasses 420 may include an optical head-mounted display (OHMD) for displaying the received images and / or other information (e.g., the status of multiple working channels, such as the occupied status or the idle status, etc.) to the user.

[0063] In some embodiments, the smart glasses 420 may include an eye tracking circuit configured to track the user's eye position and eye movement. In this example, interaction between the user and the smart glasses 420 can be achieved through eye tracking. For example, each of a plurality of working channels may have a corresponding channel icon shown on the OHMD. The smart glasses 420 may obtain a selection input by detecting which channel icon the eye is looking at. One of the plurality of working channels corresponding to the channel icon being viewed by the eye may be the target channel selected by the user.

[0064] In some embodiments, the smart glasses 420 may include a gesture recognition circuit configured to recognize user gestures. In this example, the user input may include gesture input. In some embodiments, interaction between the user and the smart glasses 420 can be achieved through a combination of eye tracking and gestures.

[0065] In some embodiments, the smart glasses 420 may include a voice recognition circuit configured to perform voice recognition. In this example, the user input may include voice commands. For example, the smart glasses 420 may receive a voice command from the user and parse the content of the voice command via voice recognition.

[0066] Figure 5 is a schematic diagram of another example unmanned vehicle system of the multi-unmanned vehicle network 100 according to the present disclosure. As Figure 5 shown, the unmanned vehicle system 110 includes: one or more processors 115; and one or more memories 117 coupled to the one or more processors 115.

[0067] The one or more processors 115 may include any suitable hardware processor, such as a microprocessor, a microcontroller, a central processing unit (CPU), a network processor (NP), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) and / or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The one or more memories 117 may store computer program code that, when executed by the one or more processors 115, causes the processors 115 to execute a method according to the present disclosure for controlling the unmanned vehicle system, such as one of the example methods for controlling the following unmanned vehicle system.

[0068] In some embodiments, the one or more memories 117 may also store images captured by the image capture device 111 and encoded data. The one or more memories 117 may include one or more non-transitory computer-readable storage media, such as random access memory (RAM), read-only memory, flash memory, volatile memory, hard disk memory, or optical media.

[0069] In some embodiments, the unmanned carrier vehicle 111 may include at least one processor among the one or more processors 115 and at least one memory among the one or more memories 117, and the control terminal 113 may include other processors among the one or more processors 115 and other memories among the one or more memories 117.

[0070] Other systems in the plurality of unmanned carrier vehicle systems, such as 120 to 1N0, are similar to Figure 5 the unmanned carrier vehicle system 110 shown, and detailed descriptions thereof are omitted here.

[0071] An example method for controlling an unmanned carrier vehicle system according to the present disclosure will be described in more detail below. The method for controlling an unmanned carrier vehicle system according to the present disclosure can be implemented in an unmanned carrier vehicle system according to the present disclosure, such as the unmanned carrier vehicle system 110 of the multi-unmanned carrier vehicle network 100 described above.

[0072] Figure 6 is a schematic flowchart of an example method 600 for controlling a first unmanned carrier vehicle system according to the present disclosure. As Figure 6 shown, at 610, the first unmanned carrier vehicle system determines whether each of a plurality of working channels is occupied by a second unmanned carrier vehicle system among one or more second unmanned carrier vehicle systems to obtain the states of the plurality of working channels. Each state may include an occupied state or an idle state.

[0073] The first unmanned carrier vehicle system may be any one of the plurality of unmanned carrier vehicle systems in the multi-unmanned carrier vehicle network 100, for example, the unmanned carrier vehicle system 110. The one or more second unmanned carrier vehicle systems may refer to the plurality of unmanned carrier vehicle systems in the multi-unmanned carrier vehicle network 100 other than the first unmanned carrier vehicle system, for example, the unmanned carrier vehicle systems 120 to 1N0.

[0074] A working channel in an idle state may indicate that no unmanned vehicle system is using the working channel as a communication channel and may be referred to as an idle working channel. A working channel in an occupied state may indicate that a second unmanned vehicle system among one or more second unmanned vehicle systems is using the working channel as a communication channel and may be referred to as an occupied working channel.

[0075] In some embodiments, in response to detecting that the first unmanned vehicle system is powered on, it may be determined whether each of the plurality of working channels is occupied by a second unmanned vehicle system among one or more second unmanned vehicle systems. For example, once the first unmanned vehicle system is powered on, it may be assigned to a common channel, and an unmanned vehicle of the first unmanned vehicle system, such as unmanned vehicle 111 of unmanned vehicle system 110, or a control terminal of the first unmanned vehicle system, such as control terminal 113 of unmanned vehicle system 110, may start scanning the plurality of working channels to determine the status of the plurality of working channels. Hereinafter, an unmanned vehicle of the first unmanned vehicle system may be referred to as a first unmanned vehicle, and a control terminal of the first unmanned vehicle system may be referred to as a first control terminal.

[0076] In some other embodiments, in response to a status detection instruction, it may be determined whether each of the plurality of working channels is occupied by a second unmanned vehicle system among one or more second unmanned vehicle systems. For example, the status detection instruction may be input by a user of the first unmanned vehicle system to the first control terminal, such as control terminal 113. The user of the first unmanned vehicle system may be referred to as a first user. The first control terminal may start scanning the plurality of working channels to determine the status of the plurality of working channels in response to receiving the status detection instruction. As another example, the first control terminal may transmit the status detection instruction to the first unmanned vehicle via a common channel, such as unmanned vehicle 111. The first unmanned vehicle may start scanning the plurality of working channels to determine the status of the plurality of working channels in response to receiving the status detection instruction.

[0077] Figure 7 is a schematic flowchart of scanning a plurality of working channels according to the present disclosure. As Figure 7As shown, at 710, the communication channel of the first unmanned vehicle or the first control terminal is switched to each of the multiple working channels according to a scanning sequence. For example, the communication channel of the transceiver 1115 of the unmanned vehicle 111 can be switched to each of the multiple working channels, and communication signals can be received on each of the multiple working channels. As another example, the communication channel of the transceiver 1131 of the control terminal 113 can be switched to each of the multiple working channels, and communication signals can be received on each of the multiple working channels.

[0078] In some embodiments, the scanning sequence can be preset and stored in the first unmanned vehicle or the first control terminal. For example, the scanning sequence can be in numerical order or alphabetical order. In some other embodiments, the scanning sequence can be input by the first user via the first control terminal.

[0079] At 730, by detecting whether a characteristic signal that meets a preset requirement is received on each of the multiple working channels, it is determined whether each of the multiple working channels is occupied by a second unmanned vehicle system in one or more second unmanned vehicle systems. In some embodiments, the communication signals received on each of the multiple working channels can be detected to determine whether the communication signals received on each of the multiple working channels include a characteristic signal that meets a preset requirement. In some embodiments, the characteristic signal refers to a pre-designed sequence having a structure known to the first unmanned vehicle system and one or more second unmanned vehicle systems. In some embodiments, the characteristic signal can include a pilot sequence. In some embodiments, in order to determine whether the communication signal received on the working channel is a characteristic signal, the communication signal can be used to attempt synchronization. If the synchronization is successful, it can be determined that the received communication signal is a characteristic signal. The characteristic signal can be transmitted by an unmanned vehicle (e.g., the unmanned vehicle 121) or a control terminal (e.g., the control terminal 123) of the occupied unmanned vehicle system. The occupied unmanned vehicle system can be a second unmanned vehicle system (e.g., the unmanned vehicle system 130) in one or more second unmanned vehicle systems that occupies one of the multiple working channels.

[0080] For example, when the communication channel of the first unmanned vehicle is switched to one of the multiple working channels occupied by the occupied unmanned vehicle system, the first unmanned vehicle can receive a communication signal including a characteristic signal from the unmanned vehicle of the occupied unmanned vehicle system. In this way, the state of one of the multiple working channels can be determined to be an occupied state.

[0081] As another example, when the communication channel of the first unmanned vehicle is switched to one of the multiple working channels that is not occupied, the first unmanned vehicle does not receive the characteristic signal. In this way, the state of one of the multiple working channels can be determined as the idle state.

[0082] In some embodiments, after scanning the multiple working channels, the communication channel of the first unmanned vehicle or the first control terminal can be switched back to the common channel.

[0083] Refer again to Figure 6 , at 620, the states of the multiple working channels are sent to the first control terminal via the wireless communication link. In some embodiments, after scanning the multiple working channels, the first unmanned vehicle can send the states of the multiple working channels to the first control terminal via the wireless communication link. The wireless communication link refers to the wireless communication link between the first unmanned vehicle and the first control terminal.

[0084] In other embodiments, the first control terminal can directly obtain the states of the multiple working channels by scanning the multiple working channels. In this way, the process at 620 can be omitted.

[0085] At 630, the states of the multiple working channels are output via the first control terminal. In some embodiments, the first control terminal can output the states of the multiple working channels to the first user by voice output. Any suitable text-to-speech conversion technology can be used to generate the voice output. For example, the voice output can be "Channel 1 is occupied, Channel 2 is occupied,..., Channel N is idle".

[0086] In some other embodiments, the states of the multiple working channels can be displayed to the first user on the screen of the first control terminal (such as the screen 1135 of the control terminal 113, the OHMD of the smart glasses 420, etc.).

[0087] Figure 8 is a schematic diagram of an example user interface (UI) according to the present disclosure. As Figure 8 shown, the states of the multiple working channels are displayed on the UI. The multiple working channels can be listed in a column according to the numerical order. The reference labels of each of the multiple working channels (such as CH1, CH2,..., or CH8) can be listed on the left side of the corresponding row, and the state of each of the multiple working channels can be listed on the right side of the corresponding row. For example, as Figure 8 shown, CH1 and CH2 are in the occupied state, and CH3 to CH8 are in the idle state.

[0088] Refer again to Figure 6, at 640, in response to a selection input, an idle working channel among the multiple working channels indicated by the selection input is determined as the target channel. An idle working channel among the multiple working channels refers to a working channel in an idle state among the multiple working channels. The selection input may be input by a first user and indicates that an idle working channel among the multiple working channels is selected as the target channel of the first unmanned vehicle system, thereby avoiding channel interference.

[0089] In some embodiments, the selection input may include a voice command, and the first control terminal may receive a voice command from the first user. The first control terminal may parse the content of the voice command via voice recognition. For example, if the first user selects CH3 as the target channel, the voice command may be "select channel 3", and the first control terminal may parse the content of the voice command and highlight CH3 (as Figure 8 shown) to indicate that CH3 is determined as the target channel.

[0090] In some embodiments, the selection input may include a gesture. For example, each working channel among the multiple working channels may have a corresponding gesture, and the first control terminal may detect a gesture made by the first user corresponding to one of the multiple working channels. For example, if the first user selects CH3 as the target channel, the first user may make a gesture corresponding to CH3, and the first control terminal may determine the target channel by recognizing that the gesture is associated with CH3.

[0091] In some embodiments, the selection input may include eye movement. The first control terminal may detect the eye position and eye movement of the first user. For example, if the first user selects CH3 as the target channel, the first user may move their eyes to the position of the CH3 icon on the screen of the first control terminal (e.g., the OHDM of the smart glasses 420). The first control terminal may determine CH3 as the target channel by detecting that the position of the eye is located on the CH3 icon.

[0092] In some embodiments, the selection input may be input by touching the screen of the first control terminal, e.g., the screen 1135 of the control terminal 113. For example, if the first user selects CH3 as the target channel, the first user may touch the CH3 icon with the first user's finger or a stylus. The first control terminal may receive a touch signal on the CH3 icon and determine CH3 as the target channel.

[0093] In some embodiments, when none of the multiple working channels is idle, the first user can abandon the selection input and keep the first unmanned carrier vehicle system on the common channel to avoid channel interference. In some embodiments, the first user can input a status detection instruction to trigger another scan of the multiple working channels in an attempt to find an idle working channel among the multiple working channels.

[0094] At 650, switch the wireless communication link of the first unmanned carrier vehicle system to the target channel.

[0095] Figure 9 is a schematic flowchart of switching the wireless communication link of the first unmanned carrier vehicle system to the target channel according to the present disclosure. As Figure 9 shown, at 910, send the indication information corresponding to the target channel to the first unmanned carrier vehicle via the wireless communication link. The indication information may include a reference number (such as 3), a name (such as CH3), or other information related to the target channel. The first control terminal can send the indication information to the unmanned carrier vehicle of the first unmanned carrier vehicle via the wireless communication link. For example, the transceiver 1131 of the control terminal 113 can send the indication information to the transceiver 1115 of the unmanned carrier vehicle 111 via the wireless communication link. As another example, the smart glasses 420 can send the indication information to the communication system 406 of the UAV 410.

[0096] At 930, set the target channel as the communication channel of the first unmanned carrier vehicle according to the indication information. For example, the communication channel of the transceiver 1115 of the unmanned carrier vehicle 111 can be switched to the target channel. That is, the operating frequency of the transceiver 1115 of the unmanned carrier vehicle 111 can be tuned to the operating frequency corresponding to the target channel.

[0097] At 950, set the target channel as the communication channel of the first control terminal. For example, the communication channel of the transceiver 1131 of the control terminal 113 can be switched to the target channel. That is, the operating frequency of the transceiver 1131 of the control terminal 113 can be tuned to the operating frequency corresponding to the target channel.

[0098] Referring again to Figure 6 , at 660, in response to the wireless communication link of the first unmanned carrier vehicle system being switched to the target channel, control the first unmanned carrier vehicle to send a communication signal in broadcast mode. The communication signal may include a characteristic signal. The first unmanned carrier vehicle can be controlled to operate in broadcast mode on the target channel so that a second unmanned carrier vehicle system among one or more second unmanned carrier vehicle systems can receive the characteristic signal on the target channel when detecting the target channel to detect the state of the target channel.

[0099] Take a multi-unmanned vehicle network including two unmanned vehicle systems (denoted as 1 and 2 respectively) operating in the same airspace as an example. When the unmanned vehicle system 1 is powered on, the unmanned vehicle of the unmanned vehicle system 1 can be triggered to scan multiple working channels (such as 1 to N) to obtain the status of the multiple working channels. The status of each of the multiple working channels can be determined as an idle state and displayed to the user 1 of the unmanned vehicle system 1. The user 1 can select the working channel 1 as the target channel of the unmanned vehicle system 1. The unmanned vehicle system 1 can switch its communication channel to the working channel 1 and operate in a broadcast mode on the working channel 1. When the unmanned vehicle system 2 is powered on, the unmanned vehicle of the unmanned vehicle system 2 can be triggered to scan multiple working channels to obtain the status of the multiple working channels. The unmanned vehicle of the unmanned vehicle system 2 can receive a communication signal including a characteristic signal transmitted by the unmanned vehicle of the unmanned vehicle system 1 and determine that the status of the working channel 1 is an occupied state. The user 2 of the unmanned vehicle system 2 can select the working channel 2 as the target channel of the unmanned vehicle system 2. The unmanned vehicle system 2 can switch its communication channel to the working channel 2 and operate in a broadcast mode on the working channel 2. In this way, channel interference can be avoided.

[0100] According to the present disclosure, a first unmanned vehicle system in a multi-unmanned vehicle network can scan multiple working channels to obtain the status of the multiple working channels when powered on. The multiple working channels can be broadcast communication channels, so that the first unmanned vehicle system can receive communication signals on the multiple working channels to determine the status of the multiple working channels. Occupying the multiple working channels can be avoided, and an idle working channel among the multiple working channels can be selected as the target channel. In this way, dynamic channel configuration can be achieved to avoid channel interference, and this operation can be simple and user-friendly.

[0101] Figure 10A 、 10B And 10C is a schematic flowchart of another method 1000 for controlling the first unmanned vehicle system according to the present disclosure. As Figures 10A to 10C shown, at 1010, the first unmanned vehicle system determines whether each of the multiple working channels is occupied by a second unmanned vehicle system among one or more second unmanned vehicle systems to obtain the status of the multiple working channels. Each status can include an occupied state or an idle state.

[0102] At 1020, the status of the multiple working channels is sent to the control terminal of the first unmanned vehicle system via a wireless communication link.

[0103] At 1030, the status of the plurality of working channels is output via the control terminal of the first unmanned vehicle system.

[0104] Processes 1010 to 1030 are similar to processes 610 to 630, and their detailed descriptions are omitted herein.

[0105] At 1040, in response to detecting a preemption instruction, an occupied working channel among the plurality of working channels indicated by the preemption instruction is determined as the target channel. An occupied working channel among the plurality of working channels refers to one working channel in the plurality of working channels that is in an occupied state. The preemption instruction may be input by a first user and indicate that one of the working channels in the plurality of working channels that is in an occupied state is used as the target channel of the first unmanned vehicle system.

[0106] In some embodiments, the preemption instruction may include a voice command, and the first control terminal may receive a voice command from the first user. The first control terminal may parse the content of the voice command via voice recognition. For example, if the first user determines to preempt CH3, the voice command may be "Preempt CH3", and the first control terminal may parse the content of the voice command and highlight CH3 to indicate that CH3 is determined as the target channel.

[0107] In some embodiments, the preemption instruction may include a gesture. For example, each of the plurality of working channels may have a corresponding gesture, and the first control terminal may detect a gesture made by the first user corresponding to one of the plurality of working channels. For example, if the first user determines to preempt CH3, the first user may make a gesture corresponding to CH3, and the first control terminal may determine the target channel by recognizing that the gesture is associated with CH3.

[0108] In some embodiments, the preemption instruction may include eye movement. The first control terminal may detect the eye position and eye movement of the first user. For example, if the first user determines to preempt CH3, the first user may move their eyes to the position of the CH3 icon on the screen of the first control terminal (e.g., the OHDM of the smart glasses 420). The first control terminal may determine CH3 as the target channel by detecting that the position of the eyes is located on the CH3 icon.

[0109] In some embodiments, a preemption instruction can be input by touching the screen of the first control terminal. For example, the screen 1135 of the control terminal 113. For example, if the first user determines to preempt CH3, the first user can use the finger or stylus of the first user to touch the CH3 icon. The first control terminal can receive a touch signal on the CH3 icon and determine CH3 as the target channel.

[0110] Figure 11A and Figure 11B is a schematic diagram of an example UI according to the present disclosure. As Figure 11A shown, the first user can select the occupied working channel CH3, for example, by touching the CH3 icon on the UI. As Figure 11B shown, in response to the touch operation on the CH3 icon, a pop-up dialog box can be displayed to enable the first user to confirm whether to preempt CH3, thereby avoiding accidental operations. If the first user touches the "Yes" button, a preemption instruction can be generated; otherwise, no preemption instruction will be generated.

[0111] At 1050, a preemption message is sent to the occupied unmanned vehicle system, which is one of the one or more second unmanned vehicle systems occupying the target channel. The preemption message can request the occupied unmanned vehicle system to exit the target channel. In some embodiments, the preemption message can request the occupied unmanned vehicle system to switch to a public channel. In some other embodiments, the preemption message can request the occupied unmanned vehicle system to switch to another working channel among multiple working channels. The another working channel among the multiple working channels can be indicated by an input to the occupied unmanned vehicle system. The input can be received by the control terminal of the occupied unmanned vehicle system from the user of the occupied unmanned vehicle system. The control terminal of the occupied unmanned vehicle system can be referred to as the occupied control terminal, and the user of the occupied unmanned vehicle system can be referred to as the occupied user.

[0112] In some embodiments, the preemption message may include identity information of the first unmanned vehicle system and / or identity information of the first user. The identity information of the first unmanned vehicle system may include a reference number, a name, or any information associated with the first unmanned vehicle system. The identity information of the user of the first unmanned vehicle system may include a reference number, a name, or any information associated with the first user. Including the identity information of the first unmanned vehicle system and / or the identity information of the first user in the preemption message may allow the occupying user to determine which unmanned vehicle system and / or which user among multiple unmanned vehicle systems is attempting to preempt the target working channel. The identity information may be output via the control terminal of the occupying unmanned vehicle system. In some embodiments, the first unmanned vehicle system may send the preemption message to the occupying unmanned vehicle system via a preemption communication link. Figure 12 Schematically shows an example preemption communication link according to the present disclosure. As Figure 12 shown, a preemption communication link may be established between a first control terminal (e.g., control terminal 113) and an occupying control terminal (e.g., control terminal 123). For example, the preemption communication link may be established between the transceiver 1131 of control terminal 113 and the transceiver 1331 of control terminal 123.

[0113] For example, the first control terminal may generate a preemption message in response to a preemption instruction. When scanning multiple working channels, the first unmanned vehicle can not only obtain the status of multiple working channels, but also obtain the working frequency of the preemption communication channel of the occupying control terminal. The first unmanned vehicle may send the working frequency of the preemption communication channel of the occupying control terminal to the first control terminal. Therefore, the first control terminal may switch its preemption communication channel to the working frequency of the preemption communication channel of the occupying control terminal to establish a preemption communication link between the first control terminal and the occupying control terminal. In some embodiments, the preemption communication link may be implemented by time division, frequency division, or code division.

[0114] In some other embodiments, a preemption communication link may be established between a first unmanned vehicle (e.g., unmanned vehicle 111) and an occupying unmanned vehicle (e.g., unmanned vehicle 121). For example, the preemption communication link may be established between the transceiver 1113 of unmanned vehicle 111 and the transceiver of unmanned vehicle 121.

[0115] Figure 13 Is a schematic flowchart of sending a preemption message to an occupying unmanned vehicle system according to the present disclosure. As Figure 13 shown, at 1310, a reception time point for the occupying unmanned vehicle system to receive the preemption message is determined.

[0116] Figure 14 is a schematic flowchart for determining the reception time point of a preemption message received by an occupied unmanned vehicle system according to the present disclosure. As Figure 14 shown, at 1420, a synchronization signal transmitted by the occupied unmanned vehicle system is obtained. In some embodiments, the synchronization signal may be transmitted by an occupancy control terminal. The synchronization signal may use, for example, the Network Time Protocol (NTP), Precision Time Protocol, User Datagram Protocol (UDP), etc. For example, if UDP is used, the synchronization signal may include the current time information of the occupancy control terminal. The current time information may be the number of seconds since 00:00 (midnight) on January 1, 1900, Greenwich Mean Time. In some embodiments, the synchronization signal may include a pilot sequence.

[0117] In some embodiments, once the preemption communication link is established, the occupancy control terminal may transmit the synchronization signal. For example, if a preemption communication link is established between the first control terminal and the occupancy control terminal, the first control terminal may receive the synchronization signal transmitted by the preemption control terminal. In other embodiments, the synchronization signal may be periodically transmitted by the occupancy control terminal.

[0118] At 1440, a synchronization operation is performed according to the synchronization signal to determine the reception time point of the preemption message received by the occupied unmanned vehicle system. The time difference between the first control terminal and the occupancy control terminal may be calculated based on the synchronization signal. For example, the synchronization signal may include the current time information of the occupancy control terminal, so the time difference can be obtained by subtracting the current time of the occupancy control terminal from the current time of the first control terminal.

[0119] The reception time point may be calculated based on the time difference and the position of the preemption subframe in the subframe sequence transmitted from the first unmanned vehicle system to the occupied unmanned vehicle system. The preemption subframe may carry a preemption message. For example, if the time difference is t d , the position of the current subframe is n 0 , the position of the preemption subframe is n p , and the transmission time of one subframe is Δt, then the reception time point may be approximately equal to t d +(n p -n 0 )×Δt.

[0120] In some embodiments, the pilot sequence can be used as a synchronization signal. In this way, when the first control terminal receives the pilot sequence, the first control terminal and the occupied control terminal can be automatically synchronized. The reception time point can be obtained according to the relative position of the preemption subframe separated from the position of the pilot sequence in the subframe sequence sent from the first unmanned vehicle system to the occupied unmanned vehicle system. The reception time point can be equal to the time point corresponding to the relative position of the preemption subframe.

[0121] Referring again to Figure 13 , at 1330, the preemption message is sent to the occupied unmanned vehicle system at the reception time point. In some embodiments, the preemption message can be sent to the occupied control terminal via the preemption communication link at the reception time point. In some embodiments, the preemption message can be repeatedly sent within a preset transmission time period to ensure that the occupied unmanned vehicle system can robustly receive the preemption message. For example, the preemption message can be repeatedly sent several times (such as 3, 5, etc.) within the preset transmission time period.

[0122] In some embodiments, as Figure 10A shown, at 1060-1, an allow preemption feedback is received from the occupied unmanned vehicle system. The position of the allow feedback subframe in the subframe sequence to be received from the occupied control terminal can be determined according to the synchronization operation. For example, when the pilot sequence is used as a synchronization signal, the position of the allow feedback subframe can be calculated according to the relative position of the allow feedback subframe separated from the position of the pilot sequence in the subframe sequence sent from the first unmanned vehicle system to the occupied unmanned vehicle system.

[0123] The allow feedback subframe can carry the allow preemption feedback. In some embodiments, the allow preemption feedback can be received from the occupied control terminal via the preemption communication link at the allow feedback subframe. In some other embodiments, the allow preemption feedback can be repeatedly received from the occupied control terminal until the end of the preset reception time period or the allow preemption feedback is detected at the allow feedback subframe, whichever occurs earlier.

[0124] In some embodiments, the allow preemption feedback can be generated by the occupied unmanned vehicle system in response to an allow preemption input to the occupied unmanned vehicle system. For example, the allow preemption input can be input by the occupied user and indicates that the occupied user agrees to the request of the preemption message. In some other embodiments, the occupied control terminal can automatically generate the allow preemption feedback in response to the preemption message.

[0125] In some embodiments, an occupancy unmanned vehicle system may generate an allow preemption feedback in response to the occupancy unmanned vehicle system not being in a preset working mode. The preset working mode may be, for example, a takeoff mode, a landing mode, etc. When the occupancy unmanned vehicle system is taking off or landing, controlling the occupancy unmanned vehicle system to leave the target channel may cause the occupancy unmanned vehicle to crash. Thus, when the occupancy unmanned vehicle system is in the preset working mode, preemption messages may be ignored and no allow preemption feedback will be generated.

[0126] At 1070-1, an allow preemption notification is output via the first control terminal. The first control terminal may generate the allow preemption notification in response to the allow preemption feedback, and the allow preemption notification may be output to the first user via the first control terminal. In some embodiments, the first control terminal may output the allow preemption notification to the first user by voice output. Any suitable text-to-speech conversion technology may be used to generate the voice output. For example, the voice output may be "Preemption request approved".

[0127] In some other embodiments, the allow preemption notification may be displayed to the first user on the screen of the first control terminal (such as the screen 1135 of the control terminal 113, the OHMD of the smart glasses 420, etc.). For example, a pop-up dialog box may be displayed on the screen of the first control terminal to show the allow preemption notification, such as "Preemption request for CH3 approved".

[0128] At 1080-1, in response to the allow preemption feedback, the wireless communication link of the first unmanned vehicle system is switched to the target channel. In some embodiments, the allow preemption feedback may include time information. Figure 15 is an exemplary schematic flowchart of switching the wireless communication link of the first unmanned vehicle system to the target channel according to the present disclosure. As Figure 15 shown, at 1510, a time point for switching the wireless communication link of the first unmanned vehicle system to the target channel is determined according to the time information.

[0129] In some embodiments, the time information may include a switching time t of the first unmanned vehicle system s . This time point may be calculated according to the time difference Δt between the first control end and the occupancy control end and the switching time t s . For example, the time point may be approximately equal to Δt plus t s . In some other embodiments, the time information may include the relative position of the switching subframe of the first unmanned vehicle system separated from the position of the pilot sequence. The time point may be calculated as the time point corresponding to the relative position of the switching subframe of the first unmanned vehicle system.

[0130] This time point can be referred to as the first time point. The first time point is not earlier than the second time point when the occupied unmanned vehicle system leaves the target channel, to ensure a safe handover. In some other embodiments, the time information may include the second time point. The first time point can be calculated based on the time difference Δt, the second time point t 2 and the safety time interval Δt s . For example, the first time point can be approximately equal to the sum of Δt, t s and Δt s .

[0131] At 1530, the wireless communication link of the first unmanned vehicle system is switched to the target channel at this time point. Process 1530 is similar to process 650, and its detailed description is omitted here.

[0132] In some embodiments, as Figure 10B shown, at 1060-2, a preemption prohibition feedback is received from the occupied unmanned vehicle system. The position of the preemption prohibition feedback subframe in the subframe sequence received from the occupancy control terminal can be determined. The preemption prohibition feedback subframe can carry the preemption prohibition feedback. In some embodiments, the first control terminal can receive the preemption prohibition feedback from the occupancy control terminal via the preemption communication link. In some other embodiments, the preemption prohibition feedback can be repeatedly received from the occupancy control terminal until the preset reception time period ends or a preemption prohibition feedback is detected in the preemption prohibition feedback subframe, whichever occurs earlier. In some embodiments, the structure of the preemption prohibition feedback subframe can be the same as the structure of the preemption allowance feedback subframe. The fields in the preemption prohibition feedback subframe containing the preemption prohibition feedback can be the same as the fields in the preemption allowance feedback subframe containing the preemption allowance feedback.

[0133] In some embodiments, the preemption prohibition feedback can be generated by the occupied unmanned vehicle system in response to a preemption prohibition input to the occupied unmanned vehicle system. For example, the occupancy user can input a preemption prohibition input and indicate that the occupancy user does not agree to the request for the preemption message.

[0134] In some embodiments, the preemption prohibition feedback can be generated by the occupied unmanned vehicle system in response to the occupied unmanned vehicle system being in a preset working mode. The preset working mode can be, for example, a takeoff mode, a landing mode, etc. When the occupied unmanned vehicle system is taking off or landing, controlling the occupied unmanned vehicle system to leave the target channel may cause the occupied unmanned vehicle to crash. Thus, when the occupied unmanned vehicle system is in the preset working mode, the preemption prohibition feedback can be generated.

[0135] At 1070-2, a preemption prohibition notice is output via the first control terminal. The preemption prohibition notice can be output to the first user via the first control terminal. In some embodiments, the first control terminal can output the preemption prohibition notice to the first user by voice output. Any suitable text-to-speech conversion technology can be used to generate the voice output. For example, the voice output can be "Preemption request prohibited".

[0136] In some other embodiments, the preemption prohibition notice can be displayed to the first user on the screen of the first control terminal (e.g., the screen 1135 of the control terminal 113, the OHMD of the smart glasses 420, etc.). Figure 16 is a schematic diagram of an example UI according to the present disclosure. As Figure 16 shown, a pop-up dialog box can be displayed to show the preemption prohibition notice, for example, "Preemption request of CH3 is forbidden".

[0137] In some embodiments, as Figure 10C shown, at 1060-3, a countdown of a predetermined time is output via the first control terminal. After the countdown of the predetermined time, the first unmanned carrier vehicle system can switch to the target channel. In this way, the countdown of the predetermined time can provide enough time for the occupied unmanned carrier vehicle system to exit the target channel.

[0138] In some embodiments, the countdown of the predetermined time can be output to the first user by voice output from the first control terminal. Any suitable text-to-speech conversion technology can be used to generate the voice output. For example, the voice output can be "10, 9, 8,..., 1".

[0139] In some other embodiments, the countdown of the predetermined time can be displayed to the first user on the screen of the first control terminal (e.g., the screen 1135 of the control terminal 113, the OHMD of the smart glasses 420, etc.).

[0140] In some embodiments, the first user can cancel the preemption operation at any time within the countdown of the predetermined time. The preemption cancellation message can be generated by the first control terminal and sent to the occupied unmanned carrier vehicle system.

[0141] At 1070-3, after the countdown of the predetermined time, the wireless communication link of the first unmanned carrier vehicle system is switched to the target channel. Process 1070-3 is similar to process 650, and its detailed description is omitted here.

[0142] In some embodiments, in response to receiving a preemption permission feedback within a countdown of a predetermined time, the wireless communication link of the first unmanned vehicle system is switched to a target channel. The above-mentioned predetermined time may also be referred to as a first predetermined time.

[0143] According to the present disclosure, point-to-point transmission of preemption messages and preemption feedback between the first unmanned vehicle system and the occupied unmanned vehicle system can be achieved, and before the first unmanned vehicle system switches to the target channel, the occupied unmanned vehicle system can exit the target channel, thus solving the problem of channel interference during channel preemption, with simple operation and user-friendliness.

[0144] Figure 17A 、 Figure 17B and Figure 17C is a schematic flowchart of a method for controlling an occupied unmanned vehicle system according to the present disclosure. The occupied unmanned vehicle system may be any one of one or more second unmanned vehicle systems, such as the unmanned vehicle system 130.

[0145] As Figures 17A to 17C shown, at 1710, a preemption message is received from the first unmanned vehicle system. The preemption message may request the occupied unmanned vehicle system occupying the target channel of the first unmanned vehicle system to exit the target channel. In some embodiments, the preemption message may request the occupied unmanned vehicle system to switch to a common channel. In some other embodiments, the preemption message may request the occupied unmanned vehicle system to switch to another working channel among a plurality of working channels. Another working channel among the plurality of working channels may be indicated by an input to the occupied unmanned vehicle system. In some embodiments, the preemption message may include identity information of the first unmanned vehicle system and / or identity information of the user of the first unmanned vehicle system.

[0146] At 1720, in response to the preemption message, a preemption notice is output via an occupancy control terminal. In some embodiments, the occupancy control terminal may output the preemption notice to the occupied user by voice output. Any suitable text-to-speech conversion technology may be used to generate the voice output. For example, the voice output may be "Preemption request received from user 1".

[0147] In some other embodiments, the preemption notice may be displayed to the occupied user on the screen of the occupancy control terminal. For example, a pop-up dialog box may be displayed on the screen of the occupancy control terminal to show the preemption notice, such as "Preemption request received from user 1".

[0148] In some embodiments, as Figure 17AAs shown, at 1730-1, a preemptive feedback is allowed to be sent to the first unmanned vehicle system. The position of the allowed feedback subframe in the subframe sequence sent from the occupancy control terminal can be determined. In some embodiments, the occupancy control terminal can send the preemptive feedback to the first control terminal at the allowed feedback subframe via a preemptive communication link between the first control terminal and the occupancy control terminal, so that the first unmanned vehicle system can output a preemptive notice via the first control terminal of the first unmanned vehicle system. In some other embodiments, the preemptive feedback can be repeatedly sent to the first control terminal within a preset reception time period to ensure that the first unmanned vehicle system can robustly receive the allowed feedback subframe.

[0149] In some embodiments, a preemptive feedback can be generated in response to a preemptive input to the occupied unmanned vehicle system. The occupancy user can input the preemptive input into the occupancy control terminal, and the occupancy user indicates approval of the request for the preemptive message. In some embodiments, a preemptive feedback can be generated in response to the occupied unmanned vehicle system not being in a preset working mode. The preset working mode can be, for example, a takeoff mode, a landing mode, etc.

[0150] In some embodiments, the preemptive feedback can include time information indicating the first time point when the wireless communication link of the first unmanned vehicle system switches to the target channel.

[0151] At 1740-1, the occupied unmanned vehicle system is controlled to exit the target channel. The occupied unmanned vehicle system can be controlled to switch from the target channel to another working channel at a second time point. The second time point is not later than the first time point to ensure that the occupied unmanned vehicle system can exit the target channel before the first unmanned vehicle switches to the target channel.

[0152] In some embodiments, the other working channel can be a common channel. In some other embodiments, the other working channel can be indicated by an input to the occupied unmanned vehicle system. The occupancy control terminal can receive the input from the occupancy user. In some embodiments, the input can include voice commands, gestures, eye movements, etc. In some embodiments, the input can be entered by touching the screen of the occupancy control terminal.

[0153] For example, channel information corresponding to a common channel or another working channel can be sent to the occupied unmanned vehicle via a wireless communication link between the occupancy control terminal and the occupied unmanned vehicle. The channel information may include a reference label, a name, or other information related to the common channel or another working channel. The common channel or other working channels can be set as the communication channels of the occupied unmanned vehicle according to the channel information. The common channel or another working channel can be set as the communication channel of the occupancy control terminal.

[0154] In some embodiments, as Figure 17B shown at 1730-2, a preemption prohibition feedback is sent to the first unmanned vehicle system. The position of the preemption prohibition feedback subframe in the subframe sequence sent from the occupancy control terminal can be determined. In some embodiments, the occupancy control terminal can send the preemption prohibition feedback to the first control terminal at the preemption prohibition feedback subframe via a preemption communication link between the first control terminal and the occupancy control terminal, so that the first unmanned vehicle system can output a preemption prohibition notification via the first control terminal of the first unmanned vehicle system. In some other embodiments, the preemption prohibition feedback can be repeatedly sent to the first control terminal within a preset reception time period to ensure that the first unmanned vehicle system can robustly receive the preemption prohibition feedback subframe. In some embodiments, the preemption prohibition feedback subframe and the preemption permission feedback subframe can be the same subframe.

[0155] In some embodiments, the occupied unmanned vehicle system can generate a preemption prohibition feedback in response to a preemption prohibition input to the occupied unmanned vehicle system. For example, the preemption prohibition input can be input by an occupancy user and indicates that the occupancy user does not agree to the request of the preemption message. In some embodiments, the occupied unmanned vehicle system can generate a preemption prohibition feedback in response to the occupied unmanned vehicle system being in a preset working mode. The preset working mode can be, for example, a takeoff mode, a landing mode, etc.

[0156] In some embodiments, the preemption message may include a second predetermined time. As Figure 17C shown at 1740-2, the occupied unmanned vehicle system can be controlled to exit the target channel within the second predetermined time.

[0157] In some embodiments, a countdown of the second predetermined time can be output via the occupancy control terminal. The occupancy user can select another working channel among multiple working channels and control the occupied unmanned vehicle system to switch to another working channel among the multiple working channels within the second predetermined time. A preemption permission feedback can be generated in response to the occupied unmanned vehicle system being switched to another working channel among the multiple working channels, and the preemption permission feedback is sent to the first unmanned vehicle system.

[0158] In some embodiments, if the occupying user does not control the occupied unmanned vehicle system to switch to another working channel among multiple working channels within a second predetermined time, the occupied unmanned vehicle system may automatically switch to a public channel or one of the idle working channels, and automatically generate an allow preemption feedback and send the allow preemption feedback to the first unmanned vehicle system.

[0159] Figure 18 is a schematic flowchart of an exemplary method for controlling a first unmanned vehicle system according to the present disclosure. As Figure 18 shown, at 1810, information on the last used working channel of the first unmanned vehicle system is extracted. The last used working channel refers to one of the multiple working channels last used by the first unmanned vehicle system before the first unmanned vehicle system restarts or switches to the public channel. The information on the last used working channel may include a reference number, a name, or other information associated with the last used working channel. The information on the last used working channel may be stored in the memory of the first unmanned vehicle and / or the memory of the first control terminal.

[0160] At 1820, the last used working channel is detected to detect the state of the last used working channel. The state of the last used working channel may include an occupied state and an idle state. In some embodiments, the last used working channel may be detected in response to detecting that the first unmanned vehicle system is powered on. In some other embodiments, the last used working channel may be detected in response to a detection instruction.

[0161] In some embodiments, the communication channel of the first unmanned vehicle or the first control terminal may be switched to the last used working channel. The state of the last used working channel may be determined by detecting whether a characteristic signal that meets a preset requirement is received on the last used working channel. In some embodiments, the characteristic signal may include a pilot sequence.

[0162] In some embodiments, after detecting the last used working channel, the communication channel of the first unmanned vehicle or the first control terminal may be switched back to the public channel.

[0163] At 1830, the state of the last used working channel is sent to the first control terminal via a wireless communication link. In some embodiments, after detecting the last used working channel, the first unmanned vehicle may send the state of the last used working channel to the first control terminal via a wireless communication link. In some other embodiments, the first control terminal may directly obtain the state of the last used working channel by detecting the last used working channel. In this way, process 1830 may be omitted.

[0164] At 1840, in response to the last used working channel being in an idle state, the wireless communication link of the first unmanned vehicle system is switched to the last used working channel. That is, if the state of the last used working channel is the idle state, the wireless communication link of the first unmanned vehicle system can be switched to the last used working channel. Process 1840 is similar to process 650, and its detailed description is omitted here.

[0165] In some embodiments, at 1850-1, in response to the last used working channel being in an occupied state, the wireless communication link of the first unmanned vehicle system is switched to an idle channel among a plurality of working channels. That is, if the state of the last used working channel is the occupied state, the wireless communication link of the first unmanned vehicle system can be switched to an idle channel among a plurality of working channels, thereby avoiding channel interference. Process 1850-1 is similar to Figure 6 method 600 in, and its detailed description is omitted here.

[0166] In some embodiments, at 1850-2, in response to the last used working channel being in an occupied state, preempt the last used working channel. That is, if the state of the last used working channel is the occupied state, the wireless communication link of the first unmanned vehicle system can preempt the last used working channel by switching to the last used working channel. Process 1850-2 is similar to Figures 10A to 10C method 1000 in, and its detailed description is omitted here.

[0167] By considering the specification and practice of the embodiments of the present disclosure, other embodiments of the present disclosure will be apparent to those skilled in the art. It is intended that the specification and examples be considered only as exemplary, and not limit the scope of the present disclosure, the true scope and spirit of the present disclosure being indicated by the appended claims.

Claims

1. A method for controlling a first unmanned vehicle system, comprising: determining, by an unmanned vehicle or a terminal device of the first unmanned vehicle system, whether each of a plurality of working channels is occupied by a second unmanned vehicle system among one or more second unmanned vehicle systems, to obtain the states of the plurality of working channels, each state including an occupied state or an idle state; and outputting, via a terminal device of the first unmanned vehicle system, the states of the plurality of working channels.

2. The method according to claim 1, wherein the outputting the states of the plurality of working channels includes: displaying, via the terminal device of the first unmanned vehicle system, the states of the plurality of working channels.

3. The method according to claim 1, wherein the determining whether each of a plurality of working channels is occupied by a second unmanned vehicle system among one or more second unmanned vehicle systems to obtain the states of the plurality of working channels includes: detecting, by an unmanned vehicle of the first unmanned vehicle system, whether each of the plurality of working channels is occupied by a second unmanned vehicle system among the one or more second unmanned vehicle systems, to obtain the states of the plurality of working channels; the method further includes: transmitting, via a wireless communication link, the states of the plurality of working channels to the terminal device of the first unmanned vehicle system.

4. The method according to claim 1, wherein the determining whether each of a plurality of working channels is occupied by a second unmanned vehicle system among one or more second unmanned vehicle systems includes: determining whether each of the plurality of working channels is occupied by a second unmanned vehicle system among the one or more second unmanned vehicle systems by detecting whether a characteristic signal that meets a preset requirement is received on each of the plurality of working channels.

5. The method according to claim 4, wherein the characteristic signal is transmitted by an unmanned vehicle or a terminal device of a second unmanned vehicle system among the one or more second unmanned vehicle systems.

6. The method according to claim 4, wherein the characteristic signal includes a pilot sequence.

7. The method according to claim 1, wherein determining whether each of a plurality of working channels is occupied by a second unmanned vehicle system among one or more second unmanned vehicle systems includes: in response to detecting that the first unmanned vehicle system is powered on or a status detection instruction is input, determining whether each of the plurality of working channels is occupied by a second unmanned vehicle system among the one or more second unmanned vehicle systems.

8. The method according to claim 1, further comprising: in response to a selection input, determining an idle working channel among the plurality of working channels indicated by the selection input as a target channel; and switching a wireless communication link of the first unmanned vehicle system to the target channel.

9. The method according to claim 8, wherein, switching the wireless communication link to the target channel includes: sending, via the wireless communication link, indication information corresponding to the target channel to the unmanned carrier vehicle of the first unmanned carrier vehicle system; setting the target channel as the communication channel of the unmanned carrier vehicle according to the indication information; and setting the target channel as the communication channel of the terminal device of the first unmanned carrier vehicle system.

10. The method according to claim 8, further including: in response to the wireless communication link of the first unmanned carrier vehicle system being switched to the target channel, controlling the unmanned carrier vehicle of the first unmanned carrier vehicle system to send a communication signal in a broadcast mode.

11. The method according to claim 1, further including: in response to detecting a preemption instruction, determining, as a target channel, an occupied working channel among the plurality of working channels indicated by the preemption instruction; sending a preemption message to the occupied unmanned carrier vehicle system, where the occupied unmanned carrier vehicle system is one of the one or more second unmanned carrier vehicle systems that occupies the target channel, and the preemption message requests the occupied unmanned carrier vehicle system to exit the target channel; and switching the wireless communication link of the first unmanned carrier vehicle system to the target channel.

12. The method according to claim 11, further including: receiving an allow preemption feedback from the occupied unmanned carrier vehicle system; wherein, switching the wireless communication link of the first unmanned carrier vehicle system to the target channel includes: in response to the allow preemption feedback, switching the wireless communication link of the first unmanned carrier vehicle system to the target channel.

13. The method according to claim 12, further including: outputting an allow preemption notice via the terminal device of the first unmanned carrier vehicle system.

14. The method according to claim 12, wherein, the allow preemption feedback is generated by the occupied unmanned carrier vehicle system in response to an allow preemption input to the occupied unmanned carrier vehicle system.

15. The method according to claim 12, wherein, the allow preemption feedback is generated by the occupied unmanned carrier vehicle system in response to the occupied unmanned carrier vehicle system not being in a preset working mode.

16. The method according to claim 12, wherein, the feedback includes time information; and switching the wireless communication link of the first unmanned carrier vehicle system to the target channel includes: determining, according to the time information, a time point at which the wireless communication link of the first unmanned carrier vehicle system is switched to the target channel; and at the time point, switching the wireless communication link of the first unmanned carrier vehicle system to the target channel.

17. The method according to claim 11, further including: receiving a prohibit preemption feedback from the occupied unmanned carrier vehicle system; and in response to the prohibit preemption feedback, outputting a prohibit preemption notice via the terminal device of the first unmanned carrier vehicle system. ​ 18. The method according to claim 17, wherein, the prohibited preemption feedback is generated by the occupied unmanned vehicle system in response to a prohibited preemption input to the occupied unmanned vehicle system.

19. The method according to claim 17, wherein, the prohibited preemption feedback is generated by the occupied unmanned vehicle system in response to the occupied unmanned vehicle system being in a preset working mode.

20. The method according to claim 11, wherein, switching the wireless communication link of the first unmanned vehicle system to the target channel includes: at a first time point, switching the wireless communication link of the first unmanned vehicle system to the target channel, the first time point being not earlier than a second time point when the occupied unmanned vehicle system exits the target channel.

21. The method according to claim 11, wherein, the preemption message requests the occupied unmanned vehicle system to switch to another working channel among the multiple working channels.

22. The method according to claim 21, wherein, another working channel among the multiple working channels is a common channel.

23. The method according to claim 21, wherein, another working channel among the multiple working channels is one of the multiple working channels indicated by an input to the occupied unmanned vehicle system.

24. The method according to claim 11, wherein, sending a preemption message to the occupied unmanned vehicle system includes: determining a reception time point at which the occupied unmanned vehicle system receives the preemption message; and at the reception time point, sending the preemption message to the occupied unmanned vehicle system.

25. The method according to claim 24, wherein, determining the reception time point includes: obtaining a synchronization signal transmitted by the occupied unmanned vehicle system; and performing a synchronization operation according to the synchronization signal to determine the reception time point at which the occupied unmanned vehicle system receives the preemption message.

26. The method according to claim 11, wherein, the preemption message includes identity information of the first unmanned vehicle system and / or identity information of a user of the first unmanned vehicle system.

27. The method according to claim 1, wherein, adjacent working channels among the multiple working channels are spaced apart from each other at a safe frequency interval.

28. The method according to claim 1, wherein, the first unmanned vehicle system includes an unmanned aerial vehicle (UAV) system, and the first unmanned vehicle includes a UAV.

29. A method for controlling a first unmanned vehicle system, comprising: determining an occupied working channel occupied by an occupied unmanned vehicle system as a target channel, the occupied unmanned vehicle system being one of one or more second unmanned vehicle systems; sending a preemption message to the occupied unmanned vehicle system, the preemption message requesting the occupied unmanned vehicle system to exit the target channel; and Switch the wireless communication link of the first unmanned vehicle system to the target channel.

30. The method according to claim 29, wherein, determining the occupied working channel as the target channel includes: in response to detecting a preemption input, determining the occupied working channel as the target channel according to the preemption input.

31. The method according to claim 30, further includes: determining whether each of a plurality of working channels is occupied by one of the one or more second unmanned vehicle systems to obtain the states of the plurality of working channels, each state including an occupied state or an idle state, and the plurality of working channels including the target channel; and outputting the states of the plurality of working channels via a terminal device of the first unmanned vehicle system.

32. The method according to claim 31, wherein, outputting the states of the plurality of working channels includes: displaying the states of the plurality of working channels via the terminal device of the first unmanned vehicle system.

33. The method according to claim 31, wherein, determining whether each of a plurality of working channels is occupied by one of the one or more second unmanned vehicle systems to obtain the states of the plurality of working channels includes: detecting by the unmanned vehicle of the first unmanned vehicle system whether each of the plurality of working channels is occupied by one of the one or more second unmanned vehicle systems to obtain the states of the plurality of working channels; and the method further includes: transmitting the states of the plurality of working channels to the terminal device of the first unmanned vehicle system via the wireless communication link.

34. The method according to claim 33, wherein, determining whether each of a plurality of working channels is occupied by one of the one or more second unmanned vehicle systems includes: determining whether each of the plurality of working channels is occupied by one of the one or more second unmanned vehicle systems by detecting whether a characteristic signal satisfying a preset requirement is received on each of the plurality of working channels.

35. The method according to claim 34, wherein, the characteristic signal is transmitted by an unmanned vehicle or a terminal device of one of the one or more second unmanned vehicle systems.

36. The method according to claim 34, wherein, the characteristic signal includes a pilot sequence.

37. The method according to claim 31, wherein, determining whether each of a plurality of working channels is occupied by one of the one or more second unmanned vehicle systems includes: In response to detecting that the first unmanned carrier vehicle system is powered on or a status detection instruction is input, determine whether each of the multiple working channels is occupied by one of the one or more second unmanned carrier vehicle systems.

38. The method according to claim 31, wherein, adjacent working channels among the multiple working channels are spaced apart from each other at a safe frequency interval.

39. The method according to claim 29, further comprising: in response to a selection input, determining an idle working channel among the multiple working channels indicated by the selection input as a target channel; and switching the wireless communication link of the first unmanned carrier vehicle system to the target channel.

40. The method according to claim 29, wherein, switching the wireless communication link to the target channel includes: sending, via the wireless communication link, indication information corresponding to the target channel to the unmanned carrier vehicle of the first unmanned carrier vehicle system; setting the target channel as the communication channel of the unmanned carrier vehicle according to the indication information; and setting the target channel as the communication channel of the terminal device of the first unmanned carrier vehicle system.

41. The method according to claim 29, further comprising: receiving a permission to preempt feedback from the occupied unmanned carrier vehicle system; wherein, switching the wireless communication link of the first unmanned carrier vehicle system to the target channel includes: in response to the permission to preempt feedback, switching the wireless communication link of the first unmanned carrier vehicle system to the target channel.

42. The method according to claim 41, wherein, the occupied unmanned carrier vehicle system generates the permission to preempt feedback in response to a permission to preempt input to the occupied unmanned carrier vehicle system.

43. The method according to claim 41, wherein, the occupied unmanned carrier vehicle system generates the permission to preempt feedback in response to the occupied unmanned carrier vehicle system not being in a preset working mode.

44. The method according to claim 41, wherein, the feedback includes time information; and switching the wireless communication link of the first unmanned carrier vehicle system to the target channel includes: determining, according to the time information, a time point at which the wireless communication link of the first unmanned carrier vehicle system is switched to the target channel; and at the time point, switching the wireless communication link of the first unmanned carrier vehicle system to the target channel.

45. The method according to claim 29, further comprising: receiving a prohibition to preempt feedback from the occupied unmanned carrier vehicle system; and in response to the prohibition to preempt feedback, outputting a prohibition to preempt notification via the terminal device of the first unmanned carrier vehicle system.

46. The method according to claim 45, wherein, the occupied unmanned carrier vehicle system generates the prohibition to preempt feedback in response to a prohibition to preempt input to the occupied unmanned carrier vehicle system.

47. The method according to claim 45, wherein, The prohibited preemption feedback is generated by the occupied unmanned vehicle system in response to the occupied unmanned vehicle system being in a preset working mode.

48. The method according to claim 29, wherein, the target channel is the working channel that the first unmanned vehicle system used last at a historical moment.

49. The method according to claim 48, wherein, storing indication information corresponding to the target channel in a server or a local storage device of the first unmanned vehicle system; the method further includes: obtaining the indication information corresponding to the target channel from the local storage device or the server; determining the target channel according to the indication information; and determining whether the target channel is occupied by one of the one or more second unmanned vehicle systems to obtain the status of the target channel, where the status of the target channel includes an idle state or an occupied state.

50. The method according to claim 48, further includes: directly switching the wireless communication link of the first unmanned vehicle system to the target channel.

51. The method according to claim 29, wherein, switching the wireless communication link of the first unmanned vehicle system to the target channel includes: switching the wireless communication link of the first unmanned vehicle system to the target channel at a first time point, and the first time point is not earlier than a second time point when the occupied unmanned vehicle system exits the target channel.

52. The method according to claim 29, wherein, the preemption message requests the occupied unmanned vehicle system to switch to another working channel among the multiple working channels.

53. The method according to claim 29, wherein, sending a preemption message to the occupied unmanned vehicle system includes: determining a reception time point when the occupied unmanned vehicle system receives the preemption message; and sending the preemption message to the occupied unmanned vehicle system at the reception time point.

54. The method according to claim 53, wherein, determining the reception time point includes: obtaining a synchronization signal transmitted by the occupied unmanned vehicle system; and performing a synchronization operation according to the synchronization signal to determine the reception time point when the occupied unmanned vehicle system receives the preemption message.

55. The method according to claim 29, further includes: controlling the unmanned vehicle of the first unmanned vehicle system to send a communication signal in a broadcast mode in response to the wireless communication link of the first unmanned vehicle system being switched to the target channel.

56. The method according to claim 29, wherein, the preemption message includes identity information of the first unmanned vehicle system and / or identity information of a user of the first unmanned vehicle system.

57. The method according to claim 29, wherein, the first unmanned vehicle system includes an unmanned aerial vehicle (UAV) system, and the first unmanned vehicle includes a UAV.

58. A method for controlling an occupied unmanned vehicle system, Comprising: Receiving a preemption message from a first unmanned vehicle system, the preemption message requesting an occupied unmanned vehicle system occupying a target channel to exit the target channel; And In response to the preemption message, outputting a preemption notice via a terminal device of the occupied unmanned vehicle system.

59. The method according to claim 58, further Comprising: Controlling the occupied unmanned vehicle system to exit the target channel.

60. The method according to claim 59, Wherein, Controlling the occupied unmanned vehicle system to exit the target channel includes: Controlling the occupied unmanned vehicle system to switch from the target channel to another working channel.

61. The method according to claim 60, Wherein, The another working channel is a common channel.

62. The method according to claim 60, Wherein, The another working channel is indicated by an input to the occupied unmanned vehicle system.

63. The method according to claim 58, further Comprising: Sending an allow preemption feedback to the first unmanned vehicle system, so that the first unmanned vehicle system outputs an allow preemption notice via a terminal device of the first unmanned vehicle system.

64. The method according to claim 63, further Comprising: Generating the allow preemption feedback in response to an allow preemption input to the occupied unmanned vehicle system.

65. The method according to claim 63, further Comprising: Generating the allow preemption feedback in response to the occupied unmanned vehicle system not being in a preset working mode.

66. The method according to claim 63, Wherein, The allow preemption feedback includes time information, and the time information indicates a time point when a wireless communication link of the first unmanned vehicle system switches to the target channel.

67. The method according to claim 66, Wherein, The time point is a first time point; And Controlling the occupied unmanned vehicle system to exit the target channel includes: Controlling the occupied unmanned vehicle system to exit the target channel at a second time point not later than the first time point.

68. The method according to claim 58, further Comprising: Sending a prohibit preemption feedback to the first unmanned vehicle system, so that the first unmanned vehicle system outputs a prohibit preemption notice via a terminal device of the first unmanned vehicle system.

69. The method according to claim 68, further Comprising: Generating the prohibit preemption feedback in response to a prohibit preemption input to the occupied unmanned vehicle system.

70. The method according to claim 68, further Comprising: Generating the prohibit preemption feedback in response to the occupied unmanned vehicle system being in a preset working mode.

71. The method according to claim 58, further Comprising: In response to the occupied unmanned vehicle system switching to another working channel, controlling an unmanned vehicle of the occupied unmanned vehicle system to send a communication signal in a broadcast mode.

72. The method according to claim 58, Wherein, The preemption message includes the identity information of the first unmanned vehicle system and / or the identity information of the user of the first unmanned vehicle system.

73. The method according to claim 58, wherein, the occupied unmanned vehicle system includes a drone UAV system, and the occupied unmanned vehicle includes a UAV.

74. A system for status detection, comprising one or more processors ； and one or more memories, the one or more memories being coupled to the one or more processors and storing instructions, wherein, the one or more processors include the processor of the terminal device of the first unmanned vehicle system or the processor of the unmanned vehicle of the first unmanned vehicle system, and the instructions, when executed by the one or more processors, cause the one or more processors to: determine whether each of a plurality of working channels is occupied by a second unmanned vehicle system among one or more second unmanned vehicle systems to obtain the status of the plurality of working channels, each status including an occupied status or an idle status; and output the status of the plurality of working channels via a user interface of the terminal device of the first unmanned vehicle system.

75. The system according to claim 74, wherein, the instructions further cause the processor to: display the status of the plurality of working channels via the terminal device of the first unmanned vehicle system.

76. The system according to claim 74, wherein, the one or more processors include the processor of the unmanned vehicle of the first unmanned vehicle system, and the instructions further cause the processor to: detect whether each of the plurality of working channels is occupied by a second unmanned vehicle system among one or more second unmanned vehicle systems to obtain the status of the plurality of working channels; and transmit the status of the plurality of working channels to the terminal device of the first unmanned vehicle system via a wireless communication link.

77. The system according to claim 74, wherein, the instructions further cause the processor to: determine whether each of the plurality of working channels is occupied by a second unmanned vehicle system among one or more second unmanned vehicle systems by detecting whether a characteristic signal that meets a preset requirement is received on each of the plurality of working channels.

78. The system according to claim 77, wherein, the characteristic signal is transmitted by an unmanned vehicle or a terminal device of a second unmanned vehicle system among the one or more second unmanned vehicle systems.

79. The system according to claim 77, wherein, the characteristic signal includes a pilot sequence.

80. The system according to claim 74, wherein, the instructions further cause the processor to: in response to detecting that the first unmanned vehicle system is powered on or a status detection instruction is input, determine whether each of the plurality of working channels is occupied by a second unmanned vehicle system among one or more second unmanned vehicle systems.

81. The system according to claim 74, wherein, the instructions further cause the processor: in response to a selection input, determine an idle working channel among the multiple working channels indicated by the selection input as a target channel; and switch the wireless communication link of the first unmanned vehicle system to the target channel.

82. The system according to claim 81, wherein, the instructions further cause the processor: send indication information corresponding to the target channel to the unmanned vehicle of the first unmanned vehicle system via the wireless communication link; set the target channel as the communication channel of the unmanned vehicle according to the indication information; and set the target channel as the communication channel of the terminal device of the first unmanned vehicle system.

83. The system according to claim 81, wherein, the instructions further cause the processor: in response to the wireless communication link of the first unmanned vehicle system being switched to the target channel, control the unmanned vehicle of the first unmanned vehicle system to send a communication signal in broadcast mode.

84. The system according to claim 74, wherein, the instructions further cause the processor: in response to detecting a preemption instruction, determine an occupied working channel among the multiple working channels indicated by the preemption instruction as a target channel; send a preemption message to the occupied unmanned vehicle system, where the occupied unmanned vehicle system is a second unmanned vehicle system among the one or more second unmanned vehicle systems that occupies the target channel, and the preemption message requests the occupied unmanned vehicle system to exit the target channel; and switch the wireless communication link of the first unmanned vehicle system to the target channel.

85. The system according to claim 84, wherein, the instructions further cause the processor: receive an allow preemption feedback from the occupied unmanned vehicle system; and in response to the allow preemption feedback, switch the wireless communication link of the first unmanned vehicle system to the target channel.

86. The system according to claim 85, wherein, the instructions further cause the processor: output an allow preemption notification via the terminal device of the first unmanned vehicle system.

87. The system according to claim 85, wherein, the allow preemption feedback is generated by the occupied unmanned vehicle system in response to an allow preemption input to the occupied unmanned vehicle system.

88. The system according to claim 85, wherein, the allow preemption feedback is generated by the occupied unmanned vehicle system in response to the occupied unmanned vehicle system not being in a preset working mode.

89. The system according to claim 85, wherein, the feedback includes time information; and the instructions further cause the processor: according to the time information, determine the time point when the wireless communication link of the first unmanned vehicle system is switched to the target channel; and Switch the wireless communication link of the first unmanned vehicle system to the target channel at the time point.

90. The system according to claim 84, wherein, the instruction further causes the processor: receive a preemption prohibition feedback from the occupied unmanned vehicle system; and in response to the preemption prohibition feedback, output a preemption prohibition notice via the terminal device of the first unmanned vehicle system.

91. The system according to claim 90, wherein, the preemption prohibition feedback is generated by the occupied unmanned vehicle system in response to a preemption prohibition input to the occupied unmanned vehicle system.

92. The system according to claim 90, wherein, the preemption prohibition feedback is generated by the occupied unmanned vehicle system in response to the occupied unmanned vehicle system being in a preset working mode.

93. The system according to claim 84, wherein, the instruction further causes the processor: switch the wireless communication link of the first unmanned vehicle system to the target channel at a first time point, the first time point not being earlier than a second time point when the occupied unmanned vehicle system exits the target channel.

94. The system according to claim 84, wherein, the preemption message requests the occupied unmanned vehicle system to switch to another working channel among the multiple working channels.

95. The system according to claim 94, wherein, another working channel among the multiple working channels is a common channel.

96. The system according to claim 94, wherein, another working channel among the multiple working channels is one of the working channels indicated by an input to the occupied unmanned vehicle system.

97. The system according to claim 84, wherein, the instruction further causes the processor: determine a reception time point when the occupied unmanned vehicle system receives the preemption message; and send the preemption message to the occupied unmanned vehicle system at the reception time point.

98. The system according to claim 97, wherein, the instruction further causes the processor: obtain a synchronization signal transmitted by the occupied unmanned vehicle system; and perform a synchronization operation according to the synchronization signal to determine the reception time point when the occupied unmanned vehicle system receives the preemption message.

99. The system according to claim 84, wherein, the preemption message includes identity information of the first unmanned vehicle system and / or identity information of a user of the first unmanned vehicle system.

100. The system according to claim 74, wherein, adjacent working channels among the multiple working channels are spaced apart from each other at a safe frequency interval.

101. The system according to claim 74, wherein, the first unmanned vehicle system includes an unmanned aerial vehicle (UAV) system, and the first unmanned vehicle includes a UAV.

102. A system for determining channel occupancy, comprising: one or more processors; and One or more memories, the one or more memories being coupled to the one or more processors and storing instructions that, when executed by the one or more processors, cause the one or more processors to: Determine an occupied working channel occupied by an occupied unmanned vehicle system as a target channel, the occupied unmanned vehicle system being one of one or more second unmanned vehicle systems; Send a preemption message to the occupied unmanned vehicle system via a transceiver, the preemption message requesting the occupied unmanned vehicle system to vacate the target channel; And Switch a wireless communication link of the first unmanned vehicle system to the target channel.

103. The system according to claim 102, Wherein, The instructions further cause the processor to: In response to detecting a preemption input, determine the occupied working channel as the target channel according to the preemption input.

104. The system according to claim 103, Wherein, The instructions further cause the processor to: Determine whether each of a plurality of working channels is occupied by one of the one or more second unmanned vehicle systems to obtain the status of the plurality of working channels, each status including an occupied status or an idle status, and the plurality of working channels including the target channel; And Output the status of the plurality of working channels via a terminal device of the first unmanned vehicle system.

105. The system according to claim 104, Wherein, The instructions further cause the processor to: Display the status of the plurality of working channels via the terminal device of the first unmanned vehicle system.

106. The system according to claim 104, Wherein, The instructions further cause the processor to: Detect, by an unmanned vehicle of the first unmanned vehicle system, whether each of the plurality of working channels is occupied by one of the one or more second unmanned vehicle systems to obtain the status of the plurality of working channels; And Transmit the status of the plurality of working channels to the terminal device of the first unmanned vehicle system via the wireless communication link.

107. The system according to claim 106, Wherein, The instructions further cause the processor to: Determine whether each of the plurality of working channels is occupied by one of the one or more second unmanned vehicle systems by detecting whether a characteristic signal that meets a preset requirement is received on each of the plurality of working channels.

108. The system according to claim 107, Wherein, The characteristic signal is transmitted by an unmanned vehicle or a terminal device of one of the one or more second unmanned vehicle systems.

109. The system according to claim 107, Wherein, The characteristic signal includes a pilot sequence.

110. The system according to claim 104, Wherein, The instructions further cause the processor to: In response to detecting that the first unmanned carrier vehicle system is powered on or a status detection instruction is input, determine whether each of the multiple working channels is occupied by one of the one or more second unmanned carrier vehicle systems.

111. The system according to claim 104, wherein, adjacent working channels among the multiple working channels are spaced apart from each other at a safe frequency interval.

112. The system according to claim 102, wherein, the instruction further causes the processor: in response to a selection input, determine an idle working channel among the multiple working channels indicated by the selection input as a target channel; and switch the wireless communication link of the first unmanned carrier vehicle system to the target channel.

113. The system according to claim 102, wherein, the instruction further causes the processor: send indication information corresponding to the target channel to the unmanned carrier vehicle of the first unmanned carrier vehicle system via the wireless communication link; set the target channel as the communication channel of the unmanned carrier vehicle according to the indication information; and set the target channel as the communication channel of the terminal device of the first unmanned carrier vehicle system.

114. The system according to claim 102, wherein, the instruction further causes the processor: receive a permission to preempt feedback from the occupied unmanned carrier vehicle system; and in response to the permission to preempt feedback, switch the wireless communication link of the first unmanned carrier vehicle system to the target channel.

115. The system according to claim 114, wherein, the permission to preempt feedback is generated by the occupied unmanned carrier vehicle system in response to a permission to preempt input to the occupied unmanned carrier vehicle system.

116. The system according to claim 114, wherein, the permission to preempt feedback is generated by the occupied unmanned carrier vehicle system in response to the occupied unmanned carrier vehicle system not being in a preset working mode.

117. The system according to claim 114, wherein, the feedback includes time information; and the instruction further causes the processor: determine a time point at which the wireless communication link of the first unmanned carrier vehicle system is switched to the target channel according to the time information; and at the time point, switch the wireless communication link of the first unmanned carrier vehicle system to the target channel.

118. The system according to claim 102, wherein, the instruction further causes the processor: receive a prohibition to preempt feedback from the occupied unmanned carrier vehicle system; and in response to the prohibition to preempt feedback, output a prohibition to preempt notification via the terminal device of the first unmanned carrier vehicle system.

119. The system according to claim 118, wherein, the prohibition to preempt feedback is generated by the occupied unmanned carrier vehicle system in response to a prohibition to preempt input to the occupied unmanned carrier vehicle system.

120. The system according to claim 118, wherein, The preemption prohibition feedback is generated by the occupied unmanned vehicle system in response to the occupied unmanned vehicle system being in a preset working mode.

121. The system according to claim 102, wherein, the target channel is the working channel that the first unmanned vehicle system last used at a historical moment.

122. The system according to claim 121, wherein, the indication information corresponding to the target channel is stored in the server or the local storage device of the first unmanned vehicle system; the instruction further causes the processor: obtain the indication information corresponding to the target channel from the local storage device or the server; determine the target channel according to the indication information; and determine whether the target channel is occupied by one of the one or more second unmanned vehicle systems to obtain the state of the target channel, and the state of the target channel includes an idle state or an occupied state.

123. The system according to claim 121, wherein, the instruction further causes the processor: directly switch the wireless communication link of the first unmanned vehicle system to the target channel.

124. The system according to claim 102, wherein, the instruction further causes the processor: switch the wireless communication link of the first unmanned vehicle system to the target channel at a first time point, and the first time point is not earlier than a second time point when the occupied unmanned vehicle system exits the target channel.

125. The system according to claim 102, wherein, the preemption message requests the occupied unmanned vehicle system to switch to another working channel among the multiple working channels.

126. The system according to claim 102, wherein, the instruction further causes the processor: determine the reception time point when the occupied unmanned vehicle system receives the preemption message; and send the preemption message to the occupied unmanned vehicle system at the reception time point.

127. The system according to claim 126, wherein, the instruction further causes the processor: obtain the synchronization signal transmitted by the occupied unmanned vehicle system; and perform a synchronization operation according to the synchronization signal to determine the reception time point when the occupied unmanned vehicle system receives the preemption message.

128. The system according to claim 102, wherein, the instruction further causes the processor: in response to the wireless communication link of the first unmanned vehicle system being switched to the target channel, control the unmanned vehicle of the first unmanned vehicle system to send a communication signal in a broadcast mode.

129. The system according to claim 102, wherein, the preemption message includes the identity information of the first unmanned vehicle system and / or the identity information of the user of the first unmanned vehicle system.

130. The system according to claim 102, wherein, the first unmanned vehicle system includes a drone UAV system, and the first unmanned vehicle includes a UAV.

131. A system for channel preemption, comprising: one or more processors; and one or more memories coupled to the one or more processors and storing instructions that, when executed by the one or more processors, cause the one or more processors to: receive a preemption message from a first unmanned vehicle system via a transceiver, the preemption message requesting that the occupied unmanned vehicle system occupying a target channel exit the target channel; and in response to the preemption message, output a preemption notice via a terminal device of the occupied unmanned vehicle system.

132. The system according to claim 131, wherein the instructions further cause the processor to: control the occupied unmanned vehicle system to exit the target channel.

133. The system according to claim 132, wherein the instructions further cause the processor to: control the occupied unmanned vehicle system to switch from the target channel to another working channel.

134. The system according to claim 133, wherein the another working channel is a common channel.

135. The system according to claim 133, wherein the another working channel is indicated by an input to the occupied unmanned vehicle system.

136. The system according to claim 131, wherein the instructions further cause the processor to: send an allow preemption feedback to the first unmanned vehicle system, so that the first unmanned vehicle system outputs an allow preemption notice via a terminal device of the first unmanned vehicle system.

137. The system according to claim 136, wherein the instructions further cause the processor to: generate the allow preemption feedback in response to an allow preemption input to the occupied unmanned vehicle system.

138. The system according to claim 136, wherein the instructions further cause the processor to: generate the allow preemption feedback in response to the occupied unmanned vehicle system not being in a preset working mode.

139. The system according to claim 136, wherein the allow preemption feedback includes time information, and the time information indicates a time point at which a wireless communication link of the first unmanned vehicle system switches to the target channel.

140. The system according to claim 139, wherein the time point is a first time point; and the instructions further cause the processor to: controlling the occupied unmanned vehicle system to exit the target channel includes controlling the occupied unmanned vehicle system to exit the target channel at a second time point not later than the first time point.

141. The system according to claim 131, wherein the instructions further cause the processor to: send a prohibit preemption feedback to the first unmanned vehicle system, so that the first unmanned vehicle system outputs a prohibit preemption notice via a terminal device of the first unmanned vehicle system.

142. The system according to claim 141, wherein the instructions further cause the processor to: generate the prohibit preemption feedback in response to a prohibit preemption input to the occupied unmanned vehicle system.

143. The system according to claim 141, wherein, the instructions further cause the processor to: generate the preemption prohibition feedback in response to the occupied unmanned vehicle system being in a preset working mode.

144. The system according to claim 131, wherein, the instructions further cause the processor to: control the unmanned vehicle of the occupied unmanned vehicle system to send a communication signal in a broadcast mode in response to the occupied unmanned vehicle system switching to another working channel.

145. The system according to claim 131, wherein, the preemption message includes the identity information of the first unmanned vehicle system and / or the identity information of the user of the first unmanned vehicle system.

146. The system according to claim 131, wherein, the occupied unmanned vehicle system includes an unmanned aerial vehicle (UAV) system, and the occupied unmanned vehicle includes a UAV.

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