Unmanned aerial vehicle and control method, device and system thereof

Abstract

The embodiments of the present application relate to an unmanned aerial vehicle and a control method, device, and system thereof. The control method of the unmanned aerial vehicle determines a master remote control device and at least one slave remote control device, wherein the master remote control device corresponds to a master control right, which corresponds to all permissions of the unmanned aerial vehicle; the slave remote control device corresponds to a slave control right, which corresponds to part of the permissions of the unmanned aerial vehicle; after the master remote control device is disconnected from the unmanned aerial vehicle, a slave remote control device is re-determined as the master remote control device. The present application can solve the problem of insufficient control efficiency of the unmanned aerial vehicle and improve the control efficiency of the unmanned aerial vehicle.

Description

[Technical field]

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to an unmanned aerial vehicle and a control method, device, and system thereof. [Background technology]

[0002] With the continuous development of UAV aerial photography technology, more and more consumer-grade UAVs are being produced and developed. UAVs are also becoming more and more popular.

[0003] During the flight of a drone, the drone is mainly controlled by the pilot using a remote control to perform tasks. Usually, one drone corresponds to one remote control. However, if there is only one remote control to control the drone, it is easy for the remote control to malfunction or the connection between the remote control and the drone is disconnected, causing the drone to lose control and affecting the execution of the drone's flight mission.

[0004] Currently, there are solutions for controlling drones with multiple remote controllers. The solutions use distance algorithms to calculate the distance between the drone and the remote controller in real time, and switch the remote controllers based on the distance. This control method has high requirements for distance judgment. In addition, real-time distance calculation and switching of remote controllers require a large amount of processing resources, which can easily affect the control efficiency of the drone. [Summary of the invention]

[0005] The embodiments of the present application provide an unmanned aerial vehicle and a control method, device, and system thereof to solve the problem of insufficient control efficiency of the unmanned aerial vehicle and improve the control efficiency of the unmanned aerial vehicle.

[0006] To solve the above technical problems, the present application provides the following technical solutions:

[0007] In a first aspect, an embodiment of the present application provides a method for controlling an unmanned aerial vehicle, the method comprising:

[0008] When the unmanned aerial vehicle is communicatively connected to at least two remote control devices, a master remote control device and at least one slave remote control device are determined, wherein the master remote control device corresponds to a master control right, which corresponds to all permissions of the unmanned aerial vehicle; and the slave remote control device corresponds to a slave control right, which corresponds to part of the permissions of the unmanned aerial vehicle;

[0009] If the master remote control device is disconnected from the unmanned aerial vehicle, sending a master remote control connection interruption message to at least one slave remote control device;

[0010] After sending the master remote control connection interruption information, the slave remote control device corresponding to the first master control right application instruction received is determined as the master remote control device.

[0011] In some embodiments, determining a master remote control device and at least one slave remote control device includes:

[0012] When the unmanned aerial vehicle has no communication connection with a remote control device, the first remote control device that is communication connected with the unmanned aerial vehicle is determined as the master remote control device, and the remote control devices that are connected thereafter are determined as slave remote control devices.

[0013] In some embodiments, the slave control right includes a first slave control right and a second slave control right, and the method further includes:

[0014] When a slave remote control device is connected to the unmanned aerial vehicle, the slave remote control device is set to correspond to the second slave control right;

[0015] When receiving a first slave control right application instruction sent by the slave remote control device, forwarding the first slave control right application instruction to the master remote control device;

[0016] If a first slave control right confirmation instruction is received from the master remote control device, the control right of the slave remote control device will be converted from the second slave control right to the first slave control right; wherein the first slave control right corresponds to the operation authority of the gimbal of the unmanned aerial vehicle, and the second slave control right corresponds to the information viewing authority of the unmanned aerial vehicle.

[0017] In some embodiments,

[0018] The main remote control device communicates with the unmanned aerial vehicle via the first image transmission channel;

[0019] The remote control device communicates with the unmanned aerial vehicle via the second image transmission channel;

[0020] If the master remote control device is disconnected from the unmanned aerial vehicle, a master remote control connection interruption message is sent to at least one slave remote control device, including:

[0021] After the first image transmission channel is closed, the master remote control connection interruption information is sent to the slave remote control device through the second image transmission channel.

[0022] In some embodiments,

[0023] The main remote control device communicates with the unmanned aerial vehicle via the first image transmission channel;

[0024] At least one slave remote control device is communicatively connected to the same base station, and the base station is communicatively connected to the unmanned aerial vehicle via a second image transmission channel;

[0025] If the master remote control device is disconnected from the unmanned aerial vehicle, a master remote control connection interruption message is sent to at least one slave remote control device, including:

[0026] After the first image transmission channel is closed, the master remote control connection interruption information is sent to the base station through the second image transmission channel, so that the base station forwards the master remote control connection interruption information to at least one slave remote control device that is communicatively connected to the base station.

[0027] In some embodiments,

[0028] The master remote control device and at least one slave remote control device are communicatively connected to the same base station, and the base station is communicatively connected to the unmanned aerial vehicle via a first image transmission channel;

[0029] At least one slave remote control device is communicatively connected to the unmanned aerial vehicle via a second image transmission channel;

[0030] If the master remote control device is disconnected from the unmanned aerial vehicle, a master remote control connection interruption message is sent to at least one slave remote control device, including:

[0031] After the master remote control device is disconnected from the unmanned aerial vehicle, master remote control connection interruption information is sent to a base station to which the master remote control device is communicatively connected, so that the base station forwards the master remote control connection interruption information to at least one slave remote control device to which the base station is communicatively connected.

[0032] In some embodiments, the method further comprises:

[0033] If no master control right application instruction is received from a slave remote control device in communication connection with the base station within a preset time threshold, master remote control connection interruption information is sent to at least one slave remote control device via the second image transmission channel.

[0034] In some embodiments,

[0035] The master remote control device and at least one slave remote control device are communicatively connected to a first base station, and the first base station is communicatively connected to the unmanned aerial vehicle via a first image transmission channel;

[0036] At least one slave remote control device is communicatively connected to a second base station, and the second base station is communicatively connected to the unmanned aerial vehicle via a second image transmission channel;

[0037] If the master remote control device is disconnected from the unmanned aerial vehicle, a master remote control connection interruption message is sent to at least one slave remote control device, including:

[0038] After the master remote control device is disconnected from the unmanned aerial vehicle, master remote control connection interruption information is sent to the first base station, so that the first base station forwards the master remote control connection interruption information to at least one slave remote control device in communication connection with the first base station.

[0039] In some embodiments, the method further comprises:

[0040] If no master control request instruction is received from a slave remote control device that is communicatively connected to the first base station within a preset time threshold, master remote control connection interruption information is sent to the second base station through the second image transmission channel, so that the second base station forwards the master remote control connection interruption information to at least one slave remote control device that is communicatively connected to it.

[0041] In a second aspect, an embodiment of the present application provides a control device for an unmanned aerial vehicle, the device comprising:

[0042] A device connection module, used for communication connection between at least two remote control devices;

[0043] The device determination module is used to determine a master remote control device and at least one slave remote control device, wherein the master remote control device corresponds to the master control right, which corresponds to all the permissions of the unmanned aerial vehicle; the slave remote control device corresponds to the slave control right, which corresponds to part of the permissions of the unmanned aerial vehicle;

[0044] an information sending module, configured to send a master remote control connection interruption message to at least one slave remote control device if the master remote control device is disconnected from the unmanned aerial vehicle;

[0045] The master control determination module is used to determine the slave remote control device corresponding to the first master control right application instruction received as the master remote control device after sending the master remote control connection interruption information.

[0046] In a third aspect, an embodiment of the present application provides an unmanned aerial vehicle, comprising:

[0047] at least one processor; and

[0048] A memory communicatively connected to at least one processor; wherein the memory stores instructions executable by at least one processor, and the instructions are executed by at least one processor so that the at least one processor can be used to execute the control method of the unmanned aerial vehicle as in the first aspect.

[0049] In a fourth aspect, an embodiment of the present application provides a control system for an unmanned aerial vehicle, the system comprising:

[0050] Such as the unmanned aerial vehicle of the third aspect;

[0051] At least one remote control device is communicatively connected to the unmanned aerial vehicle, and the at least one remote control device is used to control the unmanned aerial vehicle.

[0052] In some embodiments, the system further comprises:

[0053] The base station is used for communication connection with at least one remote control device.

[0054] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium is used to store a computer program, and the computer program enables a computer to execute instructions of some or all of the steps described in the first aspect.

[0055] In a sixth aspect, an embodiment of the present application provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps described in the first aspect. The computer program product may be a software installation package.

[0056] The control method of an unmanned aerial vehicle provided by the embodiment of the present application includes: when the unmanned aerial vehicle is connected to at least two remote control devices in communication, a master remote control device and at least one slave remote control device are determined, wherein the master remote control device corresponds to the master control right, which corresponds to all the rights of the unmanned aerial vehicle; the slave remote control device corresponds to the slave control right, which corresponds to part of the rights of the unmanned aerial vehicle; if the master remote control device is disconnected from the unmanned aerial vehicle, a master remote control connection interruption message is sent to at least one slave remote control device; after sending the master remote control connection interruption message, the slave remote control device corresponding to the first master control right application instruction received is determined as the master remote control device. By determining a master remote control device and at least one slave remote control device, the control rights of the master remote control device and the slave remote control device are different, so that the unmanned aerial vehicle can realize host control and slave control, avoid operation conflicts caused by the same rights of multiple remote control devices, and improve control efficiency; and after the master remote control device is disconnected from the unmanned aerial vehicle, a slave remote control device is re-determined as the master remote control device. The present application can solve the problem of insufficient control efficiency of the unmanned aerial vehicle and improve the control efficiency of the unmanned aerial vehicle.

Brief Description of the Drawings

[0057] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0058] Figure 1 It is a schematic diagram of an application scenario provided by an embodiment of the present application;

[0059] Figure 2 It is a flowchart of a control method of an unmanned aerial vehicle provided in an embodiment of the present application;

[0060] Figure 3 is a flow chart for determining a master remote control device and a slave remote control device provided by an embodiment of the present application;

[0061] Figure 4 is a flow chart for determining slave control rights provided by an embodiment of the present application;

[0062] Figure 5 It is a schematic diagram of the connection relationship between the first master remote control device, the slave remote control device and the unmanned aerial vehicle provided in an embodiment of the present application;

[0063] Figure 6 This is a flow chart of a first interrupt processing method of a master remote control device provided in an embodiment of the present application;

[0064] Figure 7 is a schematic diagram of a connection relationship between a second master remote control device, a slave remote control device and an unmanned aerial vehicle provided in an embodiment of the present application;

[0065] Figure 8 is a flow chart of a second interrupt processing method of a master remote control device provided in an embodiment of the present application;

[0066] Fig. 9 is a schematic diagram of a connection relationship between a third master remote control device, a slave remote control device and an unmanned aerial vehicle provided in an embodiment of the present application;

[0067] Fig.10 is a flow chart of a third interrupt processing method of a master remote control device provided in an embodiment of the present application;

[0068] Fig.11 is a schematic diagram of a fourth type of connection relationship between a master remote control device, a slave remote control device and an unmanned aerial vehicle provided in an embodiment of the present application;

[0069] Fig.12 is a flowchart of a fourth interrupt processing method of a master remote control device provided in an embodiment of the present application;

[0070] Fig.13 is a flow chart of another method for controlling an unmanned aerial vehicle provided in an embodiment of the present application;

[0071] Fig.14 is a structural schematic diagram of a control device for an unmanned aerial vehicle provided in an embodiment of the present application;

[0072] Fig.15 is a structural schematic diagram of an unmanned aerial vehicle provided in an embodiment of the present application;

[0073] Fig.16 is a structural schematic diagram of a remote control device provided in an embodiment of the present application;

[0074] Fig.17 It is a structural schematic diagram of a control system of an unmanned aerial vehicle provided in an embodiment of the present application. [Specific implementation method]

[0075] In order to facilitate the understanding of the present application, the present application is described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on another element or there can be one or more centered elements therebetween. When an element is described as "connected" to another element, it can be directly connected to another element or there can be one or more centered elements therebetween. The orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "bottom" and the like used in this specification is based on the orientation or positional relationship shown in the accompanying drawings, only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" and the like are used only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0076] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this specification and in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0077] In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0078] The following examples illustrate the application environment of the control method for the unmanned aerial vehicle in the embodiment of the present application.

[0079] See also Figure 1 , Figure 1 It is a schematic diagram of an application scenario provided by an embodiment of the present application;

[0080] like Figure 1 As shown, the application scenario includes an unmanned aerial vehicle 100 and multiple remote control devices 200, wherein the unmanned aerial vehicle 100 is communicatively connected to each remote control device 200, for example: the unmanned aerial vehicle 100 is communicatively connected to each remote control device 200 via a wireless network, and the pilot or user can operate the remote control device 200 to operate the unmanned aerial vehicle 100 via the wireless network.

[0081] In some embodiments, the unmanned aerial vehicle 100 includes: unmanned aerial vehicles such as multi-rotor unmanned aerial vehicles, fixed-wing unmanned aerial vehicles, unmanned helicopters, and hybrid-wing unmanned aerial vehicles. In some embodiments, the unmanned aerial vehicle 100 can also be an unmanned aerial vehicle driven by any type of power, including but not limited to a rotary-wing unmanned aerial vehicle, a fixed-wing unmanned aerial vehicle, a paraglider unmanned aerial vehicle, a flapping-wing unmanned aerial vehicle, and a helicopter model. In the embodiments of the present application, a hybrid-wing unmanned aerial vehicle is used as an example for description.

[0082] Furthermore, the unmanned aerial vehicle 100 may have a corresponding volume or power according to actual needs, so as to provide a load capacity, flight speed, and flight range that can meet the use requirements. One or more sensors may also be added to the unmanned aerial vehicle 100 so that the unmanned aerial vehicle 100 can collect corresponding data.

[0083] For example, in some embodiments, the UAV 100 is provided with at least one sensor selected from the group consisting of an accelerometer, a gyroscope, a magnetometer, a GPS navigator, and a visual sensor.

[0084] The UAV 100 also includes a flight controller, which serves as the control core of the UAV flight and data transmission, etc., integrating one or more modules to execute corresponding logic control programs.

[0085] In an embodiment of the present application, the unmanned aerial vehicle includes a drone control system, which includes a state machine, a flight controller, a drone power system, and a drone sensor.

[0086] Specifically, the UAV control system includes: a state machine, a flight controller and a UAV power system. Specifically, the state machine connects the flight controller and the UAV power system. The input of the state machine is navigation data and user interaction commands, and the output is control instructions and corresponding flags. The main function of the state machine is to process user interaction commands and use navigation data to realize various functions of the UAV, such as flight mode switching, status monitoring, waypoint flight, return and other upper-level functions. Among them, the user interaction command is an interaction command issued by a ground user, such as remote control stick quantity data, button control commands and other commands. It can be understood that this application is mainly implemented in the state machine. Specifically, the control commands and corresponding flags output by the state machine include position commands, speed commands, acceleration commands, altitude commands, climb rate commands, climb acceleration commands, attitude angle commands, heading angular rate commands, attitude mode flags and position mode flags.

[0087] Specifically, the flight controller connects the state machine and the flight controller, and is used to receive the control command and corresponding flag sent by the state machine, as well as the navigation data sent by the UAV power system, and output the motor speed control command. The flight controller includes two flight modes, namely the position mode and the attitude mode. The main function of the flight controller is to use the control command and navigation data to calculate the motor speed command through a certain algorithm, so that the aircraft can achieve position and attitude control, that is, the position and attitude of the aircraft reach the desired state. Specifically, the battery speed control command, taking a common rotorcraft as an example, the data is the pulse width modulation (PWM) of the control motor.

[0088] Specifically, the UAV power system is connected to the flight controller. The UAV power system includes the UAV execution system and the state monitoring system, which are used to receive the motor speed control command sent by the flight controller, achieve the corresponding speed, thereby achieving the corresponding attitude angle and position, process the sensor data, and indirectly or directly calculate the navigation data. Specifically, the UAV power system processes the UAV sensor data by adopting a fusion algorithm to obtain navigation data. For example, the UAV power system includes GPS, gyroscope, accelerometer, and magnetometer, and the position, speed, and acceleration data of the UAV can be calculated by GPS, gyroscope, accelerometer, and magnetometer. The position, speed, and acceleration data of the UAV can be calculated by binocular vision, gyroscope, accelerometer, and magnetometer. The attitude angle and attitude angular rate of the UAV can be calculated by gyroscope, accelerometer, and magnetometer.

[0089] In some embodiments, the remote control device 200 includes an intelligent terminal, wherein the intelligent terminal can be any type of intelligent device for establishing a communication connection with the unmanned aerial vehicle 100, such as a mobile terminal such as a mobile phone, a tablet computer or an intelligent remote controller. The remote control device 200 can be equipped with one or more different user interaction devices for collecting user instructions or displaying and feeding back information to the user. Alternatively, the remote control device 200 includes a terminal device, wherein the terminal device includes a computer device, a PC terminal or other device for establishing a communication connection with the unmanned aerial vehicle 100, and the terminal device can be equipped with one or more different user interaction devices for collecting user instructions or displaying and feeding back information to the user.

[0090] The above-mentioned user interaction means include but are not limited to: buttons, mice, keyboards, display screens, touch screens, speakers, remote control joysticks, etc. For example, the remote control device 200 may be equipped with a touch screen, through which the user's remote control instructions for the UAV 100 are received and map information, i.e., map screens, is displayed to the user through the touch screen, and image information obtained by aerial photography, i.e., image transmission screens, is displayed to the user. The user may also switch the image information currently displayed on the display screen through the remote control touch screen. The user may also control the movement of the UAV through the operation of the mouse or the operation of the keys on the keyboard, or control the direction of the pan / tilt of the UAV, the focal length of the pan / tilt camera of the UAV, etc.

[0091] In some embodiments, the UAV 100 and the remote control device 200 may also integrate existing image visual processing technologies to further provide more intelligent services. For example, the UAV 100 may collect images through a dual-light camera, and the remote control device 200 may analyze the images, thereby enabling the user to control the UAV 100 through gestures.

[0092] In some embodiments, the wireless network can be a wireless communication network based on any type of data transmission principle for establishing a data transmission channel between two nodes, such as a Bluetooth network, a WiFi network, a wireless cellular network or a combination thereof in different signal frequency bands.

[0093] The technical solution of the present application is described below in conjunction with the accompanying drawings:

[0094] See also Figure 2 , Figure 2 It is a flowchart of a control method of an unmanned aerial vehicle provided in an embodiment of the present application;

[0095] The control method of the unmanned aerial vehicle is applied to the unmanned aerial vehicle. Specifically, the execution subject of the control method of the unmanned aerial vehicle is one or more processors of the unmanned aerial vehicle.

[0096] like Figure 2 As shown, the control method of the unmanned aerial vehicle includes:

[0097] Step S201: When the UAV is connected to at least two remote control devices, a master remote control device and at least one slave remote control device are determined, wherein the master remote control device corresponds to the master control right, which corresponds to all the permissions of the UAV; and the slave remote control device corresponds to the slave control right, which corresponds to part of the permissions of the UAV;

[0098] Among them, the unmanned aerial vehicle is connected to each remote control device through wireless network communication. For example, in the case of short distance, the unmanned aerial vehicle and the remote control device communicate directly through the 2.4GHz frequency band or the 5.8GHz frequency band. Or, in the case of long distance, the unmanned aerial vehicle and the remote control device communicate through the base station. Specifically, the remote control device connects to the WiFi hotspot of the base station, and the base station acts as a transfer station for information interaction or command interaction.

[0099] Specifically, the unmanned aerial vehicle and each remote control device include an image transmission module, wherein the image transmission module includes an image transmission transmitting module and an image transmission receiving module, for example: the image transmission module of the unmanned aerial vehicle includes an image transmission transmitting module and an image transmission receiving module, and the image transmission module of each remote control device includes an image transmission transmitting module and an image transmission receiving module, wherein the image transmission transmitting module is used to transmit data, and the image transmission receiving module is used to receive data, for example: the image transmission receiving module of the unmanned aerial vehicle is used to receive data sent by the image transmission transmitting module of the remote control device.

[0100] In the embodiment of the present application, the wireless transmission frequency between the image transmission transmitting module and the image transmission receiving module adopts the industry standard frequency 2.4GHz or 5.8GHz for image transmission. It can be understood that the image transmission module refers to a module that directly transmits video images between two points through a wireless link.

[0101] After at least two remote control devices communicate with the unmanned aerial vehicle directly through image transmission or through base station relay, the unmanned aerial vehicle needs to determine a master remote control device and determine the remaining remote control devices as slave remote control devices. The master remote control device will control all the permissions of the unmanned aerial vehicle.

[0102] In the embodiment of the present application, the unmanned aerial vehicle includes at most two image transmission channels, one of which is used for data transmission of the master remote control device to realize the control of the unmanned aerial vehicle by the master remote control device, and the other is used for data transmission of the slave remote control device to realize the control of the unmanned aerial vehicle by the slave remote control device. Among them, the two image transmission channels are respectively the first image transmission channel and the second image transmission channel, and the first image transmission channel and the second image transmission channel are realized through a communication protocol, such as: TCP communication protocol, UDP communication protocol, Netty communication protocol.

[0103] It is understandable that the first image transmission channel and the second image transmission channel can be based on the same communication protocol or different communication protocols, for example, the first image transmission channel is based on the TCP communication protocol, and the second image transmission channel is based on the UDP communication protocol. Preferably, the first image transmission channel and the second image transmission channel in the embodiment of the present application are based on the same communication protocol, and the image transmission channel where the master remote control device is located is the first image transmission channel by default.

[0104] Please refer to Figure 3 , Figure 3 is a flow chart for determining a master remote control device and a slave remote control device provided by an embodiment of the present application;

[0105] like Figure 3 As shown, determining a master remote control device and at least one slave remote control device includes:

[0106] Step S301: When the UAV has no communication connection with a remote control device, the first remote control device that is communication connected with the UAV is determined as a master remote control device, and the remote control devices that are connected thereafter are determined as slave remote control devices.

[0107] Specifically, when the unmanned aerial vehicle establishes a communication connection with a remote control device for the first time, the remote control device is determined to be the main remote control device; or, when the unmanned aerial vehicle has disconnected the communication connection with all remote control devices, the remote control device that first establishes a communication connection with the unmanned aerial vehicle is determined to be the main remote control device, and the remote control devices that are connected thereafter are determined to be slave remote control devices.

[0108] In an embodiment of the present application, the main remote control device corresponds to the main control right, and the main control right corresponds to all permissions of the unmanned aerial vehicle, such as: operation permissions of all modules of the unmanned aerial vehicle, task upload, electronic fence upload, manual flight, parameter settings of all modules, such as: flight control parameter settings, gimbal camera parameter settings, etc.

[0109] In the embodiment of the present application, the slave remote control device corresponds to the slave control right, and the slave control right corresponds to some permissions of the unmanned aerial vehicle, such as: gimbal direction control, gimbal lock, gimbal camera zoom, gimbal reset, unmanned aerial vehicle parameter viewing, etc.

[0110] Furthermore, the slave control right includes the first slave control right and the second slave control right. Please refer to Figure 4 , Figure 4 is a flow chart for determining slave control rights provided by an embodiment of the present application;

[0111] like Figure 4 As shown, the steps to determine the right of control include:

[0112] Step S401: When a slave remote control device is connected to the UAV, the slave remote control device is set to correspond to the second slave control right;

[0113] Specifically, when the unmanned aerial vehicle is communicatively connected to at least one remote control device, that is, the unmanned aerial vehicle has a master remote control device, when a slave remote control device is connected to the unmanned aerial vehicle, the slave remote control device corresponds to the second slave control right by default, wherein the second slave control right corresponds to the information viewing permission of the unmanned aerial vehicle, for example: viewing the video stream, real-time flight parameters and route trajectory of the unmanned aerial vehicle, wherein the real-time flight parameters include but are not limited to the current coordinate position, altitude, speed, distance, waypoints, gimbal angle, camera status and other parameters of the unmanned aerial vehicle.

[0114] It is understandable that if a remote control device is connected to an unmanned aerial vehicle and the unmanned aerial vehicle is not communicating with other remote control devices at this time, the remote control device automatically obtains the main control right.

[0115] Step S402: when receiving a first slave control right application instruction sent by the slave remote control device, forwarding the first slave control right application instruction to the master remote control device;

[0116] Specifically, when the unmanned aerial vehicle receives a first slave control right application instruction sent by a slave remote control device, the first slave control right application instruction is forwarded to the current master remote control device.

[0117] Step S403: If a first slave control right determination instruction is received from the master remote control device, the control right of the slave remote control device is converted from the second slave control right to the first slave control right; wherein the first slave control right corresponds to the operation authority of the gimbal of the unmanned aerial vehicle, and the second slave control right corresponds to the information viewing authority of the unmanned aerial vehicle.

[0118] Specifically, if a slave remote control device needs to obtain the first slave control right, it needs to send a first slave control right application instruction to the master remote control device, and the master remote control device determines whether to agree to the slave remote control device to obtain the first slave control right. After the master remote control device receives the first slave control right application instruction sent by the unmanned aerial vehicle, the master remote control device presents the information corresponding to the first slave control right application instruction on its display screen, so that the operator of the master remote control device can view the information corresponding to the first slave control right application instruction, and performs a first operation on the display screen so that the display screen responds to the first operation. If the first operation is a confirmation operation, a first slave control right confirmation instruction is generated and sent to the unmanned aerial vehicle. If the first operation is a rejection operation, a rejection instruction is generated and sent to the unmanned aerial vehicle, wherein the information corresponding to the first slave control right application instruction includes device information of the slave remote control device, sending time and other information.

[0119] In an embodiment of the present application, if the control right of a certain slave remote control device is converted from the second slave control right to the first slave control right, the unmanned aerial vehicle will record it, that is, the unmanned aerial vehicle is also used to count the number of slave remote control devices that currently have the first slave control right. When the number of slave remote control devices that have the first slave control right exceeds the first quantity threshold, the unmanned aerial vehicle will no longer forward the first slave control right application instruction to the master remote control device, and return a first prompt message to the slave remote control device that sent the first slave control right application instruction, wherein the first prompt message is used to prompt the slave remote control device that the number of slave remote control devices that currently have the first slave control right is full. Among them, the first quantity threshold in the embodiment of the present application is set according to specific needs, for example: it is set to 3, which is not limited here. By setting the first quantity threshold to limit the number of remote control devices that have the first slave control right, that is, the operation authority of the pan-tilt head, it is possible to avoid competition and conflict caused by too many remote control devices, which is conducive to the effective control of the pan-tilt head of the unmanned aerial vehicle.

[0120] Step S202: If the master remote control device is disconnected from the UAV, a master remote control connection interruption message is sent to at least one slave remote control device;

[0121] Specifically, since the communication connection modes of the master remote control device and the slave remote control device with the unmanned aerial vehicle may be the same or different, the modes of sending the master remote control connection interruption information are also different.

[0122] The following is a specific example of how to send the main remote control connection interruption information:

[0123] (1) Two-way image transmission direct connection method:

[0124] See also Figure 5 , Figure 5 It is a schematic diagram of the connection relationship between the first master remote control device, the slave remote control device and the unmanned aerial vehicle provided in an embodiment of the present application;

[0125] like Figure 5 As shown, there is only one master remote control device and one slave remote control device, and they are connected to the unmanned aerial vehicle in a two-way image transmission direct connection mode. Specifically, a master remote control device is connected to the unmanned aerial vehicle through a first image transmission channel, and a slave remote control device is connected to the unmanned aerial vehicle through a second image transmission channel.

[0126] In an embodiment of the present application, the master remote control device and the unmanned aerial vehicle are paired through a pairing code. A pairing code is set on the pairing code setting keyboard of the unmanned aerial vehicle, and the corresponding pairing code is entered on the password pairing keyboard of a remote control device. Then, the remote control device and the unmanned aerial vehicle are successfully paired, and the remote control device is determined to be the master remote control device, which means that the remote control device can control the unmanned aerial vehicle; and the slave remote control device or base station and the unmanned aerial vehicle are also paired through a pairing code. For example: after the master remote control device or base station obtains the slave pairing code through user triggering, the slave pairing code is notified to the slave pairing personnel, and the slave pairing personnel enters the slave pairing code for pairing.

[0127] Alternatively, pairing is performed by means of a pairing button. Specifically, a master pairing button is provided on the remote control device, and a physical button is also provided on the unmanned aerial vehicle. When the user simultaneously triggers the master pairing button on the remote control device and the physical button on the unmanned aerial vehicle, the remote control device is triggered to pair with the unmanned aerial vehicle, and the remote control device is determined to be the master remote control device. Similarly, the slave remote control device is paired with the unmanned aerial vehicle in the same manner, which will not be described in detail here.

[0128] In an embodiment of the present application, the master remote control device is connected to the unmanned aerial vehicle via a first image transmission channel; the slave remote control device is connected to the unmanned aerial vehicle via a second image transmission channel; if the master remote control device is disconnected from the unmanned aerial vehicle, master remote control connection interruption information is sent to at least one slave remote control device, including: when the first image transmission channel is closed, master remote control connection interruption information is sent to the slave remote control device via the second image transmission channel.

[0129] For details, please refer to Figure 6 , Figure 6 This is a flow chart of a first interrupt processing method of a master remote control device provided in an embodiment of the present application;

[0130] like Figure 6 As shown, the process of the first interrupt processing method of the master remote control device includes:

[0131] Step S601: the main remote control device is disconnected from the unmanned aerial vehicle;

[0132] Specifically, if the communication between the main remote control device and the unmanned aerial vehicle is interrupted, for example, the main remote control device runs out of power and shuts down, the image transmission module of the main remote control device stops working, that is, the image transmission transmitting module and the image transmission receiving module stop working.

[0133] Step S602: the first image transmission channel is closed;

[0134] Specifically, when the communication connection between the main remote control device and the unmanned aerial vehicle is interrupted, the first image transmission channel is closed. For example, the image transmission transmitting module and / or the image transmission receiving module of the main remote control device and / or the unmanned aerial vehicle stops working, then the first image transmission channel is closed.

[0135] Step S603: Sending master remote control connection interruption information to the slave remote control device via the second image transmission channel;

[0136] Specifically, the image transmission transmitting module of the unmanned aerial vehicle sends the main remote control connection interruption information to the image transmission receiving module of the slave remote control device through the second image transmission channel.

[0137] like Figure 5 As shown, when the communication connection between the unmanned aerial vehicle and the master remote control device is interrupted, it is equivalent to closing the first image transmission channel. At this time, the unmanned aerial vehicle sends the master remote control connection interruption information to the slave remote control device through the second image transmission channel.

[0138] (2) The master remote control device is connected to the UAV via image transmission, and the slave remote control device is connected to the UAV via the base station:

[0139] See also Figure 7 , Figure 7 is a schematic diagram of a connection relationship between a second master remote control device, a slave remote control device and an unmanned aerial vehicle provided in an embodiment of the present application;

[0140] like Figure 7 As shown, the master remote control device is connected to the unmanned aerial vehicle through the first image transmission channel, multiple slave remote control devices are connected to the unmanned aerial vehicle through the base station, and multiple slave remote control devices are connected to the base station through a wireless communication protocol, such as: wireless network (Wireless-Fidelity, WiFi).

[0141] Please refer to Figure 8 , Figure 8 is a flow chart of a second interrupt processing method of a master remote control device provided in an embodiment of the present application;

[0142] like Figure 8 As shown, the process of the second interrupt processing method of the master remote control device includes:

[0143] Step S801: the main remote control device is disconnected from the unmanned aerial vehicle;

[0144] Specifically, if the communication between the main remote control device and the unmanned aerial vehicle is interrupted, for example, the main remote control device runs out of power and shuts down, the image transmission module of the main remote control device stops working, that is, the image transmission transmitting module and the image transmission receiving module stop working.

[0145] Step S802: the first image transmission channel is closed;

[0146] Specifically, when the communication connection between the main remote control device and the unmanned aerial vehicle is interrupted, the first image transmission channel is closed. For example, the image transmission transmitting module and / or the image transmission receiving module of the main remote control device and / or the unmanned aerial vehicle stops working, then the first image transmission channel is closed.

[0147] Step S803: Sending main remote control connection interruption information to the base station via the second image transmission channel;

[0148] Specifically, the base station includes an image transmission module, and the image transmission module of the base station also includes an image transmission transmitting module and an image transmission receiving module. The image transmission transmitting module of the unmanned aerial vehicle sends the main remote control connection interruption information to the image transmission receiving module of the base station.

[0149] Step S804: the base station forwards the master remote control connection interruption information to at least one slave remote control device in communication connection with the base station;

[0150] Specifically, after the image transmission receiving module of the base station receives the master remote control connection interruption information, the base station further forwards the master remote control connection interruption information to at least one slave remote control device that is communicatively connected to the base station, that is, the base station broadcasts the master remote control connection interruption information to all slave remote control devices that are communicatively connected to it.

[0151] like Figure 7 As shown, the master remote control device is connected to the unmanned aerial vehicle via the first image transmission channel; at least one slave remote control device is connected to the same base station via WiFi communication, and the base station is connected to the unmanned aerial vehicle via the second image transmission channel; if the master remote control device is disconnected from the unmanned aerial vehicle, then after the first image transmission channel is closed, the master remote control connection interruption information is sent to the base station via the second image transmission channel, so that the base station forwards the master remote control connection interruption information to at least one slave remote control device that is communicatively connected to it.

[0152] (3) The master remote control device and at least one slave remote control device are connected to the UAV via the same base station, and at least one slave remote control device is connected to the UAV via image transmission:

[0153] See also Fig. 9 , Fig. 9 is a schematic diagram of a connection relationship between a third master remote control device, a slave remote control device and an unmanned aerial vehicle provided in an embodiment of the present application;

[0154] like Fig. 9 As shown, the master remote control device and at least one slave remote control device are connected to the same base station via WiFi, that is, the master remote control device and at least one slave remote control device are in the same wireless local area network, the base station is connected to the unmanned aerial vehicle via image transmission, and at least one slave remote control device is connected to the unmanned aerial vehicle via image transmission.

[0155] Please refer to Fig.10 , Fig.10is a flow chart of a third interrupt processing method of a master remote control device provided in an embodiment of the present application;

[0156] like Fig.10 As shown, the process of the third interrupt processing method of the master remote control device includes:

[0157] Step S1001: the main remote control device is disconnected from the unmanned aerial vehicle;

[0158] Specifically, if the communication between the main remote control device and the unmanned aerial vehicle is interrupted, for example: the main remote control device runs out of power and shuts down, causing the connection between the main remote control device and the base station to be interrupted, which in turn causes the connection between the main remote control device and the unmanned aerial vehicle to be interrupted, or the connection between the main remote control device and the base station is interrupted due to other faults, which in turn causes the connection between the main remote control device and the unmanned aerial vehicle to be interrupted.

[0159] Step S1002: Sending master remote control connection interruption information to the base station to which the master remote control device is connected;

[0160] Specifically, the unmanned aerial vehicle sends a main remote control connection interruption message to the base station to which the main remote control device is communicated.

[0161] Step S1003: the base station forwards the master remote control connection interruption information to at least one slave remote control device in communication connection with the base station;

[0162] Specifically, the base station forwards the master remote control connection interruption information to at least one slave remote control device in communication connection with the base station, so that the at least one slave remote control device receives the master remote control connection interruption information.

[0163] In an embodiment of the present application, when the connection between the master remote control device and the unmanned aerial vehicle is interrupted, the master remote control connection interruption information is preferentially broadcast to the slave remote control devices under the same base station through the base station connected to the master remote control device, which is beneficial to converting the slave remote control device under the same base station into a master remote control device, which is beneficial to faster and better determining the master remote control device and improving the stability of the control system.

[0164] like Fig. 9 As shown, the master remote control device and at least one slave remote control device are communicatively connected to the same base station, and the base station is communicatively connected to the unmanned aerial vehicle via a first image transmission channel; and at least one slave remote control device is communicatively connected to the unmanned aerial vehicle via a second image transmission channel;

[0165] At this time, if the master remote control device is disconnected from the unmanned aerial vehicle, a master remote control connection interruption message is sent to at least one slave remote control device, including:

[0166] After the master remote control device is disconnected from the unmanned aerial vehicle, master remote control connection interruption information is sent to a base station to which the master remote control device is communicatively connected, so that the base station forwards the master remote control connection interruption information to at least one slave remote control device to which the base station is communicatively connected.

[0167] When at least one slave remote control device receives the main remote control connection interruption information, a master control right application instruction can be sent to the base station, so that the base station forwards the master control right application instruction to the unmanned aerial vehicle, so that the unmanned aerial vehicle receives the master control right application instruction and establishes a communication connection with the device that sent the master control right application instruction, that is, the unmanned aerial vehicle determines the first remote control device that is connected to the unmanned aerial vehicle for communication as the main remote control device.

[0168] In an embodiment of the present application, the method further includes:

[0169] If the master control right application instruction sent by the slave remote control device connected to the base station is not received within the preset time threshold, the master remote control connection interruption information is sent to at least one slave remote control device through the second image transmission channel. The preset time threshold can be set according to specific needs, for example, set to 1s.

[0170] (4) The master remote control device and at least one slave remote control device are connected to the same base station via WiFi, and the base station is connected to the unmanned aerial vehicle via image transmission. At least one slave remote control device is connected to the same base station via WiFi, and the base station is connected to the unmanned aerial vehicle via image transmission.

[0171] See also Fig.11 , Fig.11 is a schematic diagram of a fourth type of connection relationship between a master remote control device, a slave remote control device and an unmanned aerial vehicle provided in an embodiment of the present application;

[0172] like Fig.11 As shown, a master remote control device and at least one slave remote control device are connected to a first base station via WiFi, that is, a master remote control device and at least one slave remote control device are in the same wireless local area network, the first base station is connected to the unmanned aerial vehicle via a first image transmission channel, at least one slave remote control device is connected to a second base station via WiFi, and the second base station is connected to the unmanned aerial vehicle via a second image transmission channel.

[0173] Please refer to Fig.12 , Fig.12 is a flowchart of a fourth interrupt processing method of a master remote control device provided in an embodiment of the present application;

[0174] like Fig.12 As shown, the process of the fourth interrupt processing method of the master remote control device includes:

[0175] Step S1201: the main remote control device is disconnected from the unmanned aerial vehicle;

[0176] Specifically, if the communication between the main remote control device and the unmanned aerial vehicle is interrupted, for example: the main remote control device runs out of power and shuts down, causing the connection between the main remote control device and the base station to be interrupted, which in turn causes the connection between the main remote control device and the unmanned aerial vehicle to be interrupted, or the connection between the main remote control device and the base station is interrupted due to other faults, which in turn causes the connection between the main remote control device and the unmanned aerial vehicle to be interrupted.

[0177] Step S1202: Sending main remote control connection interruption information to the first base station;

[0178] Specifically, the unmanned aerial vehicle sends main remote control connection interruption information to the first base station, so that the first base station receives the main remote control connection interruption information.

[0179] Step S1203: the first base station forwards the master remote control connection interruption information to at least one slave remote control device in communication connection with the first base station;

[0180] Specifically, the first base station forwards the master remote control connection interruption information to at least one slave remote control device in communication connection with the first base station, so that the at least one slave remote control device receives the master remote control connection interruption information.

[0181] Step S1204: if no master control right application instruction sent by the slave remote control device in communication connection with the first base station is received within a preset time threshold, a master remote control connection interruption message is sent to the second base station via the second image transmission channel;

[0182] Specifically, if the master control right application instruction sent by the slave remote control device in communication connection with the first base station is not received within the preset time threshold, the master remote control connection interruption information is sent to the second base station through the second image transmission channel. The preset time threshold can be set according to specific needs, for example, set to 1s.

[0183] Step S1205: the second base station forwards the master remote control connection interruption information to at least one slave remote control device in communication connection with the second base station;

[0184] Specifically, the second base station forwards the master remote control connection interruption information to at least one slave remote control device connected to it for communication, that is, the second base station broadcasts the master remote control connection interruption information to all slave remote control devices connected to it for communication, so that the slave remote control device connected to the second base station can send a master control right application instruction to the second base station.

[0185] like Fig.11 As shown, the master remote control device and at least one slave remote control device are communicatively connected to a first base station, and the first base station is communicatively connected to an unmanned aerial vehicle via a first image transmission channel; at least one slave remote control device is communicatively connected to a second base station, and the second base station is communicatively connected to an unmanned aerial vehicle via a second image transmission channel;

[0186] Wherein, if the master remote control device is disconnected from the unmanned aerial vehicle, the master remote control connection interruption information is sent to at least one slave remote control device, including: after the master remote control device is disconnected from the unmanned aerial vehicle, the master remote control connection interruption information is sent to the first base station, so that the first base station forwards the master remote control connection interruption information to at least one slave remote control device connected to the communication therewith. If the master control right application instruction sent by the slave remote control device connected to the communication therewith is not received within the preset time threshold, the master remote control connection interruption information is sent to the second base station through the second image transmission channel, so that the second base station forwards the master remote control connection interruption information to at least one slave remote control device connected to the communication therewith.

[0187] Step S203: after sending the master remote control connection interruption information, determining the slave remote control device corresponding to the first received master control right application instruction as the master remote control device.

[0188] In an embodiment of the present application, by determining a master remote control device and at least one slave remote control device, the master remote control device and the slave remote control device have different control authorities, so that the unmanned aerial vehicle can achieve host control and slave control, avoid operational conflicts caused by the same authorities of multiple remote control devices, and improve control efficiency; and after the master remote control device is disconnected from the unmanned aerial vehicle, a slave remote control device is re-determined as the master remote control device. The present application can solve the problem of insufficient control efficiency of the unmanned aerial vehicle and improve the control efficiency of the unmanned aerial vehicle.

[0189] Please refer to Fig.13 , Fig.13 is a flow chart of another method for controlling an unmanned aerial vehicle provided in an embodiment of the present application;

[0190] like Fig.13 As shown, the process of the control method of the unmanned aerial vehicle includes:

[0191] Step S1301: The master remote control device establishes a communication connection with the unmanned aerial vehicle;

[0192] Step S1302: determining the main remote control device;

[0193] Specifically, the remote control device that first establishes a connection with the unmanned aerial vehicle is determined as the main remote control device.

[0194] Step S1303: the UAV establishes a communication connection with the slave remote control device;

[0195] Specifically, after the master remote control device is determined, all remote control devices that are connected to the unmanned aerial vehicle for communication are determined as slave remote control devices, and by default all slave remote control devices correspond to the second slave control right, which is the information viewing authority of the unmanned aerial vehicle.

[0196] Step S1304: sending a first slave control right application instruction from the remote control device to the unmanned aerial vehicle;

[0197] Specifically, if an operator of a slave remote control device wants the gimbal control authority of the unmanned aerial vehicle, a first slave control authority application instruction is sent to the unmanned aerial vehicle through the slave remote control device.

[0198] Step S1305: the unmanned aerial vehicle forwards the first slave control right application instruction to the master remote control device;

[0199] Specifically, the unmanned aerial vehicle forwards the first slave control right application instruction sent by the slave remote control device to the master remote control device.

[0200] Step S1306: the master remote control device sends a first slave control right confirmation instruction to the unmanned aerial vehicle;

[0201] Specifically, if the operator of the master remote control device agrees that the slave remote control device obtains the first slave control right, a first slave control right confirmation instruction is sent to the unmanned aerial vehicle via the master remote control device.

[0202] Step S1307: Determine the first slave control right of the slave remote control device;

[0203] Specifically, after the unmanned aerial vehicle receives the first slave control right confirmation instruction sent by the master remote control device, the first slave control right of the slave remote control device, ie, the pan / tilt control right of the unmanned aerial vehicle, is determined.

[0204] Step S1308: the connection between the main remote control device and the unmanned aerial vehicle is disconnected;

[0205] Specifically, if the communication between the main remote control device and the unmanned aerial vehicle is interrupted, for example: the main remote control device runs out of power and shuts down, causing the connection between the main remote control device and the base station to be interrupted, which in turn causes the connection between the main remote control device and the unmanned aerial vehicle to be interrupted, or the connection between the main remote control device and the base station is interrupted due to other faults, which in turn causes the connection between the main remote control device and the unmanned aerial vehicle to be interrupted.

[0206] Step S1309: the unmanned aerial vehicle sends a master remote control connection interruption message to the slave remote control device;

[0207] Specifically, if the connection between the master remote control device and the unmanned aerial vehicle is interrupted, the unmanned aerial vehicle sends master remote control connection interruption information to at least one slave remote control device, where the sending method can be to send it directly to the slave remote control device through the image transmission channel, or to forward it through a base station. The specific content can refer to the relevant content mentioned in the above embodiment, and will not be repeated here.

[0208] Step S1310: Sending a master control request instruction from the remote control device to the unmanned aerial vehicle;

[0209] Specifically, after receiving the master remote control connection interruption information sent by the unmanned aerial vehicle, if at least one slave remote control device needs to apply for the master control right of the unmanned aerial vehicle, the slave remote control device sends a master control right application instruction to the unmanned aerial vehicle.

[0210] Step S1311: Convert the slave remote control device to a master remote control device.

[0211] Specifically, the unmanned aerial vehicle determines the slave remote control device corresponding to the first master control right application instruction received as the master remote control device, that is, the control authority of the slave remote control device is converted from slave control right to master control right. Obviously, the slave remote control device is converted into the master remote control device.

[0212] It should be noted that in each of the above embodiments, there is not necessarily a certain order between the above steps. A person skilled in the art can understand, based on the description of the embodiments of the present application, that in different embodiments, the above steps may have different execution orders, that is, they may be executed in parallel, may be executed interchangeably, and so on.

[0213] In an embodiment of the present application, a control method for an unmanned aerial vehicle is provided, the method comprising: when the unmanned aerial vehicle is communicatively connected to at least two remote control devices, determining a master remote control device and at least one slave remote control device, wherein the master remote control device corresponds to a master control right, which corresponds to all permissions of the unmanned aerial vehicle; the slave remote control device corresponds to a slave control right, which corresponds to part of the permissions of the unmanned aerial vehicle; if the master remote control device is disconnected from the unmanned aerial vehicle, sending a master remote control connection interruption message to at least one slave remote control device; after sending the master remote control connection interruption message, determining the slave remote control device corresponding to the first master control right application instruction received as the master remote control device.

[0214] By determining a master remote control device and at least one slave remote control device, the master remote control device and the slave remote control device have different control permissions, so that the unmanned aerial vehicle can achieve host control and slave control, avoiding operational conflicts caused by the same permissions of multiple remote control devices, and improving control efficiency; and after the master remote control device is disconnected from the unmanned aerial vehicle, a slave remote control device is re-determined as the master remote control device. The present application can solve the problem of insufficient control efficiency of the unmanned aerial vehicle and improve the control efficiency of the unmanned aerial vehicle.

[0215] Please refer to Fig.14 , Fig.14 is a structural schematic diagram of a control device for an unmanned aerial vehicle provided in an embodiment of the present application;

[0216] The control device of the unmanned aerial vehicle is applied to the unmanned aerial vehicle, and specifically, is applied to one or more processors of the unmanned aerial vehicle.

[0217] like Fig.14 As shown, the control device 140 of the unmanned aerial vehicle includes:

[0218] A device connection module 141, used for communication connection between at least two remote control devices;

[0219] The device determination module 142 is used to determine a master remote control device and at least one slave remote control device, wherein the master remote control device corresponds to the master control right, which corresponds to all permissions of the unmanned aerial vehicle; the slave remote control device corresponds to the slave control right, which corresponds to part of the permissions of the unmanned aerial vehicle;

[0220] The information sending module 143 is used to send a master remote control connection interruption message to at least one slave remote control device if the master remote control device is disconnected from the unmanned aerial vehicle;

[0221] The master control determination module 144 is used to determine the slave remote control device corresponding to the first received master control right application instruction as the master remote control device after sending the master remote control connection interruption information.

[0222] It should be noted that the control device of the above-mentioned unmanned aerial vehicle can execute the control method of the unmanned aerial vehicle provided in the embodiment of the present application, and has the functional modules and beneficial effects corresponding to the execution method. For technical details not fully described in the embodiment of the remote control device, please refer to the control method of the unmanned aerial vehicle provided in the embodiment of the present application.

[0223] In an embodiment of the present application, a control device for an unmanned aerial vehicle is provided, and the device includes: a device connection module, which is used to communicate and connect at least two remote control devices; a device determination module, which is used to determine a master remote control device and at least one slave remote control device, wherein the master remote control device corresponds to a master control right, and the master control right corresponds to all permissions of the unmanned aerial vehicle; the slave remote control device corresponds to a slave control right, and the slave control right corresponds to part of the permissions of the unmanned aerial vehicle; an information sending module, which is used to send a master remote control connection interruption message to at least one slave remote control device if the master remote control device is disconnected from the unmanned aerial vehicle; and a master control determination module, which is used to determine the slave remote control device corresponding to the first master control right application instruction received as the master remote control device after sending the master remote control connection interruption message.

[0224] By determining a master remote control device and at least one slave remote control device, the master remote control device and the slave remote control device have different control permissions, so that the unmanned aerial vehicle can achieve host control and slave control, avoiding operational conflicts caused by the same permissions of multiple remote control devices, and improving control efficiency; and after the master remote control device is disconnected from the unmanned aerial vehicle, a slave remote control device is re-determined as the master remote control device. The present application can solve the problem of insufficient control efficiency of the unmanned aerial vehicle and improve the control efficiency of the unmanned aerial vehicle.

[0225] See also Fig.15 , Fig.15 is a structural schematic diagram of an unmanned aerial vehicle provided in an embodiment of the present application;

[0226] like Fig.15 As shown, the unmanned aerial vehicle 150 includes: a processor 151, a memory 152 and a communication module 153. The processor 151, the memory 152 and the communication module 153 are connected to each other by a bus.

[0227] The processor 151 may be any type of processor having one or more processing cores, and may perform single-thread or multi-thread operations, and may be used to parse instructions to obtain data, perform logical operations, and issue operation results.

[0228] The processor 151 is used to determine a master remote control device and at least one slave remote control device when the unmanned aerial vehicle is connected to at least two remote control devices for communication, wherein the master remote control device corresponds to the master control right, which corresponds to all the permissions of the unmanned aerial vehicle; the slave remote control device corresponds to the slave control right, which corresponds to part of the permissions of the unmanned aerial vehicle; if the master remote control device is disconnected from the unmanned aerial vehicle, a master remote control connection interruption message is sent to at least one slave remote control device; after sending the master remote control connection interruption message, the slave remote control device corresponding to the first master control right application instruction received is determined as the master remote control device.

[0229] By determining a master remote control device and at least one slave remote control device, the master remote control device and the slave remote control device have different control permissions, so that the unmanned aerial vehicle can achieve host control and slave control, avoiding operational conflicts caused by the same permissions of multiple remote control devices, and improving control efficiency; and after the master remote control device is disconnected from the unmanned aerial vehicle, a slave remote control device is re-determined as the master remote control device. The present application can solve the problem of insufficient control efficiency of the unmanned aerial vehicle and improve the control efficiency of the unmanned aerial vehicle.

[0230] The memory 152 is a non-transitory computer-readable storage medium that can be used to store non-transitory software programs, non-transitory computer executable programs and modules, such as program instructions / modules corresponding to the control method of the unmanned aerial vehicle in the embodiment of the present application. The processor 151 implements the control method of the unmanned aerial vehicle in the above method embodiment by running the non-transitory software programs, instructions and modules stored in the memory 152.

[0231] The memory 152 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the remote control device, etc. In addition, the memory 152 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 152 may optionally include a memory remotely arranged relative to the processor 151, and these remote memories may be connected to the unmanned aerial vehicle via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0232] The memory 152 stores instructions that can be executed by at least one processor 151; the at least one processor 151 is used to execute instructions to implement the control method of the unmanned aerial vehicle in any of the above method embodiments.

[0233] The communication module 153 is a functional module for establishing a communication connection and providing a physical channel. The communication module 153 can be any type of wireless or wired communication module, including but not limited to a WiFi module or a Bluetooth module.

[0234] Furthermore, an embodiment of the present application also provides a non-transitory computer-readable storage medium, which stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors 151, so that the one or more processors 151 can execute the control method of the unmanned aerial vehicle in any of the above method embodiments.

[0235] See also Fig.16 , Fig.16 is a structural schematic diagram of a remote control device provided in an embodiment of the present application;

[0236] like Fig.16 As shown, the remote control device 160 includes but is not limited to: a radio frequency unit 161, a network module 162, an audio output unit 163, an input unit 164, a sensor 165, a display unit 166, a user input unit 167, an interface unit 168, a memory 169, a processor 1610, and a power supply 1611. The remote control device 160 also includes a camera. Those skilled in the art will appreciate that Fig.16 The structure of the remote control device shown in the figure does not constitute a limitation on the remote control device, and the remote control device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently. In the embodiment of the present application, the remote control device 160 includes but is not limited to a mobile terminal such as a mobile phone, a tablet computer or a smart remote controller.

[0237] Processor 1610 is used to generate instructions, such as: a master control right application instruction and a first slave control right application instruction, wherein the master control right application instruction is used to apply for master control right from the unmanned aerial vehicle, and the first slave control right application instruction is used to apply for gimbal control right from a master remote control device that is communicatively connected to the unmanned aerial vehicle.

[0238] It should be understood that in the embodiment of the present application, the radio frequency unit 161 can be used for receiving and sending signals during information transmission or calls. Specifically, after receiving downlink data from the base station, it is sent to the processor 1610 for processing; in addition, the uplink data is sent to the base station. Generally, the radio frequency unit 161 includes but is not limited to an antenna, at least one amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, etc. In addition, the radio frequency unit 161 can also communicate with the network and other devices through a wireless communication system.

[0239] The remote control device 160 provides the user with wireless broadband Internet access through the network module 162, such as helping the user to send and receive emails, browse web pages, and access streaming media.

[0240] The audio output unit 163 can convert audio data received by the RF unit 161 or the network module 162 or stored in the memory 169 into an audio signal and output it as sound. Moreover, the audio output unit 163 can also provide audio output related to a specific function performed by the remote control device 160 (e.g., a call signal reception sound, a message reception sound, etc.). The audio output unit 163 includes a speaker, a buzzer, a receiver, and the like.

[0241] The input unit 164 is used to receive audio or video signals. The input unit 164 may include a graphics processor (GPU) 1641 and a microphone 1642, and the graphics processor 1641 processes the target image of a static picture or video obtained by an image capture device (such as a camera) in a video capture mode or an image capture mode. The processed image frame can be displayed on the display unit 166. The image frame processed by the graphics processor 1641 can be stored in the memory 169 (or other storage medium) or sent via the radio frequency unit 161 or the network module 162. The microphone 1642 can receive sound and can process such sound into audio data. The processed audio data can be converted into a format output that can be sent to a mobile communication base station via the radio frequency unit 161 in the case of a telephone call mode.

[0242] The remote control device 160 also includes at least one sensor 165, such as a light sensor, a motion sensor, and other sensors. Specifically, the light sensor includes an ambient light sensor and a proximity sensor, wherein the ambient light sensor can adjust the brightness of the display panel 1661 according to the brightness of the ambient light, and the proximity sensor can turn off the display panel 1661 and / or the backlight when the remote control device 160 is moved to the ear. As a type of motion sensor, the accelerometer sensor can detect the magnitude of acceleration in each direction (generally three axes), and can detect the magnitude and direction of gravity when stationary, which can be used to identify the remote control device posture (such as horizontal and vertical screen switching, related games, magnetometer posture calibration), vibration recognition related functions (such as pedometer, tapping), etc.; the sensor 165 can also include a fingerprint sensor, a pressure sensor, an iris sensor, a molecular sensor, a gyroscope, a barometer, a hygrometer, a thermometer, an infrared sensor, etc., which will not be repeated here.

[0243] The display unit 166 is used to display information input by the user or information provided to the user. The display unit 166 may include a display panel 1661, which may be configured in the form of a liquid crystal display (LCD), an organic light-emitting diode (OLED), or the like.

[0244] The user input unit 167 can be used to receive input digital or character information, and to generate key signal input related to the user settings and function control of the remote control device. Specifically, the user input unit 167 includes a touch panel 1671 and other input devices 1672. The touch panel 1671, also known as a touch screen, can collect the user's touch operation on or near it (such as the user's operation on the touch panel 1671 or near the touch panel 1671 using any suitable object or accessory such as a finger, stylus, etc.). The touch panel 1671 may include two parts: a touch detection device and a touch controller. Among them, the touch detection device detects the user's touch orientation, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into the contact point coordinates, and then sends it to the processor 1610, receives the command sent by the processor 1610 and executes it. In addition, the touch panel 1671 can be implemented in various types such as resistive, capacitive, infrared and surface acoustic waves. In addition to the touch panel 1671, the user input unit 167 may also include other input devices 1672. Specifically, other input devices 1672 may include, but are not limited to, a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, and a joystick, which are not described in detail here.

[0245] Furthermore, the touch panel 1671 may be overlaid on the display panel 1661. When the touch panel 1671 detects a touch operation on or near it, it is transmitted to the processor 1610 to determine the type of touch event. Then, the processor 1610 provides corresponding visual output on the display panel 1661 according to the type of touch event. Fig.16 In the figure, the touch panel 1671 and the display panel 1661 are used as two independent components to realize the input and output functions of the remote control device. However, in some embodiments, the touch panel 1671 and the display panel 1661 can be integrated to realize the input and output functions of the remote control device, which is not limited here.

[0246] The interface unit 168 is an interface for connecting an external device to the remote control device 160. For example, the external device may include a wired or wireless headset port, an external power supply (or battery charger) port, a wired or wireless data port, a memory card port, a port for connecting a device with an identification module, an audio input / output (I / O) port, a video I / O port, a headphone port, etc. The interface unit 168 may be used to receive input (e.g., data information, power, etc.) from an external device and transmit the received input to one or more elements within the remote control device 160 or may be used to transmit data between the remote control device 160 and an external device.

[0247] The memory 169 can be used to store software programs and various data. The memory 169 can mainly include a program storage area and a data storage area, wherein the program storage area can store at least one application 1691 required for a function (such as a sound playback function, an image playback function, etc.) and an operating system 1692, etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory 169 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0248] The processor 1610 is the control center of the remote control device 160. It uses various interfaces and lines to connect various parts of the entire remote control device. By running or executing software programs and / or modules stored in the memory 169 and calling data stored in the memory 169, it performs various functions of the remote control device and processes data, thereby monitoring the remote control device as a whole. The processor 1610 may include one or more processing units; in the embodiment of the present application, the processor 1610 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 1610.

[0249] The remote control device 160 may also include a power supply 1611 (such as a battery) for supplying power to each component. In an embodiment of the present application, the power supply 1611 may be logically connected to the processor 1610 through a power management system, thereby implementing functions such as managing charging, discharging, and power consumption management through the power management system.

[0250] In addition, the remote control device 160 includes some functional modules not shown, which will not be described in detail here.

[0251] An embodiment of the present application also provides a remote control device, including a processor 1610, a memory 169, and a computer program stored in the memory 169 and executable on the processor 1610. When the computer program is executed by the processor 1610, the various processes of the above-mentioned unmanned aerial vehicle control method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0252] Please refer to Fig.17 , Fig.17 is a structural schematic diagram of a control system of an unmanned aerial vehicle provided in an embodiment of the present application;

[0253] like Fig.17 As shown, the control system 170 of the unmanned aerial vehicle includes: an unmanned aerial vehicle 171, a remote control device 172 and a base station 173.

[0254] Among them, the remote control device 172 in the embodiment of the present application can be multiple, and multiple remote control devices 172 directly communicate and connect to one unmanned aerial vehicle 171, or some or all of the multiple remote control devices 172 are connected to the unmanned aerial vehicle 171 through base station communication, so as to complete the transfer of signals or commands through the base station 173 to realize the control of the unmanned aerial vehicle.

[0255] Among them, one of the multiple remote control devices 172 is determined as a master remote control device, and the others are determined as slave remote control devices. Moreover, after the master remote control device is disconnected from the unmanned aerial vehicle, the slave remote control device can be switched to the master remote control device.

[0256] The relevant contents of the unmanned aerial vehicle 171 of the unmanned aerial vehicle control system 170 in the embodiment of the present application can refer to the unmanned aerial vehicle mentioned in the above embodiment, and will not be repeated here.

[0257] The relevant contents of the remote control device 172 of the control system 170 of the unmanned aerial vehicle in the embodiment of the present application can refer to the remote control device mentioned in the above embodiment, and will not be repeated here.

[0258] The base station 173 of the control system 170 of the unmanned aerial vehicle in the embodiment of the present application may include, but is not limited to, one or more of a macro base station, a micro base station, and a distributed base station, which are not limited here.

[0259] In an embodiment of the present application, a control system for an unmanned aerial vehicle is provided, and the unmanned aerial vehicle is directly connected to the unmanned aerial vehicle through multiple remote control devices, or multiple remote control devices are partially or fully connected to the unmanned aerial vehicle through base station communication. By determining a master remote control device and several slave remote control devices, the control efficiency of the unmanned aerial vehicle can be improved.

[0260] Furthermore, an embodiment of the present application also provides a non-transitory computer-readable storage medium, which stores computer-executable instructions. The computer-executable instructions are executed by one or more processors, enabling the one or more processors to execute the control method of the unmanned aerial vehicle in any of the above method embodiments.

[0261] Furthermore, an embodiment of the present application also provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps described in the control method of the unmanned aerial vehicle in any of the above method embodiments. The computer program product may be a software installation package.

[0262] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, i.e., they may be located in one place, or may be distributed over multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment.

[0263] Through the description of the above implementation methods, ordinary technicians in this field can clearly understand that each implementation method can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware. Ordinary technicians in this field can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program in a computer program product. The computer program can be stored in a non-transient computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by the relevant device, the relevant device can execute the process of the embodiments of the above-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0264] The above product can execute the control method of the unmanned aerial vehicle provided in the embodiment of the present application, and has the corresponding functional modules and beneficial effects of the control method of the unmanned aerial vehicle. For technical details not described in detail in this embodiment, please refer to the control method of the unmanned aerial vehicle provided in the embodiment of the present application.

[0265] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Under the concept of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes in different aspects of the present application as above, which are not provided in detail for the sake of simplicity. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features can be replaced by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for controlling an unmanned aerial vehicle, characterized in that: The method comprises: When the unmanned aerial vehicle is communicatively connected to at least two remote control devices, a master remote control device and at least one slave remote control device are determined, wherein the master remote control device corresponds to a master control right, which corresponds to all permissions of the unmanned aerial vehicle; and the slave remote control device corresponds to a slave control right, which corresponds to part of the permissions of the unmanned aerial vehicle; If the master remote control device is disconnected from the unmanned aerial vehicle, sending master remote control connection interruption information to the at least one slave remote control device; After sending the master remote control connection interruption information, the slave remote control device corresponding to the first master control right application instruction received is determined as the master remote control device; The master remote control device and at least one slave remote control device are communicatively connected to the same base station, and the base station is communicatively connected to the unmanned aerial vehicle via a first image transmission channel; At least one slave remote control device is communicatively connected to the unmanned aerial vehicle via a second image transmission channel; If the master remote control device is disconnected from the unmanned aerial vehicle, sending master remote control connection interruption information to the at least one slave remote control device comprises: When the master remote control device is disconnected from the unmanned aerial vehicle, a master remote control connection interruption message is sent to a base station to which the master remote control device is communicated, so that the base station forwards the master remote control connection interruption message to at least one slave remote control device to which it is communicated; If no master control right application instruction is received from a slave remote control device in communication connection with the base station within a preset time threshold, the master remote control connection interruption information is sent to at least one slave remote control device through the second image transmission channel.

2. The method according to claim 1, characterized in that: The determining of a master remote control device and at least one slave remote control device comprises: When the unmanned aerial vehicle has no communication connection with a remote control device, the first remote control device that is communication connected with the unmanned aerial vehicle is determined as a master remote control device, and the remote control devices that are subsequently connected are determined as slave remote control devices.

3. The method according to claim 1 or 2, characterized in that: The slave control right includes a first slave control right and a second slave control right, and the method further includes: When a slave remote control device is connected to the unmanned aerial vehicle, the slave remote control device is set to correspond to the second slave control right; When receiving a first slave control right application instruction sent by the slave remote control device, forwarding the first slave control right application instruction to the master remote control device; If a first slave control right determination instruction is received from the master remote control device, the control right of the slave remote control device is converted from the second slave control right to the first slave control right; wherein, the first slave control right corresponds to the operation authority of the gimbal of the unmanned aerial vehicle, and the second slave control right corresponds to the information viewing authority of the unmanned aerial vehicle.

4. The method according to claim 1 or 2, characterized in that: The main remote control device is connected to the unmanned aerial vehicle via a first image transmission channel; The slave remote control device is connected to the unmanned aerial vehicle via a second image transmission channel; If the master remote control device is disconnected from the unmanned aerial vehicle, sending master remote control connection interruption information to the at least one slave remote control device comprises: After the first image transmission channel is closed, master remote control connection interruption information is sent to the slave remote control device through the second image transmission channel.

5. The method according to claim 1 or 2, characterized in that: The main remote control device is connected to the unmanned aerial vehicle via a first image transmission channel; At least one slave remote control device is communicatively connected to the same base station, and the base station is communicatively connected to the unmanned aerial vehicle via a second image transmission channel; If the master remote control device is disconnected from the unmanned aerial vehicle, sending master remote control connection interruption information to the at least one slave remote control device comprises: After the first image transmission channel is closed, master remote control connection interruption information is sent to the base station through the second image transmission channel, so that the base station forwards the master remote control connection interruption information to at least one slave remote control device that is communicatively connected to the base station.

6. The method according to claim 1 or 2, characterized in that: The master remote control device and at least one slave remote control device are communicatively connected to a first base station, and the first base station is communicatively connected to the unmanned aerial vehicle via a first image transmission channel; At least one slave remote control device is communicatively connected to a second base station, and the second base station is communicatively connected to the unmanned aerial vehicle via a second image transmission channel; If the master remote control device is disconnected from the unmanned aerial vehicle, sending master remote control connection interruption information to the at least one slave remote control device comprises: After the master remote control device is disconnected from the unmanned aerial vehicle, master remote control connection interruption information is sent to the first base station, so that the first base station forwards the master remote control connection interruption information to at least one slave remote control device in communication connection with the first base station.

7. The method according to claim 6, characterized in that The method further comprises: If no master control right application instruction is received from a slave remote control device that is communicatively connected to the first base station within a preset time threshold, master remote control connection interruption information is sent to the second base station through the second image transmission channel, so that the second base station forwards the master remote control connection interruption information to at least one slave remote control device that is communicatively connected to it.

8. A control device for an unmanned aerial vehicle, characterized in that: The device comprises: A device connection module, used for communication connection between at least two remote control devices; The device determination module is used to determine a master remote control device and at least one slave remote control device, wherein the master remote control device corresponds to a master control right, which corresponds to all permissions of the unmanned aerial vehicle; the slave remote control device corresponds to a slave control right, which corresponds to part of the permissions of the unmanned aerial vehicle; an information sending module, configured to send master remote control connection interruption information to the at least one slave remote control device if the master remote control device is disconnected from the unmanned aerial vehicle; A master control determination module, configured to determine the slave remote control device corresponding to the first master control right application instruction received as the master remote control device after sending the master remote control connection interruption information; The master remote control device and at least one slave remote control device are communicatively connected to the same base station, and the base station is communicatively connected to the unmanned aerial vehicle via a first image transmission channel; At least one slave remote control device is communicatively connected to the unmanned aerial vehicle via a second image transmission channel; If the master remote control device is disconnected from the unmanned aerial vehicle, sending master remote control connection interruption information to the at least one slave remote control device comprises: When the master remote control device is disconnected from the unmanned aerial vehicle, a master remote control connection interruption message is sent to a base station to which the master remote control device is communicated, so that the base station forwards the master remote control connection interruption message to at least one slave remote control device to which it is communicated; If no master control right application instruction is received from a slave remote control device in communication connection with the base station within a preset time threshold, the master remote control connection interruption information is sent to at least one slave remote control device through the second image transmission channel.

9. An unmanned aerial vehicle, characterized in that: include: at least one processor; And a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can be used to execute the control method of the unmanned aerial vehicle as described in any one of claims 1-8.

10. A control system for an unmanned aerial vehicle, characterized in that: The system comprises: The unmanned aerial vehicle as claimed in claim 9; At least one remote control device is communicatively connected to the unmanned aerial vehicle, and at least one of the remote control devices is used to control the unmanned aerial vehicle.

11. The control system of the unmanned aerial vehicle according to claim 10, characterized in that: The system further comprises: The base station is used for communication connection with at least one remote control device.

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