Unmanned aerial vehicle and pairing method and system thereof

Abstract

The embodiment of the application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle and a pairing method and system thereof, and the main pairing relationship between a main controller and the unmanned aerial vehicle is established through pairing information sent by the main controller; a slave pairing request forwarded by the main controller is received, temporary pairing information is generated, and the temporary pairing information is sent to the main controller, the slave pairing request being sent by the slave controller to the main controller; after the main controller sends the temporary pairing information to the slave controller, the temporary pairing information sent by the slave controller is acquired, the temporary pairing information sent by the slave controller being obtained by combining key information of the unmanned aerial vehicle and key information of the slave controller by the slave controller; according to the temporary pairing information sent by the slave controller, the slave pairing relationship between the slave controller and the unmanned aerial vehicle is established, and the application can solve the problem that mismatching is prone to occurring when multiple sets of unmanned aerial vehicles are simultaneously paired, and the reliability and stability in the pairing process of the unmanned aerial vehicle are improved.

Description

[Technical Field]

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to an UAV and its pairing method and system. [Background Technology]

[0002] With the continuous development of drone aerial photography technology, drones are becoming increasingly popular and widely used in fields such as aerial photography, urban management, surveying and mapping, power line inspection, agriculture, and meteorology. This has led to the development of products such as consumer drones and industrial drones. Regardless of the type of drone, in order to control a drone via a remote controller, it must first be paired to form a one-to-one or one-to-many binding relationship.

[0003] Currently, the communication channel is adjusted to the pairing channel by using specific buttons on the remote controller and the UAV, which puts the remote controller and the UAV into pairing mode. After the remote controller and the UAV confirm the information exchange, the pairing is completed and normal communication is entered. However, this pairing method is usually carried out on a relatively fixed channel, and the pairing error is prone to occur when multiple UAVs are paired at the same time. [Summary of the Invention]

[0004] This application provides an unmanned aerial vehicle (UAV) and its pairing method and system to solve the problem of pairing errors that easily occur when multiple UAVs are paired simultaneously, and to improve the stability of UAV pairing.

[0005] To address the aforementioned technical problems, this application provides the following technical solutions:

[0006] In a first aspect, embodiments of this application provide a pairing method for unmanned aerial vehicles (UAVs), applied to UAVs, the method comprising:

[0007] After the unmanned aerial vehicle establishes a communication connection with the main controller, it obtains the pairing information sent by the main controller.

[0008] Based on the pairing information sent by the main controller, a primary pairing relationship is established between the main controller and the unmanned aerial vehicle;

[0009] The slave controller receives a pairing request forwarded by the master controller, generates temporary pairing information, and sends the temporary pairing information to the master controller. The pairing request is sent from the slave controller to the master controller.

[0010] After the master controller sends temporary pairing information to the slave controller, the master controller obtains the temporary pairing information sent by the slave controller. The temporary pairing information sent by the slave controller is obtained by combining the slave controller's key information for the unmanned aerial vehicle and the slave controller's key information.

[0011] Based on the temporary pairing information sent from the controller, a slave pairing relationship is established between the slave controller and the unmanned aerial vehicle.

[0012] Secondly, a pairing method for unmanned aerial vehicles (UAVs) is applied to a pairing system for UAVs, the pairing system including the UAV, a master controller, and a slave controller, the method comprising:

[0013] After the UAV establishes a communication connection with the main controller, the UAV receives the pairing information sent by the main controller.

[0014] The unmanned aerial vehicle (UAV) establishes a primary pairing relationship with the main controller based on the pairing information sent by the main controller.

[0015] The main controller receives a pairing request from the slave controller and forwards the pairing request to the unmanned aerial vehicle.

[0016] After receiving the pairing request forwarded by the main controller, the unmanned aerial vehicle generates temporary pairing information and sends the temporary pairing information to the main controller.

[0017] The unmanned aerial vehicle (UAV) acquires temporary pairing information sent by the controller. The temporary pairing information sent by the controller is obtained by combining the key information of the UAV and the key information of the controller. Based on the temporary pairing information sent by the controller, a pairing relationship is established between the controller and the UAV.

[0018] Thirdly, embodiments of this application provide a pairing method for unmanned aerial vehicles (UAVs), applied to a pairing system for UAVs. The pairing system includes an UAV, a master controller, a slave controller, a first mobile terminal, and a second mobile terminal. The method includes:

[0019] The first mobile terminal obtains the pairing information of the main controller and the pairing information of the unmanned aerial vehicle, and sends the pairing information of the unmanned aerial vehicle to the main controller.

[0020] After the UAV obtains the pairing information from the main controller, and the main controller obtains the pairing information from the UAV, a primary pairing relationship is established between the main controller and the UAV.

[0021] The main controller receives a pairing request from the slave controller and forwards the pairing request to the unmanned aerial vehicle.

[0022] The unmanned aerial vehicle receives a pairing request forwarded by the main controller, generates temporary pairing information, and sends the temporary pairing information to the main controller.

[0023] The main controller sends temporary pairing information to the first mobile terminal, so that the first mobile terminal sends temporary pairing information to the second mobile terminal.

[0024] The second mobile terminal obtains the temporary pairing information sent by the first mobile terminal and obtains the pairing information from the controller;

[0025] The controller sends temporary pairing information to the unmanned aerial vehicle (UAV), which is obtained by combining the key information of the UAV to the controller and the key information of the controller.

[0026] The unmanned aerial vehicle (UAV) establishes a slave pairing relationship with the controller based on the temporary pairing information sent from the controller.

[0027] Fourthly, embodiments of this application provide an unmanned aerial vehicle, including:

[0028] At least one processor; and

[0029] A memory communicatively connected to at least one processor; wherein the memory stores instructions executable by at least one processor, the instructions being executed by at least one processor to enable at least one processor to perform a pairing method for an unmanned aerial vehicle as described in the first aspect.

[0030] Fifthly, a pairing system for unmanned aerial vehicles (UAVs) applies the pairing method for UAVs as described in the second aspect, the system comprising:

[0031] Unmanned aerial vehicles;

[0032] The main controller communicates with the unmanned aerial vehicle; and,

[0033] The controller communicates with the unmanned aerial vehicle.

[0034] Sixthly, a pairing system for unmanned aerial vehicles (UAVs) applies the pairing method for UAVs as described in the third aspect, the system comprising:

[0035] Unmanned aerial vehicles;

[0036] The main controller is the communication link for the unmanned aerial vehicle.

[0037] The controller communicates with the unmanned aerial vehicle.

[0038] The first mobile terminal is communicatively connected to the main controller; and,

[0039] The second mobile terminal communicates with the controller.

[0040] In a seventh aspect, embodiments of this application provide a computer-readable storage medium for storing a computer program that causes a computer to perform instructions as described in some or all of the steps as described in the first, second, or third aspects.

[0041] Eighthly, embodiments of this application provide a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps described in the first, second, or third aspects. The computer program product may be a software installation package.

[0042] This application provides a pairing method for an unmanned aerial vehicle (UAV). The method includes: after the UAV establishes a communication connection with a main controller, acquiring pairing information sent by the main controller; establishing a master pairing relationship between the main controller and the UAV based on the pairing information sent by the main controller; receiving a slave pairing request forwarded by the main controller, generating temporary pairing information, and sending the temporary pairing information to the main controller; after the main controller sends the temporary pairing information to the slave controller, acquiring the temporary pairing information sent by the slave controller, wherein the temporary pairing information sent by the slave controller is obtained by combining the key information of the slave controller for the UAV and the key information of the slave controller; and establishing a slave pairing relationship between the slave controller and the UAV based on the temporary pairing information sent by the slave controller.

[0043] By acquiring the pairing information sent by the main controller, pairing the main controller first, and then using the temporary pairing information to pair the slave controller, this application can solve the problem of mismatch that easily occurs when multiple UAVs are paired at the same time, and improve the reliability and stability of the UAV pairing process. [Attached Image Description]

[0044] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0045] Figure 1 This is a schematic diagram illustrating an application scenario provided in an embodiment of this application;

[0046] Figure 2 This is a schematic diagram of an application scenario provided in Embodiment 1 of this application;

[0047] Figure 3 This is a flowchart illustrating a pairing method for unmanned aerial vehicles provided in an embodiment of this application;

[0048] Figure 4 yes Figure 3 A detailed flowchart of step S301 in the process;

[0049] Figure 5 yes Figure 3A detailed flowchart of step S302 in the process;

[0050] Figure 6 yes Figure 3 A detailed flowchart of step S303 in the process;

[0051] Figure 7 yes Figure 3 A detailed flowchart of step S304 in the process;

[0052] Figure 8 yes Figure 3 A detailed flowchart of step S305 in the process;

[0053] Figure 9 This is a schematic diagram of a pairing process provided in Embodiment 1 of this application when a pairing request sent by the master controller is received again;

[0054] Figure 10 This is a flowchart illustrating a pairing method for an unmanned aerial vehicle provided in Embodiment 2 of this application;

[0055] Figure 11 This is a flowchart of a pairing method for an unmanned aerial vehicle provided in Embodiment 2 of this application;

[0056] Figure 12 This is a schematic diagram of an application scenario provided in Embodiment 3 of this application;

[0057] Figure 13 This is a flowchart illustrating a pairing method for an unmanned aerial vehicle provided in Embodiment 3 of this application;

[0058] Figure 14 This is a flowchart of a pairing method for an unmanned aerial vehicle provided in Embodiment 3 of this application;

[0059] Figure 15 This is a schematic diagram of the structure of an unmanned aerial vehicle provided in an embodiment of this application;

[0060] Figure 16 This is a schematic diagram of the pairing system for an unmanned aerial vehicle provided in an embodiment of this application.

Detailed Implementation Methods

[0061] To facilitate understanding of this application, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as being "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as being "connected" to another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "upper," "lower," "inner," "outer," "bottom," etc., used in this specification indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0062] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0063] Furthermore, the technical features involved in the different embodiments of this application described below can be combined with each other as long as they do not conflict with each other.

[0064] The following examples illustrate the application environment of the pairing method for unmanned aerial vehicles in the embodiments of this application.

[0065] Please see Figure 1 , Figure 1 This is a schematic diagram illustrating an application scenario provided in an embodiment of this application;

[0066] like Figure 1 As shown, the application scenario includes an unmanned aerial vehicle (UAV) 101 and multiple controllers 102. The UAV 101 is communicatively connected to each controller 102. For example, the UAV 101 is communicatively connected to each controller 102 via a wireless network. The pilot or user can operate the controller 102 to operate the UAV 101 via the wireless network.

[0067] In some embodiments, the unmanned aerial vehicle 101 includes unmanned aerial vehicles such as multi-rotor drones, fixed-wing drones, unmanned helicopters, and hybrid-wing drones. In some embodiments, the unmanned aerial vehicle 101 can also be an unmanned aerial vehicle driven by any type of power, including but not limited to rotary-wing drones, fixed-wing drones, paragliding drones, flapping-wing drones, and helicopter models. In this application embodiment, a hybrid-wing drone is used as an example.

[0068] Furthermore, the unmanned aerial vehicle 101 can be configured with appropriate size or power according to actual needs, thereby providing sufficient payload capacity, flight speed, and flight range to meet usage requirements. One or more sensors can also be added to the unmanned aerial vehicle 101 to enable it to collect relevant data.

[0069] For example, in some embodiments, the unmanned aerial vehicle 101 is equipped with at least one of an accelerometer, a gyroscope, a magnetometer, a GPS navigator, and a visual sensor.

[0070] The unmanned aerial vehicle 101 also includes a flight controller, which serves as the control core for the drone's flight and data transmission, integrating one or more modules to execute corresponding logic control programs.

[0071] In this embodiment of the application, the unmanned aerial vehicle includes an unmanned aerial vehicle control system, which includes a state machine, a flight controller, an unmanned aerial vehicle power system, and unmanned aerial vehicle sensors, etc.

[0072] Specifically, the UAV control system includes a state machine, a flight controller, and a UAV propulsion system. The state machine connects the flight controller and the UAV propulsion system. Its inputs are navigation data and user interaction commands, and its outputs are control commands and corresponding flags. The main function of the state machine is to process user interaction commands and use navigation data to implement various UAV functions, such as flight mode switching, status monitoring, waypoint flight, and return-to-home. The user interaction commands are those issued by ground users, such as joystick inputs and button control commands, which can be implemented in the state machine. Specifically, the control commands and corresponding flags output by the state machine include position commands, velocity commands, acceleration commands, altitude commands, rate of climb commands, climb acceleration commands, attitude angle commands, heading angular rate commands, attitude mode flags, and position mode flags.

[0073] Specifically, the flight controller connects the state machine and the flight controller itself. It receives control commands and corresponding flags from the state machine, as well as navigation data from the UAV's power system, and outputs motor speed control commands. The flight controller includes two flight modes: position mode and attitude mode. Its main function is to calculate motor speed commands using control commands and navigation data through a specific algorithm, enabling the UAV to achieve position and attitude control, thus ensuring the UAV reaches the desired position and attitude. Specifically, the battery speed control command, taking a common rotorcraft as an example, is the pulse width modulation (PWM) control of the motor.

[0074] Specifically, the UAV propulsion system, connected to the flight controller, includes the UAV's execution system and status monitoring system. It receives motor speed control commands from the flight controller to achieve the corresponding speed, thereby controlling the attitude angles and position. It also processes sensor data to indirectly or directly calculate navigation data. Specifically, the UAV propulsion system uses a fusion algorithm to process UAV sensor data to obtain navigation data. For example, the UAV propulsion system includes GPS, gyroscopes, accelerometers, and magnetometers. The UAV's position, velocity, and acceleration data can be calculated using GPS, gyroscopes, accelerometers, and magnetometers. The UAV's position, velocity, and acceleration data can also be calculated using binocular vision, gyroscopes, accelerometers, and magnetometers. The UAV's attitude angles and angular rates can be calculated using gyroscopes, accelerometers, and magnetometers.

[0075] In some embodiments, the controller 102 includes a smart terminal, which can be any type of smart device used to establish a communication connection with the unmanned aerial vehicle 101, such as a mobile terminal like a mobile phone, tablet computer, or smart remote control. The controller 102 can be equipped with one or more different user interaction devices for collecting user commands or displaying and providing feedback to the user. Alternatively, the controller 102 includes a terminal device, which includes a computer, PC, or other device that establishes a communication connection with the unmanned aerial vehicle 101. This terminal device can be equipped with one or more different user interaction devices for collecting user commands or displaying and providing feedback to the user.

[0076] The aforementioned user interaction devices include, but are not limited to, buttons, mice, keyboards, displays, touchscreens, speakers, and remote control joysticks. For example, the controller 102 may be equipped with a touchscreen display, through which it receives remote control commands from the user to the unmanned aerial vehicle 101 and displays map information (i.e., map images) and aerial images (i.e., image transmission images) to the user. The user can also switch the currently displayed image information on the screen using the remote control touchscreen. The user can also control the movement of the unmanned aerial vehicle, or control the gimbal direction and the focal length of the gimbal camera, etc., through mouse operation or keyboard key operation.

[0077] In some embodiments, the unmanned aerial vehicle 101 and the controller 102 can also integrate existing image vision processing technologies to provide more intelligent services. For example, the unmanned aerial vehicle 101 can acquire images through dual-light cameras, and the controller 102 can analyze the images to enable users to control the unmanned aerial vehicle 101 with gestures.

[0078] In some embodiments, the wireless network can be a wireless communication network based on any type of data transmission principle used to establish a data transmission channel between two nodes, such as a Bluetooth network, a WiFi network, a wireless cellular network, or a combination thereof located in different signal frequency bands.

[0079] The technical solution of this application will be described below with reference to the accompanying drawings:

[0080] Example 1

[0081] Please see Figure 2 , Figure 2 This is a schematic diagram of an application scenario provided in Embodiment 1 of this application;

[0082] like Figure 2 As shown, the application scenario includes an unmanned aerial vehicle 201, a main controller 202, and a slave controller 203. Both the main controller 202 and the slave controller 203 are communicatively connected to the unmanned aerial vehicle 201, and there is a communication connection between the main controller 202 and the slave controller 203.

[0083] Please see Figure 3 , Figure 3 This is a flowchart illustrating a pairing method for unmanned aerial vehicles provided in an embodiment of this application;

[0084] The pairing method for unmanned aerial vehicles (UAVs) is applied to UAVs. Specifically, the pairing method is executed by one or more processors of the UAV.

[0085] like Figure 3As shown, the pairing method for this unmanned aerial vehicle includes:

[0086] Step S301: After the unmanned aerial vehicle establishes a communication connection with the main controller, obtain the pairing information sent by the main controller;

[0087] Specifically, the UAV and the main controller establish a communication connection based on a preset communication protocol, such as TCP, UDP, or Netty. After the UAV establishes a communication connection with the main controller, it obtains pairing information sent by the main controller. The pairing information consists of pairing parameters, including a pairing code and the modem's internal parameters. The pairing code is used to interface with the slave controller, and the internal parameters include the operating transmission rate, amplitude modulation parameters, frequency modulation parameters, and phase modulation parameters.

[0088] In this embodiment of the application, the main controller corresponds to the first application, that is, the first application is installed on the main controller. The first application is used to obtain the pairing information of the main controller and send the pairing information of the main controller to the unmanned aerial vehicle.

[0089] For details, please refer to [link / reference]. Figure 4 , Figure 4 yes Figure 3 A detailed flowchart of step S301 in the process;

[0090] like Figure 4 As shown, step S301 includes:

[0091] Step S3011: After the first application receives the pairing information sent by the main controller, the application receives the pairing information sent by the first application, wherein the first application establishes a communication connection with the unmanned aerial vehicle by scanning the QR code corresponding to the unmanned aerial vehicle.

[0092] Specifically, the first application is installed on the main controller, which includes, but is not limited to, a remote controller, mobile phone, tablet computer, controller, or image display device. The main controller connects to the UAV via WiFi by scanning the corresponding QR code and establishes a communication connection with the UAV. After the first application connected to the UAV via WiFi, the main controller can directly obtain the pairing information of the UAV, and the UAV can also obtain the pairing information of the main controller.

[0093] Step S302: Establish a primary pairing relationship between the main controller and the unmanned aerial vehicle based on the pairing information sent by the main controller;

[0094] For details, please refer to [link / reference]. Figure 5 , Figure 5 yes Figure 3A detailed flowchart of step S302 in the process;

[0095] like Figure 5 As shown, step S302 includes:

[0096] Step S3021: After receiving the pairing information sent by the first application, control the unmanned aerial vehicle to enter the first search decoding state, wherein the first search decoding state is used to obtain the pairing information of the main controller and to send the pairing information of the unmanned aerial vehicle to the first application.

[0097] Specifically, after the UAV receives the pairing information from the main controller sent by the first application, it triggers the interaction between the pairing parameters of the main controller and the pairing parameters of the UAV, thereby controlling the UAV to enter the first search and decoding state. The first search and decoding state is a frequency scanning process based on the LTE protocol. The UAV searches for valid data in the pairing information of the main controller by scanning valid frequency points, and decodes it to obtain the decoded pairing information. After obtaining the decoded pairing information of the main controller, the UAV sends its own pairing information to the first application corresponding to the main controller.

[0098] Step S3022: After the UAV obtains the pairing information of the main controller, and the main controller obtains the pairing information of the UAV, a primary pairing relationship is established between the main controller and the UAV. The pairing information of the main controller includes the key information of the main controller, and the pairing information of the UAV includes the key information of the UAV.

[0099] Specifically, when the UAV obtains the pairing information from the decoded main controller, and the main controller obtains the pairing information from the UAV, since the UAV and the main controller have already exchanged parameters via WIFI, and which devices are allowed to access are pre-set on the main controller or the UAV, then it is only necessary to match the pairing information of both parties through the exchange information to determine whether it is a preset access device. If the pairing information matches successfully, a primary pairing relationship is established between the main controller and the UAV. The pairing information of the main controller includes the key information of the main controller, and the pairing information of the UAV includes the key information of the UAV.

[0100] Step S303: Receive the slave pairing request forwarded by the master controller, generate temporary pairing information, and send the temporary pairing information to the master controller, wherein the slave pairing request is sent by the slave controller to the master controller;

[0101] Specifically, if a slave controller wants to connect to the UAV, the slave controller first sends a slave pairing request to the master controller. After receiving the slave pairing request, the master controller forwards the slave pairing request to the UAV. The UAV generates temporary pairing information and sends the temporary pairing information to the master controller.

[0102] In this embodiment of the application, the slave controller corresponds to the second application, that is, the second application is installed on the slave controller, and the second application is used to obtain the pairing information of the slave controller and send the pairing information of the slave controller to the unmanned aerial vehicle.

[0103] For details, please refer to Figure 6 , Figure 6 yes Figure 3 A detailed flowchart of step S303 in the process;

[0104] like Figure 6 As shown, step S303 includes:

[0105] Step S3031: After receiving the pairing request forwarded by the main controller, combine the key information of the UAV, the key information of the main controller, and the temporary code to generate temporary pairing information.

[0106] Specifically, after the UAV receives the pairing request forwarded by the main controller, the UAV generates temporary pairing information. In addition to the UAV's key information, the temporary pairing information generated by the UAV also includes a temporary code, which serves as the access credential for the slave controller. When the UAV generates the temporary pairing information, it also combines its own key information, the main controller's key information, and the temporary code to generate the combined temporary pairing information.

[0107] Step S304: After the main controller sends temporary pairing information to the slave controller, the temporary pairing information sent by the slave controller is obtained. The temporary pairing information sent by the slave controller is obtained by combining the key information of the slave controller to the unmanned aerial vehicle and the key information of the slave controller.

[0108] For details, please refer to Figure 7 , Figure 7 yes Figure 3 A detailed flowchart of step S304 in the process;

[0109] like Figure 7 As shown, step S304 includes:

[0110] Step S3041: After the first application corresponding to the master controller sends temporary pairing information to the second application corresponding to the slave controller, obtain the temporary pairing information sent by the second application corresponding to the slave controller.

[0111] Specifically, the first application corresponding to the main controller sends temporary pairing information of the UAV to the second application corresponding to the slave controller. This temporary pairing information is obtained by combining the UAV's key information, the main controller's key information, and a temporary code. After receiving the temporary pairing information sent by the UAV, the first application corresponding to the main controller sends temporary pairing information to the second application corresponding to the slave controller. This temporary pairing information includes the combined temporary pairing information and a temporary pairing. After receiving the temporary pairing information sent by the first application corresponding to the main controller, the second application corresponding to the slave controller sends temporary pairing information to the UAV. This temporary pairing information sent by the second application corresponding to the slave controller to the UAV is obtained by combining the slave controller's key information of the UAV and the slave controller's key information.

[0112] Step S305: Establish a slave pairing relationship between the slave controller and the unmanned aerial vehicle based on the temporary pairing information sent by the slave controller.

[0113] For details, please refer to Figure 8 , Figure 8 yes Figure 3 A detailed flowchart of step S305 in the process;

[0114] like Figure 8 As shown, step S305 includes:

[0115] Step S3051: After receiving the pairing information sent by the second application, control the unmanned aerial vehicle to enter the second search decoding state, wherein the second search decoding state is used to obtain the pairing information from the controller and to send the pairing information of the unmanned aerial vehicle to the second application.

[0116] Specifically, after the UAV receives the temporary pairing information from the slave controller sent by the second application, it triggers the interaction between the temporary pairing information of the slave controller and the temporary pairing information of the UAV, thereby controlling the UAV to enter the second search and decoding state. The second search and decoding state is a frequency scanning process based on the LTE protocol. The UAV searches for valid data in the temporary pairing information of the slave controller by scanning valid frequency points, and decodes it to obtain the decoded temporary pairing information. After obtaining the decoded temporary pairing information of the slave controller, the UAV sends the temporary pairing information of the UAV to the second application corresponding to the slave controller.

[0117] Step S3052: After the UAV obtains the pairing information from the controller, and the controller obtains the pairing information from the UAV, a pairing relationship is established between the controller and the UAV. The pairing information of the controller includes the controller's key information, and the pairing information of the UAV includes the UAV's key information.

[0118] Specifically, when the UAV obtains the temporary pairing information from the controller after decoding, and when the controller obtains the temporary pairing information from the UAV, since the UAV and the controller have already exchanged parameters via WIFI, and which devices are allowed to access are pre-set on the controller or the UAV, then it is only necessary to match the temporary pairing information between the two parties through the exchange information to determine whether it is the preset access device. If the temporary pairing information matches successfully, a pairing relationship is established between the controller and the UAV.

[0119] By acquiring the pairing information sent by the main controller, pairing the main controller first, and then using the temporary pairing information to pair the slave controller, the problem of mismatch that easily occurs when multiple UAVs are paired at the same time can be solved, thereby improving the reliability and stability of the UAV pairing process.

[0120] Please see Figure 9 , Figure 9 This is a schematic diagram of a pairing process provided in Embodiment 1 of this application when a slave pairing request is received again from the master controller, including:

[0121] Step S901: If a slave pairing request is received again from the master controller, temporary pairing information is generated again and sent to the master controller, wherein the slave pairing request is sent by another slave controller;

[0122] Specifically, when another slave controller wants to join the UAV, the slave controller sends a pairing request to the master controller. After receiving the pairing request, the master controller forwards it to the UAV. At this time, the UAV generates new temporary pairing information and sends the temporary pairing information to the master controller.

[0123] Step S902: After the main controller sends temporary pairing information to another slave controller, obtain the temporary pairing information sent by the other slave controller, wherein the temporary pairing information sent by the other slave controller is obtained by combining the key information of the other slave controller to the unmanned aerial vehicle and the key information of the other slave controller;

[0124] Specifically, after the main controller sends temporary pairing information to another slave controller, it obtains temporary pairing information sent by the other slave controller. The temporary pairing information sent by the other slave controller is obtained by combining the key information of the unmanned aerial vehicle and the key information of the other slave controller, thus completing the parameter exchange of pairing information.

[0125] Step S903: Based on the temporary pairing information sent by another slave controller, establish a slave pairing relationship between another slave controller and the unmanned aerial vehicle;

[0126] Specifically, based on the temporary pairing information sent by another slave controller, a slave pairing relationship is established between another slave controller and the unmanned aerial vehicle. For the specific pairing steps, please refer to the relevant description in the above embodiments, which will not be repeated here.

[0127] Step S904: After another slave controller successfully establishes a slave pairing relationship with the UAV, disconnect the previous slave controller from the UAV.

[0128] Specifically, after another slave controller successfully establishes a slave pairing relationship with the UAV, the previous slave controller will automatically exit the pairing system and terminate the slave pairing relationship between the previous slave controller and the UAV.

[0129] In the embodiments of this application, the main controller corresponds to the main control right, which corresponds to the first authority of the unmanned aerial vehicle (UAV); the slave controller corresponds to the slave control right, which corresponds to the second authority of the UAV. The first authority includes flight control authority, gimbal control authority, and viewing authority, such as gimbal direction control, gimbal locking, gimbal camera zoom, gimbal reset, and viewing of UAV parameters. The second authority includes viewing authority, such as viewing the UAV's video stream, real-time flight parameters, and flight path. The real-time flight parameters include, but are not limited to, the UAV's current coordinate position, altitude, speed, distance, waypoints, gimbal angle, camera status, and other parameters.

[0130] In some optional embodiments of this application, the application (APP) can be set on the controller to control the UAV, or it can be set on a handheld terminal to control the UAV through the controller; the pairing code can be entered manually or by scanning a code; if the controller entity remains unchanged, the pairing code is not required, for example, when a slave controller wants to become the master controller, or a master controller becomes a slave controller; if a new controller wants to connect and replace the previous slave controller, the pairing code needs to be regenerated. It should be noted that the master-slave controller switch is only a software function switch, and the connection entity does not change. For example, controller A is the master controller, and controller B is the slave controller. Controller A has the authority to operate the UAV and control the gimbal, while controller B does not; controller B only has the function of viewing image display. If controller B wants to control the UAV, controller B needs to apply, and after the application is approved, the master-slave controller switch is completed; if a new controller wants to connect and replace the previous slave controller, the pairing code needs to be regenerated; if the master controller needs to be replaced, the Wi-Fi of the master controller needs to be rescanned and reconnected, or the pairing can be done by pressing a button.

[0131] Understandably, if a controller connects to an unmanned aerial vehicle (UAV) and the UAV has no communication connection to other controllers, then that controller device automatically gains master control.

[0132] This embodiment of the application, after the UAV and the main controller establish a communication connection, obtains pairing information sent by the main controller; establishes a master pairing relationship between the main controller and the UAV based on the pairing information sent by the main controller; receives a slave pairing request forwarded by the main controller, generates temporary pairing information, and sends the temporary pairing information to the main controller; after the main controller sends the temporary pairing information to the slave controller, obtains the temporary pairing information sent by the slave controller; and establishes a slave pairing relationship between the slave controller and the UAV based on the temporary pairing information sent by the slave controller. This solves the technical problems of mismatch when multiple UAVs are paired simultaneously, and the inflexibility of the pairing scheme caused by the traditional button pairing requiring the UAV to be on the ground. Thus, it enables UAVs to dynamically pair and join without being on the ground, and can safely and reliably perform one-to-one or one-to-many pairings. It also allows UAVs to join or leave pairing during flight, achieving dynamic pairing and making pairing more flexible.

[0133] Example 2

[0134] It should be noted that the application scenario of this application embodiment is the same as that of the application scenario of the first embodiment above. For details, please refer to the content provided in the first embodiment above, and it will not be repeated here.

[0135] Please see Figure 10 , Figure 10 This is a flowchart illustrating a pairing method for an unmanned aerial vehicle provided in Embodiment 2 of this application;

[0136] like Figure 10 As shown, the pairing method for this unmanned aerial vehicle includes the following steps:

[0137] Step S1001: After the UAV establishes a communication connection with the main controller, the UAV obtains the pairing information sent by the main controller;

[0138] Specifically, the UAV and the main controller establish a communication connection based on a preset communication protocol, such as TCP, UDP, or Netty. After the UAV establishes a communication connection with the main controller, it obtains pairing information sent by the main controller. The pairing information consists of pairing parameters, including a pairing code and the modem's internal parameters. The pairing code is used to interface with the slave controller, and the internal parameters include the operating transmission rate, amplitude modulation parameters, frequency modulation parameters, and phase modulation parameters.

[0139] Step S1002: The unmanned aerial vehicle establishes a primary pairing relationship between the main controller and the unmanned aerial vehicle based on the pairing information sent by the main controller;

[0140] Specifically, after the UAV receives the pairing information sent by the main controller, it is controlled to enter the first search and decoding state. The first search and decoding state is used to obtain the pairing information of the main controller and to send the pairing information of the UAV to the main controller. After the UAV obtains the pairing information of the main controller and the main controller obtains the pairing information of the UAV, a primary pairing relationship is established between the main controller and the UAV. The pairing information of the main controller includes the key information of the main controller and the pairing information of the UAV includes the key information of the UAV.

[0141] Step S1003: The main controller receives a pairing request from the slave controller and forwards the pairing request to the unmanned aerial vehicle;

[0142] Specifically, if a slave controller wants to connect to the unmanned aerial vehicle (UAV), the slave controller first sends a slave pairing request to the master controller. After receiving the slave pairing request from the slave controller, the master controller forwards the slave pairing request to the UAV.

[0143] Step S1004: After receiving the pairing request forwarded by the main controller, the unmanned aerial vehicle generates temporary pairing information and sends the temporary pairing information to the main controller;

[0144] Specifically, after the UAV receives a pairing request forwarded by the main controller, it generates temporary pairing information. This temporary pairing information includes the UAV's key information and a temporary code, which serves as the access credential for the slave controller. When generating the temporary pairing information, the UAV simultaneously combines its own key information, the main controller's key information, and the temporary code to generate a combined temporary pairing information. The UAV sends this combined temporary pairing information to the main controller, which is obtained by combining the UAV's key information, the main controller's key information, and the temporary code. Upon receiving this combined temporary pairing information from the UAV, the main controller sends temporary pairing information to the slave controller, which includes the combined temporary pairing information and a temporary pairing code. After receiving the temporary pairing information from the main controller, the slave controller sends temporary pairing information to the UAV, which is obtained by combining the slave controller's key information and the UAV's key information.

[0145] Step S1005: The unmanned aerial vehicle (UAV) obtains temporary pairing information sent by the controller, wherein the temporary pairing information sent by the controller is obtained by combining the key information of the UAV and the key information of the controller, and a pairing relationship between the controller and the UAV is established based on the temporary pairing information sent by the controller.

[0146] Specifically, when the slave controller receives the temporary pairing information sent by the master controller, since the temporary pairing code in the temporary pairing information serves as the credential for the slave controller to access the UAV, the slave controller combines the key information of the slave controller and the key information of the UAV to generate the temporary pairing information of the slave controller. At this time, the slave controller sends the temporary pairing information of the slave controller to the UAV. After the UAV receives the temporary pairing information sent by the controller, it triggers an interaction between the temporary pairing information of the controller and the UAV, thereby controlling the UAV to enter the second search and decoding state. The second search and decoding state is a frequency scanning process based on the LTE protocol. The UAV scans effective frequency points, searches for valid data in the temporary pairing information of the controller, decodes it, and obtains the decoded temporary pairing information. After obtaining the decoded temporary pairing information of the controller, the UAV sends its own temporary pairing information to the controller. At this time, when the UAV obtains the decoded temporary pairing information of the controller, and the controller obtains the temporary pairing information of the UAV, since the UAV and the controller have already exchanged parameters via WIFI, and which devices are allowed to access are pre-set on the controller or the UAV, it is only necessary to match the temporary pairing information of both parties through the interaction information to determine whether it is the preset access device. If the temporary pairing information matches successfully, the slave pairing relationship between the controller and the UAV is established.

[0147] It should be noted that the preferred embodiments in this application can be found in the relevant descriptions in the above embodiments, and will not be repeated here.

[0148] Please see Figure 11 , Figure 11 This is a flowchart of a pairing method for an unmanned aerial vehicle provided in Embodiment 2 of this application;

[0149] The pairing method for unmanned aerial vehicles (UAVs) is applied to UAVs. Specifically, the pairing method is executed by one or more processors of the UAV.

[0150] like Figure 11 As shown, the pairing method for this unmanned aerial vehicle includes:

[0151] Step S1101: Establish a communication connection;

[0152] Specifically, the main controller and the unmanned aerial vehicle establish a communication connection based on a preset communication protocol, such as TCP communication protocol, UDP communication protocol, or Netty communication protocol.

[0153] Step S1102: Obtain the pairing information of the main controller;

[0154] Specifically, the unmanned aerial vehicle acquires pairing information from the main controller. This pairing information consists of pairing parameters, including a pairing code and the modem's internal parameters. The pairing code is used to interface with the slave controller, and the internal parameters include the operating transmission rate, amplitude modulation parameters, frequency modulation parameters, and phase modulation parameters.

[0155] Step S1103: Establish primary pairing relationship;

[0156] Specifically, the main controller and the UAV enter a search and decoding state to establish a primary pairing relationship. Specifically, after the UAV receives the pairing information sent by the main controller, it enters the first search and decoding state. Here, the UAV is used to acquire the pairing information from the main controller and to send its own pairing information to the main controller. After the UAV acquires the pairing information from the main controller, and the main controller acquires the pairing information from the UAV, a primary pairing relationship is established between the main controller and the UAV. The pairing information from the main controller includes the main controller's key information, and the pairing information from the UAV includes the UAV's key information.

[0157] Step S1104: Send a pairing request;

[0158] Specifically, if another controller wants to connect to the unmanned aerial vehicle, the controller sends a pairing request to the main controller;

[0159] Step S1105: Forward the pairing request;

[0160] Specifically, the main controller forwards the pairing request to the UAV. When the main controller receives the pairing request from the slave controller, it forwards the pairing request to the UAV.

[0161] Step S1106: Generate temporary pairing information;

[0162] Specifically, the UAV generates temporary pairing information, which includes not only the UAV's key information but also a temporary code. This temporary code serves as the access credential for the controller. When generating temporary pairing information, the UAV also combines its own key information, the main controller's key information, and the temporary code to generate the temporary pairing information.

[0163] Step S1107: Send temporary pairing information;

[0164] Specifically, the UAV sends temporary pairing information to the main controller. This temporary pairing information is obtained by combining the UAV's key information, the main controller's key information, and a temporary code.

[0165] Step S1108: Send temporary pairing information;

[0166] Specifically, after receiving the combined temporary pairing information sent by the UAV, the main controller sends temporary pairing information to the slave controller. The temporary pairing information sent by the main controller to the slave controller includes the temporary pairing information sent by the UAV to the main controller and a temporary pairing code.

[0167] Step S1109: Send temporary pairing information;

[0168] Specifically, after receiving the temporary pairing information sent by the master controller, the slave controller sends temporary pairing information to the unmanned aerial vehicle (UAV). The temporary pairing information sent by the slave controller to the UAV is obtained by combining the key information of the slave controller to the UAV and the key information of the slave controller.

[0169] Step S1110: Obtain pairing information from the controller;

[0170] Specifically, the UAV receives temporary pairing information from the controller. Upon receiving this information, the UAV triggers an interaction between the controller's temporary pairing information and the UAV's own temporary pairing information, thereby controlling the UAV to enter a second search and decoding state. This second search and decoding state is a frequency scanning process based on the LTE protocol. The UAV scans valid frequency points, searches for valid data in the controller's temporary pairing information, decodes it, and obtains the decoded temporary pairing information. Once the decoded temporary pairing information from the controller is obtained, the UAV sends its own temporary pairing information to the controller.

[0171] Step S1111: Establish a pairing relationship;

[0172] Specifically, when the UAV obtains the temporary pairing information from the controller after decoding, and when the controller obtains the temporary pairing information from the UAV, since the UAV and the controller have already exchanged parameters via WIFI, and which devices are allowed to access are pre-set on the controller or the UAV, then it is only necessary to match the temporary pairing information between the two parties through the exchange information to determine whether it is the preset access device. If the temporary pairing information matches successfully, a pairing relationship is established between the controller and the UAV.

[0173] This application embodiment obtains pairing information sent by the main controller after the UAV establishes a communication connection with the main controller; establishes a master pairing relationship between the main controller and the UAV based on the pairing information sent by the main controller; receives a slave pairing request forwarded by the main controller, generates temporary pairing information, and sends the temporary pairing information to the main controller; after the main controller sends the temporary pairing information to the slave controller, obtains the temporary pairing information sent by the slave controller; and establishes a slave pairing relationship between the slave controller and the UAV based on the temporary pairing information sent by the slave controller. After pairing is completed, both the master and slave controllers can control the UAV and simultaneously receive images. This design not only ensures reliable pairing without interference from other pairing combinations, but also allows for pairing access at any time during flight. It is very useful and flexible for scenarios where controller switching is required due to controller malfunction or low battery. This design solves the technical problems of mispairing when multiple UAVs are paired simultaneously, and the inflexibility of traditional button pairing schemes that require the UAV to be on the ground. This improves the reliability and stability of the UAV pairing process.

[0174] Example 3

[0175] Please see Figure 12 , Figure 12 This is a schematic diagram of an application scenario provided in Embodiment 3 of this application;

[0176] like Figure 12 As shown, the application scenario includes an unmanned aerial vehicle (UAV) 1201, a main controller 1202, a slave controller 1203, a first mobile terminal 1204, and a second mobile terminal 1205. Both the main controller 1202 and the slave controller 1203 are communicatively connected to the UAV 1201, and there is a communication connection between the main controller 1202 and the slave controller 1203. ， The unmanned aerial vehicle 1201 communicates with the main controller 1202 and the slave controller 1203, or the main controller 1202 communicates with the slave controller 1203, all based on preset communication protocols, such as TCP, UDP, and Netty. The first mobile terminal 1204 communicates with the main controller 1202, for example, based on preset communication protocols, such as TCP, UDP, and Netty. The second mobile terminal 1205 communicates with the slave controller 1203, for example, based on preset communication protocols, such as TCP, UDP, and Netty.

[0177] Please see Figure 13 , Figure 13 This is a flowchart illustrating a pairing method for an unmanned aerial vehicle provided in Embodiment 3 of this application;

[0178] The pairing method for unmanned aerial vehicles (UAVs) is applied to UAVs. Specifically, the pairing method is executed by one or more processors of the UAV.

[0179] like Figure 13 As shown, the pairing method for this unmanned aerial vehicle includes:

[0180] Step S1301: The first mobile terminal obtains the pairing information of the main controller and the pairing information of the unmanned aerial vehicle, and sends the pairing information of the unmanned aerial vehicle to the main controller;

[0181] Specifically, the first mobile terminal obtains a communication connection with the UAV by scanning the WiFi QR code corresponding to the UAV, obtains the pairing information of the main controller, and obtains the pairing information of the UAV. At this time, the first mobile terminal sends the pairing information of the UAV to the main controller.

[0182] In some embodiments of this application, the first mobile terminal is equipped with an application. The first mobile terminal can be a remote controller directly connected to the unmanned aerial vehicle (UAV), or it can be a tablet. In these embodiments, the application allows the UAV to establish a communication connection by scanning its WiFi QR code. Simultaneously, the UAV obtains pairing information from the main controller.

[0183] Step S1302: After the UAV obtains the pairing information of the main controller, and the main controller obtains the pairing information of the UAV, a primary pairing relationship is established between the main controller and the UAV.

[0184] Specifically, after the UAV obtains the pairing information from the main controller, and the main controller obtains the pairing information from the UAV, it is equivalent to the main controller and the UAV interacting with each other. At this time, it enters the search and decoding state, searches for valid data in the pairing information of the main controller by scanning valid frequency points, decodes it, and obtains the decoded pairing information. After obtaining the decoded pairing information of the main controller, the UAV sends its own pairing information to the main controller. Since the UAV and the main controller have already exchanged the decoded pairing information via WIFI, and which devices are allowed to access are pre-set on the main controller or the UAV, it is only necessary to match the pairing information of both parties through information exchange to determine whether it is a preset access device. If the pairing information matches successfully, a primary pairing relationship is established between the main controller and the UAV. The main controller's pairing information includes the main controller's key information, and the UAV's pairing information includes the UAV's key information.

[0185] Step S1303: The main controller receives the slave pairing request sent by the slave controller and forwards the slave pairing request to the unmanned aerial vehicle;

[0186] Specifically, if a slave controller wants to connect to the unmanned aerial vehicle (UAV), the slave controller first sends a slave pairing request to the master controller. After receiving the slave pairing request from the slave controller, the master controller forwards the slave pairing request to the UAV.

[0187] Step S1304: The unmanned aerial vehicle receives the pairing request forwarded by the main controller, generates temporary pairing information, and sends the temporary pairing information to the main controller;

[0188] Specifically, after receiving a pairing request forwarded by the main controller, the UAV generates temporary pairing information. This temporary pairing information includes the UAV's key information and a temporary code, which serves as the slave controller's access credential. When generating the temporary pairing information, the UAV simultaneously combines its own key information, the main controller's key information, and the temporary code to generate a combined temporary pairing information. The UAV then sends the temporary pairing information to the main controller, which is obtained by combining the UAV's key information, the main controller's key information, and the temporary code.

[0189] Step S1305: The main controller sends temporary pairing information to the first mobile terminal, so that the first mobile terminal sends temporary pairing information to the second mobile terminal;

[0190] Specifically, when the main controller receives the temporary pairing information from the UAV, since the temporary pairing information contains a temporary code, the main controller sends the temporary code to the first mobile terminal, so that the temporary code is displayed on the image screen of the first mobile terminal as a data certificate for accessing the UAV. At this time, the first mobile terminal corresponding to the main controller then sends the temporary pairing information sent by the UAV to the second mobile terminal.

[0191] Step S1306: The second mobile terminal obtains the temporary pairing information sent by the first mobile terminal and obtains the pairing information from the controller;

[0192] Specifically, after the second mobile terminal obtains the temporary pairing information sent by the first mobile terminal, it is equivalent to obtaining the temporary pairing information of the UAV stored in the temporary pairing information from the controller. The temporary pairing information contains the key information and pairing code of the UAV. At this time, the second mobile terminal corresponding to the controller obtains the access channel of the UAV by entering the pairing code on the screen. Then, the slave controller corresponding to the second mobile terminal starts to combine the key information of the controller and the key information of the UAV to generate temporary pairing information.

[0193] In some embodiments of this application, the controller and the mobile terminal image device APP are physically connected. When the mobile terminal APP connects to the UAV via WiFi, the mobile terminal APP can directly obtain the pairing parameters of the UAV and the controller, and the UAV can also directly obtain the pairing parameters of the controller.

[0194] Step S1307: Send temporary pairing information from the controller to the unmanned aerial vehicle, wherein the temporary pairing information sent from the controller to the unmanned aerial vehicle is obtained by combining the key information of the unmanned aerial vehicle and the key information of the controller.

[0195] Specifically, after the UAV receives the temporary pairing information sent by the controller, it triggers the interaction between the temporary pairing information of the controller and the temporary pairing information of the UAV, thereby controlling the UAV to enter the second search decoding state. The search decoding state is a frequency scanning process based on the LTE protocol. The second search decoding state searches for valid data in the temporary pairing information of the controller by scanning valid frequency points, and decodes it to obtain the decoded temporary pairing information. After obtaining the decoded temporary pairing information of the controller, the UAV sends its own temporary pairing information to the controller.

[0196] Step S1308: The unmanned aerial vehicle establishes a slave pairing relationship between the slave controller and the unmanned aerial vehicle based on the temporary pairing information sent by the slave controller.

[0197] Specifically, when the UAV obtains the decoded temporary pairing information from the controller, and the controller obtains the temporary pairing information from the UAV, since the UAV and the controller have already exchanged parameters via Wi-Fi, and which devices are allowed to access are pre-set on the controller or the UAV, it is only necessary to match the temporary pairing information between the two parties through the exchange information to determine whether it is the preset access device. If the temporary pairing information matches successfully, a pairing relationship is established between the controller and the UAV. The temporary pairing information of the controller includes the controller's key information, and the temporary pairing information of the UAV includes the UAV's key information.

[0198] Please see Figure 14 , Figure 14 This is a flowchart of a pairing method for an unmanned aerial vehicle provided in Embodiment 3 of this application;

[0199] The pairing method for unmanned aerial vehicles (UAVs) is applied to UAVs. Specifically, the pairing method is executed by one or more processors of the UAV.

[0200] like Figure 14 As shown, the pairing method for this unmanned aerial vehicle includes:

[0201] Step S1401: Obtain the pairing parameters of the main controller;

[0202] Specifically, the main controller sends the pairing parameters of the main controller to the first mobile terminal, so that the first mobile terminal can obtain the pairing parameters of the main controller.

[0203] Step S1402: Obtain the pairing parameters of the unmanned aerial vehicle and send the pairing parameters of the main controller;

[0204] Specifically, the first mobile terminal establishes a communication connection with the UAV by scanning the UAV's WiFi QR code, obtains the UAV's pairing parameters, and sends the main controller's pairing parameters to the UAV.

[0205] Step S1403: Send the pairing parameters for the unmanned aerial vehicle;

[0206] Specifically, after the first mobile terminal obtains the pairing parameters of the unmanned aerial vehicle, it sends them to the main controller.

[0207] Step S1404: Search and decoding complete, main controller connection;

[0208] Specifically, when the main controller obtains the pairing parameters of the UAV and the UAV obtains the pairing parameters of the main controller, it is equivalent to the pairing information of the two interacting. After the search and decoding are completed, the connection between the two is established, and the main controller is connected to the UAV.

[0209] Step S1405: Access is available from the controller;

[0210] Specifically, when a slave controller wants to access the unmanned aerial vehicle, the first mobile terminal sends an access request to the main controller.

[0211] Step S1406: Request access from the controller to the unmanned aerial vehicle;

[0212] Specifically, when the main controller receives an access request from the slave controller, it sends a pairing request to the unmanned aerial vehicle.

[0213] Step S1407: Return temporary pairing information;

[0214] Specifically, after generating temporary pairing information, the UAV returns this information to the main controller. This temporary pairing information includes not only the UAV's key information but also a temporary code, which serves as the access credential for the slave controller. When generating the temporary pairing information, the UAV simultaneously combines its own key information, the main controller's key information, and the temporary code to generate a combined temporary pairing information. The returned temporary pairing information is obtained by combining the UAV's key information, the main controller's key information, and the temporary code.

[0215] Step S1408: Return temporary pairing information;

[0216] Specifically, the main controller returns temporary pairing information to the first mobile terminal. This temporary pairing information is obtained by combining the key information of the UAV to the UAV, the key information of the main controller, and a temporary code.

[0217] Step S1409: Obtain the pairing parameters from the controller;

[0218] Specifically, the second mobile terminal obtains the pairing parameters from the controller, wherein the pairing parameters from the controller include the key information of the controller.

[0219] In an embodiment of this application, the second mobile terminal is equipped with a second application. After the second application establishes a communication connection with the unmanned aerial vehicle (UAV) by scanning the UAV's WiFi QR code, the second application obtains the pairing information of the UAV, and the UAV can also obtain the pairing information of the main controller.

[0220] Step S1410: Obtain temporary pairing information;

[0221] Specifically, the second mobile terminal obtains the temporary pairing information of the first mobile terminal, wherein the temporary pairing information of the first mobile terminal is obtained by combining the key information of the unmanned aerial vehicle to the unmanned aerial vehicle, the key information of the main controller, and the temporary code.

[0222] Step S1411: Set temporary pairing information;

[0223] Specifically, after the second mobile terminal obtains the temporary pairing information of the first mobile terminal, the slave controller corresponding to the first mobile terminal will combine the key information of the slave controller and the key information of the unmanned aerial vehicle to generate temporary pairing information.

[0224] Step S1412: Search for decoding access;

[0225] Specifically, the controller sends temporary pairing information to the UAV and enters the search decoding state. The temporary pairing information sent by the controller to the UAV is obtained by combining the key information of the UAV and the key information of the controller. The search decoding state is a frequency scanning process based on the LTE protocol. The second search decoding state searches for valid data in the temporary pairing information of the controller by scanning valid frequency points and decodes it to obtain the decoded temporary pairing information. After obtaining the decoded temporary pairing information of the controller, the UAV sends its own temporary pairing information to the controller.

[0226] Step S1413: Use the official parameters after pairing is complete;

[0227] Specifically, when the temporary pairing information decoded by the controller is successfully compared with the temporary pairing information of the UAV, the pairing between the controller and the UAV is completed. Once the UAV and the controller successfully connect, and the UAV obtains the real information from the controller, the temporary pairing information becomes invalid. The controller also uses its own real information to interact with the UAV, including the controller's key information, i.e., the controller's real key.

[0228] Step S1414: Establish a connection from the controller, the second mobile terminal, and the unmanned aerial vehicle.

[0229] This application embodiment, after the UAV and the main controller establish a communication connection, obtains pairing information sent by the main controller; establishes a master pairing relationship between the main controller and the UAV based on the pairing information sent by the main controller; receives a slave pairing request forwarded by the main controller, generates temporary pairing information, and sends the temporary pairing information to the main controller; after the main controller sends the temporary pairing information to the slave controller, obtains the temporary pairing information sent by the slave controller; and establishes a slave pairing relationship between the slave controller and the UAV based on the temporary pairing information sent by the slave controller. This solves the technical problems of mispairing when multiple UAVs are paired simultaneously, and the inflexibility of the pairing scheme caused by the requirement that the UAV be on the ground for traditional button pairing. It improves the reliability and stability of the UAV pairing process, and enables UAVs to dynamically pair and join without being on the ground, and can safely and reliably perform one-to-one or one-to-many pairings. It also allows UAVs to join or leave pairing during flight, making the pairing process more flexible.

[0230] Please see Figure 15 , Figure 15 This is a schematic diagram of the structure of an unmanned aerial vehicle provided in an embodiment of this application;

[0231] like Figure 15 As shown, the unmanned aerial vehicle 150 includes a processor 151, a memory 152, and a communication module 153. The processor 151, memory 152, and communication module 153 can establish a communication connection between any two of them via a bus.

[0232] Processor 151 can be any type of processor with one or more processing cores. It can execute single-threaded or multi-threaded operations, used for parsing instructions to perform operations such as fetching data, performing logical operations, and sending out processing results.

[0233] The processor 151 is configured to: acquire pairing information sent by the main controller after the unmanned aerial vehicle (UAV) establishes a master pairing relationship between the main controller and the UAV based on the pairing information sent by the main controller; receive a slave pairing request forwarded by the main controller, generate temporary pairing information, and send the temporary pairing information to the main controller, wherein the slave pairing request is sent by the slave controller to the main controller; acquire temporary pairing information sent by the slave controller after the main controller sends the temporary pairing information to the slave controller, wherein the temporary pairing information sent by the slave controller is obtained by combining the key information of the UAV and the key information of the slave controller; and establish a slave pairing relationship between the slave controller and the UAV based on the temporary pairing information sent by the slave controller.

[0234] By acquiring the pairing information sent by the main controller, pairing the main controller first, and then using the temporary pairing information to pair the slave controller, this application can solve the problem of mismatch that easily occurs when multiple UAVs are paired at the same time, and improve the reliability and stability of the UAV pairing process.

[0235] The memory 152, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program instructions / modules corresponding to the pairing method of the unmanned aerial vehicle in the embodiments of this application. The processor 151 implements the pairing method of the unmanned aerial vehicle in the above method embodiments by running the non-transitory software programs, instructions, and modules stored in the memory 152.

[0236] Memory 152 may include a program storage area and a data storage area, wherein the program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the remote control device, etc. Furthermore, memory 152 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory 152 may optionally include memory remotely located relative to processor 151, and these remote memories can be connected to the unmanned aerial vehicle via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0237] 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 the instructions to implement the pairing method of the unmanned aerial vehicle in any of the above method embodiments.

[0238] Communication module 153 is a functional module used to establish a communication connection and provide a physical channel. Communication module 153 can be any type of wireless or wired communication module, including but not limited to WiFi modules or Bluetooth modules.

[0239] Furthermore, embodiments of this application also provide a non-transitory computer-readable storage medium storing computer-executable instructions, which are executed by one or more processors 151, enabling the one or more processors 151 to perform the pairing method of the unmanned aerial vehicle in any of the above method embodiments.

[0240] Please refer to the following: Figure 16 , Figure 16 This is a schematic diagram of the structure of a pairing system for an unmanned aerial vehicle provided in an embodiment of this application;

[0241] like Figure 16 As shown, the pairing system 160 of the unmanned aerial vehicle includes: unmanned aerial vehicle 161, main controller 162, slave controller 163, first mobile terminal 164 and second mobile terminal 165.

[0242] In this embodiment of the application, both the master controller 162 and the slave controller 163 are connected to an unmanned aerial vehicle 161 through a wireless communication network to control the unmanned aerial vehicle.

[0243] In this embodiment of the application, when both the main controller and the slave controller are paired with the UAV 160, if the slave controller 163 is to be replaced with the main controller 162, the master-slave controller can be switched directly based on software; if a new controller is to be connected, the original slave controller 162 needs to be replaced and the new controller needs to be paired with the UAV again; if the main controller 162 is replaced, it needs to be reconnected via WiFi QR code scanning.

[0244] In this embodiment of the application, the first mobile terminal 164 is physically connected to the main controller 162 or is connected via wireless communication. The first mobile terminal 164 may be, but is not limited to, a mobile phone, a tablet computer, a controller, or an image display device.

[0245] In this embodiment of the application, the second mobile terminal 165 is physically connected to the controller 163 or connected via wireless communication. The second mobile terminal 165 may be, but is not limited to, a mobile phone, a tablet computer, a controller, or an image display device.

[0246] The relevant content of the unmanned aerial vehicle 161 in the pairing system 160 of the unmanned aerial vehicle in this embodiment can be referred to the unmanned aerial vehicle mentioned in the above embodiments, and will not be repeated here.

[0247] The main controller 162 of the pairing system 160 of the unmanned aerial vehicle in this embodiment can be referred to the main controller mentioned in the above embodiment, and will not be repeated here.

[0248] The relevant content of the slave controller 163 of the pairing system 160 of the unmanned aerial vehicle in this embodiment can be referred to the slave controller mentioned in the above embodiment, and will not be repeated here.

[0249] The relevant content of the first mobile terminal 164 of the pairing system 160 of the unmanned aerial vehicle in this embodiment can be referred to the first mobile terminal mentioned in the above embodiments, and will not be repeated here.

[0250] The relevant content of the second mobile terminal 165 of the pairing system 160 of the unmanned aerial vehicle in this embodiment can be referred to the second mobile terminal mentioned in the above embodiment, and will not be repeated here.

[0251] In this embodiment, by obtaining the pairing information sent by the main controller, the main controller is paired first, and then the slave controller is paired using the temporary pairing information. This application can solve the problem of mismatch that easily occurs when multiple unmanned aerial vehicles are paired at the same time, and improve the reliability and stability of the unmanned aerial vehicle pairing process.

[0252] Furthermore, embodiments of this application also provide a non-transitory computer-readable storage medium storing computer-executable instructions, which are executed by one or more processors to cause the one or more processors to perform the pairing method for the unmanned aerial vehicle in any of the above method embodiments.

[0253] Furthermore, embodiments of this application also provide a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps described in the pairing method for the unmanned aerial vehicle in any of the above method embodiments. This computer program product can be a software installation package.

[0254] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0255] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented using software plus a general-purpose hardware platform, or of course, using hardware. Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program in a computer program product instructing related hardware. The computer program can be stored in a non-transitory computer-readable storage medium. The computer program includes program instructions, which, when executed by a related device, cause the related device to execute the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0256] The above-described product can execute the pairing method for unmanned aerial vehicles (UAVs) provided in the above embodiments of this application, and possesses the corresponding functional modules and beneficial effects for executing the pairing method for UAVs. Technical details not described in detail in the embodiments of this application can be found in the pairing method for UAVs provided in the above embodiments of this application.

[0257] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them; under the concept of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of this application as described above. For the sake of brevity, they are not provided in detail; although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A pairing method for unmanned aerial vehicles, characterized in that, Applied to unmanned aerial vehicles, the method includes: After the unmanned aerial vehicle establishes a communication connection with the main controller, it obtains the pairing information sent by the main controller. Based on the pairing information sent by the main controller, a primary pairing relationship is established between the main controller and the unmanned aerial vehicle; The system receives a slave pairing request forwarded by the master controller, generates temporary pairing information, and sends the temporary pairing information to the master controller, wherein the slave pairing request is sent from the slave controller to the master controller. After the main controller sends the temporary pairing information to the slave controller, the temporary pairing information sent by the slave controller is obtained, wherein the temporary pairing information sent by the slave controller is obtained by combining the key information of the slave controller for the unmanned aerial vehicle and the key information of the slave controller. Based on the temporary pairing information sent by the slave controller, a slave pairing relationship is established between the slave controller and the unmanned aerial vehicle; After establishing the slave pairing relationship between the controller and the unmanned aerial vehicle, the method further includes: If the master controller receives another pairing request, temporary pairing information is generated again and sent to the master controller, wherein the pairing request is sent by another slave controller. After the main controller sends the temporary pairing information to the other slave controller, the temporary pairing information sent by the other slave controller is obtained, wherein the temporary pairing information sent by the other slave controller is obtained by combining the key information of the other slave controller for the unmanned aerial vehicle and the key information of the other slave controller. Based on the temporary pairing information sent by the other slave controller, a slave pairing relationship is established between the other slave controller and the unmanned aerial vehicle; After another slave controller successfully establishes a slave pairing relationship with the UAV, the slave pairing relationship between the previous slave controller and the UAV is terminated.

2. The method according to claim 1, characterized in that, The main controller corresponds to a first application, which is used to obtain the pairing information of the main controller and send the pairing information of the main controller to the unmanned aerial vehicle. Obtaining the pairing information sent by the main controller includes: After the first application receives the pairing information sent by the main controller, it receives the pairing information sent by the first application, wherein the first application establishes a communication connection with the unmanned aerial vehicle by scanning the QR code corresponding to the unmanned aerial vehicle.

3. The method according to claim 2, characterized in that, The step of establishing a primary pairing relationship between the main controller and the unmanned aerial vehicle based on the pairing information sent by the main controller includes: After receiving the pairing information sent by the first application, the unmanned aerial vehicle is controlled to enter the first search decoding state, wherein the first search decoding state is used to obtain the pairing information of the main controller and to send the pairing information of the unmanned aerial vehicle to the first application. After the unmanned aerial vehicle (UAV) obtains the pairing information of the main controller, and the main controller obtains the pairing information of the UAV, a primary pairing relationship is established between the main controller and the UAV. The pairing information of the main controller includes the key information of the main controller, and the pairing information of the UAV includes the key information of the UAV.

4. The method according to claim 1, characterized in that, The slave controller corresponds to a second application, which is used to obtain the pairing information of the slave controller and send the pairing information of the slave controller to the unmanned aerial vehicle. The step of obtaining the temporary pairing information sent by the slave controller after the master controller sends the temporary pairing information to the slave controller includes: After the first application corresponding to the master controller sends the temporary pairing information to the second application corresponding to the slave controller, the temporary pairing information sent by the second application corresponding to the slave controller is obtained.

5. The method according to claim 1, characterized in that, The step of receiving the slave pairing request forwarded by the master controller and generating temporary pairing information includes: After receiving the pairing request forwarded by the main controller, the key information of the unmanned aerial vehicle, the key information of the main controller, and the temporary code are combined to generate temporary pairing information.

6. The method according to claim 4, characterized in that, The step of establishing a slave pairing relationship between the slave controller and the unmanned aerial vehicle based on the temporary pairing information sent by the slave controller includes: After receiving the temporary pairing information sent by the second application, the unmanned aerial vehicle is controlled to enter the second search decoding state, wherein the second search decoding state is used to obtain the pairing information of the slave controller and to send the pairing information of the unmanned aerial vehicle to the second application; After the unmanned aerial vehicle (UAV) obtains the pairing information from the slave controller, and after the slave controller obtains the pairing information from the UAV, a pairing relationship is established between the slave controller and the UAV. The pairing information of the slave controller includes the key information of the slave controller, and the pairing information of the UAV includes the key information of the UAV.

7. The method according to any one of claims 1-6, characterized in that, The main controller corresponds to the master control authority, which corresponds to the first authority of the unmanned aerial vehicle; the slave controller corresponds to the slave control authority, which corresponds to the second authority of the unmanned aerial vehicle; wherein, the first authority includes flight control authority, gimbal control authority and viewing authority, and the second authority includes viewing authority.

8. A pairing method for unmanned aerial vehicles, characterized in that, A pairing system for unmanned aerial vehicles (UAVs), the UAV pairing system comprising an UAV, a master controller, and a slave controller, the method comprising: After the unmanned aerial vehicle (UAV) establishes a communication connection with the main controller, the UAV receives pairing information sent by the main controller. The unmanned aerial vehicle establishes a primary pairing relationship between the main controller and the unmanned aerial vehicle based on the pairing information sent by the main controller; The main controller receives a pairing request from the slave controller and forwards the pairing request to the unmanned aerial vehicle; After receiving the pairing request forwarded by the main controller, the unmanned aerial vehicle generates temporary pairing information and sends the temporary pairing information to the main controller. The unmanned aerial vehicle (UAV) acquires temporary pairing information sent by the slave controller, wherein the temporary pairing information sent by the slave controller is obtained by combining the key information of the UAV and the key information of the slave controller, and a slave pairing relationship between the slave controller and the UAV is established based on the temporary pairing information sent by the slave controller. After establishing the slave pairing relationship between the controller and the unmanned aerial vehicle, the method further includes: If the master controller receives another pairing request, temporary pairing information is generated again and sent to the master controller, wherein the pairing request is sent by another slave controller. After the main controller sends the temporary pairing information to the other slave controller, the temporary pairing information sent by the other slave controller is obtained, wherein the temporary pairing information sent by the other slave controller is obtained by combining the key information of the other slave controller for the unmanned aerial vehicle and the key information of the other slave controller. Based on the temporary pairing information sent by the other slave controller, a slave pairing relationship is established between the other slave controller and the unmanned aerial vehicle; After another slave controller successfully establishes a slave pairing relationship with the UAV, the slave pairing relationship between the previous slave controller and the UAV is terminated.

9. A pairing method for unmanned aerial vehicles, characterized in that, A pairing system for unmanned aerial vehicles (UAVs), comprising an UAV, a master controller, a slave controller, a first mobile terminal, and a second mobile terminal, wherein the method includes: The first mobile terminal obtains the pairing information of the main controller and the pairing information of the unmanned aerial vehicle, and sends the pairing information of the unmanned aerial vehicle to the main controller; After the unmanned aerial vehicle (UAV) obtains the pairing information from the main controller, and after the main controller obtains the pairing information from the UAV, a primary pairing relationship is established between the main controller and the UAV. The main controller receives the pairing request sent by the slave controller and forwards the pairing request to the unmanned aerial vehicle; The unmanned aerial vehicle receives a pairing request forwarded by the main controller, generates temporary pairing information, and sends the temporary pairing information to the main controller; The main controller sends the temporary pairing information to the first mobile terminal, so that the first mobile terminal sends the temporary pairing information to the second mobile terminal; The second mobile terminal obtains the temporary pairing information sent by the first mobile terminal, and obtains the pairing information from the slave controller; The temporary pairing information is sent from the slave controller to the unmanned aerial vehicle (UAV), wherein the temporary pairing information is obtained by combining the key information of the UAV and the key information of the slave controller. The unmanned aerial vehicle establishes a slave pairing relationship between the slave controller and the unmanned aerial vehicle based on the temporary pairing information sent by the slave controller; After establishing the slave pairing relationship between the controller and the unmanned aerial vehicle, the method further includes: If the master controller receives another pairing request, temporary pairing information is generated again and sent to the master controller, wherein the pairing request is sent by another slave controller. After the main controller sends the temporary pairing information to the other slave controller, the temporary pairing information sent by the other slave controller is obtained, wherein the temporary pairing information sent by the other slave controller is obtained by combining the key information of the other slave controller for the unmanned aerial vehicle and the key information of the other slave controller. Based on the temporary pairing information sent by the other slave controller, a slave pairing relationship is established between the other slave controller and the unmanned aerial vehicle; After another slave controller successfully establishes a slave pairing relationship with the UAV, the slave pairing relationship between the previous slave controller and the UAV is terminated.

10. An unmanned aerial vehicle, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the pairing method for the unmanned aerial vehicle as described in any one of claims 1-7.

11. A pairing system for unmanned aerial vehicles, characterized in that, The system, employing the pairing method for unmanned aerial vehicles as described in claim 8, comprises: Unmanned aerial vehicles; The main controller is communicatively connected to the unmanned aerial vehicle; and, The unmanned aerial vehicle is connected to the controller via communication.

12. A pairing system for unmanned aerial vehicles, characterized in that, The system, employing the pairing method for unmanned aerial vehicles as described in claim 9, comprises: Unmanned aerial vehicles; The main controller is connected to the unmanned aerial vehicle via communication. The unmanned aerial vehicle is communicated with from the controller; A first mobile terminal, communicatively connected to the main controller; and The second mobile terminal is connected to the slave controller via communication.

Images