Control system and method of unmanned equipment

Abstract

The invention discloses an unmanned device control system and method, a cloud server sends a connection key of one or more remote control devices to one or more unmanned devices, and a specified unmanned device in the one or more unmanned devices selects a specified remote control device from the one or more remote control devices. And the unmanned equipment is connected with the specified remote control equipment through a specified communication mode based on the connection key of the specified remote control equipment, and the specified remote control equipment sends the control instruction to the unmanned equipment through the specified communication mode. It can be seen that in the scheme, manual frequency matching operation does not need to be executed before the unmanned equipment runs, even if a large number of unmanned equipment exist, the unmanned equipment and the specified remote control equipment can be automatically connected in the specified communication mode, and the remote control efficiency of the unmanned equipment is improved.

Description

Technical Field

[0001] The present invention relates to the field of unmanned driving technology, and more particularly to a control system and method for unmanned equipment. Background Art

[0002] With the development of unmanned driving technology, unmanned equipment can achieve autonomous driving in the environment and reach the destination. In order to ensure the safety of unmanned equipment, remote safety officers can use remote control devices to remotely control unmanned equipment to deal with abnormal situations.

[0003] Currently, the unmanned device needs to be frequency-matched with the remote control device before driving, and a wireless communication connection is established between the unmanned device and the remote control device. Thus, during the driving process of the unmanned device, the remote control device can remotely control the unmanned device through the wireless communication connection.

[0004] However, since the frequency matching operation between the unmanned equipment and the remote control equipment needs to be performed manually, with the increase of the number of unmanned equipment, the workload of the frequency matching operation is greatly increased, thereby reducing the efficiency of the remote control equipment to control the unmanned equipment. Summary of the invention

[0005] This specification provides a control system and method for unmanned equipment to partially solve the above-mentioned problems existing in the prior art.

[0006] This manual adopts the following technical solutions:

[0007] This specification provides a control system for unmanned equipment, the system comprising a cloud server, one or more unmanned equipment and one or more remote control devices, the one or more unmanned equipment comprising a designated unmanned equipment, the one or more remote control devices comprising a designated remote control device;

[0008] The cloud server is used to send the connection key of the one or more remote control devices to the one or more unmanned devices;

[0009] The designated unmanned device is used to receive the connection key of the one or more remote control devices; determine the designated remote control device from the one or more remote control devices; send a connection request to the designated remote control device according to the connection key of the designated remote control device to connect with the designated remote control device through a designated communication method; receive and respond to the control command sent by the designated remote control device;

[0010] The designated remote control device is used to connect to the designated unmanned device through the designated communication method according to the connection key carried in the connection request; and send the control instruction to the designated unmanned device based on the designated communication method.

[0011] Optionally, there are multiple remote control devices;

[0012] The designated unmanned device is also used to determine a first communication quality indicator between the designated unmanned device and the designated remote control device, and respectively determine each second communication quality indicator between the designated unmanned device and other remote control devices among the remote control devices except the designated remote control device; when the first communication quality indicator is less than one or more of the second communication quality indicators, disconnect the communication connection between the designated unmanned device and the designated remote control device; based on the second communication quality indicators, redetermine the designated remote control device from the remote control devices, and based on the connection key of the redetermined designated remote control device, send a connection request to the redetermined designated remote control device to connect with the redetermined designated remote control device through the designated communication method.

[0013] Optionally, the cloud server is further configured to receive a remote control request sent by the designated remote control device, the remote control request carrying an identifier of the designated unmanned device; obtain a control key of the designated unmanned device according to the remote control request; and return the control key to the designated remote control device;

[0014] The designated remote control device is further used to send the remote control request to the cloud server; receive the control key, and generate the control instruction according to the control key.

[0015] Optionally, the designated unmanned device is further used to receive an identifier of the designated remote control device; generate a message according to the identifier of the designated unmanned device and the identifier of the designated remote control device, and send the message to the cloud server;

[0016] The cloud server is further used to receive a message sent by the designated unmanned device, and establish a connection relationship between the designated unmanned device and the designated remote control device according to the identifier of the designated unmanned device and the identifier of the designated remote control device carried in the message; when receiving a remote control task corresponding to the designated unmanned device, send the remote control task and the control key of the designated unmanned device to the designated remote control device according to the connection relationship;

[0017] The designated remote control device is also used to send the identifier of the designated remote control device to the one or more unmanned devices; receive the remote control task and the control key sent by the cloud server; and generate the control instruction according to the control key and the remote control task.

[0018] This specification provides a control method for unmanned equipment, which is applied to a cloud server and includes:

[0019] The connection keys of one or more remote control devices are sent to one or more unmanned devices, so that a designated unmanned device among the one or more unmanned devices determines a designated remote control device from the one or more remote control devices, and sends a connection request to the designated remote control device according to the connection key of the designated remote control device, so as to connect with the designated remote control device through a designated communication method, so that the designated remote control device sends a control instruction to the designated unmanned device based on the designated communication method.

[0020] Optionally, the method further comprises:

[0021] receiving a remote control request sent by the designated remote control device, the remote control request carrying the identifier of the designated unmanned device; acquiring a control key of the designated unmanned device according to the remote control request, and returning the control key to the designated remote control device, so that the designated remote control device sends the control instruction to the designated unmanned device according to the control key;

[0022] or,

[0023] Receive a message sent by the designated unmanned device, and establish a connection relationship between the designated unmanned device and the designated remote control device based on the identifier of the designated unmanned device and the identifier of the designated remote control device carried in the message; when a remote control task corresponding to the designated unmanned device is received, send the remote control task and the control key of the designated unmanned device to the designated remote control device based on the connection relationship, so that the designated remote control device sends the control instruction to the designated unmanned device based on the remote control task and the control key.

[0024] Optionally, sending the connection keys of one or more remote control devices to one or more unmanned devices specifically includes:

[0025] Obtaining the real-time location and / or driving path of the designated unmanned equipment;

[0026] Acquire the positions of the one or more remote control devices, and determine the control range of each remote control device according to the positions of the one or more remote control devices;

[0027] Determine one or more target remote control devices from the one or more remote control devices according to the real-time position and / or driving path of the designated unmanned device and the control range of each remote control device;

[0028] The connection keys of the one or more target remote control devices are sent to the designated unmanned device.

[0029] This specification provides a control method for unmanned equipment, the method is applied to unmanned equipment, the method includes:

[0030] receiving connection keys of one or more remote control devices sent by a cloud server;

[0031] determining a designated remote control device from the one or more remote control devices;

[0032] Sending a connection request to the designated remote control device according to the connection key of the designated remote control device, so that the designated remote control device is connected to the unmanned device through a designated communication method according to the connection request;

[0033] Respond to the control instruction sent by the designated remote control device.

[0034] Optionally, determining a designated remote control device from the one or more remote control devices specifically includes:

[0035] Determining the relative distance between the unmanned device and each of the remote control devices according to the real-time position of the unmanned device and the position of each of the remote control devices;

[0036] Obtaining the signal strength corresponding to each of the remote control devices;

[0037] Determine, according to the relative distance between the unmanned device and each of the remote control devices, and the signal strength corresponding to each of the remote control devices, a communication quality index of the unmanned device connected to each of the remote control devices through the designated communication mode;

[0038] The designated remote control device is determined from the one or more remote control devices according to the communication quality indicator.

[0039] This specification provides a control method for unmanned equipment, the method is applied to a remote control device, and the method includes:

[0040] Connecting to the unmanned device through a specified communication method according to a connection key carried in a connection request sent by the unmanned device, wherein the connection key is sent by a cloud server to the unmanned device;

[0041] Based on the designated communication method, a control instruction is sent to the unmanned device, so that the unmanned device responds to the control instruction.

[0042] This specification provides an unmanned equipment control device, which is applied to a cloud server and includes:

[0043] A connection key sending module is used to send connection keys of one or more remote control devices to one or more unmanned devices, so that a designated unmanned device among the one or more unmanned devices determines a designated remote control device from the one or more remote control devices, and sends a connection request to the designated remote control device according to the connection key of the designated remote control device, so as to connect with the designated remote control device through a designated communication method, so that the designated remote control device sends a control instruction to the designated unmanned device based on the designated communication method.

[0044] This specification provides an unmanned equipment control device, which is applied to unmanned equipment and includes:

[0045] A connection key receiving module, used to receive connection keys of one or more remote control devices sent by a cloud server;

[0046] A designated remote control device determining module, configured to determine a designated remote control device from the one or more remote control devices;

[0047] A connection request sending module, used to send a connection request to the designated remote control device according to the connection key of the designated remote control device, so that the designated remote control device is connected with the unmanned device through a designated communication method according to the connection request;

[0048] The response module is used to respond to the control instruction sent by the designated remote control device.

[0049] This specification provides an unmanned equipment control device, which is applied to a remote control device, and the device includes:

[0050] A connection module, configured to connect to the unmanned device through a specified communication method according to a connection key carried in a connection request sent by the unmanned device, wherein the connection key is sent to the unmanned device by a cloud server;

[0051] A control instruction sending module is used to send a control instruction to the unmanned device based on the specified communication method, so that the unmanned device responds to the control instruction.

[0052] This specification provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the control method of the unmanned equipment described above is implemented.

[0053] This specification provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the control method of the unmanned equipment when executing the program.

[0054] At least one of the above technical solutions adopted in this specification can achieve the following beneficial effects:

[0055] In the control system of unmanned equipment provided in this specification, the system includes a cloud server, one or more unmanned equipment and one or more remote control devices. The cloud server sends the connection keys of the one or more remote control devices to the one or more unmanned equipment. The designated unmanned equipment in the one or more unmanned equipment selects the designated remote control device from the one or more remote control devices, and connects with the designated remote control device through a designated communication method based on the connection key of the designated remote control device. The designated remote control device sends the control instruction to the unmanned equipment based on the designated communication method. It can be seen that in the above scheme, there is no need to perform manual frequency matching operation before the unmanned equipment drives. Even if there are a large number of unmanned equipment, the connection between the unmanned equipment and the designated remote control device can be automatically realized through the designated communication method, which improves the efficiency of remote control of the unmanned equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The drawings described herein are used to provide a further understanding of this specification and constitute a part of this specification. The illustrative embodiments and descriptions of this specification are used to explain this specification and do not constitute an improper limitation on this specification. In the drawings:

[0057] Figure 1 This is a schematic diagram of a control system of an unmanned device in this specification;

[0058] Figure 2 A schematic diagram of an interactive process of a control method for an unmanned device in this specification;

[0059] Figure 3 A flowchart of a control method for an unmanned device in this specification;

[0060] Figure 4 A schematic diagram of an interactive process of a control method for an unmanned device in this specification;

[0061] Figure 5 A schematic diagram of an interactive process of a control method for an unmanned device in this specification;

[0062] Figure 6 A schematic diagram of a control device for unmanned equipment provided in this manual;

[0063] Figure 7 A schematic diagram of a control device for unmanned equipment provided in this manual;

[0064] Figure 8 A schematic diagram of a control device for unmanned equipment provided in this manual;

[0065] Fig. 9 The corresponding Figure 2 Schematic diagram of electronic equipment. DETAILED DESCRIPTION

[0066] In order to make the purpose, technical solutions and advantages of this specification more clear, the technical solutions of this specification will be clearly and completely described below in combination with the specific embodiments of this specification and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of this specification, not all of them. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this specification.

[0067] In addition, it should be noted that all actions of acquiring signals, information or data in the present invention are performed in compliance with the corresponding data protection laws and policies of the location and with the authorization given by the owner of the corresponding device.

[0068] The technical solutions provided by the embodiments of this specification are described in detail below in conjunction with the accompanying drawings.

[0069] Figure 1 This specification provides a schematic diagram of the structure of a control system for an unmanned device, the control system of the unmanned device includes a cloud server, one or more unmanned devices and one or more remote control devices, the cloud server and one or more unmanned devices and one or more remote control devices are connected via wireless communication to transmit information and data. Before or during the driving of the unmanned device, an unmanned device can establish a connection with one or more remote control devices using a specified communication method, and correspondingly, a remote control device can also establish a connection with one or more unmanned devices using a specified communication method. It can be seen that based on Figure 1 The control system of the unmanned device shown can be applicable to scenarios where one remote control device controls one unmanned device, one remote control device controls multiple unmanned devices, and one unmanned device is controlled by multiple remote control devices at different times.

[0070] For the convenience of description, the following takes the example of a designated unmanned device among one or more unmanned devices in the control system of the unmanned device and a designated remote control device among one or more remote control devices being connected through a designated communication method to explain the specific technical solution.

[0071] Specifically, unmanned equipment includes unmanned driving equipment such as drones, unmanned vehicles, and robots. Unmanned equipment senses the external environment through configured sensors and automatically reaches the predetermined target location according to the external environment. The remote control device can connect to the unmanned equipment through a specified communication method, and send control instructions to the unmanned equipment through the specified communication method. The unmanned equipment can change the path, avoid obstacles, change posture, and perform corresponding tasks (delivering items, spraying pesticides, and taking images) in various scenarios based on the control instructions sent by the remote control device.

[0072] Generally, the driving paths of unmanned devices may be different according to different application scenarios. Therefore, in this specification, multiple remote control devices may be distributed in different physical locations. When a designated unmanned device among one or more unmanned devices is traveling along the driving path, the designated unmanned device will pass through the control range of each remote control device. When the real-time location of the designated unmanned device is within the control range of the remote control device, the designated unmanned device may actively initiate a communication connection with the remote control device, thereby establishing a connection of a designated communication method between the designated unmanned device and the designated remote control device. When the real-time location of the designated unmanned device is far away from the control range of the designated remote control device, the communication connection between the designated unmanned device and the designated remote control device will be disconnected.

[0073] In order to achieve the purpose of the designated unmanned device actively initiating a connection with the designated remote control device through a designated communication method, the designated unmanned device can be pre-configured to the first working mode (station mode), and one or more remote control devices can be configured to the second working mode (Access Point mode). Among them, the second working mode indicates that the remote control device is in access point mode, and the remote control device can work as a transmitter or distributor of wireless signals in this mode. The first working mode means that the designated unmanned device works in a mode that connects to other devices that transmit or distribute wireless signals. The designated unmanned device can search for available wireless signal sources (remote control devices that serve as transmitters or distributors of wireless signals) and choose to connect with them. In this specification, taking the connection of a designated unmanned device working in the first working mode and a designated remote control device working in the second working mode through a designated communication method as an example, the designated communication method includes Wireless Fidelity (Wi-Fi). It should be noted here that the designated unmanned device is configured in station mode, and the designated unmanned device can only establish a connection with a designated remote control device configured in AP mode in a designated communication mode at the same time. Therefore, in this specification, the so-called scenario in which a designated unmanned device is controlled by multiple remote control devices refers to a scenario in which a designated unmanned device is controlled by different remote control devices at different times (different time periods), that is, the designated unmanned device can actively switch the designated remote control device connected to itself through the designated communication mode.

[0074] In this specification, in order to automatically establish a designated communication mode connection between a designated remote control device and a designated unmanned device, and to safely realize the remote control of the designated unmanned device by the designated remote control device, a cloud server is set in the unmanned device control system, and the cloud server pre-stores one or more available remote control device identifiers and connection keys, as well as one or more available unmanned device identifiers and control keys. Before or during the driving of the designated unmanned device, the cloud server can send a trusted remote control device connection key to the designated unmanned device. At the same time, when the designated remote control device connected to the designated unmanned device in a designated manner needs to remotely control the designated unmanned device, the cloud server can send the control key of the designated unmanned device to the designated remote control device. Thus, by sending the connection key and the control key by the cloud server, a secure communication connection is established between the designated unmanned device and the designated remote control device, and the remote control of the designated unmanned device by the designated remote control device is secondary verified, which improves the control efficiency while ensuring the security of the designated unmanned device. This specification does not limit the key form of the connection key and the control key, which can be a symmetric key, an asymmetric key, a password matrix, a derived key, etc., and this specification does not limit this.

[0075] Figure 2 This is a schematic diagram of the interactive process of a control method for an unmanned device in this specification, wherein the subject of the interaction is Figure 1 The control system of the unmanned device shown includes a cloud server, one or more designated unmanned devices included in the unmanned device, and one or more remote control devices included in the remote control device. Specifically, the following steps are included:

[0076] S100: The cloud server sends connection keys of one or more remote control devices to one or more unmanned devices.

[0077] In actual applications, unmanned equipment can complete tasks in various scenarios such as distribution, spraying pesticides, and taking images. During the driving process of the unmanned equipment, in addition to driving according to the (autonomously planned or preset) driving path and performing corresponding tasks at the target location, the unmanned equipment can also respond to the control instructions of each remote control device distributed near the driving path and perform operations corresponding to the control instructions, such as changing the path, changing the posture, performing tasks, etc. Therefore, before and / or during the driving of the unmanned equipment, the cloud server can send the connection keys of one or more remote control devices stored in advance to one or more unmanned devices, and the specified unmanned device among the one or more unmanned devices can be connected to the specified remote control device among the one or more remote control devices through a specified communication method during the driving process, and respond to the control instructions sent by the specified remote control device.

[0078] In this specification, the cloud server can send the keys of all remote control devices stored in it to one or more unmanned devices. However, in actual applications, in order to expand the scenarios in which remote control devices remotely control unmanned devices to perform tasks, multiple remote control devices can be deployed in different locations. Therefore, when a designated unmanned device among one or more unmanned devices performs a single trip, the designated unmanned device will not communicate with all remote control devices. In order to save storage space for designated unmanned devices, the cloud server can select several target remote control devices from each remote control device that stores connection keys according to the real-time location and / or driving path of the designated unmanned device, and send the connection keys of the target remote control devices to the designated unmanned devices. Specifically, it can be implemented according to the following two schemes:

[0079] In an optional embodiment of the present specification, step S100 is specifically as follows:

[0080] Step 1: Get the real-time location and / or driving path of the specified unmanned equipment.

[0081] Generally, the remote control device acts as a communication signal access device (working in AP mode). If a designated unmanned device (working in station mode) wants to connect to the remote control device through a designated communication method, the relative distance between the designated unmanned device and the remote control device must not be less than the radius of the control range of the remote control device, that is, only the designated unmanned device that enters the control range of the remote control device can communicate with the remote control device. Therefore, the cloud server can determine which of the one or more remote control devices the designated unmanned device will fall into the control range of based on the real-time location and / or driving path of the designated unmanned device and the location of one or more remote control devices, thereby sending the connection key of the remote control device that can be connected to the designated unmanned device.

[0082] Specifically, the real-time location of the designated unmanned device can be reported to the cloud server periodically by the designated unmanned device according to a preset time period, or by configuring a positioning device on the designated unmanned device. The cloud server can obtain the real-time location of the designated unmanned device based on the positioning device. This specification does not specifically limit the method for obtaining the real-time location of the designated unmanned device.

[0083] Based on the driving path of the designated unmanned device, determine the remote control devices that the designated unmanned device may pass by while driving along the driving path. The driving path of the designated unmanned device may be pre-planned by the cloud server for the designated unmanned device, or it may be pre-planned autonomously by the designated unmanned device based on the external environment, its own stored map data and the destination location, or it may be re-planned based on the external environment while the designated unmanned device is driving along the pre-planned driving path, and this manual does not limit this.

[0084] Furthermore, in the present specification, the cloud server can determine which remote control devices' connection keys can be sent to a specified unmanned device based solely on the real-time location of the specified unmanned device or the driving path of the specified unmanned device, and can also determine which remote control devices' connection keys can be sent to a specified unmanned device based on the real-time location of the specified unmanned device and the driving path.

[0085] Step 2: Acquire the position of one or more remote control devices, and determine the control range of each remote control device according to the position of the one or more remote control devices.

[0086] Similarly, the method of obtaining the location of one or more remote control devices is similar to the method of obtaining the real-time location of the designated unmanned device described above, and will not be repeated here. Generally, the location of the remote control device is relatively fixed and will not move over a long distance. Therefore, the monitoring period of the real-time location of the designated unmanned device can be shorter than the monitoring period of the location of the remote control device.

[0087] The one or more remote control devices here can be all remote control devices with connection keys stored in the cloud server, or some of all remote control devices. To this end, for each candidate remote control device, the control radius of each remote control device can be determined with the position of each remote control device as the center, and the control range of the candidate remote control device can be determined based on the position of each remote control device and the control radius of each remote control device. In actual applications, since different remote control devices have different capabilities of transmitting / distributing wireless signals, the control ranges of remote control devices can be different or the same, and this specification does not limit this.

[0088] Step 3: Determine one or more target remote control devices from the one or more remote control devices based on the real-time location and / or driving path of the designated unmanned device and the control range of each remote control device.

[0089] For the solution of selecting the target remote control device based on the real-time location of the designated unmanned device, the designated unmanned device can establish a communication connection with the remote control device only when it enters the control range of the remote control device. Otherwise, even if the unmanned device stores the connection key of the remote control device, it cannot establish a communication connection with the remote control device.

[0090] It can be determined which remote control device among the one or more remote control devices the real-time position of the designated unmanned device falls within the control range (for example, the relative distance between the real-time position of the designated unmanned device and the position of the remote control device is less than the control radius of the remote control device, i.e., it is determined that the real-time position of the designated unmanned device falls within the control range of the remote control device), and the one or more remote control devices corresponding to the control range within which the real-time position of the designated unmanned device falls are used as the one or more target remote control devices corresponding to the designated unmanned device. In summary, according to the relative distance between the real-time position of the designated unmanned device and the position of each of the one or more remote control devices, the one or more remote control devices corresponding to the control range within which the real-time position of the designated unmanned device falls are used as the one or more target remote control devices corresponding to the unmanned device.

[0091] For the scheme of selecting the target remote control device based on the driving path of the designated unmanned device, when the driving path of the designated unmanned device passes through the control range of the remote control device, it can be considered that the designated unmanned device will pass through the control range of the remote control device when driving along the driving path, so that the designated unmanned device can establish a communication connection with the remote control device. Therefore, in this step, the remote control device corresponding to the control range passed by the driving path can be used as the target remote control device, and the number of target remote control devices can be one or more, which is not limited in this specification. It is worth noting that since the driving path of the designated unmanned device can be pre-planned before the designated unmanned device drives, or can be dynamically planned after the designated unmanned device drives, the cloud server can monitor the driving path of the designated unmanned device in real time (or the designated unmanned device actively reports the changed path to the cloud server after the driving path changes), so as to send the connection key of the target remote control device to the designated unmanned device based on the monitored driving path.

[0092] For the scheme of selecting the target remote control device based on the real-time position and driving path of the designated unmanned device, in actual application, there may be a situation where the real-time position of the designated unmanned device falls within the control range of the remote control device, but the designated unmanned device stays within the control range of the remote control device for a short time, and the remote control of the unmanned device by the remote control device cannot be realized. Therefore, the target remote control device can be determined from one or more remote control devices based on the real-time position and driving path of the designated unmanned device. Specifically, according to the relative distance between the real-time position of the designated unmanned device and the position of each remote control device in the one or more remote control devices, the control range corresponding to each remote control device in which the real-time position of the designated unmanned device falls is used as the candidate remote control device corresponding to the designated unmanned device. Then, according to the driving path of the designated unmanned device, it is determined whether the position of the designated unmanned device within the future specified time period falls within the control range of the candidate remote control device when the designated unmanned device travels along the driving path. If so, the candidate remote control device is used as the target remote control device. Thus, the cloud server sends the connection key of the target remote control device to the designated unmanned device, and even if the designated unmanned device is in the driving process, the connection key can be dynamically obtained without the need for manual frequency matching in advance, thereby improving the control efficiency for the designated unmanned device. That is to say, when the designated unmanned device travels along the driving path, it will travel within the control range of the target remote control device for a certain period of time, rather than leaving in a short period of time. Therefore, when the designated unmanned device is connected to the target remote control device through a designated communication method, the target remote control device can remotely control the designated unmanned device within a certain period of time, and the designated unmanned device does not need to frequently connect with a remote control device that cannot control itself.

[0093] Step 4: Send the connection key of the one or more target remote control devices to the designated unmanned device.

[0094] S102: The designated unmanned device receives connection keys of one or more remote control devices sent by the cloud server, and selects a designated remote control device from the one or more remote control devices.

[0095] In general, a designated unmanned device can be connected to one or more remote control devices through a designated communication method during a complete driving process. However, usually, at a certain moment, the designated unmanned device only establishes a designated communication method connection with one designated remote control device, and is only remotely controlled by the designated remote control device. That is, the designated unmanned device can switch the remote control device that is connected to its own communication. However, at a certain moment, the control of the designated unmanned device is only handed over to one designated remote control device. Therefore, in this step, the designated unmanned device selects the designated remote control device from one or more remote control devices that have issued a connection key, and establishes a communication connection with the designated remote control device in subsequent steps, so that the designated remote control device can control the designated unmanned device through the designated communication method. The method for the designated unmanned device to select the designated remote control device from one or more remote control devices can be based on the relative distance between the designated unmanned device and each remote control device, the communication quality between the designated unmanned device and each remote control device, etc. The method of selecting the designated remote control device can be determined according to the specific application scenario, and this manual does not limit this.

[0096] An alternative method of selecting a specific remote control device is:

[0097] According to the real-time position of the designated unmanned device and the position of each remote control device, the relative distance between the designated unmanned device and each remote control device is determined, and the signal strength corresponding to each remote control device is obtained. According to the relative distance between the designated unmanned device and each remote control device, and the signal strength corresponding to each remote control device, the communication quality index of the connection between the designated unmanned device and each remote control device through the designated communication mode is determined, and according to the communication quality index, the designated remote control device is determined from the one or more remote control devices.

[0098] Specifically, since the designated remote control device that establishes a connection with the designated unmanned device can remotely control the designated unmanned device, the communication quality between the designated unmanned device and the designated remote control device is particularly important. Generally, the higher the communication quality, the more sensitive the designated remote control device is to control the designated unmanned device. Conversely, the worse the communication quality, the slower the designated remote control device is to control the designated unmanned device. Therefore, the designated remote control device can be selected from each remote control device based on the communication quality index when the designated unmanned device establishes a communication connection with each remote control device.

[0099] The communication quality index is used to indicate the communication quality when the specified unmanned device is connected to the specified remote control device through the specified communication method. The communication quality depends on the relative distance between the specified unmanned device and the specified remote control device, and the signal strength of the communication when connected through the specified communication method. The communication quality index is directly proportional to the signal strength and inversely proportional to the relative distance. That is, the smaller the relative distance and the stronger the signal strength, the higher the communication quality index. Conversely, the larger the relative distance and the weaker the signal strength, the lower the communication quality index.

[0100] In actual applications, in order to facilitate the designated unmanned device to determine the relative distance during driving, the cloud server can send the connection key of one or more remote control devices to the designated unmanned device, and also send the location of one or more remote control devices to the designated unmanned device. Of course, a location acquisition module can also be configured on the designated unmanned device, and the designated unmanned device can obtain the location of one or more remote control devices based on the location acquisition module.

[0101] Generally, the signal strength of communication will be affected by the relative distance between the remote control device and the designated unmanned device. The smaller the relative distance between the designated unmanned device and the remote control device, the stronger the communication signal. Conversely, the greater the relative distance between the designated unmanned device and the remote control device, the weaker the communication signal. Of course, in different application scenarios, the signal strength of communication will also be affected by the degree of network congestion, communication stability and bandwidth. Generally, the degree of network congestion is generally related to the unmanned devices connected to the remote control device at the same time. If there are too many unmanned devices connected to the remote control device at the same time, there may be a situation where data / messages need to wait for a long time to be transmitted, resulting in network congestion, thereby reducing the communication quality. Communication stability will be affected by signal interference caused by other wireless devices, electronic devices, shelters, weather and other factors, and the bandwidth generally depends on the network capacity of the remote control device as a wireless signal transmitting / distributing device for transmitting data.

[0102] In addition, in actual applications, the designated unmanned equipment can be configured with a signal monitoring module, which can search in real time for remote control devices that the designated unmanned equipment can connect to, and monitor in real time the signal strength of these connectable remote control devices. The designated unmanned equipment can determine the communication quality indicators corresponding to each remote control device based on the signal strength of the connectable remote control devices monitored in real time by the signal monitoring module, thereby selecting the designated remote control device.

[0103] Generally, since a designated unmanned device is connected and controlled by only one designated remote control device at a time, in this specification, the remote control device with the highest communication quality index is selected as the designated remote control device from among the remote control devices.

[0104] S104: The designated unmanned device sends a connection request to the designated remote control device according to the connection key of the designated remote control device.

[0105] Specifically, the designated unmanned device can generate a connection request according to the connection key of the designated remote control device, and send the connection request to the designated remote control device, the connection request is used to indicate that the designated unmanned device needs to establish a connection with the designated remote control device in a designated communication mode, so as to facilitate the designated remote control device to remotely control the designated unmanned device. In addition, since a designated remote control device can be connected to multiple unmanned devices at the same time, the connection request can also include an unmanned device identifier, which can be used to indicate which unmanned device is requesting to connect to the designated remote control device.

[0106] S106: The designated remote control device connects to the designated unmanned device through the designated communication method according to the connection key carried in the connection request.

[0107] After receiving the connection request, the designated remote control device can parse the connection request to obtain the connection key, and perform legitimacy verification based on the connection key to confirm that the designated unmanned device sending the connection request is a legal and valid security device. After the verification is passed, the designated remote control device can connect to the designated unmanned device through the designated communication method. The designated communication method is Wi-Fi.

[0108] S108: The designated remote control device sends a control instruction to the designated unmanned device based on the designated communication method.

[0109] Since the designated unmanned device can only be connected to one designated remote control device through the designated communication method at the same time (same time period), the designated remote control device can directly remotely control the designated unmanned device through the designated communication method. In this specification, the designated remote control device remotely controls the designated unmanned device by sending a control command to the designated unmanned device. The control instruction can be generated based on remote control operation, wherein the remote control operation can be to change the path or posture of the specified unmanned equipment, or to control the specified unmanned equipment to perform tasks in different scenarios. For example, in the image acquisition scenario, the specified unmanned equipment can take images and videos based on the configured camera; in the address exploration and mapping scenario, the specified unmanned equipment can collect surface data, topographic maps and three-dimensional models based on the configured remote sensing equipment, and support geological exploration, land mapping and environmental monitoring and other tasks; in the agricultural protection scenario, the specified unmanned equipment can perform farmland inspections, plant growth monitoring, spraying of pesticides and fertilizers, collection of crop data and other tasks based on the configured cameras and spraying devices; in the logistics and distribution scenario, the specified unmanned equipment can be used for express delivery and cargo transportation; in building and infrastructure inspection, the specified unmanned equipment can perform tasks such as inspecting the structure and safety of buildings, bridges and other infrastructure based on the configured target detection device.

[0110] In actual applications, the control instructions sent by the above-mentioned designated remote control device to the designated unmanned device can be generated based on the remote control operation input by the user operating the designated remote control device, or based on the remote control task issued by the cloud server to the designated remote control device, or based on the preset task pre-stored in the designated remote control device.

[0111] For a solution of generating control instructions based on remote control operations input by a user operating a designated remote control device, for example, after a connection of a designated communication method is established between designated remote control device A and designated unmanned device B, user X operating designated remote control device A can input remote control operations through designated remote control device A, and designated remote control device A generates control instructions in response to the remote control operations input by user X, and sends the control instructions to designated unmanned device B, and designated unmanned device B can respond to the control instructions and perform corresponding operations and tasks.

[0112] For the solution of generating control instructions based on the remote control task issued by the cloud server to the designated remote control device, for example, after a connection of the designated communication method is established between the designated remote control device A and the designated unmanned device B, user Y can input the remote control task that the designated unmanned device B needs to execute through the cloud server C. The cloud server C can issue the remote control task to the designated remote control device A based on the connection relationship between the designated remote control device A and the designated unmanned device B. The designated remote control device A generates and sends control instructions based on the issued remote control task, so that the designated unmanned device B can execute the remote control task in response to the control instruction.

[0113] For the solution of generating control instructions based on preset tasks pre-stored in the designated remote control device, for example, after a connection of a designated communication method is established between the designated remote control device A and the designated unmanned device B, the designated remote control device A can search for the preset task corresponding to the designated unmanned device B from the preset tasks pre-stored in itself based on the identifier of the designated unmanned device B, thereby generating and sending a control instruction based on the preset task, and the designated unmanned device B can respond to the control instruction to perform the preset task.

[0114] S110: The designated unmanned device responds to the control instruction sent by the designated remote control device.

[0115] based on Figure 2 In the control method of unmanned equipment shown, a cloud server sends connection keys of one or more remote control devices to one or more unmanned equipment, the designated unmanned equipment selects a designated remote control device from the one or more remote control devices, and based on the connection key of the designated remote control device, connects to the designated remote control device through a designated communication method, and the designated remote control device sends control instructions to the unmanned equipment based on the designated communication method.

[0116] It can be seen from the above method that this method does not require manual frequency matching operations before the unmanned equipment is driven. Even if there are a large number of unmanned equipment, the unmanned equipment and the designated remote control device can be automatically connected through a designated communication method, thereby improving the efficiency of remote control of the unmanned equipment.

[0117] In an optional embodiment of the present specification, since the remote control of the designated unmanned device by the designated remote control device is limited by the communication quality between the designated remote control device and the designated unmanned device through the designated communication method, the higher the communication quality, the smaller the delay of the designated remote control device in remotely controlling the designated unmanned device, and vice versa, the worse the communication quality, the greater the delay of the designated remote control device in remotely controlling the designated unmanned device. Therefore, when the communication quality is poor, the designated remote control device will not be able to accurately control the designated unmanned device. At this time, if the designated remote control device connected to the designated unmanned device is not replaced, the driving of the designated unmanned device will be disturbed, reducing the safety of the designated unmanned device. Thus, based on the following example, Figure 2 The control method of the unmanned device shown in the figure can control the designated unmanned device to drive, and can also determine whether to reselect the designated remote control device for connection based on the communication quality index between the designated unmanned device and the designated remote control device currently connected through the designated communication method, and the communication quality index when the designated unmanned device is connected to other remote control devices through the designated communication method. This can be achieved by the following steps, such as Figure 3 As shown:

[0118] S200: The designated unmanned device determines a first communication quality indicator between the designated unmanned device and the designated remote control device.

[0119] and Figure 1 Similar to selecting the designated remote control device in step S102, after the designated unmanned device is connected to the designated remote control device through the designated communication method, it can also monitor the communication quality index between the designated unmanned device itself and the designated remote control device in real time, and use it as the first communication quality index. Since the designated unmanned device is constantly moving, the relative distance between the designated unmanned device and the designated remote control device will change. To this end, the designated unmanned device can monitor the relative position between the designated unmanned device itself and the designated remote control device in real time, and obtain the signal strength in real time. Thus, the first communication quality index between the designated unmanned device and the designated remote control device is determined based on the real-time monitored relative position and the signal strength corresponding to the designated remote control device.

[0120] S202: respectively determining second communication quality indicators between the designated unmanned device and other remote control devices among the remote control devices except the designated remote control device.

[0121] Furthermore, in this step, the designated unmanned device can monitor the relative positions between the designated unmanned device and other remote control devices that are not connected, and obtain the signal strength of each other remote control device in real time, thereby determining in real time each second communication quality indicator between the designated unmanned device and other remote control devices among the remote control devices except the designated remote control device.

[0122] It should be noted that the scheme for determining the communication quality index in steps S201 and S202 is similar to the aforementioned S102 and will not be described in detail here. However, in order to disconnect from the designated remote control device with poor communication quality in a timely manner and reconnect with the designated remote control device with better communication quality, the designated unmanned device can periodically determine the first communication quality index and each second communication quality index.

[0123] S204: When the first communication quality indicator is less than one or more of the second communication quality indicators, disconnect the communication connection between the designated unmanned device and the designated remote control device.

[0124] Specifically, when the first communication quality indicator is less than one or more of the second communication quality indicators, it means that the quality of the communication connection between the designated unmanned device and the designated remote control device is not optimal, and the accuracy of continuing to remotely control the designated unmanned device by the designated remote control device is low. The probability of an abnormal situation occurring when the designated unmanned device is under control is very high. Therefore, it is necessary to promptly disconnect the communication connection between the designated unmanned device and the designated remote control device to avoid abnormalities occurring in the designated unmanned device.

[0125] When the first communication quality index is not less than any one of the second communication quality indexes, the communication connection between the designated unmanned device and the designated remote control device is maintained. In fact, when the first communication quality index is not less than any one of the second communication quality indexes, it is equivalent to the first communication quality index being not less than the largest one of the second communication quality indexes, that is, the communication quality between the designated unmanned device and the designated remote control device through the designated communication method is optimal, and at this time, high-precision remote control can be achieved without re-determining the designated remote control device.

[0126] S206: Re-determine a designated remote control device from among the remote control devices according to the second communication quality indicators, and send a connection request to the re-determined designated remote control device according to the connection key of the re-determined designated remote control device, so as to connect with the re-determined designated remote control device through the designated communication method.

[0127] This step is similar to the aforementioned step S102 and will not be described again here.

[0128] Based on Figure 3 According to the method shown, the designated unmanned device can determine whether to disconnect from the currently connected designated remote control device based on the first communication quality indicator and the second communication quality indicator, and when the designated unmanned device is disconnected from the designated remote control device, the designated unmanned device can re-determine the designated remote control device from each remote control device based on each second communication quality indicator, and establish a connection with the designated communication method. It can be seen that through the above scheme, the designated unmanned device initiates the switching operation of the designated remote control device connected to it, instead of the remote control device initiating the switching, which can effectively avoid the misjudgment of the switching operation and avoid the situation where the designated remote control device after the switching has a long delay in remote control of the designated unmanned device, thereby reducing the probability of abnormal control of the designated unmanned device and improving the driving safety of the designated unmanned device.

[0129] Further, in the aforementioned Figure 3In the scheme shown, in order to establish a communication connection with the designated remote control device with the best communication quality, the designated unmanned device needs to monitor the relative distance between each remote control device and the designated unmanned device itself, as well as the signal strength of each remote control device in real time. In the process of real-time monitoring, there will be a problem of consuming too many communication resources and computing resources. In order to solve this problem, in this specification, optionally, the cloud server sends the control range of each remote control device to the designated unmanned device, and the designated unmanned device determines the candidate remote control device that overlaps with the control range of the designated remote control device from the remote control devices according to the control range of the designated remote control device currently connected to the designated unmanned device itself through the designated communication method, and the control range of each other remote control device in each remote control device. The designated unmanned device determines the first communication quality index between the designated unmanned device and the designated remote control device. And determine the second communication quality index between the designated unmanned device and the candidate remote control device. When the first communication quality index is less than the second communication quality index, the communication connection between the designated unmanned device and the designated remote control device is disconnected, and the candidate remote control device is re-used as the designated remote control device, and the designated unmanned device establishes a connection with the re-determined designated remote control device in the designated communication method.

[0130] In the above optional embodiment, the determination method of the first communication quality index and the second communication quality index can refer to the above S102, which will not be described in detail here. In addition, when determining a candidate remote control device that overlaps with the control range of the designated remote control device from among the remote control devices, it can be determined whether the control range of other remote control devices at least partially falls into the control range of the designated remote control device. When at least part of the control range of other remote control devices falls into the control range of the designated remote control device, the other remote control device is used as a reference remote control device, and the proportion of the control range of the reference remote control device that falls into the control range of the designated remote control device accounts for the control range of the reference remote control device. When the proportion is greater than a preset proportion threshold, the reference remote control device is used as a candidate remote control device. When the real-time position of the designated unmanned device is located in the overlapping range of the designated remote control device and the candidate remote control device, the designated unmanned device determines whether to switch the remote control device based on the first communication quality index and the second communication quality index.

[0131] In actual applications, there may be a situation where the control ranges of various remote control devices overlap with each other. If the remote control device is switched when there is only a very small part of the control range overlapping, it may cause the unmanned device to frequently switch the designated remote control device, causing confusion in the designated remote control device that controls the designated unmanned device, greatly reducing the driving safety of the designated unmanned device. Therefore, in the above optional embodiment, based on a pre-set ratio threshold, when the ratio of control range overlap is greater than the ratio threshold, the designated unmanned device can determine whether to switch the designated remote control device, thereby reducing the number of switching times of the remote control device and improving the driving safety of the designated unmanned device while ensuring better communication quality.

[0132] It can be seen that through the above-mentioned optional embodiments, the designated unmanned device does not need to determine the communication quality indicators of all remote control devices in real time. It only needs to determine the first communication quality indicator of the designated remote control device currently connected to the designated unmanned device when the control ranges overlap, and the second communication quality indicator of the candidate remote control device with overlapping control ranges. It can then be determined whether the designated unmanned device needs to switch the remote control device, which greatly reduces the computing resources and communication resources consumed by the designated unmanned device for monitoring signal strength and relative distance, and improves the switching efficiency.

[0133] In one or more embodiments of the present specification, in the above step S108, in order to further ensure the driving safety of the designated unmanned device, before the designated unmanned device responds to the control instruction sent by the designated remote control device, the legitimacy of the designated remote control device can also be verified, and the control instruction can be responded to when the verification is passed, thereby preventing the attacker from disguising as the designated remote control device and maliciously controlling the designated unmanned device, thereby endangering the driving safety of the designated unmanned device. To this end, the control instruction sent by the designated remote control device to the designated unmanned device can also carry a control key, and the designated unmanned device verifies the legitimacy of the designated remote control device based on the control key, and then responds to the control instruction. Depending on the different ways of generating the control instruction, the way the designated remote control device obtains the control key is also different, which can be specifically divided into the following two situations:

[0134] The first case: the control command is generated based on the remote control operation input by the user manipulating the designated remote control device. The interactive process of generating the control command is as follows: Figure 4 As shown:

[0135] S300: The designated remote control device sends a remote control request to the cloud server, wherein the remote control request carries an identifier of the designated unmanned device.

[0136] In actual applications, the designated remote control device can dynamically remotely control the first user's unmanned device to perform path changes, posture changes, and task execution operations. For a designated remote control device, there can be multiple designated unmanned devices connected to it through a designated communication method at the same time. Therefore, when the designated remote control device requests the cloud server to obtain the control key of the designated unmanned device, it is necessary to carry the identifier of the designated unmanned device in the remote control request, thereby instructing the cloud server to obtain the control key of the designated unmanned device based on the identifier of the designated unmanned device and return it. Only when the designated remote control device obtains the control authority of the designated unmanned device based on the control key returned by the cloud server, can the designated unmanned device be controlled by the designated remote control device.

[0137] S302: The cloud server receives a remote control request sent by a designated remote control device, where the remote control request carries an identifier of the designated unmanned device.

[0138] S304: The cloud server obtains the control key of the designated unmanned device according to the remote control request.

[0139] In this step, the cloud server can parse the identifier of the designated unmanned device from the remote control request, and thus determine the designated unmanned device that the designated remote control device requests to be remotely controlled based on the identifier of the designated unmanned device. Since the cloud server pre-stores the control keys of one or more available unmanned devices, as long as the control key of the corresponding designated unmanned device can be found in the control keys stored in the cloud server based on the identifier of the designated unmanned device, the designated unmanned device that the designated remote control device requests to be remotely controlled is legal and valid, otherwise it is illegal and not registered in the cloud server. If the cloud server does not find the control key of the corresponding designated unmanned device in the control keys stored in itself, it can return an invalid message to the designated remote control device, prompting the designated remote control device of the illegality of the designated unmanned device connected to it.

[0140] S306: The cloud server returns the control key to the designated remote control device.

[0141] Generally, the cloud server sends the queried control key to the designated remote control device, indicating that the control authority of the designated unmanned device is handed over to the designated remote control device. The designated remote control device can directly send control instructions to the designated unmanned device based on the control key to control the designated unmanned device. However, in actual applications, the designated unmanned device can establish connections with multiple designated remote control devices in a designated communication mode at different times (different time periods). When one of the designated remote control devices requests the cloud server to obtain the control authority of the designated unmanned device, the cloud server needs to determine that the designated unmanned device is not controlled by other designated remote control devices. Therefore, before returning the control key to the designated remote control device, the cloud server can obtain the status of the designated unmanned device (whether the corresponding task has been executed), or send a message to the designated unmanned device to inquire whether it is controlled by other designated remote control devices, and determine whether to send the control key of the designated unmanned device to the designated remote control device requesting the control authority based on the status of the designated unmanned device and the message returned by the designated unmanned device.

[0142] S308: The designated remote control device receives the control key, and generates a control instruction according to the control key.

[0143] Specifically, the designated remote control device can generate a control instruction based on the remote control operation and the control key in response to the remote control operation input by the user manipulating the designated remote control device, and the control instruction is used to instruct the designated unmanned device to respond to the remote control operation. Therefore, when the designated unmanned device receives the control instruction, it can first determine the legitimacy of the designated remote control device according to the control key, and after verifying that the designated remote control device is legitimate, respond to the remote control operation in the control instruction.

[0144] The second case: the control command is generated based on the remote control task issued by the cloud server. The interactive process of generating the control command is as follows: Figure 5 As shown:

[0145] S400: The designated remote control device sends an identifier of the designated remote control device to one or more unmanned devices.

[0146] Specifically, after establishing a connection with the designated unmanned device in the designated communication mode, the designated remote control device can send its own identification to the designated unmanned device through the designated communication mode. Of course, in order to reduce the delay of remote control, the designated remote control device can also send its own identification to one or more unmanned devices that have not yet established a connection with itself in the designated communication mode in advance, so that there is no need to send the identification after the connection is established.

[0147] S402: The designated unmanned device receives the identifier of the designated remote control device, and generates a message according to the identifier of the designated unmanned device and the identifier of the designated remote control device.

[0148] S404: Designate the unmanned device to send the message to the cloud server.

[0149] The designated unmanned device can report its own identification and the identification of the designated remote control device connected to it through the designated communication method, so as to report the connection relationship between the designated unmanned device and the designated remote control device to the cloud server. Therefore, the designated unmanned device can generate a message based on its own identification and the identification of the designated remote control device, and send the message to the cloud server.

[0150] S406: The cloud server receives the message sent by the designated unmanned device, and establishes a connection relationship between the designated unmanned device and the designated remote control device according to the identifier of the designated unmanned device and the identifier of the designated remote control device carried in the message.

[0151] When the cloud server receives the message, it parses the message to obtain the identifier of the specified unmanned device and the identifier of the specified remote control device, binds the identifier of the specified unmanned device and the identifier of the specified remote control device, regards the binding relationship as a connection relationship between the specified unmanned device and the specified remote control device, and stores the connection relationship.

[0152] In addition, since the designated unmanned device can establish or disconnect communication connections with multiple designated remote control devices during driving, in order to allow the cloud server to better manage the connection relationship between one or more unmanned devices and one or more remote control devices, the connection relationship can be added, deleted, modified, queried, etc. That is, when the designated unmanned device establishes a communication connection with the designated remote control device, the designated unmanned device can report the addition / modification of the connection relationship to the cloud server, and when the designated unmanned device disconnects the communication connection with the designated remote control device, the designated unmanned device can report the deletion / modification of the connection relationship to the cloud server.

[0153] S408: When the cloud server receives the remote control task of the designated unmanned device, it sends the remote control task and the control key of the designated unmanned device to the designated remote control device according to the connection relationship.

[0154] Specifically, the cloud server can monitor the driving status of the specified unmanned device in real time. If an abnormal situation occurs during the driving of the specified unmanned device, the cloud server can actively generate a remote control task based on the abnormal situation. In another scenario, the user can input a remote control task for the specified unmanned device through the cloud server. The remote control task includes path change, posture change, and controlling the unmanned device to perform tasks in different scenarios. The remote control task is similar to the remote control operation described in S108 above, and will not be repeated here.

[0155] Since the cloud server stores the connection relationship between the designated unmanned device and the designated remote control device, when the cloud server receives a remote control task corresponding to the designated unmanned device, it can find the designated remote control device that currently has a connection relationship with the designated unmanned device based on the identifier of the designated unmanned device, and use it as the designated remote control device for executing the remote control task.

[0156] Furthermore, in the aforementioned Figure 4 In the solution shown, the initiator of remote control of the unmanned device is the designated remote control device. Therefore, the designated remote control device needs to request the cloud server to obtain the control authority (control key) of the designated unmanned device. Figure 5 In the scheme shown, the initiator of remote control of the designated unmanned device is the cloud server. Therefore, the remote control task and the control key of the corresponding designated unmanned device can be directly sent to the designated remote control device at the same time, reducing the steps of repeatedly requesting the control key by the designated remote control device, saving communication resources and workload.

[0157] S410: The designated remote control device receives the remote control task and the control key sent by the cloud server, and generates a control instruction according to the control key and the remote control task.

[0158] Based on the remote control task, the remote control operation carried in the control instruction can be determined, and the remote control operation is combined with the control key to generate a control instruction, so that the unmanned device can perform the corresponding remote control task based on the control instruction.

[0159] The method of generating the control instruction is similar to the aforementioned S306 and will not be repeated here.

[0160] Based on Figure 5 In the scheme shown, the cloud server can, based on the connection relationship between the designated unmanned device and the designated remote control device, send the remote control task to the designated remote control device, so that the designated remote control device can control the designated unmanned device to drive according to the remote control task in order to complete the remote control task. It can be seen that the above scheme expands the application scenarios of remote control devices controlling unmanned devices, so that unmanned devices can adapt to more application scenarios under the remote control of remote control devices, thereby completing tasks in more dimensions.

[0161] In an optional embodiment of this specification, the aforementioned Figure 4 and Figure 5 The schemes shown can be executed together, that is, the control instructions sent by the designated remote control device to the designated unmanned device include both the remote control operations input by the user manipulating the designated remote control device and the remote control tasks of the designated unmanned device actively sent by the cloud server to the designated remote control device. In this scenario, the method for the designated remote control device to obtain the control key of the designated unmanned device can still be as follows Figure 4As shown, the designated remote control device actively requests the cloud server to obtain, or it can be as follows Figure 5 The cloud server actively sends the task to the specified device. It can be divided into the following two situations:

[0162] In the first case, the designated remote control device sends a remote control request carrying the designated unmanned device identifier to the cloud server. The cloud server obtains the control key of the designated unmanned device based on the identifier of the designated unmanned device in the remote control request, and queries the remote control task corresponding to the designated unmanned device. The cloud server returns the control key and the remote control task to the designated remote control device, and the designated remote control device generates a control instruction based on the remote control operation input by the user manipulating the designated remote control device, the remote control task, and the control key.

[0163] The second situation: the designated unmanned device receives the identifier of the designated remote control device sent by the designated remote control device, generates a message based on the identifier of the designated unmanned device and the identifier of the designated remote control device, and sends the message to the cloud server. The cloud server receives the message and establishes a connection relationship based on the identifier of the designated unmanned device and the identifier of the designated remote control device obtained by parsing the message. When the cloud server receives the remote control task corresponding to the designated unmanned device, it sends the remote control task and the control key of the designated unmanned device to the designated remote control device according to the connection relationship. Based on the received remote control task, the designated remote control device prompts the user who operates the designated remote control device to input the remote control operation. The designated remote control device generates a control instruction based on the remote control operation input by the user who operates the designated remote control device, the remote control task, and the control key.

[0164] The above is a control method for unmanned equipment provided by one or more embodiments of this specification. Based on the same idea, this specification also provides a corresponding control device for unmanned equipment, such as Figure 6 , Figure 7 and Figure 8 shown.

[0165] Figure 6 This is a schematic diagram of a control device for an unmanned device provided in this specification, the device is applied to a cloud server, and the device specifically includes:

[0166] The connection key sending module 500 is used to send the connection keys of one or more remote control devices to one or more unmanned devices, so that a designated unmanned device among the one or more unmanned devices determines a designated remote control device from the one or more remote control devices, and sends a connection request to the designated remote control device according to the connection key of the designated remote control device, so as to connect with the designated remote control device through a designated communication method, so that the designated remote control device sends a control instruction to the designated unmanned device based on the designated communication method.

[0167] Optionally, the device further comprises:

[0168] The control key sending module 502 is specifically used to receive a remote control request sent by the designated remote control device, wherein the remote control request carries the identifier of the designated unmanned device; obtain the control key of the designated unmanned device according to the remote control request, and return the control key to the designated remote control device, so that the designated remote control device sends the control instruction to the designated unmanned device according to the control key; or, receive a message sent by the designated unmanned device, and establish a connection relationship between the designated unmanned device and the designated remote control device according to the identifier of the designated unmanned device and the identifier of the designated remote control device carried in the message; when a remote control task corresponding to the designated unmanned device is received, send the remote control task and the control key of the designated unmanned device to the designated remote control device according to the connection relationship, so that the designated remote control device sends the control instruction to the designated unmanned device according to the remote control task and the control key.

[0169] Optionally, the connection key sending module 500 is specifically used to obtain the real-time position and / or driving path of the designated unmanned device; obtain the position of the one or more remote control devices, and determine the control range of each of the remote control devices based on the position of the one or more remote control devices; determine one or more target remote control devices from the one or more remote control devices based on the real-time position and / or driving path of the designated unmanned device and the control range of each of the remote control devices; and send the connection keys of the one or more target remote control devices to the designated unmanned device.

[0170] Figure 7 This is a schematic diagram of a control device for unmanned equipment provided in this specification, the device is applied to unmanned equipment, and the device specifically includes:

[0171] A connection key receiving module 600 is used to receive connection keys of one or more remote control devices sent by a cloud server;

[0172] A designated remote control device determining module 602, configured to determine a designated remote control device from the one or more remote control devices;

[0173] A connection request sending module 604 is used to send a connection request to the designated remote control device according to the connection key of the designated remote control device, so that the designated remote control device is connected to the unmanned device through a designated communication method according to the connection request;

[0174] The response module 606 is used to respond to the control instruction sent by the designated remote control device.

[0175] Optionally, the designated remote control device determination module 602 is specifically configured to:

[0176] According to the real-time position of the unmanned device and the position of each of the remote control devices, respectively determine the relative distance between the unmanned device and each of the remote control devices; obtain the signal strength corresponding to each of the remote control devices; according to the relative distance between the unmanned device and each of the remote control devices, and the signal strength corresponding to each of the remote control devices, determine the communication quality index of the unmanned device connected to each of the remote control devices through the designated communication method; according to the communication quality index, determine the designated remote control device from the one or more remote control devices.

[0177] Optionally, there are multiple remote control devices;

[0178] Optionally, the device further comprises:

[0179] The switching module 608 is specifically used to determine a first communication quality indicator between the designated unmanned device and the designated remote control device; respectively determine each second communication quality indicator between the designated unmanned device and other remote control devices among multiple remote control devices except the designated remote control device; when the first communication quality indicator is less than one or more of the second communication quality indicators, disconnect the communication connection between the designated unmanned device and the designated remote control device; redetermine the designated remote control device from the multiple remote control devices according to the second communication quality indicators, and send a connection request to the redetermined designated remote control device according to the connection key of the redetermined designated remote control device, so as to connect with the redetermined designated remote control device through the designated communication method.

[0180] Figure 8 This is a schematic diagram of a control device for unmanned equipment provided in this specification, the device is applied to a remote control device, and the device specifically includes:

[0181] A connection module 700, configured to connect to the unmanned device through a specified communication method according to a connection key carried in a connection request sent by the unmanned device, wherein the connection key is sent to the unmanned device by a cloud server;

[0182] The control instruction sending module 702 is used to send a control instruction to the unmanned device based on the specified communication method, so that the unmanned device responds to the control instruction.

[0183] Optionally, the device further comprises:

[0184] The control instruction generation module 704 is specifically used to send a remote control request to the cloud server, wherein the remote control request carries the identifier of the specified unmanned device, so that the cloud server obtains and returns the control key of the specified unmanned device according to the remote control request; receives the control key returned by the cloud server; and generates a control instruction according to the control key.

[0185] Optionally, the control instruction generation module 704 is specifically used to send the identifier of the designated remote control device to the one or more unmanned devices, so that the designated unmanned device generates a message based on the identifier of the designated unmanned device and the identifier of the designated remote control device, and sends the message to the cloud server, so that the cloud server establishes a connection relationship between the designated unmanned device and the designated remote control device based on the identifier of the designated unmanned device and the identifier of the designated remote control device carried in the message, and when receiving a remote control task corresponding to the designated unmanned device, sends the remote control task and the control key of the designated unmanned device to the designated remote control device according to the connection relationship; receives the remote control task and the control key sent by the cloud server; and generates a control instruction based on the control key and the remote control task.

[0186] This specification also provides a computer-readable storage medium, which stores a computer program, which can be used to execute the above Figure 2 A control method for unmanned equipment is provided.

[0187] This manual also provides Fig. 9 As shown in Figure 9, at the hardware level, the electronic device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, and may also include hardware required for other services. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to achieve the above Figure 2 Of course, in addition to the software implementation, this specification does not exclude other implementations, such as logic devices or a combination of software and hardware, etc., that is, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices.

[0188] In the 1990s, improvements to a technology could be clearly distinguished as hardware improvements (for example, improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the method flow). However, with the development of technology, many improvements to the method flow today can be regarded as direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that an improvement in a method flow cannot be implemented using a hardware entity module. For example, a programmable logic device (PLD) (such as a field programmable gate array (FPGA)) is such an integrated circuit whose logical function is determined by the user's programming of the device. Designers can "integrate" a digital system on a PLD by programming it themselves, without having to ask a chip manufacturer to design and produce a dedicated integrated circuit chip. Moreover, nowadays, instead of manually making integrated circuit chips, this kind of programming is mostly implemented by "logic compiler" software, which is similar to the software compiler used when developing and writing programs, and the original code before compilation must also be written in a specific programming language, which is called hardware description language (HDL). There is not only one HDL, but many kinds, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used ones are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should also know that it is only necessary to program the method flow slightly in the above-mentioned hardware description languages ​​and program it into the integrated circuit, and then it is easy to obtain the hardware circuit that implements the logic method flow.

[0189] The controller can be implemented in any appropriate manner, for example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing a computer-readable program code (such as software or firmware) that can be executed by the (micro)processor, a logic gate, a switch, an application-specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in a purely computer-readable program code manner, the controller can be implemented in the form of a logic gate, a switch, an application-specific integrated circuit, a programmable logic controller, and an embedded microcontroller by logically programming the method steps. Therefore, this controller can be considered as a hardware component, and the devices included therein for implementing various functions can also be regarded as structures within the hardware component. Or even, the devices for implementing various functions can be regarded as both software modules for implementing the method and structures within the hardware component.

[0190] The systems, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0191] For the convenience of description, the above device is described in various units according to their functions. Of course, when implementing this specification, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0192] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0193] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0194] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0195] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0196] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0197] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0198] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0199] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0200] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems or computer program products. Therefore, this specification may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, this specification may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0201] This specification may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. This specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0202] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0203] The above description is only an embodiment of the present specification and is not intended to limit the present specification. For those skilled in the art, the present specification may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification shall be included in the scope of the claims of the present specification.

Claims

1. A control system for unmanned equipment, characterized in that: The system includes a cloud server, one or more unmanned devices and one or more remote control devices, wherein the one or more unmanned devices include a designated unmanned device, and the one or more remote control devices include a designated remote control device; The cloud server is used to send the connection key of the one or more remote control devices to the one or more unmanned devices; The designated unmanned device is used to receive the connection key of the one or more remote control devices; determine the designated remote control device from the one or more remote control devices; send a connection request to the designated remote control device according to the connection key of the designated remote control device to connect with the designated remote control device through a designated communication method; receive and respond to the control command sent by the designated remote control device; The designated remote control device is used to connect to the designated unmanned device through the designated communication method according to the connection key carried in the connection request; and send the control instruction to the designated unmanned device based on the designated communication method.

2. The system according to claim 1, characterized in that There are multiple remote control devices; The designated unmanned device is also used to determine a first communication quality indicator between the designated unmanned device and the designated remote control device, and respectively determine each second communication quality indicator between the designated unmanned device and other remote control devices among the remote control devices except the designated remote control device; when the first communication quality indicator is less than one or more of the second communication quality indicators, disconnect the communication connection between the designated unmanned device and the designated remote control device; based on the second communication quality indicators, redetermine the designated remote control device from the remote control devices, and based on the connection key of the redetermined designated remote control device, send a connection request to the redetermined designated remote control device to connect with the redetermined designated remote control device through the designated communication method.

3. The control system according to claim 1, characterized in that: The cloud server is further configured to receive a remote control request sent by the designated remote control device, the remote control request carrying the identifier of the designated unmanned device; obtain a control key of the designated unmanned device according to the remote control request; and return the control key to the designated remote control device; The designated remote control device is further used to send the remote control request to the cloud server; receive the control key, and generate the control instruction according to the control key.

4. The system according to claim 1, characterized in that The designated unmanned device is further used to receive the identifier of the designated remote control device; generate a message according to the identifier of the designated unmanned device and the identifier of the designated remote control device, and send the message to the cloud server; The cloud server is further used to receive a message sent by the designated unmanned device, and establish a connection relationship between the designated unmanned device and the designated remote control device according to the identifier of the designated unmanned device and the identifier of the designated remote control device carried in the message; when receiving a remote control task corresponding to the designated unmanned device, send the remote control task and the control key of the designated unmanned device to the designated remote control device according to the connection relationship; The designated remote control device is also used to send the identifier of the designated remote control device to the one or more unmanned devices; receive the remote control task and the control key sent by the cloud server; and generate the control instruction according to the control key and the remote control task.

5. A control method for unmanned equipment, characterized in that: The method is applied to a cloud server, and the method includes: The connection keys of one or more remote control devices are sent to one or more unmanned devices, so that a designated unmanned device among the one or more unmanned devices determines a designated remote control device from the one or more remote control devices, and sends a connection request to the designated remote control device according to the connection key of the designated remote control device, so as to connect with the designated remote control device through a designated communication method, so that the designated remote control device sends a control instruction to the designated unmanned device based on the designated communication method.

6. The method according to claim 5, characterized in that The method further comprises: receiving a remote control request sent by the designated remote control device, the remote control request carrying the identifier of the designated unmanned device; acquiring a control key of the designated unmanned device according to the remote control request, and returning the control key to the designated remote control device, so that the designated remote control device sends the control instruction to the designated unmanned device according to the control key; or, Receive a message sent by the designated unmanned device, and establish a connection relationship between the designated unmanned device and the designated remote control device based on the identifier of the designated unmanned device and the identifier of the designated remote control device carried in the message; when a remote control task corresponding to the designated unmanned device is received, send the remote control task and the control key of the designated unmanned device to the designated remote control device based on the connection relationship, so that the designated remote control device sends the control instruction to the designated unmanned device based on the remote control task and the control key.

7. The method according to claim 5, characterized in that The sending of the connection keys of one or more remote control devices to one or more unmanned devices specifically includes: Obtaining the real-time location and / or driving path of the designated unmanned equipment; Acquire the positions of the one or more remote control devices, and determine the control range of each remote control device according to the positions of the one or more remote control devices; Determine one or more target remote control devices from the one or more remote control devices according to the real-time position and / or driving path of the designated unmanned device and the control range of each remote control device; The connection keys of the one or more target remote control devices are sent to the designated unmanned device.

8. A control method for unmanned equipment, characterized in that: The method is applied to unmanned equipment, and the method comprises: receiving connection keys of one or more remote control devices sent by a cloud server; determining a designated remote control device from the one or more remote control devices; Sending a connection request to the designated remote control device according to the connection key of the designated remote control device, so that the designated remote control device is connected to the unmanned device through a designated communication method according to the connection request; Respond to the control instruction sent by the designated remote control device.

9. The method according to claim 8, characterized in that The determining of the designated remote control device from the one or more remote control devices specifically includes: Determining the relative distance between the unmanned device and each of the remote control devices according to the real-time position of the unmanned device and the position of each of the remote control devices; Obtaining the signal strength corresponding to each of the remote control devices; Determine, according to the relative distance between the unmanned device and each of the remote control devices, and the signal strength corresponding to each of the remote control devices, a communication quality index of the unmanned device connected to each of the remote control devices through the designated communication mode; The designated remote control device is determined from the one or more remote control devices according to the communication quality indicator.

10. A control method for unmanned equipment, characterized in that: The method is applied to a remote control device, and the method comprises: Connecting to the unmanned device through a specified communication method according to a connection key carried in a connection request sent by the unmanned device, wherein the connection key is sent by a cloud server to the unmanned device; Based on the designated communication method, a control instruction is sent to the unmanned device, so that the unmanned device responds to the control instruction.

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