Control system and method for unmanned device

Abstract

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

Description

Technical Field

[0001] This specification relates to the field of autonomous driving technology, and in particular to a control system and method for an unmanned device. Background Technology

[0002] With the development of autonomous driving technology, unmanned equipment can autonomously drive and reach its destination in the environment. To ensure the safety of unmanned equipment, remote safety operators can use remote control devices to remotely control the unmanned equipment to handle abnormal situations.

[0003] Currently, before unmanned equipment can operate, it needs to pair frequencies with a remote control device to establish a wireless communication connection. This allows the remote control device to remotely control the unmanned equipment during its operation.

[0004] However, since manual frequency matching between unmanned and remote-controlled equipment is required, the workload of frequency matching increases significantly with the increase in the number of unmanned equipment, thereby reducing the efficiency of remote-controlled equipment in controlling unmanned equipment. Summary of the Invention

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

[0006] The following technical solution is adopted in this specification:

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

[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 configured 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; and receive and respond to control commands sent by the designated remote control device.

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

[0011] Optionally, there may be multiple remote control devices;

[0012] The designated unmanned device is further configured to: determine a first communication quality index between the designated unmanned device and the designated remote control device, and respectively determine a second communication quality index between the designated unmanned device and other remote control devices besides the designated remote control device; disconnect the communication connection between the designated unmanned device and the designated remote control device when the first communication quality index is less than one or more of the second communication quality indices; re-determine a designated remote control device from the remote control devices according to the second communication quality indices, 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.

[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 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.

[0014] The designated remote control device is also used to send the remote control request to the cloud server; receive the control key, and generate the control command based on the control key.

[0015] Optionally, the designated unmanned device is further configured to: receive the identifier of the designated remote control device; generate a message based on 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 also used to receive messages sent by the designated unmanned device, 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; and 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.

[0017] The designated remote control device is further configured 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 command based on 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 the following:

[0019] One or more remote control devices send their connection keys to one or more unmanned devices, so that a designated unmanned device among the one or more remote control devices can identify a designated remote control device from the one or more remote control devices, and send 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, and the designated remote control device sends control commands to the designated unmanned device based on the designated communication method.

[0020] Optionally, the method further includes:

[0021] The system receives a remote control request sent by the designated remote control device, the remote control request carrying the identifier of the designated unmanned device; based on the remote control request, it obtains the control key of the designated unmanned device and returns the control key to the designated remote control device, so that the designated remote control device can send the control command to the designated unmanned device based on the control key;

[0022] or,

[0023] The system receives a message sent by the designated unmanned device and establishes a connection 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, the system sends the remote control task and the control key of the designated unmanned device to the designated remote control device based on the connection, so that the designated remote control device sends the control command to the designated unmanned device based on the remote control task and the control key.

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

[0025] Obtain the real-time location and / or travel path of the specified unmanned device;

[0026] The location of the one or more remote control devices is obtained, and the control range of each remote control device is determined based on the location of the one or more remote control devices;

[0027] Based on the real-time location and / or travel path of the specified unmanned equipment, and the control range of each of the remote control devices, determine one or more target remote control devices from the one or more remote control devices;

[0028] Send the connection key of the one or more target remote control devices to the designated unmanned device.

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

[0030] Receive connection keys for one or more remote control devices sent by the cloud server;

[0031] Determine the specified remote control device from the one or more remote control devices;

[0032] Based on the connection key of the designated remote control device, a connection request is sent to the designated remote control device, so that the designated remote control device can connect with the unmanned device through a designated communication method according to the connection request;

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

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

[0035] The relative distance between the unmanned device and each of the remote control devices is determined based on the real-time location of the unmanned device and the location of each remote control device.

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

[0037] Based on 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, the communication quality index of the unmanned device and each of the remote control devices connected through the specified communication method is determined;

[0038] The designated remote control device is determined from the one or more remote control devices based on the communication quality indicators.

[0039] This specification provides a control method for unmanned equipment, the method being applied to remotely controlled equipment, the method comprising:

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

[0041] Based on the specified communication method, control commands are sent to the unmanned device, causing the unmanned device to respond to the control commands.

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

[0043] A connection key sending module is used to send the connection key 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 can determine the designated remote control device from the one or more remote control devices, and send 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, and the designated remote control device sends control commands to the designated unmanned device based on the designated communication method.

[0044] This specification provides a control device for unmanned equipment, the device being applied to unmanned equipment, the device comprising:

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

[0046] A designated remote control device determination module is used to determine a designated remote control device from the one or more remote control devices;

[0047] A connection request sending module 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 can connect with the unmanned device through a designated communication method according to the connection request;

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

[0049] This specification provides a control device for unmanned equipment, the device being applied to remotely controlled equipment, the device comprising:

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

[0051] The control command sending module is used to send control commands to the unmanned device based on the specified communication method, so that the unmanned device responds to the control commands.

[0052] This specification provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the control method for the unmanned equipment described above.

[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 executes the program to implement the control method of the unmanned device described above.

[0054] The above-mentioned technical solutions adopted in this specification can achieve the following beneficial effects:

[0055] The control system for unmanned equipment provided in this specification includes a cloud server, one or more unmanned devices, and one or more remote control devices. The cloud server sends connection keys for the one or more remote control devices to the one or more unmanned devices. A designated unmanned device selects a specific remote control device from the one or more remote control devices and connects with the designated remote control device via a specified communication method based on the connection key of the designated remote control device. The designated remote control device then sends control commands to the unmanned devices via the specified communication method. Therefore, in the above scheme, manual frequency pairing is not required before the unmanned equipment begins operation. Even with a large number of unmanned devices, the connection between the unmanned devices and the designated remote control device via the specified communication method can be automatically achieved, improving the efficiency of remote control of unmanned equipment. Attached Figure Description

[0056] The accompanying drawings, which are included to provide a further understanding of this specification and form part of this specification, illustrate exemplary embodiments and are used to explain this specification, but do not constitute an undue limitation thereof. In the drawings:

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

[0058] Figure 2 This is a schematic diagram of the interaction flow of a control method for an unmanned device described in this specification.

[0059] Figure 3 This is a flowchart illustrating a control method for an unmanned device as described in this specification.

[0060] Figure 4 This is a schematic diagram of the interaction flow of a control method for an unmanned device described in this specification.

[0061] Figure 5 This is a schematic diagram of the interaction flow of a control method for an unmanned device described in this specification.

[0062] Figure 6 This is a schematic diagram of a control device for an unmanned device provided in this specification;

[0063] Figure 7 This is a schematic diagram of a control device for an unmanned device provided in this specification;

[0064] Figure 8 This is a schematic diagram of a control device for an unmanned device provided in this specification;

[0065] Figure 9 The corresponding information provided in this specification Figure 2 A schematic diagram of an electronic device. Detailed Implementation

[0066] To make the objectives, technical solutions, and advantages of this specification clearer, the technical solutions of this specification will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of them. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this specification.

[0067] Additionally, it should be noted that all actions involving the acquisition of signals, information, or data in this invention are carried out in compliance with the relevant data protection laws and regulations of the locality and with authorization from the owner of the relevant device.

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

[0069] Figure 1 This is a schematic diagram of the control system for an unmanned device provided in this specification. The control system includes a cloud server, one or more unmanned devices, and one or more remote control devices. The cloud server, the one or more unmanned devices, and the one or more remote control devices are connected wirelessly to transmit information and data. Before or during operation, an unmanned device can establish a connection with one or more remote control devices using a specified communication method; correspondingly, a remote control device can also establish a connection with one or more unmanned devices using a specified communication method. Therefore, based on... Figure 1 The control system for the unmanned equipment shown can be applied to scenarios where one remote control device controls one unmanned equipment, one remote control device controls multiple unmanned equipment, and one unmanned equipment is controlled by multiple remote control devices at different times.

[0070] For ease of description, the following example illustrates the specific technical solution by connecting a designated unmanned device among one or more unmanned devices in the control system of the unmanned equipment to a designated remote control device among one or more remote control devices through a designated communication method.

[0071] Specifically, unmanned equipment includes drones, unmanned vehicles, robots, and other driverless devices. These devices perceive their external environment through configured sensors and automatically reach predetermined target locations based on that environment. Remote control devices can connect to the unmanned equipment via a specified communication method and send control commands through this method. Based on these control commands, the unmanned equipment can change its path, avoid obstacles, change its posture, and perform corresponding tasks in various scenarios (delivering goods, spraying pesticides, taking pictures).

[0072] Generally, the travel path of unmanned equipment varies depending on the application scenario. Therefore, in this specification, multiple remote control devices can be distributed in different physical locations. When a designated unmanned equipment travels along the designated path, it will pass through the control range of each remote control device. When the real-time location of the designated unmanned equipment is within the control range of a remote control device, the designated unmanned equipment can actively initiate a communication connection with the remote control device, thereby establishing a connection between the designated unmanned equipment and the designated remote control device using a specified communication method. When the real-time location of the designated unmanned equipment moves away from the control range of the designated remote control device, the communication connection between the designated unmanned equipment and the designated remote control device will be disconnected.

[0073] To enable a designated unmanned device to actively initiate a connection with a designated remote control device via a specified communication method, the designated unmanned device can be pre-configured to a first operating mode (station mode), and one or more remote control devices can be configured to a second operating mode (Access Point mode). The second operating mode indicates that the remote control device is in access point mode, where it can function as a transmitter or distributor of wireless signals. The first operating mode indicates that the designated unmanned device is operating in a mode connecting to other devices transmitting or distributing wireless signals. The designated unmanned device can search for available wireless signal sources (remote control devices acting as transmitters or distributors) and select to connect to them. In this specification, an example is taken where a designated unmanned device operating in the first operating mode and a designated remote control device operating in the second operating mode connect via a specified communication method, including Wireless Fidelity (Wi-Fi). It should be noted here that when a designated unmanned device is configured in station mode, it can only establish a connection with one designated remote control device configured in AP mode at any given time using the designated communication method. Therefore, in this specification, the scenario in which a designated unmanned device is controlled by multiple remote control devices refers to the 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 it through the designated communication method.

[0074] In this specification, to automatically establish a designated communication connection between a designated remote control device and a designated unmanned device, and to securely enable the designated remote control device to remotely control the designated unmanned device, a cloud server is set up in the unmanned device control system. This cloud server pre-stores the identifiers and connection keys of one or more available remote control devices, as well as the identifiers and control keys of one or more available unmanned devices. Before or during the designated unmanned device's operation, the cloud server can send the connection key of the trusted remote control device to the designated unmanned device. Simultaneously, when the designated remote control device, connected to the designated unmanned device via a designated method, 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 control key through the cloud server, a secure communication connection is established between the designated unmanned device and the designated remote control device, and secondary verification is performed on the remote control device's remote control of the designated unmanned device, improving control efficiency while ensuring the security of the designated unmanned device. This specification does not limit the key format of the connection key and control key; they can be symmetric keys, asymmetric keys, cryptographic matrices, derived keys, etc., and are not limited in this regard.

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

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

[0077] In practical applications, unmanned equipment can perform tasks in various scenarios such as delivery, pesticide spraying, and image capture. During operation, in addition to following a (autonomously planned or preset) route and performing tasks at the target location, the unmanned equipment can also respond to control commands from remote control devices distributed along the route, executing corresponding operations such as changing the route, altering its posture, or performing tasks. Therefore, before and / or during operation, a cloud server can send pre-stored connection keys for one or more remote control devices to one or more unmanned equipment. During operation, a designated unmanned equipment can connect to a designated remote control device through a specified communication method and respond to control commands sent by that remote control device.

[0078] In this specification, the cloud server can send all the keys of the remote control devices stored within it to one or more unmanned devices. However, in practical applications, to expand the scenarios where remote control devices can remotely control unmanned devices to perform tasks, multiple remote control devices can be deployed in different locations. Therefore, when a specific unmanned device performs a single trip, it will not establish communication connections with all the remote control devices. To save storage space for the specific unmanned device, the cloud server can select several target remote control devices from among the remote control devices storing connection keys, based on the real-time location and / or travel path of the specific unmanned device, and send the connection keys of the target remote control devices to the specific unmanned device. This can be implemented using the following two schemes:

[0079] In an optional embodiment of this specification, step S100 specifically includes:

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

[0081] Generally, a remote control device acts as a communication signal access device (operating in AP mode). For a designated unmanned device (operating in station mode) to connect to the remote control device via a specified communication method, the relative distance between the unmanned device and the remote control device must be no less than the radius of the remote control device's control range. In other words, only the designated unmanned device that enters the control range of the remote control device can communicate with it. Therefore, the cloud server can determine, based on the real-time location and / or travel path of the designated unmanned device, and the locations of one or more remote control devices, whichever remote control device the designated unmanned device will fall into its control range, and then issue a connection key to the designated unmanned device that can connect.

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

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

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

[0085] Step 2: Obtain the location of one or more remote control devices, and determine the control range of each remote control device based on the location of the one or more remote control devices.

[0086] Similarly, the method for obtaining the location of one or more remotely controlled devices is similar to the method for obtaining the real-time location of the designated unmanned device, and will not be repeated here. Generally, the location of remotely controlled devices is relatively fixed and will not move long distances. Therefore, the monitoring period for the real-time location of the designated unmanned device can be shorter than the monitoring period for the location of the remotely controlled device.

[0087] The one or more remote control devices mentioned here can be all remote control devices whose connection keys are stored on the cloud server, or a subset of all remote control devices. Therefore, for each candidate remote control device, the control radius of each remote control device can be determined with its location as the center. Based on the location and control radius of each remote control device, the control range of that candidate remote control device can be determined. In practical applications, since different remote control devices have different capabilities in transmitting / distributing wireless signals, the control ranges of the remote control devices can be different or the same; this specification does not limit this.

[0088] Step 3: Based on the real-time location and / or travel path of the specified unmanned equipment, and the control range of each of the remote control devices, determine one or more target remote control devices from the one or more remote control devices.

[0089] For a scheme that selects a target remote control device based on the real-time location of a specified unmanned device, the specified unmanned device can only establish a communication connection with the remote control device 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 determine which of the one or more remote control devices the real-time position of a specified unmanned device falls within the control range of (for example, if the relative distance between the real-time position of the specified unmanned device and the position of a remote control device is less than the control radius of that remote control device, then the real-time position of the specified unmanned device falls within the control range of that remote control device). The one or more remote control devices corresponding to the real-time position of the specified unmanned device falling within its control range are then designated as one or more target remote control devices corresponding to the specified unmanned device. In summary, based on the relative distance between the real-time position of the specified 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 where the real-time position of the specified unmanned device falls are designated as one or more target remote control devices corresponding to the unmanned device.

[0091] For a scheme that selects a target remote control device based on the travel path of a specified unmanned device, when the travel path of the specified unmanned device passes through the control range of the remote control device, it can be considered that the specified unmanned device, while traveling along the path, will pass through the control range of the remote control device, thus enabling the specified unmanned device to establish a communication connection with the remote control device. Therefore, in this step, the remote control device corresponding to the control range traversed by the travel path can be considered as the target remote control device. 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 travel path of the specified unmanned device can be pre-planned before the specified unmanned device starts traveling, or dynamically planned after the specified unmanned device has traveled, the cloud server can monitor the travel path of the specified unmanned device in real time (or the specified unmanned device can actively report the changed path to the cloud server after the travel path changes), and thus issue the connection key of the target remote control device to the specified unmanned device based on the monitored travel path.

[0092] For schemes that select target remote control devices based on the real-time location and travel path of a specified unmanned aerial vehicle (UAV), in practical applications, there may be situations where the real-time location of the specified UAV falls within the control range of a remote control device, but the time the specified UAV spends within that control range is too short to enable remote control. Therefore, a target remote control device can be determined from one or more remote control devices based on the real-time location and travel path of the specified UAV. Specifically, based on the relative distance between the real-time location of the specified UAV and the location of each of the one or more remote control devices, the remote control devices corresponding to the control ranges where the real-time location of the specified UAV falls are identified as candidate remote control devices. Then, based on the travel path of the specified UAV, it is determined whether the location of the specified UAV within a specified time period will fall within the control range of the candidate remote control devices. If so, the candidate remote control device is selected as the target remote control device. The cloud server then sends the connection key of the target remote control device to the specified UAV. Even while the specified UAV is in motion, it can dynamically obtain the connection key without the need for pre-manual frequency pairing, thus improving the control efficiency for the specified UAV. In other words, when the designated unmanned device travels along the designated route, it will stay within the control range of the target remote control device for a certain period of time, rather than leaving after a short period of time. Thus, when the designated unmanned device and the target remote control device are connected through a designated communication method, the target remote control device can remotely control the designated unmanned device for a certain period of time, while the designated unmanned device does not need to frequently connect with the 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 unmanned device receives the connection key 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] Under normal circumstances, a designated unmanned device (UAV) can connect to one or more remote control devices via a designated communication method during a complete driving cycle. However, typically, at any given moment, the designated UAV establishes a connection with only one designated remote control device and is only remotely controlled by that device. That is, the designated UAV can switch between the remote control devices it is connected to. However, at any given moment, control of the designated UAV is only held by one designated remote control device. Therefore, in this step, the designated UAV selects a designated remote control device from among the one or more remote control devices that have issued the connection key, and establishes a communication connection with the designated remote control device in subsequent steps. Thus, the designated remote control device can control the designated UAV via the designated communication method. The method by which the designated UAV selects a designated remote control device from among the one or more remote control devices can be based on the relative distance between the designated UAV and each remote control device, the communication quality between the designated UAV and each remote control device, etc. The method of selecting a designated remote control device can be determined according to the specific application scenario, and this specification does not limit it.

[0096] One optional method for selecting a remote control device is as follows:

[0097] Based on the real-time location of the designated unmanned device and the location 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. Based on the relative distance between the designated unmanned device and each remote control device, and the signal strength corresponding to each remote control device, a communication quality index is determined for the connection between the designated unmanned device and each remote control device via the designated communication method. Based on 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 control of the designated unmanned device by the designated remote control device; conversely, the lower the communication quality, the slower the control of the designated unmanned device by the designated remote control device. Therefore, the designated remote control device can be selected from among the remote control devices based on the communication quality indicators when the designated unmanned device establishes communication connections with each remote control device separately.

[0099] Communication quality metrics (CQMs) are used to indicate the communication quality when a specified unmanned device (UAV) and a specified remote-controlled device are connected via a specified communication method. Communication quality depends on the relative distance between the two devices and the signal strength during the connection. The CQM is directly proportional to signal strength and inversely proportional to relative distance; that is, the smaller the relative distance and the stronger the signal, the higher the CQM, and vice versa.

[0100] In practical applications, to facilitate the determination of relative distances for designated unmanned devices during operation, the cloud server can send the connection keys for one or more remote control devices to the designated unmanned device, along with the locations of one or more remote control devices. Alternatively, a location acquisition module can be configured on the designated unmanned device, allowing it to obtain the locations of one or more remote control devices.

[0101] Generally, the signal strength of communication is affected by the relative distance between the remote control device and the designated unmanned device. The smaller the relative distance, the stronger the signal; conversely, the greater the relative distance, the weaker the signal. Of course, in different application scenarios, signal strength is also affected by network congestion, communication stability, and bandwidth. Generally, network congestion is related to the number of unmanned devices simultaneously connected to the remote control device. If too many unmanned devices are connected simultaneously, data / messages may have to wait a long time to be transmitted, leading to network congestion and reduced communication quality. Communication stability is affected by signal interference from other wireless devices, electronic devices, cover, weather, etc., while bandwidth generally depends on the network capacity of the remote control device as a wireless signal transmitter / distributor.

[0102] In addition, in practical applications, a signal monitoring module can be configured for the designated unmanned equipment. This module searches for remote control devices that the designated unmanned equipment can connect to in real time and monitors the signal strength of these remote control devices in real time. Based on the signal strength of the remote control devices that the designated unmanned equipment can connect to in real time, the communication quality index of each remote control device can be determined, 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 various 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, a designated unmanned device can generate a connection request based on the connection key of a designated remote control device and send the connection request to the designated remote control device. The connection request indicates that the designated unmanned device needs to establish a connection with the designated remote control device using a specified communication method, thereby facilitating remote control of the designated unmanned device. Furthermore, since a designated remote control device can connect to multiple unmanned devices simultaneously, the connection request can also include the identifier of the unmanned device. This identifier can be used to indicate which unmanned device is requesting the connection with the designated remote control device.

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

[0107] Upon receiving a connection request, the designated remote control device can parse the connection key from the request and perform a validity verification based on the connection key. This verifies that the designated unmanned device sending the connection request is a legitimate and valid security device. After successful verification, the designated remote control device can connect to the designated unmanned device via a designated communication method, which is Wi-Fi.

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

[0109] Since a designated unmanned device can only connect to one designated remote control device via a designated communication method at any given time (within the same time period), the designated remote control device can directly remotely control the designated unmanned device via the designated communication method. In this specification, the method by which the designated remote control device remotely controls the designated unmanned device is by sending control commands to the designated unmanned device. The control commands can be generated based on remote control operations. These operations can include changing the path or attitude of a specified unmanned device, or controlling the specified unmanned device to perform tasks in different scenarios. For example, in an image acquisition scenario, the specified unmanned device can capture images and videos using a configured camera; in a geological exploration and mapping scenario, the specified unmanned device can collect surface data, topographic maps, and 3D models using a configured remote sensing device, supporting geological exploration, land surveying, and environmental monitoring; in an agricultural protection scenario, the specified unmanned device can perform tasks such as farmland inspection, plant growth monitoring, pesticide and fertilizer spraying, and crop data collection using a configured camera and spraying device; in a logistics and distribution scenario, the specified unmanned device can be used for express delivery and cargo transportation; and in building and infrastructure inspection, the specified unmanned device can perform tasks such as inspecting the structure and safety of buildings, bridges, and other infrastructure using a configured target detection device.

[0110] In practical applications, the control commands sent by the 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 stored in the designated remote control device.

[0111] For a scheme that generates control commands based on remote control operations input by a user operating a designated remote control device, for example, after a connection with a designated remote control device A and a designated unmanned device B is established using a designated communication method, a user X operating the designated remote control device A can input remote control operations through the designated remote control device A. The designated remote control device A responds to the remote control operations input by user X by generating control commands and sends the control commands to the designated unmanned device B. The designated unmanned device B can then respond to the control commands by executing the corresponding operations and tasks.

[0112] For a scheme that generates control commands based on remote control tasks issued by a cloud server to a designated remote control device, for example, after a connection with a designated remote control device A and a designated unmanned device B is established using a specified communication method, user Y can input the remote control task that the designated unmanned device B needs to perform through cloud server C. Based on the connection relationship between the designated remote control device A and the designated unmanned device B, cloud server C can issue a remote control task to the designated remote control device A. The designated remote control device A generates and sends control commands based on the issued remote control task, so that the designated unmanned device B can respond to the control commands and perform the remote control task.

[0113] For a scheme that generates control commands based on preset tasks stored in a specified remote control device, for example, after a connection with a specified remote control device A and a specified unmanned device B is established using a specified communication method, the specified remote control device A can look up the preset task corresponding to the specified unmanned device B from its own preset tasks based on the identifier of the specified unmanned device B. Then, it generates and sends control commands based on the preset task, and the specified unmanned device B can respond to the control commands and execute the preset task.

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

[0115] based on Figure 2 The control method for the unmanned equipment shown involves a cloud server sending a connection key of one or more remote control devices to one or more unmanned equipments, specifying that the unmanned equipment selects a specified remote control device from the one or more remote control devices, and connects with the specified remote control device through a specified communication method based on the connection key of the specified remote control device, and the specified remote control device sends control commands to the unmanned equipment through the specified communication method.

[0116] As can be seen from the above method, this method does not require manual frequency matching before the unmanned equipment starts moving. Even if there are a large number of unmanned equipment, it can automatically connect the unmanned equipment and the designated remote control equipment through the designated communication method, thereby improving the efficiency of remote control of unmanned equipment.

[0117] In an optional embodiment of this specification, the remote control of a designated unmanned device by a designated remote control device is limited by the communication quality between the designated remote control device and the designated unmanned device via a designated communication method. Higher communication quality results in lower latency for the designated remote control device in remotely controlling the designated unmanned device, and vice versa. Therefore, when the communication quality is poor, the designated remote control device will be unable to accurately control the designated unmanned device. If the designated remote control device connected to the designated unmanned device is not replaced, the operation of the designated unmanned device will be interfered with, reducing its safety. Thus, based on such... Figure 2 The control method for the unmanned equipment shown can, when controlling the designated unmanned equipment to move, determine whether to reselect a designated remote control device for connection based on the communication quality indicators between the designated unmanned equipment and the designated remote control device currently connected via a designated communication method, as well as the communication quality indicators when the designated unmanned equipment is connected to other remote control devices via the designated communication method. This can be achieved through the following steps, such as... Figure 3 As shown:

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

[0119] and Figure 1 Similar to step S102, which selects a designated remote control device, after the designated unmanned device connects to the designated remote control device via a designated communication method, it can also monitor the communication quality index between itself and the designated remote control device in real time, using this as the first communication quality index. Since the designated unmanned device is constantly moving, the relative distance between it and the designated remote control device will change. Therefore, the designated unmanned device can monitor its relative position with the designated remote control device in real time and acquire the signal strength. Based on the real-time monitored relative position and the signal strength corresponding to the designated remote control device, the first communication quality index between the designated unmanned device and the designated remote control device is determined.

[0120] S202: Determine the second communication quality index between the designated unmanned device and each of the other remote control devices among the various remote control devices, excluding the designated remote control device.

[0121] Furthermore, in this step, the designated unmanned device can monitor the relative position between the designated unmanned device and each of the other unconnected remote control devices, and obtain the signal strength of each of the other remote control devices in real time, thereby determining each second communication quality index between the designated unmanned device and the other remote control devices (excluding the designated remote control device) in real time.

[0122] It should be noted that the scheme for determining the communication quality indicators in steps S201 and S202 is similar to that in step S102, and will not be repeated here. However, in order to promptly disconnect from the designated remote control device with poor communication quality and reconnect to the designated remote control device with better communication quality, the designated unmanned device can periodically determine the first communication quality indicator and each of the second communication quality indicators.

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

[0124] Specifically, when the first communication quality index is less than one or more of the second communication quality indices, it indicates that the communication connection quality between the designated unmanned device and the designated remote control device is not optimal. Continuing to remotely control the designated unmanned device by the designated remote control device will result in low accuracy and a high probability of abnormal situations occurring in the designated unmanned device. Therefore, it is necessary to disconnect the communication connection between the designated unmanned device and the designated remote control device in a timely manner to prevent abnormalities from occurring in the designated unmanned device.

[0125] When the first communication quality index is not less than any one of the second communication quality indices, 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 indices, it is equivalent to the first communication quality index being not less than the largest of the second communication quality indices. That is, the communication quality between the designated unmanned device and the designated remote control device connected via the designated communication method is optimal. In this case, high-precision remote control can be achieved without needing to re-determine the designated remote control device.

[0126] S206: Based on the second communication quality indicators, a designated remote control device is re-determined from the remote control devices, and a connection request is sent 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 step S102 mentioned above, and will not be repeated here.

[0128] Based on such Figure 3 The method described allows a designated unmanned device to determine whether to disconnect from a currently connected designated remote control device based on a first communication quality index and a second communication quality index. When the designated unmanned device disconnects from the designated remote control device, it can re-determine a designated remote control device from among the various remote control devices based on each of the second communication quality indices and establish a connection with it using the specified communication method. Therefore, by having the designated unmanned device initiate the switching operation with the designated remote control device, instead of having the remote control device initiate the switching, misjudgments during the switching operation can be effectively avoided. This prevents excessive delays in remote control of the designated unmanned device after the switch, thereby reducing the probability of control anomalies and improving the driving safety of the designated unmanned device.

[0129] Furthermore, in the aforementioned... Figure 3In the illustrated scheme, to establish a communication connection with the designated remote control device that offers the best communication quality, the designated unmanned device needs to monitor the relative distance between itself and each remote control device, as well as the signal strength of each remote control device, in real time. This real-time monitoring process can consume excessive communication and computing resources. To address this issue, in this specification, optionally, the cloud server sends the control range of each remote control device to the designated unmanned device. Based on the control range of the remote control devices currently connected to the designated unmanned device via a designated communication method, and the control ranges of other remote control devices, the designated unmanned device identifies candidate remote control devices whose control ranges overlap with its own. The designated unmanned device determines a first communication quality index between itself and the designated remote control devices, and a second communication quality index between itself and the candidate remote control devices. 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-designated as the designated remote control device. The designated unmanned device then establishes a connection with the newly designated remote control device using the designated communication method.

[0130] In the above optional embodiments, the determination method of the first communication quality index and the second communication quality index can refer to S102 above, and will not be repeated here. Furthermore, when determining candidate remote control devices whose control range overlaps with that 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 within the control range of the designated remote control device. When at least a portion of the control range of another remote control device falls within the control range of the designated remote control device, that 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 within the control range of the designated remote control device is determined. 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 within the overlapping range of the designated remote control device and the candidate remote control device, the designated unmanned device determines whether to switch remote control devices based on the first communication quality index and the second communication quality index.

[0131] In practical applications, there may be situations where the control ranges of various remote control devices overlap. If the remote control device is switched when there is only a small overlap, it may cause the unmanned device to frequently switch to the designated remote control device, resulting in confusion for the designated remote control device controlling the designated unmanned device and greatly reducing the driving safety of the designated unmanned device. Therefore, in the above optional embodiments, based on a pre-set proportional threshold, when the proportion of overlapping control ranges is greater than the proportional threshold, the designated unmanned device can then determine whether to switch to the designated remote control device. This reduces the number of remote control device switching while ensuring better communication quality and improves the driving safety of the designated unmanned device.

[0132] As can be seen, through the above 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 and the second communication quality indicator of the candidate remote control devices whose control ranges overlap when the control ranges overlap. This can determine whether the designated unmanned device needs to switch remote control devices, which greatly reduces the computing and communication resources consumed by the designated unmanned device due to monitoring signal strength and relative distance, and improves the efficiency of switching.

[0133] In one or more embodiments of this specification, in step S108 above, to further ensure the driving safety of the designated unmanned device, the legitimacy of the designated remote control device can be verified before the designated unmanned device responds to the control command sent by the designated remote control device. Upon successful verification, the device responds to the control command, thereby preventing an attacker from impersonating the designated remote control device to maliciously control the designated unmanned device and endanger its driving safety. To this end, the control command sent by the designated remote control device to the designated unmanned device can also carry a control key. The designated unmanned device verifies the legitimacy of the designated remote control device based on this control key before responding to the control command. Depending on the generation method of the different control commands, the method by which the designated remote control device obtains the control key also varies, specifically falling into the following two categories:

[0134] The first scenario: Control commands are generated based on remote control operations input by the user manipulating the specified remote control device. The interactive process for generating control commands is as follows: Figure 4 As shown:

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

[0136] In practical applications, a designated remote control device can dynamically and remotely control a first user's unmanned aerial vehicle (UAV) to perform operations such as path changes, attitude changes, and task execution. For a single designated remote control device, multiple designated UAVs connected to it via a designated communication method can exist simultaneously. Therefore, when a designated remote control device requests a control key from a cloud server for a designated UAV, it needs to include the identifier of the designated UAV in the remote control request. This instructs the cloud server to obtain the control key for the designated UAV based on the identifier and return it. Only when the designated remote control device gains control of the designated UAV based on the control key returned by the cloud server can the designated UAV 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, the remote control request carrying the identifier of the designated unmanned device.

[0138] S304: The cloud server obtains the control key of the designated unmanned device based on 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 remote control device is requesting to control based on the identifier. Since the cloud server pre-stores control keys for one or more available unmanned devices, if the corresponding control key for the designated unmanned device can be found in the control keys stored on the cloud server based on the identifier, then the designated unmanned device requested for remote control is legitimate and valid; otherwise, it is illegitimate and not registered with the cloud server. If the cloud server cannot find the corresponding control key for the designated unmanned device in its own stored control keys, it can return an invalid message to the designated remote control device, indicating the illegitimacy of the designated remote control device and the designated unmanned device it is connected to.

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

[0141] Generally, the cloud server sends the retrieved control key to the designated remote control device, indicating that control of the designated unmanned device has been transferred to it. The designated remote control device can then directly send control commands to control the unmanned device based on the control key. However, in practical applications, a designated unmanned device can establish connections with multiple designated remote control devices at different times (time periods) using the specified communication method. When one of the designated remote control devices requests control of the designated unmanned device from the cloud server, the cloud server needs to determine whether the designated unmanned device is being 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 it has completed the corresponding task), or send a message to the designated unmanned device to inquire whether it is being controlled by other designated remote control devices. Based on the status of the designated unmanned device and the message returned by the designated unmanned device, the cloud server determines whether to send the designated unmanned device's control key to the requesting remote control device.

[0142] S308: The designated remote control device receives the control key and generates control commands based on the control key.

[0143] Specifically, the designated remote control device can respond to remote control operations input by the user operating the designated remote control device, and generate control commands based on the remote control operations and control keys. These control commands instruct the designated unmanned device to respond to the remote control operations. Thus, when the designated unmanned device receives the control commands, it can first determine the legitimacy of the designated remote control device based on the control keys, and after verifying the legitimacy of the designated remote control device, it responds to the remote control operations in the control commands.

[0144] The second scenario: Control commands are generated based on remote control tasks issued by a cloud server. The interaction process for generating control commands is as follows: Figure 5 As shown:

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

[0146] Specifically, after establishing a connection with a designated unmanned device using a specified communication method, the designated remote control device can send its own identifier to the designated unmanned device through the specified communication method. Of course, to reduce the latency of remote control, the designated remote control device can also pre-send its own identifier to one or more unmanned devices that have not yet established a connection with it using the specified communication method, thus eliminating the need to send the identifier after establishing the connection.

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

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

[0149] A designated unmanned device can report its own identifier and the identifier of a designated remote control device connected to it via a designated communication method, thereby reporting 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 identifier and the identifier 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 based on 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 a 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] Furthermore, since a designated unmanned device can establish or disconnect communication connections with multiple designated remote control devices during operation, to allow the cloud server to better manage the connection relationships between one or more unmanned devices and one or more remote control devices, these connection relationships can be added, deleted, modified, and queried. That is, when a designated unmanned device establishes a communication connection with a designated remote control device, the designated unmanned device can report the addition / modification of the connection relationship to the cloud server; when a designated unmanned device disconnects from a 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 a designated unmanned device in real time. If an abnormal situation occurs during the driving of the designated unmanned device, the cloud server can proactively generate a remote control task based on the abnormal situation. In another scenario, the user can input a remote control task for a designated unmanned device through the cloud server. This remote control task includes path change, attitude change, and controlling the unmanned device to perform tasks in different scenarios. This remote control task is similar to the remote control operation described in S108 above, and will not be elaborated here.

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

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

[0157] S410: The designated remote control device receives the remote control task and control key sent by the cloud server, and generates control instructions based on the control key and the remote control task.

[0158] Based on the remote control task, the remote control operation carried in the control command can be determined, and the remote control operation can be combined with the control key to generate control command, so that the unmanned equipment can execute the corresponding remote control task based on the control command.

[0159] The method for generating control commands is similar to that described in S306 above, and will not be repeated here.

[0160] Based on such Figure 5 The scheme shown allows the cloud server to control the designated unmanned device based on the connection between the designated unmanned device and the designated remote control device. This is achieved by sending remote control tasks to the designated remote control device, enabling the remote control device to control the unmanned device to complete the remote control task. Therefore, this scheme expands the application scenarios for remote control devices controlling unmanned devices, allowing unmanned devices to adapt to more application scenarios and complete more diverse tasks under remote control.

[0161] In an optional embodiment of this specification, the foregoing Figure 4 and Figure 5 The illustrated schemes can be executed together. That is, the control commands sent from the designated remote control device to the designated unmanned device include both the remote control operations input by the user operating the designated remote control device and the remote control tasks for the designated unmanned device actively sent by the cloud server to the designated remote control device. In this scenario, the method by which the designated remote control device obtains the control key for the designated unmanned device can still be as follows: Figure 4The method shown is that the specified remote control device actively requests the information from the cloud server, or it can be as follows: Figure 5 The message shown is sent proactively from the cloud server to the designated task device. This can be further divided into the following two scenarios:

[0162] In the first scenario: A designated remote control device sends a remote control request carrying the identifier of a designated unmanned device to a cloud server. Based on the identifier of the designated unmanned device in the remote control request, the cloud server obtains the control key of the designated unmanned device 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. The designated remote control device generates control commands based on the remote control operation input by the user operating the designated remote control device, the remote control task, and the control key.

[0163] The second scenario: A designated unmanned device receives the identifier of a designated remote control device sent by a designated remote control device. Based on the identifiers of both the unmanned device and the remote control device, the designated unmanned device generates a message and sends it to a cloud server. The cloud server receives the message and establishes a connection based on the identifiers of the unmanned device and the remote control device parsed from the message. When the cloud server receives a 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 operating the device to input remote control operations. The designated remote control device generates control commands based on the remote control operations input by the user, the remote control task, and the control key.

[0164] The above describes one or more embodiments of the control method for unmanned equipment provided in this specification. Based on the same concept, this specification also provides corresponding control devices for unmanned equipment, such as... Figure 6 , Figure 7 and Figure 8 As 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 specifically includes:

[0166] The connection key sending module 500 is used to send the connection key 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 can determine the designated remote control device from the one or more remote control devices, and send 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, and the designated remote control device sends control commands to the designated unmanned device based on the designated communication method.

[0167] Optionally, the device further includes:

[0168] The control key sending module 502 is specifically used 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; according to the remote control request, obtain the control key of the designated unmanned device, and return the control key to the designated remote control device, so that the designated remote control device can send the control command 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 can send the control command 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 configured to: obtain the real-time location and / or driving path of the designated unmanned device; obtain the location of the one or more remote control devices, and determine the control range of each remote control device based on the location 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 location and / or driving path of the designated unmanned device and the control range of each remote control device; and send the connection key 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 an unmanned device provided in this specification. The device is applied to the unmanned device and specifically includes:

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

[0172] The designated remote control device determination module 602 is used to determine a designated remote control device from the one or more remote control devices;

[0173] The 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 can connect with 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 commands sent by the designated remote control device.

[0175] Optionally, the designated remote control device determination module 602 is specifically used for,

[0176] Based on the real-time location of the unmanned device and the location of each remote control device, the relative distance between the unmanned device and each remote control device is determined; the signal strength corresponding to each remote control device is obtained; based on the relative distance between the 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 unmanned device and each remote control device through the specified communication method is determined; based on the communication quality index, the specified remote control device is determined from the one or more remote control devices.

[0177] Optionally, there may be multiple remote control devices;

[0178] Optionally, the device further includes:

[0179] The switching module 608 is specifically used to determine a first communication quality index between the designated unmanned device and the designated remote control device; determine each second communication quality index between the designated unmanned device and other remote control devices among a plurality of remote control devices excluding the designated remote control device; disconnect the communication connection between the designated unmanned device and the designated remote control device when the first communication quality index is less than one or more of the second communication quality indices; re-determine the designated remote control device from the plurality of remote control devices according to the second communication quality indices, 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.

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

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

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

[0183] Optionally, the device further includes:

[0184] The control command generation module 704 is specifically used to send a remote control request to a cloud server, the remote control request carrying the identifier of the specified unmanned device, so that the cloud server can obtain and return the control key of the specified unmanned device according to the remote control request; receive the control key returned by the cloud server; and generate control commands according to the control key.

[0185] Optionally, the control command generation module 704 is specifically configured to send the identifier of a 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 control commands based on the control key and the remote control task.

[0186] This specification also provides a computer-readable storage medium storing a computer program that can be used to execute the above-described... Figure 2 The provided control method for unmanned equipment.

[0187] This instruction manual also provides Figure 9 The diagram shows the schematic structure of the electronic device. As described in section 9, at the hardware level, this electronic device includes a processor, an internal bus, a network interface, memory, and non-volatile memory, and may also include other hardware required for various services. The processor reads the corresponding computer program from the non-volatile memory into memory and then runs it to achieve the above-mentioned functions. Figure 2 The control method for the unmanned equipment described above. Of course, in addition to software implementation, this specification does not exclude other implementation methods, such as logic devices or a combination of hardware and software, etc. That is to say, the execution subject of the following processing flow is not limited to individual logic units, but can also be hardware or logic devices.

[0188] In the 1990s, improvements to a technology could be clearly distinguished as either hardware improvements (e.g., improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the methodology). However, with technological advancements, many methodological improvements today can be considered direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved methodology into the hardware circuit. Therefore, it cannot be said that a methodological improvement cannot be implemented using hardware physical modules. For example, a Programmable Logic Device (PLD) (such as a Field Programmable Gate Array (FPGA)) is such an integrated circuit whose logic function is determined by the user programming the device. Designers can program and "integrate" a digital system onto a PLD themselves, without needing chip manufacturers to design and manufacture dedicated integrated circuit chips. Furthermore, nowadays, instead of manually manufacturing integrated circuit chips, this programming is mostly implemented using "logic compiler" software. Similar to the software compiler used in program development, the original code before compilation must be written in a specific programming language, called a Hardware Description Language (HDL). There are many HDLs, 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, and RHDL (Ruby Hardware Description Language). Currently, the most commonly used are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should understand that by simply performing some logic programming on the method flow using one of these hardware description languages ​​and programming it into an integrated circuit, the hardware circuit implementing the logical method flow can be easily obtained.

[0189] The controller can be implemented in any suitable manner. For example, it can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicon Labs C8051F320. A memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also recognize that, in addition to implementing the controller in purely computer-readable program code form, the same functionality can be achieved by logically programming the method steps to make the controller take the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the means included therein for implementing various functions can also be considered as structures within the hardware component. Alternatively, the means for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

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

[0191] For ease of description, the above devices are described in terms of function, divided into various units. Of course, in implementing this specification, the functions of each unit can be implemented in one or more software and / or hardware components.

[0192] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied 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] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0194] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0195] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function 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] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0198] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, 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 technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0199] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0200] Those skilled in the art will understand that the embodiments of this specification can be provided as methods, systems, or computer program products. Therefore, this specification may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this specification may take the form of a computer program product embodied 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 can be described in the general context of computer-executable instructions that are executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This specification can also be practiced in distributed computing environments, where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0202] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0203] The above description is merely an embodiment of this specification and is not intended to limit this specification. Various modifications and variations can be made to this specification by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of the claims of this specification.

Claims

1. A control system for an unmanned device, 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 configured 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; and receive and respond to control commands sent by the designated remote control device. The designated remote control device is used to connect with the designated unmanned device through the designated communication method according to the connection key carried in the connection request; and to send the control command to the designated unmanned device based on the designated communication method. The designated unmanned device is further configured to receive the identifier of the designated remote control device; generate a message based on 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 also used to receive messages sent by the designated unmanned device, 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; and 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. The designated remote control device is further configured 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 command based on the control key and the remote control task.

2. The system as described in claim 1, characterized in that, There are multiple remote control devices; The designated unmanned device is further configured to: determine a first communication quality index between the designated unmanned device and the designated remote control device, and respectively determine a second communication quality index between the designated unmanned device and other remote control devices besides the designated remote control device; disconnect the communication connection between the designated unmanned device and the designated remote control device when the first communication quality index is less than one or more of the second communication quality indices; re-determine a designated remote control device from the remote control devices according to the second communication quality indices, 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.

3. The control system as described in claim 1, characterized in that, The cloud server is also 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 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. The designated remote control device is also used to send the remote control request to the cloud server; receive the control key, and generate the control command based on the control key.

4. A control method for unmanned equipment, characterized in that, The method is applied to a cloud server, and the method includes: Send the connection key 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 can determine the designated remote control device from the one or more remote control devices, and send 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 control commands to the designated unmanned device based on the designated communication method; The system receives a message sent by the designated unmanned device and establishes a connection 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, the system sends the remote control task and the control key of the designated unmanned device to the designated remote control device based on the connection, so that the designated remote control device sends the control command to the designated unmanned device based on the remote control task and the control key.

5. The method as described in claim 4, characterized in that, Sending the connection key of one or more remote control devices to one or more unmanned devices specifically includes: Obtain the real-time location and / or travel path of the specified unmanned device; The location of the one or more remote control devices is obtained, and the control range of each remote control device is determined based on the location of the one or more remote control devices; Based on the real-time location and / or travel path of the specified unmanned equipment, and the control range of each of the remote control devices, determine one or more target remote control devices from the one or more remote control devices; Send the connection key of the one or more target remote control devices to the designated unmanned device.

6. A control method for unmanned equipment, characterized in that, The method is applied to unmanned equipment, and the method includes: Receive connection keys for one or more remote control devices sent by the cloud server; Determine the specified remote control device from the one or more remote control devices; Based on the connection key of the designated remote control device, a connection request is sent to the designated remote control device, so that the designated remote control device can connect with the unmanned device through a designated communication method according to the connection request; Responding to the control commands sent by the designated remote control device; Receive the identifier of the designated remote control device; A message is generated based on the identifier of the designated unmanned device and the identifier of the designated remote control device, and the message is sent to the cloud server. The cloud server is configured to: receive the message sent by the designated unmanned device; establish a connection between the designated unmanned device and the designated remote control device based on the identifiers of the designated unmanned device and the designated remote control device carried in the message; and 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.

7. The method as described in claim 6, characterized in that, The step of determining the designated remote control device from the one or more remote control devices specifically includes: The relative distance between the unmanned device and each of the remote control devices is determined based on the real-time location of the unmanned device and the location of each remote control device. Obtain the signal strength corresponding to each of the remote control devices; Based on 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, the communication quality index of the unmanned device and each of the remote control devices connected through the specified communication method is determined; The designated remote control device is determined from the one or more remote control devices based on the communication quality indicators.

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