Unmanned device for hybrid communication, hybrid communication method and storage medium

Abstract

The embodiment of the invention discloses unmanned equipment for hybrid communication, a hybrid communication method and a storage medium, and relates to the technical field of equipment control. The unmanned equipment for hybrid communication comprises an equipment controller used for sending a control instruction; the wireless sensing assembly is in wireless connection with the equipment controller and is used for sending a sensing signal to the equipment controller in a wireless communication mode; and the wired controlled assembly is connected with the equipment controller through a power line and is used for receiving the control instruction sent by the equipment controller through the power line and executing the control instruction. According to the technical scheme, the sensing signal is obtained through the wireless sensing assembly, high-speed transmission of the sensing signal in the moving process of the unmanned equipment can be achieved, the control signal is transmitted to the wired controlled assembly through the power line, and moving of the unmanned equipment, spraying of the load equipment and work of battery control can be completed; and meanwhile, the layout and maintenance cost of hardware is reduced.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of device control technology, and in particular to an unmanned hybrid communication device, a hybrid communication method, and a storage medium. Background Art

[0002] With the development of mobile device technology, its application scenarios are increasing and its functions are also diverse. For example, in the field of smart agriculture, farmland operations such as sowing, spraying pesticides and crop detection through drones or unmanned vehicles have been favored by the majority of agricultural users due to their advantages of no manual operation and easy control.

[0003] At present, each module of unmanned equipment uses power lines for power supply and signal lines for signal transmission. The use of power lines and signal lines at the same time makes the wiring of unmanned equipment complicated, which greatly increases the production cost. Moreover, when the unmanned equipment fails or crashes accidentally, the internal cables of the unmanned equipment are prone to damage, and the complex wiring also greatly increases the maintenance cost of the unmanned equipment. Therefore, how to ensure the communication quality of unmanned equipment and simplify the wiring of unmanned equipment is a technical problem that needs to be solved urgently by technicians in this field. Summary of the invention

[0004] The embodiments of the present invention provide a hybrid communication unmanned device, a hybrid communication method and a storage medium, which aims to solve the problem that the wiring of the unmanned device is complicated, the assembly cost is high, and the subsequent maintenance and repair work will also be affected. This solution eliminates the signal line, simplifies the line and reduces the cost while ensuring the communication quality between the components of the unmanned device.

[0005] In a first aspect, an embodiment of the present invention provides an unmanned device for hybrid communication, the unmanned device comprising:

[0006] A device controller, used to issue control instructions;

[0007] A wireless sensing component is wirelessly connected to the device controller and is used to send a sensing signal to the device controller via wireless communication;

[0008] The wired controlled component is connected to the device controller via a power line, and is used to receive control instructions issued by the device controller via the power line and execute the control instructions.

[0009] In a second aspect, an embodiment of the present invention further provides a hybrid communication method, the method comprising:

[0010] receiving sensing signals through wireless communication and generating control instructions;

[0011] According to the wired controlled component corresponding to the control instruction, a control instruction is issued to the power line using a transmission frequency corresponding to the receiving frequency of the wired controlled component, so as to transmit the control instruction to the wired controlled component through the power line; wherein the wired controlled component includes at least one of a first controlled component, a second controlled component and a third controlled component; the receiving frequency of the first controlled component is a first frequency, the receiving frequency of the second controlled component is a second frequency, and the receiving frequency of the third controlled component is a third frequency.

[0012] In a third aspect, an embodiment of the present invention further provides a storage medium storing computer executable instructions, wherein the computer executable instructions, when executed by a computer processor, are used to execute the unmanned device for hybrid communication described in the embodiment of the present invention.

[0013] In the embodiment of the present invention, the device controller is used to issue control instructions; the wireless sensing component is connected to the device controller by wireless, and is used to send a sensing signal to the device controller by wireless communication; the wired controlled component is connected to the device controller by a power line, and is used to receive the control instructions issued by the device controller through the power line and execute the control instructions. In this solution, the sensing signal is obtained by the wireless sensing component, and the sensing signal can be transmitted at a high speed during the movement of the unmanned equipment. The control signal is transmitted to the wired controlled component through the power line, and the movement of the unmanned equipment, the spraying of the load equipment, and the control of the battery can be completed, while reducing the hardware deployment and maintenance costs. . BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A schematic diagram of the structure of an unmanned device with hybrid communication provided in the first embodiment of the present invention;

[0015] Figure 2 A schematic diagram of the structure of an unmanned device with hybrid communication provided in the second embodiment of the present invention;

[0016] Figure 3 A schematic diagram of the structure of an unmanned device with hybrid communication provided in Embodiment 3 of the present invention;

[0017] Figure 4 A flow chart of a hybrid communication method provided in accordance with a fourth embodiment of the present invention. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0019] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0020] The hybrid communication unmanned equipment provided by the embodiment of the present application is described in detail below through specific embodiments and their application scenarios in conjunction with the accompanying drawings.

[0021] Embodiment 1

[0022] Figure 1 This is a schematic diagram of the structure of an unmanned device with hybrid communication provided in the first embodiment of the present invention. Figure 1 As shown, the hybrid communication unmanned equipment includes:

[0023] The device controller 110 is used to issue control instructions;

[0024] A wireless sensing component 120 is wirelessly connected to the device controller and is used to send a sensing signal to the device controller via wireless communication;

[0025] The wired controlled component 130 is connected to the device controller via a power line, and is used to receive control instructions issued by the device controller via the power line and execute the control instructions.

[0026] This application is applicable to scenarios where unmanned equipment is used for watering, applying pesticides, sowing seeds, etc. Specifically, the issuance and execution of control instructions can be performed by unmanned equipment, which sprays water, pesticides, seeds, etc., to meet the needs of farmers and improve agricultural production efficiency.

[0027] Based on the above usage scenarios, it can be understood that the executor of the present application can be the unmanned equipment, which can be but is not limited to a drone or an unmanned vehicle.

[0028] The device controller 110 is used to issue control instructions.

[0029] The device controller of a drone can be the master controller of the drone. The master controller is the key control unit of the drone. It is generally an embedded system that contains components such as a processor (such as a microcontroller or microprocessor), memory, and input / output interfaces. The main function of the master controller is to receive instructions from the remote control or ground station, and calculate and generate corresponding control signals to control the motors, servos, and other actuators of the drone. The master controller is also responsible for processing data from various sensors, performing tasks such as flight attitude stabilization, navigation calculations, and flight mode switching.

[0030] The device controller of the unmanned vehicle can be an onboard computer. The onboard computer is the core control unit of the unmanned vehicle, which is generally a high-performance embedded computer with powerful processing power and storage capacity. The onboard computer is responsible for receiving and processing sensor data, executing navigation algorithms, perception algorithms and control algorithms to achieve autonomous driving and task execution of the unmanned vehicle.

[0031] The control instruction may be a computer instruction for controlling the unmanned device to move or perform a task, which is received and executed by the wired controlled component. The device controller sends the control instruction to the wired controlled component through the power line.

[0032] The wireless sensing component 120 is connected to the device controller via a wireless connection, and is used to send a sensing signal to the device controller via wireless communication.

[0033] The wireless sensing component may include a radar and an FPV (First Person View) camera, etc. The sensing signal may include a radar signal collected by the radar and an image / video signal collected by the FPV camera, etc.

[0034] Radar is a technology that uses radio waves for detection and measurement. Radar systems transmit radio waves and receive their reflected signals to obtain the position, speed, direction and other characteristic information of target objects. They are widely used in aviation, military, meteorology, navigation and transportation to detect and track objects and measure distance, speed and direction. Radar systems are generally composed of transmitters, antennas, receivers and signal processors. The transmitter is responsible for generating and sending radio wave pulses; the antenna is used to transmit and receive radio waves; the receiver receives the radio wave signals reflected from the target object; the signal processor processes and analyzes the received signals to extract information about the target object.

[0035] An FPV camera is a camera designed for drones and remote-controlled aircraft to provide a real-time first-person perspective of the flying object. FPV cameras can transmit images to ground display devices in real time through wireless video transmission technology; FPV cameras generally have a small and lightweight design to adapt to the weight and size requirements of drones and other remote-controlled aircraft, which can reduce the impact on aircraft performance and control; FPV cameras generally have a wide viewing angle to increase the pilot's field of view during flight, which helps to improve flight safety and control flexibility.

[0036] Wireless connection allows large amounts of data to be transmitted through wireless signals without physical connection to meet high-bandwidth, low-latency communication needs. Common high-speed wireless communication technologies include Wi-Fi, 4G / 5G mobile communications, WiMAX, and millimeter wave communications. Wi-Fi (Wireless Fidelity, wireless local area network) technology uses radio waves to transmit data over a short distance, providing high-speed wireless network access and supporting multiple devices to connect at the same time; 4G / 5G mobile communication technology provides high-speed mobile data transmission capabilities, using cellular networks and radio signals to cover a wide area; WiMAX (Worldwide Interoperability for Microwave Access) is a broadband wireless access technology that transmits data over a large range through microwave signals, which can achieve high-speed data transmission and cover a larger area; millimeter wave communications use higher-frequency millimeter wave band radio waves for communication, with extremely high data transmission rates and bandwidth.

[0037] The wireless sensing component converts the sensing signal into radio waves, which are radiated by the antenna and propagate in space.

[0038] The wired controlled component 130 is connected to the device controller via a power line, and is used to receive control instructions issued by the device controller via the power line and execute the control instructions.

[0039] Power lines are lines used to transmit electricity, which can provide power supply to device controllers and wired controlled components and transmit control instructions. Wired controlled components receive carrier signals transmitted on power lines, demodulate the carrier signals, and restore the carrier signals to the original control instructions.

[0040] The wired controlled component may include a first controlled component, a second controlled component and a third controlled component. The first controlled component executes a control instruction to control the running speed of the mobile motor to control the movement of the unmanned device; the second controlled component executes a control instruction to control the working state of the load device; and the third controlled component executes a control instruction to control the number and power of connected batteries.

[0041] In the example of the present application, the device controller is used to issue control instructions; the wireless sensing component is connected to the device controller by wireless, and is used to send a sensing signal to the device controller by wireless communication; the wired controlled component is connected to the device controller by a power line, and is used to receive the control instructions issued by the device controller through the power line and execute the control instructions. This technical solution obtains the sensing signal through the wireless sensing component, and can achieve high-speed transmission of the sensing signal during the movement of the unmanned equipment. The control signal is transmitted to the wired controlled component through the power line, and the movement of the unmanned equipment, the spraying of the load equipment, and the control of the battery can be completed, while reducing the hardware deployment and maintenance costs.

[0042] Embodiment 2

[0043] Figure 2 This is a structural diagram of a hybrid communication unmanned device provided in Example 2 of the present application. This solution has made better improvements on the basis of the above-mentioned embodiments, and the specific improvements are as follows: the wired controlled component includes: a first controlled component for receiving movement control instructions, controlling the running speed of the mobile motor, so as to control the movement of the unmanned device; and / or, a second controlled component for receiving load control instructions, controlling the working state of the load device; and / or, a third controlled component for receiving power control instructions, controlling the number of connected batteries and the connected power.

[0044] like Figure 2 As shown, the hybrid communication unmanned equipment includes:

[0045] The device controller 210 is used to issue control instructions;

[0046] A wireless sensing component 220 is wirelessly connected to the device controller and is used to send a sensing signal to the device controller via wireless communication;

[0047] The wired controlled component 230 is connected to the device controller via a power line, and is used to receive control instructions issued by the device controller via the power line and execute the control instructions.

[0048] Wherein, the wired controlled component includes:

[0049] The first controlled component 2301 is used to receive the movement control instruction and control the running speed of the movement motor to control the movement of the unmanned equipment;

[0050] and / or,

[0051] The second controlled component 2302 is used to receive a load control instruction and control the working state of the load device;

[0052] and / or,

[0053] The third controlled component 2303 is used to receive power control instructions and control the number and power of connected batteries.

[0054] The first controlled component is mainly composed of a motor controller. A motor controller is a device used to control the speed and operation of a motor. It controls the speed and operation of the motor by adjusting parameters such as the voltage, current or frequency of the motor. Common motor controllers include voltage controllers, frequency controllers, and pulse width modulation controllers.

[0055] The movement control instruction can be a computer instruction for controlling the flight speed and flight direction of the unmanned device. The first controlled component receives the carrier signal transmitted on the power line, demodulates the carrier signal, and restores the carrier signal to the original movement control instruction. The motor controller executes the movement control instruction to control the motor speed of the motor controller, thereby realizing the movement control of the unmanned device.

[0056] In this technical solution, optionally, the first controlled component includes four motor regulators:

[0057] The first controlled component is specifically used for:

[0058] Receive movement control instructions for flight speed and / or flight direction, control the motor speeds of the four motor controllers, and control the movement of the unmanned equipment.

[0059] The flight speed may be the speed at which the unmanned device is traveling in the air, and the unit may be meters per second (m / s). The flight direction may be the direction in which the unmanned device is facing in the air.

[0060] The motor speed can be the speed at which the motor rotates, that is, the number of complete revolutions per minute, in revolutions. The voltage regulator controls the motor speed by adjusting the input voltage to the motor; the frequency regulator controls the motor speed by adjusting the input frequency to the motor; and the pulse width modulation regulator controls the motor speed by changing the pulse width of the motor power supply.

[0061] Each motor is installed on a rotor of the unmanned equipment, and the unmanned equipment may include four rotors. By increasing or decreasing the speed of the four motors, the unmanned equipment can be raised and lowered; by adjusting the speed difference between the left and right motor groups, the unmanned equipment can be moved left and right; by adjusting the speed difference between the front and rear motor groups, the unmanned equipment can be moved forward and backward; by adjusting the speed difference between the diagonal motor groups, the unmanned equipment can be rotated. By increasing or decreasing the speed difference of the motors, the unmanned equipment can be accelerated and decelerated.

[0062] The advantage of this arrangement of the present invention is that by controlling the motor speeds of the four motor controllers, the mobile unmanned equipment can be controlled so that water, pesticides, seeds, etc. can be evenly and comprehensively covered on the farmland.

[0063] The second controlled component may be composed of a water pump and a sprinkler. The load control instruction may be a computer instruction for controlling the unmanned device to start or stop spraying water. The second controlled component receives the carrier signal transmitted on the power line, demodulates the carrier signal, and restores the carrier signal to the original load control instruction. The water pump and sprinkler execute the load control instruction and start or stop spraying water.

[0064] In the technical solution, optionally, the second controlled component includes a water spraying system consisting of at least one set of water pumps and sprinklers;

[0065] The second controlled component is specifically used for:

[0066] Receive a load control instruction and control at least one water spraying system of the load water tank to start spraying water and / or stop spraying water.

[0067] A water pump is a mechanical device used to transport liquids. It converts energy into kinetic energy through a mechanical or electrical power source, thereby increasing the pressure or velocity of the liquid, enabling the liquid to be transported, lifted or circulated through a pipe or piping system. A water pump includes key components such as a shaft, an impeller, an inlet and an outlet, and seals and sealing devices. The shaft of a water pump is the rotating part that connects the power source and the impeller. The power source transfers energy to the impeller through the shaft to drive the flow of the liquid; the impeller is the rotating part of the water pump, which is composed of a set of blades. When the impeller rotates, the liquid is sucked in from the inlet by centrifugal force or suction and discharged by pressure or centrifugal force; the water pump has inlet and outlet connections for introducing and discharging liquid through a pipe or piping system. The inlet is where the liquid enters the water pump, and the outlet is where the liquid leaves the water pump; the water pump has a sealing device to prevent liquid from leaking or entering the mechanical parts of the water pump.

[0068] A nozzle is a device used to spray liquid or gas, commonly used in spraying, misting, irrigation, cleaning, and coating, etc. It achieves a specific spraying effect by controlling the flow, pressure, and spray pattern of the liquid or gas. The nozzle includes key components such as nozzles, inlet and outlet connections, adjustment devices, and frameworks or support structures. The nozzle is responsible for spraying liquid or gas onto the target surface. It has a specific aperture and shape, and can control the spray flow, spray angle, and spray form. The nozzle has inlet and outlet connections for introducing liquid or gas and spraying it out. The nozzle can have an adjustment device for adjusting the spray flow, pressure, and spray pattern. The nozzle has a framework or support structure so that it can be stably installed in the desired position to achieve precise spraying.

[0069] A load tank is a container used to store and transport water or other liquids.

[0070] The water spray system switches to the start water spraying state, the water pump in the water spray system sucks the liquid in the load water tank from the water pump inlet to the nozzle, and the nozzle sprays the liquid outside the unmanned equipment; the water spray system switches to the stop water spraying state, the water pump and nozzle stop working, and the inlet and outlet are closed.

[0071] The advantage of such a configuration of the present solution is that by controlling at least one water spraying system of the load water tank to start spraying water and / or stop spraying water, it is possible to accurately control whether a certain area is irrigated, fertilized or sprayed with pesticides.

[0072] In this technical solution, optionally, the second controlled component further includes: a liquid level sensor;

[0073] The second controlled component is further specifically used for:

[0074] The liquid level acquisition instruction is received, and the liquid level sensor of the load water tank is controlled to work so as to obtain the liquid level information in the load water tank and feed it back to the device controller.

[0075] The liquid collection instruction can be a computer instruction for controlling the liquid sensor to collect liquid information of the load water tank. The second controlled component receives the carrier signal transmitted on the power line, demodulates the carrier signal, and restores the carrier signal to the original liquid level collection instruction. The liquid sensor executes the liquid level collection instruction and starts to detect the liquid level.

[0076] The liquid level information refers to the height of the liquid, and may also be the remaining liquid amount calculated based on the liquid height and the size information of the load water tank.

[0077] A liquid level sensor is a device used to detect the height or level of a liquid (such as water, oil, and chemical liquids). Common liquid level sensors include float level sensors, pressure level sensors, capacitive level sensors, ultrasonic level sensors, and vibrating wire level sensors. The float type liquid level sensor uses a float or a floating ball to float on the surface of the liquid. The liquid level is determined by measuring the change in the float position. The float is connected to the sensor body. The sensor outputs the corresponding liquid level signal by detecting the change in the float position. The pressure type liquid level sensor uses the change in liquid pressure to determine the liquid level. The sensor infers the liquid level by measuring the pressure above or below the liquid surface. The capacitive liquid level sensor uses the change in capacitance to measure the liquid level. The sensor has electrodes or capacitor plates. When the liquid contacts the electrodes or capacitor plates, the capacitance value changes, thereby inferring the liquid level. The ultrasonic liquid level sensor determines the liquid level by emitting ultrasonic pulses and measuring their echo time. The sensor emits ultrasonic pulses, and when the pulses encounter the liquid surface, they are reflected. The sensor calculates the liquid level by measuring the round-trip time of the ultrasonic wave. The vibrating string type liquid level sensor uses a vibrating string suspended in the liquid to measure the liquid level. When the liquid level changes, the resonant frequency or vibration characteristics of the vibrating string change. The sensor determines the liquid level by measuring these changes.

[0078] After collecting the liquid level information, the liquid level sensor sends the liquid level information to the equipment controller through the power line.

[0079] The advantage of this arrangement of the present solution is that the liquid level information in the load water tank is obtained through the liquid level sensor and fed back to the equipment controller, which can help the equipment controller determine the time to issue the load control instruction and achieve precise control of the liquid spraying amount.

[0080] The third controlled component consists of multiple batteries. A battery is a device that can convert chemical energy into electrical energy. When the battery is connected to an external circuit, a chemical reaction occurs inside the battery, causing electrons to flow, thereby generating electrical energy.

[0081] The power control instruction may be a computer instruction for controlling the number and power of connected batteries. The third controlled component receives the carrier signal transmitted on the power line, demodulates the carrier signal, and restores the carrier signal to the original power control instruction, connecting or disconnecting one or more batteries.

[0082] The access quantity refers to the number of batteries connected to the circuit in the current third controlled component. The access power refers to the total power output of the entire third controlled component at present, in watts (W). The larger the access quantity, the higher the access power.

[0083] The number of connections depends on the liquid level information of the load water tank. When the liquid level is high, that is, the mass of the load water tank is heavy, a higher connection power can enable the unmanned device to fly normally. When the liquid level is low, that is, the mass of the load water tank is light, a lower connection power can ensure the normal flight of the unmanned device while saving electricity and cost.

[0084] In this technical solution, optionally, the third controlled component is specifically used to:

[0085] Receive power control instructions, control the connection or disconnection of at least one battery, and control the number and power of connected batteries.

[0086] When the switch connecting the battery and the circuit is closed, the battery is connected to the circuit; when the switch connecting the battery and the circuit is opened, the battery is disconnected from the circuit.

[0087] When the power control instruction is executed, at least one battery is connected to the circuit and the connected power increases; when the power control instruction is executed, at least one battery is disconnected from the circuit and the connected power decreases.

[0088] The benefit of this arrangement of the present invention is that by controlling the connection or disconnection of at least one battery, the number of connected batteries and the connected power can be controlled, thereby simultaneously meeting the two requirements of supporting the normal flight of unmanned equipment and saving electric energy.

[0089] In this embodiment, by controlling the first controlled component, the second controlled component and the third controlled component, the tasks of moving unmanned equipment, spraying liquid on load equipment and controlling batteries can be completed.

[0090] Embodiment 3

[0091] Figure 3This is a structural diagram of a hybrid communication unmanned device provided in Example 3 of the present application. This solution has made better improvements on the basis of the above embodiments, and the specific improvements are as follows: the wired controlled component includes: the device controller is connected to the power line through a first signal coupling circuit, and is used to issue a mobile control instruction through the first signal coupling circuit using a first frequency; the first controlled component is connected to the power line through a second signal coupling circuit, and is used to receive a mobile control instruction of the first frequency through the second signal coupling circuit; the device controller is connected to the power line through a third signal coupling circuit, and is used to issue a load control instruction through the third signal coupling circuit using a second frequency; the second controlled component is connected to the power line through a fourth signal coupling circuit, and is used to receive a load control instruction of the second frequency through the fourth signal coupling circuit; the device controller is connected to the power line through a fifth signal coupling circuit, and is used to issue a power control instruction through the fifth signal coupling circuit using a third frequency; the third controlled component is connected to the power line through a sixth signal coupling circuit, and is used to receive a power control instruction of the third frequency through the sixth signal coupling circuit.

[0092] like Figure 3 As shown, the wired controlled component includes: the device controller is connected to the power line through a first signal coupling circuit, and is used to issue a movement control instruction through the first signal coupling circuit using a first frequency; the first controlled component is connected to the power line through a second signal coupling circuit, and is used to receive a movement control instruction of the first frequency through the second signal coupling circuit; the device controller is connected to the power line through a third signal coupling circuit, and is used to issue a load control instruction through the third signal coupling circuit using a second frequency; the second controlled component is connected to the power line through a fourth signal coupling circuit, and is used to receive a load control instruction of the second frequency through the fourth signal coupling circuit; the device controller is connected to the power line through a fifth signal coupling circuit, and is used to issue a power control instruction through the fifth signal coupling circuit using a third frequency; the third controlled component is connected to the power line through a sixth signal coupling circuit, and is used to receive a power control instruction of the third frequency through the sixth signal coupling circuit.

[0093] The high-speed / low-latency wireless communication module of the wireless sensing component sends a sensing signal to the device controller through the antenna. The high-speed / low-latency wireless communication module of the device controller receives the sensing signal from the wireless sensing component through the antenna, thereby realizing high-speed / low-latency transmission of the sensing signal.

[0094] A coupled circuit is a configuration that connects two or more circuits together through electromagnetic or capacitive coupling.

[0095] Control commands are transmitted on the power line in the form of carrier signals. Carrier signals are high-frequency signals used to transmit information in communication systems. During transmission, lower-frequency carrier signals can be less attenuated and distorted, so they can maintain better signal integrity over longer transmission distances, which can reduce the need for retransmission or error correction, thereby reducing transmission delays. Lower-frequency carrier signals also require less bandwidth during transmission, which means higher transmission speeds.

[0096] The medium-speed / low-latency wireless communication module of the device controller converts the mobile control instruction into a carrier signal form, the first coupling circuit transmits the above carrier signal to the power line, the power line transmits the carrier signal to the second coupling circuit, the medium-speed / low-latency wireless communication module of the first controlled component receives the carrier signal from the second coupling circuit and demodulates it into the original mobile control instruction, and executes the mobile control instruction. Among them, the carrier signal form of the mobile control instruction adopts a first frequency, that is, a lower frequency, such as 150MHz.

[0097] The low-speed / low-latency wireless communication module of the device controller converts the load control instruction into a carrier signal form, the third coupling circuit transmits the above carrier signal to the power line, the power line transmits the carrier signal to the fourth coupling circuit, the low-speed / low-latency wireless communication module of the second controlled component receives the carrier signal from the fourth coupling circuit and demodulates it into the original load control instruction, and executes the load control instruction. Among them, the carrier signal form of the load control instruction adopts the second frequency, that is, the medium frequency, such as 433MHz.

[0098] The low-speed / high-latency wireless communication module of the device controller converts the power control instruction into a carrier signal form, the fifth coupling circuit transmits the above carrier signal to the power line, the power line transmits the carrier signal to the sixth coupling circuit, the medium-speed / low-latency wireless communication module of the third controlled component receives the carrier signal from the sixth coupling circuit and demodulates it into the original power control instruction, and executes the power control instruction. Among them, the carrier signal form of the power control instruction adopts the third frequency, that is, a higher frequency, such as 915MHz.

[0099] The advantage of this arrangement of the present solution is that by using signals of different frequencies to transmit control instructions, signal blocking can be avoided, and independent communication can be achieved between the device controller and each controlled component.

[0100] Embodiment 4

[0101] Figure 4 A flow chart of a hybrid communication method provided by Embodiment 4 of the present invention. Figure 4 As shown, the specific steps include:

[0102] S401, receiving a sensing signal via wireless communication and generating a control instruction.

[0103] S402, according to the wired controlled component corresponding to the control instruction, use a transmission frequency corresponding to the receiving frequency of the wired controlled component to send a control instruction to the power line, so as to transmit the control instruction to the wired controlled component through the power line; wherein the wired controlled component includes at least one of a first controlled component, a second controlled component and a third controlled component; the receiving frequency of the first controlled component is a first frequency, the receiving frequency of the second controlled component is a second frequency, and the receiving frequency of the third controlled component is a third frequency.

[0104] In the example of the present application, a sensing signal is received by wireless communication, and a control instruction is generated; according to the wired controlled component corresponding to the control instruction, a control instruction is issued to the power line using a transmission frequency corresponding to the receiving frequency of the wired controlled component, so as to transmit the control instruction to the wired controlled component through the power line; wherein the wired controlled component includes at least one of a first controlled component, a second controlled component and a third controlled component; the receiving frequency of the first controlled component is a first frequency, the receiving frequency of the second controlled component is a second frequency, and the receiving frequency of the third controlled component is a third frequency. This technical solution can achieve precise control of the movement of unmanned equipment by acquiring sensing signals through wireless sensing components, and can complete the movement of unmanned equipment, spraying of load equipment and control of batteries by transmitting control signals to wired controlled components through power lines, thereby meeting the needs of farmers and improving the production efficiency of crops.

[0105] The hybrid communication method provided in the embodiment of the present application corresponds to the unmanned hybrid communication device provided in the above embodiment, and has the same functional modules and beneficial effects. To avoid repetition, they will not be repeated here.

[0106] Embodiment 5

[0107] Embodiment 5 of the present invention provides a storage medium including computer executable instructions, which may be stored in the form of a server application. When the computer executable instructions are executed by a computer processor, they are used to execute a hybrid communication method, the method comprising:

[0108] receiving sensing signals through wireless communication and generating control instructions;

[0109] According to the wired controlled component corresponding to the control instruction, a control instruction is issued to the power line using a transmission frequency corresponding to the receiving frequency of the wired controlled component, so as to transmit the control instruction to the wired controlled component through the power line; wherein the wired controlled component includes at least one of a first controlled component, a second controlled component and a third controlled component; the receiving frequency of the first controlled component is a first frequency, the receiving frequency of the second controlled component is a second frequency, and the receiving frequency of the third controlled component is a third frequency.

[0110] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises one..." does not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the method and device in the embodiment of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0111] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal (which can be a mobile device, mobile phone, computer, server or network device, etc.) to execute the methods described in each embodiment of the present application.

[0112] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A hybrid communication unmanned device, characterized in that: The unmanned equipment includes: A device controller for issuing control instructions; A wireless sensing component is wirelessly connected to the device controller and is used to send a sensing signal to the device controller via wireless communication; The wired controlled component is connected to the device controller via a power line, and is used to receive control instructions issued by the device controller via the power line and execute the control instructions.

2. The hybrid communication unmanned device according to claim 1, characterized in that: The wired controlled component comprises: The first controlled component is used to receive the movement control instruction and control the running speed of the movement motor to control the movement of the unmanned equipment; and / or, The second controlled component is used to receive the load control instruction and control the working state of the load device; and / or, The third controlled component is used to receive power control instructions and control the number and power of connected batteries.

3. The hybrid communication unmanned device according to claim 2, characterized in that: The first controlled component includes four motor regulators: The first controlled component is specifically used for: Receive movement control instructions for flight speed and / or flight direction, control the motor speeds of the four motor controllers, and control the movement of the unmanned equipment.

4. The hybrid communication unmanned device according to claim 2, characterized in that: The second controlled component includes a water spray system consisting of at least one set of water pumps and sprinklers; The second controlled component is specifically used for: Receive a load control instruction and control at least one water spraying system of the load water tank to start spraying water and / or stop spraying water.

5. The hybrid communication unmanned device according to claim 4, characterized in that: The second controlled component further includes: a liquid level sensor; The second controlled component is further specifically used for: The liquid level acquisition instruction is received, and the liquid level sensor of the load water tank is controlled to work so as to obtain the liquid level information in the load water tank and feed it back to the device controller.

6. The hybrid communication unmanned device according to claim 2, characterized in that: The third controlled component is specifically used for: Receive power control instructions, control the connection or disconnection of at least one battery, and control the number and power of connected batteries.

7. The hybrid communication unmanned device according to claim 2, characterized in that: The device controller is connected to the power line via a first signal coupling circuit, and is used to issue a movement control instruction using a first frequency via the first signal coupling circuit; A first controlled component is connected to the power line via a second signal coupling circuit, and is used to receive a movement control instruction of a first frequency via the second signal coupling circuit; The device controller is connected to the power line via a third signal coupling circuit, and is used to issue a load control instruction using a second frequency via the third signal coupling circuit; a second controlled component, connected to the power line via a fourth signal coupling circuit, and configured to receive a load control instruction of a second frequency via the fourth signal coupling circuit; The device controller is connected to the power line via a fifth signal coupling circuit, and is used to issue a power control instruction using a third frequency via the fifth signal coupling circuit; The third controlled component is connected to the power line through a sixth signal coupling circuit, and is used to receive a power control instruction of a third frequency through the sixth signal coupling circuit.

8. The hybrid communication unmanned device according to claim 1, characterized in that: The wireless sensing component is arranged at the head position of the unmanned device, and the distance between the wireless sensing component and the device controller is less than a set distance.

9. A hybrid communication method, characterized in that: The method is performed by an unmanned device of hybrid communication according to any one of claims 1 to 8; the method comprises: receiving sensing signals through wireless communication and generating control instructions; According to the wired controlled component corresponding to the control instruction, a control instruction is issued to the power line using a transmission frequency corresponding to the receiving frequency of the wired controlled component, so as to transmit the control instruction to the wired controlled component through the power line; wherein the wired controlled component includes at least one of a first controlled component, a second controlled component and a third controlled component; the receiving frequency of the first controlled component is a first frequency, the receiving frequency of the second controlled component is a second frequency, and the receiving frequency of the third controlled component is a third frequency.

10. A storage medium storing computer executable instructions, wherein the computer executable instructions are used to perform the hybrid communication method of claim 9 when executed by a computer processor.

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