Unmanned aerial vehicle remote control system based on remote control signal identification

Abstract

The invention discloses an unmanned aerial vehicle remote control system based on remote control signal identification, relates to the technical field of unmanned aerial vehicle remote control, and solves the technical problem that detection cannot be performed according to two stages of unmanned aerial vehicle remote control attitude conversion in the prior art. Marking a remote control object, and determining and analyzing a flight route to obtain a high-frequency remote control time period and a low-frequency remote control time period; the route remote control change detection unit is used for detecting route remote control change and generating a remote control change interference signal or a remote control change normal signal in the current flight process according to detection; the flight detection unit performs flight detection on the remote control object and determines whether the remote control object is remotely controlled according to flight monitoring; and the flight attitude control unit performs real-time remote control detection on a remote control object.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle (UAV) remote control, and particularly to a UAV remote control system based on remote control signal recognition. Background Art

[0002] With the continuous development of UAV technology, UAV remote control systems based on remote control signal recognition are also evolving towards higher performance and greater intelligence to improve the transmission speed and stability of remote control signals. At the same time, artificial intelligence and machine learning technologies will gradually be applied to remote control systems to achieve functions such as autonomous flight and intelligent obstacle avoidance of UAVs, further enhancing the operational convenience and safety of UAVs.

[0003] However, in the prior art, when a UAV executes a flight mission, it is unable to perform remote control probability analysis and detect the impact of remote control changes based on the real-time flight environment, making it impossible to ensure the feasibility and accuracy of UAV remote control execution, reducing the control efficiency of remote control. In addition, it is unable to detect real-time remote control and cannot detect based on the two stages of UAV remote control attitude change, reducing the efficiency of UAV remote control.

[0004] In view of the above technical deficiencies, a solution is now proposed. Summary of the Invention

[0005] The purpose of the present invention is to solve the above-mentioned problems and propose a UAV remote control system based on remote control signal recognition.

[0006] The purpose of the present invention can be achieved through the following technical solutions:

[0007] A UAV remote control system based on remote control signal recognition includes a UAV remote control platform, which is communicatively connected to:

[0008] A UAV route analysis unit that analyzes the flight route of the UAV, marks the remote control object, determines the flight route and analyzes it to obtain high-frequency and low-frequency remote control time periods;

[0009] A route remote control change detection unit that detects changes in route remote control and generates a remote control change interference signal or a remote control change normal signal for the current flight process based on the detection;

[0010] A flight detection unit that performs flight detection on the remote control object and determines whether the remote control object is being remotely controlled based on the flight monitoring;

[0011] A flight attitude control unit that performs real-time remote control detection on the remote control object.

[0012] As a preferred embodiment of the present invention, the process of the UAV route analysis unit is as follows:

[0013] Collect the overlapping frequency of the real-time flight route of the remotely controlled object and the UAV mission route within the same flight area. At the same time, obtain the time interval duration between the moments when the remotely controlled object and the UAV on the overlapping trajectory pass through the overlapping point according to the overlapping point positions on the route, and perform ratio calculation to obtain the frequency-duration ratio.

[0014] Obtain the cumulative value of the parallel route distance between the flight route where the remotely controlled object is located and the adjacent UAV mission route within the flight area, and the total distance value of the flight route where the remotely controlled object is located, and obtain the proportion of the parallel route distance according to the comparison of the distance values.

[0015] As a preferred embodiment of the present invention, if the frequency-duration ratio exceeds the frequency-duration ratio threshold, or the proportion of the parallel route distance exceeds the route distance proportion threshold, then mark the current flight period as a high-frequency remote control period; if the frequency-duration ratio does not exceed the frequency-duration ratio threshold, and the proportion of the parallel route distance does not exceed the route distance proportion threshold, then mark the current flight period as a low-frequency remote control period.

[0016] As a preferred embodiment of the present invention, the process of the route remote control change detection unit is as follows:

[0017] Divide the flight speed of the UAV into a uniform speed stage and a variable speed stage;

[0018] Divide the flight altitude adjustment period of the UAV into a recovery adjustment period and a non-recovery adjustment period;

[0019] Perform flight remote control in both the uniform speed stage and the variable speed stage, collect the flight distance deviation value of the remotely controlled object within the corresponding delay duration between the generation moment and the reception moment of the remote control signal of the remotely controlled object in the uniform speed stage and the variable speed stage, and mark it as distance deviation information;

[0020] And perform flight remote control during recovery adjustment and non-recovery adjustment, collect the flight speed range for completing altitude adjustment corresponding to the recovery adjustment and non-recovery adjustment, and obtain the speed deviation span within the non-overlapping range according to the flight speed range, and mark it as speed deviation information.

[0021] As a preferred embodiment of the present invention, if the distance deviation information exceeds the distance deviation span threshold, or the speed deviation information does not exceed the speed deviation span threshold, then generate a remote control change interference signal and send the remote control change interference signal to the UAV remote control platform; if the distance deviation information does not exceed the distance deviation span threshold, and the speed deviation information exceeds the speed deviation span threshold, then generate a remote control change normal signal and send the remote control change normal signal to the UAV remote control platform.

[0022] As a preferred embodiment of the present invention, the process of the flight detection unit is as follows:

[0023] When the remotely controlled object flies along the current flight route, collect the amplitude of the fuselage sway when the current speed of the remotely controlled object has no fluctuation, and at the same time collect the increase span of the amplitude of the fuselage sway when the current speed of the remotely controlled object increases, and analyze the collected data:

[0024] If the amplitude of the fuselage sway exceeds the sway amplitude threshold, or the increase span of the amplitude of the fuselage sway exceeds the increase span threshold, generate a remote control signal and send the remote control signal to the UAV remote control platform; if the amplitude of the fuselage sway does not exceed the sway amplitude threshold and the increase span of the amplitude of the fuselage sway does not exceed the increase span threshold, generate a no-remote control signal and send the no-remote control signal to the UAV remote control platform.

[0025] As a preferred embodiment of the present invention, the process of the flight attitude control unit is as follows:

[0026] Divide the remote control of the remotely controlled object into two stages: attitude change and route change;

[0027] Enter the attitude change stage, and collect the amplitude of the fuselage sway of the remotely controlled object in real time when entering. If the amplitude of the fuselage sway continuously increases when the attitude change is executed, it indicates that the attitude change method is not suitable for the current flight environment, and roll or pitch the remotely controlled object to replace the attitude adjustment method for entering the route change until the increase amount of the sway amplitude during the change is within the set range; if the amplitude of the fuselage sway does not continuously increase when the attitude change is executed, it indicates that the current attitude change method is suitable for the current flight environment.

[0028] As a preferred embodiment of the present invention, at the same time, collect the stage transition time periods of the attitude change stage and the route change stage according to the current flight task requirements, and obtain the set transition time periods; collect the non-overlapping duration corresponding to the time period required for the current attitude change method and the set transition time periods, and mark it as the transition buffer duration; collect the yaw angle of the remotely controlled object during the transition buffer duration and analyze it synchronously with the transition buffer duration.

[0029] As a preferred embodiment of the present invention, if the transition buffer duration exceeds the set duration threshold, reduce the fuselage transition angle corresponding to the current attitude change method of the remotely controlled object to reduce the fuselage sway caused by the attitude change. If there is no numerical change in the fuselage sway angle corresponding to the transition angle adjustment, shorten the set transition time period of the current change stage to accelerate the execution progress of the flight task;

[0030] If the yaw angle of the remotely controlled object exceeds the yaw angle threshold during the transition buffer duration, infer that the attitude change method of the remotely controlled object is abnormal, detect the remote control moment interference of the remotely controlled object, and control the flight speed during the corresponding attitude change according to the environmental interference value at the current remote control moment, and adjust the flight attitude change angle of the remotely controlled object according to the numerical fluctuation of the environmental interference value at the current attitude change stage;

[0031] If the conversion buffer duration does not exceed the set duration threshold and the yaw angle of the remote control object within the conversion buffer duration does not exceed the yaw angle threshold, it is inferred that the control in the attitude conversion stage is qualified.

[0032] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0033] 1. In the present invention, the remote control probability during the current flight of the UAV is inferred based on the analysis of the flight route, and remote control detection is performed according to the flight routes of UAVs with different remote control probabilities, avoiding continuous remote control risk detection for flight routes with low remote control probability, which increases the remote control cost. At the same time, according to the remote control probability of the UAV route, targeted remote control detection can be carried out to avoid the situation where remote control is affected by the outside world and the UAV cannot be remotely controlled in time.

[0034] Detect the remote control change of the route in the current operation period, and infer whether the influence of the surrounding environment on the UAV remote control in the current operation period is normal, so as to infer whether the remote control in the current operation period is qualified according to the remote control change trajectory of the route, ensuring that the UAV can be remotely controlled in time when remote control is required and the flight action after remote control can be achieved, improving the safe flight efficiency of the UAV.

[0035] 2. In the present invention, it is inferred whether the flight detection of the remote control object in the current flight period meets the actual flight requirements according to the flight detection, avoiding the situation where the current flight state of the remote control object is not in the optimal state. According to the analysis of the real-time operation state of the remote control object, flight remote control can be accurately and timely performed, reducing the flight risk of the remote control object and reasonably performing flight remote control to ensure flight stability.

[0036] Perform real-time remote control detection on the remote control object, perform remote control detection on the flight attitude control of the remote control object through the real-time remote control process, infer the execution efficiency of the current UAV flight remote control, ensure the remote controllability of the remote control attitude, and avoid the situation where the line is occupied or the attitude is unbalanced during real-time remote control, increasing the flight risk of the remote control object and affecting the flight of other UAVs. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] For the convenience of those skilled in the art to understand, the present invention will be further described below with reference to the accompanying drawings.

[0038] Figure 1 is the system principle block diagram of the present invention;

[0039] Figure 2 is the method flow chart of the route remote control change detection unit in the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0040] To enable those skilled in the art to better understand the solution of the present invention, the following will clearly and completely describe the technical solution in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0041] As used herein, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present invention. The phrase does not necessarily refer to the same embodiment at every occurrence in the specification, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0042] Please refer to Figure 1 As shown, a drone remote control system based on remote control signal recognition includes a drone remote control platform, which is communicatively connected to a drone route analysis unit, a route remote control change detection unit, a flight detection unit, and a flight attitude control unit;

[0043] The drone remote control platform generates a drone route analysis signal and sends the drone route analysis signal to the drone route analysis unit;

[0044] The drone route analysis unit is used to analyze the flight route of the drone, infer the remote control probability during the current drone flight according to the flight route analysis, and perform remote control detection on the drone flight routes with different remote control probabilities, so as to avoid continuously detecting the remote control risk of the flight route with a low remote control probability, which increases the remote control cost. At the same time, according to the remote control probability of the drone route, targeted remote control detection can be carried out to avoid the remote control being affected by the outside world and unable to perform drone remote control in a timely manner;

[0045] Mark the real-time remotely controlled drone as the remote control object, obtain the flight route of the current remote control object according to the flight area of the remote control object, analyze the flight route, and synchronously analyze the flight trajectories and flight times of the mission routes of all drones in the flight area;

[0046] Collect the overlapping frequency of the real-time flight route of the remote control object in the flight area and the drone mission route in the same flight area. At the same time, obtain the time interval duration between the moments when the remote control object and the drone with the overlapping trajectory pass through the overlapping point according to the overlapping route points, and calculate the ratio of the corresponding values of the overlapping frequency and the interval duration to obtain the frequency-duration ratio. The frequency-duration ratio only compares the numerical values of the two data, does not consider the influence caused by the inconsistent data units, and only considers the influence caused by the numerical fluctuation;

[0047] Obtain the cumulative value of the parallel route distance between the flight route of the remote control object in the flight area and the adjacent UAV mission route, and the total distance value of the flight route of the remote control object, and obtain the parallel route distance ratio according to the comparison of the distance values;

[0048] Compare the frequency-duration ratio and the parallel route distance ratio with the frequency-duration ratio threshold and the route distance ratio threshold respectively:

[0049] If the frequency-duration ratio exceeds the frequency-duration ratio threshold, or the parallel route distance ratio exceeds the route distance ratio threshold, then infer that the flight route analysis result of the remote control object is a high remote control probability, and mark the current flight period as a high-frequency remote control period;

[0050] If the frequency-duration ratio does not exceed the frequency-duration ratio threshold, and the parallel route distance ratio does not exceed the route distance ratio threshold, then infer that the flight route analysis result of the remote control object is a low remote control probability, and mark the current flight period as a low-frequency remote control period;

[0051] Send the high-frequency remote control period and the low-frequency remote control period to the UAV remote control platform together;

[0052] At the same time, generate a route remote control change detection signal and send the route remote control change detection signal to the route remote control change detection unit;

[0053] Please refer to Figure 2 As shown, the route remote control change detection unit is used to detect the route remote control change in the current operation period, and infer whether the influence of the surrounding environment on the UAV remote control in the current operation period is normal, so as to be able to infer whether the remote control in the current operation period is qualified according to the route remote control change trajectory, ensure that the UAV can complete the remote control in time when remote control is required and achieve the flight action after remote control, and improve the safe flight efficiency of the UAV;

[0054] Perform remote control change detection on the current operation period, which is divided into a uniform speed stage and a variable speed stage according to the flight speed of the UAV. It can be understood that the uniform speed stage is when the flight speed fluctuation is within the set threshold range, that is, the fluctuation is small, and the variable speed stage is when the flight speed fluctuation exceeds the set threshold range, that is, the fluctuation is large;

[0055] And it is divided into a recovery adjustment period and a non-recovery adjustment period according to the flight height adjustment period of the UAV. That is, recovery adjustment means that the UAV restores to the height before remote control after remotely controlling the flight height, such as remote control to avoid obstacles; non-recovery adjustment means that the UAV flies according to the changed height after remotely controlling the flight, such as remote control to avoid UAVs with overlapping routes, etc.;

[0056] Perform flight remote control during both the constant-speed stage and the variable-speed stage, and collect the flight distance deviation values of the remote-controlled object within the corresponding delay duration between the remote control signal generation time and the remote control signal reception time during the constant-speed stage and the variable-speed stage. It should be noted that for the same remote-controlled object, the moving distances corresponding to different speed stages should not deviate too much, otherwise it is easy to cause abnormal remote control;

[0057] Perform flight remote control during restoration adjustment and non-restoration adjustment, and collect the flight speed ranges for altitude adjustment corresponding to the restoration adjustment and non-restoration adjustment routes, and obtain the speed deviation span within the non-overlapping range based on the flight speed ranges. It should be noted that the applicable speeds for altitude adjustment corresponding to restoration adjustment and non-restoration adjustment are different. The speed requirement for restoration adjustment is high so as not to cause phenomena such as the fuselage tipping over during restoration, while the speed requirement for non-restoration adjustment is relatively low because there is no restoration within a short time. If the speed deviation span is too small, it indicates that the applicable range deviations of the speeds corresponding to the two types of adjustments are not large, and the risk corresponding to the restoration adjustment increases;

[0058] Mark the flight distance deviation values of the remote-controlled object within the corresponding delay duration between the remote control signal generation time and the remote control signal reception time during the constant-speed stage and the variable-speed stage, and the speed deviation span within the non-overlapping range obtained from the flight speed ranges as distance deviation information and speed deviation information respectively, and compare them with the distance deviation span threshold and the speed deviation span threshold respectively:

[0059] If the distance deviation information exceeds the distance deviation span threshold, or the speed deviation information does not exceed the speed deviation span threshold, it is inferred that the route remote control change detection is abnormal during the current time period, generate a remote control change interference signal and send the remote control change interference signal to the UAV remote control platform;

[0060] If the distance deviation information does not exceed the distance deviation span threshold, and the speed deviation information exceeds the speed deviation span threshold, it is inferred that the route remote control change detection is normal during the current time period, generate a change normal signal and send the remote control change normal signal to the UAV remote control platform;

[0061] After the UAV remote control platform receives the remote control change interference signal or the remote control change normal signal, match the corresponding type of signal with the corresponding flight time period, and within the time period corresponding to the remote control change abnormal signal, set the interference recognition detection period according to the remote control probability during the current flight time period, that is, if the remote control probability is high, the interference recognition detection period is short, otherwise the interference recognition detection period is long, to ensure that remote control can be carried out at low interference moments during the corresponding operation time period;

[0062] After completing the analysis of the UAV's operation route and the detection of remote control changes, the UAV remote control platform generates a flight detection signal and sends the flight detection signal to the flight detection unit;

[0063] A flight detection unit is used to perform flight detection on a remotely controlled object, infer whether the flight detection of the remotely controlled object meets the actual flight requirements during the current flight period based on the flight detection, avoid the current flight state of the remotely controlled object not being in the optimal state, and accurately and timely perform flight remote control according to the analysis of the real-time operating state of the remotely controlled object, so as to reduce the flight risk of the remotely controlled object and reasonably perform flight remote control to ensure flight stability;

[0064] When the remotely controlled object flies along the current flight route, collect the body shaking amplitude when the current speed of the remotely controlled object has no fluctuation, and at the same time collect the increase span of the body shaking amplitude when the current speed of the remotely controlled object increases, and analyze the collected data:

[0065] If the body shaking amplitude exceeds the shaking amplitude threshold, or the increase span of the body shaking amplitude exceeds the increase span threshold, it is inferred that the current remotely controlled object needs to be remotely controlled, generate a remote control signal and send the remote control signal to the UAV remote control platform;

[0066] If the body shaking amplitude does not exceed the shaking amplitude threshold and the increase span of the body shaking amplitude does not exceed the increase span threshold, it is inferred that the current remotely controlled object is flying stably, generate a no-remote-control signal and send the no-remote-control signal to the UAV remote control platform

[0067] At the same time, generate a flight attitude control signal and send the flight attitude control signal to the flight attitude control unit;

[0068] A flight attitude control unit is used to perform real-time remote control detection on a remotely controlled object, infer the flight attitude control of the remotely controlled object through the real-time remote control process for remote control detection, infer the execution efficiency of the current UAV flight remote control, ensure the remote controllability of the remote control attitude, avoid line occupation or attitude imbalance during real-time remote control, resulting in an increase in the flight risk of the remotely controlled object, so as to have an impact on the flight of other UAVs;

[0069] Divide the remote control of the remotely controlled object into two stages: attitude change and route change; the attitude change stage means that when the remotely controlled object is remotely controlled, it changes its attitude on the current route to reduce the impact of body shaking caused by changing the route, and the route change stage is the stage of changing the route after determining the flight attitude;

[0070] After the remotely controlled object receives a remote control instruction, it enters the attitude change stage, and when entering, it real-time collects the body shaking amplitude of the remotely controlled object. If the body shaking amplitude continuously increases during the execution of the attitude change, it indicates that the attitude change method does not match the current flight environment, and roll or pitch the remotely controlled object to replace the attitude adjustment method for entering the route change until the increase amount of the shaking amplitude during the change is within the set range; if the body shaking amplitude does not continuously increase during the execution of the attitude change, it indicates that the current attitude change method matches the current flight environment;

[0071] Meanwhile, collect the stage transition time periods for the attitude change stage and the route change stage according to the current flight mission requirements, and obtain the set transition time periods; collect the non-overlapping duration corresponding to the required time period of the current attitude transition method and the set transition time period, and mark it as the transition buffer duration;

[0072] Collect the yaw angle of the remotely controlled object within the transition buffer duration, and analyze it synchronously with the transition buffer duration:

[0073] If the transition buffer duration exceeds the set duration threshold, it is inferred that the attitude transition method of the remotely controlled object is inefficient. The longer the buffer duration, the higher the remote control risk. Then, reduce the corresponding fuselage transition angle of the current attitude transition method of the remotely controlled object to reduce the fuselage shaking caused by the attitude transition. If there is no numerical change in the fuselage shaking angle corresponding to the adjustment of the transition angle, shorten the set transition time period of the current change stage to accelerate the execution progress of the flight mission;

[0074] If the yaw angle of the remotely controlled object exceeds the yaw angle threshold within the transition buffer duration, it is inferred that the attitude transition method of the remotely controlled object is abnormal. Conduct remote control moment interference detection on the remotely controlled object, and real-time monitor the environmental interference values such as the environmental values of air flow, crosswind, etc. According to the environmental interference values at the current remote control moment, control the flight speed during the corresponding attitude transition, and adjust the flight attitude change angle of the remotely controlled object according to the numerical fluctuation of the environmental interference values at the current attitude transition stage, so as to avoid the situation that the attitude change angle is the largest when the environmental interference value fluctuation range is the largest, in order to facilitate peak-shifting control;

[0075] If the transition buffer duration does not exceed the set duration threshold and the yaw angle of the remotely controlled object does not exceed the yaw angle threshold within the transition buffer duration, it is inferred that the control of the attitude transition stage is qualified;

[0076] And send the completed flight attitude and the flight parameters of the route change stage to the UAV remote control platform together. After receiving them, the UAV remote control platform continuously monitors the flight of the remotely controlled object. Among them, the flight parameters are expressed as parameters such as the flight altitude floating value, flight speed, and the fuselage shaking amplitude at the corresponding flight speed;

[0077] When the present invention is in use, the UAV route analysis unit analyzes the UAV flight route, marks the remotely controlled object, determines the flight route and analyzes it to obtain the high-frequency remote control time period and the low-frequency remote control time period; the route remote control change detection unit detects the route remote control change and generates a remote control change interference signal or a remote control change normal signal for the current flight process according to the detection; the flight detection unit conducts flight detection on the remotely controlled object and determines whether the remotely controlled object is remotely controlled according to the flight monitoring; the flight attitude control unit conducts real-time remote control detection on the remotely controlled object.

[0078] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only the specific embodiments. Obviously, many modifications and variations can be made according to the content of this specification. These embodiments are selected and specifically described in this specification to better explain the principles and practical applications of the present invention, so that those skilled in the art can well understand and utilize the present invention. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. A drone remote control system based on remote control signal recognition, characterized in that, Including drone remote control platform, the drone remote control platform communication connections are: The UAV route analysis unit analyzes the flight route of the UAV, marks the remote control object, determines the flight route and analyzes it to obtain the high-frequency remote control period and the low-frequency remote control period; A route remote control change detection unit detects route remote control changes and generates a remote control change interference signal or a remote control change normal signal for the current flight process according to the detection; The flight detection unit performs flight detection on the remote control object and determines whether the remote control object is remotely controlled based on flight monitoring; The flight attitude control unit performs real-time remote control detection on the remote control object.

2. The drone remote control system based on remote control signal recognition according to claim 1, characterized in that, The process of the drone route analysis unit is as follows: Collect the overlapping frequency of the real-time flight route of the remote control object and the UAV mission route in the same flight area, and obtain the time interval between the remote control object and the UAV with overlapping trajectory passing through the overlapping points according to the overlapping points of the routes, calculate the ratio, and obtain the frequency-to-time ratio; Obtain the cumulative value of the parallel route distance between the flight route of the remote control object and the adjacent UAV mission route in the flight area, and the total distance value of the flight route of the remote control object, and obtain the parallel route distance ratio based on the distance value comparison.

3. The drone remote control system based on remote control signal recognition according to claim 2, wherein, If the frequency-to-time ratio exceeds the frequency-to-time ratio threshold, or the parallel route distance ratio exceeds the route distance ratio threshold, the current flight period is marked as a high-frequency remote control period; If the frequency-to-time ratio does not exceed the frequency-to-time ratio threshold, and the parallel route distance ratio does not exceed the route distance ratio threshold, the current flight period is marked as a low-frequency remote control period.

4. A drone remote control system based on remote control signal recognition according to claim 1, characterized in that, The process of the route remote control change detection unit is as follows: The flight speed of the drone is divided into a uniform speed stage and a variable speed stage; The flight altitude adjustment cycle of the UAV is divided into a recovery adjustment cycle and a non-recovery adjustment cycle; Perform flight remote control in both the uniform speed stage and the variable speed stage, collect the flight distance deviation value of the remote control object within the delay time corresponding to the remote control signal generation time and the remote control signal reception time in the uniform speed stage and the variable speed stage, and mark it as distance deviation information; The flight is remotely controlled during recovery adjustment and non-recovery adjustment, and the flight speed range for completing altitude adjustment on the corresponding routes of recovery adjustment and non-recovery adjustment is collected. The speed deviation span within the non-overlapping range is obtained based on the flight speed range and marked as speed deviation information.

5. The UAV remote control system based on remote control signal recognition according to claim 4, wherein, If the distance deviation information exceeds the distance deviation span threshold, or the speed deviation information does not exceed the speed deviation span threshold, a remote control change interference signal is generated and sent to the UAV remote control platform; If the distance deviation information does not exceed the distance deviation span threshold, and the speed deviation information exceeds the speed deviation span threshold, a remote control change normal signal is generated and sent to the UAV remote control platform.

6. The drone remote control system based on remote control signal recognition according to claim 1, characterized in that, The process of flight detection unit is as follows: When the remote control object flies along the current flight route, the body shaking amplitude when the remote control object has no fluctuation at the current speed is collected, and the increase span of the body shaking amplitude when the current speed of the remote control object increases is collected at the same time, and the collected data is analyzed: If the shaking amplitude of the fuselage exceeds the shaking amplitude threshold, or the increase span of the shaking amplitude of the fuselage exceeds the increase span threshold, a remote control signal is generated and sent to the UAV remote control platform; if the shaking amplitude of the fuselage does not exceed the shaking amplitude threshold and the increase span of the shaking amplitude of the fuselage does not exceed the increase span threshold, a no-remote-control signal is generated and sent to the UAV remote control platform.

7. The drone remote control system based on remote control signal recognition according to claim 1, characterized in that, The process of the flight attitude control unit is as follows: The remote control of the remote control object is divided into two stages: attitude change and route change; Enter the attitude change stage, and when entering, the shaking amplitude of the fuselage of the remote control object is collected in real time. If the shaking amplitude of the fuselage continues to increase during the execution of the attitude change, it indicates that the attitude change method does not match the current flight environment, and the remote control object is rolled or pitched to replace the attitude adjustment method for entering the route change until the increase amount of the shaking amplitude during the change is within the set range; if the shaking amplitude of the fuselage does not continue to increase during the execution of the attitude change, it indicates that the current attitude change method matches the current flight environment.

8. The drone remote control system based on remote control signal recognition according to claim 7, characterized in that, At the same time, according to the current flight task requirements, the stage transition time periods of the attitude change stage and the route change stage are collected, and the set transition time period is obtained; the non-overlapping duration corresponding to the time period required for the current attitude change method and the set transition time period is collected and marked as the transition buffer duration; the yaw angle of the remote control object during the transition buffer duration is collected and analyzed synchronously with the transition buffer duration.

9. The drone remote control system based on remote control signal recognition according to claim 8, characterized in that, If the transition buffer duration exceeds the set duration threshold, the fuselage change angle corresponding to the current attitude change method of the remote control object is reduced to reduce the shaking of the fuselage caused by the attitude change. If there is no numerical change in the shaking angle of the fuselage corresponding to the change of the transition angle, the set transition time period of the current change stage is shortened to accelerate the execution progress of the flight task; If the yaw angle of the remote control object exceeds the yaw angle threshold during the transition buffer duration, it is inferred that the attitude change method of the remote control object is abnormal, and the remote control object is detected for remote control moment interference. According to the environmental interference value at the current remote control moment, the flight speed during the corresponding attitude change is controlled, and according to the numerical fluctuation of the environmental interference value at the current attitude change stage, the flight attitude change angle of the remote control object is adjusted; If the transition buffer duration does not exceed the set duration threshold and the yaw angle of the remote control object does not exceed the yaw angle threshold during the transition buffer duration, it is inferred that the control of the attitude change stage is qualified.

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