Communication method and device of unmanned aerial vehicle and unmanned aerial vehicle

Abstract

The invention discloses an unmanned aerial vehicle communication method and device and an unmanned aerial vehicle, and belongs to the field of unmanned aerial vehicle communication. The communication method of the unmanned aerial vehicle comprises the following steps: sending second information to a first target end, the first target end comprises a control end or a communication equipment end located at the periphery of the unmanned aerial vehicle end, and the second information comprises related information used for establishing communication connection between the unmanned aerial vehicle end and the control end under the condition that communication between the unmanned aerial vehicle end and the control end is disconnected; under the condition that third information sent by the control end is received, stopping sending the second information; the third information is generated after the control end performs identity verification on the unmanned aerial vehicle end based on the second information; and establishing communication connection with the control end. According to the communication method of the unmanned aerial vehicle, rapid connection after communication disconnection between the unmanned aerial vehicle and the control end can be realized, and the communication method is applied to various scenes and has a relatively high connection success rate.

Description

Technical Field

[0001] This application belongs to the field of unmanned aerial vehicle (UAV) communication, and particularly relates to a communication method, device and UAV for UAVs. Background Technology

[0002] Drones are widely used in people's daily work and life. Related technologies primarily establish a communication connection between the drone and the control unit through multiple steps, including scanning, authentication, association, and a four-way handshake. However, this process is relatively redundant, affecting the communication establishment rate; and any weak signal or data error in any step can lead to communication connection failure, thus impacting the user experience. Summary of the Invention

[0003] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a communication method, device, and drone for unmanned aerial vehicles (UAVs), which can achieve rapid reconnection after the UAV has lost communication with the control terminal, is applicable to various scenarios, and has a high connection success rate.

[0004] Firstly, this application provides a communication method for a drone, applied to a drone terminal; the method includes:

[0005] Send second information to a first target terminal; the first target terminal includes a control terminal or a communication device terminal located around the drone terminal; the second information includes relevant information for enabling the drone terminal to establish a communication connection with the control terminal in the event that the communication between the drone terminal and the control terminal is lost.

[0006] Upon receiving the third information sent by the control terminal, the sending of the second information is stopped; the third information is generated by the control terminal after verifying the identity of the drone terminal based on the second information.

[0007] Establish a communication connection with the control terminal.

[0008] According to the communication method of the UAV in this application, the UAV actively sends second information to the first target terminal to establish a communication connection. After the control terminal receives the second information and verifies the identity of the UAV based on the second information, it sends third information to the UAV to inform it that the communication connection is successful, thereby enabling normal data transmission and reception. This achieves rapid reconnection after the UAV and the control terminal lose communication, and can be applied to various scenarios with a high connection success rate.

[0009] According to one embodiment of this application, before stopping the transmission of the second information upon receiving the third information sent by the control terminal, the method further includes:

[0010] When communication between the UAV and the control terminal is lost, the first information sent by the first target terminal is received; the first information includes information characterizing the location information of the control terminal.

[0011] Based on the first information, determine the target's direction of movement;

[0012] Move according to the target direction.

[0013] According to one embodiment of this application, determining the target movement direction based on the first information includes:

[0014] Among the multiple location information included in the first information, the location information with the most identical location information is determined as the target location information;

[0015] Based on the target location information, the target's direction of movement is determined;

[0016] And / or,

[0017] Based on the first information, determine the direction of transmission of the first information;

[0018] Based on the sending direction, the target movement direction is determined.

[0019] According to one embodiment of this application, the first information includes at least one of the following: the ID information of the control terminal, the rate, and the encryption algorithm.

[0020] According to one embodiment of this application, the second information includes at least one of the following: the identity information of the drone terminal, the identity information of the control terminal, data encrypted based on an encryption algorithm, the location information of the drone terminal, and connection request information.

[0021] According to one embodiment of this application, sending the second information to the first target terminal includes:

[0022] If it is predicted that communication with the control terminal will be lost, the second information is sent to the first target terminal;

[0023] And / or,

[0024] In the event that communication between the UAV and the control terminal is lost, the second information is sent to the first target terminal based on the first target period.

[0025] Secondly, this application provides a communication method for a UAV, applied at the control end; the method includes:

[0026] Receive second information sent by a second target terminal; the second target terminal includes the UAV terminal or the communication device terminal, and the second information includes relevant information for establishing a communication connection between the UAV terminal and the control terminal in the event that the communication between the UAV terminal and the control terminal is disconnected;

[0027] The drone terminal is authenticated based on the second information;

[0028] Upon successful authentication, third information is sent to the drone terminal; the third information is used to enable the drone terminal to establish a communication connection with the control terminal.

[0029] Establish a communication connection with the drone terminal.

[0030] Thirdly, this application provides a communication method for a drone, applied to a communication device; the method includes:

[0031] Receive second information sent by the drone terminal; the second information includes relevant information for establishing a communication connection between the drone terminal and the control terminal in the event that the communication between the drone terminal and the control terminal is lost.

[0032] The second information is forwarded to the control terminal located near the communication device, so that the control terminal can authenticate the drone based on the second information.

[0033] Fourthly, this application provides a communication device for a drone, applied to the drone terminal; the device includes:

[0034] A first processing module is used to send second information to a first target terminal; the first target terminal includes a control terminal or a communication device terminal located around the UAV terminal; the second information includes relevant information for enabling the UAV terminal to establish a communication connection with the control terminal in the event that the communication between the UAV terminal and the control terminal is disconnected.

[0035] The second processing module is used to stop sending the second information upon receiving the third information sent by the control terminal; the third information is generated by the control terminal after verifying the identity of the drone terminal based on the second information.

[0036] The third processing module is used to establish a communication connection with the control terminal.

[0037] According to the communication device of the UAV of this application, the UAV actively sends second information to the first target terminal to establish a communication connection. After the control terminal receives the second information and verifies the identity of the UAV based on the second information, it sends third information to the UAV to inform it that the communication connection is successful, thereby enabling normal data transmission and reception. This achieves rapid reconnection after the UAV and the control terminal lose communication. It can be applied to various scenarios and has a high connection success rate.

[0038] Fifthly, this application provides a communication device for an unmanned aerial vehicle (UAV) used in a control terminal; the device includes:

[0039] The fourth processing module is used to receive second information sent by the second target terminal; the second target terminal includes the UAV terminal or the communication device terminal, and the second information includes relevant information for establishing a communication connection between the UAV terminal and the control terminal when the communication between the UAV terminal and the control terminal is disconnected;

[0040] The fifth processing module is used to authenticate the drone terminal based on the second information;

[0041] The sixth processing module is used to send third information to the drone terminal when the authentication is successful; the third information is used to enable the drone terminal to establish a communication connection with the control terminal.

[0042] The seventh processing module is used to establish a communication connection with the UAV terminal.

[0043] Sixthly, this application provides a communication device for a drone, applied to a communication equipment terminal; the device includes:

[0044] The eighth processing module is used to receive second information sent by the UAV terminal; the second information includes relevant information for establishing a communication connection between the UAV terminal and the control terminal in the event that the communication between the UAV terminal and the control terminal is lost.

[0045] The ninth processing module is used to forward the second information to the control terminal located around the communication device terminal, so that the control terminal can authenticate the drone terminal based on the second information.

[0046] In a seventh aspect, this application provides an unmanned aerial vehicle (UAV) that communicates based on the UAV communication methods described in the first, second, or third aspects above.

[0047] Eighthly, this application provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the communication method of the UAV as described in the first, second, or third aspects above.

[0048] Ninthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the communication method of the unmanned aerial vehicle as described in the first, second, or third aspects above.

[0049] The above-described one or more technical solutions in the embodiments of this application have at least one of the following technical effects:

[0050] By having the drone actively send a second message to the first target terminal to establish a communication connection, and then having the control terminal receive the second message and verify the drone's identity based on the second message, a third message is sent to the drone to indicate that the communication connection has been successfully established, thus enabling normal data transmission and reception. This allows for rapid reconnection after the drone and control terminal lose communication, and can be applied to various scenarios with a high connection success rate.

[0051] Furthermore, by providing multiple triggering methods for sending second information, it can quickly and sensitively send second information to enable rapid reconnection between the drone and the controller in the event of a disconnection caused by various factors. It has a high response rate, which helps to improve the communication connection rate and has a wide range of application scenarios, thereby helping to improve the user experience.

[0052] Furthermore, by actively receiving the first information sent by the first target terminal when communication between the UAV and the control terminal is lost, and predicting the target's movement direction based on the first information to achieve follow-flying with the control terminal, the UAV can achieve active follow-flying in various scenarios, with high robustness and good data transmission and reception efficiency.

[0053] Furthermore, by providing multiple methods for determining the direction of target movement, it allows for flexible selection based on actual circumstances and boasts high calculation accuracy.

[0054] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0055] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0056] Figure 1 This is one of the flowcharts illustrating the communication method for a drone provided in this application embodiment;

[0057] Figure 2 This is a second schematic flowchart of the communication method for a drone provided in this application embodiment;

[0058] Figure 3 This is the third flowchart illustrating the communication method for a drone provided in this application embodiment;

[0059] Figure 4 This is the fourth flowchart illustrating the communication method for a drone provided in this application embodiment;

[0060] Figure 5 This is the fifth flowchart illustrating the communication method for a drone provided in this application embodiment;

[0061] Figure 6 This is one of the structural schematic diagrams of the communication device for a drone provided in the embodiments of this application;

[0062] Figure 7 This is a second schematic diagram of the communication device for the UAV provided in the embodiments of this application;

[0063] Figure 8 This is the third schematic diagram of the communication device for the UAV provided in the embodiments of this application;

[0064] Figure 9 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0065] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0066] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0067] The following description, in conjunction with the accompanying drawings, details the communication method, communication device, electronic device, and readable storage medium for unmanned aerial vehicles (UAVs) provided in this application, through specific embodiments and application scenarios.

[0068] The communication methods of drones can be applied to terminals, specifically executed by hardware or software within the terminals.

[0069] The following embodiments describe a terminal including a display and a touch-sensitive surface. However, it should be understood that the terminal may include one or more other physical user interface devices such as a physical keyboard, mouse, and joystick.

[0070] The communication method for unmanned aerial vehicles (UAVs) provided in this application embodiment can be executed by the UAV itself; or it can be a control terminal, such as an electronic device or a functional module or entity in an electronic device that can implement the communication method for the UAV. The electronic devices mentioned in this application embodiment include, but are not limited to, mobile phones, tablets, computers, cameras, wearable devices, and mobile vehicle-mounted devices; or it can be a communication device terminal, such as a location server, LTE / NR base station, WIFI device, and RSU.

[0071] It is understandable that during the data transmission and reception process between the drone and the control terminal, information transmission and reception between multiple terminals such as the drone, the control terminal, and the communication equipment may be involved.

[0072] The following section uses different implementing entities as examples to illustrate the implementation of the communication method of the UAV in this application.

[0073] like Figure 1 As shown, the communication method of the UAV is applied to the UAV terminal, and the communication method of the UAV includes: step 110, step 120 and step 130.

[0074] Step 110: Send the second information to the first target terminal;

[0075] In this step, the drone can act as a station (STA).

[0076] The first target end may include: a control end, or a communication device located around the control end or the drone end.

[0077] The control terminal can serve as an access point (AP) for a wireless network. It can be a fixed terminal or a mobile terminal, such as a vehicle control terminal.

[0078] Communication equipment may include, but is not limited to: location servers, LTE / NR base stations, WIFI devices, and RSUs.

[0079] The second information includes relevant information for establishing a communication connection between the drone and the control terminal in the event that communication between the drone and the control terminal is lost.

[0080] The second information should include at least the data encrypted using an encryption algorithm.

[0081] In some embodiments, the second information may include at least one of the following: the identity information of the drone terminal, the identity information of the control terminal, data encrypted based on an encryption algorithm, the location information of the drone terminal, and connection request information.

[0082] In this embodiment, the identity information of the drone may include: the drone's ID and MAC address, etc.

[0083] Data encrypted using encryption algorithms can include information such as the encryption method used to inform the control unit of the drone's encryption process.

[0084] The connection request information can be an authentication request.

[0085] In actual operation, the drone can periodically and / or trigger the sending of secondary information to the control terminal and surrounding communication devices in an attempt to establish a communication connection with the control terminal.

[0086] like Figure 2 As shown, in some embodiments, after the control terminal receives the second information, it can parse and authenticate the second information. If the authentication of the drone terminal is successful, the control terminal can send third information to the drone terminal to inform the drone terminal to establish a communication connection.

[0087] If authentication fails, the control terminal may not perform any operation.

[0088] Continue to refer to Figure 2 In some embodiments, after receiving the second information at the communication device end, the received second information may be forwarded to the surrounding control end by default, so that the control end can perform authentication of the drone end.

[0089] In some embodiments, step 110 may include:

[0090] If it is predicted that communication with the control terminal will be lost, a second message is sent to the first target terminal.

[0091] In this embodiment, the first target end may include a control end or a communication device end.

[0092] In some embodiments, predicting a disconnection from the control terminal may include:

[0093] If the drone does not receive a control signal from the control terminal for more than a first time period; or if the quality of the control signal received by the drone from the control terminal is poor; or if the drone determines, based on its location information, that it is about to enter an area with poor communication signal, it will determine to disconnect from the control terminal.

[0094] In this embodiment, the first duration can be user-defined and can be a relatively long period of time.

[0095] For example, if the drone does not receive control signals from the control terminal for an extended period of time, it can be predicted that communication with the control terminal will be or has already been lost.

[0096] For example, if the signal-to-noise ratio (SNR), signal-to-interference plus noise ratio (SINR), or wireless signal quality and block error rate (BLER) values ​​received by the drone do not reach the preset values, it can be considered that the quality is poor. In this case, it can be determined that communication with the control terminal will soon be lost.

[0097] Areas with poor communication signals may include tunnels, culverts, or underground parking lots.

[0098] For example, if a drone is about to enter a tunnel, it is assumed that communication with the control unit will be lost.

[0099] like Figure 2 As shown, if the drone anticipates that it will lose communication with the control terminal, it can proactively trigger the sending of a second message to the first target terminal.

[0100] In some embodiments, step 110 may include:

[0101] In the event that communication between the UAV and the control terminal is lost, the second information is sent to the first target terminal based on the first target cycle.

[0102] In this embodiment, the duration of the first target period can be user-defined.

[0103] The drone can periodically and continuously send secondary information to the control or communication equipment.

[0104] In some embodiments, the second information may also be sent based on preset conditions.

[0105] For example, if the communication equipment is located in an environment with poor communication signal, or if the control terminal has a poor signal, after receiving the second information sent by the drone, the communication equipment will actively forward the second information to one or more nearby control terminals, so that each control terminal can confirm whether to establish a communication connection with the drone.

[0106] In some embodiments, when the communication device is located in an area with good communication quality, the operation may not be performed based on the received second information.

[0107] The communication method for drones provided in the embodiments of this application provides multiple triggering methods for sending second information. It can quickly and sensitively send second information to enable the drone and controller to reconnect quickly when various factors cause the drone to lose connection. It has a high response rate, which helps to improve the communication connection rate and has a wide range of application scenarios, thereby helping to improve the user experience.

[0108] Step 120: Upon receiving the third information sent by the control terminal, stop sending the second information; the third information is generated by the control terminal after verifying the identity of the drone based on the second information.

[0109] In this step, the third information is the confirmation information generated by the control terminal after successfully authenticating the drone terminal based on the second information. For example, it can be the confirmation information generated by the control terminal after successfully demodulating the data sent by the drone terminal based on the encryption algorithm.

[0110] In some embodiments, the third information may include at least one of the following: connection success information, drone identity information, controller identity information, and control information and data information.

[0111] In this embodiment, the connection success message can be "authentication success," which informs the drone that the communication connection has been successfully established.

[0112] Control information refers to relevant information used to control the drone.

[0113] The data information includes data-related information transmitted after the drone and the control terminal establish a normal communication connection.

[0114] Understandably, in actual execution, after the control end verifies the identity of the drone, it can send control information and data information at the same time as sending a confirmation message of successful communication connection to the drone, thus directly entering the normal data transmission process.

[0115] After receiving the third message from the control terminal, the drone triggers the cessation of sending the second message.

[0116] Step 130: Establish a communication connection with the control terminal.

[0117] In this step, after the UAV receives the third information sent by the control terminal, it can establish a normal communication connection with the control terminal to enter the normal data transmission and reception process.

[0118] The following explanation uses the vehicle-mounted control terminal as an example to illustrate the specific implementation of this application.

[0119] Understandably, in actual implementation, the vehicle control terminal can be a high-speed mobile terminal.

[0120] Continue to refer to Figure 2 After the drone establishes a communication connection with the control unit, it can send and receive data normally.

[0121] When the vehicle control terminal is in a moving or stationary state, during the flight of the drone, the drone terminal periodically sends a second message to the control terminal and surrounding communication equipment; or, when the drone terminal predicts that the vehicle control terminal is about to enter a tunnel or other situations that may cause it to lose communication with the control terminal, it triggers the sending of a second message to the control terminal and surrounding communication equipment.

[0122] After receiving the second information, the control terminal parses and authenticates the second information. If the authentication of the drone terminal is successful, the control terminal sends the third information to the drone terminal to inform the drone terminal to establish a communication connection.

[0123] After receiving the third information sent by the control terminal, the drone can establish a normal communication connection with the control terminal and perform normal data transmission and reception.

[0124] During the research and development process, the inventors discovered that in related technologies, when establishing a communication connection between the UAV and the control terminal, multiple steps such as scanning, authentication, association, and four-way handshake are often required. The redundancy of the process affects the communication establishment rate and the communication establishment failure rate is relatively high.

[0125] In this application, the UAV actively sends second information to the first target terminal to establish a communication connection for the surrounding control terminal to receive. After the control terminal receives the second information and verifies the identity of the UAV based on the second information, it can send third information to the UAV to indicate that the communication connection is successful, thereby entering the normal data transmission and reception process. The steps are simple and quick, the connection efficiency is high, and the security is high. In addition, it also reduces the risk of communication connection failure caused by weak signal or data errors to a certain extent, and realizes the rapid establishment of a communication connection between the UAV and the controller.

[0126] According to the communication method of the UAV provided in the embodiments of this application, the UAV actively sends second information to the first target terminal to establish a communication connection. After the control terminal receives the second information and verifies the identity of the UAV based on the second information, it sends third information to the UAV to inform it that the communication connection is successful, thereby enabling normal data transmission and reception. This achieves rapid reconnection after the UAV and the control terminal lose communication. It can be applied to various scenarios and has a high connection success rate.

[0127] like Figure 3As shown, in some embodiments, prior to step 120, the method may further include:

[0128] In the event that communication between the UAV and the control terminal is lost, the first information sent by the first target terminal is received.

[0129] Based on the initial information, determine the target's direction of movement;

[0130] Move based on the target direction.

[0131] In this embodiment, the first target end may include a control end or a communication device end around the drone end, etc.

[0132] The first piece of information can be sent directly from the control terminal to the drone terminal; or it can be sent from the control terminal to the communication device terminal, which then forwards it to the drone terminal.

[0133] The first piece of information is related to the control terminal.

[0134] The first information includes information used to characterize the location information of the control terminal, wherein the information characterizing the location information of the control terminal may include the location information of the control terminal, or it may be the location information of the communication device.

[0135] In some embodiments, the first information may include at least one of the following: the ID information of the control terminal, the rate, and the encryption algorithm.

[0136] It should be noted that, if the control terminal and the drone terminal have been paired in advance, the first information sent by the control terminal also includes control terminal information containing drone terminal information.

[0137] In this embodiment, the ID information of the control terminal may include: BSSID and SSID, etc.

[0138] The target's direction of movement is the predicted self-flight orientation, and the target's direction of movement should be consistent with the direction of movement of the control terminal or the location of the control terminal.

[0139] It should be noted that in some embodiments, the drone can actively listen to the first information, that is, it will actively receive the first information sent by the first target terminal only when it determines that the communication between the drone and the control terminal is lost.

[0140] In some embodiments, the active reception of the first information sent by the first target terminal only after the drone determines that communication with the control terminal has been lost may include:

[0141] If no AP signal (such as a control signal) is received from the control terminal for more than a first time period; or if the quality of the control signal received by the UAV from the control terminal is poor (such as the values ​​of SNR, SINR and BLER not meeting expectations), the first information sent by the first target terminal shall be actively received.

[0142] After receiving the first information, the UAV can use various algorithms to determine the target's direction of movement based on the first information, so that it can fly based on the target's direction of movement during the period of disconnection from the control terminal, thereby achieving the tracking of the control terminal.

[0143] It should be noted that the drone receiving the first information and moving according to the determined target direction can be synchronized with the drone sending the second message, so as to quickly reconnect with the control terminal while following the flight of the drone.

[0144] During the research and development process, the inventors also discovered that the communication connection method between the drone and the control terminal in the relevant technologies is mainly used in scenarios where the position of the control terminal is fixed, but it cannot be well applied to scenarios where the control terminal moves. In particular, when the control terminal moves to an area with weak communication signal, the communication between the drone and the control terminal may be lost, causing the drone to lose its flight direction.

[0145] In this application, when communication between the UAV and the control terminal is disconnected, the UAV actively receives the first information sent by the first target terminal to predict the target's movement direction based on the first information and achieves flight following the control terminal. This can be applied to various scenarios such as fixed or mobile terminals and poor communication quality. It enables the UAV to automatically predict the control terminal's movement direction to achieve flight following when communication between the UAV and the control terminal is disconnected, thus achieving automatic tracking of the vehicle and exhibiting high robustness.

[0146] According to the communication method of the UAV provided in the embodiments of this application, when the communication between the UAV end and the control end is disconnected, the UAV end actively receives the first information sent by the first target end to predict the target's movement direction based on the first information and realizes the follow flight with the control end. This method enables the UAV end to actively follow flight in various scenarios and has high robustness and good data transmission and reception efficiency.

[0147] The method for determining the target's direction of movement is explained below.

[0148] In some embodiments, determining the target movement direction based on the first information may include:

[0149] Among the location information included in multiple pieces of first information, the location information with the most identical location information is determined as the target location information;

[0150] Based on the target's location information, determine the target's direction of movement.

[0151] In this embodiment, the target location information is the predicted current location of the control terminal that the drone should follow.

[0152] For example, if the drone terminal determines that there is a lot of location information received in a certain area, it can assume that the control terminal is more likely to be in that direction, and then determine that direction as the target movement direction, and the drone will fly towards that area.

[0153] In some embodiments, determining the target movement direction based on the first information may include:

[0154] Based on the first information, determine the direction of transmission of the first information;

[0155] The target's movement direction is determined based on the sending direction.

[0156] In this embodiment, based on the received first information, the built-in algorithm of the UAV can be used to analyze and determine the possible direction of the control terminal, thereby obtaining the target's movement direction.

[0157] For example, if it is determined from multiple received first information that the first information is mainly being transmitted along a certain same transmission direction, then this transmission direction can be approximately determined as the movement direction of the control end, thereby determining the target movement direction.

[0158] Of course, in other embodiments, other implementable algorithms can be used to confirm the target movement direction, and this application does not limit them.

[0159] In some embodiments, the target movement direction can be determined by combining two or more of the above determination methods.

[0160] The communication method for unmanned aerial vehicles provided in the embodiments of this application provides multiple ways to determine the direction of target movement, which can be flexibly selected based on the actual situation and has high calculation accuracy.

[0161] In some embodiments, the method may further include:

[0162] If communication between the drone and the control unit is lost, stop transmitting target data to the control unit.

[0163] In this embodiment, the target data may include: image data collected by the drone and other data.

[0164] When communication between the drone and the controller is lost, the transmission of target data to the controller is stopped, thus solving the technical problem of invalid data transmission when the drone and the controller are disconnected, and thus avoiding the waste of extra power or energy for data transmission.

[0165] At the same time, the drone actively listens to the first information sent by the first target to determine the target's direction of movement.

[0166] In addition, the drone can also send a second message to the first target to attempt to re-establish a communication connection with the control terminal, and after receiving a third message from the control terminal, it can retransmit the target data to the control terminal.

[0167] In some embodiments, after step 110, the method may further include:

[0168] If no third message is received within the second time period, the sending of the second message will cease.

[0169] In this embodiment, the second duration can be user-defined, such as set to a longer time value; or it can be predefined by the protocol; or it can be implemented by the control terminal.

[0170] If no third message is received within the second time period, the connection can be considered to have failed, and information transmission can be stopped to save the drone's energy consumption.

[0171] This application also provides a communication method for unmanned aerial vehicles (UAVs).

[0172] The communication method of this drone is applied to the control end.

[0173] like Figure 4 As shown, the communication method of the UAV includes steps 410, 420, 430 and 440.

[0174] Step 410: Receive the second information sent by the second target terminal;

[0175] In this step, the second target end may include the drone end or the communication equipment end around the control end.

[0176] The second information includes relevant information for establishing a communication connection between the drone and the control terminal in the event that communication between the drone and the control terminal is lost.

[0177] In some embodiments, the second information may include at least one of the following: the identity information of the drone terminal, the identity information of the control terminal, data encrypted based on an encryption algorithm, the location information of the drone terminal, and connection request information.

[0178] For example, the second information can be sent directly from the drone to the control terminal, or the second information can be sent from the drone to the communication device, and then forwarded to the surrounding control terminals after the communication device receives the second information.

[0179] Step 420: Verify the identity of the drone based on the second information;

[0180] In this step, after the control terminal receives the second information, it can authenticate the drone terminal based on the second information.

[0181] In some embodiments, step 420 may include: demodulating the second information based on an encryption algorithm.

[0182] The encryption algorithm can be any implementable encryption algorithm, and this application does not impose any restrictions.

[0183] Step 430: If the identity verification is successful, send third-party information to the drone.

[0184] In this step, the third piece of information is used to establish a communication connection between the UAV and the control unit.

[0185] Successful authentication may include: successfully demodulating the second information based on the encryption algorithm.

[0186] After the control terminal confirms the identity of the drone, it can send third-party information to the drone for confirmation.

[0187] In some embodiments, the third information may include at least one of the following: connection success information, drone identity information, controller identity information, and control information and data information.

[0188] In some embodiments, the process can be terminated if authentication fails.

[0189] Step 440: Establish a communication connection with the drone.

[0190] In this step, once the drone receives the third message sent by the control terminal, it is considered that the connection with the control terminal is successful and data can be sent and received.

[0191] In some embodiments, after the control terminal authenticates the drone terminal, it can send control information and data information at the same time as sending a confirmation message of successful communication connection to the drone terminal, thereby directly entering the normal data transmission process.

[0192] According to the communication method of the UAV provided in the embodiments of this application, the UAV actively sends second information to the first target terminal to establish a communication connection. After the control terminal receives the second information and verifies the identity of the UAV based on the second information, it sends third information to the UAV to inform it that the communication connection is successful, thereby enabling normal data transmission and reception. This achieves rapid reconnection after the UAV and the control terminal lose communication. It can be applied to various scenarios and has a high connection success rate.

[0193] In some embodiments, the method may further include: sending first information to a second target.

[0194] In this embodiment, the first information includes information used to characterize the position information of the control terminal, and the first information is used to enable the UAV terminal to determine the target's movement direction.

[0195] In some embodiments, the first information may include at least one of the following: the ID information of the control terminal, the rate, and the encryption algorithm.

[0196] The second target end can be the drone end, or it can be the control end or the communication equipment end around the drone end.

[0197] In some embodiments, sending the first information to the second target end may manifest as periodically and / or triggerively sending the first information to the second target end.

[0198] If communication between the drone and the control terminal is normal, the drone may not need to receive the first message.

[0199] In the event that communication between the UAV and the control terminal is lost or the communication effect is poor, the UAV can actively receive this first information in order to calculate the target's movement direction and achieve flight tracking.

[0200] The method for sending the first message is explained below.

[0201] In some embodiments, sending the first information to the second target terminal may include:

[0202] If it is predicted that communication with the drone will be lost, the first message is sent to the second target.

[0203] In this embodiment, predicting that communication with the drone will be lost may include: determining that communication with the drone will be lost if the location information indicates that the drone is about to enter an area with poor communication signal.

[0204] For example, if the controller is about to enter a tunnel or underground parking lot, it is assumed that communication with the controller is about to be lost, and the first message is sent.

[0205] In some embodiments, sending the first information to the second target terminal may include:

[0206] Based on the second target cycle, the first information is sent to the second target end.

[0207] In this embodiment, the duration of the second target period can be user-defined.

[0208] The control terminal can periodically and continuously send initial information to the drone terminal or communication device terminal.

[0209] In some embodiments, preset conditions can be set so that after the communication device in an area with poor communication signal receives the first information (such as AP information containing drone terminal information), it can actively send the received first information to the drone terminal.

[0210] The communication method for drones provided in the embodiments of this application provides multiple triggering methods for sending first information. It can quickly and sensitively send first information for the drone to follow the flight path when the drone and controller are disconnected due to various factors. It has a wide range of application scenarios, solves the problem of drone flight trajectory when the drone and controller are disconnected, improves the stability of drone operation, and thus improves the user experience.

[0211] This application also provides a communication method for unmanned aerial vehicles (UAVs).

[0212] The communication method of this drone is applied to the communication equipment.

[0213] like Figure 5 As shown, the communication method of the UAV includes steps 510 and 520.

[0214] Step 510: Receive the second information sent by the drone.

[0215] In this step, the second information includes information for establishing a communication connection between the drone and the control terminal in the event that communication between the drone and the control terminal is lost.

[0216] Step 520: Forward the second information to the control terminal located near the communication device, so that the control terminal can authenticate the drone terminal based on the second information.

[0217] In this step, after receiving the second information, the communication device can forward the second information to the surrounding control terminal.

[0218] In some embodiments, preset conditions can be set so that after receiving the second information, the communication device located in an area with poor communication signal can actively send the received second information to a nearby control terminal.

[0219] For example, communication equipment located near tunnels or in areas with poor vehicle signals can receive the second message from the drone and then send that second message back.

[0220] According to the communication method of the UAV provided in the embodiments of this application, the UAV actively sends second information to the first target terminal to establish a communication connection. After the control terminal receives the second information and verifies the identity of the UAV based on the second information, it sends third information to the UAV to inform it that the communication connection is successful, thereby enabling normal data transmission and reception. This achieves rapid reconnection after the UAV and the control terminal lose communication. It can be applied to various scenarios and has a high connection success rate.

[0221] In some embodiments, the communication method of the drone may further include:

[0222] Receive the first message sent by the control terminal;

[0223] Forward the first message to the drone.

[0224] In this embodiment, the first information is used to determine the target's direction of movement when the UAV is disconnected from the control terminal.

[0225] In some embodiments, preset conditions can also be set so that the communication device located in an area with poor communication signal can actively send the received first information to the drone after receiving the first information.

[0226] In some embodiments, the operating frequency band, modulation and coding scheme, location information, and access criteria of the communication device can be sent from the control terminal to the drone terminal.

[0227] The communication method for unmanned aerial vehicles (UAVs) provided in this application can be executed by a communication device of the UAV. This application uses the example of a UAV's communication device executing the UAV communication method to illustrate the communication device for the UAV provided in this application.

[0228] This application also provides a communication device for an unmanned aerial vehicle (UAV).

[0229] like Figure 6 As shown, the communication device of the drone is applied to the drone terminal, and the device includes: a first processing module 610, a second processing module 620 and a third processing module 630.

[0230] The first processing module 610 is used to send second information to the first target terminal; the first target terminal includes a control terminal or a communication device terminal located around the drone terminal; the second information includes relevant information for establishing a communication connection between the drone terminal and the control terminal in the event that the communication between the drone terminal and the control terminal is lost.

[0231] The second processing module 620 is used to stop sending the second information upon receiving the third information sent by the control terminal; the third information is generated by the control terminal after verifying the identity of the UAV terminal based on the second information.

[0232] The third processing module 630 is used to establish a communication connection with the control terminal.

[0233] According to the communication device for a drone provided in the embodiments of this application, the drone actively sends second information to a first target terminal to establish a communication connection. After the control terminal receives the second information and verifies the identity of the drone based on the second information, it sends third information to the drone terminal to inform it that the communication connection is successful, thereby enabling normal data transmission and reception. This achieves rapid reconnection after the drone and the control terminal lose communication. It can be applied to various scenarios and has a high connection success rate.

[0234] In some embodiments, the apparatus may further include: a tenth processing module, configured to:

[0235] Upon receiving the third information sent by the control terminal, before ceasing to send the second information, and before communication between the UAV and the control terminal is lost, the first information sent by the first target terminal is received; the first information includes information used to characterize the location information of the control terminal.

[0236] Based on the initial information, determine the target's direction of movement;

[0237] Move based on the target direction.

[0238] In some embodiments, the tenth processing module can also be used for:

[0239] Among the location information included in multiple pieces of first information, the location information with the most identical location information is determined as the target location information;

[0240] Based on the target's location information, determine the target's direction of movement.

[0241] In some embodiments, the tenth processing module can also be used for:

[0242] Based on the first information, determine the direction of transmission of the first information;

[0243] The target's movement direction is determined based on the sending direction.

[0244] In some embodiments, the first processing module 610 may also be used for:

[0245] If it is predicted that communication with the control terminal will be lost, a second message is sent to the first target terminal.

[0246] In some embodiments, the first processing module 610 may also be used for:

[0247] In the event that communication between the UAV and the control terminal is lost, the second information is sent to the first target terminal based on the first target cycle.

[0248] This application also provides a communication device for an unmanned aerial vehicle (UAV).

[0249] like Figure 7 As shown, the communication device of the UAV is used in the control end, and the device includes: a fourth processing module 710, a fifth processing module 720, a sixth processing module 730 and a seventh processing module 740.

[0250] The fourth processing module 710 is used to receive second information sent by the second target terminal; the second target terminal includes a drone terminal or a communication device terminal, and the second information includes relevant information for establishing a communication connection between the drone terminal and the control terminal when the communication between the drone terminal and the control terminal is disconnected;

[0251] The fifth processing module 720 is used to authenticate the drone terminal based on the second information;

[0252] The sixth processing module 730 is used to send third information to the drone terminal after successful authentication; the third information is used to enable the drone terminal and the control terminal to establish a communication connection.

[0253] The seventh processing module 740 is used to establish a communication connection with the UAV.

[0254] According to the communication device for a drone provided in the embodiments of this application, the drone actively sends second information to a first target terminal to establish a communication connection. After the control terminal receives the second information and verifies the identity of the drone based on the second information, it sends third information to the drone terminal to inform it that the communication connection is successful, thereby enabling normal data transmission and reception. This achieves rapid reconnection after the drone and the control terminal lose communication. It can be applied to various scenarios and has a high connection success rate.

[0255] In some embodiments, the device may further include: an eleventh module, configured to:

[0256] Send first information to the second target terminal; the first information includes information used to characterize the position information of the control terminal, and the first information is used to enable the UAV terminal to determine the target's direction of movement.

[0257] In some embodiments, the eleventh module can also be used for:

[0258] If it is predicted that communication with the drone will be lost, the first message is sent to the second target.

[0259] In some embodiments, the eleventh module can also be used for:

[0260] Based on the second target cycle, the first information is sent to the second target end.

[0261] This application also provides a communication device for an unmanned aerial vehicle (UAV).

[0262] like Figure 8 As shown, the communication device of the UAV is applied to the communication equipment, and the device includes: an eighth processing module 810 and a ninth processing module 810.

[0263] The eighth processing module 810 is used to receive second information sent by the UAV terminal; the second information includes relevant information for establishing a communication connection between the UAV terminal and the control terminal in the event that the communication between the UAV terminal and the control terminal is lost.

[0264] The ninth processing module 810 is used to forward the second information to the control terminal located around the communication device, so that the control terminal can authenticate the drone terminal based on the second information.

[0265] According to the communication device for a drone provided in the embodiments of this application, the drone actively sends second information to a first target terminal to establish a communication connection. After the control terminal receives the second information and verifies the identity of the drone based on the second information, it sends third information to the drone terminal to inform it that the communication connection is successful, thereby enabling normal data transmission and reception. This achieves rapid reconnection after the drone and the control terminal lose communication. It can be applied to various scenarios and has a high connection success rate.

[0266] In some embodiments, the device may further include: a twelfth module, for:

[0267] Receive the first message sent by the control terminal;

[0268] Forward the first information to the drone terminal; the first information is used to enable the drone terminal to determine the target's direction of movement when communication with the control terminal is lost.

[0269] The communication device for the drone in this application embodiment can be a drone, an electronic device, or a component of an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices besides a terminal. For example, the electronic device can be a mobile phone, tablet computer, laptop computer, PDA, in-vehicle electronic device, mobile internet device (MID), augmented reality (AR) / virtual reality (VR) device, robot, wearable device, ultra-mobile personal computer (UMPC), netbook, or personal digital assistant (PDA), etc. It can also be a communication device, a server, network attached storage (NAS), personal computer (PC), television (TV), ATM, or self-service machine, etc. This application embodiment does not specifically limit the scope of the device.

[0270] The communication device of the drone in this embodiment can be a device with an operating system. This operating system can be Android, iOS, or other possible operating systems; this embodiment does not specifically limit the specific operating system.

[0271] The communication device for the UAV provided in this application embodiment can achieve Figures 1 to 5 The various processes implemented in the method implementation examples will not be described again here to avoid repetition.

[0272] In some embodiments, this application also provides an unmanned aerial vehicle (UAV).

[0273] In this embodiment, the drone can communicate based on the drone communication method described in any of the above embodiments.

[0274] According to the embodiments of this application, the drone actively sends second information to the first target terminal to establish a communication connection. After the control terminal receives the second information and verifies the identity of the drone based on the second information, it sends third information to the drone terminal to inform it that the communication connection is successful, thereby enabling normal data transmission and reception. This achieves rapid reconnection after the drone and the control terminal lose communication. It can be applied to various scenarios and has a high connection success rate.

[0275] In some embodiments, such as Figure 9As shown, this application embodiment also provides an electronic device 900, including a processor 901, a memory 902, and a computer program stored in the memory 902 and executable on the processor 901. When the program is executed by the processor 901, it implements the various processes of the above-described UAV communication method embodiment and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0276] It should be noted that the electronic devices in this application embodiment include the mobile electronic devices and non-mobile electronic devices described above, such as vehicle terminals.

[0277] This application also provides a non-transitory computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the various processes of the above-described UAV communication method embodiments and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0278] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0279] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the communication method of the aforementioned UAV.

[0280] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0281] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-described UAV communication method embodiment and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0282] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0283] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0284] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0285] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

[0286] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0287] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A communication method for an unmanned aerial vehicle (UAV), characterized in that, Applied to drones; the method includes: Send second information to a first target terminal; the first target terminal includes a control terminal or a communication device terminal located around the drone terminal; the second information includes relevant information for enabling the drone terminal to establish a communication connection with the control terminal in the event that the communication between the drone terminal and the control terminal is lost. Upon receiving the third information sent by the control terminal, the sending of the second information is stopped; the third information is generated by the control terminal after verifying the identity of the drone terminal based on the second information. Establish a communication connection with the control terminal.

2. The communication method for a UAV according to claim 1, characterized in that, Before stopping the transmission of the second information upon receiving the third information from the control terminal, the method further includes: When communication between the UAV and the control terminal is lost, the first information sent by the first target terminal is received; the first information includes information characterizing the location information of the control terminal. Based on the first information, determine the target's direction of movement; Move according to the target direction.

3. The communication method for a UAV according to claim 2, characterized in that, Determining the target's movement direction based on the first information includes: Among the multiple location information included in the first information, the location information with the most identical location information is determined as the target location information; Based on the target location information, the target's direction of movement is determined; And / or, Based on the first information, determine the direction of transmission of the first information; Based on the sending direction, the target movement direction is determined.

4. The communication method for a UAV according to claim 2, characterized in that, The first information includes at least one of the following: the ID information of the control terminal, the rate, and the encryption algorithm.

5. The communication method for a UAV according to any one of claims 1-4, characterized in that, The second information includes at least one of the following: the identity information of the drone terminal, the identity information of the control terminal, data encrypted based on an encryption algorithm, the location information of the drone terminal, and connection request information.

6. The communication method for a UAV according to any one of claims 1-4, characterized in that, Sending the second information to the first target terminal includes: If it is predicted that communication with the control terminal will be lost, the second information is sent to the first target terminal; And / or, In the event that communication between the UAV and the control terminal is lost, the second information is sent to the first target terminal based on the first target period.

7. A communication method for an unmanned aerial vehicle (UAV), characterized in that, Applied to the control terminal; the method includes: Receive second information sent by a second target terminal; the second target terminal includes the UAV terminal or the communication device terminal, and the second information includes relevant information for establishing a communication connection between the UAV terminal and the control terminal in the event that the communication between the UAV terminal and the control terminal is disconnected; The drone terminal is authenticated based on the second information; Upon successful authentication, third information is sent to the drone terminal; the third information is used to enable the drone terminal to establish a communication connection with the control terminal. Establish a communication connection with the drone terminal.

8. The communication method for a UAV according to claim 7, characterized in that, Also includes: Send first information to the second target terminal; the first information includes information for characterizing the position information of the control terminal, and the first information is used for the UAV terminal to determine the target movement direction.

9. The communication method for a UAV according to claim 8, characterized in that, Sending the first information to the second target terminal includes: If it is predicted that communication with the drone will be lost, the first information is sent to the second target terminal. And / or, Based on the second target period, the first information is sent to the second target end.

10. A communication method for an unmanned aerial vehicle (UAV), characterized in that, Applied to communication equipment; the method includes: Receive second information sent by the drone terminal; the second information includes relevant information for establishing a communication connection between the drone terminal and the control terminal in the event that the communication between the drone terminal and the control terminal is lost. The second information is forwarded to the control terminal located near the communication device, so that the control terminal can authenticate the drone based on the second information.

11. The communication method for a UAV according to claim 10, characterized in that, Also includes: Receive the first information sent by the control terminal; Forward the first information to the drone terminal; The first information is used to determine the target's direction of movement when the UAV is disconnected from the control terminal.

12. A communication device for an unmanned aerial vehicle (UAV), characterized in that, Applied to drone terminals; the device includes: A first processing module is used to send second information to a first target terminal; the first target terminal includes a control terminal or a communication device terminal located around the UAV terminal; the second information includes relevant information for enabling the UAV terminal to establish a communication connection with the control terminal in the event that the communication between the UAV terminal and the control terminal is disconnected. The second processing module is used to stop sending the second information upon receiving the third information sent by the control terminal; the third information is generated by the control terminal after verifying the identity of the drone terminal based on the second information. The third processing module is used to establish a communication connection with the control terminal.

13. A communication device for an unmanned aerial vehicle (UAV), characterized in that, Applied to the control terminal; the device includes: The fourth processing module is used to receive second information sent by the second target terminal; the second target terminal includes the UAV terminal or the communication device terminal, and the second information includes relevant information for establishing a communication connection between the UAV terminal and the control terminal when the communication between the UAV terminal and the control terminal is disconnected; The fifth processing module is used to authenticate the drone terminal based on the second information; The sixth processing module is used to send third information to the drone terminal when the authentication is successful; the third information is used to enable the drone terminal to establish a communication connection with the control terminal. The seventh processing module is used to establish a communication connection with the UAV terminal.

14. A communication device for an unmanned aerial vehicle (UAV), characterized in that, Applied to communication equipment; the device includes: The eighth processing module is used to receive second information sent by the UAV terminal; the second information includes relevant information for establishing a communication connection between the UAV terminal and the control terminal in the event that the communication between the UAV terminal and the control terminal is lost. The ninth processing module is used to forward the second information to the control terminal located around the communication device terminal, so that the control terminal can authenticate the drone terminal based on the second information.

15. An unmanned aerial vehicle (UAV), characterized in that, The drone communicates based on the drone communication method as described in any one of claims 1-11.

16. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the communication method of the UAV as described in any one of claims 1-11.

17. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the communication method of the UAV as described in any one of claims 1-11.

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