Unmanned aerial vehicle remote control method, unmanned aerial vehicle and remote controller

Abstract

The invention discloses an unmanned aerial vehicle remote control method, an unmanned aerial vehicle and a remote controller, relates to the technical field of unmanned aerial vehicle control, is applied to the unmanned aerial vehicle, and comprises the following steps: obtaining at least one binding identifier, and sending inquiry information to the remote controller corresponding to the binding identifier; under the condition that first response information aiming at the inquiry information is received, identifying that the remote controller corresponding to the first received first response information is a first remote controller, and sending a control request to the first remote controller; under the condition that the second response information is received, determining the response content of the second response information; and under the condition that the reply content of the second reply information is agreement, sending control notification information to the first remote controller, so that the first remote controller is switched to a master control mode. Through the inquiry operation between the unmanned aerial vehicle and the plurality of remote controllers, the remote controllers operate the unmanned aerial vehicle under the condition that the remote controllers clearly obtain the control right, and confusion and risks possibly caused by disordered control of the plurality of remote controllers are avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle control, and particularly relates to an unmanned aerial vehicle remote control method, an unmanned aerial vehicle and a remote controller. BACKGROUND

[0002] The flight control of an unmanned aerial vehicle mainly depends on the wireless communication link between a remote controller and a flight control system. A set of unmanned aerial vehicle systems is usually composed of one unmanned aerial vehicle and one dedicated remote controller, forming a one-to-one basic control mode.

[0003] However, in complex task scenarios such as multi-point control and ultra-long distance control, multiple remote controllers may need to work cooperatively. One remote controller is responsible for main control, and other remote controllers are used to monitor the flight state or take over the control right in specific situations.

[0004] Currently, in order to realize such functions, the industry usually adopts a temporary and non-standardized configuration method, such as sharing a communication link or manually switching the connection. However, when multiple people collaboratively control an unmanned aerial vehicle, command conflicts or control chaos may easily occur.

[0005] The above content is only used to assist in understanding the technical solutions of the present application and does not represent the acknowledgement of the above content as prior art. SUMMARY

[0006] The main purpose of the present application is to provide an unmanned aerial vehicle remote control method, an unmanned aerial vehicle and a remote controller, aiming to realize orderly one-to-many unmanned aerial vehicle control.

[0007] To achieve the above purpose, the present application provides an unmanned aerial vehicle remote control method applied to an unmanned aerial vehicle. The method comprises the following steps: acquiring at least one binding identifier and sending inquiry information to a remote controller corresponding to the binding identifier; in the case of receiving first response information for the inquiry information, identifying the remote controller corresponding to the first received first response information as a first remote controller; sending a control request to the first remote controller, so that the first remote controller generates second response information in response to a trigger operation for a control option; in the case of receiving the second response information, determining the reply content of the second response information; in the case of the reply content of the second response information being consent, sending control notification information to the first remote controller, so that the first remote controller switches to a master control mode, wherein the first remote controller performs bidirectional communication with the unmanned aerial vehicle in the master control mode.

[0008] In an embodiment, after the step of sending control notification information to the first remote controller, the method further comprises the steps of: determining a remote controller other than the first remote controller as a second remote controller corresponding to the binding identifier pair; sending observation notification information to the second remote controller to make the second remote controller switch to an observer mode, wherein the second remote controller passively receives information sent by the UAV in the observer mode.

[0009] In an embodiment, the UAV remote control method further comprises: in the case that the reply content of the second response information is rejection, sending the inquiry information to the second remote controller, and returning to the step of identifying the first remote controller corresponding to the first response information received first as the first remote controller in the case that the first response information is received; or, in the case that the reply content of the second response information is rejection, re-determining the first remote controller according to the order in which the first response information is received by the UAV, and returning to the step of sending the control request to the first remote controller.

[0010] In an embodiment, before the step of obtaining at least one binding identifier, the method further comprises: broadcasting a pairing signal; in the case that a response to the pairing signal sent by a remote controller is received, establishing a remote connection with the remote controller so that the remote controller and the UAV communicate; in the case that a device identifier sent by the remote controller is received, determining a binding identifier for the remote controller, and sending the binding identifier to the remote controller.

[0011] In an embodiment, after the step of sending inquiry information to the remote controller corresponding to the binding identifier, the method further comprises: detecting whether the UAV receives a first control instruction within a preset time length, wherein the first control instruction is a control instruction sent by a remote controller; in the case that the UAV does not receive the first control instruction within the preset time length, determining the positioning information of the UAV through a preset positioning system; generating a second control instruction according to the positioning information and a preset takeoff point, so that the UAV flies to the takeoff point according to the second control instruction.

[0012] In addition, to achieve the above object, the present application further provides a UAV remote control method applied to a remote controller, the method comprising: storing a binding identifier on the remote controller side; In a case of receiving the inquiry information sent by the UAV according to the binding identifier, first response information is generated and sent to the UAV, so that the UAV sends a control request to the first remote controller; In a case of receiving the control request sent by the UAV, second response information is generated in response to a trigger operation for a control option, and the second response information is sent to the UAV, so that the UAV determines the reply content of the second response information, and in a case where the reply content of the second response information is consent, sends control notification information to the remote controller; In a case of receiving the control notification information sent by the UAV, the remote controller is switched to a master control mode in which the remote controller communicates with the UAV in a bidirectional manner.

[0013] In an embodiment, the step of generating first response information and sending the first response information to the UAV in a case of receiving inquiry information sent by the UAV includes: In a case of receiving the inquiry information sent by the UAV, first response information is generated and the remote controller is switched from an observer mode to a limited control mode, wherein the remote controller passively receives information sent by the UAV in the observer mode, and the remote controller passively receives information sent by the UAV and sends response information to the UAV in the limited control mode; In the limited control mode, the first response information is sent to the UAV, and the observer mode is switched to.

[0014] In an embodiment, after the step of switching to the master control mode, further comprising: In response to a triggered UAV control operation, a first control instruction is generated and sent to the UAV, so that the UAV flies according to the first control instruction.

[0015] In addition, to achieve the above-mentioned purpose, the application further provides a UAV remote control device, which is applied to a UAV, and the device comprises: An inquiry information sending module is configured to acquire at least one binding identifier and send inquiry information to a remote controller corresponding to the binding identifier; A remote controller identification module is configured to identify, in a case of receiving first response information for the inquiry information, that a first remote controller corresponding to the first response information received first is a first remote controller; A control request sending module is configured to send a control request to the first remote controller, so that the first remote controller generates second response information in response to a trigger operation for a control option; The reply content determination module is configured to determine the reply content of the second response information when the second response information is received. The notification information sending module is configured to send control notification information to the first remote controller to make the first remote controller switch to a master mode when the reply content of the second response information is an agreement, wherein the first remote controller performs bidirectional communication with the UAV in the master mode.

[0016] In addition, to achieve the above object, the present application further provides another UAV remote control device, which is applied to a remote controller, and the device comprises: The binding identifier storage module is configured to store a binding identifier on the side of the remote controller. The response information sending module is configured to generate first response information and send the first response information to the UAV to make the UAV send a control request to the first remote controller when the inquiry information sent by the UAV according to the binding identifier is received. The response information sending module is further configured to generate second response information and send the second response information to the UAV to make the UAV determine the reply content of the second response information and send control notification information to the remote controller when the reply content of the second response information is an agreement in response to a trigger operation for a control option when the control request sent by the UAV is received. The mode switching module is configured to switch to a master mode when the control notification information sent by the UAV is received, wherein the remote controller performs bidirectional communication with the UAV in the master mode.

[0017] In addition, to achieve the above object, the present application further provides a UAV, which comprises a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the UAV remote control method as described above.

[0018] In addition, to achieve the above object, the present application further provides a remote controller, which comprises a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the UAV remote control method as described above.

[0019] In addition, to achieve the above object, the present application further provides a storage medium, which is a computer readable storage medium, and the storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the UAV remote control method as described above.

[0020] In addition, to achieve the above object, the application further provides a computer program product, which comprises a computer program, and the computer program, when executed by a processor, implements the steps of the unmanned aerial vehicle remote control method.

[0021] The one or more technical solutions provided in the application have at least the following technical effects: first, the unmanned aerial vehicle acquires at least one binding identifier and sends inquiry information to the remote controller corresponding to the binding identifier, so as to ensure that only the remote controller that is pre-bound can participate in the negotiation of the control right, filter non-trusted equipment from the source, and establish a safe and controllable communication foundation; after receiving the inquiry information, each remote controller sends first response information to the unmanned aerial vehicle to indicate its online state, and then the unmanned aerial vehicle sends a control request to the first remote controller that responds first, in the case of receiving the first response information, which is a first-come-first-served competition mechanism that can quickly determine the priority control candidate among multiple remote controllers, effectively avoiding the initial decision confusion that may be caused by multiple devices responding at the same time; the first remote controller generates second response information in response to a trigger operation for a control option after receiving the control request, and the unmanned aerial vehicle determines the reply content of the second response information, that is, determines the real control intention of the remote controller operator, to provide a basis for control right allocation; further, the unmanned aerial vehicle sends a control notification information to the first remote controller to notify the first remote controller to switch to the master control mode and perform bidirectional communication with the unmanned aerial vehicle in the case that the reply content of the second response information is consent. Through the inquiry operation between the unmanned aerial vehicle and multiple remote controllers, the remote controller operates the unmanned aerial vehicle after obtaining the control right, avoiding the confusion and risks that may be caused by unordered control of multiple remote controllers, and realizing the ordered multi-to-one control of the unmanned aerial vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0022] The accompanying drawings, which are incorporated into and form a part of the specification, illustrate an embodiment consistent with the present application and, together with the description, serve to explain the principles of the application.

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, for those skilled in the art, other drawings can also be obtained based on these drawings without creative labor.

[0024] Figure 1 A flowchart is provided for the unmanned aerial vehicle remote control method embodiment one of the application; Figure 2 A communication diagram is provided between the unmanned aerial vehicle and the remote controller for the embodiment two of the application; Figure 3An interaction flow schematic diagram between the UAV and the remote controller provided for Embodiment Three of the present application; Figure 4 A module structure schematic diagram of the UAV remote control device provided for Embodiment One of the present application; Figure 5 A module structure schematic diagram of another UAV remote control device provided for Embodiment One of the present application; Figure 6 A device structure schematic diagram of the hardware running environment involved in the UAV remote control method provided for Embodiment One of the present application.

[0025] The object implementation, functional features and advantages of the present application will be further explained with reference to the accompanying drawings in conjunction with the embodiments. DETAILED DESCRIPTION

[0026] It should be understood that the specific embodiments described herein are merely intended to explain the technical solutions of the present application, and are not used to limit the present application.

[0027] It should be noted that in the description of the present application and the appended claims, the terms "first", "second", etc. are only used for differentiation in description, and cannot be understood as indicating or implying relative importance.

[0028] In order to better understand the technical solutions of the present application, the following will be described in detail in conjunction with the accompanying drawings and specific embodiments.

[0029] At present, in order to realize the control function of multiple remote controllers on one UAV, the industry usually adopts a temporary and non-standardized configuration, such as sharing a communication link or manually switching the connection, but when multiple people collaborate to control the UAV, the situation of instruction conflict or control confusion is easy to occur.

[0030] The application provides a solution. First, the UAV acquires at least one binding identifier and sends inquiry information to the remote controller corresponding to the binding identifier, ensuring that only the remote controller bound in advance can participate in the negotiation of control right, filtering non-trusted devices from the source, and establishing a secure and controllable communication foundation; each remote controller sends first response information to the UAV to indicate its online state after receiving the inquiry information, and then the UAV sends a control request to the first responding remote controller (first remote controller) in the case of receiving the first response information. This first-come-first-served competition mechanism can quickly determine the priority control candidate among multiple remote controllers, effectively avoiding the initial decision confusion caused by multiple devices responding at the same time; the first remote controller generates second response information in response to the trigger operation for the control option after receiving the control request, and the UAV determines the reply content of the second response information, i.e., determines the real control intention of the remote controller operator, to provide a basis for control right allocation; then, the UAV sends a control notification information to the first remote controller in the case that the reply content of the second response information is agree, and notifies the first remote controller to switch to the master control mode and perform bidirectional communication with the UAV. Through the inquiry operation between the UAV and multiple remote controllers, the remote controller operates the UAV after obtaining the control right, avoiding the confusion and risks caused by unordered control of multiple remote controllers, and realizing the ordered control and safe switching operation of the UAV.

[0031] It should be noted that the execution subject of the embodiment can be an electronic device with multiple-to-one control requirements, which has data processing, network communication and program running functions, such as a UAV, a remote controller, etc.

[0032] Based on this, the application embodiment provides a UAV remote control method, which is described with reference to Figure 1 , Figure 1 The flowchart of the first embodiment of the UAV remote control method of the application is shown. In this embodiment, the UAV is the execution subject, and the UAV remote control method includes steps S10-S50. Step S10, acquiring at least one binding identifier and sending inquiry information to the remote controller corresponding to the binding identifier; The binding identifier refers to the logical voucher assigned by the UAV to the remote controller from a preset pool, which has a one-to-one mapping relationship with the device identifier of the remote controller, and is used for identity verification and permission management in the subsequent UAV control right allocation process.

[0033] The inquiry information refers to the data packet sent by the UAV to determine the connection state of the remote controller.

[0034] Exemplarily, the UAV can acquire the local binding identifier list from the memory, acquire the binding identifier and the unique device identifier associated with each binding identifier, in the case that the UAV receives the control right switching request when starting for the first time or when the UAV has already had a controller.

[0035] Optionally, the UAV enters the switching procedure when receiving the control right switching request sent by the remote controller currently having the control right; the UAV inquires one by one according to the stored binding identifier, confirms how many remote controllers in the bound remote controllers can answer, and enters the switching procedure according to the number of answers, and waits for the appearance of a new controller. If the UAV is in the state of having no controller during the flight, the UAV will be in the hovering state until the appearance of a new controller, and will return to the preset take-off point in the home mode after the timeout without the appearance of a controller.

[0036] In step S20, the remote controller corresponding to the first first response information received is identified as the first remote controller in the case that the first response information is received. The response information refers to the response information of the remote controller to the request sent by the UAV, and in order to distinguish the response information of different requests, the first response information is used to represent the response information of the connection state inquiry information, and the second response information is used to represent the response information of the control request. The first response information can be automatically replied by the remote controller after receiving the inquiry information, and the second response information needs to be replied in response to the user instruction.

[0037] The first first response information refers to the logical judgment result based on the accurate timing; when the first response information data packet is completely received, the UAV immediately stamps a timestamp on it, and in all successfully received first response information, the data packet with the smallest timestamp value is determined as the first first response information.

[0038] Exemplarily, the UAV enters the waiting state after sending the inquiry information to the remote controllers (such as remote controllers A, B and C) corresponding to each binding identifier; the remote controllers A, B and C successively receive the inquiry information sent by the UAV, and send the first response information containing the connection state information to the UAV; the UAV immediately stamps a timestamp on the first response information received by each remote controller, and further determines the remote controller corresponding to the binding identifier contained in the first response information with the smallest timestamp as the first remote controller.

[0039] It can be understood that by determining the first responder remote controller as the first remote controller, the object sending the control request is quickly determined, the interaction with the remote controller is orderly, the decision-making deadlock caused by multiple remote controllers responding is avoided, the communication target is focused, the unnecessary multi-lateral negotiation overhead is reduced, and the control right allocation efficiency is improved.

[0040] In step S30, a control request is sent to the first remote controller, so that the first remote controller generates second response information in response to a trigger operation on a control option. The control request refers to instruction data sent by the unmanned aerial vehicle to the first remote controller for requesting it to accept the control right.

[0041] The control option refers to an option displayed on the interface of the remote controller for user operation after the remote controller receives the control request, such as “agree” or “reject”.

[0042] Exemplarily, after the unmanned aerial vehicle receives the first response information to the inquiry information, the first remote controller is determined according to the binding identifier contained in the first response information, and the control request is sent to the first remote controller to request it to control itself; then, after the first remote controller receives the control request, a dialog box “whether to take over the control right?” is popped up on the display interface of the first remote controller, and the control options of “agree / reject” are displayed for user viewing and selection; then, after the user sees the dialog box, the user can select the control option through touch screen, key, or the like; then, the first remote controller can respond to the trigger operation of the user on the control option, set the option determined by the trigger operation as the reply content, and generate the second response information based on the reply content and send it to the unmanned aerial vehicle.

[0043] In step S40, the reply content of the second response information is determined in the case of receiving the second response information. In step S50, the control notification information is sent to the first remote controller in the case that the reply content of the second response information is agree, so that the first remote controller switches to the master control mode.

[0044] The reply content refers to an enumerated value or a status code predefined in the communication protocol, which exists in a specific field of the data packet of the second response information, for example, “111” represents rejection, and “110” represents agreement.

[0045] The control notification information refers to instruction data packet sent by the unmanned aerial vehicle to the first remote controller with authorization effect; the information contains a specific “authorization token”, that is, contains the control right issued by the unmanned aerial vehicle to the remote controller.

[0046] The master mode refers to a preset running state of the remote controller that has the control right of the UAV. In the master mode, the remote controller can communicate with the UAV in both directions. The remote controller can generate corresponding control instructions according to the joystick operation of the user, and send the control instructions to the UAV to change the flight state of the UAV or perform a specific task.

[0047] Exemplarily, after receiving the second response information, the UAV analyzes the second response information, extracts the reply content from a specific field according to a preset communication protocol, and when it is determined that the reply content is "agree", sends control notification information containing the binding identifier to the first remote controller to remind that the first remote controller has the control right. Then, after receiving the control notification information and determining that the first remote controller has the control right, the first remote controller can generate control instructions in response to the trigger operation of the user on the joystick, switch to the master mode, and send the control instructions to the UAV to control the flight process of the UAV.

[0048] Optionally, before obtaining the control right, the first remote controller, like the second remote controller, receives messages as an observer mode, and switches to a restricted control mode when it is queried to reply information. In the restricted control mode, only the response information can be transmitted to the UAV, and other messages are not allowed to pass upwards (i.e., to send data to the UAV), and the reply information is immediately switched back to the observer mode, so that the UAV can be prevented from being misoperated during the control right allocation phase.

[0049] It can be understood that, through the explicit request and response mechanism, the error instructions caused by misoperation or signal interference can be reduced, the instruction confusion of multiple remote controllers can be avoided, and the highly automated and safe and reliable control right handover can be realized. At the same time, the control notification information is used to finally trigger the first remote controller to generate control information, so that the operation of any remote controller is invalid before obtaining the formal authorization, misoperation or malicious instruction injection is avoided, and orderly control of one UAV by multiple remote controllers is realized.

[0050] The embodiment provides a UAV remote control method, which realizes orderly one-to-many UAV control through the complete process of binding the remote controller to dynamic inquiry and then to control right allocation. When the inquiry process is interrupted due to refusal, the UAV can restart the process through re-inquiry or sequential replacement, to ensure rapid response of the control right determination process.

[0051] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as the above first embodiment can be referred to the above introduction, and will not be described in detail. On this basis, after step S50, the method further includes: Step S51, determining the remote controllers corresponding to the binding identifiers except the first remote controller as the second remote controller; Step S52, sending observation notification information to the second remote controller to make the second remote controller switch to an observer mode, wherein the second remote controller passively receives information sent by the UAV in the observer mode.

[0052] The observer mode refers to a preset running state of a remote controller with specific permissions. In the observer mode, the remote controller is in a receiving and observing state and does not actively send information or perform operations that may affect the state of the UAV. However, the downlink between the remote controller and the UAV remains unblocked, that is, the remote controller can still obtain high-definition image transmission, telemetry data and the like sent by the UAV, thereby realizing a "one-to-many" monitoring function.

[0053] Illustratively, the UAV determines other remote controllers except the first remote controller as the second remote controller according to the binding identifier, and sends observation notification information to the second remote controller to inform the second remote controller that the control right currently belongs to the first remote controller. Then, the second remote controller actively switches the running state to the observer mode after determining that the control right cannot be obtained. In the observer mode, when a user triggers a button operation or a joystick operation, the control instruction generated based on the trigger operation will be intercepted by the control logic inside the second remote controller, and the signal transmitting module will not send wireless signals, thereby realizing the function of preventing the second remote controller from sending information.

[0054] It can be understood that by broadcasting the observation notification information, the logical states (control right attribution states) of all remote controllers bound by the UAV are kept consistent. At the same time, the second remote controller except the first remote controller is set to the observer mode to prevent it from sending information, thereby effectively avoiding the control conflict problem caused by multiple remote controllers sending instructions to the controlled object at the same time and reducing the invalid operation interference of other remote controllers without control right.

[0055] In a feasible implementation, the UAV remote control method further includes: Step S53, in the case where the reply content of the second response information is a refusal, sending inquiry information to the second remote controller and returning to step S20; Exemplarily, if the first remote controller refuses to take over the control of the UAV, i.e., the first remote controller replies to the control request sent by the UAV with a refusal, the UAV re-sends the inquiry information to all the second remote controllers; each second remote controller re-sends the first reply information to the UAV according to its connection state after receiving the inquiry information; meanwhile, the UAV enters a waiting state and returns to step S20 upon receiving the first reply information, i.e., according to the time stamps of the first reply information sent by each second remote controller, the first reply information with the smallest time stamp is determined as the first reply information, the remote controller corresponding to the first reply information is determined as the first remote controller again, and the control request is sent to the remote controller, and further response of the re-determined first remote controller is waited.

[0056] In step S54, in the case where the reply content of the second reply information is a refusal, the first remote controller is re-determined according to the order in which the first reply information is received by the UAV, and the process returns to step S30. Exemplarily, if the first remote controller refuses to take over the control of the UAV, the UAV can select the next remote controller of the first remote controller as a new first remote controller according to the response order of the remote controller corresponding to the recorded binding identifier to the initial inquiry information from fast to slow in the response order, and return to step S30, i.e., send a control request to the new first remote controller and wait for further response of the new first remote controller.

[0057] Two methods for re-determining the first remote controller are provided in the embodiment. The first method is to re-broadcast inquiry information to all the remaining second remote controllers after the preferred first remote controller refuses, to start a new competition process, and to determine the current state of each remote controller according to the reply to the inquiry information, so as to avoid initiating a control request to a remote controller that loses connection. The second method is to directly determine the next ranked remote controller as a new first remote controller based on the response order of the first reply information of the first inquiry, which skips the time-consuming re-inquiry link and improves the efficiency of the whole control right determination process.

[0058] In a feasible embodiment, after step S10, the process further includes: In step S60, it is detected whether the UAV receives a first control instruction within a preset time length, wherein the first control instruction is a control instruction sent by a remote controller. The preset time length refers to a time threshold set in the UAV system, which is used to determine whether the autonomous control mechanism needs to be triggered.

[0059] Exemplarily, after the starting, the unmanned aerial vehicle continuously monitors the instruction flow of the communication channel through the preset communication monitoring module, and starts a countdown timer of a preset time length when the first control instruction sent by the remote controller is monitored; during the countdown process, if the communication monitoring module monitors a new first control instruction again, the countdown timer can be reset; if the new first control instruction is not received when the countdown timer ends, the corresponding emergency processing procedure is triggered.

[0060] It can be understood that by monitoring the control state of the unmanned aerial vehicle, the communication interruption or abnormal situation can be found in time, and the unmanned aerial vehicle can be prevented from being in a loss of control state due to a long time loss of control instructions.

[0061] In step S70, when the unmanned aerial vehicle does not receive the first control instruction within the preset time length, the positioning information of the unmanned aerial vehicle is determined through the preset positioning system. The positioning system refers to a system integrated in the unmanned aerial vehicle or matched with the unmanned aerial vehicle, and used for determining the geographic position information of the unmanned aerial vehicle, including but not limited to a global positioning system (GPS), a Beidou system, etc.

[0062] The positioning information refers to the specific geographic position currently located by the unmanned aerial vehicle through the positioning system, which can be represented by the latitude and longitude coordinates obtained through the positioning system.

[0063] In step S80, the second control instruction is generated according to the positioning information and the preset takeoff point, so that the unmanned aerial vehicle flies to the takeoff point according to the second control instruction.

[0064] The preset takeoff point refers to the takeoff position coordinate information preset before the starting of the unmanned aerial vehicle.

[0065] The second control instruction refers to the control instruction generated by the automatic driving algorithm inside the flight control system of the unmanned aerial vehicle, and used for guiding the unmanned aerial vehicle to fly from the current position to the preset takeoff point.

[0066] Exemplarily, when the unmanned aerial vehicle does not receive the first control instruction sent by the remote controller within the preset time length, the positioning information of the unmanned aerial vehicle is obtained through the communication between the positioning system and the satellite or other positioning base station, and the positioning information is transmitted to the flight control system; then, the flight control system combines the position information of the preset takeoff point after receiving the positioning information, and calculates and analyzes by using the preset algorithm and rules, generates the second control instruction, and adjusts the motor speed, rudder angle, etc. of the unmanned aerial vehicle according to the second control instruction, so as to control the flight attitude and trajectory of the unmanned aerial vehicle, and make it fly to the takeoff point according to the second control instruction.

[0067] In this embodiment, the unmanned aerial vehicle autonomously acquires positioning information and generates a second control instruction, so that the unmanned aerial vehicle can automatically return to the take-off point when communication is lost or no intervention is provided, thereby reducing the risk of out-of-control or crash.

[0068] In this embodiment, after the first remote controller confirms to take over the control right, the observation notification information is synchronously sent to the second remote controller, so that the second remote controller is forced to switch to the observer mode of passively receiving information, thereby avoiding the instruction conflict between multiple remote controllers. When the reply content of the first remote controller is a refusal, the first remote controller can be re-determined through re-inquiry or re-appointment in order, so that the control right allocation process is not terminated due to the refusal of a single remote controller, thereby coping with the change of human decision in time operation. In addition, the automatic return is triggered when no control instruction is received for a long time, thereby avoiding the influence of the out-of-control unmanned aerial vehicle on its own safety and the safety of the surrounding environment. The application realizes the complete logical closed loop from normal operation to abnormal processing through ordered allocation of rights, abnormal recovery and autonomous return, thereby establishing a clear and perfect one-to-many unmanned aerial vehicle control process, so as to realize the one-to-many ordered control of the unmanned aerial vehicle.

[0069] In a feasible implementation, before step S10, the method further comprises: Step S01, broadcast a pairing signal; The pairing signal refers to a periodic broadcast data frame containing the unique identity information and connection parameters of the unmanned aerial vehicle. The signal usually contains the model serial number, the current communication protocol version, the supported encryption method, the service set identification and a randomly generated pairing code and other metadata of the unmanned aerial vehicle, so as to identify and respond to the remote controller.

[0070] Step S02, in the case that the response of the remote controller to the pairing signal is received, a remote connection is established with the remote controller, so that the remote controller and the unmanned aerial vehicle can communicate; The remote connection refers to the communication link established between the unmanned aerial vehicle and the remote controller through wireless communication technology, so that the two can transmit data and interact with instructions. The connection is usually established based on a specific communication protocol, such as Wi-Fi, Bluetooth or a dedicated radio frequency band.

[0071] For example, before starting, the drone can pair and bind with multiple remote controllers. Specifically, it can generate a pairing signal according to a preset communication protocol and frequency, and propagate the pairing signal into the surrounding space. Then, after receiving the pairing signal, the remote controllers in the surrounding space that are scanning can output the connection information and pairing options contained in the pairing signal through voice broadcast, display screen, or other means. Then, the user can determine whether to pair with the drone by touching the screen or pressing a button. Then, the remote controller responds to the trigger operation for the pairing option and determines whether to respond to the pairing signal. If so, it generates a response signal containing pairing confirmation information and sends it to the drone. Then, after receiving the response signal, the drone establishes a remote connection with the remote controller through a communication protocol such as TCP (Transmission Control Protocol) and begins sending messages. Then, after the connection is established, the remote controller can send its device identifier to the drone for identity binding.

[0072] Step S03: If a device identifier is received from the remote controller, a binding identifier is determined for the remote controller, and the binding identifier is sent to the remote controller.

[0073] The device identifier refers to the unique identification code carried by the remote control itself, which is used to identify itself during communication; it can be a serial number, MAC (Media Access Control) address or other unique code, and this implementation does not impose specific restrictions on it.

[0074] For example, after the drone and the remote controller are successfully paired, the remote controller will send a unique device identifier to the drone. Then, the drone selects a binding identifier (such as sys_id=12) from the preset binding identifier pool and assigns it to the remote controller. The remote controller needs to record the binding identifier as a unique identity. The number of binding identifiers in the binding identifier pool is limited (for example, 8 binding identifiers are pre-stored). If the drone receives a device identifier from the remote controller after the allocation is completed, the earliest device identifier will be overwritten.

[0075] For example, please refer to Figure 2 , Figure 2 This document provides a communication diagram between a drone and a remote controller, comprising one air-end (drone end) and multiple ground-ends (remote controller ends). The air-end includes a flight controller and a connectivity communication module, while the ground-end includes a single-chip microcomputer (MCU) and a connectivity communication module. After successful pairing, the air-end and ground-end can communicate via the connectivity communication module. The ground-end connectivity communication module includes three modes: observer mode, restricted control mode, and master control mode.Figure 2 The ground terminal in the first mode can communicate with the sky terminal in a bidirectional manner, and has uplink and downlink data (the uplink and downlink data can also be understood as read and write permissions for the unmanned aerial vehicle terminal); the ground terminal in the second mode is in an observer mode, has no uplink data, and has only downlink data; the limited control mode is a special temporary control mode, has downlink data, and only specific instructions can be uplinked.

[0076] In this embodiment, the unmanned aerial vehicle assigns a binding identifier to the remote controller to determine the uniqueness and security of subsequent communication and prevent unauthorized devices from accessing; after binding, the remote controller and the unmanned aerial vehicle can use a more concise binding identifier for rapid identity authentication in each subsequent connection, avoiding repeated reading and verification of lengthy device identifiers, and improving the subsequent communication efficiency of the unmanned aerial vehicle and the remote controller.

[0077] Based on the first embodiment and / or the second embodiment of the present application, in the third embodiment of the present application, the same or similar contents as the above-mentioned first embodiment and second embodiment can be referred to the above introduction, and will not be described in detail. On this basis, the unmanned aerial vehicle remote control method is applied to the remote controller, and the method comprises: Step A10, storing the binding identifier on the remote controller side; Exemplarily, the remote controller will further send its device identifier to the unmanned aerial vehicle after successful pairing with the unmanned aerial vehicle, and the unmanned aerial vehicle will assign a corresponding binding identifier to the device identifier in the remaining binding identifier, and return the binding identifier to the remote controller; then, the remote controller will store the binding identifier in its memory.

[0078] Step A20, in the case of receiving the inquiry information sent by the unmanned aerial vehicle according to the binding identifier, generating first response information and sending the first response information to the unmanned aerial vehicle; Exemplarily, in the binding state, the wireless communication module of the remote controller can continuously listen to the message from the unmanned aerial vehicle, when receiving the data packet and confirming that it is inquiry information for determining the connection state, generating first response information based on the state information of the remote controller and sending it to the unmanned aerial vehicle; then, the unmanned aerial vehicle receives the response information from the remote controller, and determines that the connection state between the two is good.

[0079] In a possible implementation, step A20 comprises: Step A21, in the case of receiving the inquiry information sent by the unmanned aerial vehicle, generating first response information and switching from the observer mode to the limited control mode, wherein the remote controller passively receives the information sent by the unmanned aerial vehicle in the observer mode, and the remote controller passively receives the information sent by the unmanned aerial vehicle and sends the response information to the unmanned aerial vehicle in the limited control mode; The limited control mode refers to a preset running state of the remote controller with limited sending authority. In the limited control mode, the communication module of the remote controller is temporarily opened with limited sending authority, and only specific types of information (such as response information) are allowed to be sent, while other information (such as control instructions) is prohibited from being sent. This mode is usually implemented through an authority control list or a state machine mechanism.

[0080] Step A22, in the limited control mode, the first response information is sent to the UAV, and the observer mode is switched.

[0081] Exemplarily, in the case of no control right, each remote controller is usually in the observer mode, and the UAV can communicate with each remote controller in one direction, while the remote controller cannot send information to the UAV. When the remote controller receives the inquiry information sent by the UAV, the single-chip microcomputer inside the remote controller immediately switches its running state from the observer mode to the limited control mode, and generates the first response information containing the state information. Then, after the running state of the remote controller is successfully switched, i.e. in the limited control mode, the remote controller sends the first response information to the UAV, and immediately switches back to the observer mode after the sending is successful. Then, when the UAV receives the first response information, the remote controller corresponding to the first response information received by the UAV is determined as the first remote controller, and the control request is sent to the first remote controller.

[0082] In this embodiment, by setting the observer mode and the limited control mode, the channel contention and data collision problems caused by the simultaneous sending of multiple remote controllers are reduced, the mutual interference between multiple remote controllers is avoided, and orderly multi-to-one UAV control is facilitated.

[0083] Step A30, in the case of receiving the control request sent by the UAV, the second response information is generated, and the second response information is sent to the UAV, so that the UAV determines the reply content of the second response information, and in the case that the reply content of the second response information is consent, the control notification information is sent to the remote controller; Exemplarily, each remote controller switches back to the observer mode after sending the first response information to the UAV. For any remote controller, if the first response information sent by it is the first one to reach the UAV (i.e. if the remote controller is the first remote controller), it will receive the control request sent by the UAV.

[0084] Exemplarily, after receiving the control request, the remote controller switches its running state from the observer mode to the limited control mode through the single-chip microcomputer inside it, and at the same time pops up a dialog box "Do you want to take over the control right?" on its display interface, displaying the control options of "Agree / Reject" for the user to view and select; then, the user can select the control options through the touch screen, buttons, etc. after seeing the dialog box; then, the remote controller can set the option determined by the triggering operation of the user as the reply content, and generate the second response information based on the reply content, and send it to the unmanned aerial vehicle, and switch back to the observer mode after the sending is completed.

[0085] Step A40, in the case of receiving the control notification information sent by the unmanned aerial vehicle, switch to the master control mode, wherein the remote controller communicates with the unmanned aerial vehicle in the master control mode.

[0086] Exemplarily, after receiving the control notification information, the remote controller reads the binding identifier therefrom, and compares the read binding identifier with the binding identifier corresponding to the remote controller; if they are the same, the remote controller can determine that the control right belongs to the local end, can notify the user to control the unmanned aerial vehicle through sound and light, and then generate the first control instruction in response to the triggering operation of the user on the joystick, and switch to the master control mode to send the first control instruction to the unmanned aerial vehicle to control the flight process of the unmanned aerial vehicle.

[0087] In a feasible implementation, after step A40, it further includes: Step A41, in response to the triggered unmanned aerial vehicle control operation, generate the first control instruction, and send the first control instruction to the unmanned aerial vehicle to make the unmanned aerial vehicle fly according to the first control instruction.

[0088] The unmanned aerial vehicle control operation refers to the operation behavior of the user on the remote controller for controlling the flight or task execution of the unmanned aerial vehicle, including but not limited to the movement of the joystick, the pressing of the button, the clicking of the touch screen, etc.

[0089] The first control instruction refers to the operation instruction stream generated by the remote controller with the control right, which can affect the flight state of the unmanned aerial vehicle, which can include throttle, yaw, pitch, roll, etc. channel data, and higher-level task instructions (such as "fly to waypoint E").

[0090] Exemplarily, after receiving the control notification information, the remote controller can read the binding identifier from the control notification, and compare the read binding identifier with the binding identifier at the local end of the remote controller; if both are the same, the remote controller can determine that the local end has the control right, switch the running state from the observer mode to the master module, and at the same time, remind the user to control the UAV through sound and light; further, the user can trigger the control of the UAV through the physical rocker, the virtual rocker on the display interface and the like; further, the remote controller can determine the flight parameters (such as the flight height, angle and the like) in response to the triggered UAV control operation, and generate the first control instruction based thereon, and send it to the UAV; further, the UAV can receive and execute the first control instruction, and complete the corresponding flight operation.

[0091] It can be understood that the remote controller switches to the master mode only after determining that the control right is obtained by receiving the control notification information, and then sends the control instruction to the UAV, that is, only the control instruction of the remote controller currently having the control right can be normally sent, avoiding the instruction confusion caused by multiple remote controllers, and being beneficial to improving the stability and orderliness of the multi-to-one UAV control.

[0092] Exemplarily, in order to assist in understanding the implementation process of the UAV remote control method obtained by combining the above-mentioned first embodiment, please refer to Figure 3 , Figure 3An interaction flow diagram between a UAV and a remote controller is provided. First, the UAV sends inquiry information to remote controllers corresponding to at least one binding identifier acquired by the UAV (S101). Then, after receiving the inquiry information, each remote controller switches to a limited control mode (S102), generates first response information containing state information, and sends the first response information to the UAV (S103). After sending the first response information, each remote controller switches back to an observer mode (S104). Then, after receiving the first response information, the UAV determines a remote controller corresponding to the first response information received first as a first remote controller (S105), and sends a control request to the first remote controller (S106). Then, after receiving the control request, the first remote controller switches to a control limited mode (S107), displays a control option on a display interface, generates second response information in response to a triggering operation of the user on the control option, and sends the second response information to the UAV (S108). After sending the second response information, the first remote controller switches to the observer mode (S109). Then, after receiving the second response information, the UAV determines a reply content (S110). If the reply content is an agreement, the UAV sends control notification information containing a binding identifier to the first remote controller (S111). Then, after receiving the control notification information, the first remote controller switches to a master control mode (S112), and sends out a sound and light reminder to provide the user with UAV control. Then, the first remote controller can generate a control instruction in response to a UAV control operation triggered by the user, and send the control instruction to the UAV to control the flight state of the UAV.

[0093] In this embodiment, the running states (including the observer mode, the limited control mode, and the master control mode) of the remote controllers are managed, and the uplink communication authority of the remote controllers is controlled, so that only the remote controller in the master control mode (i.e., having control right) has the ability to send a control instruction, so that even if the UAV is connected to multiple remote controllers, the UAV will not simultaneously receive control instructions from multiple remote controllers, ensuring the uniqueness and certainty of UAV flight control, and realizing orderly one-to-many UAV control.

[0094] It should be noted that the above examples are only used for understanding the present application, and do not limit the UAV remote control method of the present application. More simple transformations based on this technical concept are within the protection scope of the present application.

[0095] The present application also provides a UAV remote control device, which is described in detail in the following. Figure 4 The UAV remote control device is applied to a UAV, and the device comprises: An inquiry information sending module 10 is configured to acquire at least one binding identifier, and send inquiry information to remote controllers corresponding to the binding identifier. The remote controller identification module 20 is configured to identify the first remote controller corresponding to the first response information received in a case where the first response information corresponding to the inquiry information is received. The control request sending module 30 is configured to send a control request to the first remote controller, so that the first remote controller generates second response information in response to a trigger operation for a control option. The reply content determination module 40 is configured to determine the reply content of the second response information in a case where the second response information is received. The notification information sending module 50 is configured to send control notification information to the first remote controller in a case where the reply content of the second response information is consent, so that the first remote controller switches to a master mode, wherein the first remote controller performs bidirectional communication with the UAV in the master mode.

[0096] The UAV remote control device provided by the embodiment of the present application adopts the UAV remote control method in the above embodiment, and can realize orderly multi-to-one UAV control. Compared with the prior art, the UAV remote control device provided by the present application has the same beneficial effects as the UAV remote control method provided by the above embodiment, and other technical features in the UAV remote control device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0097] The embodiment of the present application also provides another UAV remote control device, please refer to Figure 5 The UAV remote control device is applied to a remote controller, and the device comprises: The binding identification storage module 60 is configured to store the binding identification on the remote controller side. The response information sending module 70 is configured to generate first response information and send the first response information to the UAV in a case where the inquiry information sent by the UAV according to the binding identification is received. The response information sending module 70 is further configured to generate second response information and send the second response information to the UAV in a case where the control request sent by the UAV is received, so that the UAV determines the reply content of the second response information, and sends control notification information to the remote controller in a case where the reply content of the second response information is consent. The mode switching module 80 is configured to switch to a master mode in a case where the control notification information sent by the UAV is received, wherein the remote controller performs bidirectional communication with the UAV in the master mode.

[0098] The unmanned aerial vehicle remote control device provided by the embodiments of the present application adopts the unmanned aerial vehicle remote control method in the above embodiments, and can realize orderly one-to-many unmanned aerial vehicle control. Compared with the prior art, the beneficial effects of the unmanned aerial vehicle remote control device provided by the present application are the same as those of the unmanned aerial vehicle remote control method provided by the above embodiments, and other technical features of the unmanned aerial vehicle remote control device are the same as those disclosed in the above embodiments, and thus will not be described herein.

[0099] The embodiments of the present application provide an electronic device, which can be an unmanned aerial vehicle or a remote controller. The electronic device comprises at least one processor and a memory connected with the at least one processor. The memory stores instructions executable by the at least one processor. The instructions are executed by the at least one processor to enable the at least one processor to perform the unmanned aerial vehicle remote control method in the above embodiment one.

[0100] Reference will be made to the following description of the embodiments of the present application, taken in conjunction with the accompanying drawings, in which Figure 6 which shows a structural schematic diagram of an electronic device suitable for implementing the embodiments of the present application. The electronic device in the embodiments of the present application can include, but is not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), and the like, and fixed terminals such as digital TVs, desktop computers, and the like. Figure 6 The electronic device shown is only an example, and should not bring any limitation to the functions and use range of the embodiments of the present application.

[0101] As Figure 6As shown, the electronic device can include a processing device 1001 (e.g., a central processor, a graphics processor, etc.) that can perform various appropriate actions and processes according to programs stored in a read-only memory 1002 or loaded from a storage device 1003 into a random access memory 1004. Various programs and data required for operation of the electronic device are also stored in the random access memory 1004. The processing device 1001, the read-only memory 1002, and the random access memory 1004 are connected to each other through a bus 1005. An input / output interface 1006 is also connected to the bus. Generally, the following systems can be connected to the input / output interface 1006: input devices 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; the storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the electronic device to communicate wirelessly or wired with other devices to exchange data. Although the electronic device having various systems is shown in the figure, it should be understood that all of the shown systems are not required to be implemented or possessed. More or less systems can be alternatively implemented or possessed.

[0102] In particular, according to embodiments of the present disclosure, the processes described above with reference to the flowcharts can be implemented as a computer software program. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a computer readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network through the communication device, or installed from the storage device 1003, or installed from the read-only memory 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the methods of the embodiments of the present disclosure are performed.

[0103] The electronic device provided by the embodiments of the present disclosure adopts the unmanned aerial vehicle remote control method in the above embodiments, and can realize orderly multi-to-one unmanned aerial vehicle control. Compared with the prior art, the electronic device provided by the present disclosure has the same beneficial effects as the unmanned aerial vehicle remote control method provided by the above embodiments, and other technical features in the electronic device are the same as the features disclosed in the previous embodiment method, which will not be repeated here.

[0104] It should be understood that parts of the present disclosure can be realized by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0105] The above merely provides a specific implementation of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0106] The embodiment of the present application provides a computer readable storage medium having computer readable program instructions (i.e. computer programs) stored thereon, the computer readable program instructions being used to execute the unmanned aerial vehicle remote control method in the above embodiment.

[0107] The computer readable storage medium provided by the embodiment of the present application may, for example, be a U disk, but is not limited to an electric, magnetic, optical, electromagnetic, infrared, or semiconductor system or device, or any combination of the above. More specific examples of the computer readable storage medium can include, but are not limited to, an electric connection having one or more conductive lines, a portable computer disk, a hard disk, a random access memory (RAM), a read only memory (ROM), an erasable programmable read only memory (EPROM or flash memory), an optical fiber, a portable compact disk read only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the embodiment, the computer readable storage medium can be any tangible medium containing or storing a program, which can be used by or in combination with an instruction execution system or device. The program code contained on the computer readable storage medium can be transmitted by any suitable medium, including but not limited to an electric wire, an optical cable, an RF (Radio Frequency), etc., or any suitable combination of the above.

[0108] The above computer readable storage medium can be contained in the unmanned aerial vehicle / remote controller; or can exist separately without being assembled into the unmanned aerial vehicle / remote controller.

[0109] The computer readable storage medium stores one or more programs, and when the one or more programs are executed by the UAV, the UAV is caused to: acquire at least one binding identifier, and send inquiry information to a remote controller corresponding to the binding identifier; in a case where first response information is received in response to the inquiry information, identify the remote controller corresponding to the first response information received as a first remote controller; send a control request to the first remote controller; in a case where second response information is received, determine a reply content of the second response information; and in a case where the reply content of the second response information is an agreement, send control notification information to the first remote controller, so that the first remote controller switches to a master control mode, wherein the first remote controller performs bidirectional communication with the UAV in the master control mode.

[0110] The computer readable storage medium stores one or more programs, and when the one or more programs are executed by the remote controller, the remote controller is caused to: store a binding identifier on the remote controller side; in a case where inquiry information sent by the UAV according to the binding identifier is received, generate first response information and send the first response information to the UAV; in a case where a control request sent by the UAV is received, generate second response information in response to a trigger operation for a control option, and send the second response information to the UAV; and in a case where control notification information sent by the UAV is received, switch to a master control mode, wherein the remote controller performs bidirectional communication with the UAV in the master control mode.

[0111] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0112] The flow and block diagrams in the drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flow and block diagrams can represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or the blocks may be executed in the reverse order, depending on the functionality involved. It will also be noted that each block of the block diagrams and / or flowchart illustrations, and combinations thereof, can be implemented by special purpose hardware-based systems that perform the specified functions or operations, or combinations of special purpose hardware and computer instructions.

[0113] The modules involved in the embodiments of the present application can be implemented in software or in hardware. In some cases, the names of the modules do not limit the modules themselves.

[0114] The readable storage medium provided by the embodiments of the present application is a computer readable storage medium, which stores computer readable program instructions (i.e. computer programs) for executing the above-mentioned unmanned aerial vehicle remote control method, and can realize orderly many-to-one unmanned aerial vehicle control. Compared with the prior art, the computer readable storage medium provided by the present application has the same beneficial effects as the unmanned aerial vehicle remote control method provided by the above-mentioned embodiments, and will not be repeated here.

[0115] The embodiments of the present application also provide a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the above-mentioned unmanned aerial vehicle remote control method are realized.

[0116] The computer program product provided by the embodiments of the present application can realize orderly many-to-one unmanned aerial vehicle control. Compared with the prior art, the computer program product provided by the present application has the same beneficial effects as the unmanned aerial vehicle remote control method provided by the above-mentioned embodiments, and will not be repeated here.

[0117] The above-mentioned only some embodiments of the present application, and not limit the patent scope of the present application, any equivalent structural transformation made by using the content of the present application specification and drawings, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for remote control of an unmanned aerial vehicle (UAV), characterized in that, The drone remote control method is applied to a drone, and the method includes: Obtain at least one binding identifier and send an inquiry message to the remote control corresponding to the binding identifier; In the case of receiving a first response to the query information, the remote control corresponding to the first first response is identified as the first remote control; A control request is sent to the first remote controller, causing the first remote controller to generate a second response message in response to a trigger operation for a control option; Upon receiving the second response information, determine the content of the response information. If the response to the second response is "agree", a control notification message is sent to the first remote controller to switch the first remote controller to master control mode, wherein the first remote controller communicates bidirectionally with the drone in master control mode.

2. The UAV remote control method as described in claim 1, characterized in that, After the step of sending control notification information to the first remote controller, the method further includes: The remote controllers other than the first remote controller among the remote controllers corresponding to each of the aforementioned binding identifiers are identified as the second remote controllers; An observation notification message is sent to the second remote controller to switch the second remote controller to observer mode, wherein the second remote controller passively receives the information sent by the drone in the observer mode.

3. The UAV remote control method as described in claim 2, characterized in that, The drone remote control method also includes: If the response to the second response is a rejection, the query information is sent to the second remote controller, and the process returns to the step of identifying the remote controller corresponding to the first received first response information as the first remote controller upon receiving the first response information in response to the query information; or, If the response to the second response is a rejection, the first remote controller is re-determined according to the order in which the drone received the first response, and the process returns to the step of sending a control request to the first remote controller.

4. The UAV remote control method as described in claim 1, characterized in that, Prior to the step of obtaining at least one binding identifier, the method further includes: Broadcast pairing signal; Upon receiving a response to the pairing signal sent by the remote controller, a remote connection is established with the remote controller so that the remote controller and the drone can communicate. Upon receiving a device identifier sent by the remote controller, a binding identifier is determined for the remote controller, and the binding identifier is sent to the remote controller.

5. The UAV remote control method as described in claim 1, characterized in that, After the step of sending the query information to the remote control corresponding to the binding identifier, the method further includes: Detect whether the drone receives a first control command within a preset time period, wherein the first control command is a control command sent by the remote controller; If the drone fails to receive the first control command within the preset time period, the drone's location information is determined through a preset positioning system. Based on the positioning information and the preset takeoff point, a second control command is generated to enable the UAV to fly to the takeoff point according to the second control command.

6. A method for remote control of an unmanned aerial vehicle (UAV), characterized in that, The drone remote control method is applied to a remote controller, and the method includes: The binding identifier is stored on the remote control side; Upon receiving an inquiry message from the drone based on the binding identifier, generate a first response message and send the first response message to the drone; Upon receiving a control request from the drone, in response to a trigger operation for the control option, a second response message is generated and sent to the drone, so that the drone can determine the content of the response message. If the content of the response message is "agree", a control notification message is sent to the remote controller. Upon receiving a control notification message from the drone, the remote controller switches to master control mode, where it engages in bidirectional communication with the drone.

7. The UAV remote control method as described in claim 6, characterized in that, The step of generating a first response and sending the first response to the drone upon receiving an inquiry from the drone includes: Upon receiving an inquiry message from the drone, the remote controller generates a first response message and switches from observer mode to restricted control mode. In the observer mode, the remote controller passively receives the message sent by the drone, and in the restricted control mode, the remote controller passively receives the message sent by the drone and sends a response message to the drone. In the restricted control mode, the first response information is sent to the drone, and the system switches to the observer mode.

8. The UAV remote control method as described in claim 6, characterized in that, Following the step of switching to master control mode, the following is also included: In response to a triggered drone control operation, a first control command is generated and sent to the drone so that the drone flies according to the first control command.

9. A drone, characterized in that, The drone includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the drone remote control method as described in any one of claims 1 to 5.

10. A remote control, characterized in that, The remote controller includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the unmanned aerial vehicle remote control method as described in any one of claims 6 to 8.

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