CONTROL METHOD, UNMANNED AERIAL VEHICLE, SERVER AND COMPUTER READABLE STORAGE MEDIUM

A method for controlling an unmanned aerial vehicle (UAV) in communication with a first control base station includes obtaining position information of a second control base station, determining that a distance between the UAV and the second control base station is shorter than a distance between the UAV and the first control base station, and establishing a communication with the second control base station.

TECHNICAL FIELD

The present disclosure relates to communications technologies, more particularly, to a control method, an unmanned aerial vehicle, a server, and a computer readable storage medium.

BACKGROUND

At present, the operation radius of unmanned aerial vehicles is limited to the radio frequency transmission power of the control base station.

SUMMARY

In accordance with the disclosure, there is provided a method for controlling an unmanned aerial vehicle (UAV) in communication with a first control base station including obtaining position information of a second control base station, determining that a distance between the UAV and the second control base station is shorter than a distance between the UAV and the first control base station, and establishing a communication with the second control base station.

Also in accordance with the disclosure, there is provided a method for controlling a UAV including receiving information indicating that a distance between the UAV and a first control base station is greater than a distance between the UAV and a second control base station, receiving information about a communication state of the UAV being switched from communicating with the first control base station to communicating with the second control base station, and switching a data source from the first control base station to the second control base station.

Also in accordance with the disclosure, there is provided an unmanned aerial vehicle (UAV) in communication with a first control base station including a communication circuit configured to obtain position information of a second control base station and a processor configured to determine that a distance between the UAV and the second control base station is shorter than a distance between the UAV and the first control base station. The communication circuit is further configured to establish a communication with the second control base station.

Also in accordance with the disclosure, there is provided a server including a communication circuit configured to receive information indicating that a distance between an unmanned aerial vehicle (UAV) and a first control base station is greater than a distance between the UAV and a second control base station, receive information indicating that a communication state of the UAV is switched from communicating with the first control base station to communicating with the second control base station, and switch a data source from the first control base station to the second control base station.

DETAILED DESCRIPTION OF THE EMBODIMENTS

Example embodiments will be described with reference to the accompanying drawings, in which the same numbers refer to the same or similar elements unless otherwise specified. The embodiments described below with reference to the drawings are exemplary and are only considered to explain the disclosure, and not to limit the scope of the disclosure.

FIGS. 1 and 2are schematic drawings of an example control method consistent with the disclosure. The control method is used for control of an unmanned aerial vehicle (UAV)10by at least two control base stations20. The at least two control base stations20include a first control base station21having a fixed position and a second control base station22having a fixed position. The first control base station21is the control base station20currently in communication with the UAV10. As shown inFIG. 1, at S12, location information of the second control base station22is obtained.

At S14, the distance between the UAV10and the second control base station22is determined to be shorter than the distance between the UAV10and the first control base station21.

At S16, a communication with the second control base station22is established.

In the embodiments of the present disclosure, the control method can be implemented by the UAV10consistent with the disclosure and the at least two control base stations20control the UAV10. The at least two control base stations20include the first control base station21and the second control base station22, each having a fixed position. The first control base station21is the control base station20currently in communication with the UAV10. The UAV10includes a first communication circuit11and a first processor12. S12and S16can be implemented by the first communication circuit11, and S14can be implemented by the first processor12.

That is, the first communication circuit11is configured to obtain the position information of the second control base station22and establish communication with the second control base station22. The first processor12is configured to determine that the distance between the UAV10and the second control base station22is shorter than the distance between the UAV10and the first control base station21. The UAV10can communicate with the control base station20through a wireless communication (for example, WiFi, etc.).

If the UAV10communicates with only one control base station20when performing a fight task (for example, a line inspection, etc.), then when the distance between the UAV10and the control base station20is long or terrain occlusion exists between the UAV10and the control base station20, the communication signal between the UAV10and the control base station20is weak. The UAV10can only perform a return-home operation. Therefore, the operation radius of the UAV10is greatly limited.

As shown inFIG. 3, a UAV10according to an embodiment of the present disclosure flies along a scheduled route and a plurality of control base stations20are numbered in a predetermined order, so that the communication of the UAV10can be switched. Specifically, the UAV10communicates with the first control base station21within a period of time after taking off. For example, the UAV10flies to position A. At this time, the distance between position A and the first control base station21is relatively short, so the UAV10communicates with the first control base station21. As the UAV10continues to fly, the distance between the UAV10and the first control base station21becomes greater and greater. When the distance between the UAV10and the first control base station21is greater than a predetermined threshold (for example, the UAV10flies to position B), it can be considered that the communication signal between the UAV10and the first control base station21is already weak. The position information of the first control base station21is sent to the UAV10by the first control base station21in real time. In order to ensure a good communication between the UAV10and the control base stations20, the UAV10obtains the position information of the second control base station22and establishes a communication with the second control base station22when the UAV10determines the distance between the UAV10and the second control base station22is shorter than the distance between the UAV10and the first control base station21. Since the distance between the UAV10and the second control base station22is shorter than the distance between the UAV10and the first control base station21, the communication signal between the UAV10and the second control base station22is stronger than the communication signal between the UAV10and the first control base station21. Therefore, when the communication state of the UAV10is switched from communicating with the first control base station21to communicating with the second control base station22, a good communication between the UAV10and the second control base station22can be maintained.

In addition, the UAV10can directly detect the strength of the communication signal between the UAV10and the first control base station21(for example, by detecting the signal-to-noise ratio, etc.), obtain position information of the first control base station21and the second control base station22when the strength of detected communication signal is weaker than a threshold, and then establish a communication with the second control base station22when the distance between the UAV10and the second control base station22is determined to be shorter than the distance between the UAV10and the first control base station21. In some embodiments, the UAV10sends an instruction of inquiring the position information of the first control base station21to the first control base station21when the UAV10detects that the strength of the communication signal is weaker than a threshold, then the first control base station21sends its own position information to the UAV10. In another way, the first control base station21can also send its own position information to the UAV10in real time, so that a good communication between the UAV10and the second control base station22can be maintained.

Each of the plurality of control base stations20communicates with a server30. When the UAV10switches its communication state from communicating with the first control base station21to communicating with the second control base station22, the UAV10sends the communication state to the server30. Therefore when a user sends a control instruction to control the UAV10through the server30, the server30can choose to forward the control instruction to the control base station20currently communicating with the UAV10.

In the embodiments of the present disclosure, the control method and the UAV10use at least two control base stations20to communicate with the UAV10. When the distance between the UAV10and the first control base station21is relatively long, the communication state can be switched from communicating with the first control base station21to communicating with the second control base station22so that the UAV10can maintain a good communication with the second control base station22that is closer to UAV10. At a result, the operation radius of the UAV10is expanded.

FIG. 4is a schematic flow chart of an example control method consistent with the disclosure. As shown inFIG. 4, at S111, the position information of the first control base station21is obtained.

At S112, the position information of the UAV10is obtained.

At shown inFIG. 4, obtaining the position information of the second control base station22(S12shown inFIG. 1) includes sending an acquisition instruction to acquire the position information of the second control base station22to the first control base station21(S121) and receiving the position information of the second control base station22sent by the first control base station21according to the acquisition instruction (S122).

Further, at S13, the distance between the UAV10and the first control base station21is calculated based on the position information of the UAV10and the position information of the first control base station21, and the distance between the UAV10and the second control base station22is calculated based on the position information of the UAV10and the position information of the second control base station22.

Referring toFIG. 2, in some embodiments, S111, S121, and S122can be implemented by the first communication circuit11, and S112and S13can be implemented by the first processor12.

That is, the first communication circuit11can be further configured to acquire the position information of the first control base station21and send an acquisition instruction to acquire the position information of the second control base station22to the first control base station21. The first processor12can be further configured to obtain position information of the UAV10and receive position information of the second control base station22sent by the first control base station21according to the acquisition instruction. The distance between the UAV10and the first control base station21is calculated based on the position information of the UAV10and the position information of the first control base station21, and the distance between the UAV10and the second control base station22is calculated based on the position information of the UAV10and the position information of the second control base station22.

The position information of the control base station20refers to the coordinates of the control base station20. That is, the position information of the first control base station21refers to the coordinates of the first control base station21, and the position information of the second control base station22refers to the coordinates of the second control base station22. The position information of the UAV10refers to the coordinates of the UAV10. Both coordinates of the control base station20and coordinates of the UAV10can be provided by a global satellite navigation system (e.g., Global Positioning System (GPS), Beidou Navigation Satellite System (BDS), Global Navigation Satellite System (GLONASS), etc.).

Specifically, the position information of the first control base station21can be sent to the UAV10in real time, or the first control base station21sends its own position information to the UAV10when the first communication circuit11of the UAV10sends an acquisition instruction to acquire the position information of the first control base station21to the first control base station21. The position information of the UAV10can be read from a sensor by the first processor12. The position information of the second control base station22is sent by the first control base station21to the UAV10when the first communication circuit11of the UAV10sends an acquisition instruction to acquire the position information of the second control base station22to the first control base station21. In some embodiments, multiple control base stations20communicate with the server30(for example, the multiple control base stations20can communicate with the server30through a wired communication such as Ethernet), and position information of the multiple control base stations20are stored in the server30. Therefore, when the first control base station21receives the acquisition instruction sent by the UAV10to obtain the position information of the second control base station22, the first control base station21obtains the position information of the second control base station22from the server30and sends the position information to the UAV10.

In some embodiments, the positions of the plurality of control base stations20are fixed, so the position information of the plurality of control base stations20can be stored in a memory (not shown in the figures) of the UAV10. When the UAV10needs to acquire the position information of each control base station20, the UAV10can directly read the position information from the memory via the first processor12.

The order in which the UAV10acquires the position information of the first control base station21, the position information of the second control base station22, and its own position information can be arbitrary. For example, acquiring the position information may be in the order of acquiring the position information of the first control base station21, acquiring the position information of the second control base station22, and acquiring the position information of the UAV10, or in the order of acquiring the position information of the UAV10, acquiring the position information of the first control base station21, and acquiring the position information of the second control base station22, or the UAV10may obtain its own position information and the position information of the first control base station21at the same time, and then obtain the position information of the control base station22. The order is not limited herein.

After the UAV10obtains the position information (e.g., coordinates) of the first control base station21, the second control base station22, and the UAV10, the first processor12calculates the distance between the UAV10and the control base station21and the distance between the UAV10and the second control base station22based on the plurality of coordinates obtained above. The calculation of the distance between the UAV10and the first control base station21based on the position information of the UAV10and the position information of the first control base station21at S13can be performed by calculating the distance between the coordinates of the UAV10and the coordinates of the first control base station21. The calculation of the distance between the UAV10and the second control base station22based on the position information of the UAV10and the position information of the second control base station22at S13can be performed by calculating the distance between the coordinates of the UAV10and the coordinates of the second control base station22.

In this way, the UAV10can compare the distance between the UAV10and the first control base station21with the distance between the UAV10and the second control base station22, and then switch the communication state from communicating with the first control base station21to communicating with the second control base station22to improve the communication quality when the distance between the UAV10and the second control base station22is shorter than the distance between the UAV10and the first control base station21.

As shown inFIG. 5, establishing the communication with the second control base station22(S16shown inFIG. 1) includes sending a communication request for establishing a communication to the second control base station22(S161) and establishing a communication with the second control base station22when the second control base station22agrees to establish a communication (S162).

Referring toFIG. 2, in some embodiments, S161and S162can be implemented by the first communication circuit11. That is, the first communication circuit11can be further configured to send the communication request for establishing a communication to the second control base station22and establish the communication with the second control base station22when the second control base station22agrees to establish communication. Specifically, when the first processor12determines that the distance between the UAV10and the second control base station22is shorter than the distance between the UAV10and the first control base station21, the first communication circuit11of the UAV10sends a communication request for establishing a communication to the second control base station22. After the second control base station22receives the communication request for establishing a communication, if the second control base station22agrees to establish a communication, the second control base station22will send a feedback signal agreeing to establish a communication to the UAV10. After receiving the feedback signal, the first communication circuit11of the UAV10switches the communication state from communicating with the first control base station21to communicating with the second control base station22.

In some embodiments, during the entire flight of the UAV10, the second control base station22is always on and receives external wireless signals in real time, so that the second control base station22can receive the communication request signal from the UAV10in time when the UAV10attempts to establish a communication with the second control base station22.

In some other embodiments, the second control base station22can be in a standby state (the standby state refers to only being powered on, but not receiving external wireless signals). When the UAV10wishes to switch the communication state thereof from communicating with the first control base station21to communicating with the second control base station22, the UAV10sends a prompt signal to the first control base station21, the first control base station21sends the prompt signal to the server30, and then the server30sends the prompt signal to the second control base station22to prompt the second control base station22to enable the function of receiving external wireless signals. Subsequently, the UAV10sends a wireless signal of the communication request for establishing a communication to the second control base station22. After receiving the signal of the communication request, the second control base station22sends a feedback signal agreeing to establish a communication to the UAV10. After receiving the feedback signal, the first communication circuit11of the UAV10can switch the communication state from communicating with the first control base station21to communicating with the second control base station22.

As shown inFIG. 6, establishing the communication with the second control base station22(S16shown inFIG. 1) includes receiving a communication request for establishing a communication from the second control base station22(S163) and establishing the communication with the second control base station22when the UAV10agrees to establish communication (S164).

Referring toFIG. 2, in some embodiments, S163and S164can be implemented by the first communication circuit11. That is, the first communication circuit11can be further configured to receive the communication request for establishing communication from the second control base station22and establish the communication with the second control base station22when the UAV10agrees to establish communication.

Specifically, during the entire flight of the UAV10, the second control base station22sends a signal of a communication request for establishing communication in real time or every a short period of time. When the UAV10wishes to switch the communication state from communicating with the first control base station21to communicating with the second control base station22, the first communication circuit11of the UAV10receives the communication request sent by the second control base station22and sends a feedback signal agreeing to establish communication to the second control base station22. After receiving the feedback signal, the second control base station22maintains communication with the UAV10in real time.

In some other embodiments, when the UAV10wishes to switch the communication state from communicating with the first control base station21to communicating with the second control base station22, the UAV10sends a prompt signal to the first control base station21, the first control base station21sends the prompt signal to the server30, and then the server30sends the prompt signal to the second control base station22to prompt the second control base station22to actively send a communication request for establishing a communication to the UAV10. The first communication circuit11of the UAV10receives the communication request sent by the second control base station22and sends a feedback signal agreeing to establish a communication to the second control base station22. After receiving the feedback signal, the second control base station22maintains communication with the UAV10in real time.

As shown inFIG. 7, establishing the communication with the second control base station22(S16shown inFIG. 1) includes receiving a communication request for establishing communication from the second control base station22(S163), sending a switching request to the first control base station21(S165), receiving a consent response to the switching request from the first control base station21, and sending an agreement response to the communication request to the second control base station22(S166).

Referring toFIG. 2, in some embodiments, S163, S165and S166can be implemented by the first communication circuit11. That is, the first communication circuit11can be further configured to receive the communication request for establishing communication from the second control base station22, send a switching request to the first control base station21, receive the consent response to the switching request from the first control base station21, and send the agreement response to the communication request to the second control base station22.

Specifically, during the entire flight of the UAV10, the second control base station22sends a signal of a communication request for establishing communication in real time or every a short period of time. When the UAV10wishes to switch the communication state from communicating with the first control base station21to communicating with the second control base station22, the first communication circuit11of the UAV10receives the communication request sent by the second control base station22, then the UAV10sends a switching request to the first control base station21after receiving the communication request and sends the agreement response to the communication request to the second control base station22after receiving the consent response to the switching request from the first control base station21. Alternatively, when the UAV10wishes to switch the communication state from communicating with the first control base station21to communicating with the second control base station22, the UAV10sends a prompt signal to the first control base station21, the first control base station21sends the prompt signal to the server30, and then the server30sends the prompt signal to the second control base station22to prompt the second control base station22to actively send a communication request for establishing communication to the UAV10. After receiving the communication request, the UAV10sends a switching request to the first control base station21and sends the agreement response to the communication request to the second control base station22after receiving the consent response to the switching request from the first control base station21. In some cases, when the UAV10is transmitting image data to the first control base station21and if the UAV10does not negotiate with the first control base station21to switch the control base station20, then directly disconnecting the communication with the first control base station21by the UAV10will cause immediate interruption of image transmission and affect the continuity and real-time performance of the data transmission. In some other cases, when the user sends a control instruction for controlling the flight of the UAV10from the server30to the first control base station21, and the first control base station21forwards the control instruction to the UAV10, if the UAV10does not negotiate with the first control base station21about switching the control base station20, directly disconnecting the communication with the first control base station21by the UAV10will affect the user's control of the UAV10.

As shown inFIG. 8, in some embodiments, at S171, if the attempt to establish the communication between the UAV10and the second control base station22fails, the position information of a third control base station23is obtained.

At S172, the distance between the UAV10and the third control base station23is determined to be shorter than the distance between the UAV10and the first control base station21.

At S173, a communication with the third control base station23is established.

Referring again toFIG. 2, in some embodiments, S171and S173can be implemented by the first communication circuit11, and S172can be implemented by the first processor12.

That is, the first communication circuit11can be further configured to obtain the position information of the third control base station23when the attempt to establish the communication between the UAV10and the second control base station22fails, and establish a communication with the third control base station23. The first processor12can be further configured to determine that the distance between the UAV10and the third control base station23is shorter than the distance between the UAV10and the first control base station21.

The communication establishment failure between the UAV10and the second control base station22means the UAV10does not receive the feedback signal after the UAV10sends a communication request for establishing communication to the second control base station22. It might be because the signal cannot be transmitted between the UAV10and the second control base station22at the moment, or the signal-to-noise ratio of the feedback signal from the second control base station22received by the UAV10is relatively low, making the communication quality between the UAV10and the second control base station22poor.

When terrain occlusion exists between the UAV10and the control base station22, the communication signal between the UAV10and the control base station22becomes weak. Therefore, when the attempts to establish the communication between the UAV10and the second control base station22fails, the UAV10obtains the position information of the third control base station23, and establishes a communication with the third control base station23when determining that the distance between the UAV10and the control base station23is shorter than the distance between the UAV10and the first control base station21. The acquisition of the position information of the third control base station23is similar to the acquisition of the position information of the second control base station22. The calculation of the distance between the UAV10and the third control base station23is similar to the calculation of the distance between the UAV10and the second control base station22. The manner to establish communication between the UAV10and the third control base station23is similar to the manner to establish communication between the UAV10and the second control base station22. The above methods will not be described again.

In this way, the UAV10switches the communication state from communicating with the first control base station21to communicating with the third control base station23so that the UAV10can maintain a good communication with the third control base station23. Further, the UAV10sends the switching information of communication state to the server30through the third control base station23.

As shown inFIG. 9, in some embodiments, at S18, if the attempts to establish the communication between the UAV10and the third control base station23fails, the UAV10is controlled to return home.

Referring again toFIG. 2, in some embodiments, the UAV10further includes a flight controller13. S18can be implemented by the flight controller13. That is, the flight controller13can be configured to control the UAV10to return home when the attempt to establish the communication between the UAV10and the third control base station23fails.

When the attempt to establish the communication between the UAV10and the third control base station23fails, if the UAV10continues to fly along the route, the distance between the UAV10and the first control base station21is getting longer and longer, and the communication signal between the UAV10and the first control base station21is getting weaker and weaker. However, the UAV10cannot find another control base station20to maintain a good communication between UAV10and the control base station20. As such, a loss of connection with the UAV10may happen. Therefore, in order to ensure the safety of the UAV10, when the attempt to establish the communication between the UAV10and the third control base station23fails, the flight controller13directly controls the UAV10to return home.

In some embodiments, when the attempt to establish the communication between the UAV10and the third control base station23fails, the UAV10can attempt to establish a communication with a fourth control base station20and also keep attempting to communicate with a fifth control base station20when the attempt to establish the communication between the UAV10and the fourth control base station20fails. The number of times that the UAV10attempts to establish a communication with the control base station20can be set by the user according to the actual situation.

The present disclosure further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program to be used together with an electronic device, and the computer program can be executed by the first processor12to implement the control methods described in the above embodiments to control the UAV10by at least two control base stations20. The electronic device is the UAV10.

For example, the computer program can be executed by the first processor12to perform the control method by reading the position information of the second control base station22from the first communication circuit11, determining that the distance between the UAV10and the second control base station22is shorter than the distance between the UAV10and the first control base station21, and then controlling the first communication circuit11to establish communication with the second control base station22.

For another example, the computer program can also be executed by the first processor12to perform the control method by reading the position information of the first control base station21from the first communication circuit11, obtaining the position of the UAV10from the sensor, calculating the distance between the UAV10and the first control base station21based on the position information of the UAV10and the position information of the first control base station21, and calculating the distance between the UAV10and the second control base station22based on the position information of the UAV10and the position information of the second control base station22.

As shown inFIGS. 10 and 11, the present disclosure provides a control method for controlling the UAV10through at least two control base stations20. The at least two control base stations20include a first control base station21having a fixed position and a second control base station22having a fixed position. The first control base station21is a control base station20currently communicating with the UAV10.

At S22, the result that the distance between the UAV10and the second control base station22is shorter than the distance between the UAV10and the first control base station21is received.

At S24, information about the communication state of the UAV10being switched from communicating with the first control base station21to communicating with the second control base station22is received.

At S26, the data source is switched from communicating with the first control base station21to communicating with the second control base station22.

In some embodiments, the control method can be implemented by the server30. The server30controls the UAV10through at least two control base stations20. The server30includes a second communication circuit31. S22, S24, and S26can be implemented by the second communication circuit31.

That is, the second communication circuit31is further configured to receive the result that the distance between the UAV10and the second control base station22is shorter than the distance between the UAV10and the first control base station21, receive information about the communication state of the UAV10being switched from communicating with the first control base station21to communicating with the second control base station22, and switch the data source from the first control base station21to the second control base station22.

Specifically, the server30remotely controls and monitors the UAV10through at least two control base stations20. When the UAV10communicates with the first control base station21, the server30controls the UAV10through the first control base station21. When the UAV10communicates with the second control base station22, the server30controls the UAV10through the second control base station22. In another word, the server30controls the UAV10through the control base station20currently communicating with the UAV10. Therefore, the server30must know which one of the plurality of control base stations20is the control base station20communicating with the UAV10at the current moment. Specifically, when the communication state of the UAV10is switched from communicating with the first control base station21to communicating with the second control base station22, the UAV10will send the result that the distance between the UAV10and the second control base station22is shorter than the distance between the UAV10and the first control base station21and the switching information of communication state to the second control base station22. The second control base station22forwards the result and the switching information to the server30. Then the second communication circuit31of the server30receives the result and the switching information, and switches the data source from the first control base station21to the second control base station22. As a result, the server30can have the flight status and communication status of the UAV10in real time.

As shown isFIG. 12, in some embodiments, at S211, an acquisition instruction forwarded by the first control base station21to acquire the position information of the second control base station22is received. The acquisition instruction is sent by the UAV10to the first control base station21.

At S212, the position information of the second control base station22is sent to the UAV10.

Referring toFIG. 11, in some embodiments, S211and S212can be implemented by the second communication circuit31. That is, the second communication circuit31can be further configured to receive the acquisition instruction forwarded by the first control base station21to acquire the position information of the second control base station22and send the position information of the second control base station22to the UAV10. The acquisition instruction is sent by the UAV10to the first control base station21.

Specifically, multiple control base stations20communicate with the server30(for example, the multiple control base stations20can communicate with the server30through a wired communication such as Ethernet), and position information of the multiple control base stations20are stored in the server30. Therefore, the UAV10wishes to obtain the position information of the second control base station22, the UAV10will sent an acquisition instruction to the first control base station21to acquire the position information of the second control base station22and the first control base station21will forward the acquisition instruction to the server30. After receiving the acquisition instruction, the second communication circuit31of the serve30sends the position information of the second control base station22to the first control base station21, and then the first control base station21forwards the position information to the UAV10. As a result, the UAV10obtains the position information of the second control base station22.

As shown inFIG. 13, in some embodiments, at S27, data information sent by the control base station20currently communicating with the UAV10is received. The data information is sent by the UAV10to the current control base station20.

Referring toFIG. 11, in some embodiments, S27can be implemented by the second communication circuit31. That is, the second communication circuit31can be further configured to receive data information sent by the control base station20currently communicating with the UAV10. The data information is sent by the UAV10to the current control base station20.

The data information includes at least one of parameter information of the UAV10, environmental information obtained by the UAV10through the load carried, or parameter information of the load carried by the UAV10. In some embodiments, the data information can include only the parameter information of the UAV10, or only the environmental information obtained by the UAV10through the load carried, or only the parameter information of the load carried by the UAV10. In some embodiments, the data information can include both the parameter information of the UAV10and the environmental information obtained by the UAV10through the load carried, or include both the environmental information obtained by the UAV10through the load carried and the parameter information of the load carried by the UAV10, or include both the parameter information of the UAV10and the parameter information of the load carried by the UAV10. In some embodiments, the data information can include the parameter information of the UAV10, the environmental information obtained by the UAV10through the load carried, and the parameter information of the load carried by the UAV10at the same time.

For example, the parameter information of the UAV10can include at least one of coordinates, pitch angle, flight speed, or battery power, the UAV10. The environment information obtained by the UAV10through the load carried can include at least one of an image or a video captured by a camera carried by the UAV10. The parameter information of the load carried by the UAV10can include the pitch angle of the gimbal carried by the UAV10.

The UAV10sends the data information to the control base station20currently communicating with the UAV10, and then the control base station20forwards the data information to the server30. The second communication circuit31of the server30is responsible for receiving the above data information. As a result, the server30can fully appreciate the flight status of the UAV10, which makes it convenient for the server30to remotely control the UAV10.

As shown inFIG. 14, in some embodiments, at S28, a remote control instruction is sent to the control base station20currently communicating with the UAV10to control the flight of the UAV10through the current control base station20.

Referring toFIG. 11, in some embodiments, S28can be implemented by the second communication circuit31. The second communication circuit31can be further configured to send a remote control instruction to the control base station20currently communicating with the UAV10to control the flight of the UAV10through the current control base station20.

Specifically, the user inputs a remote control instruction through an external device (such as a laptop computer, a tablet computer, a mobile phone, and etc.) that communicates with the server30, and the server30sends the remote control instruction to the control base station20currently communicating with the UAV10, and then the base station forwards the remote control instruction to the UAV10. Therefore, when the UAV10performs a task, the user can remotely control the UAV10to fly and shoot images or videos of the target area through the server30. In some unpredicted weather, the user can remotely control the UAV10through the server30to return and land in time to ensure the safety of the UAV10.

The present disclosure also provides a computer-readable storage medium that stores a computer program to be used together with an electronic device. The computer program can be executed by the second processor32to implement the control method described in the above embodiments to control the UAV10by at least two control base stations20. The electronic device is the server30.

For example, the computer program can be executed by the second processor32to implement the control methods by controlling the second communication circuit31to receive the result that the distance between the UAV10and the second control base station22is shorter than the distance between the UAV10and the first control base station21, receiving information about the communication state of the UAV10being switched from communicating with the first control base station21to communicating with the second control base station22, and switching the data source from the first control base station21to the second control base station22.

For another example, the computer program can also be executed by the second processor32to perform the control method by controlling the second communication circuit31to receive the acquisition instruction forwarded by the first control base station21to acquire the position information of the second control base station22and sending the position information of the second control base station22to the UAV10. The acquisition instruction is sent by the UAV10to the first control base station21.

As shown inFIGS. 14 and 15, the present disclosure provides a control method used by the server30for controlling the UAV10through at least two control base stations20. The at least two control base stations20include a first control base station21having a fixed position and a second control base station22having a fixed position. The first control base station21is a control base station20currently communicating with the UAV10.

At S32, the UAV10obtains the position information of the second control base station22.

At S34, the UAV10determines that the distance between the UAV10and the second control base station22is shorter than the distance between the UAV10and the first control base station21.

At S35, the UAV10establishes the communication with the second control base station22.

At S36, the UAV10sends information indicating the communication state of the UAV10being switched from communicating with the first control base station21to communicating with the second control base station22to the server30.

Referring toFIG. 15, the control method according to the embodiments can be implemented by the communication system100. The communication system100includes a UAV10, a server30, and at least two control base stations20. The at least two control base stations20include a first control base station21and a second control base station22, each having a fixed position. The first control base station21is a control base station20currently communicating with the UAV10. The UAV10includes a first communication circuit11and a first processor12. S32, S35, and S36can be implemented by the first communication circuit11. S24can be implemented by the first processor12.

The first communication circuit11can be further configured to obtain the position information of the second control base station22, establish the communication with the second control base station22, and send information indicating the communication state of the UAV10being switched from communicating with the first control base station21to communicating with the second control base station22to the server30. The first processor12can be further configured to obtain the position information of the second control base station22.

The UAV10can communicate with the control base station20through a wireless communication (for example, WiFi, etc.). The plurality of control base stations20can communicate with the server30through a wired communication such as Ethernet.

If the UAV10communicates with only one control base station20when performing a fight task (for example, a line inspection, etc.), then when the distance between the UAV10and the control base station20is long or terrain occlusion exists between the UAV10and the control base station20, the communication signal between the UAV10and the control base station20is weak. The UAV10can only perform a return-home operation. Therefore, the operation radius of the UAV10is greatly limited. As shown inFIG. 3, a UAV10according to the embodiments of the present disclosure flies along a scheduled route and a plurality of control base stations20are numbered in a predetermined order, so that the communication state of the UAV10can be switched. Specifically, the UAV10communicates with the first control base station21within a period of time after taking off. For example, the UAV10flies to position A. At this time, the distance between position A and the first control base station21is relatively short, so the UAV10communicates with the first control base station21. As the UAV10continues to fly, the distance between the UAV10and the first control base station21becomes greater and greater. When the distance between the UAV10and the first control base station21is greater than a predetermined threshold (for example, the UAV10flies to position B), it can be considered that the communication signal between the UAV10and the first control base station21is already weak. The position information of the first control base station21is sent to the UAV10by the first control base station21in real time. In order to ensure a good communication between the UAV10and the control base stations20, the UAV10obtains the position information of the second control base station22, establishes a communication with the second control base station22when the UAV10determines the distance between the UAV10and the second control base station22is shorter than the distance between the UAV10and the first control base station21, and then sends the information indicating the communication state of the UAV10being switched from communicating with the first control base station21to communicating with the second control base station22to the server30. Since the distance between the UAV10and the second control base station22is shorter than the distance between the UAV10and the first control base station21, the communication signal between the UAV10and the second control base station22is stronger than the communication signal between the UAV10and the first control base station21. Therefore, when the communication state of the UAV10is switched from communicating with the first control base station21to communicating with the second control base station22, a good communication between the UAV10and the second control base station22can be maintained. Further, with the good communication between the UAV10and the second control base station22, the UAV10can forward the data information to the server30through the second control base station22, and the server30can forward the control instruction to the UAV10through the second control base station22.

In addition, the UAV10can directly detect the strength of the communication signal between UAV10and the first control base station21(for example, by detecting the signal-to-noise ratio, etc.), obtain position information of the first control base station21and the second control base station22when the strength of detected communication signal is weaker than a threshold, establish a communication with the second control base station22when the distance between the UAV10and the second control base station22is determined to be shorter than the distance between the UAV10and the first control base station21, and then send the UAV communication state being switched from communicating with the first control base station21to communicating with the second control base station22to the server30. In some embodiments, the UAV10sends an instruction of acquiring the position information of the first control base station21to the first control base station21when the UAV10detects that the strength of the communication signal is weaker than a threshold, then the first control base station21sends its own position information to the UAV10. In another way, the first control base station21can also send its own position information to the UAV10in real time, so that a good communication between the UAV10and the second control base station22can be maintained. Further, with the good communication between the UAV10and the second control base station22, the UAV10can forward the data information to the server30through the second control base station22, and the server30can forward the control instruction to the UAV10through the second control base station22.

In the embodiments of the present disclosure, the control method and communication system100use at least two control base stations20to communicate with the UAV10. When the distance between the UAV10and the first control base station21is relatively long, the communication state can be switched from communicating with the first control base station21to communicating with the second control base station22so that the UAV10can maintain a good communication with the second control base station22that is closer to the UAV10. At a result, the operation radius of the UAV10is expanded.

As shown inFIGS. 16 and 17, in some embodiments, at S311, the position information of the first control base station21is obtained.

At S312, the position information of the UAV10is obtained.

As shown inFIG. 17, obtaining the position information of the second control base station22by the UAV10(S32shown inFIG. 16) includes the UAV10sending an acquisition instruction to acquire the position information of the second control base station22to the first control base station21(S321), the server30receiving the acquisition instruction forwarded by the first control base station21(S322), the server30sending the position information of the second control base station22to the first control base station21based on the acquisition instruction (S323), and the UAV10receiving the position information of the second control base station22forwarded by the first control base station21(S324).

Further, at S33, the UAV10calculates the distance between the UAV10and the first control base station21based on the position information of the UAV10and the first control base station21, and also calculates the distance between the UAV10and the second control base station22based on the position information of the UAV10and the second control base station22.

As shown inFIG. 15, in some embodiments, the sever30includes a second communication circuit31. S311, S321and S324can be implemented by the first communication circuit11. S322and S323can be implemented by the second communication circuit31. S312and S33can be implemented by the first processor12.

That is, the first communication circuit11can be further configured to obtain the position information of the first control base station21, send an acquisition instruction to acquire the position information of the second control base station22to the first control base station21, and receive the position information of the second control base station22forwarded by the first control base station21. The first processor12can be further configured to obtain position information of the UAV10, calculate the distance between the UAV10and the first control base station21based on the position information of the UAV10and the position information of the first control base station21, and calculate the distance between the UAV10and the second control base station22based on the position information of the UAV10and the position information of the second control base station22. The second communication circuit31is configured to receive the acquisition instruction forwarded by the first control base station21, and send the position information of the second control base station22to the first control base station21based on the acquisition instruction.

The position information of the control base station20refers to the coordinates of the control base station20. That is, the position information of the first control base station21refers to the coordinates of the first control base station21, and the position information of the second control base station22refers to the coordinates of the second control base station22. The position information of the UAV10refers to the coordinates of the UAV10. Both coordinates of the control base station20and coordinates of the UAV10can be provided by a global satellite navigation system (e.g, Global Positioning System (GPS), Beidou Navigation Satellite System (BDS), Global Navigation Satellite System (GLONASS), etc.).

Specifically, the position information of the first control base station21can be sent to the UAV10in real time, or the first control base station21sends its own position information to the UAV10when the first communication circuit11of the UAV10sends an acquisition instruction to acquire the position information of the first control base station21to the first control base station21. The position information of the UAV10can be read from a sensor by the first processor12. The position information of the second control base station22is sent by the first control base station21to the UAV10when the first communication circuit11of the UAV10sends an acquisition instruction to acquire the position information of the second control base station22to the first control base station21. In some embodiments, position information of the multiple control base stations20are stored in the server30. Therefore, when the first control base station21receives the acquisition instruction sent by the UAV10to obtain the position information of the second control base station22, the first control base station21forwards the acquisition instruction to acquire the position information of the second control base station22to the server30. After receiving the acquisition instruction, the second communication circuit31of the server30sends the position information of the second control base station22to the first control base station21, and then the first control base station21forwards the position information to the UAV10.

In some embodiments, the positions of the plurality of control base stations20are fixed, so the position information of the plurality of control base stations20can be stored in a memory (not shown in the figures) of the UAV10. When the UAV10needs to acquire the position information of each control base station20, the UAV10can directly read the position information from the memory via the first processor12.

The order in which the UAV10acquires the position information of the first control base station21, the position information of the second control base station22, and its own position information can be arbitrary. For example, acquiring the position information may be in the order of acquiring the position information of the first control base station21, acquiring the position information of the second control base station22, and acquiring the position information of the UAV10, or in the order of acquiring the position information of the UAV10, acquiring the position information of the first control base station21, and acquiring the position information of the second control base station22, or the UAV10may obtain its own position information and the position information of the first control base station21at the same time, and then obtain the position information of the second control base station22. The order is not limited herein.

After the UAV10obtains the position information (i.e., coordinates) of the first control base station21, the second control base station22, and the UAV10itself, the first processor21can calculate the distance between the UAV10and the first control base station21, and the distance between the UAV10and the second control base station22based on the multiple coordinates. At S33, the UAV10calculates the distance between the UAV10and the first control base station21based on the position information of the UAV10and the position information of the first control base station21by calculating the distance between the coordinates of the UAV10and the coordinates of the first control base station21. At S33, the UAV10calculates the distance between the UAV10and the second control base station22based on the position information of the UAV10and the position information of the second control base station22by calculating the distance between the coordinates of the UAV10and the coordinates of the second control base station22.

In this way, the UAV10can compare the distance between UAV10and the first control base station21with the distance between UAV10and the second control base station22, and then switch the communication state from communicating with the first control base station21to communicating with the second control base station22to improve the communication quality when the distance between UAV10and the second control base station22is shorter than UAV10and the first control base station21.

As shown inFIG. 18, in some embodiments, establishing the communication with the second control base station22by the UAV10(S35shown inFIG. 16) includes the UAV10sending a communication request for establishing a communication to the second control base station22(S351) and the UAV10establishing a communication with the second control base station22when the second control base station22agrees to establish a communication (S352).

Referring toFIG. 15, in some embodiments, S351and S352can be implemented by the first communication circuit11. That is, the first communication circuit11can be further configured to send the communication request for establishing a communication to the second control base station22and establish the communication with the second control base station22when the second control base station22agrees to establish communication.

Specifically, when the first processor12determines that the distance between the UAV10and the second control base station22is shorter than the distance between the UAV10and the first control base station21, the first communication circuit11of the UAV10sends a communication request for establishing a communication to the second control base station22. After the second control base station22receives the communication request for establishing a communication, if the second control base station22agrees to establish a communication, the second control base station22will send a feedback signal agreeing to establish a communication to the UAV10. After receiving the feedback signal, the first communication circuit11of the UAV10switches the communication state from communicating with the first control base station21to communicating with the second control base station22.

In some embodiments, during the entire flight of the UAV10, the second control base station22is always on and receives external wireless signals in real time, so that the second control base station22can receive the communication request signal from the UAV10in time when the UAV10attempts to establish a communication with the second control base station22.

In some other embodiments, the second control base station22can be in a standby state (the standby state refers to only being powered on, but not receiving external wireless signals). When the UAV10wishes to switch the communication state from communicating with the first control base station21to communicating with the second control base station22, the UAV10sends a prompt signal to the first control base station21, the first control base station21sends the prompt signal to the server30, and then the server30sends the prompt signal to the second control base station22to prompt the second control base station22to enable the function of receiving external wireless signals. Subsequently, the UAV10sends a wireless signal of the communication request for establishing a communication to the second control base station22. After receiving the signal of the communication request, the second control base station22sends a feedback signal agreeing to establish a communication to the UAV10. The first communication circuit11of the UAV10switches the communication state from communicating with the first control base station21to communicating with the second control base station22after receiving the feedback signal.

As shown inFIG. 19, in some embodiments, establishing the communication with the second control base station22by the UAV10(S35shown inFIG. 16) includes the UAV10receiving the communication request for establishing a communication sent by the second control base station22(S353) and the UAV10establishing a communication with the second control base station22when the UAV10agrees to establish a communication (S354).

Referring toFIG. 15, in some embodiments, S353and S354can be implemented by the first communication circuit11. That is, the first communication circuit11can be further configured to receive the communication request for establishing a communication sent by the second control base station22and establish a communication with the second control base station22when the UAV10agrees to establish a communication.

Specifically, during the entire flight of the UAV10, the second control base station22sends a signal of a communication request for establishing a communication in real time or every a short period of time. When the UAV10wishes to switch the communication state from communicating with the first control base station21to communicating with the second control base station22, the first communication circuit11of the UAV10receives the communication request sent by the second control base station22and sends a feedback signal agreeing to establish communication to the second control base station22. After receiving the feedback signal, the second control base station22maintains communication with the UAV10in real time.

In some other embodiments, when the UAV10wishes to switch the communication state from communicating with the first control base station21to communicating with the second control base station22, the UAV10sends a prompt signal to the first control base station21, the first control base station21sends the prompt signal to the server30, and then the server30sends the prompt signal to the second control base station22to prompt the second control base station22to actively send a communication request for establishing a communication to the UAV10. The first communication circuit11of the UAV10receives the communication request sent by the second control base station22and sends a feedback signal agreeing to establish a communication to the second control base station22. After receiving the feedback signal, the second control base station22maintains communication with the UAV10in real time.

As shown inFIG. 20, in some embodiments, establishing a communication with the second control base station22by the UAV10(S35shown inFIG. 16) includes the UAV10receiving the communication request for establishing a communication sent by the second control base station22(S353), the UAV10sending a switching request to the first control base station21(S355), and the UAV10sending an agreement response to the communication request to the second control base station22after receiving the consent response to the switching request from the first control base station21(S356).

Referring toFIG. 15, in some embodiments, S353, S355and S356can be implemented by the first communication circuit11. That is, the first communication circuit11can be further configured to receive the communication request for establishing a communication sent by the second control base station22, send a switching request to the first control base station21, and send an agreement response to the communication request to the second control base station22after receiving the consent response to the switching request from the first control base station21.

Specifically, during the entire flight of the UAV10, the second control base station22sends a signal of a communication request for establishing a communication in real time or every short period of time. When the UAV10wishes to switch the communication state from communicating with the first control base station21to communicating with the second control base station22, the first communication circuit11of the UAV10receives the communication request sent by the second control base station22, then the UAV10sends a switching request to the first control base station21after receiving the communication request and sends the agreement response to the communication request to the second control base station22when receiving the consent response to the switching request from the first control base station21. Alternatively, when the UAV10wishes to switch the communication state from communicating with the first control base station21to communicating with the second control base station22, the UAV10sends a prompt signal to the first control base station21, the first control base station21sends the prompt signal to the server30, and then the server30sends the prompt signal to the second control base station22to prompt the second control base station22to actively send a communication request for establishing communication to the UAV10. After receiving the communication request, the UAV10sends a switching request to the first control base station21and sends the agreement response to the communication request to the second control base station22when receiving the consent response to the switching request from the first control base station21. In some cases, when the UAV10is transmitting image data to the first control base station21and if the UAV10does not negotiate with the first control base station21to switch the control base station20, then directly disconnecting the communication with the first control base station21by the UAV10will cause immediate interruption of image transmission and affect the continuity and real-time performance of the data transmission. In some other cases, when the user sends a control instruction for controlling the flight of the UAV10from the server30to the first control base station21, and the first control base station21forwards the control instruction to the UAV10, if the UAV10does not negotiate with the first control base station21about switching the control base station20, directly disconnecting the communication with the first control base station21by the UAV10will affect the user's control of the UAV10.

As shown inFIG. 21, in some embodiments, at S371, when the attempt to establish the communication between the UAV10and the second control base station22fails, the UAV10obtains the position information of the third control base station23.

At S372, the UAV10determines that the distance between the UAV10and the third control base station23is shorter than the distance between the UAV10and the first control base station21.

At S373, the UAV10establishes a communication with the third control base station23.

At S374, the UAV10sends information indicating the communication state of the UAV10being switched from communicating with the first control base station21to communicating with the second control base station22to the server30.

Referring toFIG. 15, in some embodiments, S371, S373, and S374can be implemented by the first communication circuit11, and S372can be implemented by the first processor12.

That is, the first communication circuit11can be further configured to obtain the position information of the third control base station23when the attempt to establish the communication between the UAV10and the second control base station22fails, establish a communication with the third control base station23, and send information indicating the communication state of the UAV10being switched from communicating with the first control base station21to communicating with the second control base station22to the server30. The first processor12can be further configured to determine that the distance between the UAV10and the third control base station23is shorter than the distance between the UAV10and the first control base station21.

The communication establishment failure between the UAV10and the second control base station22means the UAV10does not receive the feedback signal from the second control base station22after the UAV10sends a communication request for establishing a communication to the second control base station22. It might be because the signal cannot be transmitted between the UAV10and the second control base station22at the moment, or the signal-to-noise ratio of the feedback signal from the second control base station22received by the UAV10is relatively low, making the communication quality between the UAV10and the second control base station22poor.

When terrain occlusion exists between the UAV10and the control base station22, the communication signal between the UAV10and the control base station22becomes weak. Therefore, when the attempt to establish the communication between the UAV10and the second control base station22fails, the UAV10obtains the position information of the third control base station23, and establishes a communication with the third control base station23after determining that the distance between UAV10and the control base station23is shorter than the distance between the UAV10and the first control base station21. The acquisition of the position information of the third control base station23is similar to the acquisition of the position information of the second control base station22. The calculation of the distance between the UAV10and the third control base station23is similar to the calculation of the UAV10and the second control base station22. The manner to establish communication between the UAV10and the third control base station23is similar to the manner to establish communication between the UAV10and the second control base station22. The above methods will not be described again.

In this way, the UAV10switches the communication state from the communicating with first control base station21to communicating with the third control base station23so that the UAV10can maintain a good communication with the third control base station23. Further, the UAV10sends the switching information of communication state to the server30through the third control base station23. As a result, the UAV10can send data to the server30through the third control base station23, and the server30can forward the control instruction to the UAV10through the control base station23.

As shown inFIG. 21, in some embodiments, at S38, when the attempt to establish the communication between the UAV10and the third control base station23fails, the UAV10will return home.

As shown inFIG. 15, in some embodiments, the UAV10further includes a flight controller13. The flight controller13can be further configured to control the UAV10to return home if the attempt to establish the communication between the UAV10and the third control base station23fails.

When the attempt to establish the communication between the UAV10and the third control base station23fails, if the UAV10continues to fly along the route, the distance between the UAV10and the first control base station21is getting longer and longer, and the communication signal between the UAV10and the first control base station21is getting weaker and weaker. However, the UAV10cannot find another control base station20to maintain a good communication between UAV10and the control base station20. As such, a loss of connection with the UAV10may happen. Therefore, in order to ensure the safety of the UAV10, when the attempt to establish the communication between the UAV10and the third control base station23fails, the flight controller13directly controls the UAV10to return home.

In some embodiments, when the attempt to establish the communication between the UAV10and the third control base station23fails, the UAV10can attempt to establish a communication with a fourth control base station20and also keep attempting to communicate a the fifth control base station20when the attempt to establish the communication between the UAV10and the fourth control base station20fails. The number of times that the UAV10attempts to establish a communication with the control base station20can be set by the user according to the actual situation.

As shown inFIG. 22, in some embodiments, at S391, the server30receives the result that the distance between the UAV10and the second control base station22is shorter than the distance between the UAV10and the first control base station21.

At S392, the server30receives information about the communication state of the UAV10being switched from communicating with the first control base station21to communicating with the second control base station22.

At S393, the server30switches the data source from the first control base station21to the second control base station22.

Referring toFIG. 15, in some embodiments, S391, S392, and S393can be implemented by the second communication circuit31. That is, the second communication circuit31is further configured to receive the result that the distance between the UAV10and the second control base station22is shorter than the distance between the UAV10and the first control base station21, receive information about the communication state of the UAV10being switched from communicating with the first control base station21to communicating with the second control base station22, and switch the data source from the first control base station21to the second control base station22.

Specifically, the server30remotely controls and monitors the UAV10through at least two control base stations20. When the UAV10communicates with the first control base station21, the server30controls the UAV10through the first control base station21. When the UAV10communicates with the second control base station22, the server30controls the UAV10through the second control base station22. In another word, the server30controls the UAV10through the control base station20currently communicating with the UAV10. Therefore, the server30must know which one of the plurality of control base stations20is the control base station20communicating with the UAV10at the current moment. Specifically, when the communication state of the UAV10is switched from communicating with the first control base station21to communicating with the second control base station22, the UAV10will send the result that the distance between the UAV10and the second control base station22is shorter than the distance between the UAV10and the first control base station21and the switching information of communication state to the second control base station22. The second control base station22forwards the result and the switching information to the server30. Then the second communication circuit31of the server30receives the result and the switching information, and switches the data source from the first control base station21to the second control base station22. As a result, the server30can have the flight status and communication status of the UAV10in real time.

As shown inFIG. 22, in some embodiments, at S394, the server30receives data information sent by the control base station20currently communicating with the UAV10. The data information is sent by the UAV10to the current control base station20.

Referring toFIG. 15, in some embodiments, S394can be implemented by the second communication circuit31. That is, the second communication circuit31can be further configured to receive data information sent by the control base station20currently communicating with the UAV10. The data information is sent by the UAV10to the current control base station20.

The data information includes at least one of parameter information of the UAV10, environmental information obtained by the UAV10through the load carried, or parameter information of the load carried by the UAV10. In some embodiments, the data information can include only the parameter information of the UAV10, or only the environmental information obtained by the UAV10through the load carried, or only the parameter information of the load carried by the UAV10. In some embodiments, the data information can include both the parameter information of the UAV10and the environmental information obtained by the UAV10through the load carried, or include both the environmental information obtained by the UAV10through the load carried or the parameter information of the load carried by the UAV10, or include both the parameter information of the UAV10and the parameter information of the load carried by the UAV10. In some embodiments, the data information can include the parameter information of the UAV10, the environmental information obtained by the UAV10through the load carried, and the parameter information of the load carried by the UAV10at the same time.

For example, the parameter information of the UAV10can include at least one of coordinates, pitch angles, flight speed, or battery power, of the UAV10. The environment information obtained by the UAV10through the load carried can include at least an image or a video captured by a camera carried by the UAV10. The parameter information of the load carried by the UAV10can include the pitch angle of the gimbal carried by the UAV10.

The UAV10sends data information to the control base station20currently communicating with the UAV10, and then the control base station20forwards the data information to the server30. The second communication circuit31of the server30is responsible for receiving the above data information. As a result, the server30can fully appreciate the flight status of the UAV10, which makes it convenient for the server30to remotely control the UAV10.

As shown inFIG. 22, in some embodiments, at S395, the server30sends a remote control instruction to the control base station20currently communicating with the UAV10to control the flight of the UAV10through the current control base station20.

Referring toFIG. 15, in some embodiments, S395can be implemented by the second communication circuit31. That is, the second communication circuit31can be further configured to send a remote control instruction to the control base station20currently communicating with the UAV10to control the flight of the UAV10through the current control base station20.

Specifically, the user inputs a remote control instruction through an external device (such as a laptop computer, a tablet computer, a mobile phone, and etc.) that communicates with the server30, and the server30sends the remote control instruction to the control base station20currently communicating with the UAV10, and then the base station forwards the remote control instruction to the UAV10. Therefore, when the UAV10performs a task, the user can remotely control the UAV10to fly and shoot images or videos of the target area through the server30. In some unpredicted weather, the user can remotely control the UAV10through the server30to return and land in time to ensure the safety of the UAV10.

The present disclosure also provides a computer-readable storage medium that stores a computer program to be used together with an electronic device. One part of the computer program can be executed by the first processor12, and the other part of the computer program can be executed by the second processor32to implement the control method described in the above embodiments to control the UAV10by at least two control base stations20. The electronic device is the UAV10and the server30.

For example, the computer program can be executed by the first processor12to implement the control methods by reading the position information of the second control base station22from the first communication circuit11by the first processor12of the UAV10, determining that the distance between the UAV10and the second control base station22is shorter than the distance between the UAV10and the first control base station21, and controlling the first communication circuit11to establish a communication with the second control base station22.

For another example, the computer program can be executed by the first processor12to perform the control method by reading the position information of the first control base station21from the first communication circuit11by the first processor12of the UAV10, obtaining the position of the UAV10from the sensor, calculating the distance between the UAV10and the first control base station21based on the position information of the UAV10and the position information of the first control base station21, and calculating the distance between the UAV10and the second control base station22based on the position information of the UAV10and the position information of the second control base station22.

For another example, the computer program can be executed by the second processor32to perform the control method by controlling the second communication circuit31through the second processor32of the server30to receive the result that the distance between the UAV10and the second control base station22is shorter than the distance between the UAV10and the first control base station21, receiving information about the communication state of the UAV10being switched from communicating with the first control base station21to communicating with the second control base station22, and switching the data source from the first control base station21to the second control base station22.

For another example, the computer program can also be executed by the second processor32to perform the control method by controlling the second communication circuit31to receive the acquisition instruction forwarded by the first control base station21to acquire the position information of the second control base station22and sending the position information of the second control base station22to the UAV10. The acquisition instruction is sent by the UAV10to the first control base station21.

In this disclosure, the description with reference to a term like “one embodiment,” “some embodiments,” “schematic embodiments,” “examples,” “specific examples,” or “some examples” or the like means that specific features, structures, materials, or characteristics described in the embodiments or examples are included in at least one embodiment or example of the present disclosure. In this disclosure, the schematic expressions of the above terms do not necessarily refer to the same embodiments or examples. Further, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Any process or method described in a flowchart or otherwise herein can be a module, fragment, or portion of code that includes one or more executable instructions for performing a particular logical function or a process.

The scope of the embodiments of this disclosure includes other embodiments, in which the functions may be performed out of the order shown or discussed, including performing the functions in a substantially simultaneous manner or in the reverse order according to the functions involved. This should be understood by those skilled in the art.

The logic and/or steps described in a flowchart or otherwise described herein, for example, a sequenced list of executable instructions to perform a logical function, can be embodied in any computer-readable medium to be used by the instruction executing systems or devices (such as a computer-based system, a system including a processor, or other system that can read and execute instructions from the instruction executing systems or devices), or to be integrated with these instruction executing systems or devices. In this disclosure, a “computer-readable medium” can be any device that contains, stores, communicates, and transmits a computer program for use by instruction executing systems and devices, or being integrated with the instruction executing systems or devices. Some examples computer readable medium (non-exhaustive list) include electrical connections with one or multiple wirings (electronic devices), portable computer disk cartridges (magnetic devices), random access memory (RAM), Read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), fiber optic devices, and compact disk read-only memory (CD-ROM). In addition, the computer-readable medium can even be paper or other suitable medium on which the program can be printed, because, by optically scanning the paper or other medium, followed by editing, interpretation, or other suitable processing to, the electronic program can be obtained and stored in computer memory.

Each part of this disclosure can be performed by hardware, software, or a combination thereof. In the above embodiments, multiple steps or methods can be performed by software stored in a memory and executed by a suitable instruction executing system or hardware. For example, if performed by hardware, it can be executed by any one or a combination of the following techniques: a discrete logic circuit having a logic gate circuit for performing a logic function on a data signal, an application-specific integrated circuit with suitable combinational logic gate circuits, a programmable gate array (PGA), a field-programmable gate array (FPGA), etc.

Those skilled in the art can understand that all or some of the processes described in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium. One or a combination of the steps of the methods in the embodiments can be implemented by the computer program.

In addition, the functional units in the various embodiments of the present disclosure may be integrated in one processing unit, or each unit may be an individual physically unit, or two or more units may be integrated in one unit. The above integrated modules can be implemented in the form of hardware or software functional modules. When the integrated module is performed in the form of computer program stored in a computer-readable storage medium, it can be sold or used as a standalone product.

The storage medium mentioned above can be a read-only memory (ROM), a magnetic disk or an optical disk. Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the embodiments disclosed herein. It is intended that the specification and examples be considered as example only and not to limit the scope of the disclosure, with a true scope and spirit of the invention being indicated by the following claims.