CN115373428A - A kind of unmanned aerial vehicle control method, device and computer storage medium - Google Patents

Abstract

The present application relates to the technical field of drones, and in particular to a drone control method, device, and computer storage medium; the drone control method includes: obtaining the corresponding positioning information of multiple drones received by the vehicle-road coordination module; The positioning information corresponding to multiple UAVs is sent to the vehicle-road coordination module by multiple UAVs in the form of broadcast; multiple UAVs are generated based on the respective positioning information of multiple UAVs and preset flight tasks. The target flight control information corresponding to each drone; the target flight control information corresponding to multiple drones is sent to the vehicle-road coordination module; so that the vehicle-road coordination module sends the target flight control information to multiple unmanned vehicles in the form of broadcasting. machine; avoiding the installation of cellular communication modules for individual UAVs, thereby avoiding the flow limitation of the UAV control process, and improving the stability and safety of flight control of multiple UAVs.

Description

A kind of unmanned aerial vehicle control method, device and computer storage medium

technical field

The present application relates to the technical field of drones, and in particular to a method, device and computer storage medium for controlling drones.

Background technique

During the UAV flight performance, in order to realize the control of the UAV, a cellular mobile communication module is usually installed in the UAV, and the cellular mobile communication module is used to communicate with the cloud through the base station (4G/5G); but multiple The communication time between the corresponding cellular mobile communication modules of the UAVs and the cloud is not completely consistent; , there is a situation where the UAV is disconnected, which will lead to the stagnation of the flight mission or the occurrence of a UAV flight accident.

Contents of the invention

In view of the above-mentioned problems in the prior art, the purpose of this application is to avoid the installation of cellular communication modules for individual UAVs, thereby avoiding the flow limitation of the UAV control process, and improving the stability and safety of flight control of multiple UAVs .

In order to solve the above problems, the application provides a method for controlling a drone, including:

Acquiring the positioning information corresponding to each of the multiple UAVs received by the vehicle-road coordination module; the respective positioning information corresponding to the multiple drones is sent to the vehicle-road coordination module in the form of broadcast by multiple drones;

Generate target flight control information corresponding to each of the plurality of UAVs based on the positioning information corresponding to the plurality of UAVs and the preset flight mission;

Send the target flight control information corresponding to each of the plurality of UAVs to the vehicle-road coordination module; so that the vehicle-road coordination module sends the target flight control information to the multiple UAVs in the form of broadcasting. Unmanned aerial vehicles; the target flight control information is used to control the flight of the plurality of unmanned aerial vehicles.

In the embodiment of the present application, after the target flight control information corresponding to each of the plurality of drones is sent to the vehicle-road coordination module, the method further includes:

Obtaining the real-time flight status information corresponding to the multiple drones received by the vehicle-road coordination module; the real-time flight status information corresponding to the multiple drones is broadcast by the multiple drones , sent to the vehicle-road coordination module;

Perform information comparison based on the target flight control information corresponding to each of the plurality of UAVs and the real-time flight status information corresponding to each of the plurality of UAVs to determine information deviations;

An abnormal drone is determined based on the information deviation; the information deviation of the abnormal drone exceeds a preset range;

The target flight control information of the abnormal drone is adjusted based on the real-time flight status information corresponding to each of the plurality of drones and the preset flight mission.

In the embodiment of the present application, the vehicle-road coordination module includes a plurality of roadside units, and the acquisition of the location information corresponding to each of the multiple UAVs received by the vehicle-road coordination module includes:

Obtaining drone information corresponding to at least one drone received by each of the plurality of roadside units; the drone information includes the positioning information, drone number information, and sending time information;

Based on the UAV serial number information and the sending time information, information deduplication is performed on the positioning information to obtain a plurality of positioning information corresponding to each of the plurality of UAVs.

In this embodiment of the application, the hovering information of the drone received by the vehicle-road coordination module is obtained; the hovering information of the drone includes the number of the hovering drone; Risky UAVs are sent to the vehicle-road coordination module in the form of broadcast;

Generate updated flight control information corresponding to the number of the hovering drone based on the preset flight mission and the hovering information of the drone;

Send the updated flight control information corresponding to the number of the hovering UAV to the vehicle-road coordination module; so that the vehicle-road coordination module sends the updated flight control information to the vehicle-road coordination module through broadcasting. Risky drones.

In the embodiment of the present application, the method further includes:

Acquiring flight status information corresponding to each of the plurality of unmanned aerial vehicles received by the vehicle-road coordination module;

In the case that the quantity of the flight status information is less than the preset quantity of information, a flight suspension instruction is generated;

Sending the flight suspension instruction to the vehicle-road coordination module; causing the vehicle-road coordination module to send the flight suspension instruction to the plurality of unmanned aerial vehicles in the form of broadcasting.

In the embodiment of the present application, after the instruction to suspend the flight is sent to the vehicle-road coordination module, the method further includes:

Monitoring the positioning information corresponding to the plurality of drones received by the vehicle-road coordination module;

When the quantity of positioning information is equal to the quantity of preset information, based on the positioning information corresponding to each of the plurality of drones and the preset flight mission, the continuation corresponding to each of the plurality of drones is generated. flight control information;

Send the continuous flight control information corresponding to each of the plurality of UAVs to the vehicle-road coordination module; so that the vehicle-road coordination module sends the continuous flight control information to the multiple UAVs in the form of broadcasting. drone.

In the embodiment of the present application, after the monitoring of the location information corresponding to each of the plurality of drones received by the vehicle-road coordination module, the method further includes:

determining the separation distance between the plurality of drones based on the positioning information corresponding to each of the plurality of drones;

determining outlier drones based on separation distances between the plurality of drones;

The positioning information of the stray drone and the warning information are sent to a display module; the display module is used to display the positioning information of the stray drone.

On the other hand, the present application also provides a drone control device, the device comprising:

The positioning information acquisition module is used to obtain the corresponding positioning information of multiple drones received by the vehicle-road coordination module; the positioning information corresponding to each of the multiple drones is sent to The vehicle-road coordination module;

A target control information generating module, configured to generate target flight control information corresponding to each of the multiple drones based on the positioning information corresponding to each of the multiple drones and the preset flight mission;

The target information sending module is used to send the target flight control information corresponding to each of the plurality of UAVs to the vehicle-road coordination module; so that the vehicle-road coordination module broadcasts the target flight control information The information is sent to the plurality of unmanned aerial vehicles; the target flight control information is used to control the flight of the plurality of unmanned aerial vehicles.

On the other hand, the present application also provides an electronic device, the device includes a processor and a memory, at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is controlled by the The processor is loaded and executed to realize the above-mentioned drone control method.

On the other hand, the present application also provides a computer storage medium, at least one instruction or at least one program is stored in the storage medium, and the at least one instruction or at least one program is loaded and executed by a processor to realize the above-mentioned UAV control method.

Due to the above technical solution, a method for controlling a drone described in this application has the following beneficial effects:

In the UAV control method in this application, the communication between multiple UAVs and the cloud control center is realized through the vehicle-road coordination module, thereby avoiding the installation of cellular communication modules for individual UAVs, thereby preventing the UAV control process from being affected by traffic. To improve the stability and safety of flight control of multiple UAVs; in addition, broadcast the target flight control information corresponding to multiple UAVs through the vehicle-road coordination module, so that the target flight control information can be transmitted to the UAV The time nodes within the system are consistent, thereby improving the uniformity and timeliness of UAV flight control.

Description of drawings

In order to illustrate the technical solution of the present application more clearly, the following will briefly introduce the accompanying drawings required in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an application system of a UAV control method provided in an embodiment of the present application;

Fig. 2 is a schematic flow chart of a method for controlling an unmanned aerial vehicle provided by an embodiment of the present application;

Fig. 3 is a schematic flow chart of a method for controlling a drone provided in an embodiment of the present application;

FIG. 4 is a schematic flow diagram of obtaining positioning information in a method for controlling a drone provided in an embodiment of the present application;

Fig. 5 is a schematic flow chart of a method for controlling a drone provided in an embodiment of the present application;

FIG. 6 is a schematic flow diagram of a method for controlling a drone provided in an embodiment of the present application;

Fig. 7 is a schematic flow chart of a UAV control method provided by the embodiment of the present application

FIG. 8 is a schematic flow chart of a method for controlling a drone provided in an embodiment of the present application;

Fig. 9 is a schematic structural diagram of a drone control device provided by an embodiment of the present application;

Fig. 10 is a block diagram of a hardware structure of a method for controlling a drone provided in an embodiment of the present application.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some of the embodiments of the application, not all of them. Based on the embodiments in the present application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present application.

Reference herein to "one embodiment" or "an embodiment" refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present application. In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "top", "bottom" etc. Orientation or positional relationship is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of these features. Also, the terms "first", "second", etc. are used to distinguish similar items and not necessarily to describe a specific order or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein can be practiced in sequences other than those illustrated or described herein.

In conjunction with FIG. 1, an application system of a UAV control method provided by the embodiment of the present application is introduced. The system applies the UAV control method in the embodiment of the application. The system includes a UAV control device, a vehicle-road coordination module, and Multiple drones; specifically, the drone control device may be a cloud control center, and the vehicle-road coordination module includes multiple roadside units.

In a specific embodiment of the present application, the roadside unit may be an RSU (Road Side Unit), and the roadside unit includes a first communication unit and a second communication unit, and the first communication unit is used to communicate with the UAV control device. Yes, the first communication unit can be a cellular network communication unit (uu communication unit), or an optical fiber communication unit; in the case of using the uu communication unit, it can reduce the communication cost between the vehicle-road coordination module and the UAV control device. In the case of using an optical fiber communication unit, the communication time between the vehicle-road coordination module and the UAV control device can be improved, thereby improving the timeliness of UAV control; the corresponding communication method is selected based on specific needs, and is not limited here; The second communication unit is used to communicate with the drone, specifically, the second communication unit refers to a direct communication unit (PC5 communication unit).

In a specific embodiment of the present application, the drone includes a direct communication unit, and the drone can communicate with the direct communication unit of the roadside unit through the direct communication unit, or communicate with other drones through the direct communication unit direct communication unit communication connection; for example, UAV 1 can communicate with UAV 2 and UAV 3; Collisions during drone flight.

In conjunction with Figure 2, a method for controlling a drone provided in the embodiment of the present application is introduced, the method includes:

S2001. Obtain the positioning information corresponding to the multiple drones received by the vehicle-road coordination module; the positioning information corresponding to the multiple drones is sent to the vehicle-road coordination module in the form of broadcast by multiple drones; The corresponding positioning information of the UAV refers to the current location information of the UAV. Specifically, the UAV can send its own positioning information to the vehicle-road coordination module and other UAVs through the direct connection communication unit; Specifically, the UAV sends positioning information to the vehicle-road coordination module in the form of broadcast in a preset time period.

S2002. Generate target flight control information corresponding to multiple unmanned aerial vehicles based on the corresponding positioning information of multiple unmanned aerial vehicles and the preset flight mission; the preset flight mission refers to the flight mission of multiple unmanned aerial vehicles. , the preset flight task can refer to the performance task performed by UAVs, that is, tasks such as flight changes of multiple UAVs, UAV lighting changes, etc.; the target flight control information is used to control multiple UAVs to fly, specifically Yes, the target flight control information may refer to control information such as the UAV's flight trajectory, flight speed change, and UAV light change.

S2003. Send the target flight control information corresponding to multiple drones to the vehicle-road coordination module; so that the vehicle-road coordination module sends the target flight control information to multiple drones in the form of broadcast; the target flight control information is used It is used to control multiple drones to fly.

In the embodiment of this application, the communication between multiple UAVs and the cloud control center is realized through the vehicle-road coordination module, so as to avoid the installation of cellular communication modules for individual UAVs, thereby preventing the UAV control process from being restricted by traffic, and improving the reliability of the UAV. The stability and safety of the flight control of multiple drones; in addition, the target flight control information corresponding to multiple drones is broadcast through the vehicle-road coordination module, so that the target flight control information is transmitted to the time node in the drone Consistent, thereby improving the stability and timeliness of UAV flight control.

Referring to Fig. 3, in the embodiment of the present application, after S2003, the UAV control method also includes:

S3001. Obtain the real-time flight status information corresponding to multiple drones received by the vehicle-road coordination module; the real-time flight status information corresponding to multiple drones is sent to the vehicle-road coordination by broadcasting. module; real-time flight status information refers to the current flight status information of the drone; specifically, the real-time flight status information includes the flight speed of the drone, the heading angle of the drone, the flight acceleration of the drone, and real-time positioning information; The real-time positioning information may include latitude and longitude information and flight altitude information.

S3002. Perform information comparison based on the target flight control information corresponding to each of the multiple drones and the real-time flight status information corresponding to each of the multiple drones, and determine the information deviation; in the embodiment of the present application, the information deviation includes trajectory deviation and speed deviation.

S3003. Determine the abnormal drone based on the information deviation; the information deviation of the abnormal drone exceeds a preset range; specifically, the information deviation refers to the information deviation corresponding to each of the multiple drones.

In a specific embodiment of the present application, when the information deviations corresponding to the first number of UAVs exceed the preset range, and the information deviations corresponding to the second number of UAVs are within the preset range, it is determined that the first A number of drones are abnormal drones; among them, the first number is less than or equal to the second number, and the sum of the first number and the second number is the total number of drones.

In another specific embodiment of the present application, in the case that the information deviations corresponding to the multiple drones are consistent, it is determined that the information deviations are within the preset deviation range; The target flight trajectories in the control information are all offset by 1m, and the respective flight speeds of the UAVs are lower than the target flight speeds in the target flight control information by 2m/s, then the above deviations are determined to be within the preset range. In order to avoid wrong judgments caused by environmental factors.

In another specific embodiment of the present application, when the information deviations corresponding to the third number of UAVs exceed the preset range, and the information deviations corresponding to the fourth number of UAVs are within the preset range, determine The fourth number of drones are all abnormal drones; wherein, the ratio between the third number and the fourth number is greater than the preset ratio, specifically, the preset ratio can be 2 or 3; and the third The sum between the number and the fourth number is the total number of drones.

S3004. Based on the real-time flight status information corresponding to each of the multiple drones and the preset flight mission, adjust the target flight control information of the abnormal drone.

In the embodiment of the present application, by determining the information deviation based on the real-time flight status information, determining the abnormal UAV based on the information deviation, and adjusting the target flight control information of the abnormal UAV, it is possible to ensure that multiple UAVs can successfully complete Preset flight tasks, thus improving the stability and safety of UAV flight performances.

Referring to Fig. 4, in the embodiment of the present application, the vehicle-road coordination module includes multiple roadside units, and S2001 includes:

S4001. Obtain the drone information corresponding to at least one drone received by multiple roadside units; the drone information includes positioning information, drone number information, and sending time information; the unmanned number information refers to sending the The serial number of the UAV of the information; the sending time information refers to the time node when the UAV sends the information; specifically, in the embodiment of this application, multiple UAVs broadcast to the vehicle road in a preset time period The module sends drone information.

S4002. Based on the number information of the drone and the sending time information, deduplication is performed on the positioning information to obtain multiple positioning information corresponding to each of the multiple drones; specifically, retain the number information of different drones and the different sending time The location information of the information.

In the embodiment of the present application, by deduplicating the positioning information based on the drone number information and the sending time information, invalid calculations can be avoided, and the information calculation rate can be improved, and the control efficiency of multiple drones can be improved.

In a specific embodiment of the present application, a method similar to the method for deduplication of positioning information may also be used to deduplicate other information in the flight status information, which will not be repeated here.

Referring to Fig. 5, the UAV control method also includes:

S5001. Obtain the hovering information of the drone received by the vehicle-road coordination module; the hovering information of the drone includes the serial number of the hovering drone; the hovering information of the drone is sent by the drone with the collision risk in the form of broadcast to the vehicle-road coordination module; the hovering information of the UAV refers to the information sent by the hovering UAV to the vehicle-road coordination module; specifically, each of the multiple drones is equipped with an anti-collision module, and the anti-collision module is used to identify itself The risk of collision between drones and other drones. When there is a risk of collision between drones, the drone’s flying height drops and hovers, and the hovering information of the drone is sent to the vehicle road in the form of broadcasting. Collaborative module; the anti-collision module can identify the risk of collision through the detection results of the UAV's own sensors, and can also identify the risk of collision through the position of other UAVs notified by the direct connection unit.

S5002. Generate updated flight control information corresponding to the number of the hovering drone based on the preset flight mission and the hovering information of the drone; updating the flight control information means that the hovering drone continues to join the flight queue without affecting the rest Control information for drone flight.

S5003. Send the updated flight control information corresponding to the number of the hovering drone to the vehicle-road coordination module; so that the vehicle-road coordination module sends the updated flight control information to the drones with collision risk in the form of broadcast.

In the embodiment of the present application, the UAV with the risk of collision is used to hover, and the UAV hover information is sent to the vehicle-road coordination module in the form of broadcast, so that an update flight can be generated based on the hover information. The control information enables the hovering UAV to continue to perform preset flight tasks, which improves the stability and safety of UAV flight performances.

Referring to Fig. 6, in the embodiment of the present application, the UAV control method also includes:

S6001. Obtain the flight status information corresponding to each of the multiple drones received by the vehicle-road coordination module; the flight status information includes the flight speed of the drone, the heading angle of the drone, the flight acceleration and positioning information of the drone, etc.; The positioning information may include latitude and longitude information and flight altitude information.

S6002. When the amount of flight state information is less than the preset amount of information, generate a flight suspension instruction; the number of drones corresponds to the amount of flight state information; The number of UAVs in the task; the suspend flight command is used to make the UAVs in flight hover; when the number of flight status information is less than the preset number of information, the monitored UAVs are out of contact, in order to avoid In the event of an accident, a flight suspension command is generated to enable the drone to hover for subsequent operations.

S6003. Send the flight suspension instruction to the vehicle-road coordination module; so that the vehicle-road coordination module sends the flight suspension instruction to multiple drones in the form of broadcasting.

In the embodiment of the present application, the communication connection status of the UAV is determined by the number of flight states, so that in the case of the UAV losing contact, it can stop to find the missing UAV, thereby improving the flight safety of the UAV sex.

Referring to FIG. 7, in the embodiment of the present application, after S6003, the drone control method further includes:

S7001. Monitor the corresponding positioning information of multiple drones received by the vehicle-road coordination module; specifically, the drone sends a message to the vehicle-road coordination module in the form of broadcast in a preset period, and within multiple preset periods, Obtain the flight status information of each drone, where the flight status information includes positioning information, and the number of drones corresponds to the number of flight status information one by one.

S7002. In the case where the number of positioning information is equal to the number of preset information, based on the corresponding positioning information of multiple drones and the preset flight mission, generate the continuous flight control information corresponding to each of the multiple drones; the number of positioning information is equal to The number of preset information indicates that the communication with multiple drones has been restored, and tasks such as drone flight performances can be continued; the continued flight control information is used to enable multiple hovering drones to continue flying.

In another embodiment of the present application, S7002 includes:

Obtain the number of updated preset information; the number of updated preset information refers to the information modified by the user, which can be modified by reducing the number after confirming the failure or power shortage of the lost drone, that is, the number of updated preset information is less than the number of preset information.

When the quantity of positioning information is equal to the quantity of updated preset information, the continued flight control information corresponding to each of the multiple drones is generated based on the positioning information corresponding to each of the multiple drones and the preset flight mission.

S7003. Send the continuous flight control information corresponding to each of the multiple drones to the vehicle-road coordination module; so that the vehicle-road coordination module sends the continuous flight control information to the multiple drones in the form of broadcasting.

In the embodiment of the present application, by monitoring the positioning information, and when the number of positioning information is equal to the number of preset information, the continuous flight control information is generated, so that the hovering UAV continues to fly, and the accuracy of the preset flight task is improved. The degree of completion, specifically, enhances the integrity during the air show.

Referring to FIG. 8, in the embodiment of the present application, after S7001, the UAV control method further includes:

S8001. Based on the positioning information corresponding to each of the multiple drones, determine the separation distance between the multiple drones; the separation distance refers to the distance between the drones.

S8002. Determine the outlier drone based on the distance between multiple drones; specifically, determine a drone when the distance between a drone and other drones is greater than a preset distance for outlier drones.

S8003. Send the location information of the outlier drone and the warning information to the display module; the display module is used to display the location information of the outlier drone; specifically, the display module is also used to display the location information of other drones ;Warning information includes warning voice and warning signs and other information.

In the embodiment of the present application, the outlier drones are determined through the distance between the drones, so that it can be determined whether the drones are out of the mission distance due to a fault, and then the faulty drones are judged, so as to identify the outliers. UAVs perform operations such as recycling, thereby improving the controllability of UAV flight.

In the embodiment of the present application, the above-mentioned drone control method has the following beneficial effects:

The vehicle-road coordination module realizes the communication between multiple UAVs and the cloud control center, thereby avoiding the installation of cellular communication modules for individual UAVs, thereby preventing the UAV control process from being limited by traffic, and improving the flight control of multiple UAVs stability and security; in addition, the target flight control information corresponding to multiple drones is broadcast through the vehicle-road coordination module, so that the target flight control information is transmitted to the drone at the same time node, thereby improving the efficiency of the drone. Uniformity and timeliness of flight control.

Referring to FIG. 9, the embodiment of the present application also provides a drone control device, which includes:

The positioning information acquisition module 9001 is used to obtain the corresponding positioning information of multiple drones received by the vehicle-road coordination module; the positioning information corresponding to multiple drones is sent to the vehicle through broadcasting by multiple drones. road coordination module;

Target control information generating module 9002, configured to generate target flight control information corresponding to multiple drones based on respective positioning information of multiple drones and preset flight missions;

The target information sending module 9003 is used to send the target flight control information corresponding to multiple drones to the vehicle-road coordination module; so that the vehicle-road coordination module sends the target flight control information to multiple drones in the form of broadcasting ; Target flight control information is used to control multiple drones to fly.

The unit also includes:

The real-time flight status information acquisition module is used to acquire the real-time flight status information corresponding to multiple drones received by the vehicle-road coordination module; the real-time flight status information corresponding to multiple drones is broadcast by multiple drones form, sent to the vehicle-road coordination module;

The information comparison module is used to perform information comparison based on the target flight control information corresponding to each of the multiple drones and the real-time flight status information corresponding to each of the multiple drones, so as to determine the information deviation;

The abnormal drone determination module is used to determine the abnormal drone based on the information deviation; the information deviation of the abnormal drone exceeds the preset range;

The adjustment module is used to adjust the target flight control information of the abnormal UAV based on the real-time flight status information corresponding to the plurality of UAVs and the preset flight mission.

The positioning information acquisition module includes:

The positioning information acquisition unit is used to obtain the drone information corresponding to at least one drone received by multiple roadside units; the drone information includes positioning information, drone number information, and sending time information;

The deduplication unit is configured to deduplicate the positioning information based on the number information of the drone and the sending time information, so as to obtain multiple positioning information corresponding to multiple drones.

Drone controls also include:

The UAV hovering information acquisition module is used to obtain the UAV hovering information received by the vehicle-road coordination module; the UAV hovering information includes the hovering UAV number; The drone is sent to the vehicle-road coordination module through broadcasting;

An updated flight control information generation module is used to generate updated flight control information corresponding to the number of the hovering drone based on the preset flight mission and the hovering information of the drone;

The updated flight control information sending module is used to send the updated flight control information corresponding to the number of the hovering UAV to the vehicle-road coordination module; so that the vehicle-road coordination module sends the updated flight control information to the vehicle-road coordination module through broadcasting. of drones.

The flight state information acquisition module is used to obtain the corresponding flight state information of multiple drones received by the vehicle-road coordination module;

A suspending flight instruction generation module, used to generate a suspending flight instruction when the quantity of flight status information is less than the preset information quantity;

The suspension flight instruction sending module is used to send the suspension flight instruction to the vehicle-road coordination module; so that the vehicle-road coordination module sends the suspension flight instruction to multiple drones in the form of broadcasting.

The monitoring module is used to monitor the corresponding positioning information of multiple drones received by the vehicle-road coordination module;

The continuous flight control information generation module is used to generate the corresponding continuous flight of multiple drones based on the corresponding positioning information of multiple drones and the preset flight mission when the quantity of positioning information is equal to the quantity of preset information control information;

The continuous flight control information sending module is used to send the continuous flight control information corresponding to multiple UAVs to the vehicle-road coordination module; so that the vehicle-road coordination module sends the continuous flight control information to multiple unmanned vehicles in the form of broadcasting. machine.

A distance determination module, configured to determine the distance between multiple drones based on the positioning information corresponding to each of the multiple drones;

The outlier UAV determination module is used to determine the outlier UAV based on the distance between a plurality of UAVs;

The outlier information sending module is used to send the location information of the outlier UAV and the warning information to the display module; the display module is used to display the location information of the outlier UAV.

The embodiment of the present application also provides an electronic device, the electronic device includes a processor and a memory, at least one instruction or at least one program is stored in the memory, at least one instruction or at least one program is loaded and executed by the processor to achieve the above UAV control method.

The memory can be used to store software programs and modules, and the processor executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store operating systems, application programs required by functions, etc.; the data storage area can store data created according to the use of the device, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one hard disk storage device, flash memory device or other volatile solid-state storage devices. Correspondingly, the memory may further include a memory controller to provide the processor with access to the memory.

The method embodiments provided in the embodiments of the present application may be executed in electronic devices such as mobile terminals, computer terminals, servers, or similar computing devices. Fig. 10 is an electronic device provided by an embodiment of the present application. As shown in FIG. 10 , the electronic device 900 may have relatively large differences due to different configurations or performances, and may include one or more central processing units (Central Processing Units, CPU) 910 (the processor 910 may include but not limited to a microprocessor processor MCU or programmable logic device FPGA, etc.), a memory 930 for storing data, and one or more storage media 920 for storing application programs 923 or data 922 (for example, one or more mass storage devices). Wherein, the memory 930 and the storage medium 920 may be temporary storage or persistent storage. The program stored in the storage medium 920 may include one or more modules, and each module may include a series of instruction operations on the electronic device. Furthermore, the central processing unit 910 may be configured to communicate with the storage medium 920 , and execute a series of instruction operations in the storage medium 920 on the electronic device 900 . The electronic device 900 can also include one or more power supplies 960, one or more wired or wireless network interfaces 950, one or more input and output interfaces 940, and/or, one or more operating systems 921, such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, etc.

The input-output interface 940 can be used to receive or send data via a network. The specific example of the above network may include a wireless network provided by the communication provider of the electronic device 900 . In one example, the input and output interface 940 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the input and output interface 940 may be a radio frequency (Radio Frequency, RF) module, which is used to communicate with the Internet in a wireless manner.

Those of ordinary skill in the art can understand that the structure shown in FIG. 10 is only a schematic diagram, which does not limit the structure of the above-mentioned electronic device. For example, the electronic device 900 may also include more or fewer components than shown in FIG. 10 , or have a different configuration than that shown in FIG. 10 .

The embodiment of the present application also provides a storage medium, at least one instruction or at least one program is stored in the storage medium, at least one instruction or at least one program is loaded and executed by a processor to implement the drone control method as described above.

The above description has fully disclosed the specific implementation manners of the present application. It should be pointed out that any modification made by those skilled in the art to the specific embodiments of the application will not depart from the scope of the claims of the application. Correspondingly, the scope of the claims of the present application is not limited only to the foregoing specific embodiments.

Claims (10)

1. A method for controlling an unmanned aerial vehicle, characterized in that, comprising: Acquiring the positioning information corresponding to each of the multiple UAVs received by the vehicle-road coordination module; the respective positioning information corresponding to the multiple drones is sent to the vehicle-road coordination module in the form of broadcast by multiple drones; Generate target flight control information corresponding to each of the plurality of UAVs based on the positioning information corresponding to the plurality of UAVs and the preset flight mission; Send the target flight control information corresponding to each of the plurality of UAVs to the vehicle-road coordination module; so that the vehicle-road coordination module sends the target flight control information to the multiple UAVs in the form of broadcasting. Unmanned aerial vehicles; the target flight control information is used to control the flight of the plurality of unmanned aerial vehicles. 2. The unmanned aerial vehicle control method according to claim 1, characterized in that, after the target flight control information corresponding to the plurality of unmanned aerial vehicles is sent to the vehicle-road coordination module, the method further include: Obtaining the real-time flight status information corresponding to the multiple drones received by the vehicle-road coordination module; the real-time flight status information corresponding to the multiple drones is broadcast by the multiple drones , sent to the vehicle-road coordination module; Perform information comparison based on the target flight control information corresponding to each of the plurality of UAVs and the real-time flight status information corresponding to each of the plurality of UAVs to determine information deviations; An abnormal drone is determined based on the information deviation; the information deviation of the abnormal drone exceeds a preset range; The target flight control information of the abnormal drone is adjusted based on the real-time flight status information corresponding to each of the plurality of drones and the preset flight mission. 3. The UAV control method according to claim 1, wherein the vehicle-road coordination module includes a plurality of roadside units, and the acquiring vehicle-road coordination module receives the respective corresponding positioning of a plurality of UAVs. Information includes: Obtaining drone information corresponding to at least one drone received by each of the plurality of roadside units; the drone information includes the positioning information, drone number information, and sending time information; Based on the UAV serial number information and the sending time information, information deduplication is performed on the positioning information to obtain a plurality of positioning information corresponding to each of the plurality of UAVs. 4. The unmanned aerial vehicle control method according to claim 1, is characterized in that, described method also comprises: Obtain the hovering information of the drone received by the vehicle-road coordination module; the hovering information of the drone includes the number of the hovering drone; the hovering information of the drone is broadcast by a drone with a risk of collision sent to the vehicle-road coordination module; Generate updated flight control information corresponding to the number of the hovering drone based on the preset flight mission and the hovering information of the drone; Send the updated flight control information corresponding to the number of the hovering UAV to the vehicle-road coordination module; so that the vehicle-road coordination module sends the updated flight control information to the vehicle-road coordination module through broadcasting. Risky drones. 5. The unmanned aerial vehicle control method according to claim 1, is characterized in that, described method also comprises: Acquiring flight status information corresponding to each of the plurality of unmanned aerial vehicles received by the vehicle-road coordination module; In the case that the quantity of the flight status information is less than the preset quantity of information, a flight suspension instruction is generated; Sending the flight suspension instruction to the vehicle-road coordination module; causing the vehicle-road coordination module to send the flight suspension instruction to the plurality of unmanned aerial vehicles in the form of broadcasting. 6. The UAV control method according to claim 5, characterized in that, after the said suspend flight instruction is sent to the vehicle-road coordination module, the method further comprises: Monitoring the positioning information corresponding to the plurality of drones received by the vehicle-road coordination module; When the quantity of positioning information is equal to the quantity of preset information, based on the positioning information corresponding to each of the plurality of drones and the preset flight mission, the continuation corresponding to each of the plurality of drones is generated. flight control information; Send the continuous flight control information corresponding to each of the plurality of UAVs to the vehicle-road coordination module; so that the vehicle-road coordination module sends the continuous flight control information to the multiple UAVs in the form of broadcasting. drone. 7. The UAV control method according to claim 6, characterized in that, after the monitoring of the corresponding positioning information of the plurality of UAVs received by the vehicle-road coordination module, the method further comprises: determining the separation distance between the plurality of drones based on the positioning information corresponding to each of the plurality of drones; determining outlier drones based on separation distances between the plurality of drones; The positioning information of the stray drone and the warning information are sent to a display module; the display module is used to display the positioning information of the stray drone. 8. A drone control device, characterized in that, comprising: The positioning information acquisition module is used to obtain the corresponding positioning information of multiple drones received by the vehicle-road coordination module; the positioning information corresponding to each of the multiple drones is sent to The vehicle-road coordination module; A target control information generating module, configured to generate target flight control information corresponding to each of the multiple drones based on the positioning information corresponding to each of the multiple drones and the preset flight mission; The target information sending module is used to send the target flight control information corresponding to each of the plurality of UAVs to the vehicle-road coordination module; so that the vehicle-road coordination module broadcasts the target flight control information The information is sent to the plurality of unmanned aerial vehicles; the target flight control information is used to control the flight of the plurality of unmanned aerial vehicles. 9. A computer storage medium, characterized in that at least one instruction, at least one section of program, code set or instruction set is stored in the storage medium, and the at least one instruction, at least one section of program, code set or instruction set is processed by The device is loaded and executed to realize the UAV control method according to any one of claims 1-8. 10. An electronic device, characterized in that the device comprises a processor and a memory, at least one instruction or at least one section of program is stored in the memory, and the at least one instruction or the at least one section of program is controlled by the processor Loading and executing to realize the UAV control method according to any one of claims 1-8.

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