UAV control method, device, computer equipment and storage medium

Abstract

The present application provides a drone control method, device, computer equipment and storage medium, the method comprising: determining the relative position relationship between the target drone and the safety protection area according to the position information of the target drone that changes over time after takeoff; when the relative position relationship meets the drone hovering trigger condition, controlling the target drone to hover and wait in the safety protection area; when the drone state in the target area of ​​the safety protection area meets the drone flight trigger condition, controlling the hovering and waiting target drone to fly to the target area. By adopting this method, the drone can be stably flown in the safety protection area, thereby improving the safety of drone flight.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a method, device, computer equipment and storage medium for controlling an unmanned aerial vehicle. Background Art

[0002] With the rapid development of drone technology, drones have achieved prominent applications in various industries, such as agricultural and forestry plant protection, power line inspection, security emergency, aerial photography and aerial survey.

[0003] In the existing technology, most drones can only fly in the air according to a predetermined route. Even if they encounter obstacles, their obstacle avoidance method generally depends on the control instructions issued by the drone controller through the terminal. The drone system cannot ensure its own safety during the flight, especially when multiple drones are in the same airspace, the safety factor of the drone is reduced and the risk of mid-air collision is increased.

[0004] Therefore, the existing UAV control technology has the technical problem of low UAV flight safety. Summary of the invention

[0005] The embodiments of the present application provide a drone control method, device, computer equipment, and storage medium to improve the safety of drone flight.

[0006] In a first aspect, the present application provides a method for controlling a drone, the method comprising:

[0007] Determine the relative position relationship between the target UAV and the safety protection area according to the position information of the target UAV that changes over time after takeoff;

[0008] When the relative position relationship satisfies the drone hovering trigger condition, controlling the target drone to hover and wait within the safety protection area;

[0009] When the state of the drones in the local area of ​​the safety protection area meets the drone flight triggering condition, the hovering and waiting target drone is controlled to fly to the local area.

[0010] In a second aspect, the present application provides a drone control device, the device comprising:

[0011] A position determination module is used to determine the relative position relationship between the target UAV and the safety protection area according to the position information of the target UAV that changes over time after takeoff;

[0012] A hovering control module, used to control the target drone to hover and wait in the safety protection area when the relative position relationship meets the drone hovering triggering condition;

[0013] The flight control module is used to control the hovering and waiting target drone to fly toward the target area when the drone status in the target area of ​​the safety protection area meets the drone flight triggering condition.

[0014] In a third aspect, the present application further provides a drone, comprising:

[0015] one or more processors;

[0016] Memory; and

[0017] One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to implement the drone control method.

[0018] In a fourth aspect, the present application also provides a computer-readable storage medium on which a computer program is stored, and the computer program is loaded by a processor to execute the steps in the drone control method.

[0019] The above-mentioned drone control method, device, computer equipment and storage medium determine the relative position relationship between the target drone and the safety protection area by analyzing the position information of the target drone that changes over time after takeoff. When the relative position relationship meets the drone hovering trigger condition, that is, when it is determined that there is a risk of drone collision in the safety protection area, the target drone is controlled to hover and wait in the safety protection area to avoid the drone colliding in the safety protection area and reducing safety. At the same time, when the drone state in the target area meets the drone flight trigger condition, that is, when the potential collision risk in the safety protection area is eliminated, the target drone is controlled to end the hovering state and fly to the target area, so that the completion of the drone operation task can be guaranteed, which can not only improve the safety protection capability of the drone, but also improve the safety of the drone flight. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 Schematic diagram of a method for controlling a drone in an embodiment of the present application;

[0022] Figure 2 is a flow chart of the drone control method in an embodiment of the present application;

[0023] Figure 3This is a schematic diagram of an application scenario of the drone control method in an embodiment of the present application;

[0024] Figure 4 It is a schematic diagram of the structure of the drone control device in the embodiment of the present application;

[0025] Figure 5 It is a schematic diagram of the structure of a computer device in an embodiment of the present application. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0027] First of all, it should be noted that the terms "first" and "second" involved in the embodiments of the present application are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. For example, the first moment and the second moment refer to different moments of information collection. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0028] Secondly, it should be noted that the word "for example" is used to mean "used as an example, illustration or explanation". Any embodiment described as "for example" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is given to enable any technician in the field to implement and use the present invention. In the following description, details are listed for the purpose of explanation. It should be understood that a person of ordinary skill in the art can recognize that the present invention can be implemented without using these specific details. In other examples, well-known structures and processes will not be elaborated in detail to avoid obscuring the description of the present invention with unnecessary details. Therefore, the present invention is not intended to be limited to the embodiments shown, but is consistent with the widest scope consistent with the principles and features disclosed in this application.

[0029] Finally, it should be noted that the drone control method provided in the embodiment of the present application can be applied to Figure 1In the drone control system scenario shown. Among them, the drone control system includes a drone 100, a server 200 and a drone control terminal 300. The drone 100 is connected to the server 200 through a base station in a 4G socket (two programs on the network exchange data through a two-way communication connection, and one end of this connection is called a socket). A radio connection is established between the drone 100 and the base station, and the server 200 and the drone control terminal 300 are also connected in a 4G socket. The drone 100 is an unmanned aircraft controlled by a radio remote control device and a self-provided program control device. The radio remote control device is the drone control terminal 300. The drone 100 is equipped with an autopilot, a program control device, and a lighting device. The remote control personnel can track, locate, remotely control and digitally transmit it through radar and other equipment. The drone 100 in this application can be a fixed-wing drone, a rotary-wing drone, an unmanned airship, a paraglider drone, a flapping-wing drone, etc. The server 200 may be an independent server, or a server network or server cluster composed of servers, including but not limited to a computer, a network host, a single network server, a plurality of network server sets or a cloud server composed of a plurality of servers, wherein the cloud server is composed of a large number of computers or network servers based on cloud computing. The drone control terminal 300 may be a device including both receiving and transmitting hardware, that is, a device having receiving and transmitting hardware capable of performing two-way communication on a two-way communication link. Such a device may include: a cellular or other communication device having a single-line display or a multi-line display or a cellular or other communication device without a multi-line display. The drone control terminal 300 may specifically be a desktop terminal or a mobile terminal, and the terminal 100 may specifically be one of a mobile phone, a tablet computer, a laptop computer, and the like.

[0030] Those skilled in the art will understand that Figure 1 The application environment shown in the figure is only one application scenario of the present application solution and does not constitute a limitation on the application scenario of the present application solution. Other application environments may also include Figure 1 More or less computer equipment as shown in Figure 1 Only one server 200 is shown in the figure. It is understandable that the drone control system may also include one or more other servers, which are not specifically limited here. Figure 1 As shown, the drone control system may also include a memory 400 for storing data, such as logistics data, for example, various data of the logistics platform, such as logistics transportation information of logistics outlets such as transfer yards, specifically, express information, delivery vehicle information and logistics outlet information.

[0031] It should also be noted that since the method of the embodiment of the present application is executed in a computer device, the processing objects of each computer device exist in the form of data or information. For example, time is actually time information. It can be understood that if size, quantity, position, etc. are mentioned in subsequent embodiments, they are all corresponding data for processing by the computer device. The details will not be repeated here. Figure 1 The scene diagram of the drone control system shown is only an example. The drone control system and scene described in the embodiment of the present invention are intended to more clearly illustrate the technical solution of the embodiment of the present invention, and do not constitute a limitation on the technical solution provided by the embodiment of the present invention. A person of ordinary skill in the art can know that with the evolution of drone control systems and the emergence of new business scenarios, the technical solution provided by the embodiment of the present invention is also applicable to similar technical problems.

[0032] like Figure 2 As shown, in one embodiment, a method for controlling a drone is provided. This embodiment mainly applies the method to the above Figure 1 The server 200 in FIG. 1 is used as an example. Figure 2 The drone control method specifically includes steps S201 to S203, which are as follows:

[0033] S201, determining the relative position relationship between the target UAV and the safety protection area according to the position information of the target UAV that changes with time after taking off.

[0034] Among them, the location information refers to the navigation positioning information (absolute location information) of the target UAV, such as the accurate longitude and latitude values. The location information can be collected and sent by the positioning device installed on the target UAV. For example, the current location information of the target UAV is 113 degrees east longitude and 22 degrees north latitude.

[0035] Among them, the safety protection area is a space of a certain range demarcated according to the flight training and operation needs of the drone. The safety protection area in this application can be a ground area or a space area of ​​a certain height range perpendicular to the ground area. It can be understood that the plane shape of the safety protection area can be a regular circle, rectangle, ellipse, ring, etc., or an irregular polygon. It can be set according to actual application requirements, and this embodiment of the application does not specifically limit this.

[0036] Among them, the relative position relationship refers to the position of the target object with respect to the reference object with displacement change, for example, the target drone is on the east side of the safety protection area, and the target drone is in the center of the safety protection area.

[0037] Specifically, before the server 200 analyzes the relative position relationship between the target UAV and the safety protection area, it must first obtain the position information of the target UAV that changes with time after takeoff. The position information can be the position information directly collected and sent by the positioning device installed on the target UAV, or it can be the position information calculated by the measuring device installed on the target UAV, such as an accelerometer, gyroscope, navigation radar, etc., which measures the UAV acceleration signal, electromagnetic wave signal and other navigation and positioning data and sends them to the server 200.

[0038] Further, Figure 1 Although the drone control system shown in the figure does not show the base station between the drone 100 and the server 200, it can be understood from the above description that there is a base station between the two as an intermediate system for data transmission, and in some embodiments, the base station is equipped with an edge computing module (edge ​​computing refers to an open platform that integrates network, computing, storage, and application core capabilities at the edge of the network close to the source of objects or data, and provides edge intelligent services nearby), and the edge computing module can analyze the navigation and positioning data of each drone 100 to obtain location information. Therefore, the location information can be directly collected by the drone 100 based on the installed positioning device, or calculated by the server 200 based on the navigation and positioning data of the drone 100, or analyzed by the edge computing module loaded on the base station.

[0039] More specifically, the location information obtained by the server 200 has a time attribute, that is, the various location information of the same drone is the corresponding location information obtained at different times. If the server 200 only analyzes the location information of the target drone at a certain moment to determine the relative position relationship between it and the safety protection area, it cannot prompt risks for the flight trend of the target drone. For example, it cannot effectively control the flight state of the target drone to reduce the risk of collision with obstacles. Therefore, the present application proposes to determine the relative position relationship between the target drone and the safety protection area based on the location information of the target drone that changes with time after take-off, and analyze the location information of the target drone relative to the safety protection area at different times, which can effectively improve the safety of drone flight operations in the safety protection area.

[0040] S202: When the relative position relationship satisfies the drone hovering triggering condition, the target drone is controlled to hover and wait in the safety protection area.

[0041] Among them, the drone hovering trigger condition is the condition for triggering control / instructing the drone to hover, which can be set according to the actual application requirements of the relative position relationship. For example, the flight state of the target drone in the safety protection area meets the predetermined conditions, for example, the target drone is located in the safety protection area, and there are potential factors affecting the flight safety of the target drone in the safety protection area; it can also be that the flight state of the target drone outside the safety protection area meets the predetermined conditions, for example, the target drone is located outside the safety protection area, and the distance between each drone outside the safety protection area is lower than the safe flight distance threshold.

[0042] Specifically, the take-off and landing of the target drone are controlled by the drone control terminal 300, and the server 200 can only generate control instructions and send them to the drone control terminal 300, and the drone control terminal 300 controls the drone to hover / fly according to the control instructions.

[0043] More specifically, most drones can only fly along a predetermined route. Even if some drones have obstacle avoidance functions, they are extremely susceptible to interference from environmental factors and have poor stability. For example, some drones use ultrasonic ranging or infrared ranging to avoid forward obstacles, but ultrasonic ranging sensors can generally only detect a range of less than 6 meters, and there is a minimum detection blind spot, that is, within 30 mm. The disadvantage of infrared ranging sensors is that they have poor anti-interference performance. Once sunlight interference occurs outdoors, they will basically stop working. Therefore, the practical application of such drone obstacle avoidance technology is limited by environmental factors, and the response time after warning is short, and there is still a certain risk of collision. Therefore, this application proposes that when the relative position relationship meets the drone hovering trigger condition, the target drone is controlled to hover and wait in the safety protection area until the collision risk is eliminated, and then the target drone is controlled to continue flying along the predetermined route.

[0044] S203: When the state of the drone in the target area in the safety protection area meets the drone flight triggering condition, the hovering and waiting target drone is controlled to fly toward the target area.

[0045] Among them, the target area is a local area in the safety protection area, and the shape of the target area can be set according to actual application requirements. For example, there is a circular target area with a radius of 1 meter in a circular safety protection area with a radius of 3 meters. The embodiment of the present application does not make specific limitations on this.

[0046] Among them, the drone flight trigger condition is the condition for triggering control / instructing the drone to start flight, which can be set according to the actual application requirements of the drone status in the target area. For example, when there are no other drones in the target area, it is considered that the drone flight trigger condition is met; or when there are other drones in the target area but the number of drones does not reach the safety number threshold, it is considered that the drone flight trigger condition is met.

[0047] Specifically, the control instruction for controlling the hovering and waiting target drone to fly to the target area can be an instruction generated by analysis by the server 200. After the instruction is generated, it can be sent by the server 200 to the drone control terminal 300 for control, and the drone control terminal 300 controls the drone flight according to the control instruction.

[0048] As mentioned above, most drones can only fly along a predetermined route. Even if some drones have obstacle avoidance functions, they are very susceptible to interference from environmental factors. Existing drone obstacle avoidance technology cannot solve the problem that when there are at least two drones in a certain area, there is still a risk of collision between multiple drones. Especially in the field of logistics and transportation, drone logistics has developed into an important branch of the smart logistics system due to its advantages such as short distance, low operating cost, high speed, and strong practicality. The simultaneous flight of multiple drones is an inevitable situation of drone logistics. Solving the problem of collision risk caused by the simultaneous flight of multiple drones is an urgent task for drone control research. Therefore, the present application proposes that during the drone flight operation, especially when the drone flies into a designated safety protection area, the server 200 can analyze whether there is a potential collision risk in the safety protection area to which it is heading based on the location information of the drone, for example: (1) There are other drones in the safety protection area, but there are more than two drones in a limited area at the same time, which is prone to collision; (2) There are other drones in the safety protection area. Although the safety protection area allows two or more drones to be accommodated, there is still an upper limit threshold for the number of drones. If the number of drones exceeds this threshold, a collision may occur; (3) The distance between two drones in the safety protection area is less than a certain safety protection area. Full distance threshold, easy to collide; (4) The area to which the drone flies is also the area to which other drones fly. At the same time, there may be a risk of collision at a certain position when entering the area, etc. When the server 200 analyzes and finds that the current drone is flying into the safety protection area, any of the above situations may exist, that is, a drone hovering instruction is generated and sent to the drone control terminal 300, so that the drone control terminal 300 controls the target drone to hover and wait immediately, until the server 200 analyzes that the risk has been eliminated, it can generate a drone flight instruction and send it to the drone control terminal 300, so that the drone control terminal 300 controls the target drone to end the hovering operation and continue flying.

[0049] It can be understood that the above four situations where there is a risk of drone collision can all be preset as drone hovering trigger conditions. In addition, if there are other situations, they can also be set. This application does not make specific limitations. However, it should be noted that since the server 200 has analyzed in the previous step that the relative position relationship between the target drone and the safety protection area meets the conclusion of the drone hovering trigger condition, and there are multiple drone hovering trigger conditions in some application scenarios, the relative position relationship can be at least one of the drone hovering trigger conditions. Therefore, after the server 200 determines that the relative position relationship meets the drone hovering trigger condition, it is necessary to analyze whether each drone hovering trigger condition satisfied by the relative position relationship is no longer satisfied, that is, the drone flight trigger condition should correspond to the currently satisfied drone hovering trigger condition. The drone state in the target area is one of the forms that reflect the existence of a collision risk set by the drone hovering trigger condition, including but not limited to when the drone state in the target area in the safety protection area meets the drone flight trigger condition, the server 200 can generate a flight instruction to control the target drone to continue flying to the target area.

[0050] For example, see Figure 3 , is a schematic diagram of an application scenario in which a drone flies into a safety protection area. Figure 3 The safety protection area shown is a circular area, including a first target area with a radius of R2 and a second target area with a radius of R1. The position information of the target UAV that changes with time after taking off outside the safety protection area is the first position information at the first moment (the dotted UAV outside the safety protection area is shown in the figure), and the second position information at the second moment (the solid UAV within the first target area in the safety protection area is shown in the figure). The relative position relationship between the target UAV and the safety protection area is that the target UAV is within the first target area. In combination with the above description of the type of UAV collision risk, when the target UAV tends to fly toward the second target area, if the UAV hovering trigger condition preset by the server 200 is: when the target UAV is within the first target area, there are other UAVs within the second target area with a radius of R1, the server 200 can determine that the current relative position relationship meets the UAV hovering trigger condition, and then generate a UAV hovering instruction to send to the UAV control terminal 300, instructing it to control the target UAV to immediately hover and wait in the current flight position-first target area until there are no other UAVs in the second target area, and then generate a UAV flight instruction to send to the UAV control terminal 300, instructing it to control the target UAV that has hovered in the first target area to continue to fly to the second target area.

[0051] The above-mentioned drone control method determines the relative position relationship between the target drone and the safety protection area by analyzing the position information of the target drone that changes over time after takeoff. When the relative position relationship meets the drone hovering trigger condition, that is, when it is determined that there is a risk of drone collision in the safety protection area, the target drone is controlled to hover and wait in the safety protection area to avoid the drone colliding in the safety protection area and reducing safety. At the same time, when the drone state in the target area meets the drone flight trigger condition, that is, when the potential collision risk in the safety protection area is eliminated, the target drone is controlled to end the hovering state and fly to the target area, so that the completion of the drone operation task can be guaranteed, which can not only improve the safety protection capability of the drone, but also improve the safety of the drone flight.

[0052] In one embodiment, step S201 specifically includes the following steps:

[0053] S301, obtaining first position information corresponding to a first moment and second position information corresponding to a second moment after the target UAV takes off, wherein the first moment is earlier than the second moment;

[0054] S302: Determine a relative position relationship between the target UAV and the safety protection area according to the first position information and the second position information.

[0055] The first moment and the second moment are different moments within a preset operation cycle. The operation cycle can be set manually or automatically by the control device of the drone, for example, the first moment is 13:0:0 and the second moment is 13:30:0, which is not specifically limited in the embodiment of the present application.

[0056] Specifically, the server 200 obtains the position information of the target UAV at any two consecutive moments after takeoff, and can determine the flight direction of the target UAV after takeoff. The relative position relationship determined based on the flight direction can be used to analyze whether the UAV hovering trigger condition is met. Otherwise, when the flight direction is unknown, the relative position relationship is determined only by relying on the position information corresponding to a certain moment, and the UAV collision risk may be incorrectly determined. As a result, the safety protection capability of the UAV system is still not improved.

[0057] For example, see Figure 3, if the server 200 only obtains the second position information of the target UAV at the second moment (the solid line UAV within the first target area in the safety protection area shown in the figure), and the first position information at the first moment may exist within the safety protection area, then the preset UAV hovering trigger condition is: when the target UAV is within the first target area, there are other UAVs within the second target area with a radius of R1, then even if the flight direction of the target UAV tends to fly outside the safety protection area, the server 200 can only determine that the current relative position relationship meets the UAV hovering trigger condition and needs to control the target UAV to hover and wait, but this hovering control command is meaningless for the safety protection of the UAV flight and still cannot improve the safety of UAV control. Therefore, the embodiment of the present application proposes that the relative position relationship depends on the position information at any two moments.

[0058] In this embodiment, based on the position information at two consecutive moments, the relative position relationship between the target UAV and the safety protection area is analyzed to ensure that the safety protection strategy based on the relative position relationship proposed in the embodiment of the present application is a safety protection strategy that acts on the approach direction, thereby avoiding risk prediction errors due to uncertain flight direction and reducing the accuracy of UAV safety control.

[0059] In one embodiment, step S302 specifically includes the following steps:

[0060] S401, obtaining the area location information of the safety protection area;

[0061] S402, determining the flight direction information of the target UAV relative to the safety protection area according to the first position information and the second position information;

[0062] S403: When the flight direction information is a first direction, determine a relative position relationship between the target UAV and the safety protection area according to the second position information and the area position information.

[0063] Among them, the regional location information is the longitude and latitude information of the regional coverage of the security protection area, for example, the area covered by 112 degrees to 140 degrees east longitude and 22 degrees to 50 degrees north latitude. The embodiment of the present application does not make specific limitations on this.

[0064] The flight direction information is the flight direction relative to the four directions of east, west, south and north.

[0065] The first direction refers to the approach direction of the flight toward the center of the safety protection area on the regional plane, for example, Figure 3 The direction in which the target UAV tends to fly towards the center of the area over time is the first direction.

[0066] Specifically, the regional location information of the safety protection area can be fixed regional location information or regional location information that changes periodically, and can be set specifically according to the business needs of the actual scenario. For example, in the drone logistics scenario, the safety protection area of ​​the drone operation will change at different times, including the safety protection areas of most drone operations in the peak season of commodity trading are areas A and B, and the safety protection areas of most drone operations in the off-season of commodity trading are areas H and F. The regional location information of the safety protection area can be set to change according to a preset period, that is, the regional location information can be set to regional location 1 in the first period, and the regional location information can be replaced from regional location 1 to regional location 2 in the second period. The periodic change of the regional location can be automatically controlled by the server 200.

[0067] More specifically, the flight direction information is determined by connecting the position in the first position information as the starting point and the position in the second position information as the end point. The straight line direction from the starting point to the end point is the flight direction information of the target UAV relative to the safety protection area. For example, Figure 3 The flight direction of the target UAV is a direction perpendicular to the boundary of the safety protection area and entering the safety protection area. By analyzing the second position information and the regional position information under this flight direction, the relative position relationship between the target UAV and the safety protection area can be determined.

[0068] It should also be noted that the second direction opposite to the first direction can be the departure direction of flying away from the center of the safety protection area. It is understandable that since the drone collision risks listed in the embodiments of the present application are mostly limited to the approach direction, the possible drone collision risks in the departure direction include but are not limited to: (1) the flight distance between multiple drones is less than or equal to the minimum safety distance threshold; (2) the area of ​​the departure path area becomes smaller, the number of drones reaches the upper limit threshold of drone safe flight, or other risk situations, then the target drone is controlled to hover and wait or fly away. The corresponding drone hovering trigger conditions and / or drone flight trigger conditions can be set with reference to the above risk types for early warning or control, and the embodiments of the present application do not make specific limitations on this.

[0069] In this embodiment, the flight safety of the UAV in the approach direction is ensured by setting a safety protection strategy for the approach direction, which can avoid risk prediction errors caused by uncertain flight direction and reduce the accuracy of UAV safety control.

[0070] In one embodiment, the safety protection area includes a first target area and a second target area, and the second target area is set within the first target area. Step S403 specifically includes the following steps:

[0071] S501, when the flight direction information is a first direction, if the area location information of the first target area includes the second location information, determining that the target UAV is within the first target area;

[0072] S502, when the flight direction information is the first direction, if the area location information of the second target area includes the second location information, determining that the target UAV is within the second target area;

[0073] S503: When the flight direction information is the first direction, if the area location information does not include the second location information, it is determined that the target UAV is not within the safety protection area.

[0074] The first target area and the second target area are local target areas in the safety protection area, and the second target area is set within the first target area and is a local target area of ​​the first target area. Figure 3 The annular area with a radius R2 is the first target area of ​​the safety protection area, and the circular area with a radius R1 is the second target area of ​​the safety protection area, which is also a target area set within the first target area.

[0075] Specifically, when the safety protection area includes a first target area and a second target area, and the second target area is set within the first target area, the relative position relationship between the target drone and the safety protection area includes but is not limited to: (1) the target drone is outside the first target area; (2) the target drone is within the first target area but outside the second target area; (3) the target drone is within the second target area. It is understandable that since the purpose of determining the relative position relationship is to ensure the safe flight of the drone in the safety protection area, it is not enough to achieve accurate risk warning by only determining the relative position relationship between the target drone and the safety protection area based on the second position information and the area position information, that is, there may be a situation where the server 200 analyzes the risk of the drone entering the field, but the target drone is currently in the departure state. Therefore, to determine the relative position relationship between the target drone and the safety protection area, and then use the relative position relationship to determine whether the target drone currently needs to hover and wait or continue to fly, the current flight direction of the target drone must be limited to the first direction.

[0076] In this embodiment, the relative position relationship between the target UAV and the safety protection area is determined by analyzing the regional position information in the first direction and the second position information, thereby avoiding risk prediction errors caused by uncertain flight direction and reducing the accuracy of UAV safety control.

[0077] In one embodiment, the safety protection area includes a first target area and a second target area, and the second target area is set within the first target area. Step S202 specifically includes the following steps:

[0078] S601, when the relative position relationship is that the target UAV is within the first target area, and there is a UAV within the second target area, generating a first hovering instruction;

[0079] S602: Send the first hovering instruction to the drone control terminal, where the first hovering instruction is used to instruct the drone control terminal to control the target drone to hover and wait in the first target area.

[0080] Specifically, the second target area in the safety protection area can be an exclusive area, that is, only one drone is allowed to exist in the area, and more than one drone is likely to trigger a drone collision accident. Therefore, when the relative position relationship is that the target drone is in the first target area and there is a drone in the second target area, the server 200 can generate a first hovering instruction and send the instruction to the drone control terminal 300, so that the drone control terminal 300 controls the target drone to temporarily hover and wait in the first target area to prevent the target drone from continuing to fly into the second target area and colliding with another drone already in the area. It can be understood that the server 200 determines whether there is a drone in the second target area, and can analyze whether the regional location information of the second target area contains the location information of the drone at the current computer moment. If so, it can be determined that there is a drone in the second target area.

[0081] In actual application scenarios, the server 200 can obtain the results of the location information analysis, especially the warning processing results, and in addition to being fed back to the user terminal (such as the drone control terminal 300) for display to notify the staff to handle it in time, it can also prompt the staff to handle it through an alarm device, such as an indicator light or an alarm. Among them, the use of the indicator light can be that when the target drone enters the first target area, the server 200 triggers the drone approach safety prompt, generates a drone approach signal and sends the signal to the indicator light controller that has a network connection with the server 200 in advance, so that the indicator light controller lights up the first prompt light according to the drone approach signal, and the first indicator light can light up to remind the staff that a drone has flown in. Figure 3 When the target drone enters the second target area, the server 200 triggers the drone near-field airspace exclusive protection, generates a drone approach protection signal and sends the signal to the indicator light controller that has a network connection with the server 200 in advance, so that the indicator light controller lights up the second prompt light according to the drone approach signal, and the second indicator light lights up to remind the staff that a drone has flown into the second target area. Figure 3 The second target area shown can no longer accommodate other drones.

[0082] In this embodiment, by setting the target drone within the first target area, and when there are drones within the second target area to be entered, the target drone is controlled to hover within the first target area and wait until there are no drones within the second target area before flying into the area. This can avoid collisions between the target drone and drones in the second target area, ensure drone flight safety, improve the drone's safety protection capabilities, and enhance the safety of drone control.

[0083] In one embodiment, the safety protection area further includes a third target area, and the third target area is set within the second target area. Step S202 specifically includes the following steps:

[0084] S701, when the relative position relationship is that the target UAV is within the second target area, and the area access status of the third target area is a closed access status, generating a second hovering instruction;

[0085] S702: Send the second hovering instruction to the drone control terminal, where the second hovering instruction is used to instruct the drone control terminal to control the target drone to hover and wait in the second target area.

[0086] Among them, the third target area is a plane area set within the second target area. The third target area in the embodiment of the present application can be a ground parking platform, and its radius is smaller than the radius of the second target area.

[0087] Among them, the regional access status describes the status of whether the third target area is accessible, which is triggered by the switch of the indicator light controller that has a pre-established network connection with the server 200. For example, the indicator light mentioned in the previous embodiment also includes a third indicator light. The turning on and off of the third indicator light can be triggered by the staff. The lighting of the third indicator light means that the drone cannot enter the third target area.

[0088] Specifically, the third target area is a ground area that requires daily maintenance work by ground staff. When the relative position relationship is that the target drone is within the second target area and the area access status of the third target area is a closed access status, the server 200 can generate a second hovering instruction and send the instruction to the drone control terminal 300, so that the drone control terminal 300 controls the target drone to temporarily hover and wait in the second target area to prevent the target drone from continuing to fly into the third target area and colliding with drones or staff parked in the area.

[0089] In this embodiment, by setting the target drone in the second target area and the third target area to be entered is in the access-closed state, the target drone is controlled to hover in the second target area and wait for the third target area to be in the access-opened state before flying into the area, so as to avoid the target drone from colliding with obstacles in the third target area. At the same time, since the access state of the third target area can be controlled by the ground staff, the ground staff can control whether the target drone can enter the third target area as needed, thereby ensuring the safety of the drone, improving the safety protection capability of the drone, and improving the safety of the drone flight.

[0090] In one embodiment, step S203 specifically includes the following steps:

[0091] S801, determining a safety protection area in which the target UAV is hovering, the safety protection area comprising a first target area and a second target area, the second target area being set within the first target area;

[0092] S802: If the target UAV is hovering in the first target area, and if there is no UAV in the second target area, obtain operating parameter information of the UAV in the first target area;

[0093] S803, generating a flight instruction carrying a flight start time according to the operation parameter information;

[0094] S804: Send the flight instruction to the drone control terminal, where the flight instruction is used to instruct the drone control terminal to control the hovering and waiting target drone to fly to the second target area according to the flight start time.

[0095] Among them, the operating parameter information refers to the parameters that exist when the drone control system is running, such as drone flight speed, drone flight altitude, fault detection information, power information, etc.

[0096] The flight start time refers to the time when the drone is controlled to start flying, for example, 10:0:0.

[0097] Specifically, before the server 200 controls the hovering and waiting target drone to fly to the target area to be entered, it is first necessary to determine whether the drone state in the target area meets the preset drone flight trigger condition. For example, the target drone is currently located in the first target area and tends to fly into the second target area as an exclusive area. If there are no other drones in the second target area at this time, the server 200 can determine that the drone state in the target area to which the target drone tends meets the drone flight trigger condition, and the server 200 can generate a flight instruction and send it to the drone control terminal 300 to control the target drone to fly into the second target area. However, it should be noted that if there are at least two drones in the first target area, and the actual business scenario stipulates that the drone cross-region flight must fly one by one and cannot fly synchronously, then at this time, the server 200 needs to obtain the operating parameter information of all drones hovering in the first target area to fly into the second target area, and based on the analysis of the operating parameter information corresponding to each drone, determine the flight start time of each drone flying into the second target area, and generate a flight instruction carrying the flight start time, so that the drone control terminal 300 that receives the flight instruction can control the drone to fly into the second target area according to the flight start time.

[0098] Of course, the above example only illustrates the situation when the target drone is hovering in the first target area and tends to fly into the second target area. It can be understood that in other embodiments, if the target drone is located in the second target area and tends to fly into the third target area within the second target area, the third target area can be a ground parking platform or other types of areas. Then, combined with the situation described in the above embodiment where the drone is controlled to hover when the third target area is in a closed state, this embodiment proposes that when the third target area is in an open state, that is, the third indicator light corresponding to the third target area is off, the server 200 can generate a flight command and send it to the drone control terminal 300, so that the drone control terminal 300 controls the target drone hovering in the second target area to fly to the third target area.

[0099] In this embodiment, the flight start time for each drone to stop hovering is determined by analyzing the operating parameter information of the drones in the target area, ensuring that the drones enter the corresponding target area in sequence without collision. This can not only improve the safety protection capability of the drones, but also improve the safety of drone flight.

[0100] In one embodiment, the operating parameter information includes fault detection information, and step S803 specifically includes the following steps:

[0101] S901, determining a first UAV and / or a second UAV in the first target area according to the fault detection information in the operation parameter information, wherein the first UAV is a UAV with a fault to be detected, and the second UAV is a UAV without a fault to be detected;

[0102] S902: If the first target area includes the first UAV and the second UAV, determine that the flight start time of the first UAV is earlier than the flight start time of the second UAV;

[0103] S903: Generate the flight instruction according to the flight start time corresponding to the target UAV.

[0104] Among them, the fault detection information can be the fault information automatically detected by the built-in controller of the drone, or it can be the information obtained by the server 200 through fault detection of the drone through equipment such as a laser detector. The fault detection objects include but are not limited to batteries, accelerometers, gyroscopes, propellers, etc.

[0105] Specifically, different flight start times depend on the fault detection information of each UAV, that is, by analyzing the fault detection information of each UAV, it can be identified whether the UAV hovering in the first target area is a faulty UAV (the first UAV) or a non-faulty UAV (the second UAV). When determining the flight start time of the first UAV and / or the second UAV, the flight start time of the first UAV should be set earlier than the flight start time of the second UAV, so that the faulty UAV can reduce the hovering waiting time and be effectively processed in time.

[0106] It should be noted that, for the first drone that has been detected to have a fault, there may be a situation where its fault factor causes the drone to fail to successfully fly into the target area, and the above descriptions all consider the situation where the fault factor does not affect the drone's successful flying into the target area. Therefore, the embodiment of the present application proposes that when a target drone is detected to have a fault, the server 200 can generate corresponding instructions according to the actual fault situation to control the drone to return, land, or continue flying.

[0107] For example, when the battery power of the drone is insufficient to support it to successfully fly into the target area, but it can still fly for a short time, it can be determined that such a fault situation does not completely affect the drone's flying into the target area, and the server 200 can generate a return instruction and send it to the drone control terminal 300, so that the drone control terminal 300 can control the first drone to return immediately based on the return instruction. It should be understood that since the first drone has just entered the first target area at this time, the flight distance relative to the take-off point is short, so it can return and continue to fly and perform the mission after the fault is eliminated.

[0108] For another example, when a drone propeller fails and cannot continue to fly uncontrollably, it can be determined that such failure completely affects the normal take-off of the drone. The server 200 can generate a landing command and send it to the drone control terminal 300, so that the drone control terminal 300 can control the first drone to land immediately at the current location based on the landing command.

[0109] For another example, when the drone accelerometer fails and cannot continue to fly at the specified speed, it can be determined that such failure does not affect the drone's successful flight into the target area, and the server 200 can generate a flight instruction and send it to the drone control terminal 300, so that the drone control terminal 300 can control the first drone to continue flying based on the flight instruction. It can be understood that at this time, the flight start time of the first drone with a faulty accelerometer should be earlier than the flight start time of the second drone without a fault.

[0110] In this embodiment, by analyzing the fault detection information in the operating parameter information of each drone, the flight start time for each drone to stop hovering is determined, ensuring that the faulty drone enters the corresponding target area first, which can not only improve the safety protection capability of the drone, but also improve the safety of drone flight.

[0111] In one embodiment, the operating parameter information further includes power information, the first drone includes at least two first drones, and before step S903, the following steps are specifically included:

[0112] S1001, when the power information of the at least two first drones is different, determining a third drone and a fourth drone among the at least two first drones according to the power information, and determining that a flight start time of the third drone is earlier than a flight start time of the fourth drone, wherein the power of the third drone is lower than the power of the fourth drone;

[0113] S1002, when the power information of the at least two first drones is the same, determining the flight start time of each first drone according to the relative status information of the at least two first drones, wherein the relative status information includes at least one of the following: approach order, task priority.

[0114] Among them, the power information refers to the battery power of the drone.

[0115] Specifically, the previous embodiment only describes the technical solution of how to determine the flight start time of two types of drones when there are faulty drones and non-faulty drones in the first target area. In this embodiment, it is proposed to determine the flight start time according to the power information in the operating parameter information, so that the server 200 sets the flight start time of the drone with low power earlier than the drone with high power, which can avoid the drone disconnecting the communication connection with the drone control terminal 300 due to the power being lower than the safety threshold. In addition, when the power of multiple faulty drones (first drones) is the same, the server 200 can determine the corresponding flight start time according to the relative status information of each of the multiple first drones.

[0116] For example, the flight start time of each first drone is determined in sequence according to the order in which each first drone enters the first target area, that is, the flight start time of the drone that enters the first target area first is earlier than that of the drone that enters the first target area later.

[0117] For another example, the flight start time of each first drone is determined according to the operating task priority of each first drone, that is, the server 200 assigns tasks before the first drone takes off, and each task has a corresponding preset priority coefficient. When it is necessary to determine the flight start time of each first drone, the server 200 can determine the flight start time of a first drone with a high priority according to the operating task priority of each first drone, and its flight start time is earlier than that of a first drone with a low priority.

[0118] In this embodiment, the power information in the operating parameter information of each drone is analyzed to determine the flight start time for each drone to stop hovering, ensuring that drones with low power enter the corresponding target area first. This can not only improve the safety protection capability of the drone, but also improve the safety of drone control.

[0119] In one embodiment, the operating parameter information further includes power information, the second drone includes at least two second drones, and before step S903, the following steps are specifically included:

[0120] S1101, when the power information of the at least two second drones is different, determining a fifth drone and a sixth drone among the at least two second drones according to the power information, and determining that a flight start time of the fifth drone is earlier than a flight start time of the sixth drone, wherein the power of the fifth drone is lower than the power of the sixth drone;

[0121] S1102, when the power information of the at least two second UAVs is the same, determining the flight start time of each second UAV according to the relative status information of the at least two second UAVs, wherein the relative status information includes at least one of the following: approach order, task priority.

[0122] Specifically, when there are multiple non-faulty drones (second drones), how to determine the flight start time of each second drone can be specifically described with reference to the above-mentioned embodiment. However, it should be noted that although this embodiment and the previous embodiment both describe that when the power information is the same, the server 200 can analyze the approach sequence and work task priority of each drone to determine the flight start time of each drone, but in other embodiments, the relative status information may also include but is not limited to the distance between the drone and the boundary of the second target area, the relative flight speed, etc.

[0123] For example, the server 200 analyzes the distance between the first UAV / second UAV and the boundary of the second target area. The flight start time of the first UAV / second UAV with a smaller distance is earlier than that of the first UAV / second UAV with a larger distance. The server 200 analyzes the relative flight speed of the first UAV / second UAV. The flight start time of the first UAV / second UAV with a faster flight speed is later than that of the first UAV / second UAV with a slower flight speed.

[0124] It can be understood that the embodiment of the present application only illustrates a technical solution of how to control multiple drones to enter the second target area in sequence when the drones in the first target area tend to fly into the second target area. However, in other embodiments, the technical solution can also be applied to other areas, such as the crossing from the second target area to the third target area, etc. The embodiment of the present application does not make specific limitations on this.

[0125] In this embodiment, the power information in the operating parameter information of each drone is analyzed to determine the flight start time for each drone to stop hovering, ensuring that drones with low power enter the corresponding target area first. This can not only improve the safety protection capability of the drone, but also improve the safety of drone flight.

[0126] In order to better implement the drone control method in the embodiment of the present application, based on the drone control method, the embodiment of the present application also provides a drone control device, such as Figure 4 As shown, the drone control device 1200 includes:

[0127] The position determination module 1202 is used to determine the relative position relationship between the target UAV and the safety protection area according to the position information of the target UAV that changes over time after taking off;

[0128] The hovering control module 1204 is used to control the target drone to hover and wait in the safety protection area when the relative position relationship meets the drone hovering triggering condition;

[0129] The flight control module 1206 is used to control the hovering and waiting target drone to fly toward the target area when the drone status in the target area of ​​the safety protection area meets the drone flight triggering condition.

[0130] In some embodiments of the present application, the position determination module 1202 is also used to obtain first position information corresponding to a first moment and second position information corresponding to a second moment after the target UAV takes off, the first moment being earlier than the second moment; based on the first position information and the second position information, determine the relative position relationship between the target UAV and the safety protection area.

[0131] In some embodiments of the present application, the position determination module 1202 is also used to obtain the regional position information of the safety protection area; determine the flight direction information of the target UAV relative to the safety protection area based on the first position information and the second position information; when the flight direction information is a first direction, determine the relative position relationship between the target UAV and the safety protection area based on the second position information and the regional position information.

[0132] In some embodiments of the present application, the safety protection area includes a first target area and a second target area, the second target area is set within the first target area, and the position determination module 1202 is also used to, when the flight direction information is a first direction, if the regional position information of the first target area includes the second position information, then determine that the target drone is within the first target area; when the flight direction information is the first direction, if the regional position information of the second target area includes the second position information, then determine that the target drone is within the second target area; when the flight direction information is the first direction, if the regional position information does not include the second position information, then determine that the target drone is not within the safety protection area.

[0133] In some embodiments of the present application, the safety protection area includes a first target area and a second target area, the second target area is set within the first target area, and the hovering control module 1204 is also used to generate a first hovering instruction when the relative position relationship is that the target drone is in the first target area and there is a drone in the second target area; send the first hovering instruction to the drone control terminal, and the first hovering instruction is used to instruct the drone control terminal to control the target drone to hover and wait in the first target area.

[0134] In some embodiments of the present application, the safety protection area also includes a third target area, and the third target area is set within the second target area. The hovering control module 1204 is also used to generate a second hovering instruction when the relative position relationship is that the target drone is within the second target area and the area access status of the third target area is a closed access status; send the second hovering instruction to the drone control terminal, and the second hovering instruction is used to instruct the drone control terminal to control the target drone to hover and wait within the second target area.

[0135] In some embodiments of the present application, the flight control module 1206 is also used to determine a safety protection area in which the target UAV is hovering, the safety protection area including a first target area and a second target area, the second target area being set within the first target area; if the target UAV is hovering in the first target area, then when there is no UAV in the second target area, the operating parameter information of the UAV in the first target area is obtained; based on the operating parameter information, a flight instruction carrying a flight start time is generated; and the flight instruction is sent to the UAV control terminal, the flight instruction being used to instruct the UAV control terminal to control the hovering and waiting target UAV to fly to the second target area according to the flight start time.

[0136] In some embodiments of the present application, the operating parameter information includes fault detection information, and the flight control module 1206 is further used to determine the first UAV and / or the second UAV in the first target area according to the fault detection information in the operating parameter information, wherein the first UAV is a UAV detected to have a fault, and the second UAV is a UAV detected to have no fault; if the first target area includes the first UAV and the second UAV, then it is determined that the flight start time of the first UAV is earlier than the flight start time of the second UAV; and the flight instruction is generated according to the flight start time corresponding to the target UAV.

[0137] In some embodiments of the present application, the operating parameter information also includes power information, the first UAV includes at least two first UAVs, and the flight control module 1206 is also used to determine the third UAV and the fourth UAV among the at least two first UAVs according to the power information when the power information of the at least two first UAVs are different, and determine that the flight start time of the third UAV is earlier than the flight start time of the fourth UAV, wherein the power of the third UAV is lower than the power of the fourth UAV; when the power information of the at least two first UAVs is the same, determine the flight start time of each first UAV according to the relative status information of the at least two first UAVs, wherein the relative status information includes at least one of the following: approach order, task priority.

[0138] In some embodiments of the present application, the operating parameter information also includes power information, the second UAV includes at least two second UAVs, and the flight control module 1206 is also used to determine the fifth UAV and the sixth UAV among the at least two second UAVs according to the power information when the power information of the at least two second UAVs are different, and determine that the flight start time of the fifth UAV is earlier than the flight start time of the sixth UAV, wherein the power of the fifth UAV is lower than the power of the sixth UAV; when the power information of the at least two second UAVs is the same, determine the flight start time of each second UAV according to the relative status information of the at least two second UAVs, wherein the relative status information includes at least one of the following: approach order, operation task priority.

[0139] In the above embodiment, the relative position relationship between the target drone and the safety protection area is determined by analyzing the position information of the target drone that changes over time after takeoff. When the relative position relationship meets the drone hovering trigger condition, that is, when it is determined that there is a risk of drone collision in the safety protection area, the target drone is controlled to hover and wait in the safety protection area to avoid the drone colliding in the safety protection area and reducing safety. At the same time, when the drone state in the target area meets the drone flight trigger condition, that is, when the potential collision risk in the safety protection area is eliminated, the target drone is controlled to end the hovering state and fly to the target area, so that the completion of the drone operation task can be guaranteed, which can not only improve the safety protection capability of the drone, but also improve the safety of the drone flight.

[0140] In some embodiments of the present application, the drone control device 1200 can be implemented in the form of a computer program. The computer program can be implemented in Figure 5 The computer device shown in the figure is run on the computer device. The memory of the computer device can store various program modules constituting the drone control device 1200, for example, Figure 5 The position determination module 1202, hovering control module 1204 and flight control module 1206 are shown. The computer program composed of various program modules enables the processor to execute the steps of the drone control method of each embodiment of the present application described in this specification.

[0141] For example, Figure 5 The computer device shown can be Figure 4The position determination module 1202 in the drone control device 1200 shown executes step S201. The computer device can execute step S202 through the hovering control module 1204. The computer device can execute step S203 through the flight control module 1206. The computer device includes a processor, a memory, and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external computer device through a network connection. When the computer program is executed by the processor, a drone control method is implemented.

[0142] Those skilled in the art will understand that Figure 5 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0143] In some embodiments of the present application, a drone is provided, comprising one or more processors; a memory; and one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor in the steps of the drone control method. The steps of the drone control method here may be the steps of the drone control method in each of the above embodiments.

[0144] In some embodiments of the present application, a computer-readable storage medium is provided, which stores a computer program, and the computer program is loaded by a processor, so that the processor executes the steps of the above-mentioned drone control method. The steps of the drone control method here can be the steps of the drone control method in each of the above-mentioned embodiments.

[0145] The above is a detailed introduction to a drone control method provided in an embodiment of the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A drone control method, characterized in that: The method comprises: Acquire first position information corresponding to a first moment and second position information corresponding to a second moment after the target UAV takes off, wherein the first moment is earlier than the second moment; Determine a relative position relationship between the target UAV and the safety protection area according to the first position information and the second position information; When the relative position relationship satisfies the drone hovering trigger condition, controlling the target drone to hover and wait within the safety protection area; When the state of the drone in the target area in the safety protection area meets the drone flight triggering condition, the hovering and waiting target drone is controlled to fly toward the target area; The safety protection area includes a first target area and a second target area, the second target area is set within the first target area, and when the relative position relationship meets the drone hovering trigger condition, the step of controlling the target drone to hover and wait in the safety protection area includes: When the relative position relationship is that the target UAV is within the first target area, and there is a UAV within the second target area, generating a first hovering instruction; The first hovering instruction is sent to the drone control terminal, where the first hovering instruction is used to instruct the drone control terminal to control the target drone to hover and wait in the first target area.

2. The drone control method according to claim 1, characterized in that: The step of determining the relative position relationship between the target UAV and the safety protection area according to the first position information and the second position information includes: Obtaining the area location information of the safety protection area; Determine, according to the first position information and the second position information, the flight direction information of the target UAV relative to the safety protection area; When the flight direction information is the first direction, the relative position relationship between the target UAV and the safety protection area is determined according to the second position information and the area position information.

3. The drone control method according to claim 2, characterized in that: The safety protection area includes a first target area and a second target area, the second target area is set within the first target area, and when the flight direction information is the first direction, the step of determining the relative position relationship between the target UAV and the safety protection area according to the second position information and the area position information includes: When the flight direction information is a first direction, if the area location information of the first target area includes the second location information, it is determined that the target UAV is within the first target area; When the flight direction information is the first direction, if the area position information of the second target area includes the second position information, it is determined that the target UAV is within the second target area; When the flight direction information is the first direction, if the area location information does not include the second location information, it is determined that the target UAV is not within the safety protection area.

4. The drone control method according to claim 1, characterized in that: The safety protection area further includes a third target area, and the third target area is set within the second target area. The method further includes: When the relative position relationship is that the target drone is within the second target area, and the area access status of the third target area is a closed access status, a second hovering instruction is generated; The second hovering instruction is sent to the drone control terminal, where the second hovering instruction is used to instruct the drone control terminal to control the target drone to hover and wait in the second target area.

5. The drone control method according to claim 1, characterized in that: The step of controlling the hovering and waiting target drone to fly toward the target area when the drone state in the target area in the safety protection area meets the drone flight triggering condition comprises: Determine a safety protection area in which the target UAV is hovering, wherein the safety protection area includes a first target area and a second target area, and the second target area is set within the first target area; If the target UAV is hovering in the first target area, then when there is no UAV in the second target area, obtaining the operating parameter information of the UAV in the first target area; generating a flight instruction carrying a flight start time according to the operation parameter information; The flight instruction is sent to the drone control terminal, where the flight instruction is used to instruct the drone control terminal to control the hovering and waiting target drone to fly to the second target area according to the flight start time.

6. The drone control method according to claim 5, characterized in that: The operation parameter information includes fault detection information, and the step of generating a flight instruction carrying a flight start time according to the operation parameter information includes: Determine, according to the fault detection information in the operating parameter information, a first UAV and / or a second UAV in the first target area, wherein the first UAV is a UAV with a fault detected, and the second UAV is a UAV without a fault detected; If the first target area includes the first UAV and the second UAV, determining that the flight start time of the first UAV is earlier than the flight start time of the second UAV; The flight instruction is generated according to the flight start time corresponding to the target UAV.

7. The drone control method according to claim 6, characterized in that: The operating parameter information also includes power information, the first UAV includes at least two UAVs, and before generating the flight instruction according to the flight start time corresponding to the target UAV, the method further includes: When the power information of the at least two drones is different, determining a third drone and a fourth drone among the at least two drones according to the power information, and determining that the flight start time of the third drone is earlier than the flight start time of the fourth drone, wherein the power of the third drone is lower than the power of the fourth drone; When the power information of the at least two UAVs is the same, the flight start time of each UAV is determined according to the relative status information of the at least two UAVs, wherein the relative status information includes at least one of the following: approach order and task priority.

8. The drone control method according to claim 6, characterized in that: The operating parameter information also includes power information, the second UAV includes at least two UAVs, and before generating the flight instruction according to the flight start time corresponding to the target UAV, the method further includes: When the power information of the at least two drones is different, determining a fifth drone and a sixth drone among the at least two drones according to the power information, and determining that the flight start time of the fifth drone is earlier than the flight start time of the sixth drone, wherein the power of the fifth drone is lower than the power of the sixth drone; When the power information of the at least two UAVs is the same, the flight start time of each UAV is determined according to the relative status information of the at least two UAVs, wherein the relative status information includes at least one of the following: approach order and task priority.

9. A drone control device, characterized in that: The device comprises: A position determination module, used to obtain first position information corresponding to a first moment and second position information corresponding to a second moment after the target UAV takes off, wherein the first moment is earlier than the second moment; Determine a relative position relationship between the target UAV and the safety protection area according to the first position information and the second position information; A hovering control module, used to control the target drone to hover and wait in the safety protection area when the relative position relationship meets the drone hovering triggering condition; A flight control module, configured to control the hovering and waiting target drone to fly toward the target area when the drone status in the target area of ​​the safety protection area meets the drone flight triggering condition; The safety protection area includes a first target area and a second target area, the second target area is set within the first target area, and when the relative position relationship meets the drone hovering trigger condition, the step of controlling the target drone to hover and wait in the safety protection area includes: When the relative position relationship is that the target UAV is within the first target area, and there is a UAV within the second target area, generating a first hovering instruction; The first hovering instruction is sent to the drone control terminal, where the first hovering instruction is used to instruct the drone control terminal to control the target drone to hover and wait in the first target area.

10. A drone, characterized in that: The drone comprises: one or more processors; Memory; and One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to implement the drone control method according to any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and the computer program is loaded by a processor to execute the steps in the drone control method according to any one of claims 1 to 8.

Images