A control identification method, device, equipment and storage medium of unmanned aerial vehicle

Abstract

The present application discloses a control identification method, device, equipment and storage medium for unmanned aerial vehicles. Different aircraft identifications are loaded for each unmanned aerial vehicle. The ground control station identifies the unmanned aerial vehicle through the aircraft identification. The aircraft identification is composed of the aircraft type and the aircraft number, and is unique, providing a basis for accurate identification and control. When a certain unmanned aerial vehicle is improved or modified, the method of the present application can be executed by simply modifying its aircraft identification, which is low-cost and high-efficiency. The ground control station sends a control data frame containing control instructions, identification data and verification data frames to each unmanned aerial vehicle. Each unmanned aerial vehicle verifies the received control data frame to determine whether it is data sent to the unmanned aerial vehicle with high accuracy, generates a corresponding verification result, and generates and executes the corresponding operation instruction based on the verification result, realizing convenient control and identification of multiple unmanned aerial vehicles through a ground control station.

Description

Technical Field

[0001] The present application relates to the field of drone control, and in particular to a drone control identification method, device, equipment and storage medium. Background Art

[0002] UAV is a low-cost, high-efficiency aircraft that can carry out various designated tasks by carrying different payloads. It has been widely used in the fields of aerial photography, reconnaissance, customs, plant protection, etc. The ground control station is an important part of the UAV system and a key device for the UAV to successfully perform its mission.

[0003] In the prior art, the communication between drones and ground control stations is point-to-point. For small-sized unmanned aerial vehicles, due to simple tasks and convenient operation and control, it is easy to achieve one ground control station to control multiple unmanned aerial vehicles. However, for large drones, due to the more complex tasks they perform and the difficulty of operation, the control accuracy of multiple large drones by one ground control station is low. Summary of the invention

[0004] The main purpose of this application is to provide a control identification method, device, equipment and storage medium for unmanned aerial vehicles, aiming to solve the technical problem of low control accuracy of a ground control station over multiple large unmanned aerial vehicles.

[0005] To achieve the above-mentioned purpose, the present application provides a control and identification method for a drone, which is used for a drone, wherein the drone includes an aircraft identification, and the aircraft identification includes an aircraft type and an aircraft number; comprising:

[0006] sending the aircraft identification to a ground control station so that the ground control station generates a data control frame;

[0007] Receiving the control data frame sent by the ground control station; wherein the control data frame includes a control instruction, identification data and a verification data frame;

[0008] Verifying the control data frame to obtain a verification result;

[0009] Generate an operation instruction according to the verification result; wherein the operation instruction includes an execution control instruction and a non-execution control instruction;

[0010] Execute the operation instruction.

[0011] Optionally, before the step of sending the aircraft identification to a ground control station so that the ground control station generates a data control frame, the step further includes:

[0012] The aircraft identification is loaded into the drone; wherein the aircraft identification includes an aircraft type and an aircraft number.

[0013] Optionally, the step of verifying the control data frame to obtain a verification result includes:

[0014] Performing a cyclic redundancy check on the check data frame to determine whether the control data frame is correct;

[0015] If the control data frame is correct, the identification data is verified; wherein the identification data includes n groups of continuous and identical aircraft identifications, n≥3, and n is an integer;

[0016] If the control data frame is correct, the step of verifying the identification data comprises:

[0017] If the aircraft identification of group a in the identification data is the same as the aircraft identification of the target UAV, a first verification result is generated; wherein a is n-1 or n;

[0018] If the aircraft identification of group b in the identification data is different from the aircraft identification of the target UAV, a second verification result is generated; wherein b≥2, and b is an integer.

[0019] Optionally, the step of generating an operation instruction according to the verification result includes:

[0020] If the verification result is the first verification result, generating the execution operation instruction;

[0021] If the verification result is the second verification result, the non-execution operation instruction is generated.

[0022] Optionally, the step of executing the operation instruction includes:

[0023] If the operation instruction is the execution control instruction, the control instruction is sent to the control center of the drone, and the control center executes the control instruction;

[0024] If the operation instruction is the non-execution control instruction, a flag bit is sent to the ground control station; wherein the flag bit is obtained by marking the control data frame.

[0025] In addition, to achieve the above-mentioned purpose, the present application also provides a control and identification device for a drone, which is used for a drone and includes:

[0026] An aircraft identification sending module, used for sending the aircraft identification to a ground control station so that the ground control station generates a data control frame;

[0027] A control data frame receiving module, used to receive the control data frame sent by the ground control station; wherein the control data frame includes a control instruction, identification data and a verification data frame;

[0028] A verification module, used to verify the control data frame and obtain a verification result;

[0029] An operation instruction generating module, used to generate an operation instruction according to the verification result; wherein the operation instruction includes an execution control instruction and a non-execution control instruction;

[0030] The operation instruction execution module is used to execute the operation instruction.

[0031] In addition, to achieve the above-mentioned purpose, the present application also provides a computer device for use in a drone, the computer device comprising a memory and a processor, the memory storing a computer program, the processor executing the computer program to implement the above-mentioned method for use in a drone.

[0032] In addition, to achieve the above-mentioned purpose, the present application also provides a computer-readable storage medium for a drone, wherein a computer program is stored on the computer-readable storage medium, and a processor executes the computer program to implement the above-mentioned method for a drone.

[0033] The present application also provides a control identification method for a UAV, which is used in a ground control station, comprising:

[0034] Receive the aircraft identification sent by the drone;

[0035] Based on the aircraft identification, a control data frame is generated; wherein the control data frame includes a control instruction, identification data and a verification data frame;

[0036] The control data frame is sent to multiple drones so that each drone verifies the control data frame to obtain a verification result; an operation instruction is generated according to the verification result; and the operation instruction is executed; wherein the operation instruction includes executing the control instruction and not executing the control instruction.

[0037] Optionally, before the step of generating a control data frame based on the aircraft identification, the step further includes:

[0038] Receiving a flag bit sent by the drone;

[0039] The step of generating a control data frame based on the aircraft identification comprises:

[0040] The control data frame is generated based on the aircraft identification and the flag bit.

[0041] In addition, to achieve the above-mentioned purpose, the present application also provides a control identification device for a drone, which is used in a ground control station, including:

[0042] An aircraft identification receiving module is used to receive the aircraft identification sent by the UAV;

[0043] A control data frame generation module, used to generate a control data frame based on the aircraft identification; wherein the control data frame includes a control instruction, identification data and a verification data frame;

[0044] The control data frame sending module is used to send the control data frame to multiple drones, so that each drone verifies the control data frame to obtain a verification result; generates an operation instruction according to the verification result; and executes the operation instruction; wherein the operation instruction includes executing the control instruction and not executing the control instruction.

[0045] In addition, to achieve the above-mentioned purpose, the present application also provides a computer device for use in a ground control station, the computer device comprising a memory and a processor, the memory storing a computer program, the processor executing the computer program to implement the above-mentioned method for use in a ground control station.

[0046] In addition, to achieve the above-mentioned purpose, the present application also provides a computer-readable storage medium for use in a ground control station, wherein the computer-readable storage medium stores a computer program, and the processor executes the computer program to implement the above-mentioned method for use in a ground control station.

[0047] The beneficial effects that can be achieved by this application.

[0048] The embodiments of the present application propose a control identification method, device, equipment and storage medium for an unmanned aerial vehicle, which is used for an unmanned aerial vehicle, wherein the unmanned aerial vehicle includes an aircraft identification, and the aircraft identification includes an aircraft type and an aircraft number; the aircraft identification is sent to a ground control station so that the ground control station generates a data control frame; the control data frame sent by the ground control station is received; wherein the control data frame includes a control instruction, identification data and a verification data frame; the control data frame is verified to obtain a verification result; according to the verification result, an operation instruction is generated; wherein the operation instruction includes executing the control instruction and not executing the control instruction; and the operation instruction is executed.

[0049] Another embodiment of the present application proposes a control identification method, device, equipment and storage medium for an unmanned aerial vehicle, which is used in a ground control station, by receiving an aircraft identification sent by a unmanned aerial vehicle; generating a control data frame based on the aircraft identification; wherein the control data frame includes a control instruction, identification data and a verification data frame; sending the control data frame to multiple unmanned aerial vehicles so that each of the unmanned aerial vehicles verifies the control data frame to obtain a verification result; generating an operation instruction based on the verification result; and executing the operation instruction; wherein the operation instruction includes executing the control instruction and not executing the control instruction.

[0050] That is, a different aircraft identification is loaded for each drone, and the ground control station identifies the drone through the aircraft identification. The aircraft identification consists of the aircraft type and the aircraft number, and is unique, providing a basis for accurate identification and control; when a drone is improved or modified, the method of this application can be executed by simply modifying its aircraft identification, which is low-cost and high-efficiency. The ground control station sends a control data frame containing control instructions, identification data, and verification data frames to each drone. Each drone verifies the received control data frame to determine whether it is data sent to the drone and has high accuracy, generates a corresponding verification result, and generates and executes the corresponding operation instruction based on the verification result, realizing convenient control and identification of multiple drones through a ground control station. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 A schematic diagram of the computer device structure of the hardware operating environment involved in the embodiments of the present application;

[0052] Figure 2 A control identification method for a drone provided in an embodiment of the present application is a flowchart for a drone;

[0053] Figure 3 A control identification method for a drone provided in an embodiment of the present application is a flowchart for a ground control station;

[0054] Figure 4 A control and identification device for a drone provided in an embodiment of the present application is a schematic diagram of functional modules for a drone;

[0055] Figure 5 A control identification device for a drone provided in an embodiment of the present application is a schematic diagram of functional modules for a ground control station;

[0056] Figure 6 A schematic diagram of a specific implementation of a control identification method for a drone provided in an embodiment of the present application.

[0057] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0058] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0059] The main solution of the embodiments of the present application is: a proposed control identification method, device, equipment and storage medium for a drone, which is used for a drone, wherein the drone includes an aircraft identification, and the aircraft identification includes an aircraft type and an aircraft number; by sending the aircraft identification to a ground control station, so that the ground control station generates a data control frame; receiving the control data frame sent by the ground control station; wherein the control data frame includes a control instruction, identification data and a verification data frame; verifying the control data frame to obtain a verification result; generating an operation instruction based on the verification result; wherein the operation instruction includes executing the control instruction and not executing the control instruction; and executing the operation instruction. A proposed control identification method, device, equipment and storage medium for unmanned aerial vehicles are used in a ground control station, which receives an aircraft identification sent by a unmanned aerial vehicle; generates a control data frame based on the aircraft identification; wherein the control data frame includes a control instruction, identification data and a verification data frame; sends the control data frame to multiple unmanned aerial vehicles so that each of the unmanned aerial vehicles verifies the control data frame to obtain a verification result; generates an operation instruction according to the verification result; and executes the operation instruction; wherein the operation instruction includes executing the control instruction and not executing the control instruction.

[0060] In the existing technology, UAV is a low-cost, high-efficiency aircraft that can carry different payloads to achieve various designated tasks. It has been widely used in the fields of aerial photography, reconnaissance, customs, plant protection, etc. The ground control station is an important part of the UAV system and a key device for the UAV to successfully perform its mission.

[0061] The communication between drones and ground control stations is point-to-point. For small-sized unmanned aerial vehicles, due to simple tasks and convenient operation and control, it is easy to achieve one ground control station controlling multiple unmanned aerial vehicles. However, for large drones, due to the more complex tasks they perform and the difficulty of operation, it is easy for a ground control station to make mistakes in the process of identifying multiple large drones, and the control accuracy of multiple large drones is low.

[0062] To this end, the present application provides a solution, which loads a different aircraft identification for each drone, and the ground control station identifies the drone through the aircraft identification. The aircraft identification consists of the aircraft type and the aircraft number, which is unique and provides a basis for accurate identification and control; when a drone is improved or modified, the method of the present application can be executed by simply modifying its aircraft identification, which is low-cost and high-efficiency. The ground control station sends a control data frame containing control instructions, identification data and verification data frames to each drone, and each drone verifies the received control data frame to determine whether it is data sent to the drone and has high accuracy, generates a corresponding verification result, and generates and executes the corresponding operation instruction based on the verification result, thereby realizing convenient control and identification of multiple drones through a ground control station. At the same time, by verifying the verification data frame and identification data in the control data frame, the drone can accurately determine whether the control data frame needs to be executed by the drone and whether the control data frame is accurate, which increases the accuracy of the control identification process, and the simultaneous identification of multiple drones also increases the efficiency of the control process. Furthermore, the UAV that has not executed the control command will send a flag to the ground control station, and the ground control station can judge the reception and execution of the control command based on the flag, so as to facilitate the judgment, timely modification of erroneous data and generation of control data frames for other tasks to be executed.

[0063] Reference Figure 1 , Figure 1 A schematic diagram of the computer device structure of the hardware operating environment involved in the embodiment of the present application.

[0064] like Figure 1 As shown, the computer device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (WIreless-FIdelity, WI-FI) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) memory, or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0065] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the computer device, and may include more or less components than shown in the figure, or combine some components, or arrange the components differently.

[0066] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a data storage module, a network communication module, a user interface module and an electronic program.

[0067] exist Figure 1 In the computer device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the computer device of the present invention can be set in the computer device, and the computer device calls the control identification device of the drone stored in the memory 1005 through the processor 1001, and executes the control identification method of the drone provided in the embodiment of the present application.

[0068] Reference Figure 6 The specific implementation method of a control identification method of a drone provided in an embodiment of the present application includes:

[0069] like Figure 6 As shown, in a scenario where multiple UAVs are connected to a ground control station for communication, the horizontal solid arrows in the figure represent operations performed on the UAVs, and the horizontal dotted arrows represent operations issued by the UAVs.

[0070] Before executing the control task, the aircraft identification is loaded into the onboard wireless data link of each UAV through the link data loading device. The aircraft identification is unique.

[0071] The drone's onboard wireless link equipment will send the drone's aircraft identification to the ground control station.

[0072] In the process of executing the control task, the ground control station generates a control data frame according to the task to be executed and the aircraft identification of the target UAV. The control data frame includes a control instruction, identification data and a verification data frame. The ground control station sends a control data frame to each UAV through the ground wireless link device. After receiving the control data frame, the airborne wireless link device of the UAV first performs a cyclic redundancy check on the verification data frame. If the verification data frame is correct, the identification data is verified. If the identification data verification is correct, the airborne wireless link device sends an execution operation instruction and transmits the control instruction to the control center of the UAV. The control center controls the action of the UAV according to the control instruction. If the identification data verification is incorrect, the airborne wireless link device sends a non-execution operation instruction and sends the flag of the machine to the ground control station.

[0073] The ground control station receives the aircraft identification and flag bits from multiple UAVs, continues to generate control data frames according to the tasks to be performed, and sends them to the multiple UAVs, and the UAVs continue to perform the above steps.

[0074] Reference Figure 2 Based on the hardware device of the aforementioned embodiment, an embodiment of the present application provides a control identification method for a drone, which is used for the drone in the aforementioned embodiment. The drone includes an aircraft identification, and the aircraft identification includes an aircraft type and an aircraft number; including:

[0075] The aircraft identification is data information used to identify different drones. It consists of the aircraft type and aircraft number, is unique, and provides a basis for accurate identification and control.

[0076] S11: sending the aircraft identification to a ground control station, so that the ground control station generates a data control frame;

[0077] In the specific implementation process, the Ground Control Station (GCS) refers to a set of equipment that has the ability to monitor and control the UAV flight platform and mission payload, including the launch and recovery control of the UAV. It is a very important component of the entire UAV system and a channel for ground operators to interact directly with the UAV. It includes mission planning, mission playback, real-time monitoring, digital maps, communication data links, and other comprehensive capabilities that integrate control, communication, and data processing. It is the command and control center of the entire UAV system.

[0078] The UAV sends the aircraft identification to the ground control station, and the ground control station generates a control data frame based on the received aircraft identification.

[0079] As an optional implementation, before the step of sending the aircraft identification to the ground control station so that the ground control station generates a data control frame, it also includes: loading the aircraft identification to the drone; wherein the aircraft identification includes the aircraft type and aircraft number.

[0080] In the specific implementation process, the aircraft identification is data information used to identify different drones. It consists of the aircraft type and aircraft number, is unique, and provides a basis for accurate identification and control. When a drone is improved or modified, the method of this application can be executed by simply modifying its aircraft identification, which is low-cost, high-efficiency, easy to operate, and does not affect the subsequent control and identification process.

[0081] Before executing the control task, the link data loading device loads the aircraft identification and stores it in the non-volatile memory of the onboard wireless data link of the corresponding drone. The link data loading device is a dedicated data loading device that loads data through a wired connection and adapts to different wireless links. Non-volatile memory is a computer data storage device. After power failure, the stored data will not disappear. The wireless link is a wireless communication channel connecting the ground control station and the drone, sending and receiving data information through the antenna. The aircraft identification can also be loaded by other devices and stored in other parts of the drone.

[0082] S12: receiving the control data frame sent by the ground control station; wherein the control data frame includes a control instruction, identification data and a verification data frame;

[0083] In the specific implementation process, the onboard wireless link device of the drone receives the control data frame sent by the ground control station. The control data frame is a set of data sent by the ground control station, including control instructions, identification data and verification data frames. The control instruction is an instruction containing the task data to be executed, which is used to control and guide the actions of the drone; the identification data is used by the drone to determine whether the control data frame is sent to the drone, and whether the control data frame has errors such as frame drop during transmission; the verification data frame is used by the drone to perform cyclic redundancy check.

[0084] S13: Verify the control data frame to obtain a verification result;

[0085] During the specific implementation process, the drone verifies the control data frame to determine whether the control data frame has errors such as frame drop and whether the control data frame is sent to the drone, and performs subsequent operations based on the verification result.

[0086] As an optional implementation, the step of verifying the control data frame to obtain a verification result includes: performing a cyclic redundancy check on the verification data frame to determine whether the control data frame is correct; if the control data frame is correct, verifying the identification data; wherein the identification data includes n groups of continuous and identical aircraft identifications, n≥3, and n is an integer;

[0087] In the specific implementation process, the drone performs a cyclic redundancy check on the check data frame in the control data frame. Cyclic Redundancy Check (CRC) is a channel coding technology that generates a short fixed-bit check code based on data such as network data packets or computer files. It is mainly used to detect or verify errors that may occur after data transmission or storage. The receiver will actually receive the data only when and only when the test result is correct. If the control data frame is incorrect, the ground control station will be automatically requested to resend the control data frame, avoiding the situation where the drone executes the wrong command or cannot execute the command due to data loss, but the sender cannot know it.

[0088] If the control data frame is correct, the drone will continue to verify the identification data in the control data frame. The identification data includes 3 or more consecutive and identical aircraft identifications, which are used by the drone to determine whether the control data frame is data sent to the drone, and further determine whether the control data frame is correct.

[0089] At this time, if the control data frame is correct, the step of verifying the identification data includes: if the aircraft identification of group a in the identification data is the same as the aircraft identification of the target UAV, a first verification result is generated; wherein a is n-1 or n; if the aircraft identification of group b in the identification data is not the same as the aircraft identification of the target UAV, a second verification result is generated; wherein b≥2, and b is an integer.

[0090] In the specific implementation process, if n-1 or n groups of aircraft identifications in the identification data are the same as the aircraft identification of the local aircraft, it is considered that the control data frame is data sent to the local aircraft, and the accuracy of the data is high, and a first verification result is generated.

[0091] If there are two or more groups of aircraft identifications in the identification data that are different from the aircraft identification of this aircraft, it is considered that there is an error in the data of the control data frame during transmission. If all the aircraft identifications in the identification data are different from the aircraft identification of this aircraft, it is considered that it is not a control data frame sent to this aircraft, and a second verification result is generated.

[0092] S14: generating an operation instruction according to the verification result; wherein the operation instruction includes an execution control instruction and a non-execution control instruction;

[0093] In the specific implementation process, based on the above verification results, the drone generates an operation instruction to execute the control instruction or not to execute the control instruction.

[0094] As an optional implementation, the step of generating an operation instruction based on the verification result includes: if the verification result is a first verification result, generating the execution operation instruction; if the verification result is a second verification result, generating the non-execution operation instruction.

[0095] During the specific implementation process, if the verification result is the first verification result, it indicates that the control data frame is data sent to the local machine and has a high accuracy, and an execution operation instruction is generated; if the verification result is the second verification result, it indicates that the control data frame is not data sent to the local machine or the data loss is large, and a non-execution operation instruction is generated.

[0096] S15: Execute the operation instruction.

[0097] During the specific implementation process, the drone operates according to the above-mentioned execution or non-execution operation instructions.

[0098] As an optional implementation, the step of executing the operation instruction includes: if the operation instruction is the execution control instruction, sending the control instruction to the control center of the UAV, and the control center executes the control instruction; if the operation instruction is the non-execution control instruction, sending a flag to the ground control station; wherein the flag is obtained by marking the control data frame.

[0099] In the specific implementation process, if the operation instruction is to execute the operation instruction, the UAV's airborne wireless link device will send the control instruction in the control data frame to the control center of the UAV, and the control center will operate according to the control instruction. If the operation instruction is not to execute the operation instruction, the UAV will not execute the control instruction in the control data frame, and generate a flag bit to send to the ground control station, and the flag bit indicates that the current control data frame is not a control data frame sent to the local machine, or indicates that the current control data frame is wrong.

[0100] Reference Figure 3 Based on the hardware device of the aforementioned embodiment, an embodiment of the present application provides a control identification method for a drone, which is used in the ground control station of the aforementioned embodiment, and includes:

[0101] S21: receiving the aircraft identification sent by the UAV;

[0102] During the specific implementation process, the ground control station receives aircraft identifications sent by multiple drones.

[0103] S22: generating a control data frame based on the aircraft identification; wherein the control data frame includes a control instruction, identification data and a verification data frame;

[0104] In the specific implementation process, the ground control station generates a control data frame according to the task to be performed and the corresponding aircraft identification of the UAV that needs to perform the task. In addition to the control instructions of the task to be performed and the aircraft identification of the target UAV, the control data frame also includes a verification data frame for preliminary verification of data accuracy.

[0105] As an optional implementation, before the step of generating a control data frame based on the aircraft identification, the method further includes: receiving a flag bit sent by the drone;

[0106] During the specific implementation process, the ground unmanned station will also receive flags sent by multiple drones, and the reception and execution status of the above control instructions can be determined based on the flags.

[0107] At this time, the step of generating a control data frame based on the aircraft identification includes: generating the control data frame based on the aircraft identification and the flag bit.

[0108] In the specific implementation process, the ground control station generates corresponding control data frames based on the flag bit and the aircraft identification of the target UAV to perform the mission, thereby realizing the control of multiple UAVs.

[0109] S23: Send the control data frame to multiple drones, so that each drone verifies the control data frame to obtain a verification result; generate an operation instruction according to the verification result; and execute the operation instruction; wherein the operation instruction includes executing the control instruction and not executing the control instruction.

[0110] In the specific implementation process, the ground control station sends control data frames to multiple drones, each drone receives the control data frame and performs subsequent verification, generates operation instructions based on the verification results, and executes the operation instructions. The operation instructions include executing operation instructions and not executing operation instructions, corresponding to whether to execute the control instructions in the control data frame. One-to-many control between the ground control station and drones is realized.

[0111] It should be understood that the above is only an example and does not constitute any limitation to the technical solution of the present application. Those skilled in the art can make settings based on needs in actual applications and no limitation is made here.

[0112] It is not difficult to find from the above description that the present embodiment loads different aircraft identifications for each drone, and the ground control station identifies the drone through the aircraft identification. The aircraft identification consists of the aircraft type and the aircraft number, and is unique, providing a basis for accurate identification and control; when a drone is improved or modified, the method of the present application can be executed by simply modifying its aircraft identification, which is low in cost and high in efficiency. The ground control station sends a control data frame containing control instructions, identification data and verification data frames to each drone, and each drone verifies the received control data frame to determine whether it is data sent to the drone and has high accuracy, generates a corresponding verification result, and generates and executes the corresponding operation instruction according to the verification result, thereby realizing convenient control and identification of multiple drones through one ground control station. At the same time, by verifying the verification data frame and identification data in the control data frame, the drone can accurately determine whether the control data frame needs to be executed by the drone and whether the control data frame is accurate, thereby increasing the accuracy of the control identification process, and the simultaneous identification of multiple drones also increases the efficiency of the control process. Furthermore, the UAV that has not executed the control command will send a flag to the ground control station, and the ground control station can judge the reception and execution of the control command based on the flag, so as to facilitate the judgment, timely modification of erroneous data and generation of control data frames for other tasks to be executed.

[0113] Reference Figure 4 Based on the same inventive concept, an embodiment of the present application further provides a control identification device for a drone, which is used for a drone and includes:

[0114] An aircraft identification sending module, used for sending the aircraft identification to a ground control station so that the ground control station generates a data control frame;

[0115] A control data frame receiving module, used to receive the control data frame sent by the ground control station; wherein the control data frame includes a control instruction, identification data and a verification data frame;

[0116] A verification module, used to verify the control data frame and obtain a verification result;

[0117] An operation instruction generating module, used to generate an operation instruction according to the verification result; wherein the operation instruction includes an execution control instruction and a non-execution control instruction;

[0118] The operation instruction execution module is used to execute the operation instruction.

[0119] It should be noted that each module in the control identification device of the drone in this embodiment corresponds one-to-one to each step in the control identification method for the drone in the aforementioned embodiment. Therefore, the specific implementation of this embodiment can refer to the implementation of the control identification method for the drone mentioned above, which will not be repeated here.

[0120] Reference Figure 5 Based on the same inventive concept, an embodiment of the present application further provides a control identification device for an unmanned aerial vehicle, which is used in a ground control station, comprising:

[0121] An aircraft identification receiving module is used to receive the aircraft identification sent by the UAV;

[0122] A control data frame generation module, used to generate a control data frame based on the aircraft identification; wherein the control data frame includes a control instruction, identification data and a verification data frame;

[0123] The control data frame sending module is used to send the control data frame to multiple drones, so that each drone verifies the control data frame to obtain a verification result; generates an operation instruction according to the verification result; and executes the operation instruction; wherein the operation instruction includes executing the control instruction and not executing the control instruction.

[0124] It should be noted that each module in the control identification device of the drone in this embodiment corresponds one-to-one to each step in the control identification method of the drone in the aforementioned embodiment, which is used in the ground control station. Therefore, the specific implementation of this embodiment can refer to the implementation of the control identification method of the aforementioned drone, which will not be repeated here.

[0125] In addition, in one embodiment, an embodiment of the present application also provides a computer device for use in a drone, the device comprising a processor, a memory, and a computer program stored in the memory, wherein the computer program implements the steps of the method in the aforementioned embodiment when executed by the processor.

[0126] In addition, in one embodiment, an embodiment of the present application also provides a computer device for use in a ground control station, wherein the device includes a processor, a memory, and a computer program stored in the memory, and the computer program implements the steps of the method in the aforementioned embodiment when executed by the processor.

[0127] In addition, in one embodiment, the embodiment of the present application also provides a computer storage medium for a drone, wherein a computer program is stored on the computer storage medium, and when the computer program is executed by a processor, the steps of the method in the aforementioned embodiment are implemented.

[0128] In addition, in one embodiment, the embodiment of the present application further provides a computer storage medium for use in a ground control station, wherein the computer storage medium stores a computer program, and the computer program implements the steps of the method in the aforementioned embodiment when executed by a processor.

[0129] In some embodiments, the computer readable storage medium may be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, flash memory, magnetic surface memory, optical disk, or CD-ROM; or various devices including one or any combination of the above memories. The computer may be various computing devices including intelligent terminals and servers.

[0130] In some embodiments, executable instructions may be in the form of a program, software, software module, script or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine or other unit suitable for use in a computing environment.

[0131] As an example, executable instructions may, but need not, correspond to a file in a file system, may be stored as part of a file that stores other programs or data, such as in one or more scripts in a HyperText Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files storing one or more modules, subroutines, or code portions).

[0132] By way of example, executable instructions may be deployed to be executed on one computing device, or on multiple computing devices located at one site, or on multiple computing devices distributed across multiple sites and interconnected by a communication network.

[0133] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0134] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0135] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory / random access memory, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a multimedia terminal device (which can be a mobile phone, a computer, a television receiver, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0136] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A control and identification method for an unmanned aerial vehicle, characterized in that: Used for a drone, the drone includes an aircraft identification, the aircraft identification includes an aircraft type and an aircraft number; comprising the following steps: sending the aircraft identification to a ground control station so that the ground control station generates a control data frame; Receiving the control data frame sent by the ground control station; wherein the control data frame includes a control instruction, identification data and a verification data frame; Verify the control data frame to obtain a verification result; the step of verifying the control data frame to obtain a verification result includes: performing a cyclic redundancy check on the verification data frame to determine whether the control data frame is correct; if the control data frame is correct, verify the identification data; wherein the identification data includes n groups of continuous and identical aircraft identifications, n≥3, and n is an integer; if the control data frame is correct, the step of verifying the identification data includes: if the aircraft identifications of group a in the identification data are the same as the aircraft identification of the target UAV, a first verification result is generated; wherein a is n-1 or n; if the aircraft identifications of group b in the identification data are different from the aircraft identification of the target UAV, a second verification result is generated; wherein b≥2, and b is an integer; Generate an operation instruction according to the verification result; wherein the operation instruction includes an execution operation instruction and a non-execution operation instruction; Execute the operation instruction.

2. The control identification method of a drone as claimed in claim 1, characterized in that: Before the step of sending the aircraft identification to the ground control station so that the ground control station generates a control data frame, the step further includes: The aircraft identification is loaded into the drone; wherein the aircraft identification includes an aircraft type and an aircraft number.

3. The control identification method of a drone according to claim 1, characterized in that: The step of generating an operation instruction according to the verification result comprises: If the verification result is the first verification result, generating the execution operation instruction; If the verification result is the second verification result, the non-execution operation instruction is generated.

4. The control identification method of a drone as claimed in claim 1, characterized in that: The step of executing the operation instruction includes: If the operation instruction is the execution operation instruction, the control instruction is sent to the control center of the drone, and the control center executes the control instruction; If the operation instruction is the non-execution operation instruction, a flag bit is sent to the ground control station; wherein the flag bit is obtained by marking the control data frame.

5. A control and identification method for an unmanned aerial vehicle, characterized in that: For use at a ground control station, the following steps are included: Receive the aircraft identification sent by the drone; Based on the aircraft identification, a control data frame is generated; wherein the control data frame includes a control instruction, identification data and a verification data frame; The control data frame is sent to multiple drones so that each drone verifies the control data frame to obtain a verification result; an operation instruction is generated according to the verification result; and the operation instruction is executed; wherein the operation instruction includes executing the operation instruction and not executing the operation instruction; the verification result is obtained based on the following steps: a cyclic redundancy check is performed on the verification data frame to determine whether the control data frame is correct; if the control data frame is correct, the identification data is verified; wherein the identification data includes n groups of continuous and identical aircraft identifications, n≥3, and n is an integer; the step of verifying the identification data if the control data frame is correct includes: if the aircraft identification of group a in the identification data is the same as the aircraft identification of the target drone, a first verification result is generated; wherein a is n-1 or n; if the aircraft identification of group b in the identification data is different from the aircraft identification of the target drone, a second verification result is generated; wherein b≥2, and b is an integer.

6. The control and identification method of a drone as claimed in claim 5, characterized in that: Before the step of generating a control data frame based on the aircraft identification, the step further includes: Receiving a flag bit sent by the drone; The step of generating a control data frame based on the aircraft identification comprises: The control data frame is generated based on the aircraft identification and the flag bit.

7. A control and identification device for a drone, used for a drone, characterized in that: include: An aircraft identification sending module, used for sending the aircraft identification to a ground control station so that the ground control station generates a control data frame; A control data frame receiving module, used to receive the control data frame sent by the ground control station; wherein the control data frame includes a control instruction, identification data and a verification data frame; A verification module is used to verify the control data frame to obtain a verification result; the step of verifying the control data frame to obtain a verification result includes: performing a cyclic redundancy check on the verification data frame to determine whether the control data frame is correct; if the control data frame is correct, verifying the identification data; wherein the identification data includes n groups of continuous and identical aircraft identifications, n≥3, and n is an integer; if the control data frame is correct, the step of verifying the identification data includes: if the aircraft identifications of group a in the identification data are the same as the aircraft identification of the target UAV, generating a first verification result; wherein a is n-1 or n; if the aircraft identifications of group b in the identification data are different from the aircraft identification of the target UAV, generating a second verification result; wherein b≥2, and b is an integer; An operation instruction generating module, used to generate an operation instruction according to the verification result; wherein the operation instruction includes an execution operation instruction and a non-execution operation instruction; The operation instruction execution module is used to execute the operation instruction.

8. A control identification device for an unmanned aerial vehicle, used in a ground control station, characterized in that: include: An aircraft identification receiving module is used to receive the aircraft identification sent by the UAV; A control data frame generation module, used to generate a control data frame based on the aircraft identification; wherein the control data frame includes a control instruction, identification data and a verification data frame; A control data frame sending module is used to send the control data frame to multiple unmanned aerial vehicles, so that each of the unmanned aerial vehicles verifies the control data frame and obtains a verification result; generates an operation instruction according to the verification result; and executes the operation instruction; wherein the operation instruction includes executing the operation instruction and not executing the operation instruction; the verification result is obtained based on the following steps: performing a cyclic redundancy check on the verification data frame to determine whether the control data frame is correct; if the control data frame is correct, verifying the identification data; wherein the identification data includes n groups of continuous and identical aircraft identifications, n≥3, and n is an integer; if the control data frame is correct, the step of verifying the identification data includes: if the aircraft identification of group a in the identification data is the same as the aircraft identification of the target unmanned aerial vehicle, generating a first verification result; wherein a is n-1 or n; if the aircraft identification of group b in the identification data is different from the aircraft identification of the target unmanned aerial vehicle, generating a second verification result; wherein b≥2, and b is an integer.

9. A computer device for use with an unmanned aerial vehicle, characterized in that: The computer device comprises a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method according to any one of claims 1 to 4.

10. A computer device for a ground control station, characterized in that: The computer device comprises a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method according to any one of claims 5 to 6.

11. A computer-readable storage medium for use in a drone, characterized in that: The computer-readable storage medium stores a computer program, and the processor executes the computer program to implement the method according to any one of claims 1 to 4.

12. A computer-readable storage medium for use in a ground control station, characterized in that: The computer-readable storage medium stores a computer program, and the processor executes the computer program to implement the method according to any one of claims 5 to 6.

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