Unmanned aerial vehicle cooperative application method and system, electronic device and storage medium

Abstract

The present disclosure provides a UAV cooperative application method and system, an electronic device and a storage medium to solve the problems of insufficient flexibility and poor cooperation between UAVs and nests, the method comprising: receiving a flight application plan request from a user terminal; sending an audit result to the user terminal, making it send a job content to a first nest, making the first nest release a first UAV, and returning the flight status of the first UAV to a command center server; according to the flight status of the first UAV and the flight application plan, sending a flight instruction to a second nest, making it release a second UAV, and returning the flight status of the second UAV to the command center server; sending a landing voucher to the second nest and sending a landing instruction including the landing voucher and the public address of the second nest to the first UAV, making the first UAV send the landing voucher to the second nest, and guiding the landing after verification. Thus, the flexibility and cooperation of the UAV are improved.

Description

Technical Field

[0001] This disclosure relates to the field of unmanned aerial vehicle (UAV) technology, specifically to a UAV collaborative application method, a UAV collaborative application system, an electronic device, and a computer-readable storage medium. Background Technology

[0002] With its outstanding advantages such as high bandwidth, low latency, wide connectivity, and strong anti-interference capabilities, 5G technology has rapidly conquered numerous industries seeking innovative transformation, with drone applications being one of them. 5G technology naturally endows drone applications with the four core capabilities required: stable transmission, remote control, status monitoring, and precise positioning. Conversely, drone applications will become a stage for 5G technology to "show its prowess." However, in practical applications, 5G-connected drones are still constrained by their original flight time in various application scenarios, making it difficult to truly achieve the ideal goal of continuous, uninterrupted operation. The emergence of drone nests has largely solved the drone's flight time problem, enabling drones to autonomously recharge and be repeatedly deployed. The use of multiple nests can eliminate time gaps in the application of a single drone, achieving uninterrupted relay operations.

[0003] However, existing solutions primarily focus on optimizing the coordination between drones and their corresponding nests, but there is no corresponding solution for breaking down the strong bond between a single drone and its nest. It is foreseeable that this will result in insufficient flexibility and low operational efficiency in practical applications. Summary of the Invention

[0004] To address the aforementioned technical problems in the prior art, this disclosure provides a method, system, electronic device, and computer-readable storage medium for collaborative application of unmanned aerial vehicles (UAVs), enabling interaction between multiple UAVs and a UAV nest system, and achieving weak correspondence collaboration between multiple UAVs and multiple UAV nests, thereby improving highly flexible and fully collaborative autonomous operation performance in real-world scenarios.

[0005] Firstly, this disclosure provides a method for collaborative application of unmanned aerial vehicles (UAVs) in a command center server, the method comprising:

[0006] Receive flight application plan requests sent by the user client;

[0007] The flight application plan was reviewed;

[0008] After the review is approved, the review result is sent to the user terminal, so that the user terminal sends the operation content corresponding to the flight application plan to the first nest, so that the first nest releases the first drone after receiving the operation content, receives the flight status of the first drone transmitted back by the first drone, and transmits the flight status of the first drone back to the command center server.

[0009] Based on the flight status of the first UAV and the flight application plan, a flight command for the second UAV is sent to the second UAV nest so that the second UAV nest can launch the second UAV. The flight status of the second UAV is received from the second UAV nest and then transmitted back to the command center server.

[0010] The first UAV sends a pick-up command to the second UAV nest based on its flight status. The pick-up command includes a pick-up credential. The first UAV also sends a landing command to the first UAV. The landing command includes the pick-up credential and the public network address of the second UAV nest, so that the first UAV can contact the second UAV nest through the public network address of the second UAV nest and send the pick-up credential to the second UAV nest. The second UAV nest verifies the pick-up credential and guides the first UAV to land after the verification is successful.

[0011] Furthermore, the method also includes:

[0012] Receive the launch request sent by the first aircraft nest after receiving the task details;

[0013] The application for launch is reviewed, and once approved, the review result is sent to the first drone nest, enabling the first drone nest to launch the first drone.

[0014] Furthermore, the second UAV flight command includes the flight time and the operational content of the second UAV.

[0015] Furthermore, the flight status of the first drone includes:

[0016] The first unmanned aerial vehicle's flight attitude, flight direction, flight speed, altitude, latitude and longitude, model and production number, and the IMEI (International Mobile Equipment Identity) number of its onboard terminal.

[0017] Furthermore, the method also includes:

[0018] Receive a registration request from a user, the registration request including a user ID;

[0019] The registration application is reviewed, and the review result is sent to the user terminal after the review is passed. The user terminal requests the first private key from the key server. The key server generates user public parameters and distributes the first private key to the user terminal. The user terminal combines the first private key and the second private key generated by self-calculation of the user ID to form the user's complete private key.

[0020] Receive a notification from the user that the private key has been obtained, including the user ID;

[0021] Obtain user public parameters from the key server;

[0022] The user ID and user public parameters are combined to form the user's complete public key, which is then used to conduct encrypted communication with the user through the user's complete private key and complete public key.

[0023] Furthermore, the method also includes:

[0024] The system sends real-time flight status information of the first drone to the user during its flight.

[0025] The system sends real-time flight status updates of the second drone to the user while it is in flight.

[0026] Secondly, this disclosure provides a method for collaborative application of unmanned aerial vehicles (UAVs) in a second UAV nest, the method comprising:

[0027] The system receives flight instructions from the command center server based on the flight status and flight application plan of the first UAV. The first UAV's flight status is obtained by the command center server receiving a flight application plan request from the user terminal, reviewing the flight application plan, and sending the review result to the user terminal after the review is passed. The user terminal then sends the operation content corresponding to the flight application plan to the first UAV nest, so that the first UAV nest can release the first UAV after receiving the operation content, receive the first UAV's flight status transmitted back by the first UAV, and transmit the first UAV's flight status back to the command center server.

[0028] Launch the second drone;

[0029] Receive the flight status of the second drone sent by the second drone, and transmit the flight status of the second drone back to the command center server;

[0030] The system receives a pick-up instruction sent by the command center server based on the flight status of the first UAV, and the pick-up instruction includes a pick-up certificate.

[0031] After the first UAV receives a landing command from the command center server, the landing command includes a pick-up credential and a second UAV nest public network address, and the first UAV communicates with the second UAV nest via the second UAV nest public network address; and...

[0032] Receive the pick-up pass sent by the first drone;

[0033] Verify the pick-up voucher;

[0034] After verification, guide the first drone to land.

[0035] Furthermore, the method also includes:

[0036] Read the information of the first drone after it lands;

[0037] The system sends the reception result of the first UAV to the command center server, which then forwards the reception result of the second UAV nest to the user terminal.

[0038] Thirdly, this disclosure provides a drone collaborative application system, which includes a command center server, the command center server comprising:

[0039] The first receiving module is configured to receive flight application plan requests sent by the user terminal;

[0040] The review module is configured to review the flight application plan;

[0041] The first sending module is configured to send the review result to the user terminal after the review module approves it, causing the user terminal to send the operation content corresponding to the flight application plan to the first drone nest. Upon receiving the operation content, the first drone nest releases the first drone, receives the flight status data transmitted by the first drone, and transmits the flight status data back to the command center server.

[0042] Based on the flight status of the first UAV and the flight application plan, a flight command for the second UAV is sent to the second UAV nest so that the second UAV nest can launch the second UAV. The flight status of the second UAV is received from the second UAV nest and then transmitted back to the command center server.

[0043] The first sending module is further configured to send a pick-up command to the second nest based on the flight status of the first UAV. The pick-up command includes a pick-up credential. The module also sends a landing command to the first UAV. The landing command includes the pick-up credential and the public network address of the second nest, so that the first UAV can contact the second nest through the public network address of the second nest and send the pick-up credential to the second nest. The second nest verifies the pick-up credential and guides the first UAV to land after successful verification.

[0044] Fourthly, this disclosure provides a drone collaborative application system, the drone collaborative application system including a second drone nest, the second drone nest including:

[0045] The second receiving module is configured to receive flight instructions for the second UAV sent by the command center server based on the flight status and flight application plan of the first UAV. The flight status of the first UAV is obtained by the command center server receiving the flight application plan request sent by the user terminal, reviewing the flight application plan, and sending the review result to the user terminal after the review is passed. The user terminal then sends the operation content corresponding to the flight application plan to the first UAV nest, so that the first UAV nest releases the first UAV after receiving the operation content, receives the flight status of the first UAV transmitted back by the first UAV, and transmits the flight status of the first UAV back to the command center server.

[0046] The launch module is configured to launch a second drone.

[0047] The second receiving module is also configured to receive the flight status of the second drone sent by the second drone;

[0048] The second sending module is configured to transmit the flight status of the second UAV back to the command center server.

[0049] The second receiving module is also configured to receive a pick-up instruction sent by the command center server based on the flight status of the first UAV, the pick-up instruction including a pick-up credential;

[0050] The communication module is configured to communicate with the first UAV after the first UAV receives a landing instruction sent by the command center server. The landing instruction includes a pick-up certificate and a second UAV public network address.

[0051] The second receiving module is also configured to receive the pick-up certificate sent by the first drone;

[0052] The verification module is configured to verify the pick-up pass;

[0053] The guidance module is configured to guide the first drone to land after the verification module has passed the verification.

[0054] Fifthly, this disclosure provides an electronic device including a memory and a processor, wherein the memory stores a computer program, and when the processor runs the computer program stored in the memory, the processor executes the UAV collaborative application method as described in either the first or second aspect.

[0055] Fourthly, this disclosure provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the UAV collaborative application method described in either the first or second aspect above.

[0056] Beneficial effects:

[0057] The UAV collaborative application method, UAV collaborative application system, electronic device, and computer-readable storage medium disclosed herein enable interaction between multiple UAVs and multiple UAV nest systems, realize weak correspondence collaboration between multiple UAVs and multiple UAV nests, enable UAVs to take turns in relay applications, improve deployment flexibility and cooperation among UAVs, enhance the autonomous intelligence of overall implementation effect, and thus improve highly flexible and fully collaborative autonomous operation performance in real-world scenarios. Attached Figure Description

[0058] Figure 1 This is a flowchart illustrating a method for collaborative application of unmanned aerial vehicles (UAVs) according to Embodiment 1 of this disclosure.

[0059] Figure 2 This is a flowchart illustrating a method for collaborative application of unmanned aerial vehicles (UAVs) according to Embodiment 2 of this disclosure.

[0060] Figure 3 This is a flowchart illustrating a method for collaborative application of unmanned aerial vehicles (UAVs) according to Embodiment 3 of this disclosure.

[0061] Figure 4 This is an architecture diagram of a command center server provided in Embodiment 4 of this disclosure;

[0062] Figure 5 This is an architectural diagram of a second nest provided in Embodiment 5 of the present disclosure;

[0063] Figure 6 This is an architectural diagram of an electronic device provided in Embodiment Six of this disclosure. Detailed Implementation

[0064] To enable those skilled in the art to better understand the technical solutions of this disclosure, the disclosure will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments and drawings described herein are merely for explaining the invention and are not intended to limit the invention.

[0065] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence; furthermore, in the absence of conflict, the embodiments and features in the embodiments of this disclosure can be arbitrarily combined with each other.

[0066] The terminology used in the embodiments of this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of this disclosure. The singular forms “a,” “the,” and “the” as used in the embodiments of this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0067] In the following description, the use of suffixes such as “module,” “part,” or “unit” to denote elements is solely for the purpose of illustrative purposes and has no specific meaning in itself. Therefore, “module,” “part,” or “unit” may be used interchangeably.

[0068] Existing drone nesting technology solutions primarily address the optimization of the collaboration between a single drone and its corresponding nest. These solutions utilize image and location information to achieve high-precision docking between the drone and its nest, enabling cyclical use across multiple application scenarios. However, as mentioned earlier, deploying multiple drone and nesting systems still struggles to resolve their independence. This results in insufficient deployment flexibility and poor interoperability in practical applications, severely impacting the overall autonomous and intelligent implementation effect.

[0069] The following detailed embodiments illustrate the technical solutions of this disclosure and how they solve the aforementioned technical problems existing in the prior art. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0070] Figure 1 This is a schematic diagram of a drone collaborative application method provided in Embodiment 1 of this disclosure, applied to a command center server, such as... Figure 1 As shown, the method includes:

[0071] Step S101: Receive the flight application plan request sent by the user terminal;

[0072] Step S102: Review the flight application plan;

[0073] Step S103: After the review is approved, the review result is sent to the user terminal, so that the user terminal sends the operation content corresponding to the flight application plan to the first nest, so that the first nest releases the first drone after receiving the operation content, receives the flight status of the first drone transmitted back by the first drone, and transmits the flight status of the first drone back to the command center server.

[0074] Step S104: Based on the flight status of the first UAV and the flight application plan, send a flight command for the second UAV to the second UAV nest, so that the second UAV nest can release the second UAV, receive the flight status of the second UAV transmitted back by the second UAV, and transmit the flight status of the second UAV back to the command center server.

[0075] Step S105: Based on the flight status of the first UAV, send a pick-up command to the second UAV nest, the pick-up command including a pick-up credential, and send a landing command to the first UAV, the landing command including the pick-up credential and the public network address of the second UAV nest, so that the first UAV can contact the second UAV nest through the public network address of the second UAV nest and send the pick-up credential to the second UAV nest. The second UAV nest verifies the pick-up credential, and after the verification is successful, guides the first UAV to land.

[0076] After successful user registration, the key server assigns a private and public key to the user. The command center sends a flight application request message encrypted with the user's public key to the user. The user decrypts the message and sends a flight application plan request, including user identification, work area, and work content, to the command center's server (hereinafter referred to as the command center server). The command center server reviews the flight application plan and sends the review result back to the user. The review result is encrypted with the user's public key and includes an approval number. After decryption, the user transmits the work content to the first drone nest locally and sets the flight parameters according to the application plan. Upon receiving the work content, the first drone nest releases the first drone and enables it to fly according to the flight parameters to begin the operation. During flight, the first drone sends its flight status to the first drone nest via a secure channel, and the first drone nest transmits the first drone's flight status back to the command center server in real time via a secure channel. When the first drone needs to recharge or needs to land for other reasons, if other drones are needed to complete the subsequent work, the command center server locates the second drone nest near the first drone's current location based on the first drone's flight status and flight application plan, and sends a second drone to the second drone nest. The command center sends flight instructions to the first UAV, including the operational content and flight parameters of the second UAV. The second UAV's nest sends the received information back to the command center server via a secure channel and launches the second UAV according to the command center server's instructions. The second UAV performs subsequent tasks and transmits its flight status back to the second UAV's nest in real time via a secure channel, which in turn transmits the data back to the command center server. Simultaneously, the command center server sends a pick-up instruction to the second UAV's nest, which includes a pick-up credential, and sends a landing instruction to the first UAV, which includes the pick-up credential, the second UAV's public network address, and the second UAV's... Upon reaching the second drone nest location, the first drone's 5G onboard terminal automatically configures its address, establishes communication with the second drone nest, and sends a landing pass to it. The second drone nest verifies the landing pass sent by the first drone based on the pass received from the command center server. If the verification is successful, it reverses its trajectory and sends a landing permission message to the first drone, guiding it to land. The first drone performs the landing operation, charges in the second drone nest, and awaits subsequent task assignment. The second drone nest reads the first drone's information and reports the landing result back to the command center server via a secure channel. The command center server forwards the landing result of the second drone nest to the user terminal. If the task requires other drones to perform, the above steps are repeated, with the second drone landing in the third drone nest and the third drone in the third drone nest being released to continue performing the task, increasing the number of drones and nests working together until the task is completed.

[0077] This disclosure enables interaction between multiple drones and a multi-nest system, achieving weak correspondence and collaboration between multiple drones and multiple nests. Multiple drones take turns applying the technology, and multiple nests assist the drones in receiving task data and cyclically charging, thereby increasing the drone's operating range and operational content, improving deployment flexibility and inter-drone cooperation, and enhancing the overall autonomous and intelligent implementation effect. This results in highly flexible and fully collaborative autonomous operation performance in real-world scenarios.

[0078] Furthermore, the method also includes:

[0079] Receive the launch request sent by the first aircraft nest after receiving the task details;

[0080] The application for launch is reviewed, and once approved, the review result is sent to the first drone nest, enabling the first drone nest to launch the first drone.

[0081] Before launching a drone, the first drone launcher sends a launch application to the command center server via a secure channel, which includes an approval number sent by the user to the first drone launcher. The command center server then sends the review result back to the first drone launcher via the same secure channel. The command center server then strictly controls the launch of drones to ensure that the launch is legal and planned.

[0082] Furthermore, the second UAV flight command includes the flight time and the operational content of the second UAV.

[0083] The command center server obtains the tasks completed by the first drone based on the user's flight application plan and the flight status of the first drone, and then allocates the task time and tasks to the second drone. The command center server allocates the task tasks of each drone to better achieve collaborative cooperation between drones.

[0084] Furthermore, the flight status of the first drone includes:

[0085] The first drone's flight attitude, flight direction, flight speed, altitude, latitude and longitude, model and production number, and the IMEI number of its onboard terminal.

[0086] By acquiring detailed parameters of the drone during flight, we can better understand its flight status. Furthermore, by adding data such as flight speed, actual flight altitude, and attitude (pitch, roll), we can achieve accurate docking between the drone and its pod.

[0087] Furthermore, the method also includes:

[0088] Receive a registration request from a user, the registration request including a user ID;

[0089] The registration application is reviewed, and the review result is sent to the user terminal after the review is passed. The user terminal requests the first private key from the key server. The key server generates user public parameters and distributes the first private key to the user terminal. The user terminal combines the first private key and the second private key generated by self-calculation of the user ID to form the user's complete private key.

[0090] Receive a notification from the user that the private key has been obtained, including the user ID;

[0091] Obtain user public parameters from the key server;

[0092] The user ID and user public parameters are combined to form the user's complete public key, which is then used to conduct encrypted communication with the user through the user's complete private key and complete public key.

[0093] After a user initiates a registration request (including a user-defined ID) to the command center server, the command center server sends a verification result back to the user. If registration is successful, the user requests a first private key from the key server, including the user-defined ID, with a time limit of T. The key server randomly generates relevant public parameters for the user (e.g., a matrix sequence) and distributes the first private key to the user within the T-time limit. The user then calculates a second private key (corresponding to the user-defined ID) and combines the first and second private keys to form a complete private key. The user sends a notification to the command center server that they have obtained the private key, including the user-defined ID. The command center server requests the public parameters related to the user's public key (e.g., a matrix sequence) from the key server. The key server sends the public parameters back to the command center server. The command center server then synthesizes the user's complete public key X, including the user-defined ID and the public parameters. This distributed and isolated key security mechanism ensures the security of information flow, and the time limit for key acquisition better protects the user's keys.

[0094] Furthermore, the method also includes:

[0095] The system sends real-time flight status information of the first drone to the user during its flight.

[0096] The system sends real-time flight status updates of the second drone to the user while it is in flight.

[0097] The command center server sends the drone's flight status, encrypted with a public key, to the client, enabling the client to better understand the mission execution status.

[0098] This disclosure enables interaction between multiple drones and a multi-nest system, and achieves weak correspondence collaboration between these drones and nests. Multiple drones take turns operating, and multiple nests assist in receiving task data and cyclically recharging, increasing the drone's operational range and capabilities, enhancing deployment flexibility and inter-drone cooperation, and improving the overall autonomous and intelligent implementation. This results in highly flexible and fully collaborative autonomous operation in real-world scenarios. Simultaneously, a key-distributed isolation security mechanism ensures the security of information flow.

[0099] Figure 2 This is a flowchart illustrating a drone collaborative application method provided in Embodiment 2 of this disclosure, applied to a second drone nest, such as... Figure 2 As shown, the method includes:

[0100] Step S201: Receive the second UAV flight command sent by the command center server based on the first UAV flight status and flight application plan. The first UAV flight status is obtained by the command center server receiving the flight application plan request sent by the user terminal, reviewing the flight application plan, and sending the review result to the user terminal after the review is passed. The user terminal sends the operation content corresponding to the flight application plan to the first UAV nest, so that the first UAV nest releases the first UAV after receiving the operation content, receives the first UAV flight status transmitted back by the first UAV, and transmits the first UAV flight status back to the command center server.

[0101] Step S202: Launch the second drone;

[0102] Step S203: Receive the flight status of the second drone sent by the second drone;

[0103] Step S204: Transmit the flight status of the second UAV back to the command center server;

[0104] Step S205: Receive the pick-up instruction sent by the command center server based on the flight status of the first UAV, wherein the pick-up instruction includes a pick-up certificate;

[0105] Step S206: After the first UAV receives the landing instruction sent by the command center server, the landing instruction includes a pick-up credential and a second UAV nest public network address, and the first UAV communicates with the second UAV nest through the second UAV nest public network address; and,

[0106] Step S207: Receive the pick-up certificate sent by the first drone;

[0107] Step S208: Verify the pick-up voucher;

[0108] Step S209: After verification, guide the first drone to land.

[0109] Furthermore, the method also includes:

[0110] Read the information of the first drone after it lands;

[0111] The system sends the reception result of the first UAV to the command center server, which then forwards the reception result of the second UAV nest to the user terminal.

[0112] This disclosure enables interaction between multiple UAVs and a nested system, achieving weak correspondence and collaboration between multiple UAVs and multiple nested systems, thereby improving highly flexible and fully collaborative autonomous operation performance in real-world scenarios.

[0113] To more clearly and completely describe the technical solution of this disclosure, Embodiment 3 of this disclosure provides a method for collaborative application of unmanned aerial vehicles (UAVs), such as... Figure 3 As shown, the method includes;

[0114] S1: The user initiates a registration application (user-defined ID) to the command center (i.e., the command center server in the above embodiment);

[0115] S2: The command center provides feedback on the review results to the user;

[0116] S3: The user requests private key 1 (user-defined ID, T value and time limit) from the key server;

[0117] S3.1: The key server randomly generates user-related public parameters (e.g., matrix sequences);

[0118] S4: The key server distributes private key 1 to the user (within the T-value time limit);

[0119] S4.1: The user (device) calculates private key 2 (corresponding to the custom ID) to synthesize the complete private key;

[0120] S5: The user sends a notification to the command center that the private key has been obtained (user-defined ID);

[0121] S6: The command center requests the key server to obtain public parameters (e.g., matrix sequence) related to the user's public key;

[0122] S7: The key server sends public parameters back to the command center;

[0123] S8: The command center synthesizes the user's complete public key X (user-defined ID and public parameters);

[0124] S9: The command center sends a flight application request message to the user (encrypted with public key X);

[0125] S10: The user decrypts the message and sends a flight application plan request to the command center (user-defined ID-public key encryption: duration, region, altitude, speed, all aircraft models and production numbers, all 5G airborne terminal IMEI numbers, operation content, etc.);

[0126] S11: The command center provides feedback on the review results to the user (encrypted with public key X, including approval number Y);

[0127] S12: The user decrypts the data, transmits the operation content 1 locally to the nest 1, and sets the flight parameters (including approval number Y) according to the application plan;

[0128] S13: Nest 1 sends a launch request (including approval number Y) to the command center via a secure channel;

[0129] S14: The command center sends the audit results (including public key X) back to Nest 1 through the same secure channel;

[0130] S15: Nest 1 launches drone 1 (including public key X);

[0131] S16: During flight, UAV 1 transmits flight information (attitude, direction, speed, altitude, latitude and longitude, UAV 1 model and production number, UAV 1 5G airborne terminal IMEI number) to the nest 1 through a secure channel.

[0132] S16.1: The UAV 1 transmits flight information (attitude, direction, speed, altitude, latitude and longitude, UAV 1 model and production number, UAV 1 5G airborne terminal IMEI number) back to the command center in real time through a secure channel.

[0133] S16.2: The command center transmits flight information back to the user in real time - encrypted with public key X (attitude, direction, speed, altitude, latitude and longitude, model and production number of UAV 1, IMEI number of 5G airborne terminal of UAV 1);

[0134] S17: Based on the flight information transmitted back by UAV 1, the command center sends the pick-up certificate Z and the instruction to release UAV 2 (including the specific time, operation content 2, and public key X) through the secure channel.

[0135] S18: Nest 2 sends the information reception result back to the command center via a secure channel;

[0136] S18.1: Nest 2 launches UAV 2 according to the command center's instructions;

[0137] S19: The command center sends credential Z, the location of nest 2, and the public IP address of nest 2 to drone 1;

[0138] S20: After drone 1 arrives at its location, the 5G onboard terminal of drone 1 will automatically configure the address and send credential Z;

[0139] S21: Nest 2 verifies the certificate Z and sends the landing permission information to UAV 1 via reverse tracking;

[0140] S22: Unmanned Aerial Vehicle 1 is performing a landing operation;

[0141] S23: Nest 2 reads information about UAV 1 and sends the handover result back to the command center via a secure channel;

[0142] S24: The command center forwards the result of the drone 1 being picked up and parked by Nest 2 to the user - encrypted with public key X;

[0143] S25: UAV 2 transmits its flight status back to nest 2 in real time via a secure channel. The control of UAV 2 by nest 2 and command center is the same as in S16.1 and S16.2.

[0144] Repeating the above logical steps can increase the number of drones and their nests working together.

[0145] This disclosure enables interaction between multiple drones and a multi-nest system, and achieves weak correspondence collaboration between these drones and nests. Multiple drones take turns operating, and multiple nests assist in receiving task data and cyclically recharging, increasing the drone's operational range and capabilities, enhancing deployment flexibility and inter-drone cooperation, and improving the overall autonomous and intelligent implementation. This results in highly flexible and fully collaborative autonomous operation in real-world scenarios. Simultaneously, a key-distributed isolation security mechanism ensures the security of information flow.

[0146] Embodiment 4 of this disclosure provides a drone collaborative application system, which includes a command center server, such as... Figure 4 As shown, the command center server includes:

[0147] The first receiving module 11 is configured to receive flight application plan requests sent by the user terminal;

[0148] The review module 12 is configured to review the flight application plan;

[0149] The first sending module 13 is configured to send the review result to the user terminal after the review module 12 approves the application, causing the user terminal to send the operation content corresponding to the flight application plan to the first drone nest. Upon receiving the operation content, the first drone nest releases the first drone, receives the flight status data transmitted by the first drone, and transmits the flight status data back to the command center server.

[0150] Based on the flight status of the first UAV and the flight application plan, a flight command for the second UAV is sent to the second UAV nest so that the second UAV nest can launch the second UAV. The flight status of the second UAV is received from the second UAV nest and then transmitted back to the command center server.

[0151] The first sending module 13 is also configured to send a pick-up command to the second nest based on the flight status of the first UAV. The pick-up command includes a pick-up credential. The module also sends a landing command to the first UAV. The landing command includes the pick-up credential and the public network address of the second nest, so that the first UAV can contact the second nest through the public network address of the second nest and send the pick-up credential to the second nest. The second nest verifies the pick-up credential and guides the first UAV to land after the verification is successful.

[0152] Furthermore, the first receiving module 11 is also configured to receive the launch application sent by the first nest after receiving the operation content;

[0153] The review module 12 is also configured to review the flight application and send the review result to the first drone nest after the review is approved, so that the first drone nest can launch the first drone.

[0154] Furthermore, the second UAV flight command includes the flight time and the operational content of the second UAV.

[0155] Furthermore, the flight status of the first drone includes:

[0156] The first drone's flight attitude, flight direction, flight speed, altitude, latitude and longitude, model and production number, and the IMEI number of its onboard terminal.

[0157] Furthermore, the command center server also includes an acquisition module 14 and a synthesis module 15;

[0158] The first receiving module 11 is also configured to receive a registration application from a user, wherein the registration application includes a user ID;

[0159] The review module 12 is also configured to review the registration application and send the review result to the user terminal after the review is passed, so that the user terminal requests the first private key from the key server, the key server generates user public parameters and distributes the first private key to the user terminal, so that the user terminal combines the first private key and the second private key generated by self-calculation of the user ID to form the complete user private key.

[0160] The first receiving module 11 is also configured to receive a notification from the user terminal that the private key has been obtained, including the user ID;

[0161] The acquisition module 14 is configured to obtain user public parameters from the key server;

[0162] The synthesis module 15 is configured to synthesize the user ID and user public parameters into a complete user public key, so as to conduct encrypted communication with the user through the complete user private key and the complete user public key.

[0163] Furthermore, the first sending module 13 is also configured to send the flight status of the first drone to the user in real time while the first drone is in flight; and,

[0164] The system sends real-time flight status updates of the second drone to the user while it is in flight.

[0165] This disclosure provides a drone collaborative application system in embodiment five, the drone collaborative application system including a second drone nest, such as... Figure 5 As shown, the second nest includes:

[0166] The second receiving module 21 is configured to receive flight instructions for the second UAV sent by the command center server based on the flight status and flight application plan of the first UAV. The flight status of the first UAV is obtained by the command center server receiving the flight application plan request sent by the user terminal, reviewing the flight application plan, and sending the review result to the user terminal after the review is passed. The user terminal sends the operation content corresponding to the flight application plan to the first UAV nest, so that the first UAV nest releases the first UAV after receiving the operation content, receives the flight status of the first UAV transmitted back by the first UAV, and transmits the flight status of the first UAV back to the command center server.

[0167] Launching module 22, which is configured to launch a second drone;

[0168] The second receiving module 21 is also configured to receive the flight status of the second drone sent by the second drone;

[0169] The second sending module 23 is configured to transmit the flight status of the second UAV back to the command center server.

[0170] The second receiving module 21 is also configured to receive a pick-up instruction sent by the command center server based on the flight status of the first UAV, wherein the pick-up instruction includes a pick-up credential.

[0171] The contact module 24 is configured to contact the first UAV after the first UAV receives a landing instruction sent by the command center server. The landing instruction includes a pick-up certificate and a second UAV public network address.

[0172] The second receiving module 21 is also configured to receive the pick-up certificate sent by the first drone;

[0173] Verification module 25 is configured to verify the pick-up voucher;

[0174] The guidance module 26 is configured to guide the first drone to land after the verification module 25 has passed the verification.

[0175] Furthermore, the second nest also includes a reading module 27:

[0176] The reading module 27 is configured to read the information of the first drone after the first drone lands;

[0177] The second sending module 23 is also configured to send the reception result of the first UAV to the command center server, so that the command center server forwards the reception result of the second UAV to the user terminal.

[0178] The UAV collaborative application system of this disclosure is used to implement the UAV collaborative application method in embodiments one to three, so the description is relatively simple. For details, please refer to the relevant descriptions in the preceding embodiments one to three, which will not be repeated here.

[0179] In addition, such as Figure 6 As shown, Embodiment Six of this disclosure also provides an electronic device, including a memory 100 and a processor 200. The memory 100 stores a computer program. When the processor 200 runs the computer program stored in the memory 100, the processor 200 executes the various possible methods described above.

[0180] The memory 100 is connected to the processor 200. The memory 100 can be a flash memory, a read-only memory, or another type of memory. The processor 200 can be a central processing unit or a microcontroller.

[0181] Furthermore, embodiments of this disclosure also provide a computer-readable storage medium storing a computer program, which is executed by a processor using the various possible methods described above.

[0182] The computer-readable storage medium includes volatile or non-volatile, removable or non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, computer program modules or other data). Computer-readable storage media includes, but is not limited to, RAM (Random Access Memory), ROM (Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), flash memory or other memory technologies, CD-ROM (Compact Disc Read-Only Memory), Digital Video Disc (DVD) or other optical disc storage, cartridges, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer.

[0183] It is understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of this disclosure, and this disclosure is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and substance of this disclosure, and these modifications and improvements are also considered to be within the scope of protection of this disclosure.

Claims

1. A method for cooperative application of UAVs, characterized in that, The method applied to a command center server comprises: receiving a flight application plan request sent by a user terminal; auditing the flight application plan; sending an audit result to the user terminal after the audit is passed, so that the user terminal sends job content corresponding to the flight application plan to a first nest, so that the first nest releases a first unmanned aerial vehicle after receiving the job content, receives a first unmanned aerial vehicle flight status returned by the first unmanned aerial vehicle, and transmits the first unmanned aerial vehicle flight status to the command center server; when the first unmanned aerial vehicle needs to be charged or needs to land for other reasons and needs other unmanned aerial vehicles to relay to complete subsequent job content, finding a second nest near a current position of the first unmanned aerial vehicle according to the first unmanned aerial vehicle flight status and the flight application plan, sending a second unmanned aerial vehicle flight instruction to the second nest, so that the second nest releases a second unmanned aerial vehicle, the second unmanned aerial vehicle performs a subsequent job task, receives a second unmanned aerial vehicle flight status returned by the second unmanned aerial vehicle, and transmits the second unmanned aerial vehicle flight status to the command center server; sending a landing instruction to the second nest according to the first unmanned aerial vehicle flight status, the landing instruction including a landing voucher, and sending a landing instruction to the first unmanned aerial vehicle, the landing instruction including the landing voucher, a public network address of the second nest and a position of the second nest, so that the first unmanned aerial vehicle reaches the position of the second nest, the 5G airborne terminal of the first unmanned aerial vehicle is self-configured, the second nest is contacted through the public network address of the second nest, and the landing voucher is sent to the second nest, the landing voucher sent by the first unmanned aerial vehicle is verified by the second nest according to the landing voucher received by the second nest from the command center server, and after the verification is passed, the first unmanned aerial vehicle is sent landing permission information, and the first unmanned aerial vehicle is guided to land on the second nest.

2. The method of claim 1, wherein, The method further comprises: receiving a release application sent by the first nest after receiving the job content; auditing the release application, and sending an audit result to the first nest after the audit is passed, so that the first nest releases the first unmanned aerial vehicle.

3. The unmanned aerial vehicle cooperative application method of claim 1, wherein the second unmanned aerial vehicle flight instruction includes a flight time and job content of the second unmanned aerial vehicle. The first unmanned aerial vehicle flight status includes:

4. The method of claim 1, wherein, a flight attitude, a flight direction, a flight speed, a height, a longitude and latitude, a model, a production number and an international mobile equipment identity (IMEI) number of the airborne terminal of the first unmanned aerial vehicle. The method further comprises:

5. The method of claim 1-4, wherein, receiving a registration application of the user terminal, the registration application including a user ID; auditing the registration application, and sending an audit result to the user terminal after the audit is passed, so that the user terminal requests a first private key from a key server, the key server generates a user public parameter, and distributes the first private key to the user terminal, so that the user terminal synthesizes the first private key and a second private key self-calculated from the user ID into a user complete private key; receiving a private key acquisition notification sent by the user terminal, which includes the user ID; obtaining the user public parameter from the key server; synthesizing the user ID and the user public parameter into a user complete public key, so as to perform encrypted communication with the user through the user complete private key and the user complete public key. ​ 6. The method of claim 5, wherein, The method further comprises: sending the user the first unmanned aerial vehicle flight status in real time when the first unmanned aerial vehicle is flying; sending the user the second unmanned aerial vehicle flight status in real time when the second unmanned aerial vehicle is flying. 7.A method for cooperative application of UAVs, characterized in that, The method applied to the second nest comprises: receiving the second unmanned aerial vehicle flight instruction sent by the command center server according to the first unmanned aerial vehicle flight status and the flight application plan after the first unmanned aerial vehicle needs to land due to charging or other reasons and needs other unmanned aerial vehicles to relay to complete subsequent work content, wherein the first unmanned aerial vehicle flight status is obtained after the command center server receives the flight application plan request sent by the user end, audits the flight application plan, and sends the audit result to the user end after the audit is passed, so that the user end sends the work content corresponding to the flight application plan to the first nest, so that the first nest releases the first unmanned aerial vehicle after receiving the work content, receives the first unmanned aerial vehicle flight status returned by the first unmanned aerial vehicle, and returns the first unmanned aerial vehicle flight status to the command center server; releasing the second unmanned aerial vehicle to perform the subsequent work task through the second unmanned aerial vehicle; receiving the second unmanned aerial vehicle flight status sent by the second unmanned aerial vehicle; returning the second unmanned aerial vehicle flight status to the command center server; receiving the machine receiving instruction sent by the command center server according to the first unmanned aerial vehicle flight status, wherein the machine receiving instruction includes a machine receiving voucher; after the first unmanned aerial vehicle receives the landing instruction sent by the command center server, the landing instruction includes a machine receiving voucher, a second nest public network address and a second nest location, reaches the second nest location, and the first unmanned aerial vehicle self-configures an address through the 5G airborne terminal, contacts the first unmanned aerial vehicle through the second nest public network address; and receiving the machine receiving voucher sent by the first unmanned aerial vehicle; verifying the machine receiving voucher sent by the first unmanned aerial vehicle according to the machine receiving voucher received from the command center server; after the verification is passed, sending the first unmanned aerial vehicle landing permission information to guide the first unmanned aerial vehicle to land to the second nest. 8.The method of claim 7, wherein, The method further comprises: reading the information of the first unmanned aerial vehicle after the first unmanned aerial vehicle lands; feeding back the machine receiving result of the first unmanned aerial vehicle to the command center server to make the command center server forward the machine receiving result of the first unmanned aerial vehicle to the user end.

9. A UAV coordination application system, characterized by, The unmanned aerial vehicle cooperative application system comprises a command center server, and the command center server comprises: a first receiving module configured to receive the flight application plan request sent by the user end; an auditing module configured to audit the flight application plan; a first sending module configured to send the audit result to the user end after the auditing module passes the audit, so that the user end sends the work content corresponding to the flight application plan to the first nest, so that the first nest releases the first unmanned aerial vehicle after receiving the work content, receives the first unmanned aerial vehicle flight status returned by the first unmanned aerial vehicle, and returns the first unmanned aerial vehicle flight status to the command center server; and a second receiving module configured to receive the second unmanned aerial vehicle flight status sent by the second unmanned aerial vehicle; When the first unmanned aerial vehicle needs to be charged or landed for other reasons, and other unmanned aerial vehicles are needed to relay to complete subsequent work content, a second nest near the current position of the first unmanned aerial vehicle is found according to the flight status of the first unmanned aerial vehicle and the flight application plan, a second unmanned aerial vehicle flight instruction is sent to the second nest, the second unmanned aerial vehicle is launched by the second nest, the subsequent work task is executed by the second unmanned aerial vehicle, the second unmanned aerial vehicle flight status returned by the second unmanned aerial vehicle is received, and the second unmanned aerial vehicle flight status is returned to the command center server; The first sending module is further configured to send a landing instruction to the first unmanned aerial vehicle, the landing instruction including the landing voucher, the public network address of the second nest and the position of the second nest, so that the first unmanned aerial vehicle reaches the position of the second nest, the 5G airborne terminal of the first unmanned aerial vehicle self-configures an address, contacts the second nest through the public network address of the second nest, and sends the landing voucher to the second nest, and the second nest verifies the landing voucher sent by the first unmanned aerial vehicle according to the landing voucher received from the command center server, and sends landing permission information to the first unmanned aerial vehicle after verification, guiding the first unmanned aerial vehicle to land on the second nest.

10. A UAV coordination application system, characterized by, The unmanned aerial vehicle cooperative application system comprises a second nest, and the second nest comprises: The second receiving module is configured to receive a second unmanned aerial vehicle flight instruction sent by the command center server when the first unmanned aerial vehicle needs to be charged or landed for other reasons, and other unmanned aerial vehicles are needed to relay to complete subsequent work content, the second nest being found according to the flight status of the first unmanned aerial vehicle and the flight application plan, the flight status of the first unmanned aerial vehicle being obtained after the command center server receives a flight application plan request sent by the user end, audits the flight application plan, and sends the audit result to the user end after the audit is passed, so that the user end sends work content corresponding to the flight application plan to the first nest, the first nest launches the first unmanned aerial vehicle after receiving the work content, receives the first unmanned aerial vehicle flight status returned by the first unmanned aerial vehicle, and returns the first unmanned aerial vehicle flight status to the command center server; The second receiving module is further configured to receive the second unmanned aerial vehicle flight status sent by the second unmanned aerial vehicle; The second sending module is configured to return the second unmanned aerial vehicle flight status to the command center server; The second receiving module is further configured to receive a landing instruction sent by the command center server according to the flight status of the first unmanned aerial vehicle, the landing instruction including a landing voucher; The contact module is configured to contact the first unmanned aerial vehicle through the public network address of the second nest after the first unmanned aerial vehicle receives the landing instruction sent by the command center server, the landing instruction including a landing voucher, a public network address of the second nest and a position of the second nest, and the first unmanned aerial vehicle reaches the position of the second nest, and the 5G airborne terminal of the first unmanned aerial vehicle self-configures an address. The second receiving module is further configured to receive the landing credential sent by the first unmanned aerial vehicle; The verifying module is configured to verify the landing credential sent by the first unmanned aerial vehicle according to the landing credential received from the command center server; The guiding module is configured to send the landing permission information to the first unmanned aerial vehicle to guide the first unmanned aerial vehicle to land on the second nest after the verifying module passes the verification.

11. An electronic device, comprising: The computer program product comprises a memory and a processor, and the memory stores a computer program. When the processor runs the computer program stored in the memory, the processor executes the unmanned aerial vehicle cooperative application method according to any one of claims 1-6 or 7-8.

12. A computer-readable storage medium comprising: The computer program, when running on a computer, causes the computer to execute the unmanned aerial vehicle cooperative application method according to any one of claims 1-6 or 7-8.

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