UAV flight method, system, device, equipment and storage medium

Abstract

The present disclosure provides a method, system, device, equipment and storage medium for flying a drone, and relates to the field of computer technology. The method includes: obtaining first starting point information corresponding to the first starting point of the drone takeoff and end point information corresponding to the end point, determining the straight line between the first starting point and the end point as the first path according to the first starting point information and the end point information, obtaining target base station beam information within a preset range of the distance from the first path, the target base station beam information is base station beam information that can be used by the drone, determining the first target path according to the target base station beam information within a preset range of the distance from the first path and the shortest path algorithm, and sending the first target path to the drone so that the drone flies according to the first target path. The present disclosure overcomes the problem of the current lack of research on drone technology.

Description

Background Art

[0002] Unmanned aerial vehicle, also known as UAV, is an unmanned aircraft that is controlled by radio remote control equipment and its own program control device.

[0003] Due to the powerful performance of drones, the current application fields of drones are extremely wide, and thus, drones have gradually become a hot technology in current research. However, due to the short research time of drone technology, the research on drone technology is not very in-depth. Summary of the invention

[0004] The present disclosure provides a drone flight method, system, device, equipment and storage medium, which at least to some extent overcome the problem of the current lack of research on drone technology.

[0005] Other features and advantages of the present disclosure will become apparent from the following detailed description, or may be learned in part by the practice of the present disclosure.

[0006] According to one aspect of the present disclosure, a drone flight method is provided, the method being applied to a drone platform, comprising:

[0007] Obtain the first starting point information corresponding to the first starting point of the drone takeoff and the end point information corresponding to the end point;

[0008] Determine a straight line between the first starting point and the end point as a first path according to the first starting point information and the end point information;

[0009] Acquire target base station beam information whose distance from the first path is within a preset range, where the target base station beam information is base station beam information that can be used by the drone;

[0010] Determine the first target path according to the target base station beam information whose distance from the first path is within a preset range and the shortest path algorithm;

[0011] The first target path is sent to the UAV, so that the UAV flies according to the first target path.

[0012] In one embodiment of the present disclosure, target base station beam information whose distance from the first path is within a preset range is obtained, and the target base station beam information is base station beam information that can be used by the drone, including:

[0013] Obtaining all base station beam information within a preset range of distance from the first path;

[0014] According to the predetermined no-fly zone and all base station beam information within a preset range from the first path, the target base station beam information within a preset range from the first path is determined. The target base station beam information is the base station beam information that can be used by the drone.

[0015] In one embodiment of the present disclosure, after sending the target path to the drone so that the drone flies according to the target path, the method further includes:

[0016] Receive the target base station beam strength sent by the drone;

[0017] When the difference between the target base station beam intensity sent by the drone and the predetermined target base station beam intensity is greater than a preset threshold, obtaining the current location information of the drone;

[0018] Determine the current location information of the drone as the second starting point information;

[0019] Determine a second target path according to the second starting point information and the end point information;

[0020] The second target path is sent to the UAV, so that the UAV flies according to the second target path.

[0021] In one embodiment of the present disclosure, determining the second target path according to the second starting point information and the end point information includes:

[0022] Determine a straight line between the second starting point and the end point as a second path according to the second starting point information and the end point information;

[0023] Acquire target base station beam information whose distance from the second path is within a preset range, where the target base station beam information is base station beam information that can be used by the drone;

[0024] The second target path is determined according to the target base station beam information whose distance to the second path is within a preset range and a shortest path algorithm.

[0025] According to another aspect of the present disclosure, a drone flight method is provided, which is applied to a drone, and the method comprises:

[0026] Receive a first target path, where the first target path is the first starting point information corresponding to the first starting point for the drone to take off and the end point information corresponding to the end point obtained by the drone platform. Determine the straight line between the first starting point and the end point as the first path according to the first starting point information and the end point information, and obtain target base station beam information within a preset range from the first path. The target base station beam information is base station beam information that can be used by the drone and is determined according to the target base station beam information within a preset range from the first path and the shortest path algorithm;

[0027] Fly according to the first target path.

[0028] According to another aspect of the present disclosure, there is provided a drone flight system, the system comprising:

[0029] UAV platforms and drones;

[0030] The UAV platform is used to obtain first starting point information corresponding to the first starting point of the UAV take-off and end point information corresponding to the end point, determine the straight line between the first starting point and the end point as the first path according to the first starting point information and the end point information, obtain target base station beam information whose distance from the first path is within a preset range, the target base station beam information is base station beam information that can be used by the UAV, determine the first target path according to the target base station beam information whose distance from the first path is within the preset range and the shortest path algorithm, and send the first target path to the UAV;

[0031] A drone is configured to fly according to a first target path.

[0032] According to another aspect of the present disclosure, there is provided a UAV flight device, which is applied to a UAV platform, and the device comprises:

[0033] A first acquisition module is used to acquire first starting point information corresponding to a first starting point for takeoff of the UAV and end point information corresponding to an end point;

[0034] A first determining module, configured to determine a straight line between the first starting point and the end point as a first path according to the first starting point information and the end point information;

[0035] A second acquisition module is used to acquire target base station beam information whose distance from the first path is within a preset range, where the target base station beam information is base station beam information that can be used by the drone;

[0036] A second determination module, configured to determine the first target path according to target base station beam information whose distance from the first path is within a preset range and a shortest path algorithm;

[0037] The first sending module is used to send the first target path to the drone, so that the drone flies according to the first target path.

[0038] In one embodiment of the present disclosure, the second acquisition module includes:

[0039] A first acquisition unit, used to acquire all base station beam information within a preset range of distances from the first path;

[0040] The first determination unit is used to determine the target base station beam information within a preset range of the distance from the first path based on the predetermined no-fly zone and all base station beam information within a preset range of the distance from the first path, and the target base station beam information is the base station beam information that can be used by the drone.

[0041] In one embodiment of the present disclosure, the drone flying device further comprises:

[0042] The second receiving module sends the target path to the UAV so that the UAV can fly according to the target path and then receive the target base station beam strength sent by the UAV;

[0043] The third acquisition module is used to obtain the current location information of the drone when the difference between the target base station beam intensity sent by the drone and the predetermined target base station beam intensity is greater than a preset threshold;

[0044] A third determination module is used to determine the current location information of the drone as the second starting point information;

[0045] A fourth determination module, used to determine a second target path according to the second starting point information and the end point information;

[0046] The second sending module is used to send the second target path to the drone, so that the drone flies according to the second target path.

[0047] In one embodiment of the present disclosure, the fourth determining module includes:

[0048] A second determining unit, configured to determine a straight line between the second starting point and the end point as a second path according to the second starting point information and the end point information;

[0049] A second acquisition unit is used to acquire target base station beam information whose distance from the second path is within a preset range, where the target base station beam information is base station beam information that can be used by the drone;

[0050] The third determination unit is used to determine the second target path according to the target base station beam information whose distance to the second path is within a preset range and a shortest path algorithm.

[0051] According to another aspect of the present disclosure, there is provided a UAV flight device, which is applied to a UAV platform, and the device comprises:

[0052] The first receiving module is used to receive a first target path, where the first target path is the first starting point information corresponding to the first starting point for the drone to take off and the end point information corresponding to the end point obtained by the drone platform. According to the first starting point information and the end point information, the straight line between the first starting point and the end point is determined as the first path, and the target base station beam information whose distance from the first path is within a preset range is obtained. The target base station beam information is the base station beam information that can be used by the drone and is determined according to the target base station beam information whose distance from the first path is within a preset range and the shortest path algorithm;

[0053] The flight module is used for flying according to a first target path.

[0054] According to another aspect of the present disclosure, an electronic device is provided, comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform the above-mentioned drone flight method by executing the executable instructions.

[0055] According to another aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned drone flight method is implemented.

[0056] The drone flight method provided by the embodiment of the present disclosure, on the drone platform side, obtains the first starting point information corresponding to the first starting point of the drone take-off and the end point information corresponding to the terminal, and then determines the straight line between the first starting point and the end point as the first path according to the first starting point information and the end point information, obtains the target base station beam information within a preset range from the first path, and then determines the first target path according to the target base station beam information and the shortest path algorithm, and then sends the first target path to the drone so that the drone flies according to the first target path. Since the base station beam information that the drone can use is determined according to the starting point and end point of the drone take-off, and then the first target path of the drone is determined according to the base station beam information that the drone can use, it can avoid the problem of flight failure caused by the inability to receive the base station beam when the drone flies on a predetermined path.

[0057] Furthermore, by planning the flight path of the drone and determining the flight method of the drone, the application of drone technology has been expanded.

[0058] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification are used to explain the principles of the present disclosure. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0060] Figure 1 A schematic diagram showing the structure of a drone flight system in an embodiment of the present disclosure is shown;

[0061] Figure 2 A flow chart of a drone flight method according to an embodiment of the present disclosure is shown;

[0062] Figure 3 Another flow chart of a drone flight method according to an embodiment of the present disclosure is shown;

[0063] Figure 4 A flow chart of another drone flight method according to an embodiment of the present disclosure is shown;

[0064] Figure 5 A schematic diagram of another UAV flight device according to an embodiment of the present disclosure is shown;

[0065] Figure 6 A schematic diagram of a UAV flight device according to an embodiment of the present disclosure is shown; and

[0066] Figure 7 A structural block diagram of an electronic device in an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0067] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that the disclosure will be more comprehensive and complete and to fully convey the concepts of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0068] In addition, the accompanying drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and their repeated description will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0069] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0070] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0071] It should be noted that the modifications of "one" and "plurality" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0072] Currently, low-altitude flying equipment is becoming more and more popular. There are two main ways to fly low-altitude flying equipment. One is to control the direction and altitude of the flight in real time. The other is to set the starting point and end point of takeoff in advance, and then the low-altitude flying equipment will complete the path planning autonomously. However, since the flight path may include no-fly zones and covered areas, if the path planning autonomously completed by the low-altitude flying equipment includes the above areas, it may be dangerous when the low-altitude flying equipment passes through the above areas.

[0073] In order to solve the above problems, the embodiments of the present disclosure provide a drone flight method, system, device, equipment and storage medium.

[0074] Figure 1 A structural diagram of a UAV flight system provided by an embodiment of the present disclosure is shown.

[0075] like Figure 1 As shown, the drone flight system 10 provided by the embodiment of the present disclosure may include:

[0076] UAV platform 102 and UAV 104;

[0077] The drone platform 102 is used to obtain first starting point information corresponding to the first starting point for the drone 104 to take off and end point information corresponding to the end point, determine the straight line between the first starting point and the end point as the first path according to the first starting point information and the end point information, obtain target base station beam information whose distance from the first path is within a preset range, the target base station beam information is base station beam information that can be used by the drone 104, determine the first target path according to the target base station beam information whose distance from the first path is within the preset range and the shortest path algorithm, and send the first target path to the drone 104;

[0078] The drone 104 is configured to fly according to a first target path.

[0079] It should be noted that the drone platform 102 may include an intelligent module disposed on the drone 104 .

[0080] The drone 104 may be any type of low-altitude flying device.

[0081] The drone platform 102 may be connected to the drone 104 via a wireless network or a wired network.

[0082] Optionally, the wireless network or wired network described above uses standard communication technology and / or protocol. The network is usually the Internet, but it can also be any network, including but not limited to a local area network (LAN), a metropolitan area network (MAN), a wide area network (WAN), a mobile, wired or wireless network, a dedicated network or any combination of a virtual private network). In some embodiments, technologies and / or formats including Hyper Text Mark-up Language (HTML), Extensible Markup Language (XML), etc. are used to represent data exchanged through the network. In addition, conventional encryption technologies such as Secure Socket Layer (SSL), Transport Layer Security (TLS), Virtual Private Network (VPN), Internet Protocol Security (IPsec) can also be used to encrypt all or some links. In other embodiments, customized and / or dedicated data communication technologies can also be used to replace or supplement the above data communication technologies.

[0083] The drone flight system provided by the embodiment of the present disclosure, on the drone platform side, obtains the first starting point information corresponding to the first starting point of the drone take-off and the end point information corresponding to the terminal, and then determines the straight line between the first starting point and the end point as the first path according to the first starting point information and the end point information, obtains the target base station beam information within a preset range from the first path, and then determines the first target path according to the target base station beam information and the shortest path algorithm, and then sends the first target path to the drone so that the drone flies according to the first target path. Since the base station beam information that the drone can use is determined according to the starting point and end point of the drone take-off, and then the first target path of the drone is determined according to the base station beam information that the drone can use, it can avoid the problem of flight failure caused by the inability to receive the base station beam when the drone flies on a predetermined path.

[0084] Based on the same inventive concept, an embodiment of the present disclosure provides a drone flight method, which can be executed by any electronic device with computing and processing capabilities.

[0085] Figure 2 A flow chart of a drone flight method in an embodiment of the present disclosure is shown.

[0086] like Figure 2 As shown, the drone flight method may include:

[0087] S202, obtaining first starting point information corresponding to the first starting point for take-off of the drone and end point information corresponding to the end point.

[0088] It should be noted that the first starting point and the end point may include a starting point and an end point that are customized by the user.

[0089] The first starting point information may include information capable of indicating the geographical location of the first starting point, and the end point information may include information capable of indicating the location of the end point.

[0090] S204: Determine a straight line between the first starting point and the end point as a first path according to the first starting point information and the end point information.

[0091] It can be understood that there is a straight line between the two points, based on which the straight line between the first starting point and the end point can be determined as the first path.

[0092] S206, obtaining target base station beam information whose distance from the first path is within a preset range, where the target base station beam information is base station beam information that can be used by the drone.

[0093] In an implementation to be described, the preset range may include a user-defined range.

[0094] The target base station beam information whose distance from the first path is within a preset range may include the target base station beam information within a rectangular area with the first path as a symmetry axis.

[0095] It is to be understood that the rectangular area may be a rectangular area at any horizontal height.

[0096] The target base station beam information may be base station beam information that can be utilized by the drone.

[0097] The base station beam information may be information about the beam of a signal received or sent by the base station. The base station beam information may include the strength of the base station beam, the angle of the base station beam, and the distribution range of the base station beam.

[0098] The method for obtaining beam information of a base station may include:

[0099] The core network saves the basic information of the network and stores the information of the base station in the form of structured data in the Unified Data Repository (UDR), including the location information, height information, inclination, and coverage radius of the base station. This function can be requested by the core network and obtained from the NEF.

[0100] Determining base station beam information based on the base station's location information, altitude information, inclination angle, and coverage radius is a commonly used technique in this field and will not be described in detail here.

[0101] In some implementations, S206 may specifically include:

[0102] Obtaining all base station beam information within a preset range of distance from the first path;

[0103] According to the predetermined no-fly zone and all base station beam information within a preset range from the first path, the target base station beam information within a preset range from the first path is determined. The target base station beam information is the base station beam information that can be used by the drone.

[0104] It should be noted that after obtaining all base station beam information, all base station beam information can be used to determine the available base station beam information, i.e., the target base station beam information, based on the pre-determined no-fly zone information, where all base station beam information includes coverage area information of all base station beams.

[0105] S208: Determine the first target path according to the target base station beam information whose distance from the first path is within a preset range and a shortest path algorithm.

[0106] It should be noted that the shortest path algorithms may include Dijkstra algorithm, Bellman-Ford algorithm, Floyd algorithm and SPFA algorithm.

[0107] It should be noted that since the drone needs to fly in areas covered by the network, it is necessary to determine the area where the target base station beam that can be received by the drone exists, and then determine the first target path that can support the drone flight based on the shortest path algorithm and the target base station beam information.

[0108] S210: Send the first target path to the drone, so that the drone flies according to the first target path.

[0109] The drone flight method provided by the embodiment of the present disclosure, on the drone platform side, obtains the first starting point information corresponding to the first starting point of the drone take-off and the end point information corresponding to the terminal, and then determines the straight line between the first starting point and the end point as the first path according to the first starting point information and the end point information, obtains the target base station beam information within a preset range from the first path, and then determines the first target path according to the target base station beam information and the shortest path algorithm, and then sends the first target path to the drone so that the drone flies according to the first target path. Since the base station beam information that the drone can use is determined according to the starting point and end point of the drone take-off, and then the first target path of the drone is determined according to the base station beam information that the drone can use, it can avoid the problem of flight failure caused by the inability to receive the base station beam when the drone flies on a predetermined path.

[0110] Based on the same inventive concept, the disclosed embodiment provides another drone flight method, which can be executed by any electronic device with computing and processing capabilities.

[0111] Figure 3 A flow chart of another drone flight method in an embodiment of the present disclosure is shown.

[0112] like Figure 3 As shown, the method may include:

[0113] S302, receiving the target base station beam strength sent by the drone.

[0114] It should be noted that the UAV can receive the target base station beam during flight, and then determine the target base station beam strength based on the target base station beam information.

[0115] S304, when the difference between the target base station beam intensity sent by the drone and the predetermined target base station beam intensity is greater than a preset threshold, obtain the current location information of the drone.

[0116] It should be noted that the target base station beam information obtained by the UAV platform includes the target base station beam intensity.

[0117] The preset thresholds include thresholds defined by the user.

[0118] S306: Determine the current location information of the drone as the second starting point information.

[0119] It should be noted that the drone can obtain the drone's location information in real time, and then send the obtained location information to the drone platform.

[0120] S308, determining a second target path according to the second starting point information and the end point information;

[0121] It should be noted that the method for determining the second target path may be the same as the method for determining the first target path.

[0122] Specifically, S308 may include:

[0123] Determine a straight line between the second starting point and the end point as a second path according to the second starting point information and the end point information;

[0124] Acquire target base station beam information whose distance from the second path is within a preset range, where the target base station beam information is base station beam information that can be used by the drone;

[0125] The second target path is determined according to the target base station beam information whose distance to the second path is within a preset range and a shortest path algorithm.

[0126] S310: Send the second target path to the drone, so that the drone flies according to the second target path.

[0127] In the disclosed embodiment, when there is a large difference between the target base station beam strength determined by the drone and the target base station beam strength pre-acquired by the drone platform, the location information of the drone is obtained in a timely manner, and the flight path of the drone is re-determined based on the current location information of the drone and the predetermined end point information. This can avoid the dangerous problem of the drone being unable to receive the base station beam due to sudden changes in the target base station beam during the flight of the drone.

[0128] Based on the same inventive concept, a drone flight method is also provided in the embodiments of the present disclosure, which is applied to a drone, such as the following embodiments. Since the principle of solving the problem in this method embodiment is similar to that in the above method embodiment, the implementation of this method embodiment can refer to the above method embodiment, and the repeated parts will not be repeated.

[0129] Figure 4 A flow chart of another drone flight method in an embodiment of the present disclosure is shown.

[0130] like Figure 4 As shown, the drone flight method may include:

[0131] S402, receiving a first target path, where the first target path is the first starting point information corresponding to the first starting point for the drone to take off and the end point information corresponding to the end point obtained by the drone platform. According to the first starting point information and the end point information, a straight line between the first starting point and the end point is determined as a first path, and target base station beam information whose distance from the first path is within a preset range is obtained. The target base station beam information is base station beam information that can be used by the drone and is determined according to the target base station beam information whose distance from the first path is within a preset range and a shortest path algorithm;

[0132] S404, flying according to the first target path.

[0133] The drone flight method provided by the embodiment of the present disclosure is that on the drone side, the drone platform obtains the first starting point information corresponding to the first starting point of the drone takeoff and the end point information corresponding to the terminal, and then determines the straight line between the first starting point and the end point as the first path based on the first starting point information and the end point information, obtains the target base station beam information whose distance from the first path is within a preset range, and then determines the first target path based on the target base station beam information and the shortest path algorithm, and then sends the first target path to the drone so that the drone flies according to the first target path. Since the base station beam information that the drone can use is determined based on the starting point and end point of the drone takeoff, and then the first target path of the drone is determined based on the base station beam information that the drone can use, it is possible to avoid the problem of flight failure caused by the inability to receive the base station beam when the drone flies on a predetermined path.

[0134] Based on the same inventive concept, the present disclosure also provides a UAV flight device, such as the following embodiment. Since the principle of solving the problem in the device embodiment is similar to that in the above method embodiment, the implementation of the device embodiment can refer to the implementation of the above method embodiment, and the repeated parts will not be repeated.

[0135] Figure 5 A schematic diagram of a UAV flight device according to an embodiment of the present disclosure is shown, which is applied to a UAV platform, such as Figure 5 As shown, the device 500 includes:

[0136] The first acquisition module 502 is used to acquire first starting point information corresponding to the first starting point of the drone takeoff and end point information corresponding to the end point;

[0137] A first determining module 504, configured to determine a straight line between the first starting point and the end point as a first path according to the first starting point information and the end point information;

[0138] The second acquisition module 506 is used to acquire target base station beam information whose distance from the first path is within a preset range, where the target base station beam information is base station beam information that can be used by the drone;

[0139] A second determination module 508, configured to determine the first target path according to the target base station beam information whose distance from the first path is within a preset range and a shortest path algorithm;

[0140] The first sending module 510 is used to send the first target path to the drone, so that the drone flies according to the first target path.

[0141] In one embodiment of the present disclosure, the second acquisition module 506 includes:

[0142] A first acquisition unit, used to acquire all base station beam information within a preset range of distances from the first path;

[0143] The first determination unit is used to determine the target base station beam information within a preset range of the distance from the first path based on the predetermined no-fly zone and all base station beam information within a preset range of the distance from the first path, and the target base station beam information is the base station beam information that can be used by the drone.

[0144] In one embodiment of the present disclosure, the drone flying device 500 further includes:

[0145] The second receiving module 512 sends the target path to the UAV so that the UAV flies according to the target path and then receives the target base station beam strength sent by the UAV;

[0146] The third acquisition module 514 is used to acquire the current location information of the drone when the difference between the target base station beam strength sent by the drone and the predetermined target base station beam strength is greater than a preset threshold;

[0147] The third determining module 516 is used to determine the current location information of the UAV as the second starting point information;

[0148] A fourth determining module 518, configured to determine a second target path according to the second starting point information and the end point information;

[0149] The second sending module 520 is used to send the second target path to the drone, so that the drone flies according to the second target path.

[0150] In one embodiment of the present disclosure, the fourth determining module 518 includes:

[0151] A second determining unit, configured to determine a straight line between the second starting point and the end point as a second path according to the second starting point information and the end point information;

[0152] A second acquisition unit is used to acquire target base station beam information whose distance from the second path is within a preset range, where the target base station beam information is base station beam information that can be used by the drone;

[0153] The third determination unit is used to determine the second target path according to the target base station beam information whose distance to the second path is within a preset range and a shortest path algorithm.

[0154] The drone flight device provided by the embodiment of the present disclosure, on the drone platform side, obtains the first starting point information corresponding to the first starting point of the drone take-off and the end point information corresponding to the terminal, and then determines the straight line between the first starting point and the end point as the first path according to the first starting point information and the end point information, obtains the target base station beam information within a preset range from the first path, and then determines the first target path according to the target base station beam information and the shortest path algorithm, and then sends the first target path to the drone so that the drone flies according to the first target path. Since the base station beam information that the drone can use is determined according to the starting point and end point of the drone take-off, and then the first target path of the drone is determined according to the base station beam information that the drone can use, it can avoid the problem of flight failure caused by the inability to receive the base station beam when the drone flies on a predetermined path.

[0155] Based on the same inventive concept, the present disclosure also provides a UAV flight device, which is applied to a UAV, such as the following embodiments. Since the principle of solving the problem in the device embodiment is similar to that in the above method embodiment, the implementation of the device embodiment can refer to the implementation of the above method embodiment, and the repeated parts will not be repeated.

[0156] Figure 6 A schematic diagram of a UAV flight device according to an embodiment of the present disclosure is shown, which is applied to a UAV platform, such as Figure 6 As shown, the device comprises:

[0157] The first receiving module 602 is used to receive a first target path, where the first target path is the first starting point information corresponding to the first starting point for the drone to take off and the end point information corresponding to the end point obtained by the drone platform. According to the first starting point information and the end point information, the straight line between the first starting point and the end point is determined as the first path, and the target base station beam information whose distance from the first path is within a preset range is obtained. The target base station beam information is the base station beam information that can be used by the drone and is determined according to the target base station beam information whose distance from the first path is within a preset range and the shortest path algorithm;

[0158] The flight module 604 is used to fly according to the first target path.

[0159] The drone flight method provided by the embodiment of the present disclosure is that on the drone side, the drone platform obtains the first starting point information corresponding to the first starting point of the drone takeoff and the end point information corresponding to the terminal, and then determines the straight line between the first starting point and the end point as the first path based on the first starting point information and the end point information, obtains the target base station beam information whose distance from the first path is within a preset range, and then determines the first target path based on the target base station beam information and the shortest path algorithm, and then sends the first target path to the drone so that the drone flies according to the first target path. Since the base station beam information that the drone can use is determined based on the starting point and end point of the drone takeoff, and then the first target path of the drone is determined based on the base station beam information that the drone can use, it is possible to avoid the problem of flight failure caused by the inability to receive the base station beam when the drone flies on a predetermined path.

[0160] Those skilled in the art will appreciate that various aspects of the present disclosure may be implemented as systems, methods or program products. Therefore, various aspects of the present disclosure may be specifically implemented in the following forms, namely: complete hardware implementation, complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software, which may be collectively referred to herein as "circuits", "modules" or "systems".

[0161] Refer to the following Figure 7 An electronic device 700 according to this embodiment of the present disclosure is described. Figure 7 The electronic device 700 shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0162] like Figure 7 As shown, the electronic device 700 is in the form of a general computing device. The components of the electronic device 700 may include but are not limited to: at least one processing unit 710, at least one storage unit 720, and a bus 730 connecting different system components (including the storage unit 720 and the processing unit 710).

[0163] The storage unit stores program codes, which can be executed by the processing unit 710, so that the processing unit 710 performs the steps of various exemplary embodiments of the present disclosure described in the above “Exemplary Method” section of this specification. For example, the processing unit 710 can perform the following steps of the above method embodiment:

[0164] Obtain the first starting point information corresponding to the first starting point of the drone takeoff and the end point information corresponding to the end point;

[0165] Determine a straight line between the first starting point and the end point as a first path according to the first starting point information and the end point information;

[0166] Acquire target base station beam information whose distance from the first path is within a preset range, where the target base station beam information is base station beam information that can be used by the drone;

[0167] Determine the first target path according to the target base station beam information whose distance from the first path is within a preset range and the shortest path algorithm;

[0168] The first target path is sent to the UAV, so that the UAV flies according to the first target path.

[0169] The storage unit 720 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 7201 and / or a cache storage unit 7202 , and may further include a read-only storage unit (ROM) 7203 .

[0170] The storage unit 720 may also include a program / utility 7204 having a set (at least one) of program modules 7205, such program modules 7205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0171] Bus 730 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0172] The electronic device 700 may also communicate with one or more external devices 740 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 700, and / or communicate with any device that enables the electronic device 700 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 750. Furthermore, the electronic device 700 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter 760. As shown, the network adapter 760 communicates with other modules of the electronic device 700 via a bus 730. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 700, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0173] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0174] In an exemplary embodiment of the present disclosure, a computer-readable storage medium is also provided, which may be a readable signal medium or a readable storage medium. A program product capable of implementing the above method of the present disclosure is stored thereon. In some possible implementations, various aspects of the present disclosure may also be implemented in the form of a program product, which includes a program code, and when the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps according to various exemplary implementations of the present disclosure described in the above “Exemplary Method” section of this specification.

[0175] More specific examples of computer-readable storage media in the present disclosure may include, but are not limited to, an electrical connection having one or more conductors, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0176] In the present disclosure, a computer readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, wherein a readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A readable signal medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0177] Alternatively, the program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

[0178] In a specific implementation, the program code for performing the operations of the present disclosure may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., using an Internet service provider to connect through the Internet).

[0179] It should be noted that, although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into multiple modules or units to be embodied.

[0180] In addition, although the steps of the method in the present disclosure are described in a specific order in the drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps, etc.

[0181] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a mobile terminal, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0182] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The present disclosure is intended to cover any variations, uses or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

Claims

1. A drone flight method, characterized in that: Applied to an unmanned aerial vehicle platform, the method comprises: Obtain the first starting point information corresponding to the first starting point of the drone takeoff and the end point information corresponding to the end point; Determine a straight line between the first starting point and the end point as a first path according to the first starting point information and the end point information; Acquire target base station beam information whose distance from the first path is within a preset range, wherein the target base station beam information is base station beam information that can be used by the drone; Determine a first target path according to target base station beam information whose distance from the first path is within a preset range and a shortest path algorithm; sending the first target path to the drone, so that the drone flies according to the first target path; Receiving the target base station beam strength sent by the drone; When the difference between the target base station beam intensity sent by the drone and the predetermined target base station beam intensity is greater than a preset threshold, obtaining the current location information of the drone; Determine the current location information of the drone as the second starting point information; Determine a second target path according to the second starting point information and the end point information; The second target path is sent to the drone, so that the drone flies according to the second target path.

2. The drone flying method according to claim 1, characterized in that: The acquiring target base station beam information whose distance from the first path is within a preset range, wherein the target base station beam information is base station beam information that can be used by the drone, includes: Acquire beam information of all base stations within a preset range of distance from the first path; According to the predetermined no-fly zone and all base station beam information within a preset range from the first path, the target base station beam information within a preset range from the first path is determined, and the target base station beam information is the base station beam information that can be used by the drone.

3. The drone flying method according to claim 1, characterized in that: Determining a second target path according to the second starting point information and the end point information includes: Determine a straight line between the second starting point and the end point as a second path according to the second starting point information and the end point information; Acquire target base station beam information whose distance from the second path is within a preset range, wherein the target base station beam information is base station beam information that can be used by the drone; The second target path is determined according to the target base station beam information whose distance from the second path is within a preset range and a shortest path algorithm.

4. A drone flight method, characterized in that: Applied to a drone, the method comprises: Receive a first target path, where the first target path is obtained by the UAV platform from first starting point information corresponding to a first starting point for takeoff of the UAV and end point information corresponding to an end point, determine a straight line between the first starting point and the end point as a first path according to the first starting point information and the end point information, and obtain target base station beam information within a preset range from the first path, where the target base station beam information is base station beam information that can be used by the UAV and is determined according to the target base station beam information within a preset range from the first path and a shortest path algorithm; Flying according to the first target path; The target base station beam strength is sent to the UAV platform, so that the UAV platform determines whether the difference between the target base station beam strength and the predetermined target base station beam strength is greater than a preset threshold value. If the difference is greater than the preset threshold value, the current position information of the UAV is obtained, and the current position information of the UAV is determined as the second starting point information, and the second target path is determined according to the second starting point information and the end point information; The second target path is received and the aircraft is flown according to the second target path.

5. A drone flight system, characterized in that: include: UAV platforms and drones; The UAV platform is used to obtain first starting point information corresponding to a first starting point for takeoff of the UAV and terminal point information corresponding to an end point, determine a straight line between the first starting point and the terminal point as a first path according to the first starting point information and the terminal point information, obtain target base station beam information whose distance from the first path is within a preset range, the target base station beam information is base station beam information that can be used by the UAV, determine a first target path according to the target base station beam information whose distance from the first path is within a preset range and a shortest path algorithm, send the first target path to the UAV, determine whether a difference between a target base station beam intensity and a predetermined target base station beam intensity is greater than a preset threshold, and if the difference is greater than the preset threshold, obtain current location information of the UAV and determine the current location information of the UAV as second starting point information, and determine a second target path according to the second starting point information and the terminal point information; The drone is used to fly according to the first target path, send the target base station beam strength to the drone platform, receive the second target path and fly according to the second target path.

6. A UAV flying device, characterized in that: Applied to a UAV platform, the device comprises: A first acquisition module is used to acquire first starting point information corresponding to a first starting point for takeoff of the UAV and end point information corresponding to an end point; A first determining module, configured to determine a straight line between a first starting point and an end point as a first path according to the first starting point information and the end point information; A second acquisition module is used to acquire target base station beam information whose distance from the first path is within a preset range, wherein the target base station beam information is base station beam information that can be used by the UAV; A second determination module, configured to determine a first target path according to target base station beam information whose distance from the first path is within a preset range and a shortest path algorithm; A first sending module, configured to send the first target path to the drone, so that the drone flies according to the first target path; A second receiving module is used to receive the target base station beam strength sent by the drone; A third acquisition module is used to acquire the current location information of the drone when the difference between the target base station beam intensity sent by the drone and the predetermined target base station beam intensity is greater than a preset threshold; A third determination module is used to determine the current location information of the drone as the second starting point information; a fourth determining module, configured to determine a second target path according to the second starting point information and the end point information; The second sending module is used to send the second target path to the drone, so that the drone flies according to the second target path.

7. An unmanned aerial vehicle flying device, characterized in that: Applied to a drone, the device comprises: A first receiving module is used to receive a first target path, where the first target path is obtained by the UAV platform from first starting point information corresponding to the first starting point for the UAV to take off and end point information corresponding to the end point, and a straight line between the first starting point and the end point is determined as a first path according to the first starting point information and the end point information, and target base station beam information within a preset range from the first path is obtained, where the target base station beam information is base station beam information that can be used by the UAV and is determined according to the target base station beam information within a preset range from the first path and a shortest path algorithm; A flight module, configured to fly according to the first target path; The flight module is further used to send the target base station beam strength to the UAV platform, so that the UAV platform determines whether the difference between the target base station beam strength and the predetermined target base station beam strength is greater than a preset threshold value, and when the difference is greater than the preset threshold value, obtain the current position information of the UAV, determine the current position information of the UAV as the second starting point information, and determine the second target path according to the second starting point information and the end point information; The second target path is received and the aircraft is flown according to the second target path.

8. An electronic device, characterized in that: include: processor; as well as A memory, configured to store executable instructions of the processor; Wherein, the processor is configured to execute the drone flight method described in any one of claims 1 to 4 by executing the executable instructions.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the drone flying method described in any one of claims 1 to 4 is implemented.

Images