A method, device, and computer storage medium for controlling a drone

Abstract

This application relates to the field of drone technology, and particularly to a drone control method, device, and computer storage medium. The drone control method includes: obtaining the positioning information corresponding to each of multiple drones received by the vehicle-road cooperation module; the positioning information corresponding to each of the multiple drones is sent to the vehicle-road cooperation module by the multiple drones in a broadcast form; generating target flight control information corresponding to each of the multiple drones based on the positioning information corresponding to each of the multiple drones and a preset flight task; sending the target flight control information corresponding to each of the multiple drones to the vehicle-road cooperation module; so that the vehicle-road cooperation module sends the target flight control information to the multiple drones in a broadcast form; avoiding the installation of cellular communication modules on individual drones, thereby avoiding the limitation of traffic in the drone control process, and further improving the stability and safety of the flight control of multiple drones.

Description

Technical Field

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

[0002] During the flight performance of an unmanned aerial vehicle, in order to control the unmanned aerial vehicle, a cellular mobile communication module is usually installed in the unmanned aerial vehicle. The cellular mobile communication module is used to communicate with the cloud through a base station (4G / 5G); however, the communication times of the cellular mobile communication modules corresponding to multiple unmanned aerial vehicles with the cloud cannot be exactly the same; and the flight control processes of multiple unmanned aerial vehicles are easily restricted by the traffic in the traffic cards. Therefore, during the flight of multiple unmanned aerial vehicles, there is a situation where the unmanned aerial vehicles are disconnected, which may lead to the suspension of the flight mission or the occurrence of an unmanned aerial vehicle flight accident. Summary of the Invention

[0003] Aiming at the above problems of the prior art, the purpose of this application is to avoid installing a cellular communication module on each unmanned aerial vehicle, thereby avoiding the limitation of traffic in the process of controlling the unmanned aerial vehicle, and improving the stability and safety of flight control of multiple unmanned aerial vehicles.

[0004] To solve the above problems, this application provides a method for controlling an unmanned aerial vehicle, including:

[0005] Obtain the positioning information corresponding to each of the multiple unmanned aerial vehicles received by the vehicle-road cooperation module; the positioning information corresponding to each of the multiple unmanned aerial vehicles is sent to the vehicle-road cooperation module by the multiple unmanned aerial vehicles in a broadcast form;

[0006] Based on the positioning information corresponding to each of the multiple unmanned aerial vehicles and a preset flight mission, generate the target flight control information corresponding to each of the multiple unmanned aerial vehicles;

[0007] Send the target flight control information corresponding to each of the multiple unmanned aerial vehicles to the vehicle-road cooperation module; so that the vehicle-road cooperation module sends the target flight control information to the multiple unmanned aerial vehicles in a broadcast form; the target flight control information is used to control the multiple unmanned aerial vehicles to fly.

[0008] In an embodiment of this application, after sending the target flight control information corresponding to each of the multiple unmanned aerial vehicles to the vehicle-road cooperation module, the method further includes:

[0009] Obtain the real-time flight status information corresponding to each of the multiple unmanned aerial vehicles received by the vehicle-road cooperation module; the real-time flight status information corresponding to each of the multiple unmanned aerial vehicles is sent to the vehicle-road cooperation module by the multiple unmanned aerial vehicles in a broadcast form;

[0010] Compare the information based on the target flight control information corresponding to each of the multiple drones and the real-time flight status information corresponding to each of the multiple drones to determine the information deviation;

[0011] Based on the information deviation, determine the abnormal drones; the information deviation of the abnormal drones exceeds the preset range;

[0012] Based on the real-time flight status information corresponding to each of the multiple drones and the preset flight mission, adjust the target flight control information of the abnormal drones.

[0013] In the embodiment of the present application, the vehicle-road cooperation module includes multiple roadside units, and obtaining the positioning information corresponding to each of the multiple drones received by the vehicle-road cooperation module includes:

[0014] Obtain the drone information corresponding to at least one drone received by each of the multiple roadside units; the drone information includes the positioning information, drone number information, and sending time information;

[0015] Based on the drone number information and the sending time information, perform information deduplication on the positioning information to obtain the multiple positioning information corresponding to each of the multiple drones.

[0016] In the embodiment of the present application, obtain the drone hovering information received by the vehicle-road cooperation module; the drone hovering information includes the hovering drone number; the drone hovering information is sent to the vehicle-road cooperation module in a broadcast form by the drones at risk of collision.

[0017] Based on the preset flight mission and the drone hovering information, generate the updated flight control information corresponding to the hovering drone number;

[0018] Send the updated flight control information corresponding to the hovering drone number to the vehicle-road cooperation module; so that the vehicle-road cooperation module sends the updated flight control information to the drones at risk of collision in a broadcast form.

[0019] In the embodiment of the present application, the method further includes:

[0020] Obtain the flight status information corresponding to each of the multiple drones received by the vehicle-road cooperation module;

[0021] In the case where the number of the flight status information is less than the preset information number, generate a pause flight instruction;

[0022] Send the pause flight instruction to the vehicle-road cooperation module; so that the vehicle-road cooperation module sends the pause flight instruction to the multiple drones in a broadcast form.

[0023] In an embodiment of the present application, after the suspension flight instruction is sent to the vehicle-road cooperation module, the method further includes:

[0024] Monitoring the positioning information corresponding to each of the multiple drones received by the vehicle-road cooperation module;

[0025] When the number of the positioning information is equal to the preset number of information, generating the resume flight control information corresponding to each of the multiple drones based on the positioning information corresponding to each of the multiple drones and the preset flight task;

[0026] Sending the resume flight control information corresponding to each of the multiple drones to the vehicle-road cooperation module; so that the vehicle-road cooperation module sends the resume flight control information to the multiple drones in a broadcast manner.

[0027] In an embodiment of the present application, after monitoring the positioning information corresponding to each of the multiple drones received by the vehicle-road cooperation module, the method further includes:

[0028] Determining the distance between the multiple drones based on the positioning information corresponding to each of the multiple drones;

[0029] Determining the outlier drone based on the distance between the multiple drones;

[0030] Sending the positioning information of the outlier drone and a warning message to a display module; the display module is used to display the positioning information of the outlier drone.

[0031] On the other hand, the present application also provides a drone control device, and the device includes:

[0032] A positioning information acquisition module, configured to acquire the positioning information corresponding to each of the multiple drones received by the vehicle-road cooperation module; the positioning information corresponding to each of the multiple drones is sent to the vehicle-road cooperation module by the multiple drones in a broadcast manner;

[0033] A target control information generation module, configured to generate the target flight control information corresponding to each of the multiple drones based on the positioning information corresponding to each of the multiple drones and a preset flight task;

[0034] A target information sending module, configured to send the target flight control information corresponding to each of the multiple drones to the vehicle-road cooperation module; so that the vehicle-road cooperation module sends the target flight control information to the multiple drones in a broadcast manner; the target flight control information is used to control the flight of the multiple drones.

[0035] On the other hand, the present application also provides an electronic device, which includes a processor and a memory. At least one instruction or at least one program segment is stored in the memory, and the at least one instruction or the at least one program segment is loaded and executed by the processor to implement the drone control method as described above.

[0036] On the other hand, the present application also provides a computer storage medium, in which at least one instruction or at least one program segment is stored, and the at least one instruction or the at least one program segment is loaded and executed by a processor to implement the drone control method as described above.

[0037] Due to the above technical solution, the drone control method described in the present application has the following beneficial effects:

[0038] In the drone control method of the present application, communication between multiple drones and the cloud control center is achieved through the vehicle-road cooperation module, thereby avoiding the installation of cellular communication modules on individual drones, and further avoiding the limitation of traffic during the drone control process, improving the stability and safety of the flight control of multiple drones; in addition, the target flight control information corresponding to each of the multiple drones is broadcast through the vehicle-road cooperation module, so that the time nodes for the target flight control information to be transmitted into the drones are consistent, thereby improving the unity and timeliness of the drone flight control. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0040] Figure 1 is a schematic structural diagram of an application system of a drone control method provided by an embodiment of the present application;

[0041] Figure 2 is a schematic flowchart of a drone control method provided by an embodiment of the present application;

[0042] Figure 3 is a schematic flowchart of a drone control method provided by an embodiment of the present application;

[0043] Figure 4 is a schematic flowchart of obtaining positioning information in a drone control method provided by an embodiment of the present application;

[0044] Figure 5 is a schematic flowchart of a drone control method provided by an embodiment of the present application;

[0045] Figure 6It is a schematic flowchart of a drone control method provided by an embodiment of the present application;

[0046] Figure 7 It is a schematic flowchart of a drone control method provided by an embodiment of the present application

[0047] Figure 8 It is a schematic flowchart of a drone control method provided by an embodiment of the present application;

[0048] Figure 9 It is a schematic structural diagram of a drone control device provided by an embodiment of the present application;

[0049] Figure 10 It is a hardware structure block diagram of a drone control method provided by an embodiment of the present application. Detailed implementation manners

[0050] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0051] As used herein, the term "one embodiment" or "embodiment" refers to a specific feature, structure, or characteristic that may be included in at least one implementation manner of the present application. In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "top", "bottom", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. Moreover, the terms "first", "second", etc. are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0052] In combination with Figure 1, introduce an application system of a drone control method provided by an embodiment of the present application. The system applies the drone control method in the embodiment of the present application. The system includes a drone control device, a vehicle-road coordination module, and multiple drones. Specifically, the drone control device can be a cloud control center, and the vehicle-road coordination module includes multiple roadside units.

[0053] In a specific embodiment of the present application, the roadside unit can be an RSU (Road Side Unit). The roadside unit includes a first communication unit and a second communication unit. The first communication unit is used for communication connection with the drone control device. Specifically, the first communication unit can be a cellular network communication unit (uu communication unit) or an optical fiber communication unit. In the case of using the uu communication unit, the communication cost between the vehicle-road coordination module and the drone control device can be reduced. In the case of using the optical fiber communication unit, the communication time between the vehicle-road coordination module and the drone control device can be increased, thereby improving the timeliness of drone control. The corresponding communication method is selected based on specific requirements and is not limited herein. The second communication unit is used for communication connection with the drone. Specifically, the second communication unit refers to a direct communication unit (PC5 communication unit).

[0054] In a specific embodiment of the present application, the drone includes a direct communication unit. The drone can communicate with the direct communication unit of the roadside unit through the direct communication unit, or can communicate with the direct communication unit of other drones through the direct communication unit. For example, drone 1 can communicate with drone 2 and drone 3 respectively. The information interaction between drones can improve the judgment of the flight environment by drones, thereby avoiding collisions during the flight of drones.

[0055] Combined with Figure 2 , introduce a drone control method provided by an embodiment of the present application. The method includes:

[0056] S2001. Obtain the respective positioning information of multiple drones received by the vehicle-road coordination module; the respective positioning information of multiple drones is sent to the vehicle-road coordination module in a broadcast form by multiple drones; the respective positioning information of multiple drones refers to the position information where the drone is currently located. Specifically, the drone can send its own positioning information to the vehicle-road coordination module and the remaining drones through the direct communication unit. Specifically, the drone sends the positioning information to the vehicle-road coordination module in a broadcast form at a preset time period.

[0057] S2002. Generate the target flight control information corresponding to each of the multiple drones based on the positioning information corresponding to each drone and a preset flight mission; the preset flight mission refers to the flight missions of multiple drones. Specifically, the preset flight mission may refer to the performance mission of drone shows, that is, missions such as the flight formation change and the drone light change of multiple drones; the target flight control information is used to control the flight of multiple drones. Specifically, the target flight control information may refer to control information such as the flight trajectory of the drone, the flight speed change, and the drone light change.

[0058] S2003. Send the target flight control information corresponding to each of the multiple drones to the vehicle-road coordination module; so that the vehicle-road coordination module sends the target flight control information to multiple drones in the form of broadcasting; the target flight control information is used to control the flight of multiple drones.

[0059] In the embodiment of the present application, the communication between multiple drones and the cloud control center is realized through the vehicle-road coordination module, thereby avoiding the installation of cellular communication modules on individual drones, and further avoiding the limitation of traffic in the process of drone control, improving the stability and safety of the flight control of multiple drones; in addition, by broadcasting the target flight control information corresponding to each of the multiple drones through the vehicle-road coordination module, the time nodes for the target flight control information to be transmitted into the drones are made consistent, thereby improving the stability and timeliness of the drone flight control.

[0060] Reference Figure 3 , in the embodiment of the present application, after S2003, the drone control method further includes:

[0061] S3001. Obtain the real-time flight status information corresponding to each of the multiple drones received by the vehicle-road coordination module; the real-time flight status information corresponding to each of the multiple drones is sent to the vehicle-road coordination module by multiple drones in the form of broadcasting; the real-time flight status information refers to the current flight status information of the drone. Specifically, the real-time flight status information includes the flight speed of the drone, the heading angle of the drone, the flight acceleration of the drone, and the real-time positioning information, etc.; the real-time positioning information may include longitude and latitude information and flight altitude information.

[0062] S3002. Compare the information based on the target flight control information corresponding to each of the multiple drones and the real-time flight status information corresponding to each of the multiple drones, and determine the information deviation; in the embodiment of the present application, the information deviation includes trajectory deviation and speed deviation.

[0063] S3003. Determine the abnormal drones based on the information deviation; the information deviation of the abnormal drones exceeds the preset range; specifically, the information deviation refers to the information deviation corresponding to each of the multiple drones.

[0064] In a specific embodiment of the present application, when the information deviation corresponding to each of the first number of drones exceeds a preset range, and the information deviation corresponding to each of the second number of drones is within the preset range, it is determined that all of the first number of drones are abnormal drones; wherein, the first number is less than or equal to the second number, and the sum of the first number and the second number is the total number of drones.

[0065] In another specific embodiment of the present application, when the information deviations corresponding to multiple drones are all the same, it is determined that the information deviation is within a preset deviation range; for example, if the flight trajectories of the drones are all offset by 1 m compared to the target flight trajectory in the target flight control information, and the flight speeds of the drones are all reduced by 2 m / s compared to the target flight speed in the target flight control information, then it is determined that the above deviations belong to the deviations within the preset range, so as to avoid misjudgment caused by environmental factors.

[0066] In another specific embodiment of the present application, when the information deviation corresponding to each of the third number of drones exceeds a preset range, and the information deviation corresponding to each of the fourth number of drones is within the preset range, it is determined that all of the fourth number of drones are abnormal drones; wherein, the ratio between the third number and the fourth number is greater than a preset ratio. Specifically, the preset ratio can be 2 or 3; and the sum of the third number and the fourth number is the total number of drones.

[0067] S3004. Adjust the target flight control information of the abnormal drones based on the real-time flight state information corresponding to multiple drones and the preset flight tasks.

[0068] In the embodiment of the present application, by determining the information deviation based on the real-time flight state information, determining the abnormal drones based on the information deviation, and adjusting the target flight control information of the abnormal drones, it is possible to ensure that multiple drones can successfully complete the preset flight tasks, thereby improving the stability and safety of the drone flight performance.

[0069] Reference Figure 4 , in the embodiment of the present application, the vehicle-road cooperation module includes multiple roadside units, and S2001 includes:

[0070] S4001. Obtain the drone information corresponding to at least one drone received by each of the multiple roadside units; the drone information includes positioning information, drone number information, and sending time information; the drone number information refers to the number of the drone that sends the information; the sending time information refers to the time node when the drone sends the information; specifically, in the embodiment of the present application, multiple drones send drone information to the vehicle-road cooperation module in a broadcast form at a preset time period.

[0071] S4002. De-duplicate the positioning information based on the UAV number information and the sending time information to obtain multiple positioning information corresponding to each of the multiple UAVs. Specifically, retain the positioning information with different UAV number information and different sending time information.

[0072] In the embodiment of the present application, by de-duplicating the positioning information based on the UAV number information and the sending time information, invalid operations can be avoided, thereby improving the information operation rate and the control efficiency of multiple UAVs.

[0073] In a specific embodiment of the present application, a method similar to the positioning information de-duplication method can also be used to de-duplicate other information in the flight state information, which will not be elaborated here.

[0074] Reference Figure 5 , the UAV control method further includes:

[0075] S5001. Obtain the UAV hovering information received by the vehicle-road cooperation module; the UAV hovering information includes the hovering UAV number; the UAV hovering information is sent to the vehicle-road cooperation module in a broadcast form by the UAV with a collision risk; the UAV hovering information refers to the information sent by the hovering UAV to the vehicle-road cooperation module. Specifically, anti-collision modules are respectively provided on multiple UAVs. The anti-collision module is used to identify the collision risk between its own UAV and other UAVs. When there is a collision risk for the UAV, the flight altitude of the UAV drops and hovers, and the UAV hovering information is sent to the vehicle-road cooperation module in a broadcast form. The anti-collision module can identify the collision risk through the detection results of the UAV's own sensors, or can identify the collision risk through the positions of other UAVs informed by the direct connection unit.

[0076] S5002. Generate updated flight control information corresponding to the hovering UAV number based on the preset flight task and the UAV hovering information; the updated flight control information refers to the control information that enables the hovering UAV to continue to join the flight queue without affecting the flight of the remaining UAVs.

[0077] S5003. Send the updated flight control information corresponding to the hovering UAV number to the vehicle-road cooperation module; so that the vehicle-road cooperation module sends the updated flight control information to the UAV with a collision risk in a broadcast form.

[0078] In the embodiment of the present application, by having the UAV with a collision risk hover and sending the UAV hovering information to the vehicle-road cooperation module in a broadcast form, updated flight control information can be generated based on the hovering information, enabling the hovering UAV to continue to execute the preset flight task, thereby improving the stability and safety of the UAV flight performance.

[0079] ReferenceFigure 6 , in the embodiment of the present application, the unmanned aerial vehicle control method further includes:

[0080] S6001. Obtain the flight state information corresponding to each of the multiple unmanned aerial vehicles received by the vehicle-road cooperation module; the flight state information includes the flight speed of the unmanned aerial vehicle, the heading angle of the unmanned aerial vehicle, the flight acceleration of the unmanned aerial vehicle, and positioning information, etc.; the positioning information may include longitude and latitude information and flight altitude information.

[0081] S6002. Generate a pause flight instruction when the number of flight state information is less than the preset information number; the number of unmanned aerial vehicles corresponds one-to-one with the number of flight state information; the preset information number is the number of unmanned aerial vehicles participating in the task in this preset flight task; the pause flight instruction is used to make the flying unmanned aerial vehicle hover; when the number of flight state information is less than the preset information number, there is a situation where the monitored unmanned aerial vehicle is out of contact. In order to avoid accidents, a pause flight instruction is generated to make the unmanned aerial vehicle hover for subsequent operations.

[0082] S6003. Send the pause flight instruction to the vehicle-road cooperation module; so that the vehicle-road cooperation module sends the pause flight instruction to the multiple unmanned aerial vehicles in the form of broadcasting.

[0083] In the embodiment of the present application, the communication connection state of the unmanned aerial vehicle is determined by the number of flight states, so that when the unmanned aerial vehicle is out of contact, it can stop to search for the out-of-contact unmanned aerial vehicle, thereby improving the flight safety of the unmanned aerial vehicle.

[0084] Reference Figure 7 , in the embodiment of the present application, after S6003, the unmanned aerial vehicle control method further includes:

[0085] S7001. Monitor the positioning information corresponding to each of the multiple unmanned aerial vehicles received by the vehicle-road cooperation module; specifically, the unmanned aerial vehicle sends messages to the vehicle-road cooperation module in the form of broadcasting at a preset period. In multiple preset periods, the flight state information of each unmanned aerial vehicle is obtained, where the flight state information includes positioning information, and the number of unmanned aerial vehicles corresponds one-to-one with the number of flight state information.

[0086] S7002. When the number of positioning information is equal to the preset information number, generate continuous flight control information corresponding to each of the multiple unmanned aerial vehicles based on the positioning information corresponding to each of the multiple unmanned aerial vehicles and the preset flight task; the number of positioning information being equal to the preset information number indicates that the communication with the multiple unmanned aerial vehicles has been restored, and tasks such as unmanned aerial vehicle flight performance can continue; the continuous flight control information is used to make the multiple hovering unmanned aerial vehicles continue to fly.

[0087] In another embodiment of the present application, S7002 includes:

[0088] Obtain the updated preset information quantity; the updated preset information quantity refers to the information modified by the user, which can be a modification of reducing the quantity after confirming the failure or power shortage of the lost drone, that is, the updated preset information quantity is less than the preset information quantity.

[0089] When the positioning information quantity is equal to the updated preset information quantity, based on the positioning information corresponding to each of the multiple drones and the preset flight mission, generate the continued flight control information corresponding to each of the multiple drones.

[0090] S7003: Send the continued flight control information corresponding to each of the multiple drones to the vehicle-road coordination module; so that the vehicle-road coordination module sends the continued flight control information to the multiple drones in a broadcast form.

[0091] In the embodiment of the present application, by monitoring the positioning information and generating the continued flight control information when the positioning information quantity is equal to the preset information quantity, the hovering drones can continue to fly, improving the completion degree of the preset flight mission. Specifically, the integrity during the flight performance is improved.

[0092] Reference Figure 8 , in the embodiment of the present application, after S7001, the drone control method further includes:

[0093] S8001: Based on the positioning information corresponding to each of the multiple drones, determine the separation distance between the multiple drones; the separation distance refers to the distance between drones.

[0094] S8002: Based on the separation distance between the multiple drones, determine the outlier drone; specifically, when the separation distance between one drone and the other drones is greater than the preset distance, determine the one drone as the outlier drone.

[0095] S8003: Send the positioning information of the outlier drone and the warning information to the display module; the display module is used to display the positioning information of the outlier drone; specifically, the display module is also used to display the positioning information of the other drones; the warning information includes warning voice, warning mark and other information.

[0096] In the embodiment of the present application, by the separation distance between the drones, the outlier drone is determined, so that it can be judged whether the drone has deviated from the mission distance due to a fault, and then the faulty drone can be judged, so as to facilitate operations such as recovering the outlier drone, and further improve the controllability of the drone flight.

[0097] In the embodiment of the present application, the above-mentioned drone control method has the following beneficial effects:

[0098] The communication between multiple drones and the cloud control center is realized through the vehicle-road cooperation module, thus avoiding the installation of cellular communication modules on individual drones, further avoiding the limitation of traffic during the drone control process, and improving the stability and safety of the flight control of multiple drones. In addition, the vehicle-road cooperation module broadcasts the target flight control information corresponding to each of the multiple drones, so that the time nodes for the target flight control information to be transmitted into the drones are consistent, thereby improving the unity and timeliness of the drone flight control.

[0099] Reference Figure 9 , the embodiment of the present application further provides a drone control device, and the device includes:

[0100] A positioning information acquisition module 9001, configured to acquire the positioning information corresponding to each of the multiple drones received by the vehicle-road cooperation module; the positioning information corresponding to each of the multiple drones is sent to the vehicle-road cooperation module by the multiple drones in a broadcast form;

[0101] A target control information generation module 9002, configured to generate the target flight control information corresponding to each of the multiple drones based on the positioning information corresponding to each of the multiple drones and a preset flight task;

[0102] A target information sending module 9003, configured to send the target flight control information corresponding to each of the multiple drones to the vehicle-road cooperation module; so that the vehicle-road cooperation module sends the target flight control information to the multiple drones in a broadcast form; the target flight control information is used to control the flight of the multiple drones.

[0103] The device further includes:

[0104] A real-time flight status information acquisition module, configured to acquire the real-time flight status information corresponding to each of the multiple drones received by the vehicle-road cooperation module; the real-time flight status information corresponding to each of the multiple drones is sent to the vehicle-road cooperation module by the multiple drones in a broadcast form;

[0105] An information comparison module, configured to perform information comparison based on the target flight control information corresponding to each of the multiple drones and the real-time flight status information corresponding to each of the multiple drones, and determine the information deviation;

[0106] An abnormal drone determination module, configured to determine an abnormal drone based on the information deviation; the information deviation of the abnormal drone exceeds a preset range;

[0107] An adjustment module, configured to adjust the target flight control information of the abnormal drone based on the real-time flight status information corresponding to each of the multiple drones and a preset flight task.

[0108] The positioning information acquisition module includes:

[0109] A positioning information acquisition unit, configured to acquire UAV information corresponding to at least one UAV received by each of multiple roadside units; the UAV information includes positioning information, UAV number information, and transmission time information;

[0110] A duplicate removal unit, configured to perform information duplicate removal on the positioning information based on the UAV number information and the transmission time information, to obtain multiple positioning information respectively corresponding to multiple UAVs.

[0111] The UAV control device further includes:

[0112] A UAV hovering information acquisition module, configured to acquire UAV hovering information received by the vehicle-road cooperation module; the UAV hovering information includes the hovering UAV number; the UAV hovering information is sent by the UAV at risk of collision to the vehicle-road cooperation module in a broadcast manner;

[0113] An updated flight control information generation module, configured to generate updated flight control information corresponding to the hovering UAV number based on a preset flight task and the UAV hovering information;

[0114] An updated flight control information sending module, configured to send the updated flight control information corresponding to the hovering UAV number to the vehicle-road cooperation module; so that the vehicle-road cooperation module sends the updated flight control information to the UAVs at risk of collision in a broadcast manner.

[0115] A flight status information acquisition module, configured to acquire flight status information respectively corresponding to multiple UAVs received by the vehicle-road cooperation module;

[0116] A pause flight instruction generation module, configured to generate a pause flight instruction when the number of flight status information is less than a preset number of information;

[0117] A pause flight instruction sending module, configured to send the pause flight instruction to the vehicle-road cooperation module; so that the vehicle-road cooperation module sends the pause flight instruction to multiple UAVs in a broadcast manner.

[0118] A monitoring module, configured to monitor the positioning information respectively corresponding to multiple UAVs received by the vehicle-road cooperation module;

[0119] A continued flight control information generation module, configured to generate continued flight control information respectively corresponding to multiple UAVs based on the positioning information respectively corresponding to multiple UAVs and a preset flight task when the number of positioning information is equal to the preset number of information;

[0120] A continued flight control information sending module, configured to send the continued flight control information respectively corresponding to multiple UAVs to the vehicle-road cooperation module; so that the vehicle-road cooperation module sends the continued flight control information to multiple UAVs in a broadcast manner.

[0121] A distance determination module, configured to determine the distances between multiple drones based on the positioning information corresponding to each of the multiple drones;

[0122] An outlier drone determination module, configured to determine outlier drones based on the distances between the multiple drones;

[0123] An outlier information sending module, configured to send the positioning information of the outlier drones and a warning message to a display module; the display module is configured to display the positioning information of the outlier drones.

[0124] An embodiment of the present application further provides an electronic device, which includes a processor and a memory. At least one instruction or at least one program segment is stored in the memory, and the at least one instruction or at least one program segment is loaded and executed by the processor to implement the drone control method as described above.

[0125] The memory can be used to store software programs and modules. The processor runs the software programs and modules stored in the memory to perform various functional applications and data processing. The memory mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system, application programs required for functions, etc.; the data storage area can store data created according to the use of the device, etc. In addition, the memory can include high-speed random access memory, and can also include non-volatile memory, such as at least one hard disk storage device, a flash memory device or other volatile solid-state storage devices. Correspondingly, the memory can also include a memory controller to provide the processor with access to the memory.

[0126] The method embodiments provided by the embodiments of the present application can be executed in electronic devices such as mobile terminals, computer terminals, servers or similar computing devices. Figure 10 is the electronic device provided by the embodiments of the present application. As Figure 10As shown, the electronic device 900 can vary significantly due to different configurations or performances. It may include one or more central processing units (CPUs) 910 (the processor 910 may include, but is not limited to, a processing device such as a microcontroller unit (MCU) or a field-programmable gate array (FPGA)), a memory 930 for storing data, and one or more storage media 920 for storing application programs 923 or data 922 (such as one or more mass storage devices). Among them, the memory 930 and the storage media 920 can be transient storage or persistent storage. The program stored in the storage media 920 may include one or more modules, and each module may include a series of instruction operations on the electronic device. Further, the central processor 910 can be configured to communicate with the storage media 920 and execute a series of instruction operations in the storage media 920 on the electronic device 900. The electronic device 900 may also include one or more power supplies 960, one or more wired or wireless network interfaces 950, one or more input / output interfaces 940, and / or one or more operating systems 921, such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, and so on.

[0127] The input / output interface 940 can be used to receive or send data via a network. Specific examples of the above network may include a wireless network provided by the communication provider of the electronic device 900. In one example, the input / output interface 940 includes a network interface controller (NIC), which can be connected to other network devices through a base station and thus communicate with the Internet. In one example, the input / output interface 940 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0128] Those of ordinary skill in the art can understand that Figure 10 the structure shown is only schematic and does not limit the structure of the above electronic device. For example, the electronic device 900 may also include more or fewer components than Figure 10 shown, or have a different configuration from Figure 10 shown.

[0129] An embodiment of the present application also provides a storage medium, in which at least one instruction or at least one segment of program is stored, and the at least one instruction or at least one segment of program is loaded and executed by a processor to implement the drone control method as described above.

[0130] The above description has fully disclosed the specific implementation manners of the present application. It should be noted that any changes made by those skilled in the art to the specific implementation manners of the present application do not depart from the scope of the claims of the present application. Accordingly, the scope of the claims of the present application is not limited only to the foregoing specific implementation manners.

Claims

1. A method for controlling a drone, characterized in that, Including: Obtaining the positioning information corresponding to each of the multiple drones received by the vehicle-road cooperation module; the positioning information corresponding to each of the multiple drones is sent to the vehicle-road cooperation module by the multiple drones in a broadcast form; Generating the target flight control information corresponding to each of the multiple drones based on the positioning information corresponding to each of the multiple drones and a preset flight task; Sending the target flight control information corresponding to each of the multiple drones to the vehicle-road cooperation module; so that the vehicle-road cooperation module sends the target flight control information to the multiple drones in a broadcast form; The target flight control information is used to control the flight of the multiple drones; The method further includes: Obtaining the flight state information corresponding to each of the multiple drones received by the vehicle-road cooperation module; Generating a flight suspension instruction when the number of the flight state information is less than a preset information number; Sending the flight suspension instruction to the vehicle-road cooperation module; so that the vehicle-road cooperation module sends the flight suspension instruction to the multiple drones in a broadcast form; After sending the flight suspension instruction to the vehicle-road cooperation module, the method further includes: Monitoring the positioning information corresponding to each of the multiple drones received by the vehicle-road cooperation module; Generating the resume flight control information corresponding to each of the multiple drones based on the positioning information corresponding to each of the multiple drones and the preset flight task when the number of the positioning information is equal to the preset information number; Sending the resume flight control information corresponding to each of the multiple drones to the vehicle-road cooperation module; so that the vehicle-road cooperation module sends the resume flight control information to the multiple drones in a broadcast form.

2. The drone control method according to claim 1, wherein, After sending the target flight control information corresponding to each of the multiple drones to the vehicle-road cooperation module, the method further includes: Obtaining the real-time flight state information corresponding to each of the multiple drones received by the vehicle-road cooperation module; the real-time flight state information corresponding to each of the multiple drones is sent to the vehicle-road cooperation module by the multiple drones in a broadcast form; Performing information comparison based on the target flight control information corresponding to each of the multiple drones and the real-time flight state information corresponding to each of the multiple drones to determine an information deviation; Determining an abnormal drone based on the information deviation; the information deviation of the abnormal drone exceeds a preset range; Adjusting the target flight control information of the abnormal drone based on the real-time flight state information corresponding to each of the multiple drones and the preset flight task.

3. The drone control method according to claim 1, characterized in that The vehicle-road cooperation module includes multiple roadside units, and the obtaining the positioning information corresponding to each of the multiple drones received by the vehicle-road cooperation module includes: Obtaining the drone information corresponding to at least one drone received by each of the multiple roadside units; the drone information includes the positioning information, drone number information, and sending time information; Deduplicate the positioning information based on the drone number information and the sending time information to obtain the multiple positioning information corresponding to each of the multiple drones.

4. The drone control method according to claim 1, wherein The method further includes: Obtain the drone hovering information received by the vehicle-road cooperation module; the drone hovering information includes the hovering drone number; the drone hovering information is sent by the drone at risk of collision to the vehicle-road cooperation module in a broadcast manner; Generate updated flight control information corresponding to the hovering drone number based on the preset flight task and the drone hovering information; Send the updated flight control information corresponding to the hovering drone number to the vehicle-road cooperation module; so that the vehicle-road cooperation module sends the updated flight control information to the drone at risk of collision in a broadcast manner.

5. The drone control method according to claim 1, wherein After monitoring the positioning information corresponding to each of the multiple drones received by the vehicle-road cooperation module, the method further includes: Determine the distance between the multiple drones based on the positioning information corresponding to each of the multiple drones; Determine the outlier drone based on the distance between the multiple drones; Send the positioning information of the outlier drone and a warning message to the display module; the display module is used to display the positioning information of the outlier drone.

6. A drone control device, characterized in that, It includes: A positioning information acquisition module, which is used to acquire the positioning information corresponding to each of the multiple drones received by the vehicle-road cooperation module; The positioning information corresponding to each of the multiple drones is sent by the multiple drones to the vehicle-road cooperation module in a broadcast manner; A target control information generation module, which is used to generate target flight control information corresponding to each of the multiple drones based on the positioning information corresponding to each of the multiple drones and a preset flight task; A target information sending module, which is used to send the target flight control information corresponding to each of the multiple drones to the vehicle-road cooperation module; so that the vehicle-road cooperation module sends the target flight control information to the multiple drones in a broadcast manner; the target flight control information is used to control the multiple drones to fly; A flight status information acquisition module, which is used to acquire the flight status information corresponding to each of the multiple drones received by the vehicle-road cooperation module; A pause flight instruction generation module, which is used to generate a pause flight instruction when the number of flight status information is less than a preset number of information; A pause flight instruction sending module, which is used to send the pause flight instruction to the vehicle-road cooperation module; so that the vehicle-road cooperation module sends the pause flight instruction to the multiple drones in a broadcast manner; A monitoring module, which is used to monitor the positioning information corresponding to each of the multiple drones received by the vehicle-road cooperation module; A renewal control information generation module, which is used to generate renewal flight control information corresponding to each of the multiple drones based on the positioning information corresponding to each of the multiple drones and the preset flight task when the number of positioning information is equal to the preset number of information; The renewal control information sending module is used to send the respective flight continuation control information of the multiple drones to the vehicle-road collaborative module; so that the vehicle-road collaborative module sends the flight continuation control information to the multiple drones in a broadcast manner.

7. A computer storage medium, characterized in that, At least one instruction, at least one program, a code set or an instruction set is stored in the storage medium, and the at least one instruction, at least one program, the code set or the instruction set is loaded and executed by a processor to implement the drone control method according to any one of claims 1-5.

8. An electronic device, characterized in that, The device includes a processor and a memory, and at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the drone control method according to any one of claims 1-5.

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