An unmanned aerial vehicle management method and a readable storage medium

Abstract

The application provides a UAV management method, comprising the following steps: 1) a first UAV takes a picture of a front wireless environment to obtain an environment picture, and an artificial intelligence algorithm is used to process the environment picture to determine a first communication node in front of the first UAV and having a direct diameter with the first UAV. The application has the beneficial effects of improving information interaction efficiency of the UAV and a mobile communication system and improving UAV management efficiency.

Description

Technical Field

[0001] This invention relates to unmanned aerial vehicles (UAVs), and more particularly to a UAV management method and a readable storage medium. Background Technology

[0002] 5G will meet the diverse business needs of people in various areas such as living, working, leisure, and transportation. Even in scenarios with ultra-high traffic density, ultra-high connection density, and ultra-high mobility, such as dense residential areas, offices, stadiums, open-air gatherings, subways, expressways, high-speed rail, and wide-area coverage, it can provide users with ultimate business experiences such as ultra-high-definition video, virtual reality, augmented reality, cloud desktops, and online games. At the same time, 5G will also penetrate into the Internet of Things and various industry sectors, deeply integrating with industrial facilities, medical instruments, and transportation vehicles, effectively meeting the diverse business needs of vertical industries such as industry, healthcare, and transportation, and realizing true "Internet of Everything".

[0003] 5G application scenarios can be divided into two main categories: Mobile Broadband (MBB) and the Internet of Things (IoT). The primary technical requirement for Mobile Broadband access is high capacity and high data rates to meet the ever-growing demand for data services. The Internet of Things is mainly driven by the needs of Machine-Type Communication (MTC), which can be further divided into two types: Low-rate Massive Machine Communication (MMC) and Low-Latency, High-Reliability Machine Communication (LRH). For MMC, a large number of nodes access at low rates, transmitting small data packets with relatively long intervals; these nodes typically have low cost and power consumption. LHC, on the other hand, is primarily aimed at machine communication with high real-time and reliability requirements, such as real-time alarms and real-time monitoring.

[0004] In fifth-generation and future mobile communication systems, drones will play an increasingly important role. However, the existing drone management methods have shortcomings: low information exchange efficiency between drones and mobile communication systems and difficulty in drone management. Summary of the Invention

[0005] To address the problems in the prior art, this invention provides a drone management method and a readable storage medium.

[0006] One of the objectives of this invention is to provide a drone management method that can improve the efficiency of information interaction between drones and mobile communication systems.

[0007] The second objective of this invention is to provide a drone management method that can improve drone management efficiency.

[0008] This invention provides a method for managing unmanned aerial vehicles (UAVs), comprising the following steps:

[0009] 1) The first UAV takes pictures of the wireless environment in front to obtain environmental images, and processes the environmental images using artificial intelligence algorithms to determine that there is a first communication node in front that has a direct line of sight to the first UAV.

[0010] 2) The first UAV connects to the first communication node, and the first communication node sends positioning reference signal and detection reference signal configuration information to the first UAV;

[0011] 3) The first UAV receives the positioning reference signal, determines the angle of arrival and time of arrival of the positioning reference signal, and sends the angle of arrival and the time of arrival to the first communication node; the first UAV receives the detection reference signal configuration information, and sends the detection reference signal to the first communication node based on the detection reference signal configuration information;

[0012] 4) The first communication node receives the arrival angle, the arrival time, and the detection reference signal. Based on the arrival angle and the arrival time, it calculates the distance between the first UAV and the first communication node as distance-A. Based on the arrival angle and arrival time of the detection reference signal to the first communication node and the transmission angle of the detection reference signal, it calculates the distance between the first UAV and the first communication node as distance-B. If the difference between distance-A and distance-B is less than or equal to distance-T, the first communication node sends the maximum allowed movement speed V of the first UAV and the coordinate information of the cuboid space area that the first UAV is prohibited from entering to the first UAV with power P. If the difference between distance-A and distance-B is greater than distance-T, the first communication node sends the coordinate information of the cuboid space area that the first UAV is prohibited from entering to the first UAV with period T and power 2*P.

[0013] 5) If the first drone receives the allowed maximum movement speed V and the coordinates of the cuboid space region into which the first drone is prohibited, then the subsequent movement speed of the drone must not exceed the allowed maximum movement speed V, and it will automatically adjust its movement direction before reaching a range of X meters from the cuboid space region to avoid entering the cuboid space region; if the first drone only receives the coordinates of the cuboid space region into which the first drone is prohibited, then the first drone will reduce its movement speed to alpha times its current movement speed, and will automatically adjust its movement direction before reaching a range of X meters from the cuboid space region to avoid entering the cuboid space region. As a further improvement of the present invention, the drone management method further includes the following steps:

[0014] 6) If the remaining battery power of the first drone is insufficient to support it to reach the destination address, the first drone sends a remote wireless charging request information to the first communication node, wherein the remote wireless charging request information includes at least the battery power required by the first drone, the coordinates of the destination address, the deadline for reaching the destination address, the maximum moving speed of the first drone, and the charging capacity information of the first drone.

[0015] 7) After receiving the remote wireless charging request information, the first communication node calculates the time required to charge the first drone. If (charging time + distance between the destination address and the charging location specified by the first communication node / (beta * drone's maximum speed)) is less than or equal to (deadline to reach the destination address - current time), the first communication node sends the charging location information to the first drone; if (charging time + distance between the destination address and the charging location specified by the first communication node / ...

[0016] If (beta * maximum speed of the drone) is greater than (deadline to reach the destination address - current time), then the first communication node sends the charging location information, the identification information of the first drone, and the identification information of the second drone to the first communication node and the second drone whose power is sufficient to carry the first drone to the destination address before the deadline of the destination address.

[0017] 8) If the first drone receives only the charging location information, it will go to the charging location to charge, and after charging, it will fly to the destination address on its own; if the first drone receives the charging location information, its own identification information, and the identification information of the second drone, the first drone will go to the charging location to charge; if the second drone receives the charging location information, the identification information of the first drone, and its own identification information, the second drone will go to the charging location, compare its identification with that of the first drone, and then carry the first drone to the destination address.

[0018] As a further improvement of the present invention, the artificial intelligence algorithm includes at least one convolutional layer, one pooling layer and one fully connected layer.

[0019] As a further improvement of the present invention, the detection reference signal configuration information includes at least the transmission power, repetition count, time-frequency resource information, and transmission angle information of the detection reference signal.

[0020] As a further improvement of the present invention, the variable distance-T takes the value of an integer multiple of 1cm, the variable T takes the value of an integer multiple of 0.1ms, the variable P takes the value of an integer multiple of 0.1mw, and the variable V takes the value of less than or equal to (the closest distance between the first UAV and the cuboid space region / 4).

[0021] As a further improvement of the present invention, the variable alpha takes a value greater than 0 and less than or equal to 0.25.

[0022] As a further improvement of the present invention, the variable beta takes a value greater than or equal to 0.25 and less than or equal to 0.5.

[0023] As a further improvement of the present invention, the first drone sends the remote wireless charging request information at full power.

[0024] As a further improvement of the present invention, the remote wireless charging request information includes at least one of the following: the model of the first drone, the weight of the first drone, and the volume of the first drone.

[0025] As a further improvement of the present invention, after the second UAV carries the first UAV, it moves to the destination address according to the path information planned by the first communication node.

[0026] As a further improvement of the present invention, the movement speed of the second UAV is controlled in real time by the first communication node.

[0027] The present invention provides a readable storage medium storing executable instructions, which, when executed by a processor, are used to implement the method described herein.

[0028] The beneficial effects of this invention are: it improves the information interaction efficiency between the UAV and the mobile communication system, and improves the management efficiency of the UAV. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other solutions can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a flowchart illustrating the implementation of a drone management method according to the present invention. Detailed Implementation

[0031] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0032] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0033] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0034] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0035] like Figure 1 As shown, a drone management method has the following specific process:

[0036] S1, the first drone takes pictures of the wireless environment ahead to obtain environmental images, processes the environmental images using artificial intelligence algorithms, and determines that there is a base station ahead that has a direct line of sight to the first drone.

[0037] S2, the first UAV connects to the base station, and the base station sends positioning reference signal and detection reference signal configuration information to the first UAV;

[0038] S3, the first UAV receives the positioning reference signal, determines the angle of arrival and time of arrival of the positioning reference signal, and sends the angle of arrival and time of arrival to the base station; the first UAV receives the detection reference signal configuration information, and sends the detection reference signal to the base station based on the detection reference signal configuration information;

[0039] The angle of arrival and time of arrival can be determined based on the positioning reference signal using traditional spectral analysis methods.

[0040] S4, the base station receives the angle of arrival, time of arrival, and detection reference signal. Based on the angle of arrival and time of arrival, it calculates the distance between the first UAV and the base station as distance-A. Based on the angle of arrival and time of arrival of the detection reference signal to the base station and the transmission angle of the detection reference signal, it calculates the distance between the first UAV and the base station as distance-B. If the difference between distance-A and distance-B, diff, is less than or equal to distance-T, the base station sends the maximum allowed moving speed V of the first UAV and the coordinate information of the cuboid space area that the first UAV is prohibited from entering to the first UAV with power P. If the difference between distance-A and distance-B, diff, is greater than distance-T, the base station sends the coordinate information of the cuboid space area that the first UAV is prohibited from entering to the first UAV with period T and power 2*P.

[0041] The distance value distance-A between the first UAV and the base station can be calculated by multiplying the speed of light by time. Similarly, the distance value distance-B, the angle of arrival and the time of arrival of the detection reference signal to the base station can also be calculated using the same method.

[0042] The purpose of setting the maximum allowable movement speed V for the first drone is to prevent the drone from moving too fast and becoming uncontrollable.

[0043] The coordinates of the rectangular space area where the first drone is prohibited from entering are set manually to prevent drones from colliding with base stations and affecting communications.

[0044] The period T and power 2*P are set by the system to ensure that the UAV can successfully obtain the information;

[0045] S5, if the first UAV receives the maximum allowed movement speed V and the coordinates of the cuboid space area that the first UAV is prohibited from entering, then the subsequent movement speed of the UAV must not exceed the maximum allowed movement speed V, and before reaching a range of X meters from the cuboid space area, the movement direction is automatically adjusted to avoid entering the cuboid space area; if the first UAV only receives the coordinate information of the cuboid space area that the first UAV is prohibited from entering, then the first UAV reduces its movement speed to alpha times its previous movement speed, and when it reaches a range of X meters from the cuboid space area, the movement direction is automatically adjusted to avoid entering the cuboid space area;

[0046] The first drone reduced its speed to alpha times its previous speed in order to avoid crashing into the base station and affecting the entire mobile communication network.

[0047] In the above steps S1 to S5, the information interaction efficiency between the UAV and the mobile communication system is improved, the service quality of the collaboration between the mobile communication network and the UAV is improved, the flight path of the UAV is planned and managed, and the management efficiency of the UAV is improved.

[0048] S6. If the remaining power of the first drone is insufficient to support it to reach the destination address, the first drone sends a remote wireless charging request to the base station. The remote wireless charging request includes at least the power information required by the first drone, the coordinate information of the destination address, the deadline for reaching the destination address, the maximum moving speed information of the first drone, and the charging capacity information of the first drone.

[0049] S7. After receiving the remote wireless charging request information, the base station calculates the time required to charge the first drone. If (charging time + distance between the destination address and the charging location specified by the base station / (beta * maximum drone speed)) is less than or equal to (deadline to reach the destination address - current time), the base station sends charging location information to the first drone. If (charging time + distance between the destination address and the charging location specified by the base station / (beta * maximum drone speed)) is greater than (deadline to reach the destination address - current time), the base station sends charging location information, the identification information of the first drone, and the identification information of the second drone to the base station and to the second drone whose power is sufficient to carry the first drone to the destination address before the deadline for the first drone.

[0050] The time required to charge the first drone can be calculated by dividing the amount of charge by the charging speed.

[0051] S8, if the first drone only receives the charging location information, it arrives at the charging location to charge, and after charging, it flies to the destination address on its own; if the first drone receives the charging location information, its own identification information, and the identification information of the second drone, the first drone arrives at the charging location to charge; if the second drone receives the charging location information, the first drone's identification information, and its own identification information, the second drone arrives at the charging location, compares its identification with that of the first drone, and then carries the first drone to the destination address.

[0052] In steps S6 to S8 above, special path planning and management are carried out for the situation where the remaining power of the first UAV is insufficient to support its arrival at the destination address. This allows the base station to quickly determine a plan to assist the first UAV in reaching the destination address based on its situation, ensuring that the first UAV can complete the task on time. This improves the information interaction efficiency between the UAV and the mobile communication system, enhances the service quality of the collaboration between the mobile communication network and the UAV, and improves the management efficiency of the UAV by planning and managing its flight path.

[0053] Example 1

[0054] The first drone takes pictures of the wireless environment ahead, and then processes these pictures using artificial intelligence algorithms to determine if there is a base station in direct line of sight to it. This allows the first drone to quickly determine the presence of a base station and decide whether to communicate with it, thus avoiding the power loss caused by blindly searching for base stations and extending its operating time.

[0055] The first drone connects to the base station, which then sends positioning reference signals and detection reference signals configuration information to it. This allows the subsequent mobile communication network to accurately determine the drone's location using uplink and downlink positioning results.

[0056] The first UAV receives the positioning reference signal, determines the angle of arrival and time of arrival of the positioning reference signal, and sends the angle of arrival and time of arrival to the base station; the first UAV receives the detection reference signal configuration information, and sends the detection reference signal to the base station based on the detection reference signal configuration information.

[0057] The base station receives the angle of arrival, time of arrival, and detection reference signal. Based on the angle of arrival and time of arrival, it calculates the distance between the first UAV and the base station as distance-A. Based on the angle of arrival and time of arrival of the detection reference signal to the base station, and the transmission angle of the detection reference signal, it calculates the distance between the first UAV and the base station as distance-B. If the difference between distance-A and distance-B (diff) is less than or equal to distance-T, the base station sends the maximum permissible movement speed V of the first UAV and the coordinates of the rectangular space area where the first UAV is prohibited to the first UAV with power P. If the difference between distance-A and distance-B (diff) is greater than distance-T, the base station sends the coordinates of the rectangular space area where the first UAV is prohibited to the first UAV with period T and power 2*P. This is done because when the uplink and downlink positioning errors exceed a certain level, it indicates that the mobile communication system cannot effectively and accurately locate the first UAV. This situation is most likely caused by the first UAV's movement speed exceeding the requirements of the mobile communication system. Therefore, the mobile communication system needs to promptly inform the first UAV of the areas it cannot enter to ensure the security of the mobile communication network base station.

[0058] If the first drone receives the maximum allowed speed V and the coordinates of the rectangular space area where it is prohibited from entering, then the drone's subsequent movement speed must not exceed the maximum allowed speed V, and it will automatically adjust its direction of movement before reaching a range of X meters from the rectangular space area to avoid entering it. If the first drone only receives the coordinates of the rectangular space area where it is prohibited from entering, then the first drone will reduce its movement speed to alpha times its previous speed, and will automatically adjust its direction of movement when it reaches a range of X meters from the rectangular space area to avoid entering it. This is done to prevent the first drone from causing physical damage to the base station.

[0059] If the remaining battery power of the first drone is insufficient to support its arrival at the destination address, the first drone sends a remote wireless charging request to the base station. The remote wireless charging request includes at least the battery power required by the first drone, the coordinates of the destination address, the deadline for arrival at the destination address, the maximum speed of the first drone, and the charging capability of the first drone.

[0060] After receiving a remote wireless charging request, the base station calculates the time required to charge the first drone. If (charging time + distance between the destination address and the base station's designated charging location / (beta * drone's maximum speed)) is less than or equal to (deadline to reach the destination address - current time), the base station sends charging location information to the first drone. If (charging time + distance between the destination address and the base station's designated charging location / (beta * drone's maximum speed)) is greater than (deadline to reach the destination address - current time), the base station sends charging location information, the identification information of the first drone, and the identification information of the second drone to the base station and to the second drone, whose battery level is sufficient to carry the first drone to the destination address before the deadline. This approach allows the base station to quickly determine a plan to assist the first drone in reaching its destination, ensuring the first drone completes its mission on time.

[0061] If the first drone only receives the charging location information, it will arrive at the charging location to charge, and then fly to the destination address on its own after charging is complete. If the first drone receives the charging location information, its own identification information, and the identification information of the second drone, then the first drone will arrive at the charging location to charge. If the second drone receives the charging location information, the first drone's identification information, and its own identification information, then the second drone will arrive at the charging location, compare its identification with that of the first drone, and then carry the first drone to the destination address. The advantage of introducing a second drone is that when the charging time cannot meet the needs of the first drone, the second drone can carry the first drone to the destination address.

[0062] Example 2

[0063] Based on Example 1, the artificial intelligence algorithm includes at least one convolutional layer, one pooling layer, and one fully connected layer. This design ensures the accuracy of image analysis.

[0064] Example 3

[0065] Based on Example 1, the configuration information of the detection reference signal includes at least the transmission power, repetition count, time-frequency resource information, and transmission angle information of the detection reference signal.

[0066] Example 4

[0067] Based on Example 1, the variable distance-T takes the value of an integer multiple of 1 cm, the variable T takes the value of an integer multiple of 0.1 ms, the variable P takes the value of an integer multiple of 0.1 mw, the variable V takes the value of less than or equal to (the closest distance between the first UAV and the cuboid space region / 4), and the unit of variable V is meters per second.

[0068] Example 5

[0069] Based on Example 1, the variable alpha takes a value greater than 0 and less than or equal to 0.25. The advantage of doing so is to reduce the speed of the first drone, which is exceeding the maximum speed allowed by the mobile communication system, as quickly as possible.

[0070] Example 6

[0071] Based on Example 1, the variable beta takes a value greater than or equal to 0.25 and less than or equal to 0.5. This allows the base station to flexibly configure the drone's movement speed based on the path planning between the charging location and the destination address.

[0072] Example 7

[0073] Building upon Example 1, the first drone transmits the remote wireless charging request information at full power. This ensures, to the greatest extent possible, that the information can be successfully received by the base station.

[0074] Example 8

[0075] Based on Embodiment 1, the remote wireless charging request information includes at least one of the following: the model of the first drone, the weight of the first drone, and the volume of the first drone. This allows the base station to select the model of the second drone based on this information, ensuring that the second drone can successfully carry the first drone.

[0076] Example 9

[0077] Based on Example 1, after the second drone carries the first drone, it moves to the destination address according to the path information planned by the first communication node. This is done to ensure the physical security of the entire mobile communication network.

[0078] Example 10

[0079] Based on Embodiment 1, the movement speed of the second drone is controlled in real time by the first communication node. This is beneficial in preventing physical collisions between the second drone and other objects.

[0080] Compared with the prior art, the drone management method provided by the present invention has the following improvements:

[0081] 1. It overcomes the problems of low information interaction efficiency and difficult drone management in existing drone and mobile communication systems, and improves the service quality of mobile communication network and drone collaboration;

[0082] 2. Better planning of drone paths can better prevent drones from colliding with base stations, thus avoiding disruption to the entire mobile communication network;

[0083] 3. A charging solution for drones when their battery is low is proposed. The base station can quickly determine a solution to help the first drone reach its destination based on its status, ensuring that the first drone completes its mission on time.

[0084] 4. Employing artificial intelligence algorithms can ensure the accuracy of image analysis;

[0085] 5. Set the value of variable beta to be greater than or equal to 0.25 and less than or equal to 0.5. The advantage of doing so is that the base station can flexibly configure the drone's movement speed by planning the path between the charging location and the destination address.

[0086] 6. Send the remote wireless charging request information using the first drone at full power. The advantage of doing so is to ensure that the information can be successfully received by the base station to the greatest extent possible.

[0087] 7. The remote wireless charging request information shall include at least one of the following: the model of the first drone, the weight of the first drone, and the volume of the first drone. The advantage of doing so is that the base station can select the model of the second drone based on this information to ensure that the second drone can successfully carry the first drone.

[0088] 8. After the second drone carries the first drone, it moves to the destination address according to the path information planned by the first communication node. The purpose of doing so is to ensure the physical security of the entire mobile communication network.

[0089] 9. The movement speed of the second drone is controlled in real time by the first communication node. The advantage of doing so is to avoid physical collisions between the second drone and other objects.

[0090] The present invention provides a drone management method, which is a drone path planning method and a communication method between drones and base stations. It has high management efficiency for drones and high information exchange efficiency between drones and mobile communication systems.

[0091] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of the present invention, and all such modifications and substitutions should be considered within the scope of protection of the present invention.

Claims

1. A method for managing unmanned aerial vehicles (UAVs), characterized in that, Includes the following steps: 1) The first UAV takes pictures of the wireless environment in front to obtain environmental images, and processes the environmental images using artificial intelligence algorithms to determine that there is a first communication node in front that has a direct line of sight to the first UAV. 2) The first UAV connects to the first communication node, and the first communication node sends positioning reference signal and detection reference signal configuration information to the first UAV; 3) The first UAV receives the positioning reference signal, determines the angle of arrival and time of arrival of the positioning reference signal, and sends the angle of arrival and the time of arrival to the first communication node; the first UAV receives the detection reference signal configuration information, and sends the detection reference signal to the first communication node based on the detection reference signal configuration information; 4) The first communication node receives the arrival angle, the arrival time, and the detection reference signal. Based on the arrival angle and the arrival time, it calculates the distance between the first UAV and the first communication node as distance-A. Based on the arrival angle and arrival time of the detection reference signal to the first communication node and the transmission angle of the detection reference signal, it calculates the distance between the first UAV and the first communication node as distance-B. If the difference between distance-A and distance-B is less than or equal to distance-T, the first communication node sends the maximum allowed movement speed V of the first UAV and the coordinate information of the cuboid space area that the first UAV is prohibited from entering to the first UAV with power P. If the difference between distance-A and distance-B is greater than distance-T, the first communication node sends the coordinate information of the cuboid space area that the first UAV is prohibited from entering to the first UAV with period T and power 2*P. 5) If the first drone receives the allowed maximum movement speed V of the first drone and the coordinates of the cuboid space area that the first drone is prohibited from entering, then the subsequent movement speed of the drone shall not exceed the allowed maximum movement speed V of the first drone, and before reaching a range of X meters from the cuboid space area, the drone shall automatically adjust its movement direction to avoid entering the cuboid space area; if the first drone only receives the coordinate information of the cuboid space area that the first drone is prohibited from entering, then the first drone shall reduce its movement speed to alpha times its current movement speed, and when it reaches a range of X meters from the cuboid space area, the drone shall automatically adjust its movement direction to avoid entering the cuboid space area.

2. The unmanned aerial vehicle (UAV) management method according to claim 1, characterized in that: The drone management method also includes the following steps: 6) If the remaining battery power of the first drone is insufficient to support it to reach the destination address, the first drone sends a remote wireless charging request information to the first communication node, wherein the remote wireless charging request information includes at least the battery power required by the first drone, the coordinates of the destination address, the deadline for reaching the destination address, the maximum moving speed of the first drone, and the charging capacity information of the first drone. 7) After receiving the remote wireless charging request information, the first communication node calculates the time required to charge the first drone. If (charging time + distance between the destination address and the charging location specified by the first communication node / (beta * maximum drone speed)) is less than or equal to (deadline to reach the destination address - current time), the first communication node sends the charging location information to the first drone. If (charging time + distance between the destination address and the charging location specified by the first communication node / (beta * maximum drone speed)) is greater than (deadline to reach the destination address - current time), the first communication node sends the charging location information, the identification information of the first drone, and the identification information of the second drone to the first communication node and to the second drone whose battery level is sufficient to carry the first drone to the destination address before the deadline for reaching the destination address. 8) If the first drone receives only the charging location information, it will go to the charging location to charge, and after charging, it will fly to the destination address on its own; if the first drone receives the charging location information, its own identification information, and the identification information of the second drone, the first drone will go to the charging location to charge; if the second drone receives the charging location information, the identification information of the first drone, and its own identification information, the second drone will go to the charging location, compare its identification with that of the first drone, and then carry the first drone to the destination address.

3. The unmanned aerial vehicle (UAV) management method according to claim 1, characterized in that: The artificial intelligence algorithm includes at least one convolutional layer, one pooling layer, and one fully connected layer.

4. The unmanned aerial vehicle (UAV) management method according to claim 1, characterized in that: The configuration information of the detection reference signal includes at least the transmission power, repetition count, time-frequency resource information, and transmission angle information of the detection reference signal.

5. The unmanned aerial vehicle (UAV) management method according to claim 1, characterized in that: The variable distance-T takes the value of an integer multiple of 1cm, the variable T takes the value of an integer multiple of 0.1ms, the variable P takes the value of an integer multiple of 0.1mw, and the variable V takes the value of less than or equal to (the closest distance between the first UAV and the cuboid space region / 4).

6. The unmanned aerial vehicle (UAV) management method according to claim 2, characterized in that: The variable alpha takes values ​​greater than 0 and less than or equal to 0.25; the variable beta takes values ​​greater than or equal to 0.25 and less than or equal to 0.

5.

7. The unmanned aerial vehicle (UAV) management method according to claim 2, characterized in that: The first drone sends the remote wireless charging request information at full power.

8. The unmanned aerial vehicle (UAV) management method according to claim 2, characterized in that: The remote wireless charging request information includes at least one of the following: the model of the first drone, the weight of the first drone, and the volume of the first drone.

9. The unmanned aerial vehicle (UAV) management method according to claim 2, characterized in that: After the second drone carries the first drone, it moves to the destination address according to the path information planned by the first communication node; the movement speed of the second drone is controlled in real time by the first communication node.

10. A readable storage medium, characterized in that: The readable storage medium stores execution instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1 to 9.

Images