Control method, device and equipment of unmanned aerial vehicle and storage medium

Abstract

The application provides a control method, device and equipment of a UAV and a storage medium, and is applied to a UAV remote control system. The UAV remote control system comprises at least two remote control terminals connected to each other. The at least two remote control terminals comprise a main remote control terminal and a dummy remote control terminal corresponding to the main remote control terminal. Other functions of the dummy remote control terminal except for a picture transmission function are in a closed state. The method comprises the following steps: the main remote control terminal acquires UAV control data to be sent to a target UAV; the main remote control terminal sends a data forwarding message to the dummy remote control terminal, the data forwarding message carries the UAV control data, and the dummy remote control terminal forwards the UAV control data to the target UAV. The technical scheme can make the pilot control the UAV by using the main remote control terminal, and the position of the pilot can be in a hidden state, so that the position of the pilot can be protected.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicles (UAVs), and more particularly to control methods, apparatus, devices, and storage media for UAVs. Background Technology

[0002] Drones and drone remote controllers are two main components of a drone system, connected and controlled wirelessly. A drone is an unmanned aerial vehicle, typically equipped with various sensors and devices, used to perform a variety of tasks such as aerial photography, reconnaissance, and logistics. A drone remote controller is a handheld device used to control and manipulate the drone. Remote controllers typically include control elements such as joysticks, buttons, switches, and displays, used to send commands and receive information such as the drone's status and images.

[0003] Drone pilots use remote controllers to control drones. The pilot and remote controller are typically in the same spatial location, and the remote controller's position reveals the pilot's location. When multiple remote controllers are controlling the drone, pilot control is usually transferred by switching controllers. During this transfer, the location being controlled by the current controller is revealed. In certain special flight missions, it is necessary to protect the pilot's location information to ensure the safety and privacy of drone operations. Summary of the Invention

[0004] This application provides a control method, apparatus, equipment, and storage medium for unmanned aerial vehicles (UAVs) to solve the technical problem of pilot position protection during UAV flight missions.

[0005] In a first aspect, a method for controlling a drone is provided, which is applied to a main remote control terminal in a drone remote control system. The drone remote control system includes at least two remote control terminals connected to each other. The at least two remote control terminals include the main remote control terminal and a substitute remote control terminal corresponding to the main remote control terminal. The substitute remote control terminal has all functions except for image transmission function turned off.

[0006] The method includes:

[0007] Acquire drone control data to be sent to the target drone;

[0008] A data forwarding message is sent to the substitute remote control terminal. The data forwarding message carries the UAV control data and is used to instruct the substitute remote control terminal to forward the UAV control data to the target UAV.

[0009] In this technical solution, a drone remote control system is constructed, comprising at least two interconnected remote control terminals. These terminals include a primary remote control terminal and a stand-in remote control terminal corresponding to the primary terminal. After acquiring drone control data to be sent to the target drone, the primary remote control terminal sends a data forwarding message to the stand-in remote control terminal. This message carries the drone control data and instructs the stand-in remote control terminal to forward the drone control data to the target drone. Because the primary remote control terminal sends the drone control data to the drone via the stand-in remote control terminal in the data forwarding message, the primary remote control terminal's location can remain concealed. This allows the pilot to maintain an anonymous position when using the primary remote control terminal to control the drone, thus protecting the pilot's location. Furthermore, since the stand-in remote control terminal's functions other than image transmission are disabled, it only needs to send control data to the drone in place of the primary remote control terminal, reducing the risk of its location being exposed and further ensuring the security and privacy of drone control.

[0010] In conjunction with the first aspect, in one possible implementation, the method further includes: receiving target drone data forwarded by the substitute remote control terminal, wherein the target drone data is drone data collected by the target drone. The main remote control terminal receives the drone data collected by the drone forwarded by the substitute remote control terminal, enabling it to acquire drone-collected data without exposing the location of the main remote control terminal, thereby improving security and privacy.

[0011] In conjunction with the first aspect, before acquiring the drone control data to be sent to the target drone, the method further includes: acquiring the content protection key of the target drone; and sending the content protection (CP) key of the target drone to the substitute remote control terminal. By sending the drone's CP key to the substitute remote control terminal, the main remote control terminal enables the substitute remote control terminal to obtain drone authentication and thus interact with the drone.

[0012] In conjunction with the first aspect, in one possible implementation, the method further includes: receiving a first heartbeat connection message sent by the substitute remote control terminal within a preset connection period. The first heartbeat connection message carries first identity information, including a first identity identifier, which indicates the substitute identity of the substitute remote control terminal. If no first heartbeat connection message is received from the substitute remote control terminal within the preset connection period, the master remote control terminal's master control identity is released, causing the master remote control terminal to revert to an unknown remote control terminal in the UAV remote control system, and an identity verification process for the unknown remote control terminal in the UAV remote control system is initiated. When the master remote control terminal does not receive a heartbeat connection message from the substitute remote control terminal within the preset connection period, releasing its own master control identity and initiating an identity verification process allows for the reselection of a substitute remote control terminal in case of a malfunction, ensuring continuous connection and interaction between the master remote control terminal and the UAV.

[0013] In conjunction with the first aspect, in one possible implementation, the first identity information further includes the remaining battery power of the substitute remote control terminal; the method further includes: if the remaining battery power of the substitute remote control terminal is lower than a preset battery level, deactivating the master remote control terminal's master control status, causing the master remote control terminal to revert to an unknown remote control terminal in the UAV remote control system, and initiating an identity verification process for the unknown remote control terminal in the UAV remote control system. When the remaining battery power of the substitute remote control terminal is lower than the preset battery level, the master remote control terminal deactivates its master control status and initiates an identity verification process, enabling timely switching to the substitute remote control terminal and ensuring continuous connection and interaction between the master remote control terminal and the UAV.

[0014] In conjunction with the first aspect, in one possible implementation, the method further includes: responding to an identity reset command, deactivating the master remote control terminal's master control identity, causing the master remote control terminal to revert to an unknown remote control terminal in the UAV remote control system, and initiating an identity verification process for the unknown remote control terminal in the UAV remote control system. Upon receiving the identity reset command, the master remote control terminal deactivates its master control identity and initiates an identity verification process, allowing the user to switch the identity of the remote control terminal in the UAV remote control system at any time, thereby enabling flexible control of the UAV.

[0015] Secondly, another method for controlling a drone is provided, which is applied to a substitute remote control terminal corresponding to the main remote control terminal in a drone remote control system. The drone remote control system includes at least two remote control terminals connected to each other. The at least two remote control terminals include the main remote control terminal and the substitute remote control terminal. The substitute remote control terminal has all functions except for image transmission function turned off.

[0016] The method includes:

[0017] Receive a data forwarding message sent by the main remote control terminal, the data forwarding message carrying drone control data to be sent to the target drone;

[0018] The drone control data is forwarded to the target drone.

[0019] In this technical solution, a drone remote control system is constructed, comprising at least two interconnected remote control terminals. These terminals include a primary remote control terminal and a substitute remote control terminal. Upon receiving a data forwarding message from the primary remote control terminal, the substitute remote control terminal forwards the drone control data from the message to the target drone. Since the primary remote control terminal carries the drone control data to be sent to the drone within the data forwarding message, and the substitute remote control terminal sends the data on behalf of the primary remote control terminal, the primary remote control terminal's location can remain concealed. This allows the pilot to maintain an anonymous position when using the primary remote control terminal to control the drone, thus protecting the pilot's location. Furthermore, since the substitute remote control terminal's functions other than image transmission are disabled, it only needs to send control data to the drone on behalf of the primary remote control terminal, reducing the risk of its location being exposed and further ensuring the security and privacy of drone control.

[0020] In conjunction with the second aspect, in one possible implementation, the method further includes: receiving target drone data sent by the target drone, wherein the target drone data is drone data collected by the target drone; and forwarding the target drone data to the main remote control terminal. After receiving the drone data sent by the drone, the substitute remote control terminal forwards the drone data to the main remote control terminal, enabling it to acquire drone-collected data without exposing the location of the main remote control terminal, thus improving security and privacy.

[0021] In conjunction with the second aspect, in one possible implementation, before receiving the data forwarding message sent by the main remote control terminal, the method further includes: receiving the content protection key of the target drone sent by the main remote control terminal. Before forwarding drone control data to the drone, the substitute remote control terminal also receives the drone's CP key sent by the main remote control terminal, enabling it to authenticate the drone and interact with it on data.

[0022] In conjunction with the second aspect, in one possible implementation, the method further includes: receiving a second heartbeat connection message sent by the master remote control terminal within a preset connection period, the second heartbeat connection message carrying second identity information, the second identity information including a second identity identifier, the second identity identifier being used to indicate the master control identity of the master remote control terminal; if no second heartbeat connection message sent by the master remote control terminal is received within the preset connection period, the substitute remote control terminal's substitute identity is released, so that the substitute remote control terminal is restored to the unknown remote control terminal in the UAV remote control system.

[0023] In conjunction with the second aspect, in one possible implementation, the method further includes: responding to an identity reset command, removing the substitute remote control terminal's substitute identity, causing the substitute remote control terminal to revert to being an unknown remote control terminal in the UAV remote control system, and initiating an identity verification process for the unknown remote control terminal in the UAV remote control system. Upon receiving the identity reset command, the substitute remote control terminal removes its own master control identity and initiates an identity verification process, allowing the user to switch the identity of the remote control terminal in the UAV remote control system at any time, thereby enabling flexible control of the UAV.

[0024] Thirdly, a control device for a drone is provided, which is applied to a main remote control terminal in a drone remote control system. The drone remote control system includes at least two remote control terminals connected to each other. The at least two remote control terminals include the main remote control terminal and a substitute remote control terminal corresponding to the main remote control terminal. The substitute remote control terminal has all functions except for image transmission function turned off.

[0025] The device includes:

[0026] The data acquisition module is used to acquire drone control data to be sent to the target drone;

[0027] The sending module is used to send a data forwarding message to the substitute remote control terminal. The data forwarding message carries the UAV control data and is used to instruct the substitute remote control terminal to forward the UAV control data to the target UAV.

[0028] Fourthly, another control device for a drone is provided, characterized in that a substitute remote control terminal is applied to the main remote control terminal in the drone remote control system, the drone remote control system includes at least two remote control terminals connected to each other, the at least two remote control terminals include the main remote control terminal and the substitute remote control terminal, and the substitute remote control terminal has its functions other than image transmission function turned off.

[0029] The device includes:

[0030] The receiving module is used to receive the data forwarding message sent by the main remote control terminal, wherein the data forwarding message carries the drone control data to be sent to the target drone;

[0031] The sending module is used to forward the drone control data to the target drone.

[0032] Fifthly, a computer device is provided, including a memory and a communication component, and one or more processors, wherein the memory and the communication component are connected to the one or more processors, and the one or more processors are configured to execute one or more computer programs stored in the memory, wherein when the one or more processors execute the one or more computer programs, the computer device enables the control method of the unmanned aerial vehicle described in the first or second aspect.

[0033] Fourthly, a computer-readable storage medium is provided, which stores a computer program, the computer program including program instructions, which, when executed by a processor, cause the processor to perform the control method for the unmanned aerial vehicle described in the first or second aspect.

[0034] Fifthly, a drone remote control system is provided, the drone remote control system comprising at least two interconnected remote control terminals, the at least two remote control terminals including a main remote control terminal and a substitute remote control terminal corresponding to the main remote control terminal, wherein the substitute remote control terminal has its functions other than image transmission function turned off; the main remote control terminal is used to execute the drone control method of the first aspect described above, and the substitute remote control terminal is used to execute the drone control method of the second aspect described above.

[0035] This application can achieve the following technical effects: Since the main remote control terminal carries the drone control data to be sent to the drone in the data forwarding message, and the substitute remote control terminal sends the drone control data to the drone on behalf of the main remote control terminal, the location of the main remote control terminal can be hidden, so that the pilot's location can be hidden when using the main remote control terminal to control the drone, thereby protecting the pilot's location; In addition, since the substitute remote control terminal's other functions except for the image transmission function are turned off, the substitute remote control terminal only needs to send control data to the drone on behalf of the main remote control terminal, which can reduce the risk of the substitute remote control terminal's location being exposed, further ensuring the security and privacy of drone control. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the composition structure of a drone remote control system provided in an embodiment of this application;

[0037] Figure 2 A flowchart illustrating a control method for an unmanned aerial vehicle (UAV) provided in an embodiment of this application;

[0038] Figure 3 A schematic diagram illustrating the communication interaction between the main remote control terminal and the substitute remote control terminal provided in an embodiment of this application;

[0039] Figure 4 This is a schematic diagram of the structure of a control device for an unmanned aerial vehicle (UAV) provided in an embodiment of this application;

[0040] Figure 5 This is a schematic diagram of the structure of another unmanned aerial vehicle (UAV) control device provided in an embodiment of this application;

[0041] Figure 6 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0042] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0043] The technical solution of this application applies to drone control scenarios, in which pilots typically use remote controllers to control the drone. The remote controller can issue flight commands to the drone under the pilot's control, thereby controlling the drone's flight; the remote controller can also receive flight tasks from the drone's backend flight control system and send the flight tasks to the drone, thereby controlling the drone's flight.

[0044] In conventional flight control schemes, the pilot uses a single remote controller to control a drone. The problem with this approach is that the pilot and the actual drone are in the same spatial location; if the remote controller's location is detected, the pilot's position is revealed. This application addresses this by constructing a drone remote control system consisting of at least two remote control terminals located in different spatial locations. The pilot uses this system to control the drone, thus concealing their position.

[0045] For ease of understanding, the unmanned aerial vehicle (UAV) remote control system of this application will be introduced first. See [link to relevant documentation]. Figure 1 , Figure 1 This is a schematic diagram of the composition structure of a drone remote control system provided in an embodiment of this application, as shown below. Figure 1 As shown, the drone remote control system 10 includes at least two remote control terminals, which can be distributed in different locations. The at least two remote control terminals are interconnected. The connection between the at least two remote control terminals can be a wired connection, such as a network cable connection; or a wireless connection, such as a Bluetooth, data network, or WiFi network connection.

[0046] At least two remote control terminals are included: a main remote control terminal 101 and a substitute remote control terminal 102 corresponding to the main remote control terminal 101. The main remote control terminal 101 acts as the master controller in the UAV remote control system 10, meaning it is the remote control terminal actually operated by the user (e.g., the pilot). The user controls the UAV flight through the main remote control terminal 101. The image transmission function of the main remote control terminal 101 is turned off, while all other functions are turned on, allowing it to respond to various remote control operations from the user. The substitute remote control terminal 102 acts as a substitute in the UAV remote control system 10, meaning it acts as the substitute remote control terminal to interact with the UAV on behalf of the main remote control terminal 101. The image transmission function of the substitute remote control terminal 102 is turned on, while all other functions are turned off. This way, the substitute remote control terminal only needs to interact with the UAV on behalf of the main remote control terminal, reducing the risk of its location being exposed.

[0047] At least two remote control terminals may also include an unknown remote control terminal 103, whose identity in the UAV remote control system is unknown. All functions of the unknown remote control terminal 103 are enabled.

[0048] Unknown remote control terminal 103 can serve as a backup remote control terminal for the primary remote control terminal 101, meaning it can be converted into the primary controller in the UAV remote control system 10, becoming the primary remote control terminal 101. Alternatively, unknown remote control terminal 103 can also serve as a backup remote control terminal for a substitute remote control terminal 102, meaning it can be converted into a substitute remote control terminal 102 in the UAV remote control system 10. Both the primary remote control terminal 101 and the substitute remote control terminal 102 can be converted into unknown identities in the UAV remote control system 10, becoming unknown remote control terminal 103. The number of primary remote control terminals 101 and substitute remote control terminals 102 in the UAV remote control system 10 can be at most one, while the number of unknown remote control terminals 103 in the UAV remote control system 10 can be multiple.

[0049] based on Figure 1 The drone remote control system shown can realize the technical solution of this application. The technical solution of this application is described in detail below.

[0050] See Figure 2 , Figure 2 This is a flowchart illustrating a control method for an unmanned aerial vehicle (UAV) provided in an embodiment of this application, as shown below. Figure 2 As shown, the method includes the following steps:

[0051] S201, the main remote control terminal acquires the drone control data to be sent to the target drone.

[0052] Here, for the definition of the master remote control terminal, please refer to the aforementioned text. Figure 1 The corresponding description is as follows: When all remote control terminals in a drone remote control system are unknown, the user can select and set the primary remote control terminal. Generally, the user can select a remote control terminal located in the same spatial location as the user as the primary remote control terminal.

[0053] The target drone is the drone that the user wants to actually control through a remote control terminal. The main remote control terminal can determine the drone control data to be sent based on the user's operations performed on the main remote control terminal; the main remote control terminal can also receive flight missions sent by the target drone's background flight control system, and determine the drone control data to be sent based on the flight missions sent by the target drone's background flight control system.

[0054] S202, the main remote control terminal sends a data forwarding message to the substitute remote control terminal. The data forwarding message carries the UAV control data, and the substitute remote control terminal receives the data forwarding message.

[0055] Here, for the definition of the stand-in remote control terminal, please refer to the aforementioned text. Figure 1 The description states that the substitute remote control terminal can be selected and set by the user after selecting the primary remote control terminal in the drone remote control system; alternatively, the user can select the substitute remote control terminal first and then the primary remote control terminal in the drone network. The user can trigger the identity verification process for starting an unknown remote control terminal in the drone remote control system from any unknown remote control terminal in the drone network to select the substitute and primary remote control terminals. Specific implementation details regarding the identity verification process for starting an unknown remote control terminal in the drone remote control system will be provided later. Figure 3 The corresponding technical solutions will be described in detail, and will not be elaborated on here.

[0056] The main remote control terminal can send data forwarding messages to the substitute remote control terminal through the connection between the main remote control terminal and the substitute remote control terminal can receive data forwarding messages sent by the main remote control terminal through the connection between the substitute remote control terminal and the main remote control terminal.

[0057] The data forwarding message is used to instruct the substitute remote control terminal to forward drone control data to the target drone. In addition to carrying drone control data, the data forwarding message can also carry the terminal identifier of the primary remote control terminal. The primary remote control terminal's terminal identifier is used to uniquely identify the primary remote control terminal within the drone remote control system, allowing the substitute remote control terminal to determine that the data forwarding message was sent by the primary remote control terminal upon receiving it. The data forwarding message can also carry a second identity identifier, which indicates the primary remote control terminal's master control identity, allowing the substitute remote control terminal to determine the primary remote control terminal's master control identity upon receiving it. The data forwarding message can also carry a forwarding instruction and the target drone's drone identifier, allowing the substitute remote control terminal to determine, based on the forwarding instruction, that the drone control data in the data forwarding message needs to be forwarded to the target drone.

[0058] S203, the substitute remote control terminal sends drone control data to the target drone, and the target drone receives the drone control data.

[0059] The stand-in remote control terminal can establish a communication connection with the target drone and send drone control data to the target drone through the communication connection; the target drone can receive drone control data sent by the stand-in remote control terminal through the communication connection with the stand-in remote control terminal.

[0060] After receiving the drone control data, the target drone can perform the corresponding flight operations according to the drone control data.

[0061] S204, the target drone collects drone data.

[0062] Here, drone data refers to various data collected by the drone. Drone data may include data related to the drone's own flight, such as the drone's position data, remaining battery power, attitude data, speed data, and engine parameters. Drone data may also include image transmission data, which is data captured by the camera mounted on the drone.

[0063] S205, the target drone sends target drone data to the substitute remote control terminal, and the substitute remote control terminal receives the target drone data.

[0064] The target drone data refers to the drone data collected by the target drone.

[0065] The target drone can send target drone data through a communication connection with the substitute terminal, and the substitute remote control terminal can receive target drone data through a communication connection with the target drone.

[0066] S206, the substitute remote control terminal sends target drone data to the main remote control terminal, and the main remote control terminal receives the target drone data.

[0067] The substitute remote control terminal can send target drone data to the main remote control terminal through a connection with the main remote control terminal, and the main remote control terminal can receive target drone data sent by the substitute remote control terminal through a connection with the substitute remote control terminal.

[0068] In the above Figure 2 In the corresponding technical solution, after the main remote control terminal acquires the drone control data to be sent to the target drone, it sends a data forwarding message to the substitute remote control terminal. The data forwarding message carries the drone control data. After receiving the data forwarding message, the substitute remote control terminal forwards the drone control data in the data forwarding message to the target drone. The target drone sends the collected drone data to the substitute remote control terminal, which then forwards the drone data to the main remote control terminal. Essentially, the substitute remote control terminal replaces the main remote control terminal in data interaction with the drone. The location of the main remote control terminal can remain hidden, allowing the pilot to remain hidden when using the main remote control terminal to control the drone, thus protecting the pilot's position. In addition, since the substitute remote control terminal's functions other than image transmission are disabled, the substitute remote control terminal only needs to replace the main remote control terminal in data interaction with the drone, reducing the risk of the substitute remote control terminal's location being exposed and further ensuring the security and privacy of drone control.

[0069] The substitute remote control terminal can establish a communication connection with the target drone based on the target drone's content protection key. Before acquiring control data to be sent to the target drone, the main remote control terminal can obtain the target drone's content protection key and send it to the substitute remote control terminal. The main remote control terminal can send the target drone's content protection key to the substitute remote control terminal through the connection with the main remote control terminal, and the substitute remote control terminal can receive the target drone's content protection key through the connection with the main remote control terminal.

[0070] After receiving the content protection key of the target drone, the substitute remote control terminal can determine whether its own identity is that of a substitute. Upon confirming its identity, it initiates a mutual authentication process with the target drone based on the target drone's content protection key, thereby establishing a communication connection. An exemplary mutual authentication process can be as follows:

[0071] (1) The substitute remote control terminal sends an authentication request to the target UAV. The authentication request carries the terminal identifier of the substitute remote control terminal. The terminal identifier of the substitute remote control terminal is used to uniquely identify the substitute remote control terminal.

[0072] (2) After receiving the authentication request, the target UAV generates a random challenge code, encrypts the random challenge code using the content protection key of the target UAV, carries the encryption result in the authentication response, and sends the authentication response to the substitute remote control terminal.

[0073] (3) After receiving the authentication response, the substitute remote control terminal obtains the encryption result from the authentication response, and uses the content protection key of the target UAV to decrypt the random challenge code, and sends the decryption result to the target UAV.

[0074] (4) The target drone compares the decryption result with the random challenge code stored in the target drone. If they match, an authentication confirmation message is sent to the substitute remote control terminal.

[0075] After receiving the authentication confirmation message, the substitute remote control terminal can confirm that the mutual authentication with the target drone is complete, the target drone is in a controllable state, the substitute remote control terminal establishes a communication connection with the target drone, and the substitute remote control terminal can interact with the target drone. It should be understood that the above (1)-(4) are only an example of mutual authentication between the substitute remote control terminal and the target drone introduced in this application. The substitute remote control terminal and the target drone can also complete mutual authentication based on the content protection key of the target drone and other authentication methods. This application does not impose any restrictions.

[0076] After establishing a communication connection with the target drone through mutual authentication, the target drone can also use its content protection key to encrypt the drone data it collects and send the encrypted drone data to the substitute remote control terminal. The substitute remote control terminal can use the target drone's content protection key to decrypt the encrypted drone data and obtain the drone data before encryption.

[0077] The master remote control terminal sends the drone's CP key to the substitute remote control terminal, enabling the substitute remote control terminal to authenticate the drone and thus interact with it for data.

[0078] In some possible scenarios, the primary remote control terminal and the substitute remote control terminal can communicate periodically, thereby periodically sending the content protection key of the target UAV to the substitute remote control terminal.

[0079] See Figure 3 , Figure 3 This is a schematic diagram illustrating the communication interaction between the main remote control terminal and the substitute remote control terminal provided in an embodiment of this application, as shown below. Figure 3 As shown, it includes the following steps:

[0080] S301, the main remote control terminal sends a second heartbeat connection message to the substitute remote control terminal, and the second heartbeat connection information carries the second identity information.

[0081] Here, the heartbeat connection message is used to maintain the connection's activity. The second heartbeat connection message is used to indicate the network status of the master remote control terminal.

[0082] The second identity information includes a second identity identifier, which is used to indicate the surrogate identity of the master remote control terminal; in addition to the second identity identifier, the second identity information may also include the content protection key of the target drone.

[0083] The main remote control terminal can carry the second identity identifier and the content protection key of the target drone in the second heartbeat connection message, and send the second heartbeat connection message to the substitute remote control terminal at a preset frequency.

[0084] The preset frequency is the frequency corresponding to maintaining the connection. For example, the preset frequency can be 2 Hz, that is, the main remote control terminal can send the second heartbeat connection message to the substitute remote control terminal at a frequency of 2 Hz.

[0085] Since the remote control terminals in the UAV remote control system are interconnected, in one feasible implementation, the main remote control terminal can periodically broadcast a second heartbeat connection message to the UAV remote control system at a preset frequency. All remote control terminals in the UAV remote control system can receive this second heartbeat connection message. Upon receiving the second heartbeat connection message, the unknown remote control terminal in the UAV remote control system obtains the target UAV's content protection key from the message. Because its identity is unknown, the unknown remote control terminal processes the target UAV's content protection key. Similarly, upon receiving the second heartbeat connection message, the substitute remote control terminal in the UAV remote control system obtains the target UAV's content protection key from the message. Because its identity is that of a substitute, the substitute remote control terminal determines whether a communication connection has been established with the target UAV. If no communication connection has been established, it establishes a communication connection with the target UAV based on the target UAV's content protection key. If a communication connection has already been established, it performs data interaction with the target UAV based on the target UAV's content protection key.

[0086] S302, the substitute remote control terminal sends a first heartbeat connection message to the main remote control terminal, and the first heartbeat connection message carries the first identity information.

[0087] Here, the first heartbeat connection message is used to indicate the network status of the substitute remote control terminal. The first identity information includes a first identity identifier, which is used to indicate the substitute identity of the substitute remote control terminal; in addition to the first identity identifier, the first identity information may also include the remaining battery power of the substitute remote control terminal.

[0088] The substitute remote control terminal can carry its primary identity identifier and remaining battery level in the primary heartbeat connection message, and periodically send the primary heartbeat connection message to the primary remote control terminal at a preset frequency. For example, the substitute remote control terminal can send the primary heartbeat connection message to the primary remote control terminal at a frequency of 2 Hz.

[0089] Similar to step S301 above, the substitute remote control terminal can periodically broadcast the first heartbeat connection message to the UAV remote control system at a preset frequency. All remote control terminals in the UAV remote control system can receive the first heartbeat connection message. After receiving the first heartbeat connection message, the main remote control terminal in the UAV remote control system can obtain the remaining battery power of the substitute remote control terminal from the first heartbeat connection message.

[0090] S303, the main remote control terminal determines whether it has received the first heartbeat connection message sent by the substitute remote control terminal within the preset connection period.

[0091] Here, the preset connection period is the length of time required to determine whether the connection between devices is normal.

[0092] If a first heartbeat connection message is received from the substitute remote control terminal within the preset connection period, it indicates that the substitute remote control terminal is still online, meaning the connection between the substitute remote control terminal and the main remote control terminal is normal, and step S301 is executed. If no first heartbeat connection message is received from the substitute remote control terminal within the preset connection period, it indicates that the substitute remote control terminal is offline, meaning the connection between the substitute remote control terminal and the main remote control terminal is broken, and step S304 is executed. The preset connection period can be, for example, 2 seconds.

[0093] When the main remote control terminal does not receive a heartbeat connection message from the substitute remote control terminal within the preset connection period, it will relinquish its master control status and initiate an identity verification process. This allows it to reselect a substitute remote control terminal in case of a malfunction, ensuring continuous connection and interaction between the main remote control terminal and the drone.

[0094] Optionally, in some possible cases, if a first heartbeat connection message is received from the substitute remote control terminal within a preset connection period, the main remote control terminal can also obtain the remaining power of the substitute remote control terminal from the first heartbeat connection message, and determine whether the remaining power of the substitute remote control terminal is lower than the preset power. If the remaining power of the substitute remote control terminal is lower than the preset power, it means that the power of the substitute remote control terminal is insufficient and it is no longer suitable as a substitute for the main remote control terminal, and the main remote control terminal can execute step S304; if the remaining power of the substitute remote control terminal is higher than the preset power, it means that the power of the substitute remote control terminal is sufficient and it is still suitable as a substitute for the main remote control terminal, and step S301 is executed.

[0095] When the remaining battery power of the substitute remote control terminal is lower than the preset battery power, the main remote control terminal will detach itself from its master control status and initiate an identity verification process, which can promptly switch to the substitute remote control terminal and ensure continuous connection and interaction between the main remote control terminal and the drone.

[0096] Optionally, in some possible cases, if a first heartbeat connection message is received from the substitute remote control terminal within a preset connection period, the main remote control terminal can also detect the signal strength of the first heartbeat connection message. If the signal strength of the first heartbeat connection message is lower than the preset signal strength, it indicates that the communication signal of the substitute remote control terminal is weak and is no longer suitable as a substitute for the main remote control terminal, and the main remote control terminal executes step S304; if the signal strength of the first heartbeat connection message is higher than the preset signal strength, it indicates that the communication signal of the substitute remote control terminal is strong and is still suitable as a substitute for the main remote control terminal, and step S301 is executed.

[0097] When the signal strength of the heartbeat connection message sent by the substitute remote control terminal is lower than the preset signal strength, the main remote control terminal contacts its own master control identity and initiates the identity verification process, which can switch the substitute remote control terminal in time and ensure continuous connection and interaction between the main remote control terminal and the drone.

[0098] S304, remove the master control terminal's master control identity, restore the master remote control terminal to an unknown remote control terminal in the UAV remote control system, and initiate the identity verification process for the unknown remote control terminal in the UAV remote control system.

[0099] The main remote control terminal can modify its own identity identifier, changing it from the second identity identifier to the third identity identifier, which is the identity identifier of the unknown remote control terminal. It can also enable the image transmission function of the main remote control terminal, thereby deactivating the main remote control terminal's master control identity and restoring it to the unknown remote control terminal in the UAV remote control system.

[0100] Initiating the identity verification process for unknown remote control terminals in a drone remote control system refers to the process of selecting and setting the main remote control terminal and its substitute remote control terminal among the unknown remote control terminals in the drone remote control system.

[0101] The identity verification process for unknown remote control terminals in a drone remote control system can be initiated under the following circumstances to complete the identity verification of both the main remote control terminal and its stand-in remote control terminal:

[0102] Scenario 1: Based on user settings, select the main remote control terminal and the substitute remote control terminal for the main remote control terminal.

[0103] In this case, in one feasible implementation, the unknown remote control terminal (hereinafter referred to as the current remote control terminal) recovered by the master remote control terminal can display the terminal identifier of the current remote control terminal to the user, and the user can set the current remote control terminal as the master remote control terminal or the substitute remote control terminal.

[0104] If the user sets the current remote control terminal as the primary remote control terminal, the current remote control terminal changes its identity from the third identity to the second identity and disables its image transmission function, thus becoming the primary remote control terminal. The current remote control terminal also displays the terminal identifiers of other unknown remote control terminals in the UAV remote control system to the user. The user selects one of these unknown remote control terminals as a substitute remote control terminal. The current remote control terminal uses the user-selected unknown remote control terminal as the target remote control terminal and sends a first identity indication message to the target remote control terminal. The first identity indication message carries the second identity, the terminal identifier of the current remote control terminal (hereinafter referred to as the current terminal identifier), and the content protection key of the target UAV. After receiving the first identity indication message, the target remote control terminal can determine the remote control terminal corresponding to the current terminal identifier as the primary remote control terminal based on the second identity and the current terminal identifier. It then changes its own identity from the third identity to the first identity and disables all functions of the target remote control terminal except for the image transmission function, thus becoming a substitute remote control terminal.

[0105] If the user sets the current remote control terminal as a substitute remote control terminal, the current remote control terminal changes its own identity from the third identity to the first identity and disables all functions except for image transmission, thus becoming a substitute remote control terminal. The current remote control terminal also displays the terminal identifiers of other unknown remote control terminals in the drone remote control system to the user. The user selects one of these unknown remote control terminals as the primary remote control terminal. The current remote control terminal then uses the user-selected unknown remote control terminal as the target remote control terminal and sends a second identity indication message to the target remote control terminal. The second identity indication message carries the first identity, the current terminal identifier, and the remaining battery power of the current remote control terminal. After receiving the second identity indication message, the target remote control terminal can determine that the remote control terminal corresponding to the current terminal identifier is a substitute remote control terminal based on the first identity and the current terminal identifier. It then changes its own identity from the third identity to the second identity, disables the image transmission function of the target remote control terminal, and becomes the primary remote control terminal.

[0106] Method 2: Automatically select and set the master remote control and the substitute remote control terminal of the master remote control terminal.

[0107] In this scenario, in one feasible implementation, the current remote control terminal can identify itself as the primary remote control terminal. It then changes its own identity identifier from the third identity identifier to the second identity identifier and disables its image transmission function, thus becoming the primary remote control terminal. Furthermore, based on the remaining battery power of other unknown remote control terminals in the UAV remote control system, the current remote control terminal with the highest remaining battery power is identified as the target remote control terminal. The current remote control terminal sends a first identity indication message to the target remote control terminal, carrying the second identity identifier, the terminal identifier of the current remote control terminal (hereinafter referred to as the current terminal identifier), and the content protection key of the target UAV. Upon receiving the first identity indication message, the target remote control terminal can determine the remote control terminal corresponding to the current terminal identifier as the primary remote control terminal based on the second identity identifier and the current terminal identifier. It then changes its own identity identifier from the third identity identifier to the first identity identifier and disables all functions of the target remote control terminal except for its image transmission function, thus becoming a substitute remote control terminal.

[0108] Alternatively, in the process of determining the primary remote control terminal, the current remote control terminal can also determine the terminal identifier of the backup remote control terminal. The backup remote control terminal refers to the remote control terminal whose spatial location is the same as that of the current remote control terminal. The remaining power of the backup remote control terminal is obtained, and the remote control terminal with the larger remaining power between the current remote control terminal and the backup remote control terminal is determined as the primary remote control terminal. The primary remote control terminal then determines the substitute remote control terminal from other unknown remote control terminals in the UAV remote control system.

[0109] Alternatively, in the process of determining the substitute remote control terminal, the current remote control terminal can also determine the target remote control terminal through a polling process. This application does not limit the specific implementation methods for automatically selecting and setting the main remote control terminal and the substitute remote control terminal of the main remote control terminal.

[0110] Optionally, in some possible situations, the main remote terminal may also execute step S304 in response to an identity reset command. The identity reset command can be triggered by a user, who can do so through the function menu or function buttons on the main remote terminal. The identity reset command is used to instruct the main remote terminal and the substitute remote terminal to be reset.

[0111] Upon receiving an identity reset command, the main remote control terminal revokes its master control identity and initiates an identity verification process, enabling users to switch the identity of the remote control terminal in the drone remote control system at any time, thereby flexibly controlling the drone.

[0112] Optionally, in some possible cases, the main remote control terminal can also detect the duration of the continuous connection between the main remote control terminal and the substitute remote control terminal, and determine whether the duration of the continuous connection is greater than a preset duration. If the duration of the continuous connection is greater than the preset duration, it means that the main remote control terminal has used the current substitute remote control terminal as a substitute for a longer period of time, and the step S304 is executed; if the duration of the continuous connection is less than or equal to the preset duration, it means that the main remote control terminal has used the current substitute remote control terminal as a substitute for a shorter period of time, and the step S301 is executed.

[0113] When the continuous connection time between the main remote control terminal and the substitute remote control terminal exceeds the preset time, the main remote control terminal identifies itself as the master controller and initiates the identity verification process. It can switch to the substitute remote control terminal at any time, reducing the risk of the main remote control terminal's location being exposed.

[0114] Optionally, in some possible situations, the main remote control terminal can also detect its own remaining power. If the remaining power of the main remote control terminal is lower than the preset power, it means that the power of the main remote control terminal is insufficient, and step S304 is executed; if the remaining power of the main remote control terminal is lower than the preset power, it means that the power of the main remote control terminal is sufficient, and step S301 is executed.

[0115] When the main remote control terminal has insufficient current, it deactivates the main control terminal's status, causing it to revert to being an unknown remote control terminal in the UAV remote control system. It also initiates the identity verification process for unknown remote control terminals in the UAV remote control system, enabling users to switch the main remote control terminal in a timely manner and ensuring that the main remote control terminal has sufficient power.

[0116] S305, the substitute remote control terminal determines whether it has received a second heartbeat connection message from the main remote control terminal within a preset connection period.

[0117] If a second heartbeat connection message is received from the main remote control terminal within the preset connection period, it indicates that the main remote control terminal is still in the network state, that is, the connection between the main remote control terminal and the substitute remote control terminal is normal, and step S302 is executed; if a second heartbeat connection message is not received from the main remote control terminal within the preset connection period, it indicates that the main remote control terminal is in the offline state, that is, the connection between the main remote control terminal and the substitute remote control terminal is disconnected, and step S306 is executed.

[0118] S306, remove the stand-in remote control terminal's stand-in identity, restoring the stand-in remote control terminal to its original state as an unknown remote control terminal in the UAV remote control system.

[0119] Among them, the substitute remote control terminal can modify its own identity identifier, changing it from a second identity identifier to a third identity identifier, and enable other functions of the substitute remote control terminal except for the image transmission function, thereby removing the substitute remote control terminal's substitute identity and restoring it to the unknown remote control terminal in the drone remote control system.

[0120] Optionally, in some possible situations, the substitute remote control terminal can also respond to the identity reset command to remove its substitute identity, restoring it to the status of an unknown remote control terminal in the UAV remote control system, and initiating the identity verification process for the unknown remote control terminal in the UAV remote control system. The substitute remote control terminal can initiate the identity verification process for the unknown remote control terminal in the UAV remote control system by referring to the method described in step S304 above, which will not be repeated here.

[0121] In the above Figure 3 In the corresponding technical solution, the main remote control terminal and the substitute remote control terminal send heartbeat connection messages to each other and determine whether they have received each other's heartbeat connection messages within a preset connection period. If they have not received each other's heartbeat connection messages within the preset connection period, they are deactivated and restored to unknown remote control terminals. After the main remote control terminal is restored to an unknown remote control terminal, it also initiates the identity verification process of unknown remote control terminals in the UAV remote control system. This can promptly detect connection anomalies between the main remote control terminal and the substitute remote control terminal, avoid data transmission terminals or errors, and improve the connection stability between the main remote control terminal and the substitute remote control terminal.

[0122] The method of this application has been described above; the apparatus of this application will be described below.

[0123] See Figure 4 , Figure 4 This is a schematic diagram of the structure of a control device for a drone provided in an embodiment of this application. It is the main remote control terminal applied in a drone remote control system, and the drone remote control system can be used as follows: Figure 1 As shown, Figure 4 As shown, the control device 40 of the drone includes:

[0124] Data acquisition module 401 is used to acquire drone control data to be sent to the target drone;

[0125] The sending module 402 is used to send a data forwarding message to the substitute remote control terminal. The data forwarding message carries the UAV control data and is used to instruct the substitute remote control terminal to forward the UAV control data to the target UAV.

[0126] In one possible design, the control device 40 of the above-mentioned drone further includes a receiving module 403 for receiving target drone data forwarded by the substitute remote control terminal, wherein the target drone data is drone data collected by the target drone.

[0127] In one possible design, the aforementioned sending module 402 is further configured to obtain the content protection key of the target drone and send the content protection key of the target drone to the substitute remote control terminal.

[0128] In one possible design, the control device 40 of the aforementioned UAV further includes a receiving module 403 and an identity management module 404. The receiving module 403 is used to receive a first heartbeat connection message sent by the substitute remote control terminal within a preset connection period. The first heartbeat connection message carries first identity information, which includes a first identity identifier. The first identity identifier is used to indicate the substitute identity of the substitute remote control terminal. The identity management module 404 is used to, if it does not receive the first heartbeat connection message sent by the substitute remote control terminal within the preset connection period, release the master remote control terminal's master control identity, so that the master remote control terminal is restored to an unknown remote control terminal in the UAV remote control system, and initiate the identity verification process of the unknown remote control terminal in the UAV remote control system.

[0129] In one possible design, the first identity information also includes the remaining battery power of the substitute remote control terminal; the identity management module 404 is further configured to, if the remaining battery power of the substitute remote control terminal is lower than a preset battery power, remove the master control identity of the master remote control terminal, so that the master remote control terminal is restored to an unknown remote control terminal in the UAV remote control system, and initiate the identity confirmation process of the unknown remote control terminal in the UAV remote control system.

[0130] In one possible design, the control device 40 of the above-mentioned UAV further includes a timeout module 404, which is used to release the master control identity of the master remote control terminal in response to the identity reset command, so that the master remote control terminal is restored to an unknown remote control terminal in the UAV remote control system, and initiate the identity verification process of the unknown remote control terminal in the UAV remote control system.

[0131] It should be noted that, Figure 4 For any content not mentioned in the corresponding embodiments, please refer to the description of the foregoing method embodiments, which will not be repeated here.

[0132] After acquiring the drone control data to be sent to the target drone, the aforementioned device sends a data forwarding message to the substitute remote control terminal. This message carries the drone control data and instructs the substitute remote control terminal to forward the drone control data to the target drone. Since the main remote control terminal sends the drone control data to the drone via the substitute remote control terminal in the data forwarding message, the main remote control terminal's location can remain concealed. This allows the pilot to maintain an anonymous position when using the main remote control terminal to control the drone, thus protecting the pilot's location. Furthermore, since the substitute remote control terminal's functions other than image transmission are disabled, it only needs to send control data to the drone in place of the main remote control terminal, reducing the risk of its location being exposed and further ensuring the security and privacy of drone control.

[0133] See Figure 5 , Figure 5 This is a schematic diagram of the structure of a control device for a drone provided in an embodiment of this application. It is applied to a substitute remote control terminal in a drone remote control system, and the drone remote control system can be used as follows: Figure 1 As shown, Figure 5 As shown, the control device 50 of the drone includes:

[0134] The receiving module 501 is used to receive a data forwarding message sent by the main remote control terminal, wherein the data forwarding message carries drone control data to be sent to the target drone;

[0135] The sending module 502 is used to forward the drone control data to the target drone.

[0136] In one possible design, the receiving module 501 is further configured to receive target drone data sent by the target drone, wherein the target drone data is drone data collected by the target drone; the sending module 502 is further configured to forward the target drone data to the main remote control terminal.

[0137] In one possible design, the receiving module 501 is also used to receive the content protection key of the target UAV sent by the main remote control terminal.

[0138] In one possible design, the receiving module 501 is further configured to receive a second heartbeat connection message sent by the master remote control terminal within a preset connection period. The second heartbeat connection message carries second identity information, including a second identity identifier, which is used to indicate the master control identity of the master remote control terminal. The control device 50 of the UAV further includes an identity management module 503, configured to, if the second heartbeat connection message sent by the master remote control terminal is not received within the preset connection period, release the substitute remote control terminal's substitute identity, so that the substitute remote control terminal is restored to an unknown remote control terminal in the UAV remote control system.

[0139] In one possible design, the control device 50 of the above-mentioned UAV also includes an identity management module 503, which is used to, in response to an identity reset command, remove the substitute identity of the substitute remote control terminal, so that the substitute remote control terminal is restored to the unknown remote control terminal in the UAV remote control system, and initiate the identity confirmation process of the unknown remote control terminal in the UAV remote control system.

[0140] It should be noted that, Figure 5 For any content not mentioned in the corresponding embodiments, please refer to the description of the foregoing method embodiments, which will not be repeated here.

[0141] The aforementioned device, upon receiving a data forwarding message from the main remote control terminal, forwards the drone control data within the data forwarding message to the target drone. Since the main remote control terminal carries the drone control data to be sent to the drone within the data forwarding message, and the substitute remote control terminal sends the drone control data to the drone on behalf of the main remote control terminal, the location of the main remote control terminal can remain concealed. This allows the pilot to maintain an anonymous location when using the main remote control terminal to control the drone, thus protecting the pilot's position. Furthermore, since the substitute remote control terminal's functions other than image transmission are disabled, it only needs to send control data to the drone on behalf of the main remote control terminal, reducing the risk of its location being exposed and further ensuring the security and privacy of drone control.

[0142] See Figure 6 , Figure 6 This is a schematic diagram of the structure of a computer device 60 provided in an embodiment of this application. The computer device 60 includes a processor 601, a memory 602, and a communication component 603. The memory 602 and the communication component 603 are connected to the processor 601, for example, via a bus.

[0143] Processor 601 is configured to support the computer device 60 in performing the corresponding functions in the methods described in the above method embodiments. Processor 601 may be a central processing unit (CPU), a network processor (NP), a hardware chip, or any combination thereof. The aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The aforementioned PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0144] Memory 602 is used to store program code, etc. Memory 602 may include volatile memory (VM), such as random access memory (RAM); memory 602 may also include non-volatile memory (NVM), such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid-state drive (SSD); memory 602 may also include combinations of the above types of memory.

[0145] The communication component 603 is used to send or receive data. The communication component 603 may include a communication interface, such as a wired communication interface, and may also include a wireless transceiver.

[0146] When computer device 60 is used as the main remote control terminal in an unmanned aerial vehicle (UAV) remote control system, processor 601 can call the program code to perform the following operations:

[0147] Acquire drone control data to be sent to the target drone;

[0148] A data forwarding message is sent to the substitute remote control terminal. The data forwarding message carries the UAV control data and is used to instruct the substitute remote control terminal to forward the UAV control data to the target UAV.

[0149] When computer device 60 is used as a stand-in remote control terminal in a drone remote control system, processor 601 can call the program code to perform the following operations:

[0150] Receive a data forwarding message sent by the main remote control terminal, wherein the data forwarding message carries drone control data to be sent to the target drone;

[0151] The drone control data is forwarded to the target drone.

[0152] This application also provides a computer-readable storage medium storing a computer program, the computer program including program instructions, which, when executed by a computer, cause the computer to perform the method described in the foregoing embodiments.

[0153] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0154] The above-disclosed embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of this application. Therefore, any equivalent variations made in accordance with the claims of this application shall still fall within the scope of this application.

Claims

1. A control method for an unmanned aerial vehicle (UAV), characterized in that, A main remote control terminal is used in a drone remote control system. The drone remote control system includes at least two remote control terminals connected to each other. The at least two remote control terminals include the main remote control terminal and a substitute remote control terminal corresponding to the main remote control terminal. The substitute remote control terminal has all functions except for image transmission function turned off. The main remote control terminal controls the flight of the drone, and all functions of the main remote control terminal except for the image transmission function are enabled. The method includes: Acquire drone control data to be sent to the target drone; A data forwarding message is sent to the substitute remote control terminal. The data forwarding message carries the UAV control data and is used to instruct the substitute remote control terminal to forward the UAV control data to the target UAV.

2. The method according to claim 1, characterized in that, The method further includes: The system receives target drone data forwarded by the substitute remote control terminal, where the target drone data is drone data collected by the target drone.

3. The method according to claim 1, characterized in that, Before acquiring the drone control data to be sent to the target drone, the process also includes: Obtain the content protection key of the target drone; Send the content protection key of the target drone to the substitute remote control terminal.

4. The method according to any one of claims 1-3, characterized in that, The method further includes: Within a preset connection period, a first heartbeat connection message is received from the substitute remote control terminal. The first heartbeat connection message carries first identity information, which includes a first identity identifier. The first identity identifier is used to indicate the substitute identity of the substitute remote control terminal. If no first heartbeat connection message is received from the substitute remote control terminal within the preset connection period, the master remote control terminal's master control identity is released, causing the master remote control terminal to revert to an unknown remote control terminal in the UAV remote control system, and the identity verification process for the unknown remote control terminal in the UAV remote control system is initiated.

5. The method according to claim 4, characterized in that, The first identity information also includes the remaining battery power of the substitute remote control terminal; The method further includes: If the remaining battery power of the substitute remote control terminal is lower than the preset battery power, the master remote control terminal's master control status is removed, causing the master remote control terminal to revert to an unknown remote control terminal in the drone remote control system, and the identity verification process for the unknown remote control terminal in the drone remote control system is initiated.

6. The method according to any one of claims 1-3, characterized in that, The method further includes: In response to the identity reset command, the master remote control terminal's master control identity is removed, causing the master remote control terminal to revert to an unknown remote control terminal in the UAV remote control system, and the identity verification process for the unknown remote control terminal in the UAV remote control system is initiated.

7. A method for controlling an unmanned aerial vehicle (UAV), characterized in that, A substitute remote control terminal corresponding to the main remote control terminal in a drone remote control system. The drone remote control system includes at least two remote control terminals connected to each other. The at least two remote control terminals include the main remote control terminal and the substitute remote control terminal. The substitute remote control terminal has all functions except for image transmission function turned off. The main remote control terminal controls the flight of the drone, and all functions of the main remote control terminal except for the image transmission function are enabled. The method includes: Receive a data forwarding message sent by the main remote control terminal, the data forwarding message carrying drone control data to be sent to the target drone; The drone control data is forwarded to the target drone.

8. The method according to claim 7, characterized in that, The method further includes: Receive target drone data sent by the target drone, wherein the target drone data is drone data collected by the target drone; The target UAV data is forwarded to the main remote control terminal.

9. The method according to claim 7, characterized in that, Before receiving the data forwarding message sent by the main remote control terminal, the method further includes: Receive the content protection key of the target drone sent by the main remote control terminal.

10. The method according to any one of claims 7-9, characterized in that, The method further includes: Within a preset connection period, a second heartbeat connection message sent by the master remote control terminal is received. The second heartbeat connection message carries second identity information, which includes a second identity identifier. The second identity identifier is used to indicate the master control identity of the master remote control terminal. If no second heartbeat connection message is received from the main remote control terminal within the preset connection period, the stand-in remote control terminal's stand-in status is terminated, causing the stand-in remote control terminal to revert to being an unknown remote control terminal in the UAV remote control system.

11. The method according to any one of claims 7-9, characterized in that, The method further includes: In response to the identity reset command, the substitute remote control terminal's substitute identity is removed, restoring the substitute remote control terminal to the unknown remote control terminal in the UAV remote control system, and initiating the identity verification process for the unknown remote control terminal in the UAV remote control system.

12. A control device for an unmanned aerial vehicle (UAV), characterized in that, A main remote control terminal is used in a drone remote control system. The drone remote control system includes at least two remote control terminals connected to each other. The at least two remote control terminals include the main remote control terminal and a substitute remote control terminal corresponding to the main remote control terminal. The substitute remote control terminal has all functions except for image transmission function turned off. The main remote control terminal controls the flight of the drone, and all functions of the main remote control terminal except for the image transmission function are enabled. The device includes: The data acquisition module is used to acquire drone control data to be sent to the target drone; The sending module is used to send a data forwarding message to the substitute remote control terminal. The data forwarding message carries the UAV control data and is used to instruct the substitute remote control terminal to forward the UAV control data to the target UAV.

13. A control device for an unmanned aerial vehicle (UAV), characterized in that, A substitute remote control terminal corresponding to the main remote control terminal in a drone remote control system. The drone remote control system includes at least two remote control terminals connected to each other. The at least two remote control terminals include the main remote control terminal and the substitute remote control terminal. The substitute remote control terminal has all functions except for image transmission function turned off. The main remote control terminal controls the flight of the drone, and all functions of the main remote control terminal except for the image transmission function are enabled. The device includes: The receiving module is used to receive the data forwarding message sent by the main remote control terminal, wherein the data forwarding message carries the drone control data to be sent to the target drone; The sending module is used to forward the drone control data to the target drone.

14. A computer device, characterized in that, The device includes a memory, a processor, and a communication component, wherein the memory and the communication component are connected to the processor, the communication component is used to send or receive data, and the processor is used to execute one or more computer programs stored in the memory, wherein when the processor executes the one or more computer programs, it causes the computer device to perform the method as described in any one of claims 1-6 or any one of claims 7-11.

15. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, the computer program including program instructions that, when executed by a processor, cause the processor to perform the method as described in any one of claims 1-6 or any one of claims 7-11.

16. A remote control system for unmanned aerial vehicles (UAVs), characterized in that, The UAV remote control system includes at least two interconnected remote control terminals, including a main remote control terminal and a substitute remote control terminal corresponding to the main remote control terminal. The substitute remote control terminal has all functions except image transmission function turned off. The main remote control terminal controls the flight of the UAV, and all functions except image transmission function of the main remote control terminal are turned on. The main remote control terminal is used to perform the method as described in any one of claims 1-6, and the substitute remote control terminal is used to perform the method as described in any one of claims 7-11.

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