Method, device, equipment and medium for automatic transfer of large-scale drone permissions

Abstract

The embodiment of the present invention provides a method, device, equipment and medium for automatic transfer of large-scale UAV authority, which relates to the field of UAV control technology, wherein the method includes: sending the take-off and landing sub-plan of the UAV's mission plan to the take-off and landing operation control center, sending the navigation sub-plan to the navigation operation control center, and sending the mission sub-plan to the mission operation control center; after each UAV takes off, the take-off and landing operation control center, the navigation operation control center and the mission operation control center receive the telemetry data of the UAV; in each operation control center, according to the received telemetry data of the UAV and the relevant information of the corresponding sub-plan of the UAV, it is judged that the control authority of the UAV should be transferred to the operation control center, and the operation control center applies to the UAV and transfers the control authority of the UAV. This solution solves the technical problem that it is impossible to realize the rapid transfer of authority of large-scale UAVs, without manual intervention, and improves the efficiency of the transfer of UAV control authority.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle control technology, and in particular to a large-scale unmanned aerial vehicle automatic handover management method, device, equipment and medium. Background Art

[0002] In order to facilitate the control of drones, the process of drone mission execution is divided into three stages of management: take-off and landing management, navigation management, and mission management. Based on this, in each mission execution stage, the ground station to which the drone control authority belongs is screened and determined from multiple ground stations. This can be achieved through manual operation for a small number of drones, but for the need for rapid transfer of authority for large-scale drones, the efficiency of manual operation is relatively low and cannot meet the demand. Summary of the invention

[0003] In view of this, an embodiment of the present invention provides a method for automatic transfer of permissions of large-scale drones to solve the technical problem that large-scale drones cannot be quickly transferred in the prior art. The method includes:

[0004] For each drone in the scaled drones, the mission plan of the drone is divided into three sub-plans, the three sub-plans include a take-off and landing sub-plan, a navigation sub-plan and a mission sub-plan, the take-off and landing sub-plan is sent to the take-off and landing operation control center, the navigation sub-plan is sent to the navigation operation control center, and the mission sub-plan is sent to the mission operation control center, wherein the take-off and landing sub-plan includes take-off and landing related information, the navigation sub-plan includes route related information, and the mission sub-plan includes mission execution related information. The take-off and landing operation control center, the navigation operation control center and the mission operation control center are three operation control centers respectively set up for the take-off and landing stage, the navigation stage and the mission stage of the drone's mission execution process. The take-off and landing operation control center is used to monitor the take-off and landing stage, the navigation operation control center is used to monitor the navigation stage, and the mission operation control center is used to monitor the mission stage;

[0005] After each UAV takes off, the take-off and landing operation control center, the navigation operation control center and the mission operation control center receive the telemetry data multicasted by the UAV in real time through the data link, and the telemetry data includes the current flight information of the UAV and the current ownership information of the control authority;

[0006] For each drone in the large-scale drones, in each of the operation and control centers, based on the received telemetry data of the drone and the relevant information of the corresponding sub-plan of the drone, it is determined whether the control authority of the drone should be handed over to the operation and control center. If so, the operation and control center applies to the drone and hands over the control authority of the drone.

[0007] The embodiment of the present invention also provides a large-scale automatic transfer device for unmanned aerial vehicle authority to solve the technical problem that large-scale unmanned aerial vehicles cannot be quickly transferred in the prior art. The device includes:

[0008] A task planning processing unit is used to divide the task planning of each drone in the scaled drone into three sub-plans, wherein the three sub-plans include a take-off and landing sub-plan, a navigation sub-plan and a task sub-plan, and send the take-off and landing sub-plan to a take-off and landing operation control center, send the navigation sub-plan to a navigation operation control center, and send the task sub-plan to a task operation control center, wherein the take-off and landing sub-plan includes take-off and landing related information, the navigation sub-plan includes route related information, and the task sub-plan includes task execution related information. The take-off and landing operation control center, the navigation operation control center and the task operation control center are three operation control centers respectively set up corresponding to the take-off and landing stage, the navigation stage and the task stage of the drone's task execution process. The take-off and landing operation control center is used to monitor the take-off and landing stage, the navigation operation control center is used to monitor the navigation stage, and the task operation control center is used to monitor the task stage;

[0009] A data receiving unit is provided in each operation control center, and is used for receiving the telemetry data multicasted by the drone in real time through the data link after each drone takes off. The telemetry data includes the current flight information of the drone and the current ownership information of the control authority.

[0010] The authority handover unit is set up in each operation and control center, and is used for each drone in the large-scale drones. In each of the operation and control centers, based on the received telemetry data of the drone and the relevant information of the corresponding sub-plan of the drone, it is determined whether the control authority of the drone should be handed over to the operation and control center. If so, the operation and control center applies to the drone and hands over the control authority of the drone.

[0011] An embodiment of the present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements any of the above-mentioned methods for automatic transfer of permissions for large-scale drones, so as to solve the technical problem that the prior art cannot realize rapid transfer of permissions for large-scale drones.

[0012] An embodiment of the present invention also provides a computer-readable storage medium, which stores a computer program for executing any of the above-mentioned large-scale automatic transfer of drone permissions, so as to solve the technical problem that large-scale drone permissions cannot be quickly transferred in the prior art.

[0013] Compared with the prior art, the beneficial effects that can be achieved by at least one of the above-mentioned technical solutions adopted in the embodiments of this specification include at least: proposing to set up three operation control centers corresponding to the take-off and landing stage, the navigation stage and the mission stage of the UAV's mission execution process, a take-off and landing operation control center, a navigation operation control center and a mission operation control center, and for each UAV in the scaled UAV, the mission plan of the UAV is divided into three sub-plans, the three sub-plans include a take-off and landing sub-plan, a navigation sub-plan and a mission sub-plan, the take-off and landing sub-plan is sent to the take-off and landing operation control center, the navigation sub-plan is sent to the navigation operation control center, and the mission sub-plan is sent to the mission operation control center, so that the take-off and landing stage, the navigation stage and the mission stage of each UAV in the scaled UAV are monitored by the three operation control centers respectively, The process of selecting ground stations for handover among multiple ground stations in each stage is avoided, which is beneficial to reducing the occupation and consumption of computing resources of drones. At the same time, after each drone takes off, for each drone in the large-scale drones, in each operation and control center, based on the received telemetry data of the drone and the relevant information of the corresponding sub-plan of the drone, it is judged whether the control authority of the drone should be handed over to the operation and control center. If so, the operation and control center applies to the drone and hands over the control authority of the drone, so that each operation and control center can automatically judge and complete the handover of control authority of drones between different stages without manual intervention, thereby improving the efficiency of drone control authority handover, which is beneficial to meeting the needs of large-scale drones for rapid handover, and is beneficial to improving the safety and flexibility of drone monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 It is a flow chart of a method for automatic transfer of permissions of large-scale drones provided by an embodiment of the present invention;

[0016] Figure 2 This is a principle architecture diagram of a large-scale automatic transfer of drone authority provided by an embodiment of the present invention;

[0017] Figure 3 This is a schematic flow chart of a take-off and landing operation control center implementing handover provided by an embodiment of the present invention;

[0018] Figure 4 This is a schematic flow chart of a pilot operation control center implementing handover provided by an embodiment of the present invention;

[0019] Figure 5 This is a schematic flow chart of a method for an operation control center to achieve power seizure provided by an embodiment of the present invention;

[0020] Figure 6 is a structural block diagram of a computer device provided by an embodiment of the present invention;

[0021] Figure 7 It is a structural block diagram of a large-scale automatic transfer of drone authority device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0022] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0023] The following describes the implementation methods of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the absence of conflict, the following embodiments and the features in the embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present application.

[0024] In an embodiment of the present invention, a method for automatic transfer of permissions of large-scale drones is provided, such as Figure 1 As shown, the method includes:

[0025] Step S101: for each drone in the scaled drones, the mission plan of the drone is divided into three sub-plans, the three sub-plans include a take-off and landing sub-plan, a navigation sub-plan and a mission sub-plan, the take-off and landing sub-plan is sent to the take-off and landing operation control center, the navigation sub-plan is sent to the navigation operation control center, and the mission sub-plan is sent to the mission operation control center, wherein the take-off and landing sub-plan includes take-off and landing related information, the navigation sub-plan includes route related information, and the mission sub-plan includes mission execution related information, the take-off and landing operation control center, the navigation operation control center and the mission operation control center are three operation control centers respectively set up for the take-off and landing stage, the navigation stage and the mission stage of the drone's mission execution process, the take-off and landing operation control center is used to monitor the take-off and landing stage, the navigation operation control center is used to monitor the navigation stage, and the mission operation control center is used to monitor the mission stage;

[0026] Step S102: After each UAV takes off, the take-off and landing operation control center, the navigation operation control center, and the mission operation control center receive the telemetry data multicasted by the UAV in real time through the data link, and the telemetry data includes the current flight information of the UAV and the current ownership information of the control authority;

[0027] Step S103: For each drone in the scaled drones, in each of the operation control centers, based on the received telemetry data of the drone and the relevant information of the corresponding sub-plan of the drone, it is determined whether the control authority of the drone should be handed over to the operation control center. If so, the operation control center applies to the drone and hands over the control authority of the drone.

[0028] Depend on Figure 1 As can be seen from the process shown, in the embodiment of the present invention, it is proposed to set up three operation control centers corresponding to the take-off and landing stage, the navigation stage and the mission stage of the UAV's mission execution process, namely, a take-off and landing operation control center, a navigation operation control center and a mission operation control center, and for each UAV in the large-scale UAV, the mission plan of the UAV is divided into three sub-plans, the three sub-plans include a take-off and landing sub-plan, a navigation sub-plan and a mission sub-plan, the take-off and landing sub-plan is sent to the take-off and landing operation control center, the navigation sub-plan is sent to the navigation operation control center, and the mission sub-plan is sent to the mission operation control center, so that the take-off and landing stage, the navigation stage and the mission stage of each UAV in the large-scale UAV are monitored by the three operation control centers respectively, avoiding the lack of control at each stage. The process of selecting a ground station from multiple ground stations for handover between humans and machines is conducive to reducing the occupation and consumption of computing resources of drones. At the same time, after each drone takes off, for each drone in the large-scale drones, in each operation and control center, based on the received telemetry data of the drone and the relevant information of the corresponding sub-plan of the drone, it is determined whether the control authority of the drone should be handed over to the operation and control center. If so, the operation and control center applies to and hands over the control authority of the drone, so that each operation and control center can automatically determine and complete the handover of control authority of drones at different stages, thereby improving the efficiency of drone control authority handover, which is conducive to meeting the needs of large-scale drones for rapid handover, and is conducive to improving the safety and flexibility of drone monitoring.

[0029] In specific implementation, the UAV flight process is divided into three stages according to the different flight stages of the UAV: ​​take-off and landing stage, navigation stage, and mission stage. In order to achieve three-stage management of UAVs based on the three stages, three different ground operation and control centers are set up based on the three stages, such as Figure 2As shown in the figure, they are the take-off and landing control center, the navigation control center, and the mission control center. During the flight of the UAV cluster, they enter the handover area of ​​each control center in turn. The three ground control centers collect the telemetry data sent by each UAV in the UAV cluster in real time through the data link terminal, and automatically calculate whether the UAV has entered their respective handover areas through the automatic handover software. In the absence of human intervention, the corresponding control center automatically applies for control authority to the UAV that enters the handover area and completes the handover. The handover process information and control-related information can be visualized through the interface of the monitoring software.

[0030] Specifically, the take-off and landing control center is responsible for monitoring the take-off and landing of the UAV during the take-off and landing phase, the navigation control center is responsible for monitoring the UAV route during the navigation phase, and the mission control center is responsible for the management and execution of UAV missions during the mission phase, such as reconnaissance and delivery.

[0031] In the specific implementation, in order to further realize the segmented management of the control authority of the UAV in different flight phases based on the three ground operation and control centers, it is proposed to divide the UAV's mission planning into three sub-plans, including the take-off and landing sub-plan, the navigation sub-plan and the mission sub-plan. Then, the three ground operation and control centers can judge whether they should hand over the control authority of the UAV in real time and accurately based on the corresponding sub-plans and telemetry data. For example, the command center can carry out mission planning, including the take-off and landing sub-plan, the navigation sub-plan and the mission sub-plan. The take-off and landing sub-plan includes the airport, runway, handover point after take-off and other take-off and landing related information of the UAV; the route sub-plan includes the waypoints of the UAV and the type and action of the UAV at each waypoint and other route related information; the mission sub-plan includes the CP point (the necessary waypoint for the aircraft to go from the route area to the mission area), the IP point (the target waypoint for executing the mission), the EP point (the waypoint for flying out of the mission) and other waypoints and other mission execution related information. After the mission is planned, the take-off and landing sub-plan is sent to the take-off and landing operation control center, the route sub-plan is sent to the route operation control center, and the mission sub-plan is sent to the mission operation control center. Before the drone takes off, it is necessary to initialize the necessary data and bind the mission plan for each drone. After the drone takes off, it continuously broadcasts the drone's telemetry data to the three ground operation control centers through the data link. The telemetry data includes: the drone's current longitude, latitude, altitude, roll angle, yaw angle, pitch angle, and the drone's current control rights (that is, which ground operation control center currently owns the drone's control rights), etc.

[0032] In specific implementation, in order to enable each ground operation and control center to more efficiently and accurately determine whether it should hand over the management authority of the drone, this embodiment proposes the concept of a handover area. For example, at each of the operation and control centers, based on the relevant information of the corresponding sub-plan of the drone received, the operation and control center calculates the handover area for the drone; based on the current flight information in the telemetry data received of the drone, it is determined whether the drone is within the handover area of ​​the operation and control center for the drone; if so, based on the current ownership information of the control authority in the telemetry data received of the drone, it is determined whether the control authority of the drone is currently in the operation and control center; if not, it is determined that the control authority of the drone should be handed over to the operation and control center.

[0033] In specific implementation, the take-off and landing operation control center determines the first handover point based on the take-off and landing related information of the take-off and landing sub-plan of the drone received; obtains the first radius, takes the first handover point as the center of the circle, and takes the first radius as the radius of the circle to calculate the first handover area of ​​the take-off and landing operation control center for the drone. Then the take-off and landing operation control center determines whether the drone is in the first handover area of ​​the take-off and landing operation control center for the drone; if so, determines whether the control authority of the drone is currently in the take-off and landing operation control center based on the current ownership information of the control authority in the telemetry data received from the drone; if not, determines that the control authority of the drone should be handed over to the take-off and landing operation control center, and the take-off and landing operation control center applies to the drone and hands over the control authority of the drone.

[0034] Specifically, the first intersection point can be a certain position after takeoff in the take-off and landing sub-planning during the mission planning of the UAV, or the take-off and landing operation control center can determine the first intersection point, that is, the position of the intersection, by combining the airport, runway and the position of the take-off and landing operation control center in the take-off and landing sub-planning. The above-mentioned first radius can be predetermined in the take-off and landing sub-planning, or the take-off and landing operation control center can determine the size of the first radius based on the flight speed of the UAV after take-off, the route and the position relationship of the take-off and landing operation control center. For example, the faster the flight speed, the larger the first radius, and the more remote the route is from the take-off and landing operation control center, the larger the first radius.

[0035] For example, the process of the take-off and landing control center judging and handing over the control authority of the drone is as follows: Figure 3 As shown, the following steps are included:

[0036] a) Before the drone takes off, the take-off and landing control center receives and stores the drone's take-off and landing plan (i.e., the above-mentioned take-off and landing sub-plan) through its own task receiving and processing module. After the drone takes off, the take-off and landing control center collects the drone's current status data (i.e., telemetry data) in real time through its own drone telemetry data collection module.

[0037] b) The take-off and landing control center uses its own UAV handover condition calculation module to extract the take-off and landing sub-plan (also called take-off sub-plan) of the UAV, extract the handover point (i.e., the first handover point) and the radius (i.e., the first radius), and calculates whether the UAV enters the handover area (i.e., the first handover area) of the take-off and landing control center based on the collected UAV current status data (such as position data). If the UAV does not enter the handover area, it returns to continue receiving data and calculates the handover area. If the UAV enters the handover area, the take-off and landing control center reads the current control right information of the UAV (i.e., the current ownership information of the control right, such as the control right data table) from its own control right management module. If it is determined that the current control right of the UAV is in this center, the calculation of this UAV is terminated. If the control right is not in this center, the control right management module is notified to initiate an application for control right to the UAV.

[0038] c) After receiving the control right application, the drone authenticates the applicant. If the authentication is successful, it sends a message to the original controller to release the control right. Then the drone's controller is changed to the take-off and landing operation control center, and a permission change broadcast notification is sent to complete the authority handover. The take-off and landing operation control center monitors the drone. After receiving the permission broadcast notification, the control right management module of the take-off and landing operation control center updates the drone's control right information.

[0039] d) The control data of the take-off and landing operation control center is synchronously updated to the navigation operation control center and the mission operation control center.

[0040] In specific implementation, the navigation and operation control center determines the second handover point based on the route-related information of the navigation sub-plan of the drone received, and the second handover point includes the first waypoint in the navigation sub-plan; obtains the second radius, takes the second handover point as the center of the circle, and takes the second radius as the radius of the circle to calculate the second handover area of ​​the take-off and landing operation control center for the drone. Then the navigation and operation control center determines whether the drone is in the second handover area of ​​the navigation and operation control center for the drone; if so, determines whether the control authority of the drone is currently in the navigation and operation control center based on the current ownership information of the control authority in the telemetry data received from the drone; if not, determines that the control authority of the drone should be handed over to the navigation and operation control center, and the navigation and operation control center applies to the drone and hands over the control authority of the drone.

[0041] Specifically, the second intersection point can be predetermined in the navigation sub-planning during the UAV mission planning process, and a certain waypoint can be predetermined as the second intersection point in the navigation sub-planning, for example, the first waypoint can be designated as the intersection point; the navigation operation control center can also determine the second intersection point, that is, the position of the intersection, based on the type and action of the UAV at each waypoint in the navigation sub-planning and the position of the navigation operation control center. The above-mentioned second radius can be predetermined in the route sub-planning, or the route operation control center can determine the size of the second radius based on the flight speed of the UAV on the route, the position relationship between the route and the take-off and landing operation control center. For example, the faster the flight speed, the larger the second radius, and the more remote the route is from the navigation operation control center, the larger the second radius.

[0042] For example, the process of the pilot control center judging and handing over the control authority of the drone is as follows: Figure 4 As shown, the following steps are included:

[0043] a) Before the drone takes off, the pilot control center receives and stores the pilot plan (i.e. the pilot sub-plan mentioned above) through its own task receiving and processing module. The drone telemetry data collection module of the pilot control center (or route control center) collects the current status data of the drone (i.e. telemetry data) in real time.

[0044] b) The drone handover condition calculation module of the navigation and operation control center takes out the drone's navigation sub-plan, takes out the handover point (i.e., the second handover point) and the radius (i.e., the second radius), and calculates whether the drone enters the handover area (i.e., the second handover area) of the navigation and operation control center based on the collected drone's current status data (such as location data). If the drone does not enter the handover area, it returns to continue receiving data and performs handover area calculation. If the drone enters the handover area, the navigation and operation control center reads the drone's current control right information from the control right management module. If it is determined that the current drone control right is in this center, the calculation of this drone ends. If the control right is not in this center, the control right management module is notified to initiate an application for control right to the drone.

[0045] c) After receiving the control right application, the drone authenticates the applicant. If the authentication is successful, it will send a release of control right to the original controller, the take-off and landing operation control center. After the drone receives the transfer of control right instruction from the take-off and landing operation control center, the aircraft's control right is changed to the route center (i.e. the above-mentioned navigation operation control center), and a permission change broadcast notification is sent to complete the full line handover, and the navigation operation control center will monitor the drone. After receiving the permission broadcast notification, the control right management module of the navigation operation control center updates the aircraft's control right information.

[0046] d) The control data of the navigation center is synchronously updated to the take-off and landing control center and the mission control center.

[0047] In specific implementation, the mission control center determines the third handover point based on the relevant information of the task execution of the mission sub-plan of the drone received, and the third handover point includes the CP point in the mission sub-plan; obtains the third radius, takes the third handover point as the center of the circle, and takes the third radius as the radius of the circle, and calculates the third handover area of ​​the take-off and landing control center for the drone. Then the mission control center determines whether the drone is in the third handover area of ​​the mission control center for the drone; if so, determines whether the control authority of the drone is currently in the mission control center based on the current ownership information of the control authority in the telemetry data received from the drone; if not, determines that the control authority of the drone should be handed over to the mission control center, and the mission control center applies to the drone and hands over the control authority of the drone. Specifically, the process of the mission control center judging and handing over the control authority of the drone is similar to the process of the pilot control center judging and handing over the control authority of the drone.

[0048] Specifically, the third intersection point can be predetermined in the mission sub-planning during the UAV mission planning process, for example, the CP point can be designated as the intersection point; the mission operation control center can also determine the third intersection point, that is, the location of the intersection, based on the UAV mission location, mission characteristics, and the location of the mission operation control center in the mission sub-planning. The above-mentioned third radius can be predetermined in the mission sub-planning, or the mission road operation control center can determine the size of the third radius based on the flight speed of the UAV during the mission execution, the positional relationship between the mission point and the mission operation control center. For example, the faster the flight speed, the larger the third radius, and the more remote the route is from the pilot operation control center, the larger the third radius.

[0049] In specific implementation, in order to further improve the flexibility of drone control and meet temporary and emergency control needs, a method for the operation control center to seize the control authority of the drone is also proposed. For example, for an operation control center that currently does not have the control authority of the drone, it receives the control authority seizure instruction of the drone through an input interface and sends the control authority seizure instruction to the drone, wherein the control authority seizure instruction includes the ID and the control authority code of the drone; after the drone verifies the control authority code, the control authority of the drone is handed over to the operation control center that sent the control authority seizure instruction.

[0050] Assume that the control right of the current drone is in the control center B, and the control center A initiates a power grab to the drone. The power grab process is as follows: Figure 5 The following steps are shown:

[0051] a) At the operation control center A, the user selects the aircraft to be controlled by operating the monitoring software and operates the seizure. A dialog box prompting the user to enter the seizure code pops up on the monitoring software interface. After the user enters the seizure code, the operator sends the seizure command and sends the seizure command to the control management module of the automatic handover software.

[0052] b) After receiving the power-grabbing command, the automatic handover management module assembles the package and sends it to the corresponding UAV.

[0053] c) After receiving the power seizure command issued by the operation and control center A, the UAV verifies the power seizure code. If the verification fails, the UAV sends a message indicating that the power seizure code verification failed to the control rights management module of the operation and control center A. The control rights management module of the operation and control center A sends the power seizure result to the monitoring software of the operation and control center A. The monitoring software prompts the user that the power seizure code verification failed and to re-enter the power seizure code. If the verification succeeds, a control release command is sent to the original controller, the control holder of the aircraft is changed to the operation and control center A, and a power seizure success message is sent to the control rights management module of the operation and control center A. The control rights management module of the operation and control center A sends the power seizure result to the monitoring software of the operation and control center A. The monitoring software prompts the user that the control is successfully seized.

[0054] d) After receiving the control right release instruction, the control right management module of the operation control center B releases the control right and notifies the monitoring software of the operation control center B to prompt the user that the control right of the UAV has been lost.

[0055] In specific implementation, the current ownership information, handover change information, etc. of the control authority of the drone can be maintained on each drone in the manner shown in Table 1 below.

[0056]

[0057] Table 1

[0058] In specific implementation, the mission planning of each UAV may include the relevant information shown in Table 2 below.

[0059]

[0060] Table 2

[0061] In this embodiment, a computer device is provided, such as Figure 6 As shown, it includes a memory 601, a processor 602, and a computer program stored in the memory and executable on the processor. The memory 601 and the processor 602 are connected to an internal bus of a computer device. When the processor executes the computer program, any of the above-mentioned large-scale automatic transfer methods of drone permissions is implemented.

[0062] Specifically, the computer device may be a computer terminal, a server or a similar computing device.

[0063] In this embodiment, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program for executing any of the above-mentioned methods for automatic transfer of large-scale drone permissions.

[0064] Specifically, computer-readable storage media include permanent and non-permanent, removable and non-removable media that can be used to store information by any method or technology. Information can be computer-readable instructions, data structures, program modules or other data. Examples of computer-readable storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable storage media does not include temporary computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0065] Based on the same inventive concept, a large-scale unmanned aerial vehicle authority automatic handover device is also provided in the embodiments of the present invention, as described in the following embodiments. Since the principle of solving the problem by the large-scale unmanned aerial vehicle authority automatic handover device is similar to the large-scale unmanned aerial vehicle authority automatic handover method, the implementation of the large-scale unmanned aerial vehicle authority automatic handover device can refer to the implementation of the large-scale unmanned aerial vehicle authority automatic handover method, and the repeated parts will not be repeated. As used below, the terms "unit" or "module" can be a combination of software and / or hardware that implements predetermined functions. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceived.

[0066] Figure 7 : is a structural block diagram of a large-scale unmanned aerial vehicle authority automatic handover device according to an embodiment of the present invention. Figure 7 As shown, the device comprises:

[0067] The mission planning processing unit 701 is used to divide the mission planning of each drone in the scaled drone into three sub-plans, wherein the three sub-plans include a take-off and landing sub-plan, a navigation sub-plan and a mission sub-plan, and send the take-off and landing sub-plan to the take-off and landing operation control center, send the navigation sub-plan to the navigation operation control center, and send the mission sub-plan to the mission operation control center, wherein the take-off and landing sub-plan includes take-off and landing related information, the navigation sub-plan includes route related information, and the mission sub-plan includes mission execution related information. The take-off and landing operation control center, the navigation operation control center and the mission operation control center are three operation control centers respectively set up for the take-off and landing stage, the navigation stage and the mission stage of the drone's mission execution process, the take-off and landing operation control center is used to monitor the take-off and landing stage, the navigation operation control center is used to monitor the navigation stage, and the mission operation control center is used to monitor the mission stage;

[0068] The data receiving unit 702 is arranged in each operation control center, and is used for receiving the telemetry data multicasted by the drone in real time through the data link after each drone takes off. The telemetry data includes the current flight information of the drone and the current ownership information of the control authority.

[0069] The authority handover unit 703 is set in each operation and control center, and is used to determine whether the control authority of each drone in the large-scale drones should be handed over to the operation and control center based on the received telemetry data of the drone and the relevant information of the corresponding sub-plan of the drone. If so, the operation and control center applies to the drone and hands over the control authority of the drone.

[0070] In one embodiment, the authority handover unit is used to calculate the handover area of ​​the operation control center for the drone in each operation control center based on the relevant information of the corresponding sub-plan of the drone received; determine whether the drone is within the handover area of ​​the drone by the operation control center based on the current flight information in the telemetry data received of the drone; if so, determine whether the control authority of the drone is currently in the operation control center based on the current ownership information of the control authority in the telemetry data received of the drone; if not, determine that the control authority of the drone should be handed over to the operation control center.

[0071] In one embodiment, the authority handover unit is used to determine the first handover point in the take-off and landing operation control center based on the take-off and landing related information of the take-off and landing sub-plan of the UAV received; obtain the first radius, and calculate the first handover area of ​​the take-off and landing operation control center for the UAV with the first handover point as the center and the first radius as the radius of the circle.

[0072] In one embodiment, the authority handover unit is used to determine a second handover point at the navigation and operation control center based on the route-related information of the navigation sub-plan of the UAV received, where the second handover point includes the first waypoint in the navigation sub-plan; obtain a second radius, and calculate the second handover area of ​​the take-off and landing operation control center for the UAV with the second handover point as the center and the second radius as the radius of the circle.

[0073] In one embodiment, the authority handover unit is used to determine a third handover point in the mission control center based on relevant information about the task execution of the mission sub-plan of the UAV received from the mission control center, wherein the third handover point includes a CP point in the mission sub-plan; obtain a third radius, and calculate the third handover area of ​​the take-off and landing control center for the UAV with the third handover point as the center and the third radius as the radius of the circle.

[0074] In one embodiment, the apparatus further comprises:

[0075] The power seizure unit is arranged in the operation and control center, and is used for receiving the power seizure instruction of the UAV through the input interface for the operation and control center which does not currently hold the control authority of the UAV, and sending the power seizure instruction to the UAV, wherein the power seizure instruction includes the ID and the power seizure code of the UAV; after the UAV verifies the power seizure code, the control authority of the UAV is handed over to the operation and control center which sent the power seizure instruction.

[0076] The embodiments of the present invention achieve the following technical effects: it proposes to set up three operation control centers corresponding to the take-off and landing stage, the navigation stage and the mission stage of the UAV's mission execution process, namely, a take-off and landing operation control center, a navigation operation control center and a mission operation control center; and for each UAV in the large-scale UAV, the mission plan of the UAV is divided into three sub-plans, the three sub-plans include a take-off and landing sub-plan, a navigation sub-plan and a mission sub-plan, the take-off and landing sub-plan is sent to the take-off and landing operation control center, the navigation sub-plan is sent to the navigation operation control center, and the mission sub-plan is sent to the mission operation control center, so that the take-off and landing stage, the navigation stage and the mission stage of each UAV in the large-scale UAV are monitored by the three operation control centers respectively, avoiding the situation where the UAV is in multiple stages at each stage. The process of selecting ground stations for handover from ground stations is beneficial to reducing the occupation and consumption of computing resources of drones; at the same time, after each drone takes off, for each drone in the large-scale drones, in each operation and control center, based on the received telemetry data of the drone and the relevant information of the corresponding sub-plan of the drone, it is judged whether the control authority of the drone should be handed over to the operation and control center; if so, the operation and control center applies to the drone and hands over the control authority of the drone, so that each operation and control center can automatically judge and complete the handover of control authority of drones between different stages without manual intervention, thereby improving the efficiency of drone control authority handover, which is beneficial to meeting the needs of large-scale drones for rapid handover, and is beneficial to improving the safety and flexibility of drone monitoring.

[0077] Obviously, those skilled in the art should understand that the modules or steps of the above-mentioned embodiments of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, and optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order from that here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. In this way, the embodiments of the present invention are not limited to any specific combination of hardware and software.

[0078] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the embodiments of the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for automatic transfer of large-scale drone authority, characterized in that: include: For each drone in the scaled drone, the mission plan of the drone is divided into three sub-plans, including a take-off and landing sub-plan, a navigation sub-plan and a mission sub-plan. The take-off and landing sub-plan is sent to the take-off and landing operation control center, the navigation sub-plan is sent to the navigation operation control center, and the mission sub-plan is sent to the mission operation control center, wherein the take-off and landing sub-plan includes take-off and landing related information, including the airport and runway where the drone takes off, and the handover point after take-off; the navigation sub-plan includes route related information, and the route related information includes the drone's Waypoints and the type and action of the drone at each waypoint, the task sub-plan includes relevant information of task execution, the relevant information of task execution includes CP point, IP point, EP point, the take-off and landing operation control center, the navigation operation control center and the task operation control center are three operation control centers respectively set up for the take-off and landing stage, the navigation stage and the task stage of the drone's execution of the task, the take-off and landing operation control center is used to monitor the take-off and landing stage, the navigation operation control center is used to monitor the navigation stage, and the task operation control center is used to monitor the task stage; After each UAV takes off, the take-off and landing operation control center, the navigation operation control center and the mission operation control center receive the telemetry data multicasted by the UAV in real time through the data link, and the telemetry data includes the current flight information of the UAV and the current ownership information of the control authority; For each drone in the large-scale drones, in each of the operation control centers, based on the received telemetry data of the drone and the relevant information of the corresponding sub-plan of the drone, it is determined whether the control authority of the drone should be handed over to the operation control center. If so, the operation control center applies to the drone and hands over the control authority of the drone; At each of the operation control centers, judging whether the control authority of the drone should be handed over to the operation control center according to the received telemetry data of the drone and the relevant information of the corresponding sub-plan of the drone, includes: At each of the operation control centers, based on the received relevant information of the corresponding sub-plan of the drone, the operation control center calculates the handover area for the drone; Determine, based on the current flight information in the received telemetry data of the drone, whether the drone is within the handover area of ​​the drone by the operation control center; If so, judging whether the control authority of the drone is currently in the operation control center according to the current ownership information of the control authority in the received telemetry data of the drone; If not, it is determined that the control authority of the drone should be handed over to the operation control center; At each of the operation control centers, according to the received relevant information of the corresponding sub-plan of the UAV, the operation control center calculates the handover area for the UAV, including: At the take-off and landing operation control center, a first intersection point is determined according to the received take-off and landing related information of the take-off and landing sub-plan of the UAV; Obtain a first radius, and calculate a first intersection area of ​​the take-off and landing operation control center for the UAV with the first intersection point as the center and the first radius as the radius of the circle; At each of the operation control centers, according to the received relevant information of the corresponding sub-plan of the UAV, the operation control center calculates the handover area for the UAV, including: At the pilot operation control center, a second intersection point is determined according to the received route related information of the pilot sub-plan of the UAV, where the second intersection point includes the first route point in the pilot sub-plan; Obtain a second radius, and calculate a second intersection area of ​​the take-off and landing operation control center for the UAV with the second intersection point as the center and the second radius as the radius of the circle; At each of the operation control centers, according to the received relevant information of the corresponding sub-plan of the UAV, the operation control center calculates the handover area for the UAV, including: At the mission operation control center, according to the received relevant information of the mission execution of the mission sub-plan of the UAV, a third handover point is determined, wherein the third handover point includes a CP point in the mission sub-plan; Obtain a third radius, take the third intersection point as the center of the circle, and take the third radius as the radius of the circle, and calculate the third intersection area of ​​the take-off and landing operation control center for the drone.

2. The large-scale automatic transfer method of UAV authority as claimed in claim 1 is characterized in that: Also includes: For the operation control center that currently does not hold the control authority of the drone, receiving the power seizure instruction of the drone through the input interface, and sending the power seizure instruction to the drone, wherein the power seizure instruction includes the ID and the power seizure code of the drone; After the UAV verifies the seizure code, the control authority of the UAV is handed over to the operation control center that sent the seizure command.

3. A large-scale automatic transfer device for drone authority, characterized in that: include: The mission planning processing unit is used to divide the mission planning of each drone in the scaled drone into three sub-plans, wherein the three sub-plans include a take-off and landing sub-plan, a navigation sub-plan and a mission sub-plan, and send the take-off and landing sub-plan to the take-off and landing operation control center, send the navigation sub-plan to the navigation operation control center, and send the mission sub-plan to the mission operation control center, wherein the take-off and landing sub-plan includes take-off and landing related information, and the take-off and landing related information includes the airport and runway where the drone takes off, and the handover point after take-off; the navigation sub-plan includes route related information, and the route related information It includes the waypoints of the UAV and the type and action of the UAV at each waypoint. The task sub-plan includes relevant information of task execution. The relevant information of task execution includes CP point, IP point and EP point. The take-off and landing operation control center, the navigation operation control center and the task operation control center are three operation control centers respectively set up for the take-off and landing stage, the navigation stage and the task stage of the UAV's task execution process. The take-off and landing operation control center is used to monitor the take-off and landing stage, the navigation operation control center is used to monitor the navigation stage, and the task operation control center is used to monitor the task stage; A data receiving unit is provided in each operation control center, and is used for receiving the telemetry data multicasted by the drone in real time through the data link after each drone takes off. The telemetry data includes the current flight information of the drone and the current ownership information of the control authority. The authority handover unit is arranged in each operation control center, and is used for determining, for each drone in the large-scale drones, whether the control authority of the drone should be handed over to the operation control center according to the received telemetry data of the drone and the relevant information of the corresponding sub-plan of the drone. If so, the operation control center applies to the drone and hands over the control authority of the drone; The authority handover unit is used to calculate, in each of the operation and control centers, the authority handover area of ​​the operation and control center for the drone based on the relevant information of the corresponding sub-plan of the drone received; determine whether the drone is within the authority handover area of ​​the operation and control center for the drone based on the current flight information in the telemetry data received of the drone; if so, determine whether the control authority of the drone is currently in the operation and control center based on the current ownership information of the control authority in the telemetry data received of the drone; if not, determine that the control authority of the drone should be handed over to the operation and control center; The authority handover unit is used to determine, in the take-off and landing operation control center, a first handover point according to the take-off and landing related information of the take-off and landing sub-plan of the UAV received; obtain a first radius, and calculate a first handover area of ​​the take-off and landing operation control center for the UAV with the first handover point as the center and the first radius as the radius of the circle; The authority handover unit is used to determine, at the navigation and operation control center, a second handover point based on the route-related information of the navigation sub-plan of the UAV received, where the second handover point includes the first waypoint in the navigation sub-plan; obtain a second radius, and calculate a second handover area of ​​the take-off and landing operation control center for the UAV with the second handover point as the center and the second radius as the radius of the circle; The authority handover unit is used to determine a third handover point in the mission control center based on relevant information about the task execution of the mission sub-plan of the UAV received, wherein the third handover point includes a CP point in the mission sub-plan; obtain a third radius, and calculate a third handover area of ​​the take-off and landing control center for the UAV with the third handover point as the center and the third radius as the radius of the circle.

4. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method for automatic large-scale drone authority handover according to any one of claims 1 to 2 is implemented.

5. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program for executing the method for automatic transfer of large-scale drone authority as described in any one of claims 1 to 2.

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