Unmanned aerial vehicle communication method and device, electronic equipment and storage medium

Abstract

The invention relates to the technical field of unmanned aerial vehicle communication, in particular to an unmanned aerial vehicle communication method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring state information and operation data of a plurality of unmanned aerial vehicles, and selecting a first unmanned aerial vehicle of which the state information meets a preset state condition from the plurality of unmanned aerial vehicles; according to the operation data of the first unmanned aerial vehicle, a target communication mode of the first unmanned aerial vehicle is determined, the target communication mode is a first communication mode or a second communication mode, the communication distance of the second communication mode is larger than that of the first communication mode, and / or the bandwidth of the second communication mode is larger than that of the first communication mode. Thus, the communication mode is allocated according to needs, remote and high-bandwidth communication is realized, and the reliability of unmanned aerial vehicle communication is improved.

Description

Technical Field

[0001] The present application relates to the field of drone communication technology, and in particular to a drone communication method, device, electronic device and storage medium. Background Art

[0002] With the continuous development of drone technology, the types of drones have increased and their performance has improved. Drones have been widely used in many fields such as agriculture, industry, emergency response, and security. As the requirements for autonomy, intelligence, and multi-tasking in drone applications are getting higher and higher, the performance and intelligence level of single drone operations have gradually failed to meet the needs of mission applications. Therefore, operations can be carried out in the form of drone clusters, with multiple drones deployed at a time to improve the information transmission capacity and reliability of drone operations.

[0003] In related technologies, when drone clusters communicate, they often use ad hoc networks for communication. Among them, ad hoc networks are divided into broadband ad hoc networks and wireless ad hoc networks. Broadband ad hoc networks are self-organizing networks formed by drones cooperating with each other through communication protocols. Wireless ad hoc networks are based on wireless network organizational structures. According to the link status and position changes between drones, topologies of different nodes are established.

[0004] However, due to interference factors such as geographical location, weather, and obstruction, the communication quality of the ad hoc network will be affected, resulting in unstable communication quality, so communication interruption may occur. In addition, the communication distance of the ad hoc network is short, so the ad hoc network cannot achieve communication in a beyond-line-of-sight environment, and the communication reliability is low.

[0005] Therefore, under relevant technologies, the reliability of drone communications needs to be further improved. Summary of the invention

[0006] The embodiments of the present application provide a drone communication method, device, electronic device, and storage medium to improve the reliability of drone communication.

[0007] The specific technical solutions provided by the embodiments of this application are as follows:

[0008] In a first aspect, a drone communication method is provided, comprising:

[0009] Acquire status information and operation data of multiple drones, and select a first drone whose status information meets a preset status condition from the multiple drones;

[0010] According to the operation data of the first UAV, the target communication mode of the first UAV is determined, the target communication mode is the first communication mode or the second communication mode, the communication distance of the second communication mode is greater than the communication distance of the first communication mode, and / or the bandwidth of the second communication mode is greater than the bandwidth of the first communication mode.

[0011] Optionally, the status information includes: the number of boundary crossings and the amount of data transmitted, where the number of boundary crossings is: the number of times the corresponding drone leaves the initial communication range corresponding to the multiple drones;

[0012] Then, from the multiple drones, a first drone whose status information satisfies a preset status condition is selected, including:

[0013] For each of the multiple drones, perform the following operations:

[0014] When the number of times the drone crosses the boundary is greater than a preset number threshold, the drone is regarded as the first drone; and / or,

[0015] When the amount of data transmitted by the drone is greater than a preset quantity threshold, the drone is used as the first drone.

[0016] Optionally, determining the target communication mode of the first UAV according to the operation data of the first UAV includes:

[0017] determining a type of communications required by the first drone;

[0018] Based on the operation data of the first unmanned aerial vehicle and the communication data corresponding to the communication type, a target communication mode of the first unmanned aerial vehicle is determined.

[0019] Optionally, the communication type is: long-distance communication or high-bandwidth communication;

[0020] The communication data corresponding to the long-distance communication are: the maximum communication distance between the first UAV and the ground control station;

[0021] The communication data corresponding to the high-bandwidth communication is: the maximum transmission bandwidth of the first UAV.

[0022] Optionally, determining a target communication mode of the first UAV based on the operation data of the first UAV and the communication data corresponding to the communication type includes:

[0023] When the operation data of the first UAV is the required data of the target task and the communication data corresponding to the communication type is greater than the corresponding communication threshold, the target communication mode is determined to be the second communication mode.

[0024] Optionally, determining a target communication mode of the first UAV based on the operation data of the first UAV and the communication data corresponding to the communication type includes:

[0025] When the operation data of the first UAV is the required data of the target task, and the communication data corresponding to the communication type is less than or equal to the corresponding communication threshold, determining that the target communication mode is the first communication mode;

[0026] When the operation data of the first UAV is not required data for the target task, the target communication mode is determined to be the first communication mode.

[0027] Optionally, after determining the target communication mode of the first UAV according to the operation data of the first UAV, the method further includes:

[0028] If the target communication mode is the first communication mode, the first UAV is adjusted to be within its corresponding target communication range, and the operation data transmitted back by the first UAV is continuously recorded;

[0029] If the target communication mode is the second communication mode, the operation data sent back by the first UAV will continue to be recorded.

[0030] Optionally, the method further includes:

[0031] In the process of multiple drones performing a target mission, if the communication quality of one drone among the multiple drones meets a preset failure condition, it is determined that the communication of the multiple drones has failed, and the one drone is used as a second drone;

[0032] When the communication between multiple drones fails, or multiple drones complete their target missions, return instructions are sent to multiple drones to control them to return.

[0033] Optionally, if the communication quality of one of the multiple drones meets a preset failure condition, determining that the communication of the multiple drones has failed includes:

[0034] If the interval duration of not receiving the heartbeat signal of one of the multiple drones is greater than the preset duration threshold, and the communication signal strength corresponding to one drone is less than the preset strength threshold, it is determined that the communication of the multiple drones has failed.

[0035] Optionally, send return instructions to multiple drones to control the return of multiple drones, including:

[0036] Dividing the multiple drones into a third drone group and a fourth drone group according to the current communication modes of the multiple drones, wherein the current communication mode of the third drone group is the first communication mode, and the current communication mode of the fourth drone group is the second communication mode;

[0037] Determine a return route for each third drone based on a straight-line distance between any two third drones included in the third drone group, and control each third drone to return according to the corresponding return route;

[0038] Based on the straight-line distance between each fourth drone included in the fourth drone group and the ground control station, the return route of each fourth drone is determined, and each fourth drone is controlled to return according to the corresponding return route.

[0039] Optionally, determining a return route of each third drone based on a straight-line distance between any two third drones included in the third drone group includes:

[0040] Based on the straight-line distance between any two third drones included in the third drone group and the communication detection result between any two third drones, each third drone is sorted for return;

[0041] Based on the sorted return sequence of each third drone, a return route of each third drone is generated in sequence.

[0042] Optionally, determining a return route of each fourth drone based on a straight-line distance between each fourth drone included in the fourth drone group and the ground control station includes:

[0043] Based on the straight-line distance between each fourth UAV and the ground control station, sorting each fourth UAV for return;

[0044] Based on the sorted return sequence of each fourth drone, a return route of each fourth drone is generated in sequence.

[0045] Optionally, the method further includes:

[0046] When the return routes of multiple drones collide, adjust the return routes of multiple drones;

[0047] If the current communication mode of the second UAV is the second communication mode, then during the return process of each fourth UAV, when it enters the initial communication range corresponding to the multiple UAVs, the communication mode of each fourth UAV is switched from the second communication mode to the first communication mode.

[0048] In a second aspect, a drone communication device is provided, comprising:

[0049] A first processing unit is used to obtain status information and operation data of multiple drones, and select a first drone whose status information meets a preset status condition from the multiple drones;

[0050] A communication conversion unit is used to determine a target communication mode of the first UAV based on the operation data of the first UAV, where the target communication mode is the first communication mode or the second communication mode, the communication distance of the second communication mode is greater than the communication distance of the first communication mode, and / or the bandwidth of the second communication mode is greater than the bandwidth of the first communication mode.

[0051] Optionally, the status information includes: the number of boundary crossings and the amount of data transmitted, where the number of boundary crossings is: the number of times the corresponding drone leaves the initial communication range corresponding to the multiple drones;

[0052] When a first drone whose status information satisfies a preset status condition is selected from the plurality of drones, the first processing unit is further configured to:

[0053] For each of the multiple drones, perform the following operations:

[0054] When the number of times the drone crosses the boundary is greater than a preset number threshold, the drone is regarded as the first drone; and / or,

[0055] When the amount of data transmitted by the drone is greater than a preset quantity threshold, the drone is used as the first drone.

[0056] Optionally, when determining the target communication mode of the first unmanned aerial vehicle according to the operation data of the first unmanned aerial vehicle, the communication conversion unit is further used to:

[0057] determining a type of communications required by the first drone;

[0058] Based on the operation data of the first unmanned aerial vehicle and the communication data corresponding to the communication type, a target communication mode of the first unmanned aerial vehicle is determined.

[0059] Optionally, the communication type is: long-distance communication or high-bandwidth communication;

[0060] The communication data corresponding to the long-distance communication are: the maximum communication distance between the first UAV and the ground control station;

[0061] The communication data corresponding to the high-bandwidth communication is: the maximum transmission bandwidth of the first UAV.

[0062] Optionally, when determining the target communication mode of the first unmanned aerial vehicle based on the operation data of the first unmanned aerial vehicle and the communication data corresponding to the communication type, the communication conversion unit is further configured to:

[0063] When the operation data of the first UAV is the required data of the target task and the communication data corresponding to the communication type is greater than the corresponding communication threshold, the target communication mode is determined to be the second communication mode.

[0064] Optionally, when determining the target communication mode of the first unmanned aerial vehicle based on the operation data of the first unmanned aerial vehicle and the communication data corresponding to the communication type, the communication conversion unit is further configured to:

[0065] When the operation data of the first UAV is the required data of the target task, and the communication data corresponding to the communication type is less than or equal to the corresponding communication threshold, determining that the target communication mode is the first communication mode;

[0066] When the operation data of the first UAV is not required data for the target task, the target communication mode is determined to be the first communication mode.

[0067] Optionally, after determining the target communication mode of the first UAV according to the operation data of the first UAV, the communication conversion unit is further used to:

[0068] If the target communication mode is the first communication mode, the first UAV is adjusted to be within its corresponding target communication range, and the operation data transmitted back by the first UAV is continuously recorded;

[0069] If the target communication mode is the second communication mode, the operation data sent back by the first UAV will continue to be recorded.

[0070] Optionally, the device further includes a second processing unit, and the second processing unit is used to:

[0071] In the process of multiple drones performing a target mission, if the communication quality of one drone among the multiple drones meets a preset failure condition, it is determined that the communication of the multiple drones has failed, and the one drone is used as a second drone;

[0072] When the communication between multiple drones fails, or multiple drones complete their target missions, return instructions are sent to multiple drones to control them to return.

[0073] Optionally, if the communication quality of one of the multiple drones meets a preset failure condition, when it is determined that the communication of the multiple drones has failed, the second processing unit is further configured to:

[0074] If the interval duration of not receiving the heartbeat signal of one of the multiple drones is greater than the preset duration threshold, and the communication signal strength corresponding to one drone is less than the preset strength threshold, it is determined that the communication of the multiple drones has failed.

[0075] Optionally, when sending return instructions to multiple drones to control the multiple drones to return, the second processing unit is further used to:

[0076] Dividing the multiple drones into a third drone group and a fourth drone group according to the current communication modes of the multiple drones, wherein the current communication mode of the third drone group is the first communication mode, and the current communication mode of the fourth drone group is the second communication mode;

[0077] Determine a return route for each third drone based on a straight-line distance between any two third drones included in the third drone group, and control each third drone to return according to the corresponding return route;

[0078] Based on the straight-line distance between each fourth drone included in the fourth drone group and the ground control station, the return route of each fourth drone is determined, and each fourth drone is controlled to return according to the corresponding return route.

[0079] Optionally, when determining the return route of each third drone based on the straight-line distance between any two third drones included in the third drone group, the second processing unit is further configured to:

[0080] Based on the straight-line distance between any two third drones included in the third drone group and the communication detection result between any two third drones, each third drone is sorted for return;

[0081] Based on the sorted return sequence of each third drone, a return route of each third drone is generated in sequence.

[0082] Optionally, when determining the return route of each fourth drone included in the fourth drone group based on the straight-line distance between each fourth drone and the ground control station, the second processing unit is further configured to:

[0083] Based on the straight-line distance between each fourth UAV and the ground control station, sorting each fourth UAV for return;

[0084] Based on the sorted return sequence of each fourth drone, a return route of each fourth drone is generated in sequence.

[0085] Optionally, the second processing unit is further used for:

[0086] When the return routes of multiple drones collide, adjust the return routes of multiple drones;

[0087] If the current communication mode of the second UAV is the second communication mode, then during the return process of each fourth UAV, when it enters the initial communication range corresponding to the multiple UAVs, the communication mode of each fourth UAV is switched from the second communication mode to the first communication mode.

[0088] According to a third aspect, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of any one of the methods described in the first aspect are implemented.

[0089] According to a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method described in any one of the first aspects are implemented.

[0090] In the embodiment of the present application, the status information and operation data of multiple drones are obtained, and the first drone whose status information meets the preset status conditions is selected from the multiple drones, and then the target communication mode of the first drone is determined based on the operation data of the first drone. In this way, the first drone is screened out, and the target communication mode of the first drone is determined based on the operation data of the first drone. The needs of multiple drones are comprehensively considered to achieve on-demand allocation of the communication modes of multiple drones, and the first communication mode and the second communication mode are effectively integrated. In addition, the target communication mode is the first communication mode or the second communication mode, the communication distance of the second communication mode is greater than the communication distance of the first communication mode, and / or the bandwidth of the second communication mode is greater than the bandwidth of the first communication mode. The second communication mode is not restricted by interference factors such as geographical location, weather, and occlusion, and realizes long-distance communication and high-bandwidth communication of drones, ensuring that multiple drones can always communicate, and improving the reliability of drone communication. BRIEF DESCRIPTION OF THE DRAWINGS

[0091] Figure 1 This is an example diagram of the system architecture in the embodiments of the present application;

[0092] Figure 2 This is a flow chart of a UAV communication method in an embodiment of the present application;

[0093] Figure 3 A schematic diagram of a process for determining a target communication mode of a first drone in an embodiment of the present application;

[0094] Figure 4 This is a schematic diagram of the process of failure detection of multiple drones in an embodiment of the present application;

[0095] Figure 5 This is a schematic diagram of the process of returning multiple drones in an embodiment of the present application;

[0096] Figure 6 This is a schematic diagram of multiple drones returning to their destination in an embodiment of the present application;

[0097] Figure 7 This is a schematic diagram of the process of returning the third drone group in an embodiment of the present application;

[0098] Figure 8 This is a schematic diagram of the process of returning the fourth drone group in an embodiment of the present application;

[0099] Fig. 9 This is a schematic diagram of the fourth drone group returning home in an embodiment of the present application;

[0100] Fig.10 This is a schematic diagram of the structure of the UAV communication device in the embodiment of the present application;

[0101] Fig.11Schematic diagram of the structure of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0102] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0103] Before introducing a drone communication method provided by an embodiment of the present application, in order to facilitate understanding, the technical background of the embodiment of the present application is first introduced in detail below.

[0104] At present, with the continuous development of drone technology, the types of drones have increased and their performance has improved. Drones have been widely used in many fields such as agriculture, industry, emergency response, and security. As the requirements for autonomy, intelligence, and multi-tasking in drone applications are getting higher and higher, the performance and intelligence level of single drone operations have gradually failed to meet the needs of mission applications. Therefore, operations can be carried out in the form of drone clusters, with multiple drones deployed at a time to improve the information transmission capacity and reliability of drone operations.

[0105] In the prior art, when drone clusters communicate, the following two methods are usually used:

[0106] Method 1: Use narrowband data transmission radio for communication. Wireless communication technology based on dedicated radio frequency uses dedicated frequency bands for wireless channel utilization through frequency division and time division to achieve data transmission.

[0107] When using method one, the transmission speed is low and it cannot be used for UAV tasks that require high transmission speeds, nor can it be used for high-bandwidth scenarios such as environmental monitoring. It has poor scalability and requires special equipment, and usually does not support common protocols such as IP, making it unsuitable for large-scale UAV cluster tasks.

[0108] Method 2: In order to overcome the defects of narrowband data transmission radio, self-organizing network is used for communication. Self-organizing network is divided into broadband self-organizing network and wireless self-organizing network. Broadband self-organizing network is a self-organizing network formed by drones cooperating with each other through communication protocols. Drones cooperate with each other in the networking form and automatically adjust the network topology. Wireless self-organizing network is based on the wireless network organization structure. According to the link status and position changes between drones, different node topologies are established, such as star structure and centralized structure.

[0109] When using method 2, the communication quality of the ad hoc network may be affected by interference factors such as geographical location, weather, and occlusion, resulting in unstable communication quality. Therefore, communication interruption may occur. In addition, the communication distance of the ad hoc network is short, so the ad hoc network cannot communicate in a beyond-line-of-sight environment, and the communication reliability is low. Secondly, the cooperation between multiple drones requires continuous data exchange, which consumes a lot of energy. When the power supply of the drone is limited, it will affect the flight time of the drone. In addition, broadband ad hoc networks communicate through open frequency bands, and wireless ad hoc networks have no central node to store related routes. They use radio wave transmission, which are susceptible to interference, intrusion and other network security issues.

[0110] Based on the above problems, in the embodiment of the present application, a method, device, electronic device and storage medium for drone communication are proposed. The status information and operation data of multiple drones are obtained, and a first drone whose status information meets the preset status conditions is selected from the multiple drones, and then the target communication mode of the first drone is determined according to the operation data of the first drone. The target communication mode is the first communication mode or the second communication mode, and the communication distance of the second communication mode is greater than the communication distance of the first communication mode, and / or the bandwidth of the second communication mode is greater than the bandwidth of the first communication mode. In this way, the first drone is screened out, and the target communication mode of the first drone is determined based on the operation data of the first drone. The needs of multiple drones are comprehensively considered to realize the on-demand allocation of the communication modes of multiple drones, and the first communication mode and the second communication mode are effectively integrated. In addition, the target communication mode is the first communication mode or the second communication mode, and the communication distance of the second communication mode is greater than the communication distance of the first communication mode, and / or the bandwidth of the second communication mode is greater than the bandwidth of the first communication mode. The second communication mode is not restricted by interference factors such as geographical location, weather, and shielding, so as to realize long-distance communication and high-bandwidth communication of drones, and ensure that multiple drones can always communicate.

[0111] The preferred implementation modes of the present application are described in detail below with reference to the accompanying drawings.

[0112] like Figure 1 As shown, it is an example diagram of the system architecture of an embodiment of the present application. The system architecture includes: an operation center 110, a ground control station 120, a satellite gateway station 130, a drone cluster 140, a self-organizing network 150, and a low-orbit satellite Internet 160. Among them, the operation center 110 controls the ground control station 120 and the satellite gateway station 130. The operation center 110 can communicate with each drone in the drone cluster 140 through the ground control station 120 and the self-organizing network 150, and can also communicate with each drone in the drone cluster 140 through the satellite gateway station 130 and the low-orbit satellite Internet 160. The above system architecture is only an example of a system architecture applicable to the embodiment of the present invention. The system architecture applicable to the embodiment of the present invention is compared. Figure 1 The system architecture shown may also add other entities, or reduce some entities, which will not be described in detail here.

[0113] Ad Hoc Network 150: The main communication method for short line of sight, and the first communication method for drone clusters.

[0114] Low-orbit satellite Internet 160: The main communication method beyond line of sight and high bandwidth, as the second communication method for drone clusters.

[0115] The operation center 110 includes: a flight control detection module, a link switching module, an emergency processing module, a position correction module, and an information analysis module.

[0116] In addition, it is worth noting that the multiple drones in the embodiment of the present application can be the drones included in the drone cluster, or can be some of the drones in the drone cluster, and this is not limited in the implementation of the present application.

[0117] The following describes the drone communication method provided by the exemplary embodiment of the present application in combination with the application scenarios described above and with reference to the accompanying drawings. It should be noted that the above application scenarios are only shown to facilitate understanding of the spirit and principles of the present application, and the implementation of the present application is not limited in this regard.

[0118] See also Figure 2 FIG. 1 is a flow chart of a UAV communication method in an embodiment of the present application, which specifically includes:

[0119] Step 20: Acquire status information and operation data of multiple drones, and select a first drone whose status information meets a preset status condition from the multiple drones.

[0120] Among them, the status information includes: the number of boundary crossings and the amount of transmitted data. The number of boundary crossings is: the number of times the corresponding drone leaves the initial communication range corresponding to the multiple drones. The operation data is: the data transmitted to the operation center when the corresponding drone performs the target task. The initial communication range corresponding to the multiple drones is: the pre-set target boundary for the multiple drones to perform the target task.

[0121] In an embodiment of the present application, the flight control detection module of the operation center collects statistics on the status information of each drone in real time, and the information analysis module of the operation center obtains the operation data of each drone in real time. For each of the multiple drones, the following operations are performed: based on the status information of the drone and preset status conditions, determine whether the drone is the first drone, and when the drone is the first drone.

[0122] In addition, it is worth noting that in the embodiment of the present application, the preset status conditions are divided into a first status condition and a second status condition. The first status condition is that the number of boundary crossings is greater than a preset number threshold, and the second status condition is that the amount of transmitted data is greater than a preset number threshold. When the status information of the drone meets any one of the status conditions, the drone is determined to be the first drone.

[0123] Specifically, for each of the multiple drones, when determining whether the drone is the first drone, there are two cases:

[0124] Case 1: When the number of times a drone crosses the boundary is greater than a preset number threshold, the drone is regarded as the first drone.

[0125] In an embodiment of the present application, it is determined whether the number of times the drone crosses the boundary is greater than a preset number threshold. If the number of times the drone crosses the boundary is greater than the preset number threshold, the drone is used as the first drone. If the number of times the drone crosses the boundary is not greater than the preset number threshold, the number of times the drone crosses the boundary continues to be obtained in real time.

[0126] For example, assuming that the preset number threshold is 4, and the number of times that drone A among the multiple drones crosses the boundary is 5, drone A is used as the first drone.

[0127] Case 2: When the amount of data transmitted by the drone is greater than a preset threshold, the drone is used as the first drone.

[0128] In an embodiment of the present application, it is determined whether the amount of data transmitted by the drone is greater than a preset threshold value. If the amount of data transmitted by the drone is greater than the preset threshold value, the drone is used as the first drone. If the amount of data transmitted by the drone is not greater than the preset threshold value, the amount of data transmitted by the drone continues to be obtained in real time.

[0129] For example, assuming that the preset quantity threshold is 2M, and the transmission data volume of drone B among the multiple drones is 3M, drone B is used as the first drone.

[0130] Step 21: Determine a target communication mode of the first UAV based on the operation data of the first UAV.

[0131] The target communication mode is the first communication mode or the second communication mode, the communication distance of the second communication mode is greater than the communication distance of the first communication mode, and / or the bandwidth of the second communication mode is greater than the bandwidth of the first communication mode.

[0132] Specifically, when determining the target communication mode of the first UAV, that is, determining whether the first UAV needs to switch the communication mode, the following operations are specifically performed: Figure 3As shown, it is a schematic diagram of the process of determining the target communication mode of the first drone in the embodiment of the present application. Figure 3 , and explain in detail the specific operations performed:

[0133] 210: Determine a communication type required by the first drone.

[0134] Among them, the communication type is: long-distance communication or high-bandwidth communication.

[0135] In the embodiment of the present application, the communication type required by the first drone is determined based on the status condition satisfied by the first drone.

[0136] Specifically, the communication type required by the first UAV is determined in the following two cases:

[0137] Case 1: When the number of times the drone crosses the boundary is greater than a preset number threshold, it is determined that the required communication type of the first drone is long-distance communication.

[0138] For example, assuming that the preset number threshold is 4, and the number of times that drone A among the multiple drones crosses the boundary is 5, the communication type required by drone A is long-distance communication.

[0139] Case 2: When the transmission data volume of the UAV is greater than a preset quantity threshold, it is determined that the required communication type of the first UAV is high-bandwidth communication.

[0140] For example, assuming that the preset quantity threshold is 2M, and the transmission data volume of drone B among the multiple drones is 3M, it is determined that the communication type required by drone B is high-bandwidth communication.

[0141] 211: Determine a target communication mode of the first UAV based on the operation data of the first UAV and the communication data corresponding to the communication type.

[0142] Among them, the communication data corresponding to the long-distance communication is: the maximum communication distance between the first UAV and the ground control station, and the communication data corresponding to the high-bandwidth communication is: the maximum transmission bandwidth of the first UAV.

[0143] Specifically, in the embodiment of the present application, when determining the target communication mode of the first drone based on the operation data of the first drone and the communication data corresponding to the communication type, the following operations are specifically performed:

[0144] Step 2110: Determine whether the operation data of the first UAV is the required data of the target task, if so, execute step 2111, otherwise, execute step 2113.

[0145] Step 2111: Determine whether the communication data corresponding to the communication type of the first UAV is greater than the corresponding communication threshold. If so, execute step 2112; otherwise, execute step 2113.

[0146] Step 2112: Determine that the target communication mode is the second communication mode.

[0147] In an embodiment of the present application, when the operation data of the first UAV is the requirement data of the target task, it is determined whether the communication data corresponding to the communication type is greater than the corresponding communication threshold. If the communication data corresponding to the communication type is greater than the corresponding communication threshold, the target communication mode of the first UAV is determined to be the second communication mode, and when the current communication mode of the first UAV is the first communication mode, the communication mode of the first UAV is switched from the first communication mode to the second communication mode, and the operation data transmitted back by the first UAV continues to be recorded.

[0148] Specifically, it is determined whether the communication data corresponding to the communication type is greater than the corresponding communication threshold, and the following two situations are divided according to the communication type:

[0149] Case 1: The communication type is long-distance communication.

[0150] In the embodiment of the present application, when the communication type required by the first drone is long-distance communication, if the maximum communication distance of the first drone is greater than a preset distance threshold, the target communication mode of the first drone is determined to be the second communication mode.

[0151] For example, assuming that the communication type required by the first drone A is long-distance communication, the preset distance threshold is 500m, and the maximum communication distance of the first drone A is 600m, then the maximum communication distance of the first drone A, 600m, is greater than the preset distance threshold 500m, and the target communication mode of the first drone A is determined to be the second communication mode.

[0152] Case 2: The communication type is high-bandwidth communication.

[0153] In the embodiment of the present application, when the communication type required by the first drone is high-bandwidth communication, if the maximum transmission bandwidth of the first drone is greater than a preset bandwidth threshold, the target communication mode of the first drone is determined to be the second communication mode.

[0154] For example, assuming that the communication type required by the first drone B is high-bandwidth communication, the preset bandwidth threshold is 4MB / s, and the maximum transmission bandwidth of the first drone A is 5MB / s, then the maximum transmission bandwidth of the first drone 5MB / s is greater than the preset bandwidth threshold 4MB / s, and the target communication mode of the first drone B is determined to be the second communication mode.

[0155] In this way, when the first UAV needs long-distance communication or high-bandwidth communication to perform the target mission and obtain useful mission data, the target communication mode of the first UAV is determined to be the second communication mode, and the communication mode of the first UAV is adjusted to the second communication mode in time to achieve safe and stable communication, improve the reliability of communication, and ensure the accuracy and security of data transmission.

[0156] In addition, it is worth noting that the first communication mode can be self-organizing network communication, which is not limited in the embodiments of the present application. When multiple drones start to perform a target task, the initial communication mode of the multiple drones is the first communication mode. Specifically, the ground control station establishes a real-time connection with one or more drones, and the remaining drones use wireless data links to automatically scan the surrounding drones, match network nodes, and automatically form a network in the air, forming communication links between each other, realizing autonomous networking, and transmitting data.

[0157] The second communication method is low-orbit satellite Internet communication. Specifically, through the module installed on the drone, the drone is connected to the low-orbit satellite Internet and completes the network access. The low-orbit satellite Internet allocates corresponding network resources to the module, allows communication data access, and establishes a data service channel. The communication data enters the operation center through satellites and satellite gateways. Among them, the module is used to send the communication data of the corresponding drone to the low-orbit satellite Internet. The communication data includes location data and mission data, etc.

[0158] For example, assuming that the first drone A establishes a connection with the low-orbit satellite Internet, the first drone A transmits communication data to satellite A, satellite A transmits the received communication data to satellite B via an intersatellite link, satellite B transmits the received communication data to the satellite gateway, and finally the satellite gateway transmits the received communication data to the operation center.

[0159] Step 2113: Determine that the target communication mode is the first communication mode.

[0160] In an embodiment of the present application, the operation data of the first UAV is parsed to determine whether the operation data of the first UAV is the required data for the target task. If the operation data of the first UAV is not the required data for the target task, the target communication mode of the first UAV is determined to be the first communication mode, and the first UAV is adjusted to be within its corresponding target communication range, and the operation data transmitted back by the first UAV is continued to be recorded.

[0161] The target communication range corresponding to the first UAV is: a preset target area where the first UAV performs a target task.

[0162] In addition, it is worth mentioning that the target task may be: monitoring task, meteorological task and other tasks, and the corresponding demand data may be: video data, meteorological data and other data.

[0163] For example, assuming that the target task is a meteorological task and the operating data of the first drone C is video data, the operating data of the first drone C is not the required data for the target task, and the target communication mode of the first drone C is determined to be the first communication mode, and the position of the first drone C is adjusted to be within its corresponding target communication range, and the operating data transmitted back by the first drone C continues to be recorded.

[0164] In this way, since the drone may deviate when performing the target task, it may cause invalid operation data to be sent back. Therefore, when the operation data is not the required data for the target task, the first communication method is used to correct the position of the drone so that the drone can send back valid operation data, thereby improving the effectiveness of the execution of the target task.

[0165] In an embodiment of the present application, when the operation data of the first UAV is the requirement data of the target task, it is determined whether the communication data corresponding to the communication type is greater than the corresponding communication threshold. If the communication data corresponding to the communication type is not greater than the corresponding communication threshold, the target communication mode of the first UAV is determined to be the first communication mode, and the first UAV is adjusted to be within its corresponding target communication range, and the operation data transmitted back by the first UAV continues to be recorded.

[0166] For example, assuming that the communication type required by the first drone D is long-distance communication, the preset distance threshold is 500m, and the maximum communication distance of the first drone D is 300m, then the maximum communication distance of the first drone D of 300m is less than the preset distance threshold of 500m, and the target communication mode of the first drone D is determined to be the first communication mode, and the position of the first drone D is adjusted to be within its corresponding target communication range, and the operation data sent back by the first drone D continues to be recorded.

[0167] Optionally, in an embodiment of the present application, if the communication thresholds corresponding to different target tasks are the same or similar, the same communication threshold can be used for discrimination, and only one parameter is needed to discriminate whether the target communication mode of the first UAV is the first communication mode, which can save computing resources and improve computing efficiency. Specifically, if the operation data of the first UAV is not the required data of the target task, or the communication data corresponding to the communication type is less than or equal to the corresponding communication threshold, the target communication mode is determined to be the first communication mode.

[0168] Optionally, since ad hoc network communication is mutual communication between drones, after some drones included in the multiple drones are converted to the second communication mode, the remaining drones in the multiple drones may not be able to use ad hoc network communication normally. Therefore, when the first communication mode is ad hoc network communication, for each first drone in at least one first drone, the following operations are performed separately: when the operation data of the first drone and the communication data corresponding to the communication type meet the preset communication switching conditions, after the communication mode of the first drone is switched from the first communication mode to the second communication mode, if the total number of drones among the multiple drones whose current communication mode is the second communication mode is greater than the preset number threshold, the communication mode of other drones among the multiple drones can be switched from the first communication mode to the second communication mode.

[0169] Among them, the preset number threshold can be determined based on the number of multiple drones, which is not limited in the embodiments of the present application.

[0170] For example, assuming that the multiple drones include: drone A, drone B, drone C, drone D, drone E, drone F, drone G, drone H, the preset number threshold is 3, and the target communication mode of drone A, drone B, drone C and drone D is the second communication mode, then the number of drones in the multiple drones whose target communication mode is the second communication mode is 4, which is greater than the preset number threshold 3, then the communication mode of drone E, drone F, drone G and drone H is switched from the first communication mode to the second communication mode.

[0171] In this way, timely global switching, that is, multiple drones use the second communication method to communicate, can avoid the failure of the target task execution caused by the inability of the first communication method to communicate normally, and achieve safe and stable communication.

[0172] Furthermore, in an embodiment of the present application, after determining the target communication mode of the first UAV, if the target communication mode is the first communication mode, the position correction module of the operation center adjusts the first UAV to be within its corresponding target communication range and continues to record the operation data transmitted back by the first UAV; if the target communication mode is the second communication mode, the operation data transmitted back by the first UAV continues to be recorded.

[0173] Furthermore, during the process of multiple drones performing target tasks, multiple drone communications are detected for failure, and the following operations are performed specifically: Figure 4 As shown, it is a schematic diagram of the process of multiple drone failure detection in the embodiment of the present application. Figure 4 , and explain in detail the specific operations performed:

[0174] Step 40: During the process of multiple drones performing a target mission, if the communication quality of one of the multiple drones meets a preset failure condition, it is determined that the communication of the multiple drones has failed, and one drone is used as a second drone.

[0175] In an embodiment of the present application, it is determined whether there is a drone among multiple drones whose communication quality meets a preset failure condition. If there is a drone among multiple drones whose communication quality parameter meets a preset threshold condition, it is determined that the communication of the multiple drones has failed, and one drone is used as the second drone.

[0176] The communication quality includes: the interval duration of the heartbeat signal and the communication signal strength.

[0177] Specifically, in the embodiment of the present application, for each drone included in the multiple drones, the following operations are performed respectively: determine whether the interval duration of not receiving the heartbeat signal of a drone is greater than a preset duration threshold, and if the interval duration of not receiving the heartbeat signal of a drone is greater than the preset duration threshold, determine that the communication of the multiple drones is invalid. If there is no interval duration of not receiving the heartbeat signal of a drone among the multiple drones that is greater than the preset duration threshold, determine that the communication of the multiple drones is not invalid.

[0178] Furthermore, in order to improve the accuracy of the effectiveness detection, when the interval duration of not receiving the heartbeat signal of a drone is greater than the preset duration threshold, it can be further determined whether the communication signal strength corresponding to a drone is less than the preset strength threshold. If the communication signal strength corresponding to a drone is less than the preset strength threshold, it is determined that the communication of multiple drones has failed. If there is a time interval of not receiving the heartbeat signal of a drone among multiple drones that is greater than the preset duration threshold, and the communication signal strength corresponding to a drone is not less than the preset strength threshold, it is determined that the communication of multiple drones has not failed.

[0179] For example, assuming that the preset duration threshold is 30s, the preset strength threshold is 10dB, the interval duration of not receiving the heartbeat signal of drone A is 50s, and the communication signal strength corresponding to drone A is 5dB, then the interval duration of not receiving the heartbeat signal of drone A is 50s, which is greater than the preset duration threshold of 30s, and the communication signal strength corresponding to drone A is 5dB, which is less than the preset strength threshold of 10dB. It is determined that the communication of multiple drones has failed, and drone A is used as the second drone.

[0180] For another example, assuming that the interval between multiple drones not receiving the heartbeat signal from drone B is greater than the preset duration threshold, and the communication signal strength corresponding to drone B is 15dB, then the communication signal strength corresponding to drone B is 15dB, which is greater than the preset strength threshold of 10dB, and it is determined that the communication of multiple drones has not failed.

[0181] Step 41: When the communication of multiple drones fails, or multiple drones complete the target mission, a return instruction is sent to the multiple drones to control the multiple drones to return.

[0182] In the embodiment of the present application, when multiple drones complete the target mission, a return command is sent to the multiple drones to control the multiple drones to return. In the process of multiple drones performing the target mission, if the communication of multiple drones fails, a return command is also sent to the multiple drones in advance to control the multiple drones to return.

[0183] Among them, after multiple drones receive the return command, they will return their current location information to the operation center.

[0184] In this way, when the communication quality parameter of one drone among multiple drones meets the preset threshold condition, it is determined that the communication of multiple drones has failed. Since the communication failure of one drone may cause multiple drones to be unable to perform the target mission normally, in order to avoid this situation, when the communication of one drone fails, multiple drones are controlled to return in advance.

[0185] Specifically, when sending return instructions to multiple drones and controlling multiple drones to return, perform the following operations: Figure 5 As shown, it is a schematic diagram of the process of returning multiple drones in the embodiment of the present application. Figure 5 , and explain in detail the specific operations performed:

[0186] Step 410: Divide the multiple drones into a third drone group and a fourth drone group according to the current communication modes of the multiple drones.

[0187] Among them, the current communication mode of the third drone group is the first communication mode, and the current communication mode of the fourth drone group is the second communication mode.

[0188] In an embodiment of the present application, for each of the multiple drones, the following operations are performed respectively: if the current communication mode of the drone is the first communication mode, the drone is divided into a third drone group; if the current communication mode of the drone is the second communication mode, the drone is divided into a fourth drone group.

[0189] For example, see Figure 6As shown, it is a schematic diagram of the return of multiple drones in an embodiment of the present application. Assuming that the current communication mode of drone A, drone B, and drone C is the second communication mode, and the current communication mode of drone D, drone E, drone F, drone G, and drone H is the first communication mode, drone A, drone B, and drone C are regarded as the fourth drone group, and drone D, drone E, drone F, drone G, and drone H are regarded as the third drone group.

[0190] In this way, when multiple drones return, different return methods are adopted for the multiple drones according to their different communication methods. The communication method of each drone is taken into consideration, and a better return plan can be formulated for each drone.

[0191] Optionally, when the current communication modes of the multiple drones are all the second communication mode, the multiple drones are used as a fourth drone group.

[0192] Step 411: Based on the straight-line distance between any two third drones included in the third drone group, determine the return route of each third drone, and control each third drone to return according to the corresponding return route.

[0193] In an embodiment of the present application, the return route of each third drone is determined, and the return route of each third drone is sent to each third drone through the first communication method, so that each third drone is controlled to return according to the corresponding return route.

[0194] Specifically, when determining the return route of each third drone, the following operations are performed: Figure 7 As shown, it is a schematic diagram of the process of returning the third drone group in the embodiment of the present application. Figure 7 , and explain in detail the specific operations performed:

[0195] Step 4110: Based on the straight-line distance between any two third drones included in the third drone group and the communication detection result between any two third drones, each third drone is sorted for return.

[0196] In the embodiment of the present application, each third drone pair is sorted from large to small according to the straight-line distance between each third drone pair, and then the communication detection result of each third drone pair is determined in sequence based on the order of each third drone pair after the distance sorting, until there is a third drone pair whose communication detection result is characterized as successful communication, and the two third drones in the third drone pair are randomly selected as the first third drone to return and the second third drone to return, and the other third drones read subsequently are sorted for return in sequence to obtain the return sorting result of each third drone.

[0197] Each third drone pair is any two third drones in the third drone group, and the straight-line distance between any two third drones can be obtained through current position information of the two third drones.

[0198] For example, assuming that the order of each third drone pair after distance sorting is: third drone pair 1, third drone pair 2, third drone pair 3, third drone pair 4, first determine the communication detection result of the two third drones in the third drone pair 1, and when the communication detection result is characterized by communication failure, the communication detection result of the two third drones in the third drone pair 2 will be determined. When the communication detection result is characterized by communication success, the two third drones in the third drone pair 2 are randomly selected as the first third drone to return and the second third drone to return.

[0199] In addition, it is worth noting that when determining the communication detection result of a third drone pair, two third drones in the third drone pair can be controlled to perform two-way communication. If the two-way communication is successful, the communication detection result is determined to be successful communication.

[0200] Step 4111: Based on the sorted return sequence of each third drone, generate a return route for each third drone in sequence.

[0201] In an embodiment of the present application, after obtaining the return order of each third drone, the return route of each third drone is generated in sequence based on the return order, wherein each time the return route is generated, the following operations are performed: if there is no third drone before the current third drone, the specified return route is obtained; if there is at least one third drone before the current third drone, based on the generated return routes corresponding to the at least one third drone, a return route that does not collide with the at least one generated return route is generated.

[0202] For example, assume that the return order of each third drone is: drone D, drone E, drone F, drone G, drone H, first obtain the designated return route 1 for drone D, and then based on the return route 1 corresponding to drone D, generate a return route 2 that does not collide with the return route 1, and use the return route 2 as the return route of drone E, and then generate a return route 3 that does not collide with the return route 1 and the return route 2, and use the return route 3 as the return route of drone F. Repeat the above operations to generate a return route for each third drone in turn.

[0203] In this way, the return route of each third drone generated will not collide, which can improve the safety of the return of the third drone.

[0204] Step 412: Based on the straight-line distance between each fourth drone included in the fourth drone group and the ground control station, determine the return route of each fourth drone, and control each fourth drone to return according to the corresponding return route.

[0205] In an embodiment of the present application, the return route of each fourth drone is determined, and the return route of each fourth drone is sent to each fourth drone through the second communication method, so that each fourth drone is controlled to return according to the corresponding return route.

[0206] Specifically, when determining the return route of each fourth UAV, the following operations are performed: Figure 8 As shown, it is a schematic diagram of the process of returning the fourth drone group in the embodiment of the present application. Figure 8 , and explain in detail the specific operations performed:

[0207] Step 4120: Based on the straight-line distance between each fourth UAV and the ground control station, sort each fourth UAV for return.

[0208] The straight-line distance between each fourth UAV and the ground control station can be obtained through the current position information of each fourth UAV and the position information of the ground control station.

[0209] In the embodiment of the present application, each fourth drone is sorted for return from largest to smallest according to the straight-line distance between each fourth drone and the ground control station, so as to obtain the return sorting result of each fourth drone.

[0210] For example, assuming that the straight-line distance between UAV A and the ground control station is 500m, the straight-line distance between UAV B and the ground control station is 450m, and the straight-line distance between UAV C and the ground control station is 400m, the order of each fourth UAV pair after the return sorting is: UAV A, UAV B, UAV C.

[0211] Step 4121: Based on the sorted return sequence of each fourth drone, generate a return route for each fourth drone in sequence.

[0212] In an embodiment of the present application, after the return order of each fourth drone is obtained, the return route of each fourth drone is generated in sequence based on the return order, wherein each time the return route is generated, the following operations are performed: if there is no fourth drone before the current fourth drone, the specified return route is obtained; if there is at least one fourth drone before the current fourth drone, based on the generated return routes corresponding to the at least one fourth drone, a return route that does not collide with the at least one generated return route is generated.

[0213] In this way, the generated return route of each fourth drone does not collide, which can improve the safety of the return of the fourth drone.

[0214] Furthermore, in the embodiment of the present application, after the return routes of the multiple drones are determined, in order to avoid the return route corresponding to the third drone group and the return route corresponding to the fourth drone group colliding, thereby causing the multiple drones to fail to return, it is possible to detect whether the return routes of the multiple drones collide, and if there is a collision, adjust the return route with the collision. In this way, the safety of the drone return can be further improved.

[0215] Furthermore, in an embodiment of the present application, it is determined whether the current communication mode of the second UAV is the second communication mode. If the current communication mode is the second communication mode, then during the return process of each fourth UAV, when it enters the initial communication range corresponding to the multiple UAVs, the communication mode of each fourth UAV is switched from the second communication mode to the first communication mode, and the return flight continues.

[0216] For example, see Fig. 9 As shown, it is a schematic diagram of the return of the fourth drone group in the embodiment of the present application. Assume that drone A is the second drone, the communication mode of drone A is the second communication mode, and the fourth drone group includes: drone A, drone B, and drone C. The current communication mode of the second drone is the second communication mode. When drone A, drone B, and drone C enter the initial communication range corresponding to multiple drones, the communication mode of each fourth drone is switched from the second communication mode to the first communication mode.

[0217] In this way, since the current communication mode of the second UAV is the second communication mode, the second communication mode may no longer be able to communicate normally. Therefore, during the return process of each fourth UAV, when it enters the initial communication range corresponding to multiple UAVs, the communication mode of each fourth UAV is switched from the second communication mode to the first communication mode to improve the communication effectiveness during the return process.

[0218] Based on the same inventive concept, an unmanned aerial vehicle communication device is also provided in the embodiment of the present application, see Fig.10 As shown, it is a schematic diagram of the structure of the UAV communication device in the embodiment of the present application, which specifically includes:

[0219] The first processing unit 1001 is used to obtain status information and operation data of multiple drones, and select a first drone whose status information meets a preset status condition from the multiple drones;

[0220] The communication conversion unit 1002 is used to determine the target communication mode of the first UAV based on the operation data of the first UAV, where the target communication mode is the first communication mode or the second communication mode, the communication distance of the second communication mode is greater than the communication distance of the first communication mode, and / or the bandwidth of the second communication mode is greater than the bandwidth of the first communication mode.

[0221] Optionally, the status information includes: the number of boundary crossings and the amount of data transmitted, where the number of boundary crossings is: the number of times the corresponding drone leaves the initial communication range corresponding to the multiple drones;

[0222] When a first drone whose status information satisfies a preset status condition is selected from a plurality of drones, the first processing unit 1001 is further configured to:

[0223] For each of the multiple drones, perform the following operations:

[0224] When the number of times the drone crosses the boundary is greater than a preset number threshold, the drone is regarded as the first drone; and / or,

[0225] When the amount of data transmitted by the drone is greater than a preset quantity threshold, the drone is used as the first drone.

[0226] Optionally, when determining the target communication mode of the first UAV according to the operation data of the first UAV, the communication conversion unit 1002 is further configured to:

[0227] determining a type of communications required by the first drone;

[0228] Based on the operation data of the first unmanned aerial vehicle and the communication data corresponding to the communication type, a target communication mode of the first unmanned aerial vehicle is determined.

[0229] Optionally, the communication type is: long-distance communication or high-bandwidth communication;

[0230] The communication data corresponding to the long-distance communication are: the maximum communication distance between the first UAV and the ground control station;

[0231] The communication data corresponding to the high-bandwidth communication is: the maximum transmission bandwidth of the first UAV.

[0232] Optionally, when determining the target communication mode of the first drone based on the operation data of the first drone and the communication data corresponding to the communication type, the communication conversion unit 1002 is further configured to:

[0233] When the operation data of the first UAV is the required data of the target task and the communication data corresponding to the communication type is greater than the corresponding communication threshold, the target communication mode is determined to be the second communication mode.

[0234] Optionally, when determining the target communication mode of the first drone based on the operation data of the first drone and the communication data corresponding to the communication type, the communication conversion unit 1002 is further configured to:

[0235] When the operation data of the first UAV is the required data of the target task, and the communication data corresponding to the communication type is less than or equal to the corresponding communication threshold, determining that the target communication mode is the first communication mode;

[0236] When the operation data of the first UAV is not required data for the target task, the target communication mode is determined to be the first communication mode.

[0237] Optionally, after determining the target communication mode of the first UAV according to the operation data of the first UAV, the communication conversion unit 1002 is further configured to:

[0238] If the target communication mode is the first communication mode, the first UAV is adjusted to be within its corresponding target communication range, and the operation data transmitted back by the first UAV is continuously recorded;

[0239] If the target communication mode is the second communication mode, the operation data sent back by the first UAV will continue to be recorded.

[0240] Optionally, the device further includes a second processing unit 1003, and the second processing unit 1003 is used to:

[0241] In the process of multiple drones performing a target mission, if the communication quality of one drone among the multiple drones meets a preset failure condition, it is determined that the communication of the multiple drones has failed, and the one drone is used as a second drone;

[0242] When the communication between multiple drones fails, or multiple drones complete their target missions, return instructions are sent to multiple drones to control them to return.

[0243] Optionally, if the communication quality of one of the multiple drones meets a preset failure condition, when it is determined that the communication of the multiple drones has failed, the second processing unit 1003 is further used to:

[0244] If the interval duration of not receiving the heartbeat signal of one of the multiple drones is greater than the preset duration threshold, and the communication signal strength corresponding to one drone is less than the preset strength threshold, it is determined that the communication of the multiple drones has failed.

[0245] Optionally, when sending return instructions to multiple drones to control the multiple drones to return, the second processing unit 1003 is further used to:

[0246] Dividing the multiple drones into a third drone group and a fourth drone group according to the current communication modes of the multiple drones, wherein the current communication mode of the third drone group is the first communication mode, and the current communication mode of the fourth drone group is the second communication mode;

[0247] Determine a return route for each third drone based on a straight-line distance between any two third drones included in the third drone group, and control each third drone to return according to the corresponding return route;

[0248] Based on the straight-line distance between each fourth drone included in the fourth drone group and the ground control station, the return route of each fourth drone is determined, and each fourth drone is controlled to return according to the corresponding return route.

[0249] Optionally, when determining the return route of each third drone based on the straight-line distance between any two third drones included in the third drone group, the second processing unit 1003 is further configured to:

[0250] Based on the straight-line distance between any two third drones included in the third drone group and the communication detection result between any two third drones, each third drone is sorted for return;

[0251] Based on the sorted return sequence of each third drone, a return route of each third drone is generated in sequence.

[0252] Optionally, when determining the return route of each fourth drone included in the fourth drone group based on the straight-line distance between each fourth drone and the ground control station, the second processing unit 1003 is further configured to:

[0253] Based on the straight-line distance between each fourth UAV and the ground control station, sorting each fourth UAV for return;

[0254] Based on the sorted return sequence of each fourth drone, a return route of each fourth drone is generated in sequence.

[0255] Optionally, the second processing unit 1003 is further configured to:

[0256] When the return routes of multiple drones collide, adjust the return routes of multiple drones;

[0257] If the current communication mode of the second UAV is the second communication mode, then during the return process of each fourth UAV, when it enters the initial communication range corresponding to the multiple UAVs, the communication mode of each fourth UAV is switched from the second communication mode to the first communication mode.

[0258] Based on the above embodiments, see Fig.11Shown is a schematic diagram of the structure of an electronic device in an embodiment of the present application.

[0259] An embodiment of the present application provides an electronic device, which may include a processor 1110 (Center Processing Unit, CPU), a memory 1120, an input device 1130 and an output device 1140, etc. The input device 1130 may include a keyboard, a mouse, a touch screen, etc., and the output device 1140 may include a display device, such as a liquid crystal display (Liquid Crystal Display, LCD), a cathode ray tube (Cathode Ray Tube, CRT), etc.

[0260] The memory 1120 may include a read-only memory (ROM) and a random access memory (RAM), and provides the processor 1110 with program instructions and data stored in the memory 1120. In an embodiment of the present application, the memory 1120 may be used to store a program of any one of the drone communication methods in the embodiments of the present application.

[0261] The processor 1110 calls the program instructions stored in the memory 1120, and the processor 1110 is used to execute any drone communication method in the embodiments of the present application according to the obtained program instructions.

[0262] Based on the above embodiments, in an embodiment of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the drone communication method in any of the above method embodiments is implemented.

[0263] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0264] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0265] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0266] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0267] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A drone communication method, characterized in that: include: Acquire status information and operation data of a plurality of drones, and select a first drone from the plurality of drones, the status information of which satisfies a preset status condition; According to the operation data of the first UAV, a target communication mode of the first UAV is determined, where the target communication mode is the first communication mode or the second communication mode, the communication distance of the second communication mode is greater than the communication distance of the first communication mode, and / or the bandwidth of the second communication mode is greater than the bandwidth of the first communication mode.

2. The method according to claim 1, characterized in that The state information includes: the number of boundary crossings and the amount of transmitted data, wherein the number of boundary crossings is the number of times the corresponding drone leaves the initial communication range corresponding to the multiple drones; Then, selecting a first drone whose status information satisfies a preset status condition from the plurality of drones includes: For each of the multiple drones, perform the following operations respectively: When the number of boundary crossings of the drone is greater than a preset number threshold, the drone is used as the first drone; and / or, When the transmission data volume of the drone is greater than a preset quantity threshold, the drone is used as the first drone.

3. The method according to claim 1, characterized in that The determining, according to the operation data of the first UAV, a target communication mode of the first UAV includes: determining a type of communication required by the first drone; A target communication mode of the first UAV is determined based on the operation data of the first UAV and the communication data corresponding to the communication type.

4. The method according to claim 3, characterized in that The communication type is: long-distance communication or high-bandwidth communication; The communication data corresponding to the long-distance communication is: the maximum communication distance between the first UAV and the ground control station; The communication data corresponding to the high-bandwidth communication is: the maximum transmission bandwidth of the first UAV.

5. The method according to claim 3, characterized in that The determining, based on the operation data of the first UAV and the communication data corresponding to the communication type, a target communication mode of the first UAV, includes: When the operation data of the first UAV is the required data of the target task and the communication data corresponding to the communication type is greater than the corresponding communication threshold, it is determined that the target communication mode is the second communication mode.

6. The method according to claim 3, characterized in that The determining, based on the operation data of the first UAV and the communication data corresponding to the communication type, a target communication mode of the first UAV, includes: When the operation data of the first UAV is the required data of the target task, and the communication data corresponding to the communication type is less than or equal to the corresponding communication threshold, determining that the target communication mode is the first communication mode; When the operation data of the first UAV is not required data for the target task, the target communication mode is determined to be the first communication mode.

7. The method according to claim 1, characterized in that After determining the target communication mode of the first UAV according to the operation data of the first UAV, the method further includes: If the target communication mode is the first communication mode, adjusting the first UAV to be within its corresponding target communication range, and continuing to record the operation data sent back by the first UAV; If the target communication mode is the second communication mode, the operation data sent back by the first UAV continues to be recorded.

8. The method according to claim 1, characterized in that The method further comprises: During the process of the plurality of drones performing the target mission, if the communication quality of one of the plurality of drones meets a preset failure condition, determining that the communication of the plurality of drones has failed, and using the one drone as a second drone; When the communication of the multiple drones fails, or the multiple drones complete the target tasks, a return instruction is sent to the multiple drones to control the multiple drones to return.

9. The method according to claim 8, characterized in that If the communication quality of one of the plurality of drones satisfies a preset failure condition, determining that the communication of the plurality of drones is failed includes: If the interval duration of not receiving the heartbeat signal of one of the multiple drones is greater than a preset duration threshold, and the communication signal strength corresponding to the one drone is less than a preset strength threshold, it is determined that the communication of the multiple drones has failed.

10. The method according to claim 8, characterized in that The sending of return instructions to the multiple drones to control the multiple drones to return includes: Dividing the multiple drones into a third drone group and a fourth drone group according to the current communication modes of the multiple drones, wherein the current communication mode of the third drone group is the first communication mode, and the current communication mode of the fourth drone group is the second communication mode; Determine a return route for each third drone based on a straight-line distance between any two third drones included in the third drone group, and control each third drone to return according to the corresponding return route; Based on the straight-line distance between each fourth drone included in the fourth drone group and the ground control station, the return route of each fourth drone is determined, and each fourth drone is controlled to return according to the corresponding return route.

11. The method according to claim 10, characterized in that The step of determining the return route of each third drone based on the straight-line distance between any two third drones included in the third drone group includes: Based on the straight-line distance between any two third drones included in the third drone group and the communication detection result between the any two third drones, sorting each third drone for return; Based on the sorted return sequence of each of the third drones, a return route of each of the third drones is generated in sequence.

12. The method according to claim 10, characterized in that The step of determining the return route of each fourth drone based on the straight-line distance between each fourth drone included in the fourth drone group and the ground control station comprises: Based on the straight-line distance between each of the fourth UAVs and the ground control station, sorting each of the fourth UAVs for return; Based on the sorted return sequence of each of the fourth drones, a return route of each of the fourth drones is generated in sequence.

13. The method according to claim 10, characterized in that The method further comprises: When the return routes of the multiple drones collide, adjusting the return routes of the multiple drones; If the current communication mode of the second UAV is the second communication mode, then during the return process of each of the fourth UAVs, when it enters the initial communication range corresponding to the multiple UAVs, the communication mode of each of the fourth UAVs is switched from the second communication mode to the first communication mode.

14. A drone communication device, characterized in that: include: A first processing unit is used to obtain status information and operation data of multiple drones, and select a first drone whose status information meets a preset status condition from the multiple drones; A communication conversion unit is used to determine a target communication mode of the first UAV based on the operation data of the first UAV, where the target communication mode is the first communication mode or the second communication mode, the communication distance of the second communication mode is greater than the communication distance of the first communication mode, and / or the bandwidth of the second communication mode is greater than the bandwidth of the first communication mode.

15. An electronic 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 program, the steps of the method according to any one of claims 1 to 13 are implemented.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 13 are implemented.

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