A communication system based on master-slave UAV hangar

Abstract

The embodiment of the present invention provides a communication system based on a master-slave drone hangar, which relates to the field of drone technology. The specific scheme is as follows: the communication system based on the master-slave drone hangar includes: a server, a master drone hangar and one or more slave drone hangars; the server is used to send a first message instruction carrying identification information of a target drone hangar to the master drone hangar, and the target drone hangar includes: a master drone hangar and / or a slave drone hangar; the master drone hangar is used to respond to the first message instruction received, and determine the second message instruction and the target drone hangar according to the analysis result; the target drone hangar is used to respond to the second message instruction, execute the task indicated by the second message instruction, obtain the task execution status, and send the obtained task execution status to the master drone hangar. The scheme provided by the embodiment of the present invention can improve the efficiency of the collaborative work of multiple drone hangars.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a communication system based on a master-slave unmanned aerial vehicle hangar. Background Art

[0002] In recent years, drone technology has developed rapidly, and drones are increasingly used in various scenarios. Drones can be used to complete corresponding tasks in various scenarios. For example, in the forest fire prevention scenario, drones can be used for inspection to detect whether there are fire points in the forest.

[0003] In view of the above situation, drone hangars can be deployed in areas where drone operations are required, and drones can be configured for the drone hangars. However, in the existing technology, communicating with each drone hangar requires more communication resources. When communication resources are limited, it may lead to low communication efficiency, which in turn leads to low efficiency of various drone hangars in collaboratively performing work tasks. Summary of the invention

[0004] The purpose of the embodiment of the present invention is to provide a communication system based on a master-slave drone hangar to improve the efficiency of collaborative work of multiple drone hangars. The specific technical solution is as follows:

[0005] According to one aspect of an embodiment of the present invention, there is provided a communication system based on a master-slave drone hangar, the system comprising: a server, a master drone hangar, and one or more slave drone hangars;

[0006] The server is used to send a first message instruction to the master drone hangar, wherein the first message instruction carries identification information of a target drone hangar, and the target drone hangar includes: the master drone hangar and / or the slave drone hangar;

[0007] The master drone hangar is configured to parse the first message instruction in response to receiving the first message instruction, and determine the second message instruction and the target drone hangar according to the parsing result;

[0008] The target drone hangar is used to respond to receiving the second message instruction, execute the task indicated by the second message instruction, obtain the task execution status corresponding to the task indicated by the second message instruction, and send the obtained task execution status to the main drone hangar. The main drone hangar sends the task execution status of the target drone hangar to the server.

[0009] In one embodiment of the present invention, when the task indicated by the first message instruction includes a target task, the first message instruction carries a task route of the target task, and the target UAV hangar is the main UAV hangar;

[0010] The master drone hangar is specifically used to send a mission route of a target mission to the master drone, receive the mission execution status and flight status fed back by the master drone during the process of executing the target mission according to the mission route, and send the mission execution status and flight status fed back by the master drone to the slave drone hangar, wherein the master drone is: a drone configured in the master drone hangar;

[0011] The master drone hangar is further used to determine a first slave drone hangar and send a third message instruction to the first slave drone hangar, wherein the third message instruction is an instruction to control the slave drone to perform the target task, and the slave drone is: a drone configured in the slave drone hangar;

[0012] The first slave drone hangar is also used to control the slave drone to assist the master drone in completing the target task based on the task execution status, flight status and the third message instruction transmitted by the master drone hangar, obtain the task execution status of the slave drone in performing the target task, and send the obtained task execution status to the master drone hangar.

[0013] In one embodiment of the present invention, the master drone hangar is specifically used to determine the abnormal position of the master drone when an abnormality occurs; calculate the first distance value between the abnormal position and the position of each slave drone hangar; select a slave drone corresponding to a first distance value less than a preset first distance threshold from multiple first distance values ​​as the first slave drone, wherein the third message instruction is an instruction to control the slave drone to perform the unfinished target task of the master drone starting from the abnormal position.

[0014] In one embodiment of the present invention, when the task indicated by the first message instruction includes a target task, the first message instruction carries a task route of the target task, and the target UAV hangar is the main UAV hangar;

[0015] The master drone hangar is specifically used to send a mission route of a target mission to the master drone, receive the mission execution status and flight status fed back by the master drone during the process of executing the target mission according to the mission route, and send the mission execution status and flight status fed back by the master drone to the slave drone hangar, wherein the master drone is: a drone configured in the master drone hangar;

[0016] The slave drone hangar is also used to determine that there is an abnormality in the master drone if the task execution status sent by the master drone hangar does not meet the first preset condition or the flight status does not meet the second preset condition, and control the slave drone to execute the target task that the master drone has not completed based on the task execution status transmitted by the master drone hangar.

[0017] In one embodiment of the present invention, the first drone hangar is also used to broadcast its own location information if the first drone hangar meets the docking conditions, so that the drone in flight can select a dockable drone hangar for docking based on the received location information, wherein the first drone hangar includes: the main drone hangar and / or the slave drone hangar.

[0018] In one embodiment of the present invention, the system also includes: a target drone, which is used to determine a drone hangar for docking based on the received location information broadcast by the first drone hangar and its own location information when it is in flight and its own battery power is lower than a preset battery power threshold, and fly to the determined drone hangar for docking, wherein the target drone includes: the master drone and / or the slave drone.

[0019] In one embodiment of the present invention, the target drone is specifically used to determine the second distance value between the target drone's own position and the position of each first drone hangar based on the received position information broadcast by the first drone hangar and its own position information, and select the first drone hangar corresponding to the second distance value less than a preset second distance threshold from multiple second distance values ​​as the drone hangar for docking.

[0020] In one embodiment of the present invention, the system further comprises: the master drone and the slave drone;

[0021] The master drone is used to send the task execution status and flight status obtained during the execution of the target task to the server;

[0022] The server is used to store the task execution status and flight status sent by the master drone for the target task;

[0023] The slave drone is used to obtain the mission route of the target mission and the latest mission execution status sent by the master drone from the server based on the third message instruction, and assist the master drone to complete the target mission based on the obtained mission execution status and the mission route.

[0024] In one embodiment of the present invention, the master drone hangar is specifically used to obtain the identification information of the target drone hangar carried in the first message instruction obtained by parsing; based on the correspondence between the stored identification information and the slave drone hangar, the slave drone hangar corresponding to the identification information of the target drone hangar is determined as the target drone hangar.

[0025] In one embodiment of the present invention, when there are multiple slave drone hangars, the master drone hangar selects a slave drone hangar that matches the identification information of the target drone hangar from the multiple slave drone hangars, and sends the second message instruction to the selected slave drone hangar.

[0026] Beneficial effects of the embodiments of the present invention:

[0027] From the above, it can be seen that by applying the communication system based on the master-slave drone hangar provided by the embodiment of the present invention, the server can send message instructions to the master drone hangar, and control the slave drone hangar through the master drone hangar. In this way, the direct communication between the server and the slave drone hangar, which is far away, can be reduced. The server can indirectly control the slave drone hangar through the master drone hangar which is close to the slave drone hangar, which can reduce the communication failure caused by the long distance and poor signal, improve the communication success rate, reduce the situation where failed communications occupy communication resources, reduce the waste of communication resources, improve the communication efficiency of the server, the master drone hangar and the slave drone hangar, and thus improve the efficiency of the collaborative work of multiple drone hangars.

[0028] Of course, it is not necessary to achieve all of the advantages described above at the same time to implement any product or method of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0030] Figure 1 A schematic diagram of the structure of a communication system based on a master-slave drone hangar provided by an embodiment of the present invention;

[0031] Figure 2 A schematic diagram of a drone hangar and a drone provided in an embodiment of the present invention;

[0032] Figure 3 A schematic diagram of the structure of another communication system based on a master-slave drone hangar provided by an embodiment of the present invention;

[0033] Figure 4A schematic diagram of the structure of another communication system based on a master-slave drone hangar provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field based on the present invention belong to the scope of protection of the present invention.

[0035] The application scenarios of the embodiments of the present invention are described below.

[0036] In terrain mapping scenarios, drones can be used to perform terrain mapping tasks. For example, a vehicle can carry a drone hangar to the area to be surveyed. The drone can take off from the drone hangar according to the set mission route of the terrain mapping task and survey the terrain of the area to be surveyed.

[0037] In agricultural management scenarios, drones can be used for tasks such as pesticide spraying, crop growth monitoring, soil moisture monitoring, and pest and disease monitoring. For example, drone hangars can be set up at various locations on the farm, and drones can take off from the drone hangars according to the mission routes set for soil moisture monitoring tasks to monitor soil moisture in the areas of the farm to be monitored.

[0038] In the forest fire prevention scenario, drones can be used to conduct fire point inspection missions. For example, drone hangars can be set up at various locations in the forest, and drones can take off from the drone hangars according to the mission routes set for fire point inspection missions to conduct fire point inspections in the forest areas to be inspected.

[0039] For another example, the drone hangar set in the above scenario may include a master drone hangar and a slave drone hangar in the communication system based on the master-slave drone hangar provided in an embodiment of the present invention. Multiple drone hangars can be carried on the same vehicle, and the master drone hangar and the slave drone hangar can be set on the same vehicle or in different vehicles. The drone hangar can also be set at a fixed position in the application scenario, and the master drone hangar and the slave drone hangar can be set at the same position, or the master drone hangar and the slave drone hangar can be set at different positions.

[0040] The following is a description of the communication system based on a master-slave drone hangar provided in an embodiment of the present invention.

[0041] In one embodiment of the present invention, see Figure 1A structural diagram of a communication system based on a master-slave drone hangar is provided, the system comprising: a server 101, a master drone hangar 102 and a slave drone hangar 103. The number of the slave drone hangar 103 can be one or more. Figure 1 A plurality of slave drone hangars 103 are shown.

[0042] Among them, the drone hangar is a device that provides storage and charging functions for drones, and provides a docking, take-off and landing platform. The server 101 and the main drone hangar 102 can be communicated based on a wireless connection, and the main drone hangar 102 and the slave drone hangar 103 can be communicated based on a wired connection and / or a wireless connection. For example, the main drone hangar 102 and the slave drone hangar 103 can be provided with a wired network card, and the main drone hangar 102 and the slave drone hangar 103 can be communicated based on the network cable connected between the wired network cards. For example, the main drone hangar 102 and the slave drone hangar 103 can be connected to the same switch, and the main drone hangar 102 and the slave drone hangar 103 can be connected to a router to access the external network. The server 101, the main drone hangar 102 and the slave drone hangar 103 may be provided with a wireless network card, such as a 4G (fourth generation mobile information system) wireless network card, and the server 101, the main drone hangar 102 and the slave drone hangar 103 may be wirelessly connected based on the wireless network card. The main drone hangar 102 and the slave drone hangar 103 may be drone hangars of the same model, and the difference between the two is that when the main drone configured in the main drone hangar 102 is normal, the main drone performs the preset target task, and the slave drone configured in the slave drone hangar 103 may be in an idle state, and when an abnormality occurs during the execution of the preset target task by the main drone, the slave drone is used to continue to perform the unfinished task of the main drone.

[0043] The master drone and the slave drone are described below.

[0044] The master drone is a drone configured in the master drone hangar 102. The slave drone is a drone configured in the slave drone hangar 103. The master drone hangar 102 and the master drone can be connected to each other in a communication manner based on image transmission communication and / or a server-side communication manner, and the slave drone hangar 103 and the slave drone can also be connected to each other in a communication manner based on image transmission communication and / or a server-side communication manner. For example, see Figure 2 A schematic diagram of a drone hangar and drones is provided, in which a master drone hangar 102 is communicatively connected to a master drone, a slave drone hangar 103 is communicatively connected to a slave drone, and the master drone hangar 102 and the slave drone hangar 103 are communicatively connected.

[0045] The server 101, the master drone hangar 102 and the slave drone hangar 103 are described below respectively.

[0046] 1. Server 101

[0047] The server 101 is used to send a first message instruction to the main drone hangar 102.

[0048] The first message instruction carries identification information of the target drone hangar, and the target drone hangar includes: the master drone hangar 102 and / or the slave drone hangar 103. The target drone hangar is: the drone hangar that the server 101 instructs to execute the task by sending the first message instruction.

[0049] The server 101 can control the target drone hangar to perform the corresponding task through the first message instruction. For example, the first message instruction sent by the server 101 can carry task information, and the target drone hangar can perform the corresponding task based on the first message instruction. For example, the task information may include: feedback on the hangar status information of the target drone hangar, self-checking whether the battery replacement function of the target drone hangar is normal, self-checking whether the pod replacement function of the target drone hangar is normal, and controlling the drone configured in the target drone hangar to fly according to the task route of the task.

[0050] 2. Main UAV Hangar 102

[0051] The main drone hangar 102 is used to parse the first message instruction in response to receiving the first message instruction, and determine the second message instruction and the target drone hangar according to the parsing result.

[0052] The second message instruction is described below.

[0053] The information carried in the second message instruction can be the same as the information carried in the first message instruction. For example, if the first message instruction carries mission information and identification information of the target UAV hangar, then the determined second message instruction also carries the mission information and identification information of the target UAV hangar in the above-mentioned first message instruction.

[0054] The following is an explanation of the first message command for the main drone hangar to parse according to different situations:

[0055] In one case, if the analysis result indicates that the target drone hangar is the main drone hangar 102, the main drone hangar 102 can execute the task indicated by the first message instruction according to the analysis result, obtain the task execution status corresponding to the task indicated by the second message instruction, and then feedback the task execution status and other task information to the server 101. In this case, the main drone hangar 102 can also perform internal communication, receive the second message instruction determined by itself, and in response to receiving the second message instruction, execute the task indicated by the second message instruction, obtain the task execution status corresponding to the task indicated by the second message instruction, and then send the obtained task execution status to the main drone hangar 102 through internal communication. The main drone hangar 102 can also feedback the task execution status and other task information to the server 101.

[0056] In another case, if the analysis result indicates that the target drone hangar is the slave drone hangar 103, the master drone hangar 102 sends a second message instruction to the determined target drone hangar.

[0057] In one method, after parsing the first message instruction, the main drone hangar 102 can obtain the identification information of the target drone hangar carried in the parsed first message instruction, and determine the slave drone hangar 103 corresponding to the identification information of the target drone hangar as the target drone hangar based on the correspondence between the stored identification information and the slave drone hangar 103.

[0058] Furthermore, the correspondence between the above-mentioned identification information and the slave drone hangar 103 can also record the IP (Internet Protocol) address of the slave drone hangar 103 corresponding to the identification information. In this way, the master drone hangar 102 can also determine the IP address of the slave drone hangar 103 as the IP address of the target drone hangar based on the above-mentioned correspondence and the identification information carried in the first message instruction obtained by parsing, and send a second message instruction to the target drone hangar based on the IP address of the target drone hangar.

[0059] In this way, the main drone hangar 102 can quickly and accurately determine the target drone hangar, and efficiently send a second message instruction to the target drone hangar, thereby improving the efficiency of the drone hangar's collaborative work.

[0060] In another embodiment, when there are multiple slave drone hangars 103, the master drone hangar 102 selects a slave drone hangar 102 that matches the identification information of the target drone hangar from the multiple slave drone hangars, and sends the second message instruction to the selected slave drone hangar 102.

[0061] In this way, the master drone hangar 102 can quickly and accurately select the slave drone hangar 102, and efficiently send the second message instruction to the slave drone hangar 102, thereby improving the efficiency of the drone hangar's collaborative work.

[0062] 3. From the drone hangar 103

[0063] The slave drone hangar 103 is used to respond to receiving the second message instruction, execute the task indicated by the second message instruction, obtain the task execution status corresponding to the task indicated by the second message instruction, and send the obtained task execution status to the master drone hangar 102.

[0064] In the case where there are multiple slave drone hangars 103 and the master drone hangar 102 sends a second message instruction to each slave drone hangar 103, the slave drone hangar 103 is specifically used to respond to receiving the second message instruction, and if it is determined to be the target drone hangar according to the identification information of the target drone hangar carried in the second message instruction, it will execute the task indicated by the second message instruction. In this way, the slave drone hangar 103 can autonomously choose to execute the task indicated by the second message instruction, reducing the computing pressure of the master drone hangar 102 and improving the efficiency of the drone hangar's collaborative work.

[0065] In addition, the slave drone hangar 103 can send the obtained task execution status to the master drone hangar 103. After the master drone hangar 102 receives the task execution status sent by the slave drone hangar 103, it can feedback the received task execution status to the server 101.

[0066] Among them, the task execution status may include a task identifier. If the first message instruction carries task information, for the task corresponding to the task information carried in the first message instruction, the server 101 may set the task identifier of the task, and add the task identifier to the first message instruction, so that the second message instruction sent by the master drone hangar 102 to the slave drone hangar 103 may also include the task identifier of the task, and when the slave drone hangar 103 sends the task execution status of the task to the master drone hangar 102, the slave drone hangar 103 may send the task identifier and task execution status of the task to the master drone hangar 102, and then the master drone hangar 102 sends the task identifier and task execution status of the task to the server 101, so that the server 101 can determine the task to which the received task execution status belongs based on the received task identifier, and then determine the execution status of the task corresponding to the first message instruction sent by the server 101.

[0067] The following is an example of how to execute a task from the drone hangar 103 and send the task execution status.

[0068] For example, if the task indicated by the second message instruction is: to perform a self-check on whether the battery replacement function of the target drone hangar is normal, then the slave drone hangar 103 can perform a preset self-check operation of the battery replacement function. After the self-check is completed, the self-check result of the battery replacement function is obtained and sent to the master drone hangar 102.

[0069] If the task indicated by the second message instruction is: to fly according to the mission route of the task, then the slave drone hangar 103 can control the slave drone to fly according to the mission route of the above task and perform the above task, obtain the task execution status of the slave drone performing the above task fed back to the slave drone hangar 103, and send the obtained task execution status to the master drone hangar 102.

[0070] From the above, it can be seen that by applying the communication system based on the master-slave drone hangar provided by the embodiment of the present invention, the server can send message instructions to the master drone hangar, and control the slave drone hangar through the master drone hangar. In this way, the direct communication between the server and the slave drone hangar, which is far away, can be reduced. The server can indirectly control the slave drone hangar through the master drone hangar which is close to the slave drone hangar, which can reduce the communication failure caused by the long distance and poor signal, improve the communication success rate, reduce the situation where failed communications occupy communication resources, reduce the waste of communication resources, improve the communication efficiency of the server, the master drone hangar and the slave drone hangar, and thus improve the efficiency of the collaborative work of multiple drone hangars.

[0071] In one embodiment of the present application, when the task indicated by the first message instruction includes a target task, the first message instruction carries a task route of the target task, and the target drone hangar is the main drone hangar 102, the main drone hangar 102 executes the target task indicated by the first message instruction in the following manner.

[0072] 1. Main UAV Hangar 102

[0073] The master drone hangar 102 is used to send the mission route of the target mission to the master drone, receive the mission execution status and flight status fed back by the master drone during the execution of the target mission according to the mission route, and send the mission execution status and flight status fed back by the master drone to the slave drone hangar 103.

[0074] Different target tasks can be configured for different application scenarios. For example, the target tasks may include topographic mapping tasks, pesticide spraying, crop growth monitoring, and fire point inspection tasks, etc. The master drone needs to fly according to the preset mission route in the target task to perform the target task. For example, when the master drone performs the pesticide spraying task, the master drone flies in the farm and sprays pesticides according to the preset mission route. The master drone hangar 102 can store pre-set target tasks. The master drone hangar 102 sends the target task and the mission route in the target task to the master drone, so that the master drone can fly according to the mission route in the target task to perform the target task.

[0075] During the process of the master drone performing the target mission, the master drone may feedback the mission execution status and flight status of the master drone to the master drone hangar 102. For example, the master drone may periodically feedback the mission execution status and flight status of the master drone to the master drone hangar 102, for example, feedback the mission execution status and flight status of the master drone to the master drone hangar 102 in a period of one minute.

[0076] During the process of the master drone hangar 102 controlling the master drone to complete the target mission, the master drone hangar 102 may also request the slave drone hangar to assist the master drone in completing the target mission.

[0077] The master drone hangar 102 is also used to determine the first slave drone hangar and send a third message instruction to the first slave drone hangar.

[0078] Among them, the third message instruction is an instruction to control the slave drone to perform the target task, and the first slave drone hangar is a slave drone hangar used to assist the master drone to complete the target task.

[0079] In one implementation, the master drone hangar 102 may randomly select a slave drone hangar 103 as the first slave drone hangar. Other methods for the master drone hangar 102 to determine the first slave drone hangar are described in the following embodiments and are not described in detail here.

[0080] 2. First, from the drone hangar

[0081] The first slave drone hangar is also used to control the slave drone to assist the master drone in completing the target task based on the task execution status, flight status and third message instructions transmitted by the master drone hangar 102, obtain the task execution status of the slave drone performing the target task, and send the obtained task execution status to the master drone hangar 102.

[0082] In one implementation, the third message instruction may include a target task and a task route of the target task, and the first slave drone hangar may assist the master drone in completing the target task based on the task execution status, the flight status target task, and the task route of the target task. For example, the first slave drone hangar may determine the unfinished portion of the task route of the target task based on the task execution status transmitted by the master drone hangar 102, and control the slave drone to assist the master drone in completing the target task. For example, the first slave drone hangar may determine an auxiliary route greater than a preset distance threshold from the master drone in the unfinished portion of the task route based on the flight status of the master drone, and the first slave drone hangar may control the slave drone to fly along the auxiliary route to assist the master drone in completing the target task.

[0083] Other ways in which the first slave drone hangar assists the master drone in completing the target mission are described in the following embodiments and will not be described in detail here.

[0084] From the above, it can be seen that by applying the communication system based on the master-slave drone hangar provided by the embodiment of the present invention, the master drone can feed back the task execution status and flight status to the slave drone hangar 103, so that the slave drone hangar 103 can assist the master drone in completing the target task. In this way, the drones in multiple drone hangars can be controlled more efficiently to work collaboratively, thereby improving the work efficiency of the drones.

[0085] When it is determined that the master drone of the master drone hangar 102 is abnormal, the slave drone hangar 103 can control the slave drone to perform the target task that the master drone has not completed. The abnormality of the master drone is described below.

[0086] During the execution of the target mission, the master drone may encounter an abnormal situation that makes it difficult for the master drone to continue to execute the target mission. For example, the power of the master drone is lower than the preset power threshold, the motor of the master drone fails, the image acquisition device of the master drone fails, and the navigation sensor of the master drone fails. When the master drone has an abnormality, the flight status fed back by the master drone to the master drone hangar 102 may include abnormal information. For example, the abnormal information may include at least one of the following information: the power of the master drone is too low, the motor of the master drone fails, the image acquisition device of the master drone fails, and the navigation sensor of the master drone fails.

[0087] In this case, the first slave drone hangar can also assist the main drone in completing the target mission.

[0088] In one embodiment of the present application, when the master drone hangar 102 detects that the master drone has an abnormality, the master drone hangar 102 is specifically used to determine the abnormal position of the master drone when the abnormality occurs; calculate the first distance value between the abnormal position and the position of each slave drone hangar 103; and select the slave drone hangar 103 corresponding to the first distance value less than the preset first distance threshold from multiple first distance values ​​as the first slave drone hangar. In the case where the number of selected first distance values ​​less than the preset first distance threshold is multiple, the slave drone hangar 103 corresponding to the first distance value with the smallest value among the calculated first distance values ​​can be selected as the first slave drone hangar. In the case where the number of first distance values ​​with the smallest value is multiple, the slave drone hangar 103 corresponding to the first distance value can be randomly selected as the first slave drone hangar.

[0089] Among them, the third message instruction is an instruction to control the first slave drone to execute the target task that the master drone has not completed from the abnormal position as the starting point.

[0090] After receiving the third message instruction, the first slave drone hangar can determine the unfinished part of the mission route of the target mission based on the latest mission execution status transmitted by the master drone hangar, and then take the abnormal position of the master drone as the starting point and execute the unfinished target mission of the master drone according to the unfinished part of the mission route of the target mission.

[0091] The third message instruction may include a task identifier of the target task. The master drone hangar 102 may send the preset target task and the task route in the target task to the slave drone hangar 103. In this way, the slave drone hangar 103 may obtain the target task and the task route in the target task. The slave drone hangar 103 may determine the target task and the task route in the target task corresponding to the task identifier according to the task identifier of the target task included in the third message instruction.

[0092] Then the slave drone hangar 103 can determine the unfinished mission route of the master drone in the target mission according to the mission route in the target mission and the latest mission execution status, and send the target mission and the unfinished mission route of the master drone in the target mission to the slave drone to control the slave drone to continue to execute the unfinished target mission of the master drone. The slave drone hangar 103 can also send the target mission, the mission route in the target mission and the latest mission execution status to the slave drone to control the slave drone to continue to execute the unfinished target mission of the master drone.

[0093] The third message instruction may also include a complete mission route and the latest mission execution status. In this way, the slave drone hangar 103 can determine the unfinished target task of the master drone based on the mission route and the latest mission execution status in the third message instruction, and then control the slave drone to continue to execute the unfinished target task of the master drone.

[0094] The main drone hangar 102 can determine the unfinished partial route of the master drone based on the complete mission route and the latest mission execution status. The third message instruction sent by the main drone hangar 102 can also include the unfinished partial route of the master drone. In this way, the slave drone hangar 103 can control the slave drone to continue to execute the unfinished target mission of the master drone based on the unfinished partial route in the third message instruction.

[0095] In this way, the main drone hangar 102 can promptly determine the slave drone hangar 103 closest to the abnormal location where the main drone has an abnormality to control the slave drone to complete the instructions of the unfinished target task of the main drone, and enable the slave drone hangar 103 to control the slave drone to continue to perform the unfinished task of the main drone in the event of an abnormality in the main drone. In this way, there is no need for staff to manually configure other drones to continue to perform unfinished work tasks, and the slave drone can be controlled to continue to perform unfinished tasks, thereby improving the work efficiency of the drone and the robustness of the communication system.

[0096] In another embodiment of the present application, whether an abnormality occurs in the master drone can be detected by the slave drone hangar 103. In this case, the master drone hangar 102 and the slave drone hangar 103 can communicate in the following manner.

[0097] The master drone hangar 102 is specifically used to send a mission route of a target mission to the master drone, receive the mission execution status and flight status fed back by the master drone during the execution of the target mission according to the mission route, and send the mission execution status and flight status fed back by the master drone to the slave drone hangar 103.

[0098] Specifically, the master drone hangar 102 may periodically feed back the task execution status and flight status of the master drone to the slave drone hangar 103. For example, the master drone hangar 102 may feed back the task execution status and flight status of the master drone to the slave drone hangar 103 in a period of one minute. The master drone hangar 102 may also send the latest received task execution status and flight status fed back by the master drone to the slave drone hangar 103 after receiving the task execution status and flight status fed back by the master drone.

[0099] The slave drone hangar 103 is also used to determine that there is an abnormality in the master drone if the task execution status sent by the master drone hangar 102 does not meet the first preset condition or the flight status does not meet the second preset condition, and control the slave drone to execute the target task that the master drone has not completed based on the task execution status transmitted by the master drone hangar.

[0100] The following describes the method of determining whether there is an abnormality in the main drone from the drone hangar 103.

[0101] In one implementation, the slave drone hangar 103 can determine whether the received task execution status is a first preset condition to determine whether the master drone has an abnormality. For example, the first preset condition can be that the task execution status has not changed after exceeding a preset waiting time. If the task execution status received from the slave drone hangar 103 has not changed after exceeding the preset waiting time, it is determined that the master drone has an abnormality.

[0102] In another implementation, the slave drone hangar 103 can determine whether the received flight status satisfies the second preset condition to determine whether there is an abnormality in the master drone. For example, the second preset condition can be that the battery of the master drone is too low, such as when the flight status received from the slave drone hangar 103 includes that the battery of the master drone is too low, it is determined that there is an abnormality in the master drone. For another example, the second preset condition can be that the storage space of the data storage device in the pod is full, such as when the flight status received from the slave drone hangar 103 includes that the storage space of the data storage device in the pod is full, it is determined that there is an abnormality in the master drone.

[0103] From the above, it can be seen that by applying the communication system based on the master-slave drone hangar provided by the embodiment of the present invention, the master drone can feedback the task execution status and flight status to itself and / or the slave drone hangar 103, so that the master drone hangar 102 can send the task execution status and flight status fed back by the master drone to the slave drone hangar, so that the slave drone hangar 103 can synchronize the latest task status and flight status of the master drone. In this way, the slave drone hangar 103 can actively detect that the master drone has an abnormality, and control the slave drone to continue to execute the unfinished task of the master drone when the master drone is abnormal. In this way, there is no need for staff to manually configure other drones to continue to execute unfinished work tasks, and it is possible to control the slave drones to continue to execute unfinished tasks, thereby improving the work efficiency of the drones.

[0104] In this way, the master drone can promptly feedback the task execution status and flight status to the master drone hangar or the slave drone hangar 103, so that the master drone hangar and the slave drone hangar 103 can obtain the latest task execution status and flight status of the master drone in real time. When an abnormality occurs to the master drone, the slave drone hangar 103 can promptly control the slave drone to continue to execute the unfinished target task of the master drone. In application scenarios with complex operating tasks and harsh operating environments, the drone can complete the target task quickly and smoothly.

[0105] Furthermore, the number of slave drone hangars 103 can be set to multiple. When the number of slave drone hangars 103 is greater than 1, each slave drone hangar 103 can determine the slave drone hangar 103 used to control the slave drone to continue to execute the target task not completed by the master drone in the following manner.

[0106] The slave drone hangar 103 is specifically used to send a first takeover notification to other slave drone hangars 103 when an abnormality is detected in the main drone, and receive the first takeover notification sent by other slave drone hangars 103 as the second takeover notification. If the distance carried in the first takeover notification is smaller than the distance carried in the second takeover notification, the slave drone is controlled to continue to execute the unfinished target task of the main drone.

[0107] Among them, the first takeover notification carries the distance between its own position and the abnormal position, and the abnormal position is: the position where the abnormality occurs in the main drone. If the flight status sent by the main drone carries the drone position information, then the slave drone hangar 103 can use the drone position information in the latest received flight status as the abnormal position. If the mission execution status sent by the main drone carries the completed part of the mission route, then the slave drone hangar 103 can determine the abnormal position based on the completed part of the mission route and the mission route carried in the mission execution status. The implementation method of the drone hangar determining its own position is described in the following embodiments and will not be described in detail here.

[0108] Each slave drone hangar 103 can detect whether the master drone has an abnormality in the manner in which the slave drone hangar 103 detects an abnormality in the master drone in the above embodiment according to the mission execution status and flight status received by the slave drone hangar 103. The slave drone hangar 103 that performs abnormality detection on the master drone can be a slave drone hangar 103 whose slave drone is in an idle state.

[0109] For each slave drone hangar 103, when the slave drone hangar 103 detects that the master drone is abnormal, it can send a first takeover notice to other slave drone hangars 103. If other slave drone hangars 103 also detect that the master drone is abnormal, they will also send a first takeover notice to the slave drone hangar 103. Therefore, the slave drone hangar 103 can also receive the first takeover notice sent by other slave drone hangars 103, and use the received first takeover notice of other slave drone hangars 103 as the second takeover notice. If the distance carried in the first takeover notice of the slave drone hangar 103 is less than the distance carried in the second takeover notice of each other slave drone hangar 103, it means that the slave drone hangar 103 is closest to the abnormal position, and the slave drone is controlled to continue to execute the unfinished target task of the master drone. If the distance carried in the first takeover notice of the slave drone hangar 103 is greater than the distance carried in the second takeover notice of each other slave drone hangar 103, it means that the slave drone hangar 103 is not the slave drone hangar 103 closest to the abnormal position, and no operation is performed. If there are slave drone hangars 103 at the same distance from the abnormal positions, the slave drone hangars 103 at the same distance from the abnormal positions will communicate with each other and randomly select a slave drone hangar 103 to control the slave drone to continue to execute the unfinished target task of the master drone.

[0110] In this way, multiple slave drone hangars 103 can mutually determine the slave drone hangar 103 closest to the location where the main drone has an abnormality to control the slave drone to continue to perform the unfinished target task of the main drone. In this way, the slave drone can efficiently reach the location where the main drone has an abnormality and continue flying, which can improve the work efficiency of the drone.

[0111] The following describes a method for determining the abnormality location.

[0112] The flight status sent by the master drone can carry the drone position information, so the master drone hangar 102 can use the drone position information in the latest received flight status as the abnormal position. If the mission execution status sent by the master drone carries the completed part of the mission route, the master drone hangar 102 can determine the abnormal position based on the completed part of the mission route and the mission route carried in the mission execution status.

[0113] After obtaining its own position, the slave drone hangar 103 can send the position information of the slave drone hangar 103 to the master drone hangar 102. The master drone hangar 102 can calculate the distance between the abnormal position and the positions of each slave drone hangar 103, select the first slave drone hangar 103 closest to the abnormal position, and send a third message instruction to the first slave drone hangar 103.

[0114] The implementation method of the drone hangar determining its own position is described in the following embodiments and will not be described in detail here.

[0115] In this way, the main drone hangar 102 can determine the slave drone hangar 103 closest to the location where the main drone has an abnormality among multiple slave drone hangars 103 to control the slave drone to continue to perform the unfinished target task of the main drone. In this way, the slave drone can efficiently reach the location where the main drone has an abnormality and continue flying, which can improve the work efficiency of the drone.

[0116] The drone hangar can provide docking functions for drones. When the drone is docked in the drone hangar, the drone hangar can provide functions such as drone battery replacement and drone pod replacement.

[0117] In one embodiment of the present application, in the above Figure 1 On the basis of the communication system based on the master-slave drone hangar provided, the master drone hangar 102 can provide a docking function for the master drone, and can also provide a docking function for the slave drone. Similarly, the slave drone hangar 103 can provide a docking function for the slave drone, and can also provide a docking function for the master drone. The first drone hangar is also used to broadcast its own location information if the first drone hangar meets the docking conditions, so that the drone in flight state selects a dockable drone hangar for docking based on the received location information. Among them, the first drone hangar includes: the master drone hangar 102 and / or the slave drone hangar 103. Among them, the docking conditions may include at least one of the following conditions: there is an empty docking position in the first drone hangar, replaceable batteries are stored in the first drone hangar, and replaceable pod equipment is stored in the first drone hangar.

[0118] In this way, the drone can fly to a drone hangar that is closer to itself for docking. If the slave drone hangar 103 is closer to the master drone, the master drone can fly to the slave drone hangar 103 and dock in the slave drone hangar 103. If the master drone hangar 102 is closer to the slave drone, the slave drone can fly to the master drone hangar 102 and dock in the master drone hangar 102, thereby maintaining the drone and improving the drone's endurance.

[0119] In one embodiment of the present invention, see Figure 3 A schematic diagram of another communication system based on a master-slave UAV hangar is provided. Figure 1 The provided communication system based on the master-slave drone hangar also includes: a master drone 104 and a slave drone 105.

[0120] The target drone is used to determine the drone hangar for docking according to the received location information broadcasted by the first drone hangar and its own location information when it is in flight and its own power is lower than a preset power threshold, and fly to the determined drone hangar for docking. The target drone includes: a master drone 104 and / or a slave drone 105.

[0121] The following describes how the target drone determines the drone hangar for docking.

[0122] Method 1

[0123] If the target drone is the master drone 104, and the first drone hangar closer to itself is determined to be the slave drone hangar 103 based on the received location information broadcast by the first drone hangar and its own location information, then the master drone 104 can fly to the determined slave drone hangar 103 for docking. If the first drone hangar closer to itself is determined to be the slave drone hangar 103, but the difference between the distance of the master drone 104 relative to the master drone hangar 102 and the distance of the master drone 104 relative to the slave drone hangar 103 is less than the preset threshold, then the master drone 104 can still fly to the determined master drone hangar 102 for docking. For example, the preset threshold may be one meter.

[0124] Similarly, if the target drone is a slave drone 105, and the first drone hangar closer to itself is determined to be the master drone hangar 102 based on the received location information broadcast by the first drone hangar and its own location information, then the slave drone 105 can fly to the determined master drone hangar 102 for docking. If the first drone hangar closer to itself is determined to be the master drone hangar 102, but the difference between the distance of the slave drone 105 relative to the slave drone hangar 103 and the distance of the slave drone 105 relative to the master drone hangar 102 is less than the preset threshold, then the slave drone 105 can still fly to the determined slave drone hangar 103 for docking.

[0125] The master drone can fly to the slave drone hangar 103 and dock there. The slave drone can fly to the master drone hangar 102 and dock there. The drone can dock in other drone hangars, and the drone can be maintained, which can improve the drone's endurance.

[0126] Method 2

[0127] The target drone is specifically used to determine the second distance value between the target drone's own position and the position of each first drone hangar based on the received position information broadcast by the first drone hangar and its own position information, and select the first drone hangar corresponding to the second distance value less than the preset second distance threshold from multiple second distance values ​​as the drone hangar for docking.

[0128] Among them, the first drone hangar is a drone hangar determined by the target drone for docking, and the drone hangar used for docking can be a main drone hangar 102 or a slave drone hangar 103.

[0129] When there are multiple selected second distance values ​​that are less than the preset second distance threshold, the first drone hangar corresponding to the second distance value with the smallest value among the calculated second distance values ​​can be selected as the drone hangar for docking. When there are multiple second distance values ​​with the smallest value, the slave drone hangar 103 corresponding to the second distance value with the smallest value can be randomly selected as the first slave drone hangar.

[0130] In this way, the target UAV can promptly determine the UAV hangar closest to the UAV for docking, and can efficiently dock in the UAV hangar and perform maintenance on the UAV, thereby improving the maintenance efficiency of the UAV and improving the endurance of the UAV.

[0131] The following is an example of how a drone obtains its own location information.

[0132] The drone can be equipped with an RTK (Real-Time Kinematic) antenna, and the drone can obtain its own location information based on the RTK antenna. The drone can also use other positioning methods such as GPS to obtain its own location information.

[0133] The following is an explanation of how the drone hangar determines its own position.

[0134] In one implementation, the drone hangar may be provided with an RTK antenna, and the drone hangar may obtain the position of the drone hangar itself using the RTK positioning technology based on the satellite carrier signal received by the RTK antenna. In addition, the master drone hangar 102 may send the positioning information of the master drone hangar 102 to the slave drone based on the RTK antenna. The slave drone hangar 103 may send the positioning information of the slave drone hangar 103 to the master drone based on the RTK antenna.

[0135] In another implementation, the master drone hangar 102 and the slave drone hangar 103 can access an external hangar positioning service to obtain the location of the drone hangar itself.

[0136] In one embodiment of the present invention, see Figure 4 A schematic diagram of a communication system based on a master-slave UAV hangar is provided. Figure 1 The provided communication system based on the master-slave drone hangar also includes: a master drone 104 and a slave drone 105.

[0137] Among them, the master drone 104 and the slave drone 105 can be provided with a wireless network card, such as a 4G wireless network card. In this way, the master drone 104 and the slave drone 105 can access the server 101 based on the wireless network card. Similarly, the master drone hangar 102 and the slave drone hangar 103 can be provided with a wireless network card. In this way, the master drone hangar 102 and the slave drone hangar 103 can access the server 101 based on the wireless network card. The master drone hangar 102 and the master drone 104 can communicate based on the original communication connection method, or communicate through the server 101, and the slave drone hangar 103 and the master drone 105 can communicate based on the original communication connection method, or communicate through the server 101. Similarly, the master drone hangar 102 and the slave drone hangar 103 can communicate based on the original communication connection method, or communicate through the server 101.

[0138] The master drone 104 is used to send the task execution status and flight status obtained during the execution of the target task to the server 101.

[0139] The server 101 is used to store the task execution status and flight status sent by the master drone for the target task.

[0140] The server 101 may record the correspondence between the target mission identifier and the mission execution status and flight status sent by the master drone.

[0141] The slave drone 105 is used to obtain the mission route of the target mission and the latest mission execution status sent by the master drone from the server based on the third message instruction, and execute the unfinished target mission of the master drone based on the obtained mission execution status and mission route.

[0142] In one case, the slave drone 105 can request the mission route of the target mission and the latest mission execution status sent by the master drone from the server 101 based on the mission identifier of the target mission included in the third message instruction. The server 101 obtains the mission route of the target mission and the latest mission execution status sent by the master drone based on the mission identifier of the target mission and the above correspondence, and sends them to the slave drone 105. The slave drone 105 executes the unfinished target mission of the master drone based on the obtained mission execution status and mission route.

[0143] In another case, the server 101 can detect whether the master drone 104 is abnormal according to the task execution status and flight status sent by the master drone for the target task. If the master drone 104 is abnormal, a control instruction is sent to the slave drone 105, wherein the control instruction is an instruction to control the slave drone 105 to assist the master drone 105 in completing the target task. The control instruction can carry the task identifier of the target task. In this way, the slave drone 105 can request the task route of the target task and the latest task execution status sent by the master drone from the server 101 based on the task identifier of the target task included in the control instruction, and obtain the task route of the target task and the latest task execution status sent by the master drone based on the task identifier of the target task and the above correspondence, and send them to the slave drone 105. The slave drone 105 executes the target task that the master drone has not completed based on the obtained task execution status and task route.

[0144] The way in which the server 101 detects whether the master drone 104 is abnormal is the same as the way in which the server 101 detects whether the master drone 104 is abnormal, and will not be described in detail here.

[0145] In this way, the slave drone 105 can obtain the mission route of the target mission and the latest mission execution status sent by the master drone from the server 101, which can reduce the computing pressure of the slave drone hangar 103, increase the way to obtain the mission route and the latest mission execution status, and improve the possibility of smooth execution of the target mission.

[0146] In addition, when the slave drone 105 performs the unfinished target task of the master drone 104, or when the slave drone 104 returns after performing the unfinished target task of the master drone 104, the slave drone 105 may send the task execution status of the unfinished target task of the master drone 104 performed by the slave drone 105 to the slave drone hangar 103 and / or the server 101. The master drone hangar 102 may obtain the task execution status of the unfinished target task of the master drone 104 performed by the slave drone 105 from the slave drone hangar 103 and / or the server 101.

[0147] This allows the master drone hangar 102, the slave drone hangar 103 and the server 101 to update the latest task execution status of the target task.

[0148] In another embodiment of the present application, the master drone 104 is used to send the task execution status and flight status obtained during the execution of the target task to the server 101. The server 101 can also detect whether the master drone has an abnormality. When detecting whether the master drone has an abnormality, the server 101 sends the latest task execution status and task route fed back by the master drone to the slave drone 105, and controls the slave drone 105 to continue to execute the unfinished target task of the master drone 104.

[0149] In this way, the master drone 104 and the slave drone 105 can also be connected for communication through the server 101. When a failure occurs in the master drone hangar 102 and / or the slave drone hangar 103, the slave drone can still be controlled to continue to perform unfinished tasks, thereby improving the work efficiency of the drone. A redundant design can be made for the communication method to improve the robustness of the communication system based on the master-slave drone hangar.

[0150] The following describes a method for controlling the slave drone 105 from the drone hangar 103 to continue executing the target task that the master drone 104 has not completed.

[0151] In one implementation, the slave drone hangar 103 is specifically used to send the mission route and the latest mission execution status of the master drone 104 to the slave drone 105, so that the slave drone 105 executes the unfinished target mission of the master drone based on the mission route and the latest mission execution status.

[0152] In another implementation, the slave drone hangar 103 is specifically used to send the portion of the mission route that the master drone has not completed to the slave drone 105, so that the slave drone 105 executes the unfinished target mission of the master drone based on the mission route and the latest mission execution status.

[0153] The mission route can be obtained from the drone hangar 103 in the following manner:

[0154] In one embodiment, the master drone hangar 102 can send the preset target task and the task route in the target task to the slave drone hangar 103. In this way, the slave drone hangar 103 can obtain the target task and the task route in the target task.

[0155] In another way, the main drone hangar 102 can send the preset target task and the task route in the target task to the server 101, and can obtain the task route from the server 101 when obtaining the task route from the drone hangar 103.

[0156] Some routes can be obtained from UAV Hangar 103 as follows:

[0157] In one method, the slave drone hangar 103 can intercept the unfinished portion of the master drone's route based on the latest mission execution status and mission route sent by the master drone hangar 102 .

[0158] In another way, the main drone hangar 102 can intercept the unfinished part of the route of the main drone according to the latest mission execution status and mission route sent by the main drone hangar 102, and send the above part of the route to the slave drone hangar 103.

[0159] In another method, the main drone hangar 102 can intercept the unfinished part of the main drone's route based on the latest mission execution status and mission route sent by the main drone hangar 102, and send the above-mentioned part of the route to the server 101, and obtain the part of the route from the server 101 when obtaining the mission route from the drone hangar 103.

[0160] In this way, the slave drone hangar 103 can use different methods to accurately instruct the slave drone 105 to continue to perform the unfinished target task of the master drone 104, flexibly control the slave drone 105 to perform the unfinished task, and improve the flexibility of controlling the drone.

[0161] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0162] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0163] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A communication system based on a master-slave drone hangar, characterized in that: The system includes: a server, a master drone hangar, and one or more slave drone hangars; The server is used to send a first message instruction to the master drone hangar, wherein the first message instruction carries identification information of a target drone hangar, and the target drone hangar includes: the master drone hangar and / or the slave drone hangar; The master drone hangar is configured to parse the first message instruction in response to receiving the first message instruction, and determine the second message instruction and the target drone hangar according to the parsing result; The target drone hangar is used to, in response to receiving the second message instruction, execute the task indicated by the second message instruction, obtain the task execution status corresponding to the execution of the task indicated by the second message instruction, and send the obtained task execution status to the main drone hangar, and the main drone hangar sends the task execution status of the target drone hangar to the server; In the case where the task indicated by the first message instruction includes a target task, the first message instruction carries a task route of the target task, and the target drone hangar is the main drone hangar; The master drone hangar is specifically used to send a mission route of a target mission to the master drone, receive the mission execution status and flight status fed back by the master drone during the process of executing the target mission according to the mission route, and periodically send the mission execution status and flight status fed back by the master drone to the slave drone hangar, wherein the master drone is: a drone configured in the master drone hangar; The slave drone hangar is also used to determine that there is an abnormality in the master drone if the task execution status sent by the master drone hangar does not meet the first preset condition or the flight status does not meet the second preset condition, and control the slave drone to execute the target task that the master drone has not completed based on the task execution status transmitted by the master drone hangar.

2. The system according to claim 1, characterized in that In the case where the task indicated by the first message instruction includes a target task, the first message instruction carries a task route of the target task, and the target drone hangar is the main drone hangar; The master drone hangar is specifically used to send a mission route of a target mission to the master drone, receive the mission execution status and flight status fed back by the master drone during the process of executing the target mission according to the mission route, and send the mission execution status and flight status fed back by the master drone to the slave drone hangar, wherein the master drone is: a drone configured in the master drone hangar; The master drone hangar is further used to determine a first slave drone hangar and send a third message instruction to the first slave drone hangar, wherein the third message instruction is an instruction to control the slave drone to perform the target task, and the slave drone is: a drone configured in the slave drone hangar; The first slave drone hangar is also used to control the slave drone to assist the master drone in completing the target task based on the task execution status, flight status and the third message instruction transmitted by the master drone hangar, obtain the task execution status of the slave drone in performing the target task, and send the obtained task execution status to the master drone hangar.

3. The system according to claim 2, characterized in that The master drone hangar is specifically used to determine the abnormal position of the master drone when an abnormality occurs; calculate the first distance value between the abnormal position and the position of each slave drone hangar; select the slave drone hangar corresponding to the first distance value less than the preset first distance threshold from multiple first distance values ​​as the first slave drone hangar, wherein the third message instruction is an instruction to control the slave drone to perform the unfinished target task of the master drone starting from the abnormal position.

4. The system according to claim 1, characterized in that The first drone hangar is also used to broadcast its own location information if the first drone hangar meets the docking conditions, so that the drone in flight can select a dockable drone hangar for docking based on the received location information, wherein the first drone hangar includes: the main drone hangar and / or the slave drone hangar.

5. The system according to claim 4, characterized in that The system also includes: a target drone, which is used to determine a drone hangar for docking based on the received location information broadcast by the first drone hangar and its own location information when it is in flight and its own battery power is lower than a preset battery power threshold, and fly to the determined drone hangar for docking, wherein the target drone includes: the master drone and / or the slave drone.

6. The system according to claim 5, characterized in that The target drone is specifically used to determine the second distance value between the target drone's own position and the position of each first drone hangar based on the received position information broadcast by the first drone hangar and its own position information, and select the first drone hangar corresponding to the second distance value less than the preset second distance threshold from multiple second distance values ​​as the drone hangar for docking.

7. The system according to claim 2 or 3, characterized in that: The system further comprises: the master drone and the slave drone; The master drone is used to send the task execution status and flight status obtained during the execution of the target task to the server; The server is used to store the task execution status and flight status sent by the master drone for the target task; The slave drone is used to obtain the mission route of the target mission and the latest mission execution status sent by the master drone from the server based on the third message instruction, and assist the master drone to complete the target mission based on the obtained mission execution status and the mission route.

8. The system according to any one of claims 1 to 6, characterized in that: The main drone hangar is specifically used to obtain the identification information of the target drone hangar carried in the first message instruction obtained by parsing; according to the correspondence between the stored identification information and the slave drone hangar, the slave drone hangar corresponding to the identification information of the target drone hangar is determined as the target drone hangar.

9. The system according to any one of claims 1 to 6, characterized in that: When there are multiple slave drone hangars, the master drone hangar selects a slave drone hangar that matches the identification information of the target drone hangar from the multiple slave drone hangars, and sends the second message instruction to the selected slave drone hangar.

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