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

Abstract

The invention provides an unmanned aerial vehicle control method and device, electronic equipment and a storage medium, and the method comprises the steps: recognizing a first facial feature in first facial image information, and determining an identity code and an authority code of an unmanned aerial vehicle operator based on the first facial feature; identifying a second facial feature in the second facial image information, and sending an authority code to the flight monitoring end according to a successful matching result of the second facial feature and the first facial feature; according to the method, the identity of the unmanned aerial vehicle operator is determined according to the matching result of the first facial feature and the second facial feature, and then the permission code is sent to the operator, so that the identity of the unmanned aerial vehicle operator is determined. When the operator operates the unmanned aerial vehicle according to the authority, the first control data containing the identity code is sent to the unmanned aerial vehicle, so that the defect that the detailed information of the control data sending personnel cannot be confirmed in the traditional unmanned aerial vehicle control data can be effectively eliminated.

Description

Technical Field

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

[0002] In the field of drone monitoring, drone operators generally use remote monitoring systems to monitor the status of drones, control flight, and process information. Flight status data is usually transmitted to the remote monitoring system through a data communication link. Flight control data is usually transmitted to the drone through a data communication link, and these flight status data and flight control data are generally recorded and saved. The recorded flight status data contains the complete status data transmitted by the drone, and the recorded flight control data contains the complete operation history data of the drone operator.

[0003] The control methods and systems of existing drone monitoring systems may not be ideal. The existing drone monitoring systems lack refined management of operator permissions, and all drone operators can use all functions of the drone monitoring system without distinction. In some cases, drone operators lack experience and use functions that should not be open to them, which leads to flight failures or accidents; in other cases, the drone systems monitored by drone operators are of high value, the tasks performed by drones are more complex, and there are multiple operators participating in the flight operation tasks of the drone system. The existing drone control methods and systems do not include the identity information of drone operators in the control data sent. When a flight failure or accident occurs due to human operating errors, the recorded drone control data information is limited. When the operator is held accountable, it is impossible to provide sufficiently intuitive and detailed historical data for the investigation of the failure or accident, and it is difficult to determine the specific operator, which brings difficulties to the investigation of the failure or accident. Summary of the invention

[0004] In view of this, the embodiments of the present application propose a drone control method, device, electronic device and storage medium, which aim to achieve fine management of the authority of drone operators, and can effectively eliminate the defect of existing drone monitoring systems that the specific identity of operators is difficult to confirm when conducting historical data analysis, fault or accident investigation.

[0005] To achieve the above-mentioned purpose, an embodiment of the present application provides a drone control method, which is applied to a data management end, wherein the data management end is communicatively connected to a flight monitoring end, and the drone control method includes:

[0006] Acquire the first facial image information of the drone operator, identify the first facial feature in the first facial image information, and determine the identity code and authority code of the drone operator based on the first facial feature; acquire the second facial image information of the drone operator in real time, identify the second facial feature in the second facial image information, and send the authority code and the operation code to the flight monitoring end according to the result of successful matching between the second facial feature and the first facial feature, wherein the authority code is used to assign operation authority to the drone operator; receive the first control data generated by the flight monitoring end when triggered, and acquire the valid data in the first control data, wherein the valid data includes the drone control data, the identity code and the instruction generation time; send the second control data carrying the valid data to the controlled drone, wherein the second control data is used to adjust the speed, attitude, route, power equipment and / or mission equipment of the controlled drone according to the drone control data. Optionally, the method for determining the identity code of the drone operator based on the first facial feature may include: automatically generating a short integer value as the identity code based on the first facial feature, or manually inputting a fixed-length string corresponding to the first facial feature as the identity code.

[0007] Optionally, determining the permission code of the drone operator based on the first facial feature includes: determining a corresponding control flag based on the control authority of each module of the flight monitoring terminal; and determining the permission code of the drone operator based on each of the control flags.

[0008] Optionally, after identifying the second facial feature in the second facial image information, the drone control method further includes: sending a locking instruction to the flight monitoring end based on a result of a failure in matching the second facial feature with the first facial feature, wherein the locking instruction is used to prohibit the flight monitoring end from sending the first control data.

[0009] Optionally, after sending the permission code and the operation code to the flight monitoring end, the UAV control method further includes: if the first control data generated by the flight monitoring end when triggered is not received, sending a heartbeat data packet to the controlled UAV, wherein the heartbeat data packet is used to indicate the connection status between the controlled UAV and the flight monitoring end.

[0010] Optionally, the second control data carrying the valid data is sent to the controlled drone, and the drone control method also includes: sending third control data to the communication terminal through the first channel, and the communication terminal sends fourth control data to the controlled drone through the second channel, and the third control data and the fourth control data both carry the valid data, wherein the first channel is a wired / wireless channel and the second channel is a wireless channel.

[0011] To achieve the above-mentioned purpose, an embodiment of the present application provides a drone control method applied to a flight monitoring end, wherein the flight monitoring end is communicatively connected to the data management end, and the drone control method includes: collecting real-time facial video data of the drone operator, obtaining first facial image information and second facial image information based on the real-time facial video data, and sending the first facial image information and the second facial image information to the data management end; obtaining an identity code and an authority code generated based on the first facial image information and the second facial image information from the data management end, and assigning operating authority to the drone operator according to the authority code; and sending first control data carrying an identity code to the data management end based on the operating authority.

[0012] To achieve the above-mentioned purpose, an embodiment of the present application provides a drone control device, including: an information determination module, used to obtain first facial image information of a drone operator, identify first facial features in the first facial image information, and determine the identity code and authority code of the drone operator based on the first facial features; an operation authority determination module, used to obtain second facial image information of the drone operator in real time, identify second facial features in the second facial image information, and send the authority code and the operation code to the flight monitoring end according to the result of successful matching between the second facial features and the first facial features, wherein the authority code is used to assign operation authority to the drone operator; a control data acquisition module, used to receive first control data generated by the flight monitoring end when triggered, and obtain valid data in the first control data, wherein the valid data includes drone control data, the identity code and instruction generation time; an output module, used to send second control data carrying the valid data to the controlled drone, and control the flight state of the controlled drone based on the drone control data in the valid data.

[0013] To achieve the above-mentioned objectives, an embodiment of the present application provides an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the drone control method provided in any of the aforementioned embodiments.

[0014] To achieve the above objectives, an embodiment of the present application provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the drone control method provided in any of the aforementioned embodiments can be implemented.

[0015] The embodiments of the present application propose a drone control method, device, electronic device and storage medium, which obtain first facial image information of the drone operator, identify first facial features in the first facial image information, and determine the identity code and authority code of the drone operator based on the first facial features; obtain second facial image information of the drone operator in real time, identify second facial features in the second facial image information, and send an authority code to a flight monitoring end based on a successful match between the second facial features and the first facial features, the authority code being used to assign operation authority to the drone operator; receive first control data generated by a trigger at the flight monitoring end, and obtain valid data in the first control data, the valid data including drone control data, identity code and instruction generation time; send second control data carrying valid data to the controlled drone, and the second The control data is used to control the flight state of the controlled drone according to the drone control data. The present invention can determine the identity of the drone operator through the result of matching the first facial feature and the second facial feature, that is, obtain the authenticated operator, and then send the authority code to the operator. When the operator operates the drone according to the authority, the first control data containing the identity code is sent to the drone. The identity code is combined with traditional flight control data, which effectively eliminates the defect of traditional drone control data that the detailed information of the person sending the control data cannot be confirmed. The facial image information is converted into the identity code for transmission and recording of the control data, which only occupies a very small amount of transmission bandwidth and memory resources, will not affect the real-time transmission of the control data, and is more convenient for storage, providing a more sufficient and detailed basis for the flight data analysis and fault and accident investigation of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a flow chart of a drone control method provided by an embodiment of the present application;

[0017] Figure 2 It is a schematic diagram of the structure of a drone control device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0018] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings. However, it will be appreciated by those skilled in the art that in the present application, many technical details are proposed in order to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present application can also be implemented. The division of the following embodiments is for the convenience of description, and the specific implementation of the present application should not be construed as any limitation, and the various embodiments can be combined and referenced with each other under the premise of no contradiction.

[0019] An embodiment of the present application proposes a drone control method, which is applied to an electronic device, wherein the electronic device can be a terminal or a server. This embodiment and the following embodiments are all described by taking the server as an example. The implementation details of the drone control method proposed in this embodiment are described in detail below. The following content is only for the convenience of understanding the implementation details provided, and is not necessary for the implementation of this solution.

[0020] Combine the following Figure 1 A drone control method of the present application is introduced. Figure 1 This is a flowchart of a drone control method provided by an embodiment of the present application. This specification provides method operation steps of the embodiment or flowchart, but more or fewer operation steps may be included based on conventional or non-creative labor. The order of steps listed in the embodiment is only one way of executing the steps among many steps, and does not represent the only execution order. In actual application, the method can be executed in sequence or in parallel (for example, in a parallel processor or multi-threaded processing environment) according to the embodiment or the method shown in the accompanying drawings.

[0021] Specific as Figure 2 As shown, the drone control method process includes S10 to S40. The method can be executed by a processor in a host or a server. The drone control method includes:

[0022] S10, obtaining first facial image information of the drone operator, identifying first facial features in the first facial image information, and determining an identity code and an authority code of the drone operator based on the first facial features;

[0023] In an embodiment of the present application, step S10 may specifically include the following execution process:

[0024] Acquire first facial image information of the drone operator, and identify first facial features in the first facial image information;

[0025] A short integer value is automatically generated based on the first facial feature, or a fixed-length character string corresponding to the first facial feature is manually input to obtain the identity code of the drone operator.

[0026] Determine the corresponding control flag based on the control authority of each module of the flight monitoring terminal;

[0027] The permission code of the drone operator is determined based on each control flag.

[0028] Among them, the identity code and the permission code are in a unique corresponding relationship with the first facial feature. The generation rules of the identity code can be formulated according to the needs of the actual application. For example, the identity code can be specified as a two-byte unsigned short integer with a value range of 0 to 65535. It is generated incrementally in the order of the generation of the first facial feature. The first facial feature and the identity code are in a one-to-one relationship without duplication. In some embodiments, the identity code can also be a fixed-length string, which is manually entered by the drone manager operating the data management terminal. It should be understood that the length of the identity code is limited, and the size of the facial feature database it can support is also limited. The generation rules of the permission code are also formulated according to the needs of the actual application. For example, it can be specified that the permission code occupies 1 byte of storage space, a total of 8 bits, and each bit represents the control authority of a certain functional module of the flight monitoring terminal.

[0029] In a specific implementation process, the first facial image information can be collected by the image acquisition device of the flight monitoring end through real-time video of the facial part of all personnel participating in the flight mission, and a facial image information of the drone operator is obtained from the video as the first facial image information. The processor of the data management end can obtain the first facial image information from the flight monitoring end. The first facial image information, the first facial features, the identity code and the authority code are stored in the database of the data management end.

[0030] In some embodiments, the data management end may collect first facial image information of the drone operator through an image acquisition device, and a processor of the data management end may perform face recognition on the first facial image information to obtain first facial features of the operator.

[0031] It should be noted that the data management end presets a facial image recognition model, which can recognize the acquired first facial image information and obtain the first facial feature. The training method or structure of the facial image recognition model can be the same as the existing technology, and this application does not limit it here.

[0032] It should be noted that the flight monitoring end includes a flight monitoring end entity and the software running in the entity. The flight monitoring end entity mainly includes a computer host, a display, an image acquisition device, and an input device. The computer host includes a central processing unit, a data storage device, a communication interface, and an operating system installed. There can be one or more displays, and one or more human-computer interaction windows can be displayed at the same time. The image acquisition device can be embedded in the display or installed independently and then connected to the computer host. Input devices may include a mouse, keyboard, joystick, etc. The flight monitoring end is installed with flight monitoring software, and its functions mainly include: digital and graphical display of various flight parameters of the drone, sending of drone flight control commands, communication link status monitoring, etc.

[0033] It should be noted that the data management end includes a data management end entity and the software running in the entity. The data management device entity mainly includes a computer host, a display, and an input device. The composition and structure of the computer host, the display, and the image acquisition device are similar to the composition and structure of the flight monitoring end entity, and will not be repeated here. The input device may include a mouse, a keyboard, etc. The data management end is installed with data management software, and its main functions include: receiving UAV flight control instructions, link control instructions, etc. sent by the flight monitoring end, and forwarding them to the communication terminal; receiving UAV status data, link status data, etc. sent by the communication terminal, and forwarding them to the flight monitoring end; responsible for recording various control instructions and downlink status data, responsible for historical data playback and analysis, etc.

[0034] In some embodiments, the data management end may also include an image acquisition device for acquiring first facial image information of the drone operator.

[0035] S20, acquiring the second facial image information of the drone operator in real time, identifying the second facial features in the second facial image information, and sending the permission code and the operation code to the flight monitoring end according to the result of successful matching between the second facial features and the first facial features, wherein the permission code is used to assign the operation permission to the drone operator;

[0036] In an embodiment of the present invention, step S20 may specifically include the following execution process:

[0037] The second facial image information of the drone operator is acquired in real time, and the second facial features in the second facial image information are identified.

[0038] During the specific implementation process, the flight monitoring end intercepts the second facial image information of the operator and sends the second facial image information to the data management device. The processor of the data management end performs face recognition on the second facial image information to obtain the second facial features of the operator.

[0039] According to the result of successful matching between the second facial feature and the first facial feature, an authority code and an operation code are sent to the flight monitoring end, and the authority code is used to assign operation authority to the drone operator.

[0040] In the specific implementation process, the processor determines that the second facial feature matches the first facial feature of the data management end, and then sends the identity code and permission code corresponding to the first facial feature to the flight monitoring end. The flight monitoring end saves the received identity code and permission code, wherein the permission code is used to assign permissions to the functions of the flight monitoring end facing the operator, thereby realizing the refined management of flight monitoring operation permissions.

[0041] According to the result of the failure of matching the second facial feature with the first facial feature, a locking instruction is sent to the flight monitoring end, wherein the locking instruction is used to prohibit the flight monitoring end from sending the first control data.

[0042] During the specific implementation process, if the processor determines that the flight monitoring end receives a match failure message, the flight monitoring end enters a locked state and is prohibited from sending control messages.

[0043] In an embodiment of the present application, based on the result of failure of matching the second facial feature with the first facial feature, a locking instruction is sent to the flight monitoring end, wherein the locking instruction is used to prohibit the flight monitoring end from sending the first control data.

[0044] Specifically, if the processor fails to retrieve a matching first facial feature through the second facial feature, a matching failure message is sent to the flight monitoring end. If the flight monitoring end receives the matching failure message, the flight monitoring end enters a locked state and prohibits sending control messages.

[0045] S30, receiving the first control data generated by the flight monitoring terminal when triggered, and obtaining valid data in the first control data, the valid data including the drone control data, the identity code and the instruction generation time;

[0046] Specifically, the flight monitoring end uses the identity code, current time and UAV control data to construct the first control data, and then the flight monitoring end sends the first control data to the controlled UAV. The first control data is sent in a triggering manner, and the sending of the first control data is triggered when the operator sends a valid instruction.

[0047] Furthermore, the content of the first control data must include the drone control data, the drone operator's identity code, and the sending time information of the first control data, that is, the instruction generation time. In some embodiments, the first control data content may also include an identifier of the flight monitoring terminal, such as a MAC address (Media Access Control Address, which is a unique identifier of a network device at the physical layer).

[0048] In the embodiment of the present application, after step S30, the drone control method may further include the following specific execution process:

[0049] If the first control data generated by the flight monitoring end is not received, a heartbeat data packet is sent to the controlled UAV, and the heartbeat data packet is used to indicate the connection status between the controlled UAV and the flight monitoring end.

[0050] Specifically, when the processor of the data management end does not receive the first control data, a heartbeat packet is periodically sent as the second control data. The content of the heartbeat packet is customized, and its purpose is to let the drone know that the remote control device is online to ensure the validity of the connection.

[0051] S40. Send second control data carrying valid data to the controlled UAV, where the second control data is used to control the flight state of the controlled UAV according to the UAV control data.

[0052] Flight status control may include speed adjustment, attitude adjustment, route adjustment, power equipment and / or mission equipment control of the UAV.

[0053] In an embodiment of the present application, step S40 may specifically include the following execution process:

[0054] The third control data is sent to the communication terminal through the first channel, and the communication terminal sends the fourth control data to the controlled UAV through the second channel. Both the third control data and the fourth control data carry valid data, wherein the first channel is a wired / wireless channel and the second channel is a wireless channel.

[0055] Specifically, the third control data is sent in an intermittent manner. When the first control data received by the processor of the data management end is valid, it is necessary to first save all valid contents of the first control data to the cache, wait for the timing time set by the data management end to arrive, fill all valid contents of the first control data in the cache into the third control data, and send it to the communication terminal. The communication terminal controls the controlled UAV through the valid data carried by the fourth control data. Among them, the third control data sent by the data management end to the communication terminal is transmitted by wire or wirelessly, and the fourth control data sent by the communication terminal to the controlled UAV can be transmitted by wirelessly.

[0056] It should be noted that the identity code runs through the first control data, the second control data and the database of the device. If a flight failure or accident occurs due to human operation, the specific instructions sent by the operator and the sending time can be intuitively matched through the recorded information including the identity code and the control data sending time, and the facial image of the operator can be retrieved and displayed through the recorded identity code, so the specific operator can be located quickly and accurately. In addition, converting the facial image information into an identity code for transmission and recording only takes up a very small amount of transmission bandwidth and memory resources, does not affect the real-time transmission of the control data, and is more convenient for storage, providing a more sufficient and detailed basis for the flight status analysis and fault and accident investigation of the drone.

[0057] Based on the above embodiments, an embodiment of the present application further provides a method for controlling a drone, which is applied to a flight monitoring terminal, wherein the flight monitoring terminal is communicatively connected to the data management terminal, and the method includes:

[0058] S201, collecting real-time facial video data of the drone operator, obtaining first facial image information and second facial image information based on the real-time facial video data, and sending the first facial image information and the second facial image information to a data management terminal;

[0059] S202, obtaining an identity code and an authority code generated based on the first facial image information and the second facial image information from the data management terminal, and assigning operation authority to the drone operator according to the authority code;

[0060] S203: Send first control data carrying an identity code to a data management terminal based on the operation authority.

[0061] It should be noted that the step division of the above methods is only for clear description. When implemented, they can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this application; adding insignificant modifications to the algorithm or process or introducing insignificant designs without changing the core design of the algorithm and process are all within the scope of protection of this application.

[0062] Based on the above embodiments, the present application also provides a drone control device, referring to Figure 2The drone control device 100 includes an information determination module 1001, an operation authority determination module 1002, a control data acquisition module 1003 and an output module 1004, wherein the information determination module 1001 is used to obtain the first facial image information of the drone operator, identify the first facial feature in the first facial image information, and determine the identity code and authority code of the drone operator based on the first facial feature; the operation authority determination module 1002 is used to obtain the second facial image information of the drone operator in real time, identify the second facial feature in the second facial image information, and send the authority code and operation code to the flight monitoring end according to the result of successful matching between the second facial feature and the first facial feature, and the authority code is used to assign the operation authority to the drone operator; the control data acquisition module 1003 is used to receive the first control data generated by the flight monitoring end when triggered, and obtain the valid data in the first control data, and the valid data includes the drone control data, the identity code and the instruction generation time; the output module 1004 is used to send the second control data carrying valid data to the controlled drone, and control the flight state of the controlled drone based on the drone control data in the valid data.

[0063] It is not difficult to find that this embodiment is a system embodiment corresponding to the above method embodiment, and this embodiment can be implemented in conjunction with the above method embodiment. The relevant technical details and technical effects mentioned in the above embodiments are still valid in this embodiment, and in order to reduce repetition, they are not repeated here. Accordingly, the relevant technical details mentioned in this embodiment can also be applied in the above embodiments.

[0064] It is worth mentioning that all modules involved in this embodiment are logic modules. In practical applications, a logic unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. In addition, in order to highlight the innovative part of this application, this embodiment does not introduce units that are not closely related to solving the technical problems proposed by this application, but this does not mean that there are no other units in this embodiment.

[0065] Those skilled in the art will appreciate that the above embodiments are specific embodiments for implementing the present application, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present application.

Claims

1. A drone control method, characterized in that: Applied to a data management terminal, the data management terminal is communicatively connected to a flight monitoring terminal, and the drone control method includes: Acquire first facial image information of a drone operator, identify first facial features in the first facial image information, and determine an identity code and an authority code of the drone operator based on the first facial features; Acquire the second facial image information of the drone operator in real time, identify the second facial feature in the second facial image information, and send the permission code and the operation code to the flight monitoring end according to the result of successful matching between the second facial feature and the first facial feature, wherein the permission code is used to assign operation permission to the drone operator; Receive the first control data generated by the flight monitoring end when triggered, and obtain valid data in the first control data, wherein the valid data includes the drone control data, the identity code and the instruction generation time; Sending second control data carrying the valid data to the controlled drone, wherein the second control data is used to control the flight state of the controlled drone according to the drone control data.

2. The drone control method according to claim 1, characterized in that: The determining the identity code of the drone operator based on the first facial feature includes: A short integer value is automatically generated based on the first facial feature, or a fixed-length character string corresponding to the first facial feature is manually input to obtain the identity code of the drone operator.

3. The drone control method according to claim 1, characterized in that: The determining the permission code of the drone operator based on the first facial feature includes: Determine the corresponding control flag based on the control authority of each module of the flight monitoring terminal; The permission code of the drone operator is determined based on each of the control flags.

4. The drone control method according to claim 1, characterized in that: After identifying the second facial feature in the second facial image information, the drone control method further includes: According to the result of the failure of matching the second facial feature with the first facial feature, a locking instruction is sent to the flight monitoring end, wherein the locking instruction is used to prohibit the flight monitoring end from sending the first control data.

5. The drone control method according to claim 1, characterized in that: After sending the permission code and the operation code to the flight monitoring terminal, the drone control method further includes: If the first control data generated by the flight monitoring end when triggered is not received, a heartbeat data packet is sent to the controlled drone, where the heartbeat data packet is used to indicate the connection status between the controlled drone and the flight monitoring end.

6. The drone control method according to claim 1, characterized in that: The data management end is communicatively connected to the communication terminal, and the sending of the second control data carrying the valid data to the controlled drone includes: The third control data is sent to the communication terminal through the first channel, and the communication terminal sends the fourth control data to the controlled UAV through the second channel, and the third control data and the fourth control data both carry the valid data, wherein the first channel is a wired / wireless channel, and the second channel is a wireless channel.

7. A method for controlling a drone, characterized in that: Applied to a flight monitoring terminal, the flight monitoring terminal is communicatively connected to the data management terminal, and the drone control method includes: Collecting real-time facial video data of the drone operator, obtaining first facial image information and second facial image information based on the real-time facial video data, and sending the first facial image information and the second facial image information to a data management end; Acquire an identity code and an authority code generated based on the first facial image information and the second facial image information from the data management terminal, and assign operation authority to the drone operator according to the authority code; The first control data carrying the identity code is sent to the data management terminal based on the operation authority.

8. A drone control device, characterized in that: include: an information determination module, configured to obtain first facial image information of a drone operator, identify first facial features in the first facial image information, and determine an identity code and an authority code of the drone operator based on the first facial features; an operation authority determination module, configured to obtain the second facial image information of the drone operator in real time, identify the second facial feature in the second facial image information, and send the authority code and the operation code to the flight monitoring end according to the result of successful matching between the second facial feature and the first facial feature, wherein the authority code is used to allocate the operation authority to the drone operator; A control data acquisition module, used to receive the first control data generated by the flight monitoring terminal when triggered, and obtain valid data in the first control data, wherein the valid data includes the drone control data, the identity code and the instruction generation time; The output module is used to send second control data carrying the valid data to the controlled drone, and control the flight state of the controlled drone based on the drone control data in the valid data.

9. An electronic device, characterized in that: include: at least one processor; and, a memory communicatively coupled to the at least one processor; The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the drone control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the drone control method according to any one of claims 1 to 7 can be implemented.

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