A UAV control method and system based on cloud box remote communication

Abstract

The present invention relates to the technical field of unmanned aerial vehicle control, and discloses a unmanned aerial vehicle control method and system based on cloud box remote communication. By acquiring environmental information and communication information of the unmanned aerial vehicle in real time, and transmitting the environmental information to the cloud box through a communication path, the unmanned aerial vehicle has the ability to perceive the surrounding environment in real time, and at the same time communicates with the cloud box in real time through the communication path; in the cloud box, the environmental information is analyzed through an environmental perception strategy, and the flight state of the unmanned aerial vehicle is evaluated; based on the flight state of the unmanned aerial vehicle, a dynamic path planning of the unmanned aerial vehicle flight is generated, so that the unmanned aerial vehicle can flexibly adjust the flight path according to the real-time environmental information and flight state; in the cloud box, a corresponding control instruction is generated through the result of the dynamic path planning, and the control instruction is transmitted to the unmanned aerial vehicle through the communication path; the unmanned aerial vehicle receives the control instruction to execute the flight mission, and continuously monitors the environmental information and communication information, and adjusts the dynamic path planning and the communication path in real time.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle control, and in particular to a method and system for controlling an unmanned aerial vehicle based on cloud box remote communication. Background Art

[0002] With the development of communication technology, it has become possible to achieve high-speed and stable communication between drones and cloud boxes, which has improved the stability and reliability of communication and reduced the risk of flight mission failure. At the same time, the maturity of autonomous driving technology provides technical support for drone control, realizing remote unmanned control of drones, and operators can monitor and control drones anytime and anywhere. However, most of them have not solved the problem of how to evaluate the flight status of the drone by obtaining the drone's environmental information to generate dynamic path planning for the drone's flight, generate control instructions, obtain the communication path through the acquired communication information, transmit the control instructions to the cloud box for remote control, and adjust the dynamic path planning and communication path in real time.

[0003] For example, a Chinese patent with publication number CN117055436A discloses a drone and a control method for the drone. The drone includes a power device, a flight controller and a communication device. The power device is used to provide flight power to the drone. The communication device is connected to the control terminal of the drone in communication. The flight controller is electrically connected to the power device and the communication device, and is used to control the power device to adjust the flight attitude and control the control mode of the power device. The control mode includes a normal mode and a restricted mode. When the control mode is the restricted mode, the drone manufacturer can remotely control the use authority of the drone. When the control mode is the normal mode, the drone manufacturer cannot remotely control the use authority of the drone. The communication device receives the control mode selection request instruction sent by the control terminal and sends it to the flight controller. The flight controller controls the control mode of the power device to the normal mode or the restricted mode according to the control mode selection request instruction. It can reduce the user's purchase cost.

[0004] For example, a Chinese patent with the authorization announcement number CN110737212B discloses a drone control system and method, which includes: a task unit, which obtains the user's task and splits the task into target actions; a first action module, which sends the information of the target action to the first function module and the first response module; a sensor unit, which obtains the sensor data corresponding to the target action; a first function module, which obtains the action data of the target action, and a collaborative computing module determines the data processing method used by the first function module to process the action data according to the data processing capability of the AI ​​chip, and the AI ​​chip is used to execute the data processing of the system; the first function module calculates the state information and environmental information of the drone required to execute the target action according to the action data and the data processing method; the first response module generates the control information of the drone and the interaction information with the user according to the state information, environmental information and information of the target action. The system can support the realization of various types of tasks and meet the diverse requirements of different users.

[0005] The above patents have the problems raised by this background technology: the above drone and its control method can control the drone remotely by dividing the control mode into a restricted mode and a normal mode; the above drone control system generates the drone control information and interaction information with the user by splitting the acquired task into target actions and processing the acquired task into target actions. None of the above patents solve the problem of how to evaluate the flight status of the drone by acquiring the drone's environmental information to generate dynamic path planning for the drone's flight, generate control instructions, derive the communication path through the acquired communication information, transmit the control instructions to the cloud box for remote control, and adjust the dynamic path planning and communication path in real time. To solve this problem, the present invention proposes a drone control method and system based on cloud box remote communication. Summary of the invention

[0006] The purpose of this section is to summarize some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0007] In view of the above-mentioned problems existing in the existing drone control method and system based on cloud box remote communication, the present invention is proposed.

[0008] Therefore, the object of the present invention is to provide a method and system for controlling a drone based on cloud box remote communication.

[0009] In order to solve the above technical problems, the present invention provides a UAV control method based on cloud box remote communication: obtaining the environmental information and communication information of the UAV in real time, and transmitting the environmental information to the cloud box through the communication path; In the cloud box, environmental information is analyzed through environmental perception strategies to evaluate the flight status of the drone; Generate dynamic path planning for UAV flight based on the flight status of the UAV; In the cloud box, the corresponding control instructions are generated by the results of dynamic path planning, and the control instructions are transmitted to the UAV through the communication path; The drone receives control instructions to perform flight missions, continuously monitors environmental information and communication information, and adjusts dynamic path planning and communication paths in real time.

[0010] As a preferred solution of the drone control method based on cloud box remote communication described in the present invention, wherein: the environment perception strategy includes an obstruction judgment strategy and an interference judgment strategy; Hindered judgment strategies include: Determine the existence and motion state of obstacles. If there are obstacles around the drone and the obstacles are stationary, perform distance judgment and generate obstruction judgment 1; If there are obstacles around the drone and the obstacles are not stationary, the direction judgment and speed judgment are performed to generate the second obstruction judgment; If there are no obstacles around the drone, the flight path of the drone is unobstructed; The generation rules of blocked judgment 1 include: Configure the distance threshold between the drone and the obstacle. The distance threshold includes the basic threshold and the extreme threshold. If the distance between the drone and the obstacle is greater than or equal to the basic threshold, the first obstruction judgment is that the flight path of the drone is not obstructed. If the distance between the UAV and the obstacle is greater than or equal to the extreme threshold and less than the basic threshold, then the first obstruction judgment is that the flight path of the UAV is moderately obstructed; If the distance between the UAV and the obstacle is less than the extreme threshold, the first obstruction judgment is that the flight path of the UAV is highly obstructed; The generation rules of blocked judgment 2 include: Direction judgment includes whether the drone is moving away from or towards the obstacle. The speed threshold is configured. If the drone is moving away from the obstacle, the second obstruction judgment is that the flight path of the drone is not obstructed. If the UAV and the obstacle are facing each other and the speed of the UAV or the obstacle is less than the speed threshold, the second obstruction judgment is that the flight path of the UAV is moderately obstructed; If the UAV and the obstacle are facing each other and the speed of the UAV or the obstacle is greater than or equal to the speed threshold, the distance between the UAV and the obstacle is determined. If the distance between the UAV and the obstacle is greater than or equal to the basic threshold, the second obstruction determination is that the flight path of the UAV is moderately obstructed. If the distance between the UAV and the obstacle is less than the basic threshold, the second obstruction judgment is that the flight path of the UAV is highly obstructed.

[0011] As a preferred solution of the drone control method based on cloud box remote communication described in the present invention, the interference judgment strategy includes: Determine the existence of electromagnetic interference around the drone. If there is no electromagnetic interference around the drone, it means that the drone is not interfered with; If there is electromagnetic interference around the drone, it means that the drone is interfered with, and the intensity of the electromagnetic interference is further determined to generate an interference determination result; Configure the electromagnetic intensity threshold. If the electromagnetic interference intensity is less than or equal to the electromagnetic intensity threshold, the interference judgment result is that the drone is moderately interfered. If the intensity of electromagnetic interference is greater than the electromagnetic intensity threshold, the interference judgment result is that the drone is highly interfered; The obstruction judgment strategy and the interference judgment strategy are combined to generate the flight status of the UAV. If the flight path of the UAV is not obstructed and the UAV is not interfered with, the flight status of the UAV is excellent; If the flight path of the drone is not obstructed and the drone is moderately interfered with, or the flight path of the drone is moderately obstructed and the drone is not interfered with, the flight status of the drone is better; If the flight path of the drone is unobstructed and the drone is highly interfered with, or the flight path of the drone is moderately obstructed and the drone is moderately interfered with, or the flight path of the drone is highly obstructed and the drone is not interfered with, the flight status of the drone is moderate; If the flight path of the drone is moderately obstructed and the drone is highly interfered with or the flight path of the drone is highly obstructed and the drone is moderately interfered with, the flight status of the drone is inferior; If the flight path of the drone is highly obstructed and the drone is highly disturbed, the flight status of the drone is inferior.

[0012] As a preferred solution of the drone control method based on cloud box remote communication described in the present invention, the strategy of dynamic path planning includes: If the drone’s flight status is excellent, the drone chooses a straight flight path; If the drone's flight status is relatively good, the drone will choose a winding flight path to avoid moderate electromagnetic interference or moderate obstruction areas; If the drone's flight status is medium, adjust the drone's flight altitude and speed; If the flight status of the drone is poor, re-plan the flight path; If the drone's flight status is poor, the drone will make an emergency landing and re-plan the flight path.

[0013] As a preferred solution of the drone control method based on cloud box remote communication described in the present invention, the function expression of replanning the flight path is as follows: ; In the formula, Indicates that the drone is in status Next action The Q value after represents the learning rate, Indicates the drone status Next action The reward value after represents the discount factor, Indicates that the drone is in status Next action The maximum Q value after The status The function expression is as follows: ; In the formula, express The status of the drone at all times. express The position of the drone at the moment, express The drone’s environmental information at all times, express The flight status of the drone at all times; action The function expression is as follows: ;

[0014] In the formula, express The action of the drone at every moment, express The drone flies straight at all times. express The drone is flying around at all times. express The drone adjusts its flight altitude at all times. express The drone adjusts its flight speed at all times. express The drone made an emergency landing.

[0015] As a preferred solution of the drone control method based on cloud box remote communication described in the present invention, the strategy of adjusting the communication path in real time includes: The communication status of the multiple communication channels is obtained by continuously monitoring the communication information, and if the communication status of the multiple communication channels in the communication channel combination is excellent or medium, the communication channel combination is continued to be used; If the communication status of multiple communication channels in the communication channel combination is relatively inferior or inferior, the communication channel combination needs to be updated; The rules for updating the communication channel combination include: Configure a channel quantity threshold, the channel quantity threshold includes a quantity threshold 1 and a quantity threshold 2, if the number of multiple communication channels with a relatively inferior or inferior communication status is less than or equal to the quantity threshold 1, then configure multiple communication channels with a value of 1 and a communication status of excellent or medium; If the number of multiple communication channels with a communication status of relatively inferior or inferior is greater than a number threshold of one and less than a number threshold of two, multiple communication channels with a value of two and a communication status of excellent or medium are configured; If the number of the multiple communication channels whose communication status is relatively inferior or inferior is greater than or equal to the number threshold 2, the communication channel combination is reselected.

[0016] As a preferred solution of the drone control method based on cloud box remote communication described in the present invention, wherein: environmental information includes obstacles and electromagnetic interference; Communication information includes signal strength and ambient noise; The communication path includes multiple communication channels, predicting the communication status of the multiple communication channels according to the communication information, and selecting a communication channel combination according to the communication status of the multiple communication channels; The communication path also includes dividing the transmitted environmental information into data packets and transmitting them simultaneously through the communication channel combination. If the cloud box receives the data packet, the received data packet is reassembled to obtain the environmental information; if the cloud box does not receive the data packet, a retransmission instruction is returned to wait for the retransmission of the data packet; The selection rules for the communication channel combination include: If the signal strength of the multiple communication channels is high and the environmental noise is low, the communication status of the multiple communication channels is excellent; If the signal strength of the multi-communication channel is high and the environmental noise is high, the communication state of the multi-communication channel is medium; If the signal strength of the multi-communication channel is low and the environmental noise is low, the communication state of the multi-communication channel is inferior; If the signal strength of the multi-communication channel is low and the environmental noise is high, the communication status of the multi-communication channel is inferior; A plurality of communication channels whose communication status is excellent or medium are selected as the communication information combination.

[0017] A UAV control system based on cloud box remote communication, comprising: a data transmission module, an environment perception module, a path planning module, a command transmission module and a dynamic adjustment module; The data transmission module is used to obtain the environmental information and communication information of the UAV in real time, and transmit the environmental information to the cloud box through the communication path; The environmental perception module is used to analyze environmental information in the cloud box through environmental perception strategies and evaluate the flight status of the drone; The path planning module is used to generate dynamic path planning for the UAV flight based on the flight status of the UAV; The instruction transmission module is used to generate corresponding control instructions in the cloud box based on the results of dynamic path planning, and transmit the control instructions to the drone through the communication path; The dynamic adjustment module is used for the UAV to receive control instructions to perform flight missions, continuously monitor environmental information and communication information, and adjust dynamic path planning and communication paths in real time.

[0018] A computer device includes a memory for storing instructions; a processor for executing the instructions, so that the computer device implements a method for controlling a drone based on cloud box remote communication.

[0019] A computer-readable storage medium stores a computer program, which, when executed, implements a method for controlling a drone based on cloud box remote communication.

[0020] The beneficial effects of the present invention are as follows: the present invention obtains the environmental information and communication information of the UAV in real time, and transmits the environmental information to the cloud box through the communication path, so that the UAV has the ability to perceive the surrounding environment in real time, and communicates with the cloud box in real time through the communication path; in the cloud box, the environmental information is analyzed through the environmental perception strategy, the flight status of the UAV is evaluated, and intelligent analysis of the environmental information is achieved, providing accurate data support for the flight status evaluation of the UAV; dynamic path planning of the UAV flight is generated based on the flight status of the UAV, so that the UAV can flexibly adjust the flight path according to the real-time environmental information and flight status, so as to efficiently complete the flight mission; in the cloud box, corresponding control instructions are generated through the results of dynamic path planning, and the control instructions are transmitted to the UAV through the communication path; the UAV receives the control instruction to perform the flight mission, and continuously monitors the environmental information and communication information, and adjusts the dynamic path planning and communication path in real time, thereby improving the flexibility and adaptability of the UAV flight. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them: Figure 1 This is a method flow chart of a drone control method based on cloud box remote communication of the present invention; Figure 2 This is a flow chart of an obstruction judgment strategy of a method for controlling a drone based on cloud box remote communication according to the present invention; Figure 3 This is a flow chart of interference judgment strategy of a UAV control method based on cloud box remote communication of the present invention; Figure 4 This is a system structure diagram of a drone control system based on cloud box remote communication of the present invention. DETAILED DESCRIPTION

[0022] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0023] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention can also be implemented in other ways different from those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0024] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0025] Example 1

[0026] In this embodiment, a method flow chart of a drone control method based on cloud box remote communication is provided, such as Figure 1 As shown, a method for controlling a drone based on cloud box remote communication includes: S1. Obtain the environmental information and communication information of the drone in real time, transmit the environmental information to the cloud box through the communication path, and understand the actual situation of the current drone flight environment.

[0027] Environmental information includes obstacles and electromagnetic interference.

[0028] Communication information includes signal strength and ambient noise.

[0029] The communication path includes multiple communication channels, the communication states of the multiple communication channels are predicted according to the communication information, and a communication channel combination is selected according to the communication states of the multiple communication channels.

[0030] The communication path also includes dividing the transmitted environmental information into data packets and transmitting them simultaneously through the communication channel combination. If the cloud box receives the data packet, the received data packet is reassembled to obtain the environmental information; if the cloud box does not receive the data packet, a retransmission instruction is returned to wait for the retransmission of the data packet.

[0031] The selection rules for the communication channel combination include: If the signal strength of the multiple communication channels is high and the environmental noise is low, the communication status of the multiple communication channels is excellent; If the signal strength of the multi-communication channel is high and the environmental noise is high, the communication state of the multi-communication channel is medium; If the signal strength of the multi-communication channel is low and the environmental noise is low, the communication state of the multi-communication channel is inferior; If the signal strength of the multiple communication channels is low and the environmental noise is high, the communication status of the multiple communication channels is poor.

[0032] A plurality of communication channels whose communication status is excellent or medium are selected as the communication information combination.

[0033] Multiple communication channels means that the communication path between the UAV and the cloud box has multiple communication channels. Communication channels with high signal strength are given priority. High signal strength represents better communication quality and stability, and can ensure the maximum data transmission rate. High environmental noise may cause data transmission errors and losses. Therefore, it is necessary to judge whether the cloud box has received the data packet and select a certain number of communication channels with excellent or medium communication status as the communication channel combination. Monitoring of the UAV environmental information and communication information can give a good understanding of the actual situation of the current UAV flight environment, and planning of the communication path can better guarantee the communication between the UAV and the cloud box.

[0034] S2. Analyze environmental information in the cloud box through environmental perception strategy and evaluate the flight status of the drone.

[0035] Environmental perception strategies include obstructed judgment strategies and interference judgment strategies.

[0036] Obstructed judgment strategy Figure 2 As shown, specifically including: Determine the existence and motion state of obstacles. If there are obstacles around the drone and the obstacles are stationary, perform distance judgment and generate obstruction judgment 1; If there are obstacles around the drone and the obstacles are not stationary, the direction judgment and speed judgment are performed to generate the second obstruction judgment; If there are no obstacles around the drone, the flight path of the drone is unobstructed.

[0037] The generation rules of blocked judgment 1 include: Configure the distance threshold between the drone and the obstacle. The distance threshold includes the basic threshold and the extreme threshold. If the distance between the drone and the obstacle is greater than or equal to the basic threshold, the first obstruction judgment is that the flight path of the drone is not obstructed. If the distance between the UAV and the obstacle is greater than or equal to the extreme threshold and less than the basic threshold, then the first obstruction judgment is that the flight path of the UAV is moderately obstructed; If the distance between the UAV and the obstacle is less than the extreme value threshold, the first obstruction judgment is that the flight path of the UAV is highly obstructed.

[0038] The generation rules of blocked judgment 2 include: Direction judgment includes whether the drone is moving away from or towards the obstacle. The speed threshold is configured. If the drone is moving away from the obstacle, the second obstruction judgment is that the flight path of the drone is not obstructed. If the UAV and the obstacle are facing each other and the speed of the UAV or the obstacle is less than the speed threshold, the second obstruction judgment is that the flight path of the UAV is moderately obstructed; If the UAV and the obstacle are facing each other and the speed of the UAV or the obstacle is greater than or equal to the speed threshold, the distance between the UAV and the obstacle is determined. If the distance between the UAV and the obstacle is greater than or equal to the basic threshold, the second obstruction determination is that the flight path of the UAV is moderately obstructed. If the distance between the UAV and the obstacle is less than the basic threshold, the second obstruction judgment is that the flight path of the UAV is highly obstructed.

[0039] Interference judgment strategy Figure 3 As shown, specifically including: Determine the existence of electromagnetic interference around the drone. If there is no electromagnetic interference around the drone, it means that the drone is not interfered with; If there is electromagnetic interference around the drone, it means that the drone is interfered with, and the intensity of the electromagnetic interference is further determined to generate an interference determination result; Configure the electromagnetic intensity threshold. If the electromagnetic interference intensity is less than or equal to the electromagnetic intensity threshold, the interference judgment result is that the drone is moderately interfered. If the intensity of the electromagnetic interference is greater than the electromagnetic intensity threshold, the interference judgment result is that the drone is highly interfered.

[0040] The obstruction judgment strategy and the interference judgment strategy are combined to generate the flight status of the UAV. If the flight path of the UAV is not obstructed and the UAV is not interfered with, the flight status of the UAV is excellent; If the flight path of the drone is not obstructed and the drone is moderately interfered with, or the flight path of the drone is moderately obstructed and the drone is not interfered with, the flight status of the drone is better; If the flight path of the drone is unobstructed and the drone is highly interfered with, or the flight path of the drone is moderately obstructed and the drone is moderately interfered with, or the flight path of the drone is highly obstructed and the drone is not interfered with, the flight status of the drone is moderate; If the flight path of the drone is moderately obstructed and the drone is highly interfered with or the flight path of the drone is highly obstructed and the drone is moderately interfered with, the flight status of the drone is inferior; If the flight path of the drone is highly obstructed and the drone is highly disturbed, the flight status of the drone is inferior.

[0041] S3. Generate dynamic path planning for the UAV flight based on the flight status of the UAV.

[0042] Dynamic path planning strategies include: If the drone’s flight status is excellent, the drone chooses a straight flight path; If the drone's flight status is relatively good, the drone will choose a winding flight path to avoid moderate electromagnetic interference or moderate obstruction areas; If the drone's flight status is medium, adjust the drone's flight altitude and speed; If the flight status of the drone is poor, re-plan the flight path; If the drone's flight status is poor, the drone will make an emergency landing and re-plan the flight path.

[0043] The function expression for replanning the flight path is as follows: ; In the formula, Indicates that the drone is in status Next action The Q value after represents the learning rate, Indicates the drone status Next action The reward value after represents the discount factor, Indicates that the drone is in status Next action The maximum Q value after

[0044] The status The function expression is as follows: ; In the formula, express The status of the drone at all times. express The position of the drone at the moment, express The drone’s environmental information at all times, express The flight status results of the drone at this moment.

[0045] action The function expression is as follows: ; In the formula, express The action of the drone at every moment, express The drone flies straight at all times. express The drone is flying around at all times. express The drone adjusts its flight altitude at all times. express The drone adjusts its flight speed at all times. express The drone made an emergency landing.

[0046] A straight flight path means that the drone can continue to fly on the original flight path; a winding flight path means bypassing the area of ​​electromagnetic interference or avoiding obstacles; adjusting the drone's flight altitude and flight speed is because the drone is too close to the obstacle in the obstructed area or the speed of the drone and the obstacle is too fast, and the drone's flight altitude needs to be adjusted to avoid electromagnetic interference and obstacles; by replanning the drone's flight path to avoid obstacles and potential threats of electromagnetic interference, the drone's actions at different times are different, and the action function needs to be selected according to the actual situation. In case of an emergency, the drone can land directly. The evaluation of the drone's flight status can better carry out dynamic path planning for the drone flight and ensure the safety of the drone flight.

[0047] S4. Generate corresponding control instructions in the cloud box through the results of dynamic path planning, and transmit the control instructions to the drone through the communication path, establish a communication connection with the drone, and ensure that the communication between the drone and the cloud box is stable and reliable.

[0048] Generate control instructions based on the results of dynamic path planning. During the flight of the UAV, it is necessary to continuously monitor the communication status of the communication path to ensure the effectiveness of the communication path, and continuously monitor the results of the environmental perception strategy to determine the flight status of the UAV. Then, generate dynamic path planning for the UAV based on the flight status of the UAV, thereby generating control instructions. The flight parameters of the UAV are remotely controlled through the cloud box, including the direction and angle of the circling flight, as well as the flight altitude and speed, and it can land directly in case of emergency.

[0049] S5. The UAV receives control instructions to perform flight missions, and continuously monitors environmental information and communication information, and adjusts dynamic path planning and communication paths in real time to adapt to the dynamically changing environment.

[0050] Strategies for adjusting communication paths in real time include: The communication status of the multiple communication channels is obtained by continuously monitoring the communication information, and if the communication status of the multiple communication channels in the communication channel combination is excellent or medium, the communication channel combination is continued to be used; If the communication status of multiple communication channels in the communication channel combination is relatively inferior or inferior, the communication channel combination needs to be updated.

[0051] The rules for updating the communication channel combination include: Configure a channel quantity threshold, the channel quantity threshold includes a quantity threshold 1 and a quantity threshold 2, if the number of multiple communication channels with a relatively inferior or inferior communication status is less than or equal to the quantity threshold 1, then configure multiple communication channels with a value of 1 and a communication status of excellent or medium; If the number of multiple communication channels with a communication status of relatively inferior or inferior is greater than a number threshold of one and less than a number threshold of two, multiple communication channels with a value of two and a communication status of excellent or medium are configured; If the number of the multiple communication channels whose communication status is relatively inferior or inferior is greater than or equal to the number threshold 2, the communication channel combination is reselected.

[0052] The UAV receives control instructions through the communication path to perform flight missions, including the direction and angle of circling flight, as well as the flight altitude and speed. It can land directly in case of emergency to achieve the requirements of dynamic path planning. For real-time adjustment of the communication path, the communication status of multiple communication channels will change when the communication information is constantly changing. It is only necessary to select multiple communication channels with excellent or medium communication status. If the communication status in the communication channel combination becomes inferior or inferior, it will be changed according to the rules for updating the communication channel combination. When the number is less than the number threshold of two, the multiple communication channels with inferior or inferior communication status in the communication channel combination will be replaced with multiple communication channels with excellent or medium communication status. When the number is greater than or equal to the number threshold of two, it is necessary to reselect the communication channel combination. In this way, the dynamic path planning and communication path are adjusted in real time, which adapts well to environmental changes, better controls the flight of the UAV, and ensures the flight safety of the UAV.

[0053] Example 2 In this embodiment, a system structure diagram of a drone control system based on cloud box remote communication is provided, such as Figure 4 As shown, a UAV control system based on cloud box remote communication includes a data transmission module, an environment perception module, a path planning module, a command transmission module and a dynamic adjustment module.

[0054] The data transmission module is used to obtain the environmental information and communication information of the UAV in real time, and transmit the environmental information to the cloud box through the communication path.

[0055] The environmental perception module is used to analyze environmental information and evaluate the flight status of the drone through environmental perception strategies in the cloud box.

[0056] The path planning module is used to generate dynamic path planning for UAV flight based on the flight status of the UAV.

[0057] The instruction transmission module is used to generate corresponding control instructions in the cloud box based on the results of dynamic path planning, and transmit the control instructions to the drone through the communication path.

[0058] The dynamic adjustment module is used for the UAV to receive control instructions to perform flight missions, continuously monitor environmental information and communication information, and adjust dynamic path planning and communication paths in real time.

[0059] For the specific content of a drone control system based on cloud box remote communication, please refer to a drone control method based on cloud box remote communication, which will not be repeated here.

[0060] Example 3 In this embodiment, a computer device is provided, including a memory and a processor, the memory is used to store instructions, and the processor is used to execute the instructions, so that the computer device executes the steps of implementing the above-mentioned drone control method based on cloud box remote communication.

[0061] Example 4 In this embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed, the steps of the above-mentioned drone control method based on cloud box remote communication are implemented.

[0062] The computer-readable storage medium includes: a U disk, a mobile hard disk, a read-only memory, a random access memory, a magnetic disk or an optical disk, and other media for storing program codes.

[0063] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A drone control method based on cloud box remote communication, characterized in that: include, Acquire the drone's environmental information and communication information in real time, and transmit the environmental information to the cloud box through the communication path; In the cloud box, environmental information is analyzed through environmental perception strategies to evaluate the flight status of the drone; Generate dynamic path planning for UAV flight based on the flight status of the UAV; In the cloud box, the corresponding control instructions are generated by the results of dynamic path planning, and the control instructions are transmitted to the UAV through the communication path; The drone receives control instructions to perform flight missions, continuously monitors environmental information and communication information, and adjusts dynamic path planning and communication paths in real time.

2. The method for controlling a drone based on cloud box remote communication according to claim 1, characterized in that: Environmental perception strategies include obstructed judgment strategies and interference judgment strategies; Hindered judgment strategies include: Determine the existence and motion state of obstacles. If there are obstacles around the drone and the obstacles are stationary, perform distance judgment and generate obstruction judgment 1; If there are obstacles around the drone and the obstacles are not stationary, the direction judgment and speed judgment are performed to generate the second obstruction judgment; If there are no obstacles around the drone, the flight path of the drone is unobstructed; The generation rules of blocked judgment 1 include: Configure the distance threshold between the drone and the obstacle. The distance threshold includes the basic threshold and the extreme threshold. If the distance between the drone and the obstacle is greater than or equal to the basic threshold, the first obstruction judgment is that the flight path of the drone is not obstructed. If the distance between the UAV and the obstacle is greater than or equal to the extreme threshold and less than the basic threshold, then the first obstruction judgment is that the flight path of the UAV is moderately obstructed; If the distance between the UAV and the obstacle is less than the extreme threshold, the first obstruction judgment is that the flight path of the UAV is highly obstructed; The generation rules of blocked judgment 2 include: Direction judgment includes whether the drone is moving away from or towards the obstacle. The speed threshold is configured. If the drone is moving away from the obstacle, the second obstruction judgment is that the flight path of the drone is not obstructed. If the UAV and the obstacle are facing each other and the speed of the UAV or the obstacle is less than the speed threshold, the second obstruction judgment is that the flight path of the UAV is moderately obstructed; If the UAV and the obstacle are facing each other and the speed of the UAV or the obstacle is greater than or equal to the speed threshold, the distance between the UAV and the obstacle is determined. If the distance between the UAV and the obstacle is greater than or equal to the basic threshold, the second obstruction determination is that the flight path of the UAV is moderately obstructed. If the distance between the UAV and the obstacle is less than the basic threshold, the second obstruction judgment is that the flight path of the UAV is highly obstructed.

3. A method for controlling a drone based on cloud box remote communication as claimed in claim 2, characterized in that: Interference judgment strategies include: Determine the existence of electromagnetic interference around the drone. If there is no electromagnetic interference around the drone, it means that the drone is not interfered with; If there is electromagnetic interference around the drone, it means that the drone is interfered with, and the intensity of the electromagnetic interference is further determined to generate an interference determination result; Configure the electromagnetic intensity threshold. If the electromagnetic interference intensity is less than or equal to the electromagnetic intensity threshold, the interference judgment result is that the drone is moderately interfered. If the intensity of electromagnetic interference is greater than the electromagnetic intensity threshold, the interference judgment result is that the drone is highly interfered; The obstruction judgment strategy and the interference judgment strategy are combined to generate the flight status of the UAV. If the flight path of the UAV is not obstructed and the UAV is not interfered with, the flight status of the UAV is excellent; If the flight path of the drone is not obstructed and the drone is moderately interfered with, or the flight path of the drone is moderately obstructed and the drone is not interfered with, the flight status of the drone is better; If the flight path of the drone is unobstructed and the drone is highly interfered with, or the flight path of the drone is moderately obstructed and the drone is moderately interfered with, or the flight path of the drone is highly obstructed and the drone is not interfered with, the flight status of the drone is moderate; If the flight path of the drone is moderately obstructed and the drone is highly interfered with or the flight path of the drone is highly obstructed and the drone is moderately interfered with, the flight status of the drone is inferior; If the flight path of the drone is highly obstructed and the drone is highly disturbed, the flight status of the drone is inferior.

4. A method for controlling a drone based on cloud box remote communication as claimed in claim 3, characterized in that: Dynamic path planning strategies include: If the drone’s flight status is excellent, the drone chooses a straight flight path; If the drone's flight status is relatively good, the drone will choose a winding flight path to avoid moderate electromagnetic interference or moderate obstruction areas; If the drone's flight status is medium, adjust the drone's flight altitude and speed; If the flight status of the drone is poor, re-plan the flight path; If the drone's flight status is poor, the drone will make an emergency landing and re-plan the flight path.

5. The method for controlling a drone based on cloud box remote communication according to claim 4, characterized in that: The function expression for replanning the flight path is as follows: ； In the formula, Indicates that the drone is in status Next action The Q value after represents the learning rate, Indicates the drone status Next action The reward value after represents the discount factor, Indicates that the drone is in status Next action The maximum Q value after The status The function expression is as follows: ； In the formula, express The status of the drone at all times. express The position of the drone at the moment, express The drone’s environmental information at all times, express The flight status of the drone at all times; action The function expression is as follows: ； In the formula, express The action of the drone at every moment, express The drone flies straight at all times. express The drone is flying around at all times. express The drone adjusts its flight altitude at all times. express The drone adjusts its flight speed at all times. express The drone made an emergency landing.

6. A method for controlling a drone based on cloud box remote communication as claimed in claim 5, characterized in that: Strategies for adjusting communication paths in real time include: The communication status of the multiple communication channels is obtained by continuously monitoring the communication information, and if the communication status of the multiple communication channels in the communication channel combination is excellent or medium, the communication channel combination is continued to be used; If the communication status of multiple communication channels in the communication channel combination is relatively inferior or inferior, the communication channel combination needs to be updated; The rules for updating the communication channel combination include: Configure a channel quantity threshold, the channel quantity threshold includes a quantity threshold 1 and a quantity threshold 2, if the number of multiple communication channels with a relatively inferior or inferior communication status is less than or equal to the quantity threshold 1, then configure multiple communication channels with a value of 1 and a communication status of excellent or medium; If the number of multiple communication channels with a communication status of relatively inferior or inferior is greater than a number threshold of one and less than a number threshold of two, multiple communication channels with a value of two and a communication status of excellent or medium are configured; If the number of the multiple communication channels whose communication status is relatively inferior or inferior is greater than or equal to the number threshold 2, the communication channel combination is reselected.

7. A method for controlling a drone based on cloud box remote communication as claimed in claim 6, characterized in that: Environmental information includes obstacles and electromagnetic interference; Communication information includes signal strength and ambient noise; The communication path includes multiple communication channels, predicting the communication status of the multiple communication channels according to the communication information, and selecting a communication channel combination according to the communication status of the multiple communication channels; The communication path also includes dividing the transmitted environmental information into data packets and transmitting them simultaneously through the communication channel combination. If the cloud box receives the data packets, the received data packets are reassembled to obtain the environmental information; If the cloud box does not receive the data packet, it returns a retransmission instruction and waits for the data packet to be retransmitted; The selection rules for the communication channel combination include: If the signal strength of the multiple communication channels is high and the environmental noise is low, the communication status of the multiple communication channels is excellent; If the signal strength of the multi-communication channel is high and the environmental noise is high, the communication state of the multi-communication channel is medium; If the signal strength of the multi-communication channel is low and the environmental noise is low, the communication state of the multi-communication channel is inferior; If the signal strength of the multi-communication channel is low and the environmental noise is high, the communication status of the multi-communication channel is inferior; A plurality of communication channels whose communication status is excellent or medium are selected as the communication information combination.

8. A UAV control system based on cloud box remote communication, used to implement a UAV control method based on cloud box remote communication as claimed in any one of claims 1 to 7, characterized in that: include, Data transmission module, environment perception module, path planning module, instruction transmission module and dynamic adjustment module; The data transmission module is used to obtain the environmental information and communication information of the UAV in real time, and transmit the environmental information to the cloud box through the communication path; The environmental perception module is used to analyze environmental information in the cloud box through environmental perception strategies and evaluate the flight status of the drone; The path planning module is used to generate dynamic path planning for the UAV flight based on the flight status of the UAV; The instruction transmission module is used to generate corresponding control instructions in the cloud box based on the results of dynamic path planning, and transmit the control instructions to the drone through the communication path; The dynamic adjustment module is used for the UAV to receive control instructions to perform flight missions, continuously monitor environmental information and communication information, and adjust dynamic path planning and communication paths in real time.

9. A computer device, characterized in that: include, A memory for storing instructions; The processor is used to execute the instructions so that the computer device executes a drone control method based on cloud box remote communication as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, a method for controlling a drone based on cloud box remote communication as described in any one of claims 1 to 7 is implemented.

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