Control method and device for unmanned aerial vehicle, equipment and medium

Abstract

The invention relates to the technical field of wireless communication, and discloses a control method, device and equipment for an unmanned aerial vehicle and a medium, and the unmanned aerial vehicle comprises an unmanned aerial vehicle antenna. The method comprises the steps of obtaining a first communication quality index with an unmanned aerial vehicle; if it is determined that communication with the unmanned aerial vehicle is abnormal according to the first communication quality index, the unmanned aerial vehicle is controlled to conduct angle adjustment, the angle adjustment comprises at least one of inclining the first angle and rotating the second angle, and the angle adjustment is used for adjusting the maximum radiation direction of an antenna of the unmanned aerial vehicle; acquiring a second communication quality index with the unmanned aerial vehicle; and if it is determined that the communication with the unmanned aerial vehicle returns to normal according to the second communication quality index, controlling the unmanned aerial vehicle to stop angle adjustment. The communication quality in a critical communication state can be improved, and the probability of data loss is reduced.

Description

Technical Field

[0001] The present disclosure relates to the field of wireless communication technology, and in particular to a control method, device, equipment and medium for a drone. Background Art

[0002] In some scenarios, when a drone is performing a mission, if the critical communication distance between the drone and the communication station (such as a base station or hangar) is reached, the data transmission rate will be significantly reduced or the data transmission will be interrupted, resulting in data loss. In order to reduce the probability of data loss, a method is urgently needed to improve the communication quality in this situation. Summary of the invention

[0003] In view of this, the present disclosure provides a control method for a drone, a control device for a drone, an electronic device and a computer-readable storage medium, which can improve the communication quality in a critical communication state and reduce the probability of data loss.

[0004] In a first aspect, the present disclosure provides a control method for a drone, wherein the drone includes a drone antenna; the method includes:

[0005] Acquire a first communication quality indicator with the drone;

[0006] If it is determined according to the first communication quality indicator that the communication with the drone is abnormal, the drone is controlled to perform an angle adjustment, wherein the angle adjustment includes at least one of tilting a first angle and rotating a second angle, and the angle adjustment is used to adjust the maximum radiation direction of the drone antenna;

[0007] Acquire a second communication quality indicator with the UAV;

[0008] If it is determined according to the second communication quality indicator that the communication with the drone has returned to normal, the drone is controlled to stop adjusting the angle.

[0009] In a second aspect, the present disclosure provides a control device for a drone, wherein the drone includes a drone antenna; the device includes:

[0010] A first indicator acquisition module, used to acquire a first communication quality indicator with the UAV;

[0011] A first control module, configured to control the drone to perform an angle adjustment if it is determined that the communication with the drone is abnormal according to the first communication quality indicator, wherein the angle adjustment includes at least one of tilting a first angle and rotating a second angle, and the angle adjustment is used to adjust the maximum radiation direction of the drone antenna;

[0012] A second indicator acquisition module, used to acquire a second communication quality indicator with the UAV;

[0013] The second control module is used to control the drone to stop adjusting the angle if it is determined that the communication with the drone has returned to normal according to the second communication quality indicator.

[0014] In a third aspect, the present disclosure provides an electronic device, comprising: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, computer instructions are stored in the memory, and the processor executes the above method by executing the computer instructions.

[0015] In a fourth aspect, the present disclosure provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the above method.

[0016] In the technical solutions of some embodiments of the present disclosure, when communication abnormality with a drone is determined based on a first communication quality indicator, the maximum radiation direction of the drone antenna can be adjusted by controlling the drone to tilt at a first angle and / or rotate at a second angle, so that the actual communication direction between the drone and the communication station can be consistent with the maximum radiation direction of the drone antenna. In this way, the radiation intensity of the drone antenna in the actual communication direction can be improved, thereby improving the communication quality between the drone and the communication station in a critical communication state and reducing the probability of data loss. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific embodiments of the present disclosure or the technical solutions in the related technologies, the drawings required for use in the specific embodiments or the related technical descriptions will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 This is a schematic diagram of the 3D radiation direction of some omnidirectional antennas;

[0019] Figure 2 This is a schematic diagram of the 2D radiation direction of some omnidirectional antennas;

[0020] Figure 3 It is a schematic diagram of the communication between UAVs and communication stations at different locations;

[0021] Figure 4 is a flowchart of a control method provided by some embodiments of the present disclosure;

[0022] Figure 5 In some embodiments of the present disclosure, Figure 3Schematic diagram of the drone after tilting;

[0023] Figure 6 In some other embodiments of the present disclosure, Figure 3 Schematic diagram of the drone after tilting;

[0024] Figure 7 is a schematic diagram of the radiation intensity distribution of an omnidirectional antenna in various horizontal directions provided by some embodiments of the present disclosure;

[0025] Figure 8 In some embodiments of the present disclosure, Figure 3 Schematic diagram of the drone after rotation;

[0026] Fig. 9 is a module schematic diagram of a data processing device provided by some embodiments of the present disclosure;

[0027] Fig.10 It is a schematic diagram of the structure of an electronic device provided by some embodiments of the present disclosure. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present disclosure.

[0029] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments set forth herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0030] In the description of the embodiments of the present disclosure, the term "including" and similar terms should be understood as open inclusion, that is, "including but not limited to". The term "based on" should be understood as "based at least in part on". The term "some embodiments" or "the embodiment" should be understood as "at least some embodiments". The term "some embodiments" should be understood as "at least some embodiments". Other explicit and implicit definitions may also be included below.

[0031] Herein, unless explicitly stated, executing a step “in response to A” does not mean executing the step immediately after “A” but may include one or more intermediate steps.

[0032] It is understandable that the data involved in this technical solution (including but not limited to the data itself, the acquisition, use, storage or deletion of the data) shall comply with the requirements of relevant laws, regulations and relevant provisions.

[0033] It is understandable that before using the technical solutions disclosed in the various embodiments of the present disclosure, the types, scopes of use, usage scenarios, etc. of the information involved in the present disclosure should be informed to relevant users and their authorization should be obtained in an appropriate manner in accordance with relevant laws and regulations. The relevant users may include any type of right holders, such as individuals, enterprises, and groups.

[0034] For example, in response to receiving an active request from a user, a prompt message is sent to the relevant user to clearly prompt the relevant user that the operation requested to be performed will require obtaining and using the information of the relevant user, so that the relevant user can independently choose whether to provide information to software or hardware such as an electronic device, application, server or storage medium that executes the operation of the technical solution of the present disclosure based on the prompt message.

[0035] As an optional but non-limiting implementation, in response to receiving an active request from a relevant user, a prompt message is sent to the relevant user, for example, in the form of a pop-up window, in which the prompt message may be presented in text form. In addition, the pop-up window may also carry a selection control for the user to select "agree" or "disagree" to provide information to the electronic device.

[0036] It is understandable that the above notification and the process of obtaining user authorization are merely illustrative and do not constitute a limitation on the implementation of the present disclosure. Other methods that meet relevant laws and regulations may also be applied to the implementation of the present disclosure.

[0037] Combined with reference Figure 1 and Figure 2 , which are 3D radiation direction diagrams and 2D radiation direction diagrams of some omnidirectional antennas. Among them, the 3D radiation direction diagram is used to represent the radiation intensity of the omnidirectional antenna in various directions in space, and the 2D radiation direction diagram is used to represent the radiation intensity of the omnidirectional antenna in various directions in space. Figure 1 The radiation intensity on the vertical plane. The radiation intensity can represent the strength of the electromagnetic waves emitted or received by the antenna in different directions.

[0038] like Figure 1 and Figure 2As shown, the 3D radiation direction diagram may include the maximum horizontal radiation direction. The maximum horizontal radiation direction refers to the direction in which the radiation intensity of the omnidirectional antenna is the largest on the horizontal plane. Since the omnidirectional antenna can usually achieve 360-degree uniform radiation in the horizontal direction, its maximum horizontal radiation direction can be understood as the radiation intensity in each horizontal direction is relatively uniform. Figure 1 In the figure, the omnidirectional antenna can have the maximum radiation intensity in all directions of the middle horizontal plane. In the vertical direction, the radiation intensity of the antenna gradually decreases. If the omnidirectional antenna transmits or receives signals in all directions within the middle horizontal plane, good communication quality can be achieved; if the omnidirectional antenna transmits or receives signals in other directions outside the middle horizontal plane, the communication quality may be relatively poor. For example, assuming that Q is the center of the horizontal maximum radiation plane (i.e., the middle horizontal plane), then the omnidirectional antenna can have good communication quality when transmitting or receiving signals along the QM and QP directions, and the communication quality may be relatively poor when transmitting or receiving signals along the QN direction.

[0039] based on Figure 1 and Figure 2 According to the principle shown in the figure, in some technologies, when the drone is located above or below a communication station (such as a base station or hangar), the actual communication direction between the drone and the communication station is not the direction of the maximum radiation intensity of the drone antenna, resulting in a significant reduction in data transmission rate or data transmission interruption when the drone and the communication station (such as a base station, hangar) reach a critical communication distance. Specifically, in these technologies, the antenna installed in the drone is usually an omnidirectional antenna. The communication diagram between drones and communication stations at different locations can be shown as follows: Figure 3 shown. Figure 3 In it is assumed that Q1 is the antenna center point of the communication station, Q2 is the antenna center point of the first UAV running above the communication station, and Q3 is the antenna center point of the second UAV running below the communication station. The circle shown by the solid line exemplarily represents the schematic diagram of the 3D radiation direction of the communication station, the first UAV and the second UAV, and the circle shown by the dotted line exemplarily represents the horizontal maximum radiation direction of the communication station, the first UAV and the second UAV (uniformly radiating in all directions in the horizontal plane shown by the dotted line). When the first UAV transmits or receives signals in all directions within the horizontal plane ABC, it can have better communication quality, and when the second UAV transmits or receives signals in all directions within the horizontal plane MNL, it can have better communication quality. However, in the actual communication process, based on the relative position relationship between the first UAV, the second UAV and the communication station, the first UAV sends or receives signals along the Q2E direction, and the second UAV sends or receives signals along the Q3F direction. Through Figure 3It can be seen that the Q2E direction and the Q3F direction are not the maximum horizontal radiation directions. Therefore, when the critical communication distance is reached between the first UAV, the second UAV and the communication station (such as a base station or hangar), the data transmission rate will be significantly reduced or the data transmission will be interrupted, which will lead to data loss.

[0040] In view of this, the present disclosure provides a control method for a drone, which can improve the communication quality in a critical communication state and reduce the probability of data loss. Specifically, the drone may include a drone antenna, and the drone antenna may be an omnidirectional antenna. The control method can be applied to electronic devices that are connected to the drone for communication. The electronic devices may include but are not limited to tablet computers, laptop computers, desktop computers, control circuit boards, etc. In some embodiments, these electronic devices may be arranged in a communication station to receive data collected by the drone. In the process of receiving data, the electronic device can monitor the communication quality with the drone by executing the method of the present disclosure, and send control instructions to control the drone when the communication quality deteriorates, so as to improve the communication quality with the drone and reduce the probability of data loss.

[0041] Combined with reference Figure 4 , which is a flow chart of a control method provided in some embodiments of the present disclosure. Figure 4 In the control method, the following steps may be included:

[0042] Step S401, obtaining a first communication quality indicator with the drone.

[0043] Specifically, the first communication quality may include but is not limited to the data transmission rate between the drone, network delay duration, signal-to-noise ratio, packet loss rate, etc. Based on the first communication quality indicator, it can be determined whether the communication with the drone is abnormal. For example, if the data transmission rate is lower than the rate threshold, it can indicate that the communication with the drone is abnormal, and if the data transmission rate is not lower than the rate threshold, it can indicate that the communication with the drone is normal.

[0044] In this embodiment, the first communication quality indicator may be obtained by one or more methods:

[0045] 1) In the electronic device executing the method disclosed herein, one or more network communication logs may be included. The network communication log may record information such as the amount of data transmitted between the drone and the timestamp. By analyzing the log information, the first communication quality indicator may be obtained.

[0046] 2) In the electronic device executing the method disclosed herein, a software tool for collecting communication quality indicators may be installed, such as a network rate test tool, a network delay test tool, etc. Based on these software tools, a first communication quality indicator may be obtained.

[0047] 3) The electronic device executing the method disclosed herein may be connected to one or more testers, such as a signal tester, a bit error rate tester, etc. Based on these testers, the first communication quality indicator may be obtained.

[0048] Of course, it is understandable that the method for obtaining the first communication quality indicator may not be limited to the above-listed methods. The present disclosure does not limit the method for obtaining the first communication quality indicator.

[0049] Step S402: If the communication with the drone is determined to be abnormal according to the first communication quality indicator, the drone is controlled to adjust its angle, wherein the angle adjustment includes at least one of tilting a first angle and rotating a second angle, and the angle adjustment is used to adjust the maximum radiation direction of the drone antenna.

[0050] based on Figure 3 From the relevant analysis, it can be known that the communication anomaly between the UAV and the communication station may be caused by the fact that when the distance between the UAV and the communication station reaches the critical communication distance, based on the relative position relationship between the UAV and the communication station, the actual communication direction between the UAV and the communication station is not the horizontal maximum radiation direction. Therefore, the UAV can be first controlled to tilt at a first angle along a first specified direction so that the actual communication direction between the UAV and the communication station is close to or coincides with the horizontal maximum radiation direction. The first specified direction can be upward or downward. The so-called upward or downward is based on the relative position relationship between the UAV and the communication station. For ease of understanding, please refer to Figure 5 , is to control according to the first angle Figure 3 The schematic diagram obtained after the drone in the figure is tilted. Figure 5 As shown, controlling the drone to tilt at a first angle along a first specified direction may include:

[0051] If the UAV is located below the communication station, the side of the UAV close to the communication station is controlled to tilt upward at a first angle (i.e. Figure 5 α shown); if the drone is located above the communication station, the side of the drone close to the communication station is controlled to tilt downward at a first angle. After such adjustment, the horizontal maximum radiation direction of the drone antenna can be aligned with the communication station, and the drone antenna can have the maximum radiation intensity in the actual communication direction between the drone and the communication station. Therefore, the communication quality between the drone and the communication station in a critical communication state can be improved, and the probability of data loss can be reduced.

[0052] In this embodiment, the first angle can be preset according to actual needs. It should be noted that the setting of the first angle needs to be reasonable. If it is unreasonable, the horizontal maximum radiation direction of the drone antenna may cross the actual communication direction. For example, assuming that the first angle is 2α, at an angle of 2α, the control Figure 3 After the UAV is tilted, the resulting tilted schematic diagram can be shown as follows Figure 6 As shown. Figure 6 It can be clearly seen that because the single tilt angle of the drone is too large, the horizontal maximum radiation direction of the drone antenna directly crosses the actual communication direction during the tilt process. After this adjustment, since the horizontal maximum radiation direction of the drone antenna does not coincide with or is close to the actual communication direction, the communication quality between the drone and the communication station cannot be improved. In view of this, in order to avoid the problem of the horizontal maximum radiation direction of the drone antenna crossing the actual communication direction due to a single adjustment angle that is too large, the first angle can be set to a smaller value, such as 0.5 degrees, 0.2 degrees, etc.

[0053] Furthermore, although in theory the radiation intensity of an omnidirectional antenna in each horizontal direction is relatively uniform, in practice the radiation intensity of an omnidirectional antenna in some horizontal directions may be concave. Figure 7 , which is a schematic diagram of the radiation intensity distribution of the omnidirectional antenna in each horizontal direction provided by some embodiments of the present disclosure. Figure 7 It can be seen that although the theoretical horizontal maximum radiation direction of the drone antenna is adjusted to be consistent with the actual communication direction by controlling the tilt of the drone, due to the depressions at positions K and H, the radiation intensity of the omnidirectional antenna at the corresponding positions will be weakened. That is, the radiation intensity of the drone antenna in the directions of Q2H and Q2K is not the greatest. In this case, the communication quality between the drone and the communication station may still not be improved. In view of this, after controlling the drone to tilt at a first angle, the drone can be controlled to rotate along a second specified direction by a second angle. The second specified direction can be clockwise or counterclockwise. In this way, positions where the radiation intensity is depressed can be avoided. For example, Figure 7 After the first drone (i.e. Q2) rotates clockwise by the second angle, we can get Figure 8 The angle adjustment diagram is shown. Figure 8 In the actual communication direction between the UAV and the communication station, the concave area is avoided, ensuring that the radiation intensity of the UAV antenna in the actual communication direction is the largest, thereby achieving the purpose of improving the communication quality.

[0054] In this embodiment, after controlling the drone to tilt at the first angle, by executing steps S403 and S404, it is determined whether the communication between the drone and the communication station is restored to normal. If it is restored to normal, there is no need to control the drone to rotate to the second angle. If it is not restored to normal, the drone can be controlled to rotate to the second angle.

[0055] Step S403, obtaining a second communication quality indicator with the drone.

[0056] Specifically, the second communication quality indicator may refer to a communication quality indicator obtained after the angle of the drone is adjusted. The second communication quality indicator is similar to the first communication quality indicator and is not described in detail here.

[0057] Step S404: If it is determined according to the second communication quality indicator that the communication with the drone has returned to normal, the drone is controlled to stop adjusting the angle.

[0058] Specifically, similar to the first communication quality indicator, by analyzing the second communication quality indicator (such as whether the data transmission rate is lower than the rate threshold), it can be determined whether the communication with the drone has returned to normal, which is not elaborated here.

[0059] When the communication with the drone returns to normal, it means that the tilt angle or rotation angle of the drone is now appropriate, so the drone can be controlled to stop adjusting the angle.

[0060] To sum up, in the technical solutions of some embodiments of the present disclosure, when communication abnormality with a drone is determined based on a first communication quality indicator, the maximum radiation direction of the drone antenna can be adjusted by controlling the drone to tilt at a first angle and / or rotate at a second angle, so that the actual communication direction between the drone and the communication station can be consistent with the maximum radiation direction of the drone antenna. In this way, the radiation intensity of the drone antenna in the actual communication direction can be improved, thereby improving the communication quality between the drone and the communication station in a critical communication state and reducing the probability of data loss.

[0061] In some embodiments, after controlling the drone to tilt at a first angle and rotate at a second angle, if it is determined according to the second communication quality indicator that the communication with the drone has not returned to normal, the drone can continue to be controlled to adjust the angle. In this way, through continuous attempts, a better tilt angle and rotation angle of the drone can be found, thereby achieving the purpose of improving communication quality.

[0062] Specifically, when the angle of the drone is adjusted multiple times, the tilt angle and the rotation angle of the drone can be adjusted in different orders. The following is an explanation of the specific solutions in some embodiments.

[0063] In some embodiments, controlling the drone to adjust the angle may include:

[0064] Controlling the drone to tilt at a first angle along a first specified direction;

[0065] When the communication with the drone has not returned to normal, if the total tilt angle of the drone in the first specified direction does not reach the tilt angle threshold, the drone continues to be controlled to tilt at the first angle along the first specified direction. If the total tilt angle of the drone in the first specified direction reaches the tilt angle threshold, the drone is controlled to rotate along the second specified direction. The total tilt angle represents the sum of the tilt angles of the drone in the first specified direction.

[0066] For example, assuming that the first specified direction is the upward direction, the first angle is 0.2 degrees, and the tilt angle threshold is 3 degrees. Then, after the drone is controlled to tilt upward by 0.2 degrees for the first time, if the communication with the drone has not been restored to normal, the drone is controlled to tilt upward by 0.2 degrees for the second time. After the drone is controlled to tilt upward by 0.2 degrees for the second time, if the communication with the drone has not been restored to normal, the drone is controlled to tilt upward by 0.2 degrees for the third time. And so on, until the total upward tilt angle of the drone reaches 3 degrees. If the communication with the drone has not been restored to normal after the total upward tilt angle of the drone reaches 3 degrees, the drone can be controlled to rotate along the second specified direction.

[0067] When the drone is controlled to rotate in the second specified direction, the drone is also controlled based on multiple rotations. For example, assuming that the second specified direction is clockwise and the second angle is 0.3 degrees, after the drone is controlled to rotate 0.3 degrees in the clockwise direction for the first time, if the communication with the drone has not been restored to normal, the drone is controlled to rotate 0.3 degrees in the clockwise direction for the second time. After the drone is controlled to rotate 0.3 degrees in the clockwise direction for the second time, if the communication with the drone has not been restored to normal, the drone is controlled to rotate 0.3 degrees in the clockwise direction for the third time. And so on, until the total angle of the drone's rotation in the clockwise direction reaches the rotation angle threshold (for example, 5 degrees).

[0068] In the case where the communication with the drone has not been restored to normal, if the total rotation angle of the drone in the second specified direction reaches the rotation angle threshold, the control of the drone to adjust the angle can be stopped, and an alarm message of abnormal communication can be generated. The total rotation angle represents the sum of the angles of rotation of the drone in the second specified direction. Specifically, in the above embodiment, when the total angle of controlling the tilt of the drone along the first specified direction reaches the tilt angle threshold, and the total angle of controlling the rotation of the drone along the second specified direction reaches the rotation angle threshold, it means that the abnormal communication problem between the drone and the communication station cannot be solved by controlling the tilt or rotation of the drone. Therefore, the drone controller can be prompted by generating an alarm message.

[0069] In some embodiments, controlling the drone to adjust the angle may include:

[0070] Controlling the drone to tilt at a first angle along a first specified direction;

[0071] When the drone is rotated by the first angle and the communication with the drone is not restored to normal, the drone is controlled to rotate by a second angle along a second specified direction;

[0072] When rotating to the second angle and the communication with the drone has not yet returned to normal, if the total tilt angle of the drone in the first specified direction does not reach the tilt angle threshold, the drone continues to be controlled to tilt at the first angle along the first specified direction, and the total tilt angle represents the sum of the tilt angles of the drone in the first specified direction.

[0073] Specifically, in these embodiments, the drone is controlled to alternately perform the operations of tilting at a first angle and rotating at a second angle. That is, the drone is controlled in a sequence similar to the following:

[0074] Controlling the drone to tilt at a first angle along a first specified direction;

[0075] Determine whether the communication with the drone has returned to normal;

[0076] If the communication is not restored to normal, controlling the drone to rotate along a second specified direction by a second angle;

[0077] Determine whether the communication with the drone has returned to normal;

[0078] If the communication is not restored to normal, controlling the drone to tilt at a first angle along a first specified direction;

[0079] Determine whether the communication with the drone has returned to normal;

[0080] If the communication is not restored to normal, controlling the drone to rotate along a second specified direction by a second angle;

[0081] …

[0082] And so on, until the total tilt angle of the drone in the first specified direction reaches the tilt angle threshold, or the total rotation angle of the drone in the second specified direction reaches the rotation angle threshold, or the communication with the drone returns to normal.

[0083] In some embodiments, controlling the drone to adjust the angle may include:

[0084] Controlling the drone to tilt at a first angle along a first specified direction;

[0085] When the drone is tilted at the first angle and the communication with the drone has not been restored to normal, the drone is controlled to rotate at a second angle along a second specified direction;

[0086] When rotating to the second angle and the communication with the drone has not yet returned to normal, if the total rotation angle of the drone in the second specified direction does not reach the rotation angle threshold, the drone continues to be controlled to rotate the second angle along the second specified direction. If the total rotation angle of the drone in the second specified direction reaches the rotation angle threshold, the drone is controlled to tilt the first angle along the first specified direction. The total rotation angle represents the sum of the angles of the drone's rotation in the second specified direction.

[0087] Specifically, in these embodiments, the drone is controlled in a sequence similar to the following:

[0088] Controlling the drone to tilt at a first angle along a first specified direction;

[0089] Determine whether the communication with the drone has returned to normal;

[0090] If the communication is not restored to normal, controlling the drone to rotate along a second specified direction by a second angle;

[0091] Determine whether the communication with the drone has returned to normal;

[0092] If the communication is not restored to normal and the total rotation angle of the drone in the second specified direction does not reach the rotation angle threshold, the drone is controlled to continue rotating along the second specified direction by a second angle;

[0093] Determine whether the communication with the drone has returned to normal;

[0094] If the communication is not restored to normal and the total rotation angle of the drone in the second specified direction does not reach the rotation angle threshold, the drone is controlled to continue rotating in the second specified direction by a second angle;

[0095] …

[0096] Determine whether the communication with the drone has returned to normal;

[0097] If the communication is not restored to normal and the total rotation angle of the drone in the second specified direction reaches the rotation angle threshold, the drone is controlled to continue to tilt at the first angle along the first specified direction.

[0098] This process is repeated in this way until the total tilt angle of the drone in the first specified direction reaches the tilt angle threshold, or the communication with the drone returns to normal.

[0099] In the above embodiment, after the drone tilts at a first angle each time, the drone is controlled to rotate multiple times within the range of the rotation angle threshold. In this way, it is possible to determine one by one in turn whether the radiation intensity of the drone at each tilt angle and each rotation angle meets the communication requirements with high accuracy.

[0100] This completes the description of the disclosed method.

[0101] Corresponding to the method, the present disclosure also provides a control device for a drone. Fig. 9 , which is a module schematic diagram of a data processing device provided in some embodiments of the present disclosure. Fig. 9 In the data processing device, the data processing device comprises:

[0102] A first indicator acquisition module 901 is used to acquire a first communication quality indicator with the UAV;

[0103] A first control module 902 is configured to control the drone to perform angle adjustment if it is determined that the communication with the drone is abnormal according to the first communication quality indicator, wherein the angle adjustment includes at least one of tilting a first angle and rotating a second angle, and the angle adjustment is used to adjust the maximum radiation direction of the drone antenna;

[0104] A second indicator acquisition module 903 is used to acquire a second communication quality indicator with the UAV;

[0105] The second control module 904 is configured to control the drone to stop adjusting the angle if it is determined that the communication with the drone has returned to normal according to the second communication quality indicator.

[0106] In some embodiments, the second control module 904 is further configured to:

[0107] If it is determined according to the second communication quality indicator that the communication with the drone has not returned to normal, the drone continues to be controlled to adjust the angle.

[0108] In some embodiments, the first control module 902 or the second control module 904 is specifically configured to:

[0109] Controlling the drone to tilt at a first angle along a first specified direction;

[0110] When the communication with the drone has not returned to normal, if the total tilt angle of the drone in the first specified direction does not reach the tilt angle threshold, the drone continues to be controlled to tilt at the first angle along the first specified direction. If the total tilt angle of the drone in the first specified direction reaches the tilt angle threshold, the drone is controlled to rotate along the second specified direction. The total tilt angle represents the sum of the tilt angles of the drone in the first specified direction.

[0111] In some embodiments, the first control module 902 or the second control module 904 is specifically configured to:

[0112] When the communication with the UAV has not returned to normal, if the total rotation angle of the UAV in the second specified direction reaches the rotation angle threshold, the control of the UAV to adjust the angle is stopped, and an alarm message of communication abnormality is generated. The total rotation angle represents the sum of the angles of the UAV's rotation in the second specified direction.

[0113] In some embodiments, the first control module 902 or the second control module 904 is specifically configured to:

[0114] Controlling the drone to tilt at a first angle along a first specified direction;

[0115] When the drone is rotated by the first angle and the communication with the drone is not restored to normal, the drone is controlled to rotate by a second angle along a second specified direction;

[0116] When rotating to the second angle and the communication with the drone has not yet returned to normal, if the total tilt angle of the drone in the first specified direction does not reach the tilt angle threshold, the drone continues to be controlled to tilt at the first angle along the first specified direction, and the total tilt angle represents the sum of the tilt angles of the drone in the first specified direction.

[0117] In some embodiments, the first control module 902 or the second control module 904 is specifically configured to:

[0118] Controlling the drone to tilt at a first angle along a first specified direction;

[0119] When the drone is tilted at the first angle and the communication with the drone has not been restored to normal, the drone is controlled to rotate at a second angle along a second specified direction;

[0120] When rotating to the second angle and the communication with the drone has not yet returned to normal, if the total rotation angle of the drone in the second specified direction does not reach the rotation angle threshold, the drone continues to be controlled to rotate the second angle along the second specified direction. If the total rotation angle of the drone in the second specified direction reaches the rotation angle threshold, the drone is controlled to tilt the first angle along the first specified direction. The total rotation angle represents the sum of the angles of the drone's rotation in the second specified direction.

[0121] In some embodiments, the drone communicates with the communication station; the first control module 902 or the second control module 904 is specifically used to:

[0122] If the UAV is located below the communication station, control the side of the UAV close to the communication station to tilt upward at a first angle;

[0123] If the UAV is located above the communication station, the side of the UAV close to the communication station is controlled to tilt downward at a first angle.

[0124] The present disclosure also provides an electronic device having the above Fig. 9 A control device for a drone is shown.

[0125] Combined with reference Fig.10 , is a schematic diagram of the structure of an electronic device provided by some embodiments of the present disclosure. Fig.10 As shown, the electronic device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process instructions executed in the electronic device, including instructions stored in or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple electronic devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Fig.10 A processor 10 is taken as an example.

[0126] The processor 10 may be a first PCIe device, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0127] The memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0128] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the electronic device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the electronic device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0129] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0130] The electronic device further comprises a communication interface 30 for the electronic device to communicate with other devices or a communication network.

[0131] The embodiments of the present disclosure also provide a computer-readable storage medium. The above-mentioned method according to the embodiments of the present disclosure can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium and downloaded through a network, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state drive, etc.; further, the storage medium can also include a combination of the above-mentioned types of memory. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0132] A part of the present disclosure may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present disclosure through the operation of the computer. Those skilled in the art should understand that the existence of computer program instructions in computer-readable media includes, but is not limited to, source files, executable files, installation package files, etc., and accordingly, the way in which computer program instructions are executed by a computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to the computer.

[0133] Although the embodiments of the present disclosure have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present disclosure, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A control method for a drone, characterized in that: The drone includes a drone antenna; the method includes: Acquire a first communication quality indicator with the drone; If it is determined according to the first communication quality indicator that the communication with the drone is abnormal, the drone is controlled to perform an angle adjustment, wherein the angle adjustment includes at least one of tilting a first angle and rotating a second angle, and the angle adjustment is used to adjust the maximum radiation direction of the drone antenna; Acquire a second communication quality indicator with the UAV; If it is determined according to the second communication quality indicator that the communication with the drone has returned to normal, the drone is controlled to stop adjusting the angle.

2. The method according to claim 1, characterized in that The method further comprises: If it is determined according to the second communication quality indicator that the communication with the drone has not returned to normal, the drone continues to be controlled to adjust its angle.

3. The method according to claim 2, characterized in that The controlling the drone to adjust the angle includes: Controlling the drone to tilt along a first specified direction by the first angle; When the communication with the drone has not returned to normal, if the total tilt angle of the drone in the first specified direction has not reached the tilt angle threshold, the drone continues to be controlled to tilt at the first angle along the first specified direction; if the total tilt angle of the drone in the first specified direction reaches the tilt angle threshold, the drone is controlled to rotate along the second specified direction, and the total tilt angle represents the sum of the tilt angles of the drone in the first specified direction.

4. The method according to claim 3, characterized in that The method further comprises: When the communication with the UAV has not returned to normal, if the total rotation angle of the UAV in the second specified direction reaches the rotation angle threshold, the control of the UAV for angle adjustment is stopped, and an alarm message of communication abnormality is generated. The total rotation angle represents the sum of the angles of rotation of the UAV in the second specified direction.

5. The method according to claim 2, characterized in that: The controlling the drone to adjust the angle includes: Controlling the drone to tilt along a first specified direction by the first angle; When the first angle is rotated and the communication with the drone is not restored to normal, controlling the drone to rotate along a second specified direction by the second angle; When rotating to the second angle and the communication with the drone has not yet returned to normal, if the total tilt angle of the drone in the first specified direction does not reach the tilt angle threshold, the drone continues to be controlled to tilt at the first angle along the first specified direction, and the total tilt angle represents the sum of the tilt angles of the drone in the first specified direction.

6. The method according to claim 2, characterized in that The controlling the drone to adjust the angle includes: Controlling the drone to tilt along a first specified direction by the first angle; When the drone is tilted by the first angle and the communication with the drone has not been restored to normal, controlling the drone to rotate by the second angle along a second specified direction; When rotating the second angle and the communication with the drone has not yet returned to normal, if the total rotation angle of the drone in the second specified direction does not reach the rotation angle threshold, the drone continues to be controlled to rotate the second angle along the second specified direction; if the total rotation angle of the drone in the second specified direction reaches the rotation angle threshold, the drone is controlled to tilt the first angle along the first specified direction, and the total rotation angle represents the sum of the angles of rotation of the drone in the second specified direction.

7. The method according to any one of claims 3 to 6, characterized in that: The drone communicates with a communication station; The controlling the drone to tilt along a first specified direction by the first angle comprises: If the drone is located below the communication station, controlling a side of the drone close to the communication station to tilt upward at the first angle; If the drone is located above the communication station, the side of the drone close to the communication station is controlled to tilt downward at the first angle.

8. A control device for a drone, characterized in that: The drone includes a drone antenna; the device includes: A first indicator acquisition module, used to acquire a first communication quality indicator with the UAV; A first control module, configured to control the drone to perform an angle adjustment if it is determined that the communication with the drone is abnormal according to the first communication quality indicator, wherein the angle adjustment includes at least one of tilting a first angle and rotating a second angle, and the angle adjustment is used to adjust the maximum radiation direction of the drone antenna; A second indicator acquisition module, used to acquire a second communication quality indicator with the UAV; The second control module is used to control the drone to stop adjusting the angle if it is determined that the communication with the drone has returned to normal according to the second communication quality indicator.

9. An electronic device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the control method for a drone according to any one of claims 1 to 7 by executing the computer instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the control method for a drone according to any one of claims 1 to 7.

Images