Unmanned aerial vehicle inspection management and control method, equipment, medium and product

Abstract

The invention discloses an unmanned aerial vehicle inspection management and control method, equipment, a medium and a product, relates to the technical field of unmanned aerial vehicles, and aims to solve the problem of low safety of unmanned aerial vehicle inspection management and control. The unmanned aerial vehicle inspection management and control method is applied to the unmanned aerial vehicle inspection management and control equipment and comprises the steps that a target path key sent by a cloud server is received, the target path key is used for decrypting encrypted target path data, and the target path data is path data of a section of sub-path in an inspection path; decrypting the encrypted target path data based on the target path key to obtain the target path data; and sending indication information to the target unmanned aerial vehicle, wherein the indication information is used for indicating the target unmanned aerial vehicle to fly based on the target path data.

Description

Technical Field

[0001] The present application relates to the field of drone technology, and in particular to a drone inspection and control method, equipment, medium, and product. Background Art

[0002] In recent years, with the rapid development of drone technology, drones can be applied in a variety of scenarios. For example, during the inspection of oil and gas pipelines, workers can remotely inspect the pipelines using images collected by drones.

[0003] Currently, before a drone inspection begins, personnel must set up a specific route for the drone, specifically the overall route distribution of the oil and gas pipeline. The drone then flies along this route, capturing images of the pipeline during flight to complete the inspection.

[0004] However, in the above technical solution, the path data of the drone may be stolen by the attacker during the flight, causing the overall route distribution of the oil and gas pipeline to be leaked, thereby reducing the safety of the drone inspection. Summary of the Invention

[0005] The purpose of this application is to provide a drone inspection and control method, equipment, medium and product, aiming to solve the problem of low safety of drone inspections.

[0006] To achieve the above objectives, this application adopts the following technical solutions:

[0007] In a first aspect, the present application provides a drone inspection and control method, which is applied to drone inspection and control equipment and includes:

[0008] Receive the target path key sent by the cloud server. The target path key is used to decrypt the encrypted target path data. The target path data is the path data of a sub-path in the inspection path. Decrypt the encrypted target path data based on the target path key to obtain the target path data. Send instruction information to the target UAV. The instruction information is used to instruct the target UAV to fly based on the target path data.

[0009] The drone inspection and control method provided in the embodiments of the present application enables the drone inspection and control device to decrypt the path data of a sub-path within the entire inspection path based on the path key issued by the cloud server, and instructs the drone to fly along the sub-path corresponding to the path key within the inspection path based on the decrypted path data. In this way, if the drone inspection and control device does not receive the path keys for all sub-paths within the inspection path, neither the drone inspection and control device nor the drone can obtain the path data for the entire inspection path. This means that even if an attacker steals the path data, they will not be able to understand the route distribution of the entire inspection path, thereby improving the security of drone inspections.

[0010] In some embodiments, the above-mentioned method of "receiving the target path key sent by the cloud server" includes: obtaining the location information of the target UAV; determining the target sub-path to be flown by the target UAV in the inspection path based on the location information; sending a request message to the cloud server, the request message is used to request the path key for decrypting the path data corresponding to the target sub-path; receiving the target path key sent by the cloud server based on the request message, the target path key is used to decrypt the path data corresponding to the target sub-path in the inspection path.

[0011] In some embodiments, the method further includes: sending identity authentication information to a cloud server; receiving authentication success information sent by the cloud server, the authentication success information including: a dynamic token for establishing a binding relationship with the target drone; sending the dynamic token to the target drone to establish a binding relationship with the target drone.

[0012] In some embodiments, the authentication success information further includes: encrypted path data corresponding to all sub-sections in the inspection path.

[0013] In some embodiments, the method further includes: sending preset navigation information to the target UAV, the preset navigation information being used to indicate an alternative flight plan to be executed by the target UAV when a preset abnormal condition is met;

[0014] The preset abnormal conditions include at least one of the following:

[0015] There is interference with the signals from the drone inspection and control equipment;

[0016] There are obstacles in the flight path.

[0017] In some embodiments, the alternative flight plan includes at least one of the following:

[0018] In the event of signal interference with the drone inspection and control equipment, the drone will switch to the inertial navigation system (INS) for positioning flight.

[0019] When there are obstacles in the flight path, the target path data is dynamically corrected based on the data collected in real time by the obstacle avoidance sensor, and obstacle avoidance flight is performed based on the corrected target path data.

[0020] In some embodiments, the method further includes: receiving image data collected by the target drone during flight; and sending the image data to a cloud server.

[0021] In some embodiments, the method further includes: deleting all path data, all path keys, and image data if the target drone meets a preset risk condition;

[0022] The preset risk conditions include at least one of the following:

[0023] The target drone's signal is not received within the preset time period;

[0024] The number of authentication failures with the target drone exceeds the preset threshold;

[0025] The target drone was disassembled for parts.

[0026] In some embodiments, the instruction information is also used to instruct the target drone to delete all path data and collected image data when a preset risk condition is met.

[0027] In some embodiments, the target drone is any drone in a flight queue, and the indication information includes path data based on which each drone in the flight queue flies.

[0028] In some embodiments, the communication link between the drone inspection and control device and the cloud server is a secure link in a preset private network.

[0029] In some embodiments, the drone inspection and control device is an unmanned drone airport gateway; or, the drone inspection and control device is a manned user terminal.

[0030] In a second aspect, the present application provides a drone inspection and control device, which is applied to drone inspection and control equipment. The device includes: a receiving module, a processing module and a sending module.

[0031] The receiving module is used to receive the target path key sent by the cloud server. The target path key is used to decrypt the encrypted target path data. The target path data is the path data of a sub-path in the inspection path; the processing module is used to decrypt the encrypted target path data based on the target path key to obtain the target path data; the sending module is used to send instruction information to the target UAV. The instruction information is used to instruct the target UAV to fly based on the target path data.

[0032] In the third aspect, the present application provides a drone inspection and control device, which includes: a processor and a memory, the processor and the memory are coupled, the memory is used to store one or more programs, and the one or more programs include computer execution instructions. When the drone inspection and control device is running, the processor executes the computer execution instructions stored in the memory to implement any drone inspection and control method described in the first aspect above.

[0033] In a fourth aspect, the present application provides a computer-readable storage medium, which stores instructions. When the instructions are executed on a computer, the computer executes any of the drone inspection and control methods described in the first aspect above.

[0034] In the fifth aspect, the present application provides a computer program product, which is applied to unmanned aerial vehicle inspection and control equipment. The computer program product includes computer instructions. When the computer instructions are run on the unmanned aerial vehicle inspection and control equipment, the unmanned aerial vehicle inspection and control equipment implements any unmanned aerial vehicle inspection and control method described in the first aspect above.

[0035] In the above scheme, the technical problems that can be solved and the technical effects achieved by the drone inspection and control devices, equipment, computer storage media or computer program products can be referred to the technical problems and technical effects solved by the first aspect above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0037] Figure 1 A schematic diagram of the structure of a drone inspection and control system provided in an embodiment of the present application;

[0038] Figure 2 A flowchart of a drone inspection and control method provided in an embodiment of the present application;

[0039] Figure 3 A flowchart of another drone inspection and control method provided in an embodiment of the present application;

[0040] Figure 4 A schematic diagram of the structure of a drone inspection and control device provided in an embodiment of the present application;

[0041] Figure 5 A schematic diagram of the structure of a drone inspection and control device provided in an embodiment of the present application;

[0042] Figure 6 A conceptual partial view of a computer program product provided in an embodiment of the present application. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0044] In the description of this application, it should be understood that the terms "upper," "lower," "left," "right," "front," "back," "inner," "outer," and the like, indicating directions or positional relationships, are based on the directions or relative positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of this application and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific direction, be constructed, or operate in a specific direction. Therefore, they should not be construed as limitations on this application. Unless otherwise specified, the above-mentioned directionality descriptions may be flexibly set in actual application, provided that the relative positional relationships shown in the accompanying drawings are met.

[0045] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. Throughout this application, unless otherwise specified, "plurality" means two or more.

[0046] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connected," and "connected" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections. They may be directly connected, indirectly connected through an intermediary, or internally connected between two components. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0047] In the embodiments of the present application, the terms "comprises," "comprising," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, article, or device comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of other identical elements in the process, article, or device comprising the element.

[0048] In the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0049] In the description of this specification, specific features, structures, materials or characteristics may be combined in an appropriate manner in any one or more embodiments or examples.

[0050] As mentioned in the background, with the rapid development of drone technology in recent years, drones have been widely used in oil and gas pipeline inspections. Compared to traditional manual inspections, drone inspections offer advantages such as rapid response, high efficiency, and the elimination of the need for personnel to enter hazardous areas. However, existing drone inspection technology still faces several challenges in its application to oil and gas pipeline networks. First, the inspection process relies on pipeline centerline coordinate data, which in turn relies on external mapping services or communication links. This makes data vulnerable to theft by intermediary nodes, and direct data transmission to third-party personnel or drones can lead to core data leakage. Second, fixed-path delivery cannot cope with signal interference and temporary obstacles in mountainous areas, requiring frequent route updates and poor adaptability to dynamic routes. Furthermore, traditional device identification codes are easily spoofed, and the pilot's identity is loosely tied to the device, posing the risk of fraudulent use and insufficient authentication strength. Finally, there is a lack of low-cost, autonomous mitigation solutions in the event of signal loss, leading to mission interruption or data leakage. Encrypted data storage modules can be compromised due to hardware loss or incomplete erasure, leading to secondary leakage and the risk of data retention.

[0051] To solve the above problems, a low-cost, high-security drone inspection data security management and control solution is urgently needed to achieve zero exposure of core data, real-time adaptation of dynamic paths, strong binding of multi-source identities, and lightweight secure storage.

[0052] In other words, existing technologies have not yet been able to effectively solve the data security issues during drone inspections of oil and gas pipeline networks. A new type of security management and control system is urgently needed. Through Beidou high-precision positioning, dynamic segmented path encryption, multi-factor identity authentication and other technical means, it can fundamentally solve the problems of core data leakage, poor dynamic path adaptability, insufficient identity authentication strength, and hidden dangers of residual stored data, providing safe and reliable technical guarantees for drone inspections of oil and gas pipeline networks.

[0053] To address the aforementioned core data leakage risks, poor dynamic path adaptability, insufficient identity authentication strength, and hidden dangers of stored data residue, the following technical solutions are currently available: Solution 1 and Solution 2:

[0054] Solution 1: A 5G-based method and system for real-time feedback of automatic drone inspection data. By leveraging 5G communication transmission, the transmission speed of inspection data is improved and long-distance inspections can be carried out. The use of encryption methods enhances the security of inspection data. Inspection data can be transmitted and analyzed in real time, and drones can be flexibly dispatched, thereby improving the efficiency of automatic drone inspections.

[0055] However, Solution 1 still has the problem that the efficiency and security of the encryption algorithm need to be further improved.

[0056] Option 2: A system and method for risk management of aircraft patrol operations, which conducts preliminary risk assessment through the airspace approval module and flight planning module, and performs process risk control and post-risk management through the integrated management module. This can establish a three-dimensional technical mechanism for safety risk management of aircraft patrol operations and monitor the risks of aircraft patrol operations throughout the entire process.

[0057] However, Option 2 still has the problem of insufficient level of detail in risk assessment.

[0058] That is to say, the prior art has the following shortcomings:

[0059] 1. The risk of core data leakage is high. Directly sending pipeline network coordinate data to third-party personnel or drones may lead to data leakage;

[0060] 2. Dynamic routes have poor adaptability. If missions are issued based solely on preset routes, the drone may not be able to respond to unexpected situations (such as weather changes or temporary obstacles). Fixed routes cannot cope with signal interference and temporary obstacles in mountainous areas, requiring frequent route updates, which reduces efficiency.

[0061] 3. Identity authentication is weak. Traditional device identification codes are easily forged. The pilot's identity is loosely bound to the device, posing a risk of fraudulent use.

[0062] 4. Hidden dangers of residual stored data: Encrypted data stored locally on the drone may be leaked due to hardware loss, improper recycling, or incomplete erasure (e.g., the storage unit is not completely erased).

[0063] 5. The efficiency and security of encryption algorithms need to be further improved.

[0064] Therefore, given the problems of data leakage in the core centerline direction of the existing oil and gas pipeline network, poor dynamic path adaptability, insufficient identity authentication strength, and residual stored data, how to improve the security of drone inspections has become a technical issue that needs to be solved urgently.

[0065] In order to solve the above-mentioned technical problems, an embodiment of the present application provides a drone inspection and control method, and the drone inspection and control method provided by the embodiment of the present application is applied to the scenario of drone inspection pipeline routes. The drone inspection and control device decrypts the path data of a sub-path in the entire inspection path according to the path key sent by the cloud server, and instructs the drone to fly along the sub-path corresponding to the path key in the inspection path based on the decrypted path data. In this way, when the drone inspection and control device does not receive the path keys of all sub-paths in the inspection path, neither the drone inspection and control device nor the drone can obtain the path data of the entire inspection path, so that even if the attacking party steals the path data, it is impossible to understand the route distribution of the entire inspection path, thereby improving the security of drone inspections.

[0066] In this regard, this application provides a drone inspection and control system for oil and gas pipeline networks, such as Figure 1 As shown, it includes the Beidou space-time operation center (privatized deployment on the intranet) and the secure data transmission flight control module.

[0067] BeiDou Space-Time Operation Center: Privately deployed within oil and gas pipeline network operating enterprises, data transmission is based on 4G cards or operator-customized dedicated communication cards.

[0068] Among them, the Beidou Space-Time Operation Center includes: encrypted map server and authentication center.

[0069] The encrypted map server stores the internal pipeline direction, centerline coordinates, and elevation data of the oil and gas pipeline network, receives high-precision differential data from the Beidou ground augmentation station, and automatically generates segmented paths based on flight patrol missions.

[0070] The authentication and certification center distributes keys, performs identity registration management, and manages the pilot identity database, drone equipment database, and drone airport database.

[0071] It should be noted that Beidou ground augmentation stations are deployed along the oil and gas pipeline network, providing centimeter-level positioning differential data, supporting offline map and elevation data updates, and providing centimeter-level positioning correction data for drone patrols.

[0072] Safety data transmission flight control module: integrated flight patrol mission management terminal, multi-source UAV navigation module, local path planning unit, safety storage module, etc.

[0073] Among them, the patrol mission management terminal provides pilot identity authentication, device fingerprint authentication, mission receipt and operation start confirmation.

[0074] Multi-source UAV navigation module: Integrates a Beidou anti-interference antenna and an inertial navigation system (INS) / visual simultaneous localization and mapping (SLAM) alternative navigation solution, supports automatic switching when signal loss, and provides safe obstacle avoidance and autonomous flight control for equipment in abnormal events.

[0075] Local path planning unit: provides local segmented path loading, patrol path application and data interaction confirmation, and autonomous obstacle avoidance flight path planning rules.

[0076] Secure storage module: locally stores encrypted data, provides data encryption and decryption processing, and provides transmission and distribution of keys and encrypted data.

[0077] It should be noted that in the embodiment of the present application, the above-mentioned Beidou space-time operation center is equivalent to the cloud server in the technical solution of the present application.

[0078] In addition, each module unit in the above-mentioned safety data transmission flight control module is deployed on the UAV inspection and control equipment and the UAV respectively.

[0079] For example, the patrol mission management terminal and the local path planning unit are both deployed on the drone patrol control equipment, the multi-source drone navigation module is deployed on the drone, and the drone patrol control equipment and the drone are both deployed with their own security storage modules.

[0080] In addition, in the embodiment of the present application, drone patrols are divided into two modes: manned and unmanned, that is, the drone inspection and control equipment is an unmanned drone airport gateway, or the drone inspection and control equipment is a manned user terminal (such as a flight control terminal held by a pilot).

[0081] Unmanned operation mainly realizes flight control through the drone airport gateway. According to the actual situation, it can perform authentication through IP whitelist or device MAC address fingerprint, and interact with the drone's secure data transmission flight control module through dedicated network communication.

[0082] The attended mode mainly relies on the pilot to authenticate through a handheld flight control terminal based on the pilot's biometrics or dynamic token.

[0083] Private network communication can use customized 4G / 5G IoT cards, which only allow communication with the intranet and data link encryption (such as using the SM4 algorithm).

[0084] It should be noted that the above-mentioned server can be a single physical server or a server cluster composed of multiple servers. Alternatively, the server cluster can also be a distributed cluster. Alternatively, the server can also be a cloud server. The embodiments of this application do not limit the specific implementation of the server.

[0085] The terminal may be a mobile phone, tablet computer, desktop computer, laptop computer, handheld computer, notebook computer, ultra-mobile personal computer (UMPC), netbook computer, or other device with transceiver functions. This application does not impose any particular restrictions on the specific form of the terminal. The terminal may interact with the user through one or more methods such as a keyboard, touchpad, touch screen, remote control, voice interaction, or handwriting device.

[0086] After introducing the application scenarios and implementation environment of the embodiments of the present application, the drone inspection and control method provided by the embodiments of the present application is introduced in detail in combination with the above-mentioned implementation environment.

[0087] The methods in the following embodiments can all be implemented in the above application scenarios and implementation environments. The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0088] Figure 2 This is a flow chart of a drone inspection and control method provided in an embodiment of the present application. Figure 2 As shown, the method is applied to UAV inspection and control equipment, including: S201-S203.

[0089] S201. Receive a target path key sent by a cloud server.

[0090] The target path key is used to decrypt the encrypted target path data, and the target path data is the path data of a sub-path in the inspection path.

[0091] In some embodiments, the communication link between the drone inspection and control device and the cloud server can be a secure link in a preset private network.

[0092] In other words, data leakage can be avoided through private network communication.

[0093] S202: Decrypt the encrypted target path data based on the target path key to obtain the target path data.

[0094] S203: Send instruction information to the target UAV.

[0095] The instruction information is used to instruct the target UAV to fly based on the target path data.

[0096] In other words, the drone inspection and control device decrypts the path data for a sub-path within the entire inspection route based on the path key sent by the cloud server, and instructs the drone to fly along the sub-path corresponding to the path key within the inspection route based on the decrypted path data. This prevents the drone inspection and control device from obtaining the path data for the entire inspection route unless it receives the path keys for all sub-paths within the inspection route. This prevents an attacker from understanding the entire inspection route, even if they steal the path data. This improves the security of drone inspections.

[0097] In some embodiments, to ensure the continuity of the drone's flight during the inspection process, during the aforementioned process of receiving the target path key sent by the cloud server (i.e., S201), the drone inspection and control device can obtain the location information of the target drone and, based on the location information, determine the target sub-path of the inspection path for the target drone to fly. Next, the drone inspection and control device can send a request message to the cloud server for decrypting the path key corresponding to the path data of the target sub-path. Thereafter, the drone inspection and control device can receive the target path key sent by the cloud server based on the request message.

[0098] The target path key is used to decrypt the path data corresponding to the target sub-path in the inspection path.

[0099] In other words, by dynamically applying for path keys based on the real-time location of the drone, the drone can be provided with path data for subsequent flights in a timely manner, ensuring the continuity of the flight.

[0100] Optionally, if the real-time location indicated by the location information of the target UAV indicates that a sub-path is about to be inspected, the UAV inspection and control device can apply to the cloud server for the path key that the target UAV will follow in the next flight path.

[0101] That is to say, by analyzing the real-time position of the drone, it is possible to determine when the drone needs to apply for subsequent flight path data (such as when the current flight path is about to be completed), thereby avoiding providing the drone with too much path data and preventing data leakage.

[0102] In some embodiments, to improve the security of flight permission management, before receiving the target path key from the cloud server (i.e., S201), the drone inspection and control device may send identity authentication information to the cloud server and receive a successful authentication message from the cloud server. The successful authentication message may include a dynamic token used to establish a binding relationship with the target drone. The drone inspection and control device may then send the dynamic token to the target drone to establish a binding relationship with the target drone.

[0103] In an embodiment of the present application, the authentication success information may further include: encrypted path data corresponding to all sub-paths in the inspection path.

[0104] That is to say, if the identity authentication of the drone inspection and control device is passed, the drone inspection and control device can be configured with the data of the entire inspection path to authorize the drone inspection and control device to conduct inspection flights on the pipeline route.

[0105] Optionally, the drone inspection and control device can also receive authentication failure information sent by the cloud server. The authentication failure information is used to indicate that the drone inspection and control device does not have the flight permission to inspect the pipeline route.

[0106] In other words, by authenticating the drone inspection and control equipment, the flight permissions of the drone inspection and control equipment can be managed to prevent terminal devices without flight permissions from stealing pipeline route data.

[0107] In some embodiments, since the flight environment of the drone is dynamically changing, in order to ensure that the drone can fly normally, before sending the instruction information to the target drone (i.e., S203), the drone inspection and control equipment can send preset navigation information to the target drone. The preset navigation information is used to indicate the alternative flight plan to be executed by the target drone when the preset abnormal conditions are met.

[0108] The preset abnormal condition may include at least one of the following:

[0109] There is interference with the signals from the drone inspection and control equipment;

[0110] There are obstacles in the flight path.

[0111] As a possible implementation, the alternative flight plan may include at least one of the following:

[0112] In the event of signal interference with the drone inspection and control equipment, switch to INS for positioning flight;

[0113] When there are obstacles in the flight path, the target path data is dynamically corrected based on the data collected in real time by the obstacle avoidance sensor, and obstacle avoidance flight is performed based on the corrected target path data.

[0114] In other words, by setting alternative flight plans for the drone in advance, the drone can ensure normal flight even if it encounters abnormal situations during flight.

[0115] In some embodiments, in order to realize the inspection of the pipeline route, after sending the instruction information to the target drone (i.e., S203), the drone inspection and control equipment can receive the image data collected by the target drone during the flight and send the image data to the cloud server.

[0116] In an embodiment of the present application, when the target drone meets the preset risk conditions, the drone inspection and control device can delete all path data, all path keys, and image data.

[0117] The preset risk conditions may include at least one of the following:

[0118] The target drone's signal is not received within the preset time period;

[0119] The number of authentication failures with the target drone exceeds the preset threshold;

[0120] The target drone was disassembled for parts.

[0121] Optionally, the above instruction information can also be used to instruct the target drone to delete all path data and all collected image data when a preset risk condition is met.

[0122] In some embodiments, when the pipeline route is more complex (such as with many branches), the drone inspection and control equipment can control multiple drones at the same time, that is, the above-mentioned target drone can be any drone in a flight queue, and the above-mentioned indication information can include the path data based on which each drone in the flight queue flies.

[0123] In some embodiments, in order to expand the flight control mode, the drone inspection and control device can be an unmanned drone airport gateway; or, the drone inspection and control device can be a manned user terminal.

[0124] In other words, the inspection and control method in the technical solution of this application can be controlled both manually and automatically.

[0125] The following describes the drone inspection and control method provided by this application in conjunction with specific embodiments, including the following steps:

[0126] Step 1: Dynamic identity binding;

[0127] Step 2: Send the encrypted path;

[0128] Step 3: Determine whether there is signal interference or obstacles. If so, proceed to step 4. If not, return to step 2 until the inspection task is completed.

[0129] Step 4: Multi-source navigation and risk avoidance.

[0130] Step 5: Data storage and emergency clearing

[0131] In some embodiments, step 1 (attended mode - pilot manually controls the terminal) includes:

[0132] Step 101: The pilot completes identity registration by scanning a QR code or performing facial recognition on a mobile terminal, and the encrypted information is transmitted to the BeiDou Space Operations Center.

[0133] Step 102: The BeiDou Space-Time Operations Center generates a dynamic token based on the BeiDou timestamp and the pilot ID hash value, and binds the dynamic token to the designated drone.

[0134] Step 103: The drone receives the dynamic token, completes the dynamic association between the pilot's identity and the drone device, and is bound to the designated drone.

[0135] Alternatively, step 1 (unattended mode - drone airport gateway) also includes:

[0136] Step 101: When the airport starts, it sends the device fingerprint (MAC address, hardware hash value) and real-time security status (such as anti-tamper lock status) information to the authentication control center. The information is encrypted and transmitted to the Beidou Space Operation Center for identification and identity registration.

[0137] Step 102: The BeiDou Space-Time Operations Center authentication gateway verifies the device fingerprint and the IP whitelist. If they match, a temporary dynamic token is issued and bound to the designated drone task queue.

[0138] Step 103: The drone queue receives the dynamic token, completes the dynamic association between the drone airport gateway and the drone device, and binds the specified drone queue.

[0139] In some embodiments, step 2 includes:

[0140] Step 201: The BeiDou Space-Time Operation Center splits the inspection route into N segments, or packages and encrypts the airport inspection tasks in batches. Each segment is encrypted independently, and the SM4 algorithm can be used for encryption, with a dynamically generated key.

[0141] Step 202: The drone applies for the next segment / next batch of path keys based on its current location;

[0142] Step 203: The BeiDou Space-Time Operation Center transmits the next segment / next batch of path keys to the UAV through the authentication center secure channel.

[0143] Step 204: The drone receives the path key, decrypts it, and then executes the flight.

[0144] In some embodiments, step 4 includes:

[0145] Step 401: The BeiDou positioning module verifies signal integrity in real time. If multipath or spoofing signals are detected, it switches to INS for positioning.

[0146] Step 402: The UAV flight control system interacts with the local path planning unit based on the decrypted path and real-time obstacle avoidance data (such as visual data), dynamically adjusts the flight trajectory, and achieves autonomous obstacle avoidance.

[0147] In some embodiments, step 5 includes:

[0148] Step 501: Inspection path data is encrypted and stored in a secure storage area of a secure data transmission module, which is physically isolated from the flight control system.

[0149] Step 502: If a long-term abnormal signal is detected (such as the drone's cover is illegally opened for disassembly, five consecutive authentication failures, or the signal abnormality exceeds 30 minutes), data self-destruction is triggered (only the key and the encrypted data of the patrol mission are erased).

[0150] Among them, the hierarchical emergency response strategy may include:

[0151] Level 1: Switch navigation mode (Beidou → INS → Vision) when signal interference occurs, and autonomously avoid obstacles along the path.

[0152] Level 2: After the communication times out, the key and encrypted data are erased, and basic logs are retained.

[0153] Level 3: The memory chip is blown during physical damage.

[0154] In summary, the drone inspection and control method provided by the technical solution of this application can achieve the following effects:

[0155] 1. Zero leakage of core data: The entire process of core data generation, storage, and distribution is closed in the intranet, and the pipe network coordinate data is fully encrypted, making it impossible for third parties to obtain plaintext information, effectively eliminating the risk of core data leakage;

[0156] 2. Supports real-time adaptation of dynamic paths. By issuing segmented encrypted paths and autonomous obstacle avoidance, it reduces manual intervention and improves dynamic path adaptability.

[0157] 3. A multi-source identity strong binding mechanism is adopted, where the pilot's identity is dynamically associated with the drone device, preventing unauthorized operations and improving identity authentication strength.

[0158] 4. It achieves lightweight and secure storage. The data encryption storage and self-destruction mechanism are compatible with the existing drone hardware architecture. It implements multi-source navigation switching and data self-destruction based on existing hardware, eliminating the hidden danger of residual stored data.

[0159] 5. Through Beidou + INS multi-source positioning, while ensuring data security, the success rate of mountain inspections is improved, and the safety and reliability of the inspection drone itself is improved;

[0160] 6. Compatible with Beidou module and UAV hardware, low modification cost and good practicality.

[0161] The following describes the drone inspection and control method provided in the embodiments of the present application with reference to specific examples.

[0162] Example 1: In a scenario where a drone is manned in a mountainous area, the following steps are involved:

[0163] Step 1: Dynamically bind the pilot’s identity.

[0164] Step 101: The pilot completes identity registration by scanning a QR code with a mobile terminal or taking a photo of his / her ID card and performing facial recognition. The identity information is encrypted and transmitted to the BeiDou Space Operations Center via a 4G / 5G network or a dedicated communication network.

[0165] Step 102: The BeiDou Space Operations Center generates a dynamic token based on the current BeiDou system timestamp and the SHA-256 hash value of the pilot's ID, and binds the dynamic token to the designated drone hardware device.

[0166] Step 103: The drone device receives and stores the dynamic token, completing the dynamic association between the pilot's identity and the drone device.

[0167] Step 2: Send the encrypted path in segments.

[0168] Step 201: The BeiDou Space-Time Operations Center divides the planned inspection route into N segments, and independently encrypts each segment using the SM4 national encryption algorithm. The encryption key is dynamically generated.

[0169] Step 202: The UAV applies to the BeiDou Space-Time Operation Center for the key for the next path to be executed based on its current location.

[0170] Step 203: The BeiDou Space-Time Operation Center transmits the next path key to the UAV through the secure data channel pre-established by the authentication center;

[0171] Step 204: The drone decrypts the received path key, obtains the plaintext path data, and executes the flight.

[0172] Step 3: Determine whether there is signal interference or obstacles. If so, execute step 4. If not, return to step 2 to continue applying for the next path key.

[0173] Step 4: Multi-source positioning and anti-interference.

[0174] Step 401: The BeiDou positioning module verifies the integrity of satellite signals in real time. If it detects that the BeiDou positioning accuracy drops below 80 meters, the number of visible satellites is less than 5, or there is multipath effect or spoofing signal, it immediately switches to INS positioning.

[0175] Step 402: The UAV flight control system integrates the decrypted path data with real-time obstacle avoidance sensor (such as visual data or LiDAR) data to dynamically adjust the flight trajectory to achieve autonomous obstacle avoidance.

[0176] In the implementation of the above method, the specific parameter ranges involved in each step are as follows:

[0177] In step 101, the identity registration information includes but is not limited to name, ID number, face image, etc., and the encryption algorithm adopts the SM4 national encryption algorithm;

[0178] In step 102, the dynamic token is valid for 8 hours and needs to be re-applied after the validity period expires;

[0179] In step 201, the number of path segments N ranges from 10 to 50, and the key length ranges from 128 bits to 256 bits. To improve efficiency, all odd-numbered segmented paths can be sent in batches first, and even-numbered segmented paths can be downloaded one by one during the flight.

[0180] In step 204, the path key is valid for 30 minutes to 2 hours;

[0181] In step 401, the threshold for switching to INS navigation is when the Beidou positioning accuracy drops to above 50 meters or the number of visible satellites is less than 6;

[0182] In step 402, the detection distance is 100 meters to 500 meters, the obstacle avoidance height is 5 meters to 20 meters, and the flight trajectory is dynamically adjusted to achieve autonomous obstacle avoidance flight.

[0183] During the implementation of the above method, if the following abnormal situations occur, perform emergency treatment:

[0184] 1) If the drone encounters Beidou signal spoofing in mountainous areas, INS-assisted positioning will take effect and the drone will continue to fly to a safe area with good signal quality;

[0185] 2) If the signal anomaly lasts for more than 10 minutes, the current segment path key will be automatically erased, and the BeiDou Space-Time Operations Center will be reported through the backup communication link, and the current task will be suspended.

[0186] During the implementation of the above method, inspection data is encrypted and stored in an independent storage area of the drone hardware's secure data transmission module, physically isolated from the flight control system. If unauthorized disassembly or five consecutive identity authentication failures are detected, a data self-destruction process is triggered, erasing the key and encrypted data.

[0187] Combining the above examples, such as Figure 3 As shown, the pilot's flight control terminal can establish a secure data transmission channel with the BeiDou Space Operations Center and authenticate itself to the BeiDou Space Operations Center through device registration / scanning / face recognition. The BeiDou Space Operations Center then issues a dynamic token to the pilot's flight control terminal upon successful authentication. The pilot's flight control terminal can then request a segmented route from the BeiDou Space Operations Center. The BeiDou Space Operations Center then issues an encrypted segment and key to the pilot's flight control terminal. The pilot's flight control terminal then decrypts the encrypted segment using the key to obtain the route data, instructing the BeiDou UAV to execute a segmented route patrol. The BeiDou UAV can then fly based on the decrypted route and autonomously avoid obstacles based on this decrypted route. The pilot's flight control terminal then receives image data captured by the BeiDou UAV, encrypts the image data, and transmits the encrypted data back to the BeiDou Space Operations Center.

[0188] Example 2: In the scenario of periodic automatic flight patrol in unmanned mode at the airport, the main differences from the steps in Example 1 above are:

[0189] Authentication and registration method: The drone airport automatically authenticates through the device fingerprint (hardware hash + IP address). When the airport starts, it sends the device fingerprint (MAC: 00-1A-3F) to the authentication center to obtain a 20-50km encrypted mission package without manual intervention.

[0190] Automatic task issuance: The batch task package of the patrol path is pre-loaded to the drone after being applied for by the drone airport gateway. The link security is guaranteed by the dedicated network communication card. The drone flies according to the pre-loaded path and updates the differential positioning data every 5km through the dedicated network communication card.

[0191] In summary, the embodiments of this application provide a drone inspection and control method based on Beidou high-precision positioning, dynamic segmented path encryption, and multi-factor identity authentication. Specifically, network coordinate data must be fully encrypted, preventing third parties from accessing the plaintext information; segmented encrypted path delivery and autonomous obstacle avoidance are supported, reducing manual intervention; the pilot's identity is dynamically associated with the drone device to prevent unauthorized operation; and the data encryption storage and self-destruct mechanism are compatible with existing drone hardware architectures.

[0192] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of computer equipment. It is understandable that in order to realize the above functions, the computer equipment includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the steps of the drone inspection and control methods of each example described in the embodiments disclosed in this application, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0193] The present application also provides a drone inspection and control device. The drone inspection and control device can be a computer device, a CPU in the computer device, a processing module in the computer device for drone inspection and control, or a client in the computer device for drone inspection and control.

[0194] The embodiment of the present application can divide the drone inspection and control device into functional modules or functional units according to the above method example. For example, each functional module or functional unit can be divided according to each function, or two or more functions can be integrated into one processing module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of software functional modules or functional units. Among them, the division of modules or units in the embodiment of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0195] like Figure 4 FIG2 is a schematic diagram of a structure of a drone inspection and control device provided by an embodiment of the present application. The drone inspection and control device 400 is applied to drone inspection and control equipment, and the drone inspection and control device 400 may include: a receiving module 401, a processing module 402, and a sending module 403.

[0196] The receiving module 401 is used to receive the target path key sent by the cloud server. The target path key is used to decrypt the encrypted target path data. The target path data is the path data of a sub-path in the inspection path; the processing module 402 is used to decrypt the encrypted target path data based on the target path key to obtain the target path data; the sending module 403 is used to send instruction information to the target drone. The instruction information is used to instruct the target drone to fly based on the target path data.

[0197] Optionally, the receiving module 401 is also used to obtain the location information of the target UAV; the processing module 402 is also used to determine the target sub-path for the target UAV to fly in the inspection path based on the location information; the sending module 403 is also used to send a request message to the cloud server, and the request message is used to request the path key for decrypting the path data corresponding to the target sub-path; the receiving module 401 is specifically used to receive the target path key sent by the cloud server based on the request message, and the target path key is used to decrypt the path data corresponding to the target sub-path in the inspection path.

[0198] Optionally, the sending module 403 is also used to send identity authentication information to the cloud server; the receiving module 401 is also used to receive authentication success information sent by the cloud server, and the authentication success information includes: a dynamic token used to establish a binding relationship with the target drone; the sending module 403 is also used to send a dynamic token to the target drone to establish a binding relationship with the target drone.

[0199] Optionally, the authentication success information also includes: encrypted path data corresponding to all sub-sections in the inspection path.

[0200] Optionally, the sending module 403 is further configured to send preset navigation information to the target UAV, where the preset navigation information is used to indicate an alternative flight plan to be executed by the target UAV when a preset abnormal condition is met;

[0201] The preset abnormal conditions include at least one of the following:

[0202] There is interference with the signals from the drone inspection and control equipment;

[0203] There are obstacles in the flight path.

[0204] Optionally, the alternative flight plan includes at least one of the following:

[0205] In the event of signal interference with the drone inspection and control equipment, the drone will switch to the inertial navigation system (INS) for positioning flight.

[0206] When there are obstacles in the flight path, the target path data is dynamically corrected based on the data collected in real time by the obstacle avoidance sensor, and obstacle avoidance flight is performed based on the corrected target path data.

[0207] Optionally, the receiving module 401 is further used to receive image data collected by the target UAV during flight; the sending module 403 is further used to send the image data to the cloud server.

[0208] Optionally, the processing module 402 is further configured to delete all path data, all path keys, and image data if the target UAV meets a preset risk condition;

[0209] The preset risk conditions include at least one of the following:

[0210] The target drone's signal is not received within the preset time period;

[0211] The number of authentication failures with the target drone exceeds the preset threshold;

[0212] The target drone was disassembled for parts.

[0213] Optionally, the instruction information is also used to instruct the target UAV to delete all path data and collected image data when a preset risk condition is met.

[0214] Optionally, the target UAV is any UAV in a flight queue, and the indication information includes path data based on which each UAV in the flight queue flies.

[0215] Optionally, the communication link between the drone inspection and control equipment and the cloud server is a secure link in a preset private network.

[0216] Optionally, the drone inspection and control device is an unmanned drone airport gateway; or, the drone inspection and control device is a manned user terminal.

[0217] Figure 5 1 is a schematic diagram illustrating a structure of a drone inspection and control device according to an exemplary embodiment. The drone inspection and control device may include a processor 502, which is configured to execute application code to implement the drone inspection and control method of the present application.

[0218] The processor 502 may be a CPU, a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the present application.

[0219] like Figure 5 As shown, the drone inspection and control device may further include a memory 503. The memory 503 is used to store application code for executing the solution of the present application, and is controlled by the processor 502 for execution.

[0220] The memory 503 may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, an optical disc storage (including a compact disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 503 may exist independently and be connected to the processor 502 via the bus 504. The memory 503 may also be integrated with the processor 502.

[0221] like Figure 5 As shown, the drone inspection and control device may further include a communication interface 501, wherein the communication interface 501, the processor 502, and the memory 503 may be coupled to each other, for example, via a bus 504. The communication interface 501 is used to exchange information with other devices, for example, to support information exchange between the drone inspection and control device and other devices.

[0222] It should be pointed out that Figure 5 The equipment structure shown in the figure does not constitute a limitation on the UAV inspection and control equipment, except Figure 5 In addition to the components shown, the drone inspection and control equipment may include more or fewer components than shown, or a combination of certain components, or a different arrangement of components.

[0223] In actual implementation, the functions implemented by the processing module 402 can be Figure 5 The processor 502 shown calls the program code in the memory 503 to implement it.

[0224] The present application also provides a computer-readable storage medium having instructions stored thereon. When the instructions in the computer-readable storage medium are executed by a processor of a computer device, the computer is enabled to perform the drone inspection and control provided in the above-described embodiment. For example, the computer-readable storage medium may be a memory 503 including instructions, and the instructions may be executed by the processor 502 of the computer device to perform the above-described method. Alternatively, the computer-readable storage medium may be a non-transitory computer-readable storage medium, for example, a ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

[0225] Figure 6 A conceptual partial view of a computer program product provided by an embodiment of the present application is exemplarily shown, where the computer program product includes a computer program for executing a computer process on a computing device.

[0226] In one embodiment, the computer program product is provided using a signal bearing medium 600. The signal bearing medium 600 may include one or more program instructions that, when executed by one or more processors, may provide the above-described Figure 2 Thus, for example, reference to Figure 2 In the embodiment shown in , one or more features of S201 to S203 may be undertaken by one or more instructions associated with the signal bearing medium 600. In addition, Figure 6 The program instructions in also describe example instructions.

[0227] In some examples, the signal-bearing medium 600 may include a computer-readable medium 601, such as, but not limited to, a hard drive, a compact disk (CD), a digital video disk (DVD), a digital tape, a memory, a read-only memory (ROM), or a random access memory (RAM), and the like.

[0228] In some implementations, the signal bearing medium 600 may include a computer recordable medium 602 such as, but not limited to, a memory, a read / write (R / W) CD, a R / W, a DVD, or the like.

[0229] In some embodiments, signal bearing medium 600 may include communication medium 603 such as, but not limited to, digital and / or analog communication media (eg, fiber optic cables, waveguides, wired communication links, wireless communication links, etc.).

[0230] The signal bearing medium 600 may be conveyed by a wireless form of communication medium 603. The one or more program instructions may be, for example, computer executable instructions or logic implemented instructions.

[0231] In some examples, such as for Figure 6 The described drone inspection and control device can be configured to provide various operations, functions, or actions in response to one or more program instructions in computer-readable media 601, computer-recordable media 602, and / or communication media 603.

[0232] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete the full classification or partial functions described above.

[0233] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0234] The units described as separate components may or may not be physically separate, and the components shown as units may be one physical unit or multiple physical units, that is, they may be in one location or distributed across multiple locations. Depending on actual needs, some or all of the units may be selected to achieve the purpose of this embodiment.

[0235] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0236] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or the full classification part or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute the full classification part or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk.

[0237] The above are only specific embodiments of the present application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A drone inspection and control method, characterized in that: Applied to drone inspection and control equipment, the method includes: Receive a target path key sent by a cloud server, where the target path key is used to decrypt encrypted target path data, where the target path data is path data of a sub-path in the inspection path; decrypting the encrypted target path data based on the target path key to obtain the target path data; Sending instruction information to the target UAV, where the instruction information is used to instruct the target UAV to fly based on the target path data.

2. The method according to claim 1, characterized in that The receiving the target path key sent by the cloud server includes: Obtaining the location information of the target UAV; Based on the position information, determining a target sub-path for the target UAV to fly in the inspection path; Sending a request message to the cloud server, wherein the request message is used to request a path key for decrypting the path data corresponding to the target sub-path; The target path key sent by the cloud server based on the request information is received, where the target path key is used to decrypt path data corresponding to the target sub-path in the inspection path.

3. The method according to claim 1, characterized in that Before receiving the target path key sent by the cloud server, the method further includes: Sending identity authentication information to the cloud server; Receiving authentication success information sent by the cloud server, the authentication success information including: a dynamic token for establishing a binding relationship with the target drone; The dynamic token is sent to the target drone to establish a binding relationship with the target drone.

4. The method according to claim 3, characterized in that The authentication success information also includes: encrypted path data corresponding to all sub-sections in the inspection path.

5. The method according to claim 1, wherein Before sending the instruction information to the target UAV, the method further includes: Sending preset navigation information to the target UAV, where the preset navigation information is used to indicate an alternative flight plan to be executed by the target UAV when a preset abnormal condition is met; The preset abnormal condition includes at least one of the following: There is interference with the signal between the drone inspection and control equipment; There are obstacles in the flight path.

6. The method according to claim 5, characterized in that The alternative flight plan includes at least one of the following: In the event of signal interference with the drone inspection and control equipment, the drone will be switched to the inertial navigation system (INS) for positioning flight. When there are obstacles in the flight path, the target path data is dynamically corrected based on the data collected in real time by the obstacle avoidance sensor, and obstacle avoidance flight is performed based on the corrected target path data.

7. The method according to claim 1, characterized in that The method further comprises: Receiving image data collected by the target UAV during flight; The image data is sent to the cloud server.

8. The method according to claim 7, characterized in that The method further comprises: If the target UAV meets a preset risk condition, deleting all path data, all path keys, and the image data; The preset risk conditions include at least one of the following: The signal of the target drone is not received within a preset time period; The number of authentication failures with the target drone exceeds a preset threshold; The target drone's parts were disassembled.

9. The method according to claim 8, characterized in that The instruction information is also used to instruct the target UAV to delete all path data and collected image data when the preset risk condition is met.

10. The method according to claim 1, characterized in that The target UAV is any UAV in a flight queue, and the indication information includes path data based on which each UAV in the flight queue flies.

11. The method according to claim 1, wherein The communication link between the drone inspection and control equipment and the cloud server is a secure link in a preset private network.

12. The method according to claim 1, characterized in that The drone inspection and control equipment is an unmanned drone airport gateway; or, The drone inspection and control equipment is a manned user terminal.

13. A drone inspection and control device, characterized in that: include: processor and memory; The processor is coupled to the memory; The memory is used to store one or more programs, which include computer-executable instructions. When the drone inspection and control device is running, the processor executes the computer-executable instructions stored in the memory to enable the drone inspection and control device to perform the drone inspection and control method as described in any one of claims 1 to 12.

14. A computer-readable storage medium storing instructions, characterized in that: When the computer executes the instruction, the computer executes the drone inspection and control method according to any one of claims 1 to 12.

15. A computer program product, characterized in that The computer program product includes computer program instructions, and when the computer program instructions are executed, the drone inspection and control method according to any one of claims 1 to 12 is implemented.

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