Unmanned aerial vehicle control method and device based on multi-system cooperation, medium and equipment

Abstract

The invention discloses an unmanned aerial vehicle control method and device based on multi-system cooperation, a medium and equipment. The method comprises the following steps: acquiring position information, link quality information and environment information of a target unmanned aerial vehicle in real time; judging the link stability of the target unmanned aerial vehicle, and determining a current alternative link and an optimal link of the target unmanned aerial vehicle; and when the unmanned aerial vehicle control instruction is obtained, determining a target alternative link and a target task of the target unmanned aerial vehicle, switching the target unmanned aerial vehicle from a current main link to the target alternative link, and executing the target task. According to the method, the stability of the link is judged, the link is automatically switched to the optimal link to ensure the stability of the communication quality, and the link switching of the unmanned aerial vehicle and the execution of the task instruction are determined by comprehensively judging the multi-system unmanned aerial vehicle control instruction, so that the instruction execution efficiency and the link switching reliability are greatly improved.

Description

Technical Field

[0001] This invention relates to the field of communication technology, and in particular to a method, apparatus, medium and equipment for controlling unmanned aerial vehicles (UAVs) based on multi-system collaboration. Background Technology

[0002] Due to the rapid development of technology, the application fields of drones are becoming increasingly widespread, and it is quite common for many industries to use drones to replace manual labor in production. However, most existing drones still rely on a single communication link. Using a single communication link can easily lead to loss of connection with the drone in some extreme or remote areas with poor signal, causing the drone to go out of control and potentially resulting in economic damage or accidents. Secondly, during the operation of a drone, if multiple systems (such as ground, cloud, or mobile terminals) issue task commands to the drone simultaneously, conflicts in these commands can also cause abnormal drone operation.

[0003] Therefore, there is an urgent need for a drone control method based on multi-system collaboration. Summary of the Invention

[0004] In view of the above problems, the present invention is proposed to provide a method, apparatus, medium and device for controlling unmanned aerial vehicles based on multi-system cooperation to overcome or at least partially solve the above problems.

[0005] Other features and advantages of the invention will become apparent from the following detailed description, or may be learned in part by practice of the invention.

[0006] According to a first aspect of the present invention, a multi-system collaborative unmanned aerial vehicle (UAV) control method is provided, the multi-system collaborative UAV control method comprising:

[0007] Real-time acquisition of the target drone's location, link quality, and environmental information;

[0008] Based on the acquired location information, link quality information, and environmental information, the link stability of the target UAV is judged to determine the current alternative links and the optimal link of the target UAV.

[0009] The system determines whether a drone control command has been received. If no drone control command has been received, the target drone is switched from the current main link to the optimal link. If a drone control command has been received, the drone control command is parsed, and the target alternative link and target task of the target drone are determined. The target drone is then switched from the current main link to the target alternative link and executes the target task. The drone control command includes ground station control commands, mobile terminal control commands, and cloud control commands.

[0010] In some embodiments of the present invention, the location information of the target UAV includes the BeiDou positioning information of the target UAV and the distance between the target UAV and the controller; the link quality information of the target UAV includes the 4G / 5G signal strength of the current area, the signal-to-noise ratio of the BeiDou satellite, the latency of the self-organizing network, and the success rate of visual feature point matching; the environmental information of the target UAV includes the terrain complexity index.

[0011] In some embodiments of the present invention, the step of judging the link stability of the target UAV based on the acquired location information, link quality information, and environmental information, and determining the current alternative links and optimal links of the target UAV, includes:

[0012] When the distance between the target drone and the controller does not exceed the signal range of the controller, the optimal link for the target drone is the self-organizing network link, and the alternative links include the Beidou satellite link and the 4G / 5G communication link; when the delay of the self-organizing network link is greater than a preset delay threshold, the target drone is switched to the alternative link.

[0013] When the distance between the target drone and the controller exceeds the signal range of the controller, the optimal link for the target drone is the BeiDou satellite link, with alternative links including 4G / 5G communication links and visual navigation; if the signal-to-noise ratio of the BeiDou satellite link is less than 10dB and lasts for three sampling cycles, the target drone is switched to the 4G / 5G communication link; if the 4G / 5G signal strength of the 4G / 5G communication link is less than -110dBm, the target drone is switched to visual navigation; if the terrain complexity index is greater than 0.7, the optimal link for the target drone is the BeiDou satellite link and visual navigation, with alternative links including 4G / 5G communication links.

[0014] When the success rate of matching the visual feature points is less than the preset success rate threshold, the visual navigation is disabled. The current optimal link for the target UAV is the Beidou satellite link, and alternative links include 4G / 5G communication links.

[0015] In some embodiments of the present invention, the step of parsing the UAV control command and determining the target alternative link and target task of the target UAV when the UAV control command is obtained, and switching the target UAV from the current main link to the target alternative link and executing the target task includes:

[0016] When the UAV control command is obtained, if the UAV control command includes at least two of the ground station control command, mobile terminal control command and cloud control command, then it is determined whether the target tasks in the multiple UAV control commands conflict.

[0017] If there is no conflict among the target tasks in the multiple UAV control commands, the system will switch to the target alternative link and execute the target task in the order in which the multiple UAV control commands are acquired.

[0018] If a conflict arises among the target tasks in multiple UAV control commands, the target tasks shall be executed sequentially according to the priority of the UAV control commands, wherein the priority of the UAV control commands is: ground station control commands > mobile terminal control commands > cloud control commands.

[0019] According to a second aspect of the present invention, a multi-system collaborative unmanned aerial vehicle (UAV) control device is provided, the multi-system collaborative UAV control device comprising:

[0020] The data acquisition module is used to acquire the target UAV's location information, link quality information, and environmental information in real time;

[0021] The link evaluation module is used to judge the link stability of the target UAV based on the acquired location information, link quality information and environmental information, and to determine the current alternative links and the optimal link of the target UAV.

[0022] The instruction execution module is used to determine whether a drone control instruction has been acquired. If the drone control instruction has not been acquired, the module switches the target drone from the current main link to the optimal link. If the drone control instruction has been acquired, the module parses the drone control instruction and determines the target alternative link and target task for the target drone. The module then switches the target drone from the current main link to the target alternative link and executes the target task. The drone control instruction includes ground station control instructions, mobile terminal control instructions, and cloud control instructions.

[0023] In some embodiments of the present invention, the location information of the target UAV includes the BeiDou positioning information of the target UAV and the distance between the target UAV and the controller; the link quality information of the target UAV includes the 4G / 5G signal strength of the current area, the signal-to-noise ratio of the BeiDou satellite, the latency of the self-organizing network, and the success rate of visual feature point matching; the environmental information of the target UAV includes the terrain complexity index.

[0024] In some embodiments of the present invention, the link evaluation module judges the link stability of the target UAV based on the acquired location information, link quality information, and environmental information, and determines the current alternative links and optimal links of the target UAV, including:

[0025] When the distance between the target drone and the controller does not exceed the signal range of the controller, the optimal link for the target drone is the self-organizing network link, and the alternative links include the Beidou satellite link and the 4G / 5G communication link; when the delay of the self-organizing network link is greater than a preset delay threshold, the target drone is switched to the alternative link.

[0026] When the distance between the target drone and the controller exceeds the signal range of the controller, the optimal link for the target drone is the BeiDou satellite link, with alternative links including 4G / 5G communication links and visual navigation; if the signal-to-noise ratio of the BeiDou satellite link is less than 10dB and lasts for three sampling cycles, the target drone is switched to the 4G / 5G communication link; if the 4G / 5G signal strength of the 4G / 5G communication link is less than -110dBm, the target drone is switched to visual navigation; if the terrain complexity index is greater than 0.7, the optimal link for the target drone is the BeiDou satellite link and visual navigation, with alternative links including 4G / 5G communication links.

[0027] When the success rate of matching the visual feature points is less than the preset success rate threshold, the visual navigation is disabled. The current optimal link for the target UAV is the Beidou satellite link, and alternative links include 4G / 5G communication links.

[0028] In some embodiments of the present invention, when the instruction execution module receives the UAV control instruction, it parses the UAV control instruction and determines the target alternative link and target task of the target UAV, and switches the target UAV from the current main link to the target alternative link and executes the target task, including:

[0029] When the UAV control command is obtained, if the UAV control command includes at least two of the ground station control command, mobile terminal control command and cloud control command, then it is determined whether the target tasks in the multiple UAV control commands conflict.

[0030] If there is no conflict among the target tasks in the multiple UAV control commands, the system will switch to the target alternative link and execute the target task in the order in which the multiple UAV control commands are acquired.

[0031] If a conflict arises among the target tasks in multiple UAV control commands, the target tasks shall be executed sequentially according to the priority of the UAV control commands, wherein the priority of the UAV control commands is: ground station control commands > mobile terminal control commands > cloud control commands.

[0032] According to a third aspect of the present invention, a computer-readable storage medium is provided, wherein computer program instructions are stored therein, the computer program instructions being loaded and executed by a processor to perform the operations performed by the method described in any of the preceding claims.

[0033] According to a fourth aspect of the present invention, an electronic device is provided, including a processor and a memory, the memory storing computer program instructions executable by the processor, wherein when the processor executes the computer program instructions, it implements the instructions of any of the methods described above.

[0034] The technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:

[0035] This invention provides a method, apparatus, medium, and device for controlling unmanned aerial vehicles (UAVs) based on multi-system collaboration. The UAV control method based on multi-system collaboration described in this invention determines link stability by acquiring the target UAV's location information, link quality information, and environmental information in real time, and automatically switches to the optimal link to ensure stable communication quality. It also comprehensively judges the UAV control commands from multiple systems to determine the link switching and task command execution of the UAV, greatly improving the efficiency of command execution and the reliability of link switching.

[0036] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 A flowchart illustrating a multi-system collaborative unmanned aerial vehicle (UAV) control method provided in an embodiment of the present invention;

[0039] Figure 2 This is a schematic diagram of the principle structure of a drone control device based on multi-system collaboration, provided as an embodiment of the present invention. Detailed Implementation

[0040] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings.

[0041] The accompanying drawings illustrate various structural schematics according to embodiments of the present disclosure. These drawings are not to scale, and some details have been enlarged for clarity, and some details may have been omitted. The shapes of the various regions and layers shown in the drawings, as well as their relative sizes and positional relationships, are merely exemplary and may deviate from reality due to manufacturing tolerances or technical limitations. Furthermore, those skilled in the art can design regions / layers with different shapes, sizes, and relative positions as needed.

[0042] In the context of this disclosure, when a layer / component is referred to as being "above" another layer / component, that layer / component may be directly above the other layer / component, or there may be an intermediate layer / component between them. Additionally, if a layer / component is "above" another layer / component in one orientation, then when the orientation is reversed, that layer / component may be "below" the other layer / component. In the context of this disclosure, similar or identical components may be denoted by the same or similar reference numerals.

[0043] To better understand the above technical solutions, the following will describe the above technical solutions in detail with reference to specific implementation methods. It should be understood that the embodiments of this disclosure and the specific features in the embodiments are detailed descriptions of the technical solutions of the present invention, rather than limitations on the technical solutions of the present invention. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0044] Figure 1 This is a flowchart illustrating a multi-system collaborative unmanned aerial vehicle (UAV) control method provided in an embodiment of the present invention, as shown below. Figure 1 As shown, the UAV control method based on multi-system collaboration includes the following steps:

[0045] S1. Real-time acquisition of the target drone's location information, link quality information, and environmental information;

[0046] In this embodiment of the invention, the location information of the target drone includes the BeiDou positioning information of the target drone and the distance between the target drone and the controller; the link quality information of the target drone includes the 4G / 5G signal strength of the current area, the signal-to-noise ratio of the BeiDou satellite, the latency of the self-organizing network, and the success rate of visual feature point matching; the environmental information of the target drone includes the terrain complexity index.

[0047] S2. Based on the acquired location information, link quality information, and environmental information, the link stability of the target UAV is judged, and the current alternative links and the optimal link of the target UAV are determined.

[0048] In step S2, this embodiment of the invention determines the link stability of the target UAV based on the acquired location information, link quality information, and environmental information, and determines the current alternative links and optimal links of the target UAV, including:

[0049] When the distance between the target drone and the controller is within the signal range of the controller, the target drone preferably communicates via a self-organizing network link. When the distance between the target drone and the controller exceeds the signal range of the controller, the optimal link is determined based on the signal-to-noise ratio of the BeiDou satellite link and the 4G / 5G signal strength of the 4G / 5G communication link. For example, when the distance between the target drone and the controller is within the signal range of the controller, the current optimal link for the target drone is the self-organizing network link, and alternative links include the BeiDou satellite link and the 4G / 5G communication link; when the delay of the self-organizing network link is greater than a preset delay threshold, the target drone is switched to an alternative link.

[0050] When the distance between the target drone and the controller exceeds the signal range of the controller, the optimal link for the target drone is the BeiDou satellite link, and alternative links include 4G / 5G communication links and visual navigation. If the signal-to-noise ratio of the BeiDou satellite link is less than 10dB and lasts for three sampling cycles (e.g., 0.5s per sampling cycle), the target drone will switch to the 4G / 5G communication link. If the 4G / 5G signal strength of the 4G / 5G communication link is less than -110dBm, the target drone will switch to visual navigation. That is, after the target drone fails in the self-organizing network link, the BeiDou satellite link, and the 4G / 5G communication link, it will switch to visual navigation to return home until it reconnects to any of the aforementioned links.

[0051] After the target UAV switches to the visual navigation, this embodiment of the invention can load the flight trajectory and video cache data recently recorded by the target UAV, arrange the stored flight trajectory points in reverse chronological order, calculate the yaw angle based on the vectors of adjacent points, and finally perform real-time positioning and map construction matching between the real-time image features and the stored data to calculate the pose deviation and achieve visual-assisted correction.

[0052] If the terrain complexity index is greater than 0.7, the optimal link for the target UAV is the BeiDou satellite link and visual navigation, and the alternative links include 4G / 5G communication links. In scenarios where the terrain complexity index is greater than 0.7 (mountainous / forest environment), this embodiment of the invention activates the visual navigation-assisted positioning link to form a multi-source heterogeneous fusion positioning with the BeiDou satellite link, which can achieve stable communication in areas with complex terrain.

[0053] Since visual navigation cannot be properly activated when the visual feature point matching success rate is too low, the visual navigation is disabled in this embodiment of the invention when the visual feature point matching success rate is less than a preset matching success rate threshold (e.g., 70% to 90%). The current optimal link for the target UAV is the Beidou satellite link, and alternative links include 4G / 5G communication links.

[0054] S3. Determine whether a drone control command has been obtained. If the drone control command has not been obtained, switch the target drone from the current main link to the optimal link. If the drone control command has been obtained, parse the drone control command and determine the target alternative link and target task of the target drone. Switch the target drone from the current main link to the target alternative link and execute the target task. The drone control command includes ground station control command, mobile terminal control command and cloud control command.

[0055] In step S3, when the UAV control command is obtained, this embodiment of the invention parses the UAV control command and determines the target alternative link and target task of the target UAV, and switches the target UAV from the current main link to the target alternative link and executes the target task, including:

[0056] When the drone control command is obtained, if the drone control command includes at least two of the ground station control command, mobile terminal control command, and cloud control command, then it is determined whether there is a conflict among the target tasks of the multiple drone control commands; the conflict of the target tasks is, for example, one drone control command controls the target drone to ascend while another drone control command controls the target drone to descend.

[0057] If the target tasks in the multiple UAV control commands do not conflict, the target task is switched to the alternative link in the order in which the multiple UAV control commands are acquired and the target task is executed. Since different target tasks may require different links, for example, if the target task requires high bandwidth and low latency, the optimal link is switched to according to the link quality information corresponding to the alternative link (which may be one or more of the self-organizing network link, Beidou satellite link or 4G / 5G communication link), and the optimal link is used as the target alternative link.

[0058] If the target tasks in multiple UAV control commands conflict, the target tasks are executed sequentially according to the priority of the UAV control commands, wherein the priority of the UAV control commands is ground station control commands > mobile terminal control commands > cloud control commands; that is, when the target tasks in multiple UAV control commands conflict, if a ground station control command exists, the ground station control command is executed first, followed by the mobile terminal control command and then the cloud control command; if no ground station control command exists, the mobile terminal control command is executed first, followed by the cloud control command.

[0059] The UAV control method based on multi-system collaboration described in this invention uses real-time acquired target UAV location information, link quality information, and environmental information to determine link stability and automatically switches to the optimal link to ensure stable communication quality. It also comprehensively judges the UAV control commands from multiple systems to determine the link switching and task command execution of the UAV, greatly improving the efficiency of command execution and the reliability of link switching.

[0060] Based on the above embodiments, as a supplement to the above... Figure 1 The present invention provides an embodiment of a UAV control device based on multi-system collaboration, which is similar to the method shown. Figure 1 Corresponding to the method embodiments shown, this device can be specifically applied to various electronic devices, see reference. Figure 2 As shown, the UAV control device based on multi-system collaboration includes:

[0061] The data acquisition module 100 is used to acquire the target UAV's location information, link quality information, and environmental information in real time.

[0062] The link evaluation module 200 is used to judge the link stability of the target UAV based on the acquired location information, link quality information and environmental information, and to determine the current alternative links and the optimal link of the target UAV.

[0063] The instruction execution module 300 is used to determine whether a UAV control instruction has been acquired. If the UAV control instruction has not been acquired, the module switches the target UAV from the current main link to the optimal link. If the UAV control instruction is acquired, the module parses the UAV control instruction and determines the target alternative link and target task for the target UAV. The module then switches the target UAV from the current main link to the target alternative link and executes the target task. The UAV control instruction includes ground station control instructions, mobile terminal control instructions, and cloud control instructions.

[0064] In this embodiment of the invention, the location information of the target drone includes the BeiDou positioning information of the target drone and the distance between the target drone and the controller; the link quality information of the target drone includes the 4G / 5G signal strength of the current area, the signal-to-noise ratio of the BeiDou satellite, the latency of the self-organizing network, and the success rate of visual feature point matching; the environmental information of the target drone includes the terrain complexity index.

[0065] In this embodiment of the invention, the link evaluation module 200 judges the link stability of the target UAV based on the acquired location information, link quality information, and environmental information, and determines the current alternative links and optimal links of the target UAV, including:

[0066] When the distance between the target drone and the controller does not exceed the signal range of the controller, the optimal link for the target drone is the self-organizing network link, and the alternative links include the Beidou satellite link and the 4G / 5G communication link; when the delay of the self-organizing network link is greater than a preset delay threshold, the target drone is switched to the alternative link.

[0067] When the distance between the target drone and the controller exceeds the signal range of the controller, the optimal link for the target drone is the BeiDou satellite link, with alternative links including 4G / 5G communication links and visual navigation; if the signal-to-noise ratio of the BeiDou satellite link is less than 10dB and lasts for three sampling cycles, the target drone is switched to the 4G / 5G communication link; if the 4G / 5G signal strength of the 4G / 5G communication link is less than -110dBm, the target drone is switched to visual navigation; if the terrain complexity index is greater than 0.7, the optimal link for the target drone is the BeiDou satellite link and visual navigation, with alternative links including 4G / 5G communication links.

[0068] When the success rate of matching the visual feature points is less than the preset success rate threshold, the visual navigation is disabled. The current optimal link for the target UAV is the Beidou satellite link, and alternative links include 4G / 5G communication links.

[0069] In this embodiment of the invention, when the instruction execution module 300 receives the UAV control instruction, it parses the UAV control instruction and determines the target alternative link and target task of the target UAV, and switches the target UAV from the current main link to the target alternative link and executes the target task, including:

[0070] When the UAV control command is obtained, if the UAV control command includes at least two of the ground station control command, mobile terminal control command and cloud control command, then it is determined whether the target tasks in the multiple UAV control commands conflict.

[0071] If there is no conflict among the target tasks in the multiple UAV control commands, the system will switch to the target alternative link and execute the target task in the order in which the multiple UAV control commands are acquired.

[0072] If a conflict arises among the target tasks in multiple UAV control commands, the target tasks shall be executed sequentially according to the priority of the UAV control commands, wherein the priority of the UAV control commands is: ground station control commands > mobile terminal control commands > cloud control commands.

[0073] The UAV control device based on multi-system collaboration described in this embodiment can execute the UAV control method based on multi-system collaboration provided in the above embodiments. The UAV control device based on multi-system collaboration has the corresponding functional steps and beneficial effects of the UAV control method based on multi-system collaboration described in the above embodiments. For details, please refer to the embodiments of the UAV control method based on multi-system collaboration described above. The embodiments of this invention will not be repeated here.

[0074] This invention also provides an electronic device, which may include a processor and a memory, wherein the processor and memory can be connected via a bus or other means. The processor may be a Central Processing Unit (CPU). The processor may also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations thereof. The memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program instructions / modules corresponding to the UAV control method based on multi-system collaboration in this invention embodiment. The processor executes various functional applications and data processing by running the non-transitory software programs, instructions, and modules stored in the memory, thereby realizing the UAV control method based on multi-system collaboration in the above method embodiment.

[0075] The memory may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created by the processor, etc. Furthermore, the memory may include high-speed random access memory and non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. The one or more modules are stored in the memory and, when executed by the processor, perform the UAV control method based on multi-system collaboration as described in the above method embodiments. Specific details of the above electronic device can be understood by referring to the corresponding descriptions and effects in the above method embodiments, and will not be repeated here. Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it may include the processes of the embodiments of the above methods. The storage medium may be a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD), etc.; the storage medium may also include a combination of the above types of memory.

[0076] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0077] Similarly, it should be understood that, in order to simplify this disclosure and aid in understanding one or more of the various aspects of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof in the description of exemplary embodiments of the invention above. Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and it should be noted that the above embodiments are illustrative of the invention and not restrictive, and that alternative embodiments can be devised by those skilled in the art without departing from its scope.

Claims

1. A method for controlling unmanned aerial vehicles (UAVs) based on multi-system collaboration, characterized in that, The UAV control method based on multi-system collaboration includes: Real-time acquisition of the target drone's location, link quality, and environmental information; Based on the acquired location information, link quality information, and environmental information, the link stability of the target UAV is judged to determine the current alternative links and the optimal link of the target UAV. The system determines whether a drone control command has been received. If no drone control command has been received, the target drone is switched from the current main link to the optimal link. If a drone control command has been received, the drone control command is parsed, and the target alternative link and target task of the target drone are determined. The target drone is then switched from the current main link to the target alternative link and executes the target task. The drone control command includes ground station control commands, mobile terminal control commands, and cloud control commands.

2. The UAV control method based on multi-system collaboration according to claim 1, characterized in that: The location information of the target drone includes the BeiDou positioning information of the target drone and the distance between the target drone and the controller; the link quality information of the target drone includes the 4G / 5G signal strength of the current area, the signal-to-noise ratio of the BeiDou satellite, the latency of the self-organizing network, and the success rate of visual feature point matching; the environmental information of the target drone includes the terrain complexity index.

3. The UAV control method based on multi-system collaboration according to claim 2, characterized in that, The step of judging the link stability of the target UAV based on the acquired location information, link quality information, and environmental information, and determining the current alternative links and optimal links of the target UAV, includes: When the distance between the target drone and the controller does not exceed the signal range of the controller, the optimal link for the target drone is the self-organizing network link, and the alternative links include the Beidou satellite link and the 4G / 5G communication link; when the delay of the self-organizing network link is greater than a preset delay threshold, the target drone is switched to the alternative link. When the distance between the target drone and the controller exceeds the signal range of the controller, the optimal link for the target drone is the BeiDou satellite link, with alternative links including 4G / 5G communication links and visual navigation; if the signal-to-noise ratio of the BeiDou satellite link is less than 10dB and lasts for three sampling cycles, the target drone is switched to the 4G / 5G communication link; if the 4G / 5G signal strength of the 4G / 5G communication link is less than -110dBm, the target drone is switched to visual navigation; if the terrain complexity index is greater than 0.7, the optimal link for the target drone is the BeiDou satellite link and visual navigation, with alternative links including 4G / 5G communication links. When the success rate of matching the visual feature points is less than the preset success rate threshold, the visual navigation is disabled. The current optimal link for the target UAV is the Beidou satellite link, and alternative links include 4G / 5G communication links.

4. The UAV control method based on multi-system collaboration according to claim 3, characterized in that, The step of parsing the UAV control command and determining the target alternative link and target task of the target UAV when the UAV control command is obtained, and switching the target UAV from the current main link to the target alternative link and executing the target task includes: When the UAV control command is obtained, if the UAV control command includes at least two of the ground station control command, mobile terminal control command and cloud control command, then it is determined whether the target tasks in the multiple UAV control commands conflict. If there is no conflict among the target tasks in the multiple UAV control commands, the system will switch to the target alternative link and execute the target task in the order in which the multiple UAV control commands are acquired. If a conflict arises among the target tasks in multiple UAV control commands, the target tasks shall be executed sequentially according to the priority of the UAV control commands, wherein the priority of the UAV control commands is: ground station control commands > mobile terminal control commands > cloud control commands.

5. A UAV control device based on multi-system collaboration, characterized in that, The UAV control device based on multi-system collaboration includes: The data acquisition module is used to acquire the target UAV's location information, link quality information, and environmental information in real time; The link evaluation module is used to judge the link stability of the target UAV based on the acquired location information, link quality information and environmental information, and to determine the current alternative links and the optimal link of the target UAV. The instruction execution module is used to determine whether a drone control instruction has been acquired. If the drone control instruction has not been acquired, the module switches the target drone from the current main link to the optimal link. If the drone control instruction has been acquired, the module parses the drone control instruction and determines the target alternative link and target task for the target drone. The module then switches the target drone from the current main link to the target alternative link and executes the target task. The drone control instruction includes ground station control instructions, mobile terminal control instructions, and cloud control instructions.

6. The UAV control device based on multi-system collaboration according to claim 5, characterized in that: The location information of the target drone includes the BeiDou positioning information of the target drone and the distance between the target drone and the controller; the link quality information of the target drone includes the 4G / 5G signal strength of the current area, the signal-to-noise ratio of the BeiDou satellite, the latency of the self-organizing network, and the success rate of visual feature point matching; the environmental information of the target drone includes the terrain complexity index.

7. The UAV control device based on multi-system collaboration according to claim 6, characterized in that, The link evaluation module assesses the link stability of the target UAV based on the acquired location information, link quality information, and environmental information, and determines the target UAV's current alternative links and optimal links, including: When the distance between the target drone and the controller does not exceed the signal range of the controller, the optimal link for the target drone is the self-organizing network link, and the alternative links include the Beidou satellite link and the 4G / 5G communication link; when the delay of the self-organizing network link is greater than a preset delay threshold, the target drone is switched to the alternative link. When the distance between the target drone and the controller exceeds the signal range of the controller, the optimal link for the target drone is the BeiDou satellite link, with alternative links including 4G / 5G communication links and visual navigation; if the signal-to-noise ratio of the BeiDou satellite link is less than 10dB and lasts for three sampling cycles, the target drone is switched to the 4G / 5G communication link; if the 4G / 5G signal strength of the 4G / 5G communication link is less than -110dBm, the target drone is switched to visual navigation; if the terrain complexity index is greater than 0.7, the optimal link for the target drone is the BeiDou satellite link and visual navigation, with alternative links including 4G / 5G communication links. When the success rate of matching the visual feature points is less than the preset success rate threshold, the visual navigation is disabled. The current optimal link for the target UAV is the Beidou satellite link, and alternative links include 4G / 5G communication links.

8. The UAV control device based on multi-system collaboration according to claim 7, characterized in that, When the instruction execution module receives the UAV control instruction, it parses the UAV control instruction and determines the target alternative link and target task of the target UAV. Switching the target UAV from the current main link to the target alternative link and executing the target task includes: When the UAV control command is obtained, if the UAV control command includes at least two of the ground station control command, mobile terminal control command and cloud control command, then it is determined whether the target tasks in the multiple UAV control commands conflict. If there is no conflict among the target tasks in the multiple UAV control commands, the system will switch to the target alternative link and execute the target task in the order in which the multiple UAV control commands are acquired. If a conflict arises among the target tasks in multiple UAV control commands, the target tasks shall be executed sequentially according to the priority of the UAV control commands, wherein the priority of the UAV control commands is: ground station control commands > mobile terminal control commands > cloud control commands.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions that are loaded and executed by a processor to perform the operations described in any one of claims 1-4.

10. An electronic device comprising a processor and a memory, characterized in that, The memory stores computer program instructions that can be executed by the processor, and when the processor executes the computer program instructions, it implements the instructions of the method as described in any one of claims 1-4.

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