CN112925335A

CN112925335A - Unmanned aerial vehicle communication method and device, computer readable storage medium and equipment

Info

Publication number: CN112925335A
Application number: CN201911245001.1A
Authority: CN
Inventors: 马凡; 陆再政
Original assignee: SF Technology Co Ltd
Current assignee: Fengyi Technology (Shenzhen) Co.,Ltd.
Priority date: 2019-12-06
Filing date: 2019-12-06
Publication date: 2021-06-08

Abstract

The application relates to a method and a device for controlling an unmanned aerial vehicle, a computer-readable storage medium and computer equipment, wherein the method comprises the following steps: receiving unmanned aerial vehicle flight information and unmanned aerial vehicle parameters sent by an unmanned aerial vehicle through an autonomous communication networking network; receiving position information and meteorological information about the flight environment of the unmanned aerial vehicle, which are acquired by a terminal, by using an autonomous communication networking network; a target flight route is set for the unmanned aerial vehicle according to the position information; judging whether the flying route of the unmanned aerial vehicle is matched with the target flying route or not according to the flying information of the unmanned aerial vehicle, and judging whether the parameters of the unmanned aerial vehicle are matched with the meteorological information or not; if the flying route of the unmanned aerial vehicle is not matched with the target flying route and the unmanned aerial vehicle parameters are not matched with the meteorological information, acquiring corresponding prompt information; and generating a first control instruction according to the prompt information and the unmanned aerial vehicle parameters, and controlling the unmanned aerial vehicle through the first control instruction. Flight faults in the flight process of the unmanned aerial vehicle are reduced, and the efficiency of smoothly completing tasks by the unmanned aerial vehicle is improved.

Description

Unmanned aerial vehicle communication method and device, computer readable storage medium and equipment

Technical Field

The application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle communication method, an unmanned aerial vehicle communication device, a computer readable storage medium and computer equipment.

Background

Along with the development of unmanned aerial vehicle technique, unmanned aerial vehicle's performance is constantly strengthened, the type is constantly increased, makes its application demand in each field constantly increase, if need often need repeated execution, and have the task of the high degree of difficulty high risk such as power inspection, forest fire prevention and logistics distribution, unmanned aerial vehicle has played very important role.

However, in the conventional control scheme of the unmanned aerial vehicle, the flight environment and the information of the unmanned aerial vehicle are not considered in real time, so that the unmanned aerial vehicle may have flight faults in the flight process, and the corresponding task cannot be smoothly completed.

Disclosure of Invention

Therefore, it is necessary to provide a communication method and apparatus for an unmanned aerial vehicle, a computer-readable storage medium, and a computer device, for solving the technical problem that the unmanned aerial vehicle may have a flight fault during a flight process and cannot smoothly complete a corresponding task.

An unmanned aerial vehicle control method comprising:

receiving unmanned aerial vehicle flight information and unmanned aerial vehicle parameters sent by an unmanned aerial vehicle through an autonomous communication networking network;

receiving position information and meteorological information about the flight environment of the unmanned aerial vehicle, which are acquired by a terminal, by using the autonomous communication networking network;

formulating a target flight route for the unmanned aerial vehicle according to the position information;

judging whether the flying route of the unmanned aerial vehicle is matched with the target flying route or not according to the unmanned aerial vehicle flying information, and judging whether the unmanned aerial vehicle parameters are matched with the meteorological information or not;

if the flying route of the unmanned aerial vehicle is not matched with the target flying route and the unmanned aerial vehicle parameters are not matched with the meteorological information, acquiring corresponding prompt information;

and generating a first control instruction according to the prompt information and the unmanned aerial vehicle parameters, and controlling the unmanned aerial vehicle through the first control instruction.

An unmanned aerial vehicle control apparatus, the apparatus comprising:

the first receiving module is used for receiving the flight information and the parameters of the unmanned aerial vehicle sent by the unmanned aerial vehicle through the autonomous communication networking network;

the second receiving module is used for receiving the position information and the meteorological information acquired by the terminal through the autonomous communication networking network;

the position module is used for formulating a target flight route for the unmanned aerial vehicle according to the position information;

the judging module is used for judging whether the flying route of the unmanned aerial vehicle is matched with the target flying route or not according to the flying information of the unmanned aerial vehicle and judging whether the parameters of the unmanned aerial vehicle are matched with the meteorological information or not;

the information acquisition module is used for acquiring corresponding prompt information if the flying route of the unmanned aerial vehicle is not matched with the target flying route and the unmanned aerial vehicle parameters are not matched with the meteorological information;

and the control module is used for generating a first control instruction according to the prompt message and the unmanned aerial vehicle parameters, and controlling the unmanned aerial vehicle through the first control instruction.

A computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of a drone controlling method.

According to the unmanned aerial vehicle communication method, the unmanned aerial vehicle communication device, the computer readable storage medium and the computer equipment, the unmanned aerial vehicle flight information and unmanned aerial vehicle parameters sent by the unmanned aerial vehicle and the position information and weather information acquired by the terminal in real time are received by the autonomous communication networking network, so that the signal coverage area of unmanned aerial vehicle communication is increased, and the field flight area of the unmanned aerial vehicle is enlarged; and judging whether the flight path of the unmanned aerial vehicle is matched with the target flight path or not according to the flight information of the unmanned aerial vehicle, judging whether the parameters of the unmanned aerial vehicle are matched with the meteorological information or not, if not, sending prompt information to the control end, monitoring the peripheral environment data which is obtained autonomously in real time and comprises the position information of the unmanned aerial vehicle flight environment and the meteorological information in real time through the autonomous communication networking terminal equipment, and through calculating duration and the anti external force performance of unmanned aerial vehicle under real-time position information and meteorological information, judge the technical scheme whether all ring edge border data and unmanned aerial vehicle information match, for simply contrast with unmanned aerial vehicle information after obtaining all ring edge border data among the traditional art, do not calculate the technical scheme of the duration and the anti external force performance of unmanned aerial vehicle under this all ring edge border data, this scheme has improved the efficiency to unmanned aerial vehicle's real time monitoring and early warning. According to the prompt information and the unmanned aerial vehicle parameters, the control instruction is generated, the unmanned aerial vehicle is controlled in time through the control instruction, the flight faults of the unmanned aerial vehicle in the flight process are reduced, and the efficiency of smoothly completing corresponding tasks by the unmanned aerial vehicle is improved.

Drawings

FIG. 1 is a diagram of an exemplary environment in which an unmanned aerial vehicle control method may be implemented;

fig. 2 is a schematic flow chart of a method for controlling a drone according to an embodiment;

FIG. 3 is a schematic flow chart of the steps of drone control in one embodiment;

FIG. 4 is a schematic flow chart of the steps of drone control in one embodiment;

FIG. 5 is a schematic flow chart of the steps of the drone control in one embodiment;

FIG. 6 is a schematic flow chart of the unmanned aerial vehicle control step in one embodiment;

fig. 7 is a schematic flow chart of a method for controlling a drone according to an embodiment;

FIG. 8 is a block diagram showing the structure of an unmanned aerial vehicle control apparatus according to an embodiment;

FIG. 9 is a block diagram showing the structure of an unmanned aerial vehicle control apparatus according to an embodiment;

FIG. 10 is a block diagram showing a configuration of a computer device according to an embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

FIG. 1 is a diagram of an exemplary environment in which the method for controlling an unmanned aerial vehicle may be implemented. Referring to fig. 1, the unmanned aerial vehicle control method is applied to an unmanned aerial vehicle control system. The drone control system includes a drone 110, a server 120, and a terminal 130. The drone 110, the terminal 130, and the server 120 are connected by a network. The server 120 receives the unmanned aerial vehicle flight information and the unmanned aerial vehicle parameters sent by the unmanned aerial vehicle 110 through the autonomous communication networking network; receiving, by using the autonomous communication networking network, position information and weather information about the flight environment of the unmanned aerial vehicle, which are acquired by the terminal 130; the server 120 formulates a target flight route for the unmanned aerial vehicle according to the position information; judging whether the flying route of the unmanned aerial vehicle is matched with the target flying route or not according to the flying information of the unmanned aerial vehicle, and judging whether the parameters of the unmanned aerial vehicle are matched with the meteorological information or not; if the flying route of the unmanned aerial vehicle is not matched with the target flying route and the unmanned aerial vehicle parameters are not matched with the meteorological information, acquiring corresponding prompt information; and generating a first control instruction according to the prompt message and the unmanned aerial vehicle parameters, and controlling the unmanned aerial vehicle 110 through the first control instruction.

The terminal 130 may be a device including a position sensor, a weather sensor, a controller, and a display screen, and may specifically be a desktop terminal or a mobile terminal, and the mobile terminal may be at least one of a mobile phone, a tablet computer, a notebook computer, and the like. The server 120 may be implemented as a stand-alone server or a server cluster composed of a plurality of servers.

As shown in fig. 2, in one embodiment, a drone control method is provided. The embodiment is mainly illustrated by applying the method to the server 120 in fig. 1. Referring to fig. 2, the unmanned aerial vehicle control method specifically includes the following steps:

s202, receiving unmanned aerial vehicle flight information and unmanned aerial vehicle parameters sent by the unmanned aerial vehicle through the autonomous communication networking network.

In one embodiment, the server is connected to the unmanned aerial vehicle through an autonomous communication networking network, and the autonomous communication networking network is a network capable of realizing interconversion of radio data and mobile communication data and is composed of one or more portable servers and an unmanned aerial vehicle communication base station. Unmanned aerial vehicle communication base station installs communication module, orientation module and signal transmitter. The server, the terminal and the unmanned aerial vehicle form ad hoc communication networking through receiving the signal that the signal transmitter of unmanned aerial vehicle communication base station sent, and send control command for the communication module of unmanned aerial vehicle communication base station, communication module sends control command for signal transmitter, signal transmitter carries out signal conditioning according to control command and enlargies the back and sends for terminal and unmanned aerial vehicle, and the terminal receives control command with unmanned aerial vehicle after, accomplishes corresponding operation. The positioning module on the unmanned aerial vehicle communication base station can position the unmanned aerial vehicle communication base station, and the base station is used as a center to automatically communicate the networking network signal from strong to weak. When a plurality of base stations are additionally arranged to form a base station network, an autonomous communication networking network area with a larger range and more stability can be formed, wherein the base stations are in communication connection through a server.

In one embodiment, the antenna in the unmanned aerial vehicle communication base station radiates signals upwards, so that the server can be in communication connection with the unmanned aerial vehicle flying at high altitude without a mobile communication network. The regional size that ad hoc communication network signal covered does not receive the terrain environment, and in forest zone, plateau, hills, island and other areas that the ground is rare, mobile communication network signal tower covers less area and can use radio data and unmanned aerial vehicle and terminal to communicate, guarantees that the communication between server and unmanned aerial vehicle, the terminal is smooth and easy. The unmanned aerial vehicle can establish communication connection with one or more unmanned aerial vehicle basic stations in the task execution process, and after the unmanned aerial vehicle flies away from the signal reception scope of an unmanned aerial vehicle basic station, then establish communication connection with the unmanned aerial vehicle basic station in the new signal scope. When the unmanned aerial vehicle receives signals transmitted by a plurality of unmanned aerial vehicle base stations, the strength of each signal is judged, and the unmanned aerial vehicle is connected with the strongest signal to keep smooth communication connection with the server.

In one embodiment, the components of the drone include a communication device, a controller, a positioning device, a propeller, and a battery. The unmanned aerial vehicle flight information comprises unmanned aerial vehicle positioning information, current flight attitude and real-time flight speed. Unmanned aerial vehicle location module real-time supervision unmanned aerial vehicle locating information, unmanned aerial vehicle locating information includes the longitude and latitude coordinate of unmanned aerial vehicle flight, flight height, altitude, is represented by three-dimensional location coordinate (116.389550, 39.928167, 120, 3500), and wherein 116.389550 represents the longitude position at unmanned aerial vehicle place, 39.928167 represents the latitude position at unmanned aerial vehicle place, 120 represents the flying height (the unit is meter) apart from the ground of unmanned aerial vehicle, 3500 represents the altitude (the unit is meter) of unmanned aerial vehicle flight. The controller controls the flying angle of the unmanned aerial vehicle body and the rotating speed of the propeller to adjust the flying posture and the flying speed of the unmanned aerial vehicle, the flying posture of the unmanned aerial vehicle comprises a flat flying posture, a pitching posture and a heeling posture, the flying speed is related to the flying posture of the unmanned aerial vehicle, and different flying postures have different influences on the flying speed. For example, the vehicle can tilt up to 25 degrees and rise up at a speed of 6 m/s, tilt down to 25 degrees and fall down at a speed of 4 m/s, tilt right to 35 degrees and turn at a speed of 1 m/s. The unmanned aerial vehicle parameters include electric quantity values and external force resistance. The controller monitors the battery state of the unmanned aerial vehicle in real time, and if the electric quantity is 100% of full electricity, the electric quantity is 100% to 30% of normal electricity, the electric quantity is 30% -10% of low electricity, and the electric quantity is 10% of warning electricity and below. Unmanned aerial vehicle's driving system, type of structure, structural design have decided unmanned aerial vehicle's anti external force performance, and anti external force performance includes anti-wind value and three proofings grade etc. wherein, three proofings grade is that unmanned aerial vehicle fuselage component is waterproof, dustproof, performance index such as anticorrosive, and unmanned aerial vehicle's three proofings grade has been decided to manufacturing material, structural design, production manufacturing installation technology. The wind resistance value under different flight speeds is generally larger, the power system power is larger, the wind resistance value is larger, and the wind resistance performance of the unmanned aerial vehicle is better, for example, the maximum wind resistance value of 1.4kg of the unmanned aerial vehicle in downwind flight is 8 m/s, the maximum wind resistance value of upwind flight is 5 m/s, the maximum wind resistance value of 0.74kg of the unmanned aerial vehicle in downwind flight is 6 m/s, and the maximum wind resistance value of the unmanned aerial vehicle in upwind flight is 3 m/s.

In one embodiment, the drone flight information and drone parameters may be stored in the drone, and a controller in the drone sends the drone flight information and drone parameters to a server through an autonomous communications networking network using a communication device. The server receives unmanned aerial vehicle flight information and unmanned aerial vehicle parameters.

In one embodiment, the server is connected with the communication device on the unmanned aerial vehicle through the autonomous communication networking network to communicate with the unmanned aerial vehicle, and the server accesses the unmanned aerial vehicle controller to acquire the unmanned aerial vehicle flight information and the unmanned aerial vehicle parameters stored in the unmanned aerial vehicle controller.

And S204, receiving the position information and the meteorological information about the flight environment of the unmanned aerial vehicle, which are acquired by the terminal, by utilizing the autonomous communication networking network.

In one embodiment, the flight environment of the drone refers to the surrounding environment for the drone to fly, which is composed of location information and meteorological information together. Unmanned aerial vehicle's flight environment if including geographical environment such as plain, forest zone, plateau, hills, island, desert, different geographical environment have different influences to unmanned aerial vehicle's flight, like the many trees in forest zone, the barrier is more, and the desert is wider, but the desert is remote makes the power supply at terminal inconvenient, and the big visibility of wind speed is low when dust storm weather. The flight environment also comprises social environments such as a dense high-rise building area, a building site and an airport and station public area, different social environments have different influences on the flight of the unmanned aerial vehicle, if the surrounding environment is the dense high-rise building area, the number of obstacles and crowds is large, and when the surrounding environment is a power plant, a high-voltage transmission line, a communication base station and other buildings, the normal communication of the unmanned aerial vehicle can be influenced, and the flight safety is influenced.

In one embodiment, the terminal includes a position sensor, the position sensor obtains position information of the flight environment of the unmanned aerial vehicle, the position sensor calculates topographic relief, length width and height of each object, distance and distribution between each object and the like in the flight environment of the unmanned aerial vehicle through a global positioning system, a radar, infrared rays, ultrasonic waves, laser and the like to form position information, and the position information of the flight environment of the unmanned aerial vehicle can be displayed through a three-dimensional map. The position information of the flight environment of the unmanned aerial vehicle further comprises longitude and latitude coordinates and altitude of the flight area, such as (116.389550-117.389550, 39.928167-39.728167, 3500 and 3700), wherein 116.389550-117.389550 represents the longitude range of the flight area of the unmanned aerial vehicle, 39.928167-39.728167 represents the latitude range of the flight area of the unmanned aerial vehicle, and 3500 and 3700 represents the altitude range (in meters) of the flight area of the unmanned aerial vehicle.

In one embodiment, the terminal comprises meteorological monitoring sensors for monitoring various meteorological elements such as wind speed, wind direction, rainfall, solar sunshine intensity, air pressure, temperature and humidity in real time. The server is in communication connection with the meteorological sensor through the autonomous communication networking network to acquire real-time meteorological information of a flight environment, statistical analysis and processing are carried out according to the acquired real-time meteorological information, if rainfall change in a future time period is predicted according to rainfall change in a previous time period, when the rainfall in the past half hour monitored by the meteorological monitoring sensor, which is acquired by the server, drops from 40 millimeters to 20 millimeters and is in a descending trend, the server analyzes and predicts that the rainfall in the future half hour will continuously drop.

And S206, establishing a target flight route for the unmanned aerial vehicle according to the position information.

In one embodiment, the server acquires the position information sent by the position sensor, and determines the flight area of the unmanned aerial vehicle according to the position information, wherein the flight area is an area where the unmanned aerial vehicle is not limited for taking off, flying freely and landing. The flight area of the unmanned aerial vehicle is an unlimited flight area and an autonomous communication networking network coverage area, wherein the limited flight area comprises a warning area, a reinforced warning area, an authorized area, a height-limited area, a no-flight area and the like, and the flight-limited area comprises an airport clearance protection area, a military control area, a railway station and other personnel-intensive areas, and an airspace with the height of more than 50 meters.

In one embodiment, the server acquires the position information sent by the position sensor, and determines a flying point, a target point and a forced landing point of the unmanned aerial vehicle according to the position information, wherein the target point comprises a terminal point and a relay station, the flying point, the target point and the forced landing point of the unmanned aerial vehicle need to be places which are spacious and free of obstacles around and are suitable for the unmanned aerial vehicle to park on the ground, and places such as the water surface, shrubs, cliffs and the like are not suitable for being used as the flying point, the target point and the forced landing point of the unmanned aerial vehicle.

In one embodiment, the server acquires the position information sent by the position sensor, and determines the target flight route of the unmanned aerial vehicle according to the position information. The target flight route of the unmanned aerial vehicle is a flight route from a departure point to a target point planned in the flight area. The server firstly obtains a straight line route from a flying starting point to a target point, obtains the distribution of obstacles in the straight line route, such as buildings, trees and limited flying areas, and sets a turning detour route or an ascending and descending route of the unmanned aerial vehicle according to the height, the distance and the distribution of the obstacles. When the server acquires that the turning angle of the bypassing obstacle is too large or the bypassing route is far and the height fluctuation of the obstacle is small, the ascending and descending route is planned for the unmanned aerial vehicle flight safety server. When the server acquires that the turning angle of the bypassing obstacle is small, the bypassing route is short, the height of the obstacle fluctuates greatly or the bypassing area is a flight limiting area, the server plans the turning bypassing route, and combines a straight line route from a flying point of the unmanned aerial vehicle to a target point with the turning bypassing route or an ascending and descending route of the unmanned aerial vehicle to obtain a target flight route of the unmanned aerial vehicle.

For example, the straight line route of the flying point and the target point is provided with obstacles, when the obstacles are bridges, the detour route is far, the height fluctuation of the bridge deck of the bridge is small, and the server is used for planning an ascending or descending route, and the obstacles ascend above the bridge deck and pass through the bridge deck or descend to the bridge deck and pass through the bridge opening.

In one embodiment, the server determines the flight height of the target flight path of the unmanned aerial vehicle according to the relief height of the terrain and the height of the obstacle in the target flight path in the position information, so that the height of the unmanned aerial vehicle from the ground is basically stable during flight, and the real-time flight height of the unmanned aerial vehicle is adjusted only when the terrain changes steeply or the height of the obstacle changes excessively, so that the unmanned aerial vehicle flies at a certain height basically along with the relief flight of the terrain.

In one embodiment, the unmanned aerial vehicle target flight route formulated by the server comprises a target flight attitude and a target flight speed, and the corresponding target flight attitude is formulated according to the fluctuation of terrain topography and the height and distribution of the obstacles in the position information. And establishing a corresponding target flight speed according to the flight range from the flying point to the target point, the terrain and the distribution of the obstacles. The target flight attitude of the unmanned aerial vehicle is set to be 25 degrees upward tilt and 6 m/s of ascending speed when meeting the obstacle A.

And S208, judging whether the flying route of the unmanned aerial vehicle is matched with the target flying route according to the flying information of the unmanned aerial vehicle, and judging whether the parameters of the unmanned aerial vehicle are matched with the meteorological information.

In one embodiment, the server compares the real-time three-dimensional positioning of the unmanned aerial vehicle with coordinates of each point on the target flight route, the coordinates of each point on the target flight route include a target longitude and latitude coordinate, a target flight height and a target altitude, and when the real-time three-dimensional positioning is inconsistent with the coordinates of each point on the target flight route, the flight route of the unmanned aerial vehicle is not matched with the target flight route, namely the flight route of the unmanned aerial vehicle deviates from the target flight route.

In one embodiment, the server compares the current flight attitude and the real-time flight speed of the drone with the target flight attitude and the target flight speed in the target flight path. If when meeting the obstacle a, the current flight attitude and the real-time flight speed of the unmanned aerial vehicle are 24 degrees of upward tilt and 5 m/s of upward speed, and the target flight attitude and the target flight speed of the unmanned aerial vehicle are 25 degrees of upward tilt and 6 m/s of upward speed, then the current flight attitude and the real-time flight speed of the unmanned aerial vehicle are not matched with the target flight attitude and the target flight speed in the target flight route, that is, the flight route of the unmanned aerial vehicle is not matched with the target flight route.

In one embodiment, the server determines whether the positioning information, the current flight attitude and the real-time flight speed of the unmanned aerial vehicle are within the deviation range of each value in the target flight route, and if the positioning information, the current flight attitude and the real-time flight speed of the unmanned aerial vehicle are within the deviation range of each value, the flight route of the unmanned aerial vehicle is matched with the target flight route. If the current flight attitude and the real-time flight speed of the unmanned aerial vehicle are 24 degrees of upward tilt and 5 m/s of ascending speed when the unmanned aerial vehicle encounters the obstacle a, and the target flight attitude, the target flight speed and the preset deviation target flight attitude and the target flight speed of the unmanned aerial vehicle are 23 to 25 degrees of upward tilt and 4 to 6 m/s of ascending speed, the current flight attitude and the real-time flight speed of the unmanned aerial vehicle are matched with the target flight attitude and the target flight speed in the target flight path.

In one embodiment, the server compares the drone parameters, including the electrical value and the wind resistance value, with the meteorological information, including wind speed, wind direction, rainfall, sun intensity, temperature humidity, air pressure, etc. When unmanned aerial vehicle's battery is solar cell, the sun sunshine intensity is influential to unmanned aerial vehicle's electric quantity value, and the stronger the sun sunshine intensity, the stronger the power of solar cell output, unmanned aerial vehicle's flying distance is more far away, and the server compares solar cell output power with unmanned aerial vehicle electric quantity consumed power, calculates unmanned aerial vehicle's duration, and electric quantity value supports the farthest distance that unmanned aerial vehicle can fly according to current flying speed promptly. When solar cell output power is less than the required unmanned aerial vehicle electric quantity power consumption of unmanned aerial vehicle distance of finishing the remaining course distance, when unmanned aerial vehicle's continuation of the journey distance is less than the remaining course distance promptly, unmanned aerial vehicle can't accomplish the flight of remaining course, and unmanned aerial vehicle parameter and meteorological information do not match promptly. The temperature and humidity have an influence on the electric quantity value of the unmanned aerial vehicle, and when the temperature is higher, the battery heat dissipation of the unmanned aerial vehicle is influenced, so that the power output by the battery of the unmanned aerial vehicle is too high, and the electric quantity consumption of the unmanned aerial vehicle is accelerated; when the temperature is lower, can influence unmanned aerial vehicle's battery discharge state, cause unmanned aerial vehicle's battery output's power undersize, influence unmanned aerial vehicle flying speed and flight safety. When humidity is great and the temperature is low excessively, unmanned aerial vehicle organism and screw paddle are easy to be condensed and frozen, influence flight safety.

The server compares unmanned aerial vehicle's anti external force performance and real-time meteorological information, if contrast unmanned aerial vehicle's anti wind value and real-time wind speed, wind direction, contrast unmanned aerial vehicle's three proofings grade and real-time rainfall, when unmanned aerial vehicle's anti external force performance is less than the weather value in the real-time meteorological information, unmanned aerial vehicle can not resist the various external forces that the weather brought, unmanned aerial vehicle parameter and meteorological information mismatch promptly.

S210, if the flying route of the unmanned aerial vehicle is not matched with the target flying route and the unmanned aerial vehicle parameters are not matched with the meteorological information, acquiring corresponding prompt information.

In one embodiment, the prompt information sent by the server and acquired by the unmanned aerial vehicle comprises early warning information and warning information. When deviation within a preset deviation range occurs between real-time three-dimensional positioning of unmanned aerial vehicle flight, current flight attitude and real-time flight speed and coordinates of each point on a target flight route, and between the target flight attitude and the target flight speed, a server acquires deviation early warning information sent by the unmanned aerial vehicle; when the real-time three-dimensional positioning, the flight attitude and the real-time flight speed of the unmanned aerial vehicle, the coordinates of each point on the target flight route and the target flight attitude have larger deviation and exceed the preset deviation range, the server acquires the deviation warning information sent by the unmanned aerial vehicle. When the electric quantity of the unmanned aerial vehicle is lower than the normal electric quantity, the server acquires the over-low electric quantity early warning information sent by the unmanned aerial vehicle; when the electric quantity of the unmanned aerial vehicle is lower than the warning electric quantity, the server acquires the warning information that the electric quantity sent by the unmanned aerial vehicle is insufficient. When the difference between the external force resistance of the unmanned aerial vehicle and the meteorological value is lower than a preset external force early warning value, the server acquires external force early warning information sent by the unmanned aerial vehicle; when the difference between the external force resistance of the unmanned aerial vehicle and the meteorological value is lower than a preset external force warning value, the server acquires external force warning information sent by the unmanned aerial vehicle.

For example, when the unmanned aerial vehicle flies against the wind, the maximum wind resistance value is 15 m/s, and the wind speed is 12 m/s, the preset external force early warning value is 4 m/s, the difference between the external force resistance of the unmanned aerial vehicle and the weather value is 3 m/s, and is lower than the preset external force early warning value, and the server acquires the preset external force early warning information sent by the unmanned aerial vehicle.

S212, generating a first control instruction according to the prompt information and the unmanned aerial vehicle parameters, and controlling the unmanned aerial vehicle through the first control instruction.

In one embodiment, the first control instruction is sent by the server to the drone, so that the drone automatically adjusts the current flight attitude and the real-time flight speed according to the first control instruction. And the server acquires the early warning information and generates a corresponding flight attitude adjustment control instruction or a flight speed adjustment instruction according to the early warning information. When the server receives the deviation early warning information, generating a flight attitude adjusting control instruction carrying a flight attitude adjusting scheme; and when the server receives the early warning information of the low electric quantity or the external force early warning information, generating an adjusting flight speed instruction carrying the adjusting flight speed. If the server receives the early warning information of the low electric quantity, the real-time flight speed of the unmanned aerial vehicle is 10 m/s, the server calculates the current electric quantity according to the current electric quantity and the distance between the remaining routes to complete the flight speed required by the distance between the remaining routes, and generates an adjusting flight speed instruction carrying the adjusting flight speed to 13 m/s, wherein the distance between the remaining routes is the distance between the current position of the unmanned aerial vehicle and a target point.

In one embodiment, when the server acquires the warning information, the return flight control instruction or the forced landing control instruction is generated according to the warning information. The server calculates whether the unmanned aerial vehicle can finish the flight of the return route distance according to the electric quantity of the unmanned aerial vehicle, the return route distance, the external force resistance and meteorological information, and sends a return control instruction to instruct the unmanned aerial vehicle to return if the residual electric quantity value of the unmanned aerial vehicle is larger than the electric quantity value required for finishing the return route distance and the difference between the external force resistance and the meteorological value of the unmanned aerial vehicle is larger than a preset external force early warning value; and if the residual electric quantity value of the unmanned aerial vehicle is smaller than the electric quantity value required by the distance of the return route, or the difference between the external force resistance and the meteorological value of the unmanned aerial vehicle is smaller than a preset external force early warning value, sending a forced landing control instruction to indicate that the unmanned aerial vehicle is forced to land at a nearby forced landing point.

According to the unmanned aerial vehicle control method, the server receives the unmanned aerial vehicle flight information and unmanned aerial vehicle parameters sent by the unmanned aerial vehicle and the position information and meteorological information acquired by the terminal in real time by using the autonomous communication networking network, so that the signal coverage area of unmanned aerial vehicle communication is increased, the flight area is enlarged, and the limitation of the unmanned aerial vehicle in field flight is reduced; and judge whether unmanned aerial vehicle flight route matches with target flight route according to unmanned aerial vehicle flight information, judge whether unmanned aerial vehicle flight information matches with meteorological information, if not match, then acquire the prompt message, through carrying out real time monitoring to all ring edge border environmental data to match all ring edge border environmental data and unmanned aerial vehicle information, can realize real time monitoring and the early warning to unmanned aerial vehicle. According to the prompt information and the unmanned aerial vehicle parameters, the control instruction is generated, the unmanned aerial vehicle is controlled through the control instruction, the flight faults of the unmanned aerial vehicle in the flight process are reduced, and the efficiency of smoothly completing corresponding tasks by the unmanned aerial vehicle is improved.

As shown in fig. 3, in an embodiment, S208 specifically includes the following:

s302, determining a first flight route according to each positioning information of the unmanned aerial vehicle.

In one embodiment, the first flight route is current positioning information of the drone, i.e. longitude and latitude coordinates, flight altitude, flight attitude, and flight speed of the current drone.

S304, predicting a second flight route at the next moment according to the current flight attitude.

In one embodiment, the second flight path is the latitude and longitude coordinates, the flight height, the altitude, and the flight attitude of the drone at the next time.

S306, combining the first flight path and the second flight path to obtain a combined flight path.

In one embodiment, the server combines the current positioning information sent by the unmanned aerial vehicle and the flight attitude at the next moment according to the current flight speed of the unmanned aerial vehicle to obtain the longitude and latitude coordinates, the flight height, the altitude and the flight attitude of the unmanned aerial vehicle at the next moment, namely, a combined flight route.

For example, the server obtains the positioning information sent by the drone as (116.389550, 39.928167, 120, 3500), where 116.389550 represents the longitude position where the drone is located, 39.928167 represents the latitude position where the drone is located, 120 represents the flying height of the drone from the ground (in meters), 3500 represents the altitude (in meters) at which the drone flies, and the flying attitude is in straight line flight in the eastern direction. The server obtains that the first flight route of the unmanned aerial vehicle is (116.389550, 39.928167, 120, 3500), the server obtains that the current flight attitude sent by the unmanned aerial vehicle is straight-line flight in the eastern direction, and then the positioning information and the flight attitude of the unmanned aerial vehicle at the next moment are predicted to be straight-line flight in the eastern direction, namely the positioning information of the second flight route and the flight attitude of the unmanned aerial vehicle in the eastern direction. The server acquires the current flight speed of the unmanned aerial vehicle, and combines the first flight route (116.389550, 39.928167, 120, 3500), the positioning information of the flight attitude of the unmanned aerial vehicle and the next moment (the next second) and the flight attitude of the unmanned aerial vehicle according to the current flight speed to obtain the three-dimensional positioning coordinate of the positioning information of the unmanned aerial vehicle of which the combined flight route is the next moment, wherein the flight attitude is in straight line flight in the eastern direction.

And S308, judging whether the combined flight path is matched with the target flight path.

In one embodiment, the server compares the combined flight path of the drones to the target flight path. When the predicted positioning information of the unmanned aerial vehicle at the next moment is compared with the positioning information corresponding to the next moment in the target flight route, the predicted flight attitude of the unmanned aerial vehicle at the next moment is compared with the target flight attitude at the next moment in the target flight route, and when the predicted positioning coordinate at the next moment is inconsistent with the positioning coordinate corresponding to the next moment in the target flight route or the predicted flight attitude of the unmanned aerial vehicle at the next moment is different from the target flight attitude at the next moment in the target flight route, the route flown by combining the unmanned aerial vehicle is not matched with the target flight route, namely the route flown by the predicted unmanned aerial vehicle deviates from the target flight route.

In the above embodiment, the first flight route is determined according to each positioning information of the unmanned aerial vehicle, the second flight route at the next moment is predicted according to the current flight attitude, the first flight route and the second flight route are combined to obtain the combined flight route, and whether the combined flight route is matched with the target flight route is judged. The flight route of the next moment is predicted in advance according to the positioning information and the flight attitude of the unmanned aerial vehicle, and whether the flight route is matched with the target flight route or not is compared, so that the flight faults of the unmanned aerial vehicle in the flight process are reduced, and the efficiency of smoothly completing corresponding tasks by the unmanned aerial vehicle is improved.

As shown in fig. 4, in an embodiment, the following is specifically included after S210:

s402, calculating the cruising distance of the unmanned aerial vehicle according to the flight speed, the electric quantity value and the meteorological information.

In one embodiment, the range is the furthest distance that the electrical value supports the drone to be able to fly at the current flight speed. When the weather value in the weather information is no wind, namely the wind speed is 0, the server calculates the consumption speed and the consumption time of the current residual electric quantity value, the consumption time of the residual electric quantity value is the time required by the server to calculate the consumed residual electric quantity value according to the consumption speed of the residual electric quantity value, namely the time that the unmanned aerial vehicle can fly according to the current flight speed, and the cruising distance of the unmanned aerial vehicle is calculated according to the consumption time of the unmanned aerial vehicle according to the current flight speed and the residual electric quantity value.

When meteorological value in the meteorological information is greater than 0, meteorological information is the external force inconsistent with unmanned aerial vehicle flying speed promptly, if during the adverse wind, unmanned aerial vehicle increase battery output is in order to maintain current flying speed, and the server calculates the consumption time of the electric quantity value behind the increase battery output, calculates unmanned aerial vehicle duration according to the consumption time of the electric quantity value behind unmanned aerial vehicle current flying speed and the increase battery output.

When meteorological value in the meteorological information is less than 0, meteorological information is for having the exogenic force of pushing effect to unmanned aerial vehicle flying speed promptly, if during the downwind, unmanned aerial vehicle reduces battery output in order to maintain current flying speed, and the server calculates the consumption time of the electric quantity value after reducing battery output, calculates unmanned aerial vehicle range according to the current flying speed of unmanned aerial vehicle and the consumption time of the electric quantity value after reducing battery output.

The size of the battery output power is in direct proportion to the flight speed of the unmanned aerial vehicle, and is in inverse proportion to the consumption time of the electric quantity value.

And S404, calculating the remaining route distance of the unmanned aerial vehicle by using the positioning information and the position information.

In one embodiment, the server compares the longitude and latitude coordinates, the flight altitude and the altitude in the positioning information with the coordinates of each point in the target flight route to judge whether the current positioning information of the unmanned aerial vehicle deviates from the target flight route. When the unmanned aerial vehicle positioning information is the same as the coordinates of each point in the target flight route, the unmanned aerial vehicle positioning information is located on the target flight route, namely the unmanned aerial vehicle does not deviate from the target flight route, and the server calculates the remaining route distance of the unmanned aerial vehicle according to the coordinates of the target point in the unmanned aerial vehicle positioning information and the position information.

In one embodiment, when the unmanned aerial vehicle positioning information is different from coordinates of each point in the target flight route, and the unmanned aerial vehicle positioning information is not on the target flight route, that is, the unmanned aerial vehicle deviates from the target flight route, the server determines a closest point on the target flight route according to the unmanned aerial vehicle positioning information, so that the distance from the unmanned aerial vehicle to the closest point is the shortest route distance returning to the target flight route, the distance between the two points is calculated according to the point coordinates of the closest point returning to the target flight route by the unmanned aerial vehicle and coordinates of a target point in the position information, and the distance is the remaining route distance of the target flight route, and the server combines the shortest route distance returning to the target flight route by the unmanned aerial vehicle and the remaining route distance of the target flight route to obtain the remaining route distance of the.

S406, when the cruising distance of the unmanned aerial vehicle is smaller than the remaining air route distance, executing the step of generating a first control instruction according to the prompt message and the unmanned aerial vehicle parameters.

In one embodiment, when the cruising distance of the unmanned aerial vehicle flying according to the current flying speed is smaller than the remaining route distance, namely the electric quantity of the unmanned aerial vehicle cannot finish the flying of the remaining route distance according to the current flying speed, the server acquires prompt information, and the prompt information is early warning information which cannot finish the flying of the remaining route distance. The server calculates the flight speed required by the distance of the remaining air route according to the residual electric quantity value in the parameters of the unmanned aerial vehicle, generates a first control instruction carrying the target flight speed, instructs the unmanned aerial vehicle to increase the flight speed to the target flight speed, and completes the flight of the distance of the remaining air route according to the target flight speed.

In one embodiment, when the cruising distance of the unmanned aerial vehicle flying at the current flying speed is less than the remaining flight path distance, namely the electric quantity of the unmanned aerial vehicle cannot finish the flying of the remaining flight path distance at the current flying speed, and the remaining flight path distance cannot be finished according to the adjusted target flying speed, the server calculates the returning flight distance according to the positioning information of the unmanned aerial vehicle and the position of the flying starting point in the position information, calculates the returning flight speed required by the returning flight distance according to the remaining electric quantity value and the meteorological information in the parameters of the unmanned aerial vehicle, and generates the returning target flight path if the flying of the returning flight distance can be finished according to the returning flight speed. The server generates a first control instruction for returning according to the target flight path and the returning flight speed of the returning flight, and instructs the unmanned aerial vehicle to return according to the target flight path and the returning flight speed of the returning flight.

In one embodiment, when the electric quantity of the unmanned aerial vehicle cannot complete the flight of the remaining route distance according to the current flight speed, the remaining route distance cannot be completed according to the adjusted flight speed, and the flight of the returning distance cannot be completed according to the returning flight speed, namely the cruising distance of the unmanned aerial vehicle is smaller than the remaining route distance, and the returning distance is greater than the cruising distance of the unmanned aerial vehicle, the forced landing point closest to the unmanned aerial vehicle is obtained according to the position information. The server acquires a straight line route of the unmanned aerial vehicle flying to the nearest forced landing point, sets a turning detour route or a rising and falling route of the unmanned aerial vehicle according to the height, the distance and the distribution of obstacles in the straight line route in the position information, and combines the straight line route of the unmanned aerial vehicle flying to the nearest forced landing point to obtain the forced landing route of the unmanned aerial vehicle flying to the forced landing point. And calculating the forced landing flight speed required by the forced landing distance of the forced landing route according to the residual electric quantity value in the unmanned aerial vehicle parameters and the meteorological information. The server generates a first control instruction for forced landing according to the forced landing route and the forced landing flying speed, and instructs the unmanned aerial vehicle to perform forced landing to the forced landing point according to the forced landing route and the forced landing flying speed in the first control instruction.

In the above embodiment, the cruising distance of the unmanned aerial vehicle is calculated according to the flying speed, the electric quantity value and the meteorological information; calculating the remaining route distance of the unmanned aerial vehicle by using the positioning information and the position information; when the cruising distance of the unmanned aerial vehicle is smaller than the remaining air route distance, generating a first control instruction to instruct the unmanned aerial vehicle to adjust the flying speed; when the cruising distance of the unmanned aerial vehicle is smaller than the remaining route distance, calculating the return distance of the unmanned aerial vehicle, and generating a first control instruction to instruct the unmanned aerial vehicle to return; when the unmanned aerial vehicle cannot return to the navigation system, a first control instruction is generated to indicate that the unmanned aerial vehicle is forced to land to the nearest forced landing point. The cruising distance of the unmanned aerial vehicle is respectively compared with the remaining air route distance, the returning distance and the forced landing distance, an optimal and safest control instruction is generated for the unmanned aerial vehicle, the flight faults of the unmanned aerial vehicle in the flight process are reduced, and the efficiency of smoothly completing corresponding tasks by the unmanned aerial vehicle is improved.

As shown in fig. 5, in an embodiment, the following is specifically included after S210:

and S502, sending prompt information to the control end.

In one embodiment, when the cruising distance of the unmanned aerial vehicle flying according to the current flying speed is smaller than the remaining route distance, namely the electric quantity of the unmanned aerial vehicle cannot finish the flying of the remaining route distance according to the current flying speed, the server sends prompt information to the control end, wherein the prompt information is early warning information which cannot finish the remaining route.

And S504, the prompt information is used for indicating the control end, and the unmanned aerial vehicle is controlled through a second control instruction according to a second control instruction obtained by responding to the prompt information.

In one embodiment, when the cruising distance of the unmanned aerial vehicle flying according to the current flying speed is smaller than the remaining flight path distance, namely the electric quantity of the unmanned aerial vehicle cannot finish the flying of the remaining flight path distance according to the current flying speed, the control end calculates the flying speed required for finishing the remaining flight path distance according to the remaining electric quantity value in the unmanned aerial vehicle parameters, generates a second control instruction carrying the target flying speed, and the server instructs the unmanned aerial vehicle to finish the flying of the remaining flight path distance according to the target flying speed according to the second control instruction.

In one embodiment, when the cruising distance of the unmanned aerial vehicle flying at the current flying speed is less than the remaining flight path distance, namely the electric quantity of the unmanned aerial vehicle cannot finish the flying of the remaining flight path distance at the current flying speed, and the remaining flight path distance cannot be finished according to the adjusted target flying speed, the control end calculates the returning distance of the unmanned aerial vehicle returning to the departure point according to the positioning information and the position of the departure point in the position information of the unmanned aerial vehicle, calculates the returning flight speed required for finishing the returning flight distance according to the remaining electric quantity value and the meteorological information in the parameters of the unmanned aerial vehicle, and generates the returning target flight path if the flying of the returning distance can be finished according to the returning flight speed. And the control end generates a second control instruction for returning according to the target flight path and the returning flight speed of the returning flight, and instructs the unmanned aerial vehicle to return according to the target flight path and the returning flight speed of the returning flight according to the second control instruction.

In one embodiment, when the electric quantity of the unmanned aerial vehicle cannot complete the flight of the remaining route distance according to the current flight speed, the remaining route distance cannot be completed according to the adjusted flight speed, and the flight of the returning distance cannot be completed according to the returning flight speed, namely the cruising distance of the unmanned aerial vehicle is smaller than the remaining route distance, and the returning distance is greater than the cruising distance of the unmanned aerial vehicle, the forced landing point closest to the unmanned aerial vehicle is obtained according to the position information. The control end obtains the straight line route that unmanned aerial vehicle flies to nearest forced landing point, sets for unmanned aerial vehicle's turn detour route or ascending and descending route according to the height, interval and the distribution of barrier in the position information about the straight line route, combines the straight line route that unmanned aerial vehicle flies to nearest forced landing point to obtain unmanned aerial vehicle and flies to the forced landing route of forced landing point. And calculating the forced landing flight speed required by the forced landing distance of the forced landing route according to the residual electric quantity value in the unmanned aerial vehicle parameters and the meteorological information. The control end generates a second control instruction for forced landing according to the forced landing route and the forced landing flying speed, and the control end instructs the unmanned aerial vehicle to perform forced landing to the forced landing point according to the forced landing route and the forced landing flying speed in the first control instruction according to the second control instruction.

In the above embodiment, the control end calculates the cruising distance of the unmanned aerial vehicle according to the flight speed, the electric quantity value and the meteorological information; calculating the remaining route distance of the unmanned aerial vehicle by using the positioning information and the position information; when the cruising distance of the unmanned aerial vehicle is smaller than the remaining air route distance, generating a first control instruction to instruct the unmanned aerial vehicle to adjust the flying speed; when the cruising distance of the unmanned aerial vehicle is smaller than the remaining route distance, calculating the return distance of the unmanned aerial vehicle, and generating a first control instruction to instruct the unmanned aerial vehicle to return; when the unmanned aerial vehicle cannot return to the navigation system, a first control instruction is generated to indicate that the unmanned aerial vehicle is forced to land to the nearest forced landing point. The cruising distance of the unmanned aerial vehicle is compared with the remaining air route distance, the returning distance and the forced landing distance respectively through the control end, the optimal and safest control instruction is generated for the unmanned aerial vehicle, the flight faults of the unmanned aerial vehicle in the flight process are reduced, and the efficiency of smoothly completing corresponding tasks by the unmanned aerial vehicle is improved.

In one embodiment, S210 further includes:

and S602, when the unmanned aerial vehicle deviates from the target flight route, sending prompt information to the control end.

When the unmanned aerial vehicle flies in real time and three-dimensional positioning, the current flying attitude, coordinates of each point on the target flying route and the target flying attitude deviate within a preset deviation range, the server sends out prompt information to the control end, wherein the prompt information is deviation early warning information. When the real-time three-dimensional positioning of the unmanned aerial vehicle flight, the flight attitude, coordinates of each point on the target flight route and the target flight attitude have larger deviation and exceed a preset deviation range, the server sends out prompt information to the control end as deviation warning information.

And S604, the prompt information is used for indicating the control end, and the unmanned aerial vehicle is controlled through a second control instruction according to a second control instruction obtained by responding to the prompt information.

And when the control end receives the deviation early warning information, the control end determines the point coordinate of a closest point on the target flight route according to the positioning information of the unmanned aerial vehicle, so that the distance from the unmanned aerial vehicle to the closest point is the shortest route distance returning to the target flight route, a second control instruction carrying a flight attitude adjusting scheme is generated, and the unmanned aerial vehicle is controlled to adjust the flight attitude to fly to the closest point according to the second control instruction.

And when the control end receives the deviation warning information, generating a return control instruction or a forced landing control instruction according to the deviation warning information. The control end calculates whether the unmanned aerial vehicle can finish the flight of the distance of the remaining air route or not according to the real-time electric quantity, the distance of the remaining air route, the external force resistance performance and the meteorological information of the unmanned aerial vehicle, and sends a return control instruction to instruct the unmanned aerial vehicle to return to the flight route or return to the target flight route if the remaining electric quantity of the unmanned aerial vehicle is larger than the electric quantity required for finishing the distance of the remaining air route and the difference between the external force resistance performance of the unmanned aerial vehicle and the meteorological value is larger than; and if the residual electric quantity of the unmanned aerial vehicle is less than the electric quantity required for completing the distance of the residual route or the difference between the external force resistance of the unmanned aerial vehicle and the meteorological value is less than a preset external force early warning value, sending a forced landing control instruction to indicate that the unmanned aerial vehicle is forced to land at a nearby forced landing point.

In the above embodiment, when unmanned aerial vehicle deviates from the target flight route, send tip information to the control end, the control end is according to the second control command that obtains in response to the tip information, controls unmanned aerial vehicle through the second control command, controls the unmanned aerial vehicle of deviating from the target flight route through the control end, has reduced unmanned aerial vehicle flight fault at the flight in-process, has improved the efficiency that unmanned aerial vehicle accomplished corresponding task smoothly.

As an example, since the existing unmanned aerial vehicle control technology cannot uniformly monitor the unmanned aerial vehicle and the related devices thereof, the position information of the surrounding environment and the weather information cannot be matched with the information of the unmanned aerial vehicle in time, so that the unmanned aerial vehicle cannot be effectively communicated and controlled in time. In view of the above problem, an embodiment of the present invention provides a method for controlling an unmanned aerial vehicle, as shown in fig. 7, where the method mainly includes the following steps:

and S702, the server is connected with the autonomous communication network.

The server is connected with a nearby mobile communication network, and when no mobile communication network exists nearby or the mobile communication network signal is poor and the server cannot support communication with the unmanned aerial vehicle and the terminal, the server is connected with an ad hoc communication networking network. The ad hoc network is a network capable of realizing the interconversion of radio data and mobile communication data, and consists of one or more portable servers and an unmanned aerial vehicle communication base station. Unmanned aerial vehicle communication base station installs communication module, orientation module and signal transmitter. The server, the terminal and the unmanned aerial vehicle form ad hoc communication networking through receiving the signal that the signal transmitter of unmanned aerial vehicle communication base station sent, and send control command for the communication module of unmanned aerial vehicle communication base station, communication module sends control command for signal transmitter, signal transmitter carries out signal conditioning according to control command and enlargies the back and sends for terminal and unmanned aerial vehicle, and the terminal receives control command with unmanned aerial vehicle after, accomplishes corresponding operation. The positioning module on the unmanned aerial vehicle communication base station can position the unmanned aerial vehicle communication base station, and the base station is used as a center to automatically communicate the networking network signal from strong to weak. When a plurality of base stations are additionally arranged to form a base station network, an autonomous communication networking network area with a larger range and more stability can be formed, wherein the base stations are in communication connection through a server.

And S704, receiving the position information about the flight environment of the unmanned aerial vehicle, which is acquired by the terminal, by using the autonomous communication networking network, and formulating a target flight route for the unmanned aerial vehicle according to the position information.

The terminal includes position sensor, acquires unmanned aerial vehicle's flight environment's positional information through position sensor, and position sensor passes through global positioning system, radar, infrared ray, ultrasonic wave and laser etc. and calculates the topography relief in unmanned aerial vehicle's the flight environment, the length width and the height of each object, distance and distribution between each object etc. form positional information, and positional information still includes flight environment's longitude and latitude coordinate, altitude and environmental vibration. The location information of the flight environment of the drone may be presented via a three-dimensional map. The server acquires the position information sent by the position sensor, and determines the flight area of the unmanned aerial vehicle according to the position information, wherein the flight area of the unmanned aerial vehicle is an area where the unmanned aerial vehicle is not limited in taking off, free flight and landing. And determining a take-off point, a target point and a forced landing point of the unmanned aerial vehicle according to the position information, wherein the target point comprises a terminal point and a relay station, and the take-off point, the target point and the forced landing point of the unmanned aerial vehicle need to be places which are spacious and free of obstacles around and are stable on the ground and suitable for the unmanned aerial vehicle to park.

The server determines a target flight route of the unmanned aerial vehicle according to the position information, wherein the target flight route of the unmanned aerial vehicle is a flight route from a flying starting point to a target point of the unmanned aerial vehicle planned in a flight area of the unmanned aerial vehicle. The server firstly obtains a straight line route from a flying starting point to a target point, obtains the distribution of obstacles in the straight line route, such as buildings, trees and limited flying areas, and sets a turning detour route or an ascending and descending route of the unmanned aerial vehicle according to the height, the distance and the distribution of the obstacles. When the server acquires that the turning angle of the bypassing obstacle is too large or the bypassing route is far and the height fluctuation of the obstacle is small, the ascending and descending route is planned for the unmanned aerial vehicle flight safety server. When the server acquires that the turning angle of the bypassing obstacle is small, the bypassing route is short, the height of the obstacle fluctuates greatly or the bypassing area is a flight limiting area, the server plans the turning bypassing route, and combines a straight line route from a flying point of the unmanned aerial vehicle to a target point with the turning bypassing route or an ascending and descending route of the unmanned aerial vehicle to obtain a target flight route of the unmanned aerial vehicle.

In order to improve the accuracy of the position information, an unmanned aerial vehicle operator reconfirms the surrounding environment through the information recorder, and analyzes and adjusts a target flight route of the unmanned aerial vehicle determined by the server according to the position information.

S706, receiving weather information about the flight environment of the unmanned aerial vehicle, which is acquired by the terminal, by using the autonomous communication networking network.

The terminal comprises a meteorological monitoring sensor and is used for monitoring various meteorological elements such as wind speed, wind direction, rainfall, solar sunshine intensity, temperature, humidity and air pressure in real time. The server carries out the communication through autonomic communication network and meteorological sensor and is connected, acquire flight environment's real-time meteorological information, and carry out statistical analysis and processing according to the real-time meteorological information who acquires, the meteorological information after statistical analysis and processing is as the regional basis of further confirming of flight, judge whether the regional wind speed wind direction of flight is favorable to unmanned aerial vehicle flight operation according to the meteorological information after statistical analysis and processing like the server, whether the sun sunshine intensity satisfies unmanned aerial vehicle solar cell's power supply demand, whether temperature humidity accords with unmanned aerial vehicle operation environment requirement. If wind speed and direction are favorable to unmanned aerial vehicle flight operation, the power supply demand that satisfies unmanned aerial vehicle solar cell, temperature humidity accord with unmanned aerial vehicle operation environment requirement, then confirm this flight area to adjust target flight route once more according to meteorological information.

S708, whether the communication connection of the unmanned aerial vehicle is smooth or not is monitored in real time.

The unmanned aerial vehicle can establish communication connection with one or more unmanned aerial vehicle basic stations in the task execution process, and after the unmanned aerial vehicle flies away from the signal reception scope of an unmanned aerial vehicle basic station, then establish communication connection with the unmanned aerial vehicle basic station in the new signal scope. When the unmanned aerial vehicle receives signals transmitted by a plurality of unmanned aerial vehicle base stations, the strength of each signal is judged, and the unmanned aerial vehicle is connected with the strongest signal to keep smooth communication connection with the server.

S710, comparing the flight information and the position information of the unmanned aerial vehicle, comparing the parameters of the unmanned aerial vehicle with the meteorological information, and judging whether the unmanned aerial vehicle can finish the flying of the remaining air route.

The server receives the flight information and the parameters of the unmanned aerial vehicle through the autonomous communication networking network. The unmanned aerial vehicle flight information comprises unmanned aerial vehicle positioning information, current flight attitude and real-time flight speed. Unmanned aerial vehicle locating information includes longitude and latitude coordinate, flying height, the altitude of unmanned aerial vehicle flight, and unmanned aerial vehicle flight attitude includes flat flying attitude, every single move gesture and the gesture of heeling, and the airspeed is relevant with unmanned aerial vehicle flight attitude, and different flight attitudes have different influences on airspeed. And comparing the flight information and the position information of the unmanned aerial vehicle. When the real-time three-dimensional positioning, the current flight attitude and the real-time flight speed of the unmanned aerial vehicle have deviation with the coordinates of each point on the target flight route and the target flight attitude and the target flight speed, the unmanned aerial vehicle cannot finish the flight of the remaining air route distance.

The drone parameters include an electrical value and a wind resistance value. The server compares the unmanned aerial vehicle parameters with the meteorological information. When unmanned aerial vehicle's battery is solar cell, the sun sunshine intensity is influential to unmanned aerial vehicle's electric quantity value, and the stronger the sun sunshine intensity, the stronger the power of solar cell output, unmanned aerial vehicle's flying distance is more far away, and the server compares solar cell output power with unmanned aerial vehicle electric quantity consumed power, calculates unmanned aerial vehicle's duration, and electric quantity value supports the farthest distance that unmanned aerial vehicle can fly according to current flying speed promptly. When the output power of the solar battery is smaller than the electric power consumption power of the unmanned aerial vehicle required by the unmanned aerial vehicle for completing the distance of the remaining air line, namely the cruising distance of the unmanned aerial vehicle is smaller than the distance of the remaining air line, the unmanned aerial vehicle cannot complete the flight of the remaining air line. The server compares the wind resistance value of the unmanned aerial vehicle with the real-time wind speed and the wind direction in the meteorological information, when the wind resistance value of the unmanned aerial vehicle is lower than the upwind speed value in the real-time meteorological information, the unmanned aerial vehicle cannot resist the upwind, and the unmanned aerial vehicle cannot complete the remaining air route flight.

And S712, if the unmanned aerial vehicle cannot complete the remaining air route flight, acquiring corresponding prompt information, generating an instruction according to the prompt information and the unmanned aerial vehicle parameters, and controlling the unmanned aerial vehicle through a control instruction.

The server obtains prompt information sent by the unmanned aerial vehicle, wherein the prompt information comprises early warning information and warning information. And the server acquires the early warning information and generates a corresponding flight attitude adjustment control instruction or a flight speed adjustment instruction according to the early warning information. When the server receives the deviation early warning information, generating a flight attitude adjusting control instruction carrying a flight attitude adjusting scheme; when the electric quantity of the unmanned aerial vehicle is lower than the normal electric quantity, the server acquires the over-low electric quantity early warning information sent by the unmanned aerial vehicle; when the electric quantity of the unmanned aerial vehicle is lower than the warning electric quantity, the server acquires the warning information that the electric quantity sent by the unmanned aerial vehicle is insufficient. When the difference between the wind resistance value and the upwind wind speed value of the unmanned aerial vehicle is lower than a preset wind early warning value, the server acquires wind speed early warning information sent by the unmanned aerial vehicle; and when the difference between the wind resistance value and the upwind wind speed value of the unmanned aerial vehicle is lower than a preset wind warning value, the server acquires wind speed warning information sent by the unmanned aerial vehicle. When the electric quantity value of the unmanned aerial vehicle can support the endurance distance completed by the unmanned aerial vehicle to be smaller than the remaining airline distance and the headwind wind speed is continuously increased, the server acquires the warning information which is sent by the unmanned aerial vehicle and cannot complete the remaining airline flight, if the unmanned aerial vehicle flies at the flying speed of 15 m/s, the electric quantity value is 50%, the remaining airline distance is 30%, the unmanned aerial vehicle can complete the flight at the remaining airline distance at the moment, when the headwind wind speed of 15 m/s and the headwind wind speed are continuously increased, the server judges that the unmanned aerial vehicle cannot complete the flight at the remaining airline distance, and the warning information which cannot complete the remaining airline flight is sent.

And the server acquires the early warning information and generates a corresponding flight attitude adjustment control instruction or a flight speed adjustment instruction according to the early warning information. If the server receives the early warning information that the electric quantity is too low, the real-time flight speed of the unmanned aerial vehicle is 10 m/s, the server calculates the current electric quantity according to the current electric quantity and the distance between the remaining routes to complete the flight speed required by the distance between the remaining routes, and generates an adjusting flight speed instruction carrying the adjusting flight speed to 13 m/s.

And when the server acquires the warning information, generating a return control instruction or a forced landing control instruction according to the warning information. The server calculates whether the unmanned aerial vehicle can finish the flight of the return route distance or not according to the electric quantity value of the unmanned aerial vehicle, the remaining route distance, the wind resistance value and the headwind wind speed, and sends a return control instruction to instruct the unmanned aerial vehicle to return if the remaining electric quantity value of the unmanned aerial vehicle is larger than the electric quantity value required for finishing the return route distance and the difference between the wind resistance value of the unmanned aerial vehicle and the headwind wind speed is larger than a preset wind early warning value; and if the residual electric quantity value of the unmanned aerial vehicle is smaller than the electric quantity value required by the distance of the return route, or the difference between the external force resistance and the meteorological value of the unmanned aerial vehicle is smaller than a preset wind power warning value, sending a forced landing control instruction to indicate that the unmanned aerial vehicle is forced to land at a nearby forced landing point.

In the above embodiment, through utilizing autonomic communication network deployment, increased the signal coverage area of unmanned aerial vehicle communication, enlarged the flight area, reduced the restriction of unmanned aerial vehicle in field flight. The server receives the position information about the flight environment of the unmanned aerial vehicle acquired by the terminal, a target flight route is formulated for the unmanned aerial vehicle according to the position information, the server receives the meteorological information about the flight environment of the unmanned aerial vehicle acquired by the terminal, the meteorological information is adjusted again for the flight environment and the target flight route, and the flight environment of the unmanned aerial vehicle is guaranteed to be favorable for flight operation of the unmanned aerial vehicle. The unmanned aerial vehicle flight information is compared with the position information, the unmanned aerial vehicle parameters are compared with the meteorological information, whether the unmanned aerial vehicle can complete the residual route flight or not is judged, if the unmanned aerial vehicle cannot complete the residual route flight, corresponding prompt information is obtained, instructions are generated according to the prompt information and the unmanned aerial vehicle parameters, the unmanned aerial vehicle is controlled through control instructions, the flight faults of the unmanned aerial vehicle in the flight process are reduced, and the efficiency of smoothly completing corresponding tasks by the unmanned aerial vehicle is improved.

Fig. 2-7 are schematic flow diagrams of a method for controlling a drone according to an embodiment. It should be understood that although the various steps in the flow charts of fig. 2-7 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-7 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.

The utility model provides an unmanned aerial vehicle controlling means, this unmanned aerial vehicle controlling means specifically includes: a first receiving module 802, a second receiving module 804, a location module 806, a determining module 808, an information obtaining module 810, and a control module 812, wherein:

the first receiving module 802 is configured to receive, through an autonomous communication networking network, unmanned aerial vehicle flight information and unmanned aerial vehicle parameters sent by an unmanned aerial vehicle;

a second receiving module 804, configured to receive, through the ad hoc network, the location information and the weather information acquired by the terminal;

a location module 806 configured to formulate a target flight route for the drone according to the location information;

the judging module 808 is used for judging whether the flying route of the unmanned aerial vehicle is matched with the target flying route according to the flying information of the unmanned aerial vehicle and judging whether the parameters of the unmanned aerial vehicle are matched with the meteorological information;

the information acquisition module 810 is configured to acquire corresponding prompt information if the flight route of the unmanned aerial vehicle is not matched with the target flight route and the parameters of the unmanned aerial vehicle are not matched with the weather information;

and the control module 812 is configured to generate a first control instruction according to the prompt information and the parameter of the unmanned aerial vehicle, and control the unmanned aerial vehicle through the first control instruction.

According to the unmanned aerial vehicle control method, the first receiving module is used for receiving the flight information and the parameters of the unmanned aerial vehicle sent by the unmanned aerial vehicle and the position information and the meteorological information acquired by the second receiving module receiving terminal in real time through the autonomous communication networking network, and the unmanned aerial vehicle and the related equipment are monitored in a unified mode; and judge whether unmanned aerial vehicle flight route matches with target flight route according to unmanned aerial vehicle flight information, judge whether unmanned aerial vehicle flight information matches with meteorological information through the judging module, if not match, the information acquisition module then acquires prompt information, through carrying out real time monitoring to all ring edge border data to match all ring edge border data and unmanned aerial vehicle information, can realize real time monitoring and the early warning to unmanned aerial vehicle. According to the prompt information and the unmanned aerial vehicle parameters, the control module controls the unmanned aerial vehicle through the control instruction, flight faults of the unmanned aerial vehicle in the flight process are reduced, and the efficiency of smoothly completing corresponding tasks by the unmanned aerial vehicle is improved.

In one embodiment, the determining module 808 is further configured to determine a first flight route according to each positioning information of the drone; predicting a second flight route at the next moment according to the current flight attitude; combining the first flight route and the second flight route to obtain a combined flight route; and judging whether the combined flight path is matched with the target flight path.

In one embodiment, the control module 812 is further configured to calculate a cruising distance of the drone according to the flight speed, the electric quantity value, and the meteorological information; calculating the remaining route distance of the unmanned aerial vehicle by using the positioning information and the position information; and when the cruising distance of the unmanned aerial vehicle is smaller than the remaining air route distance, executing the step of generating a first control instruction according to the prompt information and the unmanned aerial vehicle parameters.

In one embodiment, the control module 812 is further configured to send a prompt message to the control end; the prompt message is used for indicating the control end, and the unmanned aerial vehicle is controlled through the second control instruction according to the second control instruction obtained by responding to the prompt message.

In one embodiment, the control module 812 is further configured to determine whether the unmanned aerial vehicle deviates from the target flight route according to the positioning information of the unmanned aerial vehicle and the current flight attitude; when the unmanned aerial vehicle deviates from the target flight route, sending prompt information to a control end; the prompt message is used for indicating the control end, and the unmanned aerial vehicle is controlled through the second control instruction according to the second control instruction obtained by responding to the prompt message.

In the above embodiment, according to the predicted flight route at the next moment, the current flight route and the predicted flight route are combined, the combined flight route is compared with the target flight route, and whether the unmanned aerial vehicle deviates from the target flight route is predicted in advance. The unmanned aerial vehicle navigation system is also used for calculating the cruising distance of the unmanned aerial vehicle according to the flying speed, the electric quantity value and the meteorological information, calculating the remaining air line distance of the unmanned aerial vehicle according to the positioning information and the position information of the unmanned aerial vehicle, comparing the cruising distance of the unmanned aerial vehicle with the remaining air line distance, and judging whether the unmanned aerial vehicle can complete the flying task. When the unmanned aerial vehicle deviates from a target flight route or can not complete a flight task, the unmanned aerial vehicle is controlled according to a first command sent by the server or a second control command sent by the control end, so that flight faults of the unmanned aerial vehicle in the flight process are reduced, and the efficiency of smoothly completing corresponding tasks by the unmanned aerial vehicle is improved.

In one embodiment, as shown in FIG. 9, the control module 812 includes:

the flight speed control module 902 is used for determining the target flight speed of the unmanned aerial vehicle according to the prompt information and the unmanned aerial vehicle parameters when the cruising distance of the unmanned aerial vehicle is less than the remaining air route distance; the target flight speed is less than the flight speed; and generating a first control instruction carrying the target flying speed.

In one embodiment, as shown in FIG. 9, the control module 812 further includes:

the return control module 904 is used for calculating the return distance of the unmanned aerial vehicle when the cruising distance of the unmanned aerial vehicle is less than the remaining route distance; when the return flight distance is smaller than the endurance distance of the unmanned aerial vehicle, adjusting the return flight speed of the unmanned aerial vehicle according to the parameters of the unmanned aerial vehicle and meteorological information; and generating a first control instruction for controlling the unmanned aerial vehicle to return according to the target flight route according to the prompt information and the return flight speed.

In one embodiment, as shown in FIG. 9, the control module 812 further includes:

the forced landing control module 906 is used for acquiring a forced landing point closest to the unmanned aerial vehicle when the cruising distance of the unmanned aerial vehicle is smaller than the remaining air route distance and the returning distance is greater than the cruising distance of the unmanned aerial vehicle; determining a forced landing route of the unmanned aerial vehicle flying to a forced landing point; the distance of the forced landing route is less than the endurance distance of the unmanned aerial vehicle; and generating a first control instruction carrying the forced landing route according to the prompt information and the unmanned aerial vehicle parameters.

In the above embodiment, through comparing the distance of the cruising distance and the remaining route distance, the returning distance and the forced landing route according to the unmanned aerial vehicle, the control instructions for adjusting the flight speed, the returning distance or the forced landing are respectively generated, so that the flight faults of the unmanned aerial vehicle in the flight process are reduced, and the efficiency of smoothly completing corresponding tasks by the unmanned aerial vehicle is improved.

FIG. 10 is a diagram illustrating an internal structure of a computer device in one embodiment. The computer device may specifically be the terminal 130 in fig. 1. As shown in FIG. 10, the computer device includes a position sensor and a weather sensor connected by a system bus. Wherein the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program which, when executed by the processor, causes the processor to implement the drone controlling method. The internal memory may also have a computer program stored therein, which when executed by the processor, causes the processor to perform the drone controlling method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.

Those skilled in the art will appreciate that the architecture shown in fig. 10 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, the drone controlling device provided by the present application may be implemented in the form of a computer program that is executable on a computer terminal as shown in fig. 10. The memory of the computer terminal may store various program modules constituting the drone control device, such as a first receiving module 802, a second receiving module 804, a location module 806, a determination module 808, an information acquisition module 810, and a control module 812 shown in fig. 8. The computer program constituted by the respective program modules causes the processor to execute the steps in the drone control method of the respective embodiments of the present application described in this specification.

For example, the computer terminal shown in fig. 10 may perform step S202 by the first receiving module 802 in the drone controlling device shown in fig. 8. The computer terminal may perform step S204 through the second receiving module 804. The computer terminal can execute the step S206 through the location module 806, execute the step S208 through the determination module 808, execute the step S210 through the information acquisition module 810, and execute the step S212 through the control module 812.

In one embodiment, there is provided a computer terminal comprising a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform: receiving unmanned aerial vehicle flight information and unmanned aerial vehicle parameters sent by an unmanned aerial vehicle through an autonomous communication networking network; receiving position information and meteorological information about the flight environment of the unmanned aerial vehicle, which are acquired by a terminal, by using an autonomous communication networking network; a target flight route is set for the unmanned aerial vehicle according to the position information; judging whether the flying route of the unmanned aerial vehicle is matched with the target flying route or not according to the flying information of the unmanned aerial vehicle, and judging whether the parameters of the unmanned aerial vehicle are matched with the meteorological information or not; if the flying route of the unmanned aerial vehicle is not matched with the target flying route and the unmanned aerial vehicle parameters are not matched with the meteorological information, acquiring corresponding prompt information; and generating a first control instruction according to the prompt information and the unmanned aerial vehicle parameters, and controlling the unmanned aerial vehicle through the first control instruction.

In one embodiment, there is provided a computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform: receiving unmanned aerial vehicle flight information and unmanned aerial vehicle parameters sent by an unmanned aerial vehicle through an autonomous communication networking network; receiving position information and meteorological information about the flight environment of the unmanned aerial vehicle, which are acquired by a terminal, by using an autonomous communication networking network; a target flight route is set for the unmanned aerial vehicle according to the position information; judging whether the flying route of the unmanned aerial vehicle is matched with the target flying route or not according to the flying information of the unmanned aerial vehicle, and judging whether the parameters of the unmanned aerial vehicle are matched with the meteorological information or not; if the flying route of the unmanned aerial vehicle is not matched with the target flying route and the unmanned aerial vehicle parameters are not matched with the meteorological information, acquiring corresponding prompt information; and generating a first control instruction according to the prompt information and the unmanned aerial vehicle parameters, and controlling the unmanned aerial vehicle through the first control instruction.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. An unmanned aerial vehicle control method comprising:

2. The method of claim 1, wherein the drone flight information includes positioning information and a current flight attitude of the drone; the basis the unmanned aerial vehicle flight information judges whether the route that unmanned aerial vehicle flies matches with the target flight route, include:

determining a first flight route according to each positioning information of the unmanned aerial vehicle;

predicting a second flight route at the next moment according to the current flight attitude;

combining the first flight route and the second flight route to obtain a combined flight route;

and judging whether the combined flight route is matched with the target flight route.

3. The method of claim 2, wherein the drone flight information includes a flight speed; the unmanned aerial vehicle parameters comprise an electric quantity value and a wind resistance value; the method further comprises the following steps:

calculating the cruising distance of the unmanned aerial vehicle according to the flight speed, the electric quantity value and the meteorological information;

calculating the remaining route distance of the unmanned aerial vehicle by using the positioning information and the position information;

and when the cruising distance of the unmanned aerial vehicle is smaller than the remaining air route distance, executing the step of generating a first control instruction according to the prompt message and the unmanned aerial vehicle parameters.

4. The method of claim 3, wherein generating the first control instruction according to the hint information and the drone parameter comprises:

when the cruising distance of the unmanned aerial vehicle is smaller than the remaining air route distance, determining the target flight speed of the unmanned aerial vehicle according to the prompt information and the unmanned aerial vehicle parameters; the target airspeed is less than the airspeed;

and generating a first control instruction carrying the target flying speed.

5. The method of claim 3, wherein generating the first control instruction according to the hint information and the drone parameter comprises:

when the cruising distance of the unmanned aerial vehicle is smaller than the remaining route distance, calculating the return distance of the unmanned aerial vehicle;

when the return flight distance is smaller than the endurance distance of the unmanned aerial vehicle, adjusting the return flight speed of the unmanned aerial vehicle according to the parameters of the unmanned aerial vehicle and the meteorological information;

and generating a first control instruction for controlling the unmanned aerial vehicle to return according to the target flight route according to the prompt information and the return flight speed.

6. The method of claim 3, wherein generating the first control instruction according to the hint information and the drone parameter comprises:

when the cruising distance of the unmanned aerial vehicle is smaller than the remaining route distance and the return distance is larger than the cruising distance of the unmanned aerial vehicle, acquiring a forced landing point closest to the unmanned aerial vehicle;

determining a forced landing route of the unmanned aerial vehicle flying to the forced landing point; the distance of the forced landing route is less than the endurance distance of the unmanned aerial vehicle;

and generating a first control instruction carrying the forced landing route according to the prompt information and the unmanned aerial vehicle parameters.

7. The method of claim 1, further comprising:

sending the prompt information to a control end; the prompt information is used for indicating the control end, and the unmanned aerial vehicle is controlled through the second control instruction according to the second control instruction obtained by responding to the prompt information.

8. The method of claim 2, wherein the determining whether the route of the drone flight matches the target flight route according to the drone flight information comprises:

judging whether the unmanned aerial vehicle deviates from the target flight route or not according to the positioning information and the current flight attitude of the unmanned aerial vehicle;

the method further comprises the following steps: when the unmanned aerial vehicle deviates from the target flight route, sending the prompt information to the control end; the prompt information is used for indicating the control end, and the unmanned aerial vehicle is controlled through the second control instruction according to the second control instruction obtained by responding to the prompt information.

9. An unmanned aerial vehicle control device, characterized in that, the device includes:

10. The apparatus of claim 9, wherein the drone flight information includes positioning information and a current flight attitude of the drone; the judging module is further configured to:

11. A computer-readable storage medium, storing a computer program which, when executed by a processor, causes the processor to carry out the steps of the method according to any one of claims 1 to 8.