WO2018170735A1

WO2018170735A1 - Unmanned aerial vehicle control method and control device, and unmanned aerial vehicle supervision method and supervision device

Info

Publication number: WO2018170735A1
Application number: PCT/CN2017/077529
Authority: WO
Inventors: 陈文月; 尤中乾
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-03-21
Filing date: 2017-03-21
Publication date: 2018-09-27
Also published as: CN108513696A; CN108513696B

Abstract

An unmanned aerial vehicle control method and control device, an unmanned aerial vehicle supervision method and supervision device, and an unmanned aerial vehicle, these being used to realise the supervision of an unmanned aerial vehicle. The unmanned aerial vehicle control method involves: acquiring supervision information about an unmanned aerial vehicle, and inserting the supervision information into a management frame; and using a transmitter to send the management frame in a working channel of a communication network between the unmanned aerial vehicle and a control terminal.

Description

UAV control method and control device, drone supervision method and supervision equipment

Technical field

The embodiments of the present invention relate to the field of drones, and in particular, to a drone control method and a control device, a drone monitoring method, a supervisory device, and a drone.

Background technique

As an aviation vehicle, in the process of using airspace, there are problems such as unclear flight area, invasion of privacy, and hidden dangers. In order to ensure the safety of the public, it needs to be regulated at a certain level.

At present, the monitoring and discovery technologies for drones can include phased array radar, electronic imaging, acoustic wave detection and RF signal detection, but these technologies are not yet mature enough to be used to find small drones, even It is also impossible to provide information on the identity and geographical location of the drone, and these technologies have the disadvantages of instability, short distance or low accuracy. The details can be as follows: 1. Phased array radar: Because the small unmanned aerial vehicle has small volume, small reflective surface and short radar action distance, it is not easy to distinguish the target from the drone or other objects, and the probability of false detection is high. Moreover, the use of phased array radar is large, which increases the difficulty of site layout. 2. Electronic imaging: First, the detection probability is low, secondly, the long-distance detection requires a large-caliber lens, and the third is that it is difficult to distinguish the target is a drone or For flying birds, thermal imaging technology has the same problems as above; 3. Acoustic detection: Compared with other technologies, the detection distance is shorter and the interference from environmental noise is large, especially when multiple UAVs appear at the same time. Identification of a single target; 4, RF signal detection: Since UAVs generally use ISM (Industrial Scientific Medical) band signals, and there are many devices using such bands, and different types of UAV signal characteristics are different, which is difficult The UAV signal is detected from the characteristic area of the RF signal. At the same time, the UAV signal is difficult to crack, and after the UAV signal is cracked, the manufacturer may perform a firmware update to repair the UAV signal. Vulnerabilities, easy to make the crack method invalid.

In addition, in addition to the above technology, the drone can also be broadcasted by carrying an ADS-B device, and the ground is equipped with a radar device for detection to achieve supervision. However, since the ADS-B device is a high-power transmitting device (greater than 100W), it is more difficult to apply to small and medium-sized micro-UAVs, and the radar detection on the ground has certain requirements on the size and flying height of the target aircraft. For small and medium-sized micro-UAVs featuring low/slow/small/multiple, it is difficult to achieve efficient detection.

Summary of the invention

The embodiment of the invention provides a drone control method and a control device, a drone supervision method, a supervision device and a drone for realizing supervision of the drone.

In view of this, the first aspect of the present invention provides a drone control method, which may include:

Obtain regulatory information of the drone and insert regulatory information into the management frame;

The management frame is transmitted by the transmitter in the working channel of the communication network between the drone and the control terminal.

A second aspect of the present invention provides a method for supervising a drone, which may include:

Using a detector to scan a working channel of a wireless communication network between the drone and the control terminal;

The detector is used to acquire a management frame sent by the drone, wherein the management frame includes the supervisory information of the drone;

The processor is used to obtain the supervisory information of the drone in the management frame.

A third aspect of the present invention provides a control device, which may include:

a processor for acquiring supervisory information of the drone and inserting the regulatory information into the management frame;

A transmitter for transmitting a management frame in a working channel of a communication network between the drone and the control terminal.

A fourth aspect of the present invention provides a monitoring device, which may include:

a detector for scanning a working channel of a communication network between the drone and the control terminal to obtain a management frame sent by the drone, wherein the management frame includes supervisory information of the drone;

A processor for obtaining supervisory information of the drone in the management frame.

A fifth aspect of the present invention provides a drone, which may include:

a power system for providing flight power to the drone;

A control device as described in the third aspect.

It can be seen from the above technical solutions that the embodiments of the present invention have the following advantages:

Different from the prior art, in the embodiment of the present invention, the UAV can obtain the management frame by scanning the working channel between the UAV and the control terminal by transmitting the management frame including the supervision information. The management frame demodulates the supervisory information of the drone. This method can realize the supervision of the drone without cracking the encrypted working data between the drone and the control terminal, which is beneficial to protecting the unmanned person. The personal privacy of the user also solves the problem of supervision of the drone, and does not affect the normal flight of the drone.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in light of the inventive work.

1 is a schematic diagram of data transmission of a drone according to an embodiment of the present invention;

2 is a schematic diagram of an embodiment of a method for controlling a drone according to an embodiment of the present invention;

3 is a schematic diagram of another embodiment of a method for controlling a drone according to an embodiment of the present invention;

4 is a schematic structural diagram of a beacon frame according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a part of a beacon frame according to an embodiment of the present invention;

6 is a schematic diagram of insertion of supervisory information in an embodiment of the present invention;

FIG. 7 is a schematic structural diagram of a Probe Request according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of dividing a working channel according to an embodiment of the present invention; FIG.

FIG. 9 is a schematic diagram of another embodiment of a method for controlling a drone according to an embodiment of the present invention; FIG.

FIG. 10 is a schematic structural diagram of a Probe Response according to an embodiment of the present invention;

11 is a schematic diagram of an embodiment of a method for supervising a drone according to an embodiment of the present invention;

12 is a schematic diagram of another embodiment of a method for supervising a drone according to an embodiment of the present invention;

FIG. 13 is a schematic diagram of another embodiment of a method for supervising a drone according to an embodiment of the present invention; FIG.

FIG. 14 is a schematic diagram of data transmission of a remote supervision platform according to an embodiment of the present invention; FIG.

FIG. 15 is a schematic diagram of another embodiment of a method for supervising a drone according to an embodiment of the present invention; FIG.

FIG. 16 is a schematic diagram of an embodiment of a control device according to an embodiment of the present invention; FIG.

FIG. 17 is a schematic diagram of an embodiment of a supervisory device according to an embodiment of the present invention; FIG.

FIG. 18 is a schematic diagram of another embodiment of a supervisory device according to an embodiment of the present invention; FIG.

FIG. 19 is a schematic diagram of another embodiment of a supervisory device according to an embodiment of the present invention.

detailed description

In order to make those skilled in the art better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. The described embodiments are only a part of the embodiments of the invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of the present invention.

The terms "first", "second", "third", "fourth", etc. (if present) in the specification and claims of the present invention and the above figures are used to distinguish similar objects without having to use To describe a specific order or order. It is to be understood that the data so used may be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than what is illustrated or described herein. In addition, the terms "comprises" and "comprises" and "the" and "the" are intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or device that comprises a series of steps or units is not necessarily limited to Those steps or units may include other steps or units not explicitly listed or inherent to such processes, methods, products or devices.

In the embodiment of the present invention, it is assumed that there is a drone, as shown in FIG. 1, the drone can be connected with the control terminal to realize the flight control of the control terminal to the drone, and the drone can collect the The data is sent to the control terminal. In the embodiment of the present invention, the drone can also be supervised by the supervising device, that is, the supervising device can acquire the communication data between the drone and its control terminal.

In the embodiment of the present invention, a drone control method and a control device, a drone monitoring method, a supervisory device, and a drone are proposed, and a working channel of a communication network between the drone and the control terminal is used to transmit and carry The management frame of the supervisory information, the supervisory device can obtain the management frame by intercepting the working channel of the communication network between the drone and the control terminal, and can demodulate the regulatory information from the management frame to realize the supervision of the drone . Compared with the prior art, the embodiments of the present invention are advantageous for overcoming the problems of phased array radar, electronic imaging, acoustic wave detection, and radio frequency signal detection, such as instability, short working distance, and high probability of false detection. The encrypted working data between the human machine and the control terminal is cracked, which is beneficial to protect the privacy of the user of the drone.

It can be understood that, in the embodiment of the present invention, the unmanned aerial vehicle, that is, the unmanned aerial vehicle, may be a rotorcraft, a fixed-wing aircraft, or an aircraft in which a fixed wing and a rotor are mixed. The rotorcraft may include, but is not limited to, a single rotor, a double rotor, a three-rotor, a quadrotor, a six-rotor, and the like, and is not limited herein. In practical applications, the drone can realize multi-dimensional motion, such as vertical motion, pitch motion, roll motion, back and forth motion, etc., and an auxiliary device for the carrier can be mounted on the fuselage to enable the fixing of the carrier. Adjusting the posture of the loader (for example, changing the height, inclination and/or direction of the load) and maintaining the load stably in a certain posture, etc., the load on the auxiliary device can be Including cameras, cameras, or sensors, etc., to enable the execution of different tasks and the versatility of the drone, which is not limited herein.

Further, in the embodiment of the present invention, the control terminal may include, but is not limited to, one of a remote controller, a smart phone, a tablet, a smart wearable device (watch, a wristband), a ground control station, a PC, a laptop, and the like. A variety.

It should be noted that, in the embodiment of the present invention, as shown in FIG. 1 , after the UAV establishes a communication connection with the control terminal, the uplink data of the UAV refers to the communication data sent from the control terminal to the UAV, and no one The downlink data of the machine refers to the communication data transmitted from the drone to the control terminal. After being limited herein, the description will not be repeated later.

For ease of understanding, the specific process in the embodiment of the present invention is described below. Referring to FIG. 2, an embodiment of the UAV control method in the embodiment of the present invention includes:

201. Obtain regulatory information of the drone and insert the regulatory information into the management frame;

In this embodiment, since the communication connection can be established between the drone and the control terminal, both the drone and the control terminal can be used as an execution body to acquire the supervisory information of the drone during the flight of the drone. The regulatory information can be further inserted into the management frame.

Specifically, when establishing a communication connection between the drone and the control terminal, the STA (station, indicating a device connected to the wireless network) can establish a connection with the AP (access point). When the UAV is a STA, the control terminal may be an AP. When the UAV is an AP, the control terminal may be an STA. When the STA establishes a communication connection with the AP, the STA or the AP may send the phase. Corresponding management frame, so that any one of the STA or the AP establishes a communication connection after responding to the management frame. The connection between the STA and the AP through the management frame is the prior art. For details, refer to related information, and details are not described here.

202. Transmitting a management frame in a working channel of a communication network between the drone and the control terminal by using the transmitter.

In this embodiment, after obtaining the supervisory information of the drone, the transmitter can transmit the management frame in the working channel of the communication network between the drone and the control terminal by using the transmitter.

Specifically, the connection based on the wired communication network is not conducive to the flight control of the drone. Preferably, in this embodiment, the communication network between the UAV and the control terminal may be a wireless communication network, and the wireless communication network may further be a WI. -FI network. In the WI-FI network between the drone and the control terminal, there may be multiple working channels, and the drone or control terminal may select one of the working channels to transmit and manage. frame. In practical applications, when the management frame is transmitted by the transmitter, the transmit power of the transmitter can be adjusted, so that the management frame can be transmitted within the bandwidth of the working channel of the WI-FI network between the drone and the control terminal. transmission.

It can be understood that, in this embodiment, the UAV and the control terminal establish a communication connection through the WI-FI network described above. In practical applications, the UAV can also pass through, but is not limited to, Bluetooth, Software Defined Radio (SDR), and customized. Any one of the modulation mode or the communication protocol is connected to the control terminal, which is not limited herein.

It should be noted that, in this embodiment, the communication protocol of the communication network between the UAV and the control terminal may be an 802.11 wireless protocol. In practical applications, the concept covered by the scope of the disclosure of the embodiment does not deviate. In this case, the WI-FI network can be replaced by another wireless communication network suitable for the 802.11 wireless protocol, and the description will not be repeated later. .

In this embodiment, the transmitter may be configured on the unmanned aerial vehicle, or may be configured on the control terminal, which is not limited herein. Since the management frame sent by the control terminal is easily blocked by vegetation, buildings, mountains, etc., preferably, the transmitter can be set on the drone, and the management frame is transmitted using the downlink data of the drone.

In this embodiment, after the drone inserts the supervisory information into the management frame, the transmitter can transmit the management frame in the working channel of the communication network with the control terminal, and the supervisory device can use the detector to scan the drone and the control terminal. The working channel of the communication to obtain the management frame with the supervision information. Compared with the existing WI-FI technology, the method can be used without cracking the encrypted working data between the drone and the control terminal. By demodulating the management frame to obtain the supervision information of the drone, and realizing the supervision of the drone, it is beneficial to protect the personal privacy of the drone user and does not affect the flight of the drone.

Based on the embodiment shown in FIG. 2, the following embodiment will schematically illustrate the transmission of a management frame in the working channel of the WI-FI network between the UAV and the control terminal by using the UAV as the execution subject, wherein the transmitter Can be placed on a drone.

It can be understood that, in this embodiment, since the management frame can be divided into a broadcast frame and a unicast frame, the management frame is sent in the work information of the communication network between the drone and the control terminal according to the type of the management frame. The methods are inconsistent, and the following are specifically explained:

First, the management frame is a broadcast frame

In this embodiment, the broadcast frame is a frame that is sent to all devices in the same network segment, where the broadcast packet is wide. The data describing the destination address in the broadcast frame is set to 1 in the form of the IP address 255.255.255.255 in the third layer of the network, and the target MAC address FF: FF: FF: FF in the second layer of the network. : FF: FF appears. Once the broadcast frame is sent, all devices on the same network segment can receive the broadcast frame.

Referring to FIG. 3, another embodiment of the UAV control method in the embodiment of the present invention includes:

301. Obtaining supervision information of the drone;

In this embodiment, in order to facilitate the supervision of the drone, the drone can acquire the supervisory information of the drone during the flight of the drone.

Specifically, the supervisory information in this embodiment is used as the information indicating the parameters related to the drone, and may include but is not limited to the identity information, location information, flight parameter information, flight attitude information, owner information, and purchase time information of the drone. One or more of purchase location information, historical flight path information, hardware configuration information, check digit information, and location information of the control terminal.

The identity information may include, but is not limited to, a vendor identifier and a model of the drone; the location information of the drone may include, but is not limited to, current location information of the drone, and at least location information of the drone when it takes off. The flight parameter information may include, but is not limited to, at least one of a maximum flight speed, a maximum flight altitude, and a current flight speed; the flight attitude information may include, but is not limited to, at least one of a roll angle, a pitch angle, and a yaw angle. The hardware configuration information may include at least but not limited to configuration information of the payload of the drone; the check bit information may be a cyclic redundancy CRC check code; and the location information of the control terminal may include, but is not limited to, when the drone takes off. At least one of location information and location information output by the positioning device on the control terminal.

In practical applications, there are many ways for the drone to obtain the supervisory information of the drone, which can be collected by the drone or by the external data source of the drone, as follows:

1. The drone collects itself: the drone can be equipped with a sensing system and a memory, wherein the sensing system can be used to obtain the current position information and/or flight attitude information of the drone, and the memory can store unmanned Identity information of the aircraft, flight maximum speed and/or flight maximum altitude, owner information, purchase time information, purchase location information, historical flight path information, hardware configuration information, and location information of the control terminal A variety of check digit information can be provided by the processor to verify other information, and the drone can obtain the above information stored in the memory through the processor.

Specifically, the sensing system can include GNSS (Global Navigation Satellite System, full The ball satellite navigation system device, the GNSS device may be specifically a GPS (Global Positioning System) device, and the GNSS device or the GPS device may realize positioning of the drone to collect current position information of the drone. The sensing system may further include an inertial measurement unit IMU. The IMU may rely on the gyroscope to acquire the flight attitude information of the drone, and may also rely on the accelerometer to obtain the current flight speed of the drone to determine the current flight state of the drone. .

It can be understood that the sensing system in this embodiment may be an ultrasonic sensor, a radar wave sensor, a visual sensor (such as a camera), or a combination thereof, in addition to the above description, in particular, Make a limit.

Further, if the maximum flight speed and the maximum flight altitude in the flight parameter information are historical flight information of the drone, the sensing system may be stored in the memory of the drone after acquiring the location information and/or the flight attitude information. To form the historical flight path information of the drone, and the maximum speed of flight and the maximum altitude of the flight accumulated by the drone during the historical flight. If the maximum flight speed and the maximum altitude of the flight parameter information are the intrinsic parameters of the drone, then in the case of the drone, the identity information of the drone, the maximum flight speed and/or the flight maximum in the flight parameter information The height and hardware configuration information can be recorded in the memory before the drone is shipped from the factory, or it can be recorded by the owner of the drone after the drone is shipped from the factory, and the owner information, purchase time information, and purchase of the drone Location information can be recorded after the drone is shipped from the factory.

In the above-mentioned regulatory information, when the drone takes off, the sensing system on the drone can also acquire the position information of the drone when it takes off and store it in the memory. If the drone is close to the control terminal when taking off, then The position information of the drone when taking off can also be used as the position information of the control terminal. On the contrary, the control terminal can be provided with the positioning device, and the drone can obtain the position information output by the positioning device of the control terminal as the position information storage of the control terminal. In the memory.

Further, in addition to the fuselage, the landing gear connected to the fuselage, and the hardware configuration described above, the drone may be provided with other payloads. Specifically, the drone may be equipped with Different instruments for collecting visual data, such as various cameras for image and/or video capture, depending on the type and use of the drone, such as agricultural missions, transportation probes, and sightseeing requests. The payload of the region of interest, etc., to achieve the relevant functions of the drone. Therefore, the hardware configuration information of the drone can also be stored in the memory of the drone to further characterize the relevant features of the drone.

2. The drone can obtain regulatory information from an external data source: one of them, on the one hand, the drone can To obtain the supervisory information sent by the uplink data of the drone in the working channel, in this case, the control terminal can collect the supervisory information of the drone, and the control terminal can use the uplink data of the drone to send the supervisory information to The drone enables the drone to obtain the regulatory information sent by the control terminal. For example, the control terminal may be provided with a sensing system, and the sensing system may locate the control terminal. After obtaining the position information collected by the sensing system, the control terminal may use the uplink data of the drone to control the terminal. The location information is sent to the drone.

On the other hand, optionally, the supervisory information of the drone can also be provided by the server or the cloud, that is, the control terminal can obtain the supervisory information from the cloud or the server, and then the control terminal passes the supervisory information through the uplink data of the drone. Send to the drone. For example, the drone sends its own identity serial number to the control terminal, and the control terminal sends the identity serial number to the server or the cloud, and the server can retrieve the monitoring information of the drone according to the identity serial number, such as all of the drones. Information (registered mailbox, phone), the server sends the supervision information to the control terminal, and the drone can obtain the supervision information from the control terminal.

It can be understood that, in addition to the above-mentioned several situations, in the actual application, the acquisition of the supervisory information may also be collected by the unmanned part, and partially obtained from the external data source, which is not limited herein.

It should be noted that, in actual application, according to the actual requirements of the regulatory information and the type of the management frame, the supervisory information of the drone can be obtained in real time or periodically, which is not limited herein.

302. Insert the supervisory information into a specific field in the broadcast frame;

In this embodiment, after obtaining the supervisory information of the drone, the drone can insert the supervisory information into a specific field in the broadcast frame.

Specifically, the broadcast frame in this embodiment may include a beacon frame and a Probe Request. In the WI-FI scenario, the STA (station, indicating that the device is connected to the wireless network) can establish a connection with the AP (access point) in different ways, wherein when the broadcast frame sent by the drone is a beacon frame, The drone can be used as an AP. As shown in Figure 4, the beacon frame can include a MAC header part, a Mandatory part, an Optional part, a MAC header part, and a Mandatory part as fixed bits of the beacon frame, which can be passed by the processor of the drone. The memcpy function is written. During the writing process of the bemc frame by the memcpy function, the required information can be obtained from the virtual interface. When writing, the direct copy method can be used. For example, in the MAC header part, the DA is the MAC target. Address, due to the broadcast frame periodically sent by the beacon frame, the MAC destination address can be FF: FF: FF: FF: FF: FF, SA is the source MAC address, and the source MAC address can generally be the UAV factory. The MAC address segment of the application. Generally, the Optional part of a beacon frame is not necessarily used. It only appears when it is needed. The Optional part includes a number of reserved fields, that is, information elements. If you want to add a beacon frame structure field, you need to use it. The information element, as shown in FIG. 5, may include at least an Element ID field, a Length field, and a variable length field. Therefore, after obtaining the supervisory information of the drone, the supervisory information can be inserted into the information element of the beacon frame, that is, a specific field. Further, the variable length field in the information element can be used as a custom part to insert regulatory information in the custom part. For example, suppose the drone's supervisory information includes Latitude, Longitude, and Altitude. The location information, the vendor identifier (OUI), and the CRC-16 checksum can be added to the Element ID field and the Length field as shown in the field of Figure 6.

Wherein, when the broadcast frame sent by the drone is a Probe Request, the drone can be an STA, as shown in FIG. 7, the control terminal connected to the drone can be an AP, and the drone can obtain the obtained regulatory information. Insert into the Probe Request, the specific insertion method can refer to the insertion method of the beacon frame, which is not specifically limited here.

Further, in this embodiment, the specific field of the beacon frame is inserted into the beacon frame as an example. Based on the size of the supervision information and the size of a specific field in the beacon frame, the insertion manner of the specific information in the beacon frame may be based on different manners. :

1. Insert the entire regulatory information into a specific field in a beacon frame:

In an actual application, when the size of a specific field of a beacon frame can be used to insert an entire supervision information, an entire supervision information can be encapsulated as a whole information in a specific field in the beacon frame, so that the supervising device of the drone When supervising a drone, each time a beacon frame is acquired, a complete regulatory information can be parsed.

2. After the entire supervision information is split, insert the specific fields in the beacon frame:

Specifically, due to the limited amount of data that the beacon frame can carry, the drone can also use the processor to split an entire supervision information into a preset number of pieces of regulatory information, such as 10 pieces of regulatory information, and can At least one of the preset number of supervisory information segments is inserted into a specific field in the beacon frame, that is, 10 pieces of supervisory information pieces may be inserted into specific fields of 10 beacon frames, or multiple inserts may be inserted into one beacon frame. A piece of supervisory information, such as inserting 10 pieces of supervisory information into specific fields in 5 beacon frames.

It can be understood that, in practical applications, at least one regulatory letter is inserted into a beacon frame. The number of pieces of supervisory information inserted between two beacon frames may be inconsistent, and is not limited herein.

3. After splitting the entire supervision information, insert the supervision information fragment and the corresponding serial number into a specific field in the beacon frame:

Specifically, in order to facilitate the supervision device to combine fragmented pieces of regulatory information to obtain complete regulatory information, the UAV can further utilize the entire regulatory information after splitting the entire regulatory information into a preset number of regulatory information segments. The processor determines a sequence number of each of the preset pieces of supervisory information segments, and inserts at least one of the preset number of pieces of supervisory information segments with the sequence number corresponding to the at least one piece of supervisory information A specific field in a beacon frame.

For example, after the processor divides the entire regulatory information into three pieces of supervisory information, the processor can also determine the serial number corresponding to the three pieces of supervisory information, such as 1, 2, and 3, so that three supervisors can be used. The information segments are combined with the corresponding serial numbers according to the order of the regulatory information, such as the first regulatory information segment and the second regulatory information segment and the second, the third regulatory information segment and the third, and then the above combinations can be respectively Insert a specific field in 3 beacon frames. It should be noted that, in this embodiment, the manner of inserting the supervision information segment and the corresponding sequence number in the specific field in the beacon frame may refer to the second manner described above, except that the supervision information segment is appended with the corresponding sequence number. For illustration purposes only, it is not limited here.

It can be understood that, in this embodiment, when the broadcast frame is a Probe Request, the policing information may be inserted in the foregoing three manners, but the type of the broadcast frame is changed, which is not limited herein.

It should be noted that, in this embodiment, the insertion manner of the specific field of the supervision information in the broadcast frame is described by only the above several examples. In practical applications, the specific fields of the supervision information in the broadcast frame may also be described by using the above examples. The method of inserting the customized part may be performed in other manners. For example, when the policing information is split, the broadcast frame may be sequenced according to the splitting of the policing information, which is not limited herein.

303. Obtain a working state of each of the plurality of working channels of the communication network between the UAV and the control terminal by using the processor;

In this embodiment, after the drone inserts the supervisory information into a specific field in the broadcast frame, the processor can acquire the working state of each of the plurality of working channels of the communication network between the drone and the control terminal by using the processor.

Specifically, in the WI-FI network, whether the drone is used as an AP or a STA to transmit a broadcast frame, Can be equipped with a channel list. In general, the drone can use the transmitter to transmit broadcast frames on any working channel on the channel list. However, different working channels have corresponding working states, the working states are inconsistent, and the quality of the working channels is inconsistent. Therefore, in order for the drone to transmit a broadcast frame in the working channel with better channel quality, the drone can use the processor to acquire each of the plurality of working channels of the WI-FI network between the drone and the control terminal. The working state of the channel.

In this embodiment, the working state of the working channel may at least include the current bandwidth of the working channel. In the WI-FI network, the channels that can be used by the WI-FI protocol are mainly two common frequency bands of 2.4 GHz and 5 GHz, and the geographical areas are different. The two public frequency bands of 2.4 GHz and 5 GHz are different in degree of openness. In the 2.4 GHz band, the working channel is rich, and there are 13 working channels to choose from. In the 5 GHz band, there are only 5 working channels available in China, and each working channel occupies a certain bandwidth. The bandwidth of the channel is inconsistent and the transmission rate will be inconsistent.

For example, assuming that the bandwidth of the 5GHZ is 100 MHz in total, and the average is divided into 10 working channels that do not interfere with each other, the bandwidth of each working channel is 10 MHz, and in practical applications, there may be overlap between several working channels. That is, in the case where the bandwidth of each working channel is 10 MHz, the bandwidth of the band of 5 GHz can be divided into more than 10 working channels that interfere with each other. Therefore, based on the division of the working channel, the difference of the communication protocol, and the usage of the working channel, the drone can use the processor to acquire each of the plurality of working channels of the WI-FI network between the control terminal and the control terminal. The current bandwidth of the channel to make appropriate selections for multiple working channels.

It can be understood that, in this embodiment, the working state of the working channel may include other parameters, such as the current capacity of the working channel, the current throughput, and the current error, in addition to the current bandwidth of the working channel described above. Rate, etc., not limited here.

It should be noted that the processor in this embodiment can be placed on the drone, and the description is not repeated hereafter.

304. The processor selects a working channel for transmitting a broadcast frame according to the working state;

In this embodiment, after the processor acquires the working state of each of the plurality of working channels of the communication network between the UAV and the control terminal, the processor may select a working channel for transmitting the broadcast frame according to the working state. .

Specifically, after the UAV acquires the working state of each of the plurality of working channels by using the processor, the working channel with the best working state can be selected as the working channel for transmitting the broadcast frame. In practical applications, it is also possible to compare relevant parameters in the working state of each working channel to Selecting one working channel with a relevant parameter as the working channel for transmitting the broadcast frame among the plurality of working channels, for example, selecting a working channel with a lower error rate of the working channel, or selecting the non-overlapping state and the working state is the best. One working channel serves as a working channel for transmitting broadcast frames to reduce signal interference, and one working channel with the largest bandwidth can be selected as the working channel for transmitting broadcast frames.

For example, in the 2.4 GHz band, drones can use the WI-FI network to use frequencies from 2400 MHz to 2500 MHz, but when the 100 MHz gap is equally divided into 14 different working channels, if the total of 14 working channels exceeds 100 MHz, then As shown in FIG. 8, there will be overlapping channels in the 2.4 GHz band, and since the working channel 1, the working channel 6 and the working channel 11 are far apart from each other, they do not overlap each other. The three most commonly used working channels of interference, then a working channel with a better working state can be selected between the three working channels as the working channel for transmitting the broadcast frame.

Understandably, in order to prevent the use of crossover and the safety of the drones in different devices, in practical applications, according to the specific use scope of the drone and the communication network used, within the frequency range that the drone can use. Selecting a suitable working channel, such as China's planned 840.5MHz to 845MHz, 1430MHz to 1444MHz, and 2408MHz to 2440MHz frequency bands for unmanned aircraft systems, the above examples are only illustrative.

305. Use the transmitter to periodically transmit the broadcast frame using the downlink data of the drone in the selected working channel.

In this embodiment, after the UAV selects a working channel for transmitting a broadcast frame according to the working state, the UAV can use the transmitter to periodically transmit the broadcast frame using the downlink data of the UAV in the selected working channel.

Specifically, since the broadcast frame is a timed broadcast, the drone can set the transmission period in advance so that the transmitter can transmit the broadcast frame according to the transmission period, for example, the broadcast frame is transmitted every 5 seconds. Wherein, since the transmitter is configured on the drone, the transmitter can use the downlink data of the drone to transmit the broadcast frame in the working channel selected by the processor.

Further, based on the description of the foregoing embodiment, optionally, in the process of transmitting a broadcast frame, in order to prevent the broadcast frame from being used by the frame listening device other than the monitoring device to steal the supervisory information of the drone, the security of the drone may be compromised. Strengthen the security protection of the drone's regulatory information.

Specifically, after obtaining the regulatory information, the drone can use the processor according to the preset encryption rule. The supervisory information is encrypted, and the encrypted supervisory information can be inserted into the broadcast frame, so that the broadcast frame cannot be parsed by the drone's supervisory information even after being stolen. However, the preset encryption rule may be an encryption rule known to the supervising device of the drone, so that after the scanning device scans the broadcast frame, the supervised device may perform the encrypted supervision information by using a known preset encryption rule. Declassify and use the regulatory information obtained by decryption to supervise the drone.

It can be understood that the preset encryption rules for the supervision information in this embodiment can refer to the prior art, and details are not described herein again.

Second, the management frame is a unicast frame

In this embodiment, the unicast frame is a frame with only one or a specific destination address, and is only sent for the address of a certain device node, and only one or a specific node responds.

Referring to FIG. 9, another embodiment of the UAV control method in the embodiment of the present invention includes:

The step 901 in the embodiment of the present invention is the same as the step 301 in the embodiment shown in FIG. 3, and details are not described herein again.

902. Receive, by using a receiver, a supervision request frame sent by a supervisory device of the drone;

In this embodiment, when the UAV does not actively send the management frame with the supervision information, the supervising device of the UAV can send a supervision request frame to the UAV to obtain the supervision information of the UAV. The drone is supervised so that the drone can receive the regulatory request frame using the receiver.

903. Insert the supervisory information into a specific field in the unicast frame.

In this embodiment, after the UAV receives the supervision request frame sent by the supervising device of the UAV, the UAV can insert the acquired supervision information into a specific field in the unicast frame.

Specifically, the unicast frame in this embodiment may be a Probe Response, and the supervisory request frame received by the receiver of the drone may be a Probe Request. In the WI-FI scenario, the supervisory device of the drone can be a STA, and the drone can be an AP. The supervisory device sends a Probe Request to the drone, and the drone can send a Probe to the supervisory device after receiving the Probe Request. Response. Wherein, along with FIG. 7, the Probe Request in this embodiment may also include a MAC header part and a Frame body part, but in the Frame body part, the SSID setting may be based on different situations:

1. The monitoring device has not received the beacon frame sent by the drone (the historical supervision information of the drone is inserted into the beacon frame) or other management frame (the historical supervision information of the drone is inserted into the management frame), Or the supervisory equipment does not store any relevant information about the drone, then the regulatory The device can broadcast the Probe Request. In the Probe Request, the SSID of the Frame body part can be set to 0, which is the empty SSID.

2. Before the monitoring device receives the beacon frame sent by the drone (the historical supervision information of the drone is inserted into the beacon frame) or other management frame (the historical supervision information of the drone is inserted into the management frame), Or the supervisory device stores relevant information about the drone, then the supervisory device can select to broadcast the Probe Request, that is, the SSID of the Frame body part is an empty SSID, or the unicast Probe Request can be selected, and in the unicast Probe Request, the Frame The SSID of the body part can be the specified SSID, which can be the SSID of the drone.

Further, whether the Probe Request is unicast or broadcast, the Probe Request can carry the related information of the supervised device, so that the drone can respond to the Probe Request sent by the supervising device by using the Probe Response, and FIG. 4 is used, as shown in FIG. The probe response includes all the parameters of the Beacon frame, and the drone can use the processor to insert the policing information in a specific field in the Probe Response. For details, refer to the part of the beacon frame described in step 302 in the embodiment shown in FIG. , will not repeat them here.

It should be noted that, in this embodiment, the policing information may be inserted into a specific field in the Probe Response in a different manner. For details, refer to the description in step 302 in the embodiment shown in FIG. 3, and details are not described herein again.

It is to be understood that the step 902 in this embodiment may be performed before the step 901, or may be performed simultaneously with the step 901, as long as the step 903 is performed before, which is not limited herein.

The step 904 in this embodiment is the same as the step 303 in the embodiment shown in FIG. 3, and details are not described herein again.

905. The processor selects a working channel for sending a unicast frame according to the working state.

In this embodiment, after the processor acquires the working state of each of the plurality of working channels of the communication network between the drone and the control terminal, the processor may select a work of transmitting the unicast frame according to the working state. channel.

In this embodiment, the content is the same as that described in step 304 in the embodiment shown in FIG. 3, and the details are not described herein.

906. Use the transmitter to send the unicast frame using the downlink data of the drone in the selected working channel.

In this embodiment, after the UAV selects a working channel for transmitting a unicast frame according to the working state, the UAV can use the transmitter to send the unicast using the downlink data of the UAV in the selected working channel. frame.

Specifically, the unicast frame is sent in response to the RRC frame after receiving the RRC request frame from the RRC device. Therefore, in this embodiment, the unicast frame is sent without periodicity and unicast. The transmission time of the frame may depend on the reception time of the supervision request frame.

Further, based on the description of the foregoing embodiment, optionally, the policing information inserted in the unicast frame may also be encrypted by using a preset encryption rule. For details, refer to the content described above, and details are not described herein again.

It can be understood that the embodiment of the present invention only uses the management frame as a beacon frame, a Probe Request, and a Probe Response as an example to illustrate the supervision method of the UAV. In practical applications, the management frame is not limited to the above content, and may also be It is another broadcast frame or a unicast frame. For example, when the drone and the control terminal are connected to the Bluetooth, the monitoring information can be broadcasted by using the beacon information of the Bluetooth, which is not limited this time.

The UAV control method in the embodiment of the present invention is described above from the perspective of the side of the drone. The UAV supervision method in the embodiment of the present invention is described from the perspective of the supervisory device side, as shown in FIG. An embodiment of the UAV supervision method in the embodiment of the present invention includes:

1101. Using a detector to scan a working channel of a communication network between the drone and the control terminal;

In this embodiment, in order to obtain the supervision information of the drone and supervise the drone, the supervisory device may use the detector to scan the working channel of the communication network between the drone and the control terminal.

Specifically, the monitoring device may be provided with a detector, and the detector may cyclically scan on the working channel of the communication network between the drone and the control terminal to detect whether the drone is inserted into the working channel and inserted into the drone. Management frame for regulatory information. Based on the control of the flight control of the drone by the control terminal and the flight characteristics of the drone, the communication network between the drone and the control terminal may be a wireless communication network. Preferably, the wireless communication network may be a WI-FI network. In practical applications, in order to facilitate the supervision of the drone by the supervisory device, the communication network between the drone and the control terminal can be known to the supervisory device. Therefore, when the communication network between the drone and the control terminal is a WI-FI network, the supervisory device can use the detector to scan the working channel of the WI-FI network between the drone and the control terminal.

It can be understood that, in this embodiment, the UAV and the control terminal establish a communication connection through the WI-FI network described above. In practical applications, the UAV can also pass through, but is not limited to, Bluetooth, Software Defined Radio (SDR), and customized. The modulation method or the communication protocol is connected to the control terminal, and the supervisory device can also use the detector to scan the Bluetooth connection such as the drone and the control terminal. Working channel, which is not limited here.

1102. Using a detector to acquire a management frame sent by the drone;

In this embodiment, after the monitoring device scans the working channel of the communication network between the UAV and the control terminal by using the detector, if the management frame sent by the UAV is scanned, the detector can be used to acquire the management frame sent by the UAV. Wherein, the management frame may include supervisory information of the drone.

1103. Use a processor to obtain supervisory information of the drone in the management frame.

In this embodiment, the supervising device may further be provided with a processor. After the management frame sent by the UAV is acquired by using the probe, the acquired management frame may be demodulated by the processor to obtain the unmanned in the management frame. The supervisory information of the machine, so that the relevant information of the drone can be learned through the obtained supervisory information of the drone, and the supervision of the drone is realized.

It can be understood that, in this embodiment, the management frame can be divided into a broadcast frame and a unicast frame. The manner in which the supervisory device obtains the management frame is different according to the type of the management frame sent by the drone, and the drone is using the WI. -FI network transmission management as an example, the following specific description:

First, the management frame is a broadcast frame

In this embodiment, the broadcast frame is a frame that the UAV sends to all devices in the same network segment, and the supervisory device can scan the working channel of the broadcast frame by the probe to obtain the broadcast frame.

Referring to FIG. 12, another embodiment of the UAV supervision method in the embodiment of the present invention includes:

1201. Using a detector to scan a plurality of working channels of a communication network between the drone and the control terminal;

In this embodiment, after the supervisory device is turned on, the detector can be used to scan multiple working channels of the communication network between the drone and the control terminal.

Specifically, after the UAV establishes a communication connection with the control terminal, the corresponding communication network may have multiple working channels for the UAV and the control terminal to transmit data. Since the UAV mostly uses point-to-point communication, each UAV The working channel used will be different, and it is not clear that the drone specifically uses a certain working channel, and in the case where the number of working channels is large, the supervisory device can utilize the detector to multiple The working channel is scanned to ensure that the acquisition time meets the requirements of the supervision by using multiple receiving channels in a sub-band coverage manner, and the supervision of one or more drones is realized. In practical applications, the monitoring device may use different detectors to scan multiple working channels, as follows:

1. Using a detector to scan a plurality of working channels of a communication network between the drone and the control terminal in turn: the monitoring device is provided with a detector, and one detector can perform cyclic cycle scanning on multiple working channels, for example, It is assumed that based on the communication network between the UAV and the control terminal, the plurality of working channels that the UAV can use are the working channel 1, the working channel 2, and the working channel 3, then the supervisory device can use the detector to sequentially work channel 1. The working channel 2 and the working channel 3 perform cyclic scanning.

2. Allocating a plurality of working channels to a plurality of detectors, each of the plurality of detectors scanning a preset number of working channels: the supervising device may be provided with a plurality of detectors, each of which may scan a preset number of a number of working channels to enable scanning of multiple channels. For example, assuming that a communication network between the drone and the control terminal is used, the plurality of working channels that the drone can use are 10 working channels, and the monitoring device has With 5 detectors, each detector can scan 2 working channels in turn. It should be noted that, when there are multiple detectors in this embodiment, the preset number of working channels scanned by each detector may be inconsistent. For example, one detector may scan two working channels in turn, and another detector may The three working channels are scanned in turn. This embodiment is for illustrative purposes only and is not limited herein.

Based on the second scanning mode, further, in this embodiment, multiple detectors may be disposed on one supervisory device, and the multiple detectors may be disposed in different regions, and the multiple detectors and the processing device are processed. Wired or wireless connections can be made between the devices. Further, multiple detectors may also be disposed on multiple supervisory devices. For multiple detectors and multiple supervisory devices, one supervisory device may be configured with at least one detector, and each supervisory device may be configured in In different areas, each detector provided by each supervising device can also be deployed in different areas, so that the supervising equipment can supervise the drone in different geographical locations. For example, the supervising equipment can be located in the restricted area or It is located in the non-limited flight area, which is not limited here.

In addition, by sub-band coverage of multiple detectors, not only can the receiving supervision device capture the broadcast frame time, but also the redundancy backup function. In the case where the receiving channel of one of the detectors is damaged, the remaining detector can be used. The receiving channel achieves full-band coverage, thereby improving the reliability of the regulatory equipment.

The restricted flight area is an area that restricts the flight of the drone. For details, refer to the existing specification, and no further details are provided here.

It can be understood that, in the actual application, since the broadcast frame is sent periodically, the monitoring device can perform scanning in real time by using the detector, and can also perform scanning periodically, which is not limited herein.

1202: Using a detector to obtain a broadcast frame periodically sent by the drone;

In this embodiment, after detecting a plurality of working channels of the communication network between the UAV and the control terminal by using the detector, if the broadcast frame sent by the UAV is scanned, the probe can be used to acquire the broadcast frame sent by the UAV. Wherein, the broadcast frame may include supervisory information of the drone.

Specifically, in this embodiment, the broadcast frame acquired by the monitoring device may include a beacon frame and a Probe Request. When the UAV sends a beacon frame or a Probe Request, the beacon frame or the Probe Request may be inserted with unsupervised information. Based on the insertion mode of the supervisory information in the broadcast frame (this insertion mode can be known by the supervisory device, and can also be learned through the acquired supervisory information after demodulating the broadcast frame), the supervisory device acquires the periodic transmission of the drone by using the probe. When broadcasting a frame, you can have a corresponding acquisition method:

1. If the drone inserts an entire supervision information into a broadcast frame, the supervisory device can obtain a complete supervision information by using the detector to obtain a broadcast frame periodically sent by the drone of the frame number.

2. If the drone splits the entire supervisory information and inserts it into multiple broadcast frames, then the supervisory device needs to use the probe to obtain the preset frame number of the broadcast frame periodically sent by the drone. A complete regulatory message.

For the description of the beacon frame and the Probe Request for the broadcast frame, refer to the description of the foregoing embodiment, and details are not described herein again.

1203. Use a processor to obtain supervisory information of the drone from a specific field in the broadcast frame.

In this embodiment, after the probe acquires the broadcast frame periodically sent by the drone, the supervisory device can use the processor to obtain the supervisory information of the drone from a specific field in the broadcast frame.

Specifically, since the drone can insert the supervisory information into a specific field in the broadcast frame, after the supervisory device demodulates the broadcast frame by using the processor, the supervisory information of the drone can be obtained from a specific field of the broadcast frame. Further, if the drone inserts the regulatory information into a custom portion of a particular field in the broadcast frame, the supervisory device can utilize the processor to obtain the drone's supervisory information from a custom portion of the particular field of the broadcast frame.

In this embodiment, based on the method for obtaining the broadcast frame in step 1202, the broadcast frame acquired by the supervising device is taken as a beacon frame, and the acquisition of the supervisory information is described as follows:

1. If a whole beacon message is inserted into a beacon frame, the supervisory device can use the processor to obtain a beacon frame, and then the processor can demodulate the beacon frame and parse the specific field of the Optional part of the beacon frame. So that you can get a complete regulatory information.

2. If the entire supervised information is split into the beacon frame, the supervising device can use the processor to demodulate the beacon frame of the preset number of frames after using the probe to obtain the beacon frame of the preset number of frames, and The specific field of the Optional part of the beacon frame of the preset number of frames may be parsed (each beacon frame may have at least one piece of supervisory information), and multiple pieces of supervisory information are obtained, and multiple pieces of supervisory information are segmented according to a preset manner. The combination can get a complete regulatory information.

In order to facilitate the combination of multiple pieces of supervisory information, if each supervisory information segment has a serial number in each beacon frame, multiple pieces of supervisory information may be combined according to the sequence number. For example, suppose a complete supervision information is split into three pieces of supervision information, and the three pieces of supervision information and the

corresponding sequence numbers

1, 2, and 3 are respectively inserted in specific fields of three beacon frames, and the supervisory device utilizes After demodulating three beacon frames, the processor can arrange and combine the three pieces of supervisory information obtained by

serial number

1, 2, and 3 to obtain a complete supervision information.

It can be understood that, in the embodiment, the content of combining multiple pieces of supervisory information according to a preset manner is only an example. In an actual application, the supervisory device may also be based on a drone to multiple pieces of supervisory information in a beacon. The insertion mode of the frame and the corresponding identifier are used to perform corresponding combination of multiple pieces of supervision information. For example, it is assumed that the UAV can sequence the beacon frame, and if a complete supervision information is split into three pieces of supervision information. After the UAV inserts three pieces of supervisory information into the beacon frame 1, the beacon frame 2, and the beacon frame 3 according to the sequence identifier of the beacon frame, the supervising device can identify multiple pieces of supervisory information according to the sequence of each beacon frame. The fragments are combined, and are not limited herein.

In this embodiment, the supervisory information acquired by the supervisory device may include, but is not limited to, the identity information of the drone, location information, flight parameter information, flight attitude information, owner information, purchase time information, purchase location information, One or more of historical flight path information, hardware configuration information, check bit information, and position information of the control terminal. Through the acquisition of regulatory information, the supervisory equipment can understand the relevant parameters of the drone and better supervise the drone. For example, by obtaining the location information of the drone in the supervisory information, the drone can be realized. Positioning.

Wherein, the identity information may include but is not limited to the manufacturer identifier and the model of the drone; The location information may include, but is not limited to, at least one of current location information of the drone and location information when the drone is taken off; the flight parameter information may include, but is not limited to, a maximum flight speed, a maximum flight altitude, and a current flight speed. At least one; the flight attitude information may include, but is not limited to, at least one of a roll angle, a pitch angle, and a yaw angle; the hardware configuration information may include at least but not limited to configuration information of a payload of the drone; The information may be a cyclic redundancy CRC check code; the location information of the control terminal may include, but is not limited to, at least one of location information when the drone is taken off, and location information output by the positioning device on the control terminal.

Further, based on the description of the foregoing embodiment, optionally, the monitoring device may be provided with a display on which the supervisory information of the drone may be displayed to visually and clearly reflect the relevant parameters of the drone to the supervisory user. Information. It can be understood that the display manner of the supervisory information on the display can be various, such as a list, which is not limited herein.

Further, after the supervisory equipment obtains the regulatory information, the processor can further evaluate the danger level of the drone according to the regulatory information, so that different emergency measures can be formulated or started according to the dangerous level of the drone, and different Classification of dangerous levels of drones and safety supervision.

Specifically, the hazard level can be used to describe the current safety level of the drone. The higher the hazard level, the greater the security threat to the drone, and the more unfavorable the supervision of the UAV. In this implementation, the supervisory device may use the processor to determine the location information in the supervisory information, and may use the location information to evaluate the danger level of the drone. For example, the processor may further determine the flight of the drone according to the location information of the drone. Path, then by analyzing the flight path of the drone and comparing with the preset flight path, it can be judged whether the drone deviates from the preset flight path, and if the degree of deviation is larger, the hazard level is higher, and the processing is as The UAV can perform intrusion detection such as a restricted area according to the position information of the drone. If the drone is closer to the flight limited area, the dangerous level will be higher.

It should be noted that, in this embodiment, the manner in which the supervisory device uses the processor to evaluate the dangerous level of the drone is in addition to the above description, and in actual applications, other methods may be adopted as long as the dangerous level of the drone can be evaluated. That is, if the detector can be configured in different areas, the position of the detector can be obtained by the processor to determine whether the drone is located in an unlawful operation area, thereby evaluating the danger level of the drone, specifically here Not limited.

Second, the management frame is a unicast frame

In this embodiment, the unicast frame is a frame sent by the UAV to a certain supervising device, and the supervising device may scan the working channel of the unicast frame by the probe to obtain the unicast frame.

Referring to FIG. 13, another embodiment of the UAV supervision method in the embodiment of the present invention includes:

The 1301 in this embodiment is the same as the step 1201 in the embodiment shown in FIG. 12, and details are not described herein again.

1302: Using a transmitter to send a regulatory request frame for the drone;

In this embodiment, when the supervisory device does not obtain the management frame by using the probe to scan the working channel of the communication network between the drone and the control terminal, the supervisory device may default to the management that the drone does not actively send the supervisory information. Frames, then the supervisory device can use the transmitter to transmit a regulatory request frame for the drone to obtain supervisory information for the drone.

The supervisory request frame may carry related information of the supervisory device, so that the drone can respond to the supervisory request frame of the supervisory device in the form of a unicast frame according to the related information of the supervisory device.

In this embodiment, the supervision request frame sent by the monitoring device by using the transmitter may be a Probe Request, and the structure of the Probe Request may refer to FIG. 7. At the same time, the sending of the Probe Request can be based on two different situations, that is, in the Frame body part of the Probe Request, the SSID can be empty or the SSID of the drone. For details, refer to the steps in the embodiment shown in FIG. The content of the description of 903 will not be described here.

1303. After receiving the supervision request frame, the UAV uses the probe to acquire a unicast frame sent from the UAV to respond to the probe request frame.

In this embodiment, after the supervisory device transmits the supervision request frame for the drone by using the transmitter, the probe may receive the unicast frame sent from the drone to respond to the supervision request frame.

Specifically, the supervisory device can continuously scan the working channel of the communication network between the drone and the control terminal in real time to prevent the unicast frame sent by the drone from being missed. In this embodiment, if the policing request frame sent by the policing device can be a Probe Request, the unicast frame obtained by the policing device may be a Probe Response, and the Probe Response may include all the parameters of the beacon frame. Regulatory information is inserted in the form of a beacon frame.

The manner in which the supervisory device obtains the unicast frame may be different according to the manner in which the policing information is inserted in the unicast frame.

1. If the drone inserts an entire supervisory information into a unicast frame, the supervisory device can obtain a complete supervision information by using the probe to obtain a unicast frame sent by the drone of one frame each time.

2. If the drone splits the entire regulatory information and inserts it into multiple unicast frames, then the supervision Each time the device needs to use the detector to obtain a unicast frame sent by a drone with a preset number of frames, a complete supervision information can be obtained.

It can be understood that, in the actual application, if the supervisory device actively requests the drone to send the management frame including the supervisory information, the method may be performed before step 1301, or may be performed simultaneously with step 1301, as long as the step 1301 is performed. Execute before, this time is not limited.

1304. The processor acquires the supervisory information of the drone from a specific field in the unicast frame.

Step 1304 in this embodiment is the same as step 1203 in the embodiment shown in FIG. 12 except that the management frame is a unicast frame, and details are not described herein again. When the unicast frame is a Probe Response, the acquisition of the supervision information may refer to the content when the broadcast frame is a beacon frame.

It should be noted that, in the embodiment of the present invention, only the acquired management frame is a beacon frame, a Probe Request, and a Probe Response, and the supervision method of the UAV is illustrated on the side of the supervisory device. In practical applications, management The frame is not limited to the above content, and may be other broadcast frames or unicast frames. For example, when the drone and the control terminal are connected to the Bluetooth, the supervisory device may also obtain the beacon information of the drone using the Bluetooth broadcast (in which the supervision is inserted) Information), this time is not limited.

It can be understood that, in practical applications, a remote monitoring platform connected to the supervisory device may be provided. As shown in FIG. 14, it is assumed that there are a drone 1, a drone 2, and a drone 3, correspondingly, There may be a control terminal 1 communicatively coupled to the drone 1 , a control terminal 2 communicatively coupled to the drone 2 , a control terminal 3 communicatively coupled to the drone 3 , and a supervisory device 1 that supervises the drone 1 The supervising device 2 of the drone 2, the supervising device 3 of the drone 3, and the supervising device 1, the supervising device 2, and the supervising device 3 can all communicate with the remote monitoring platform, and the remote monitoring platform can acquire multiple monitoring devices. Obtain regulatory information to implement the director of multiple drones. Therefore, based on the embodiment shown in FIG. 11, referring to FIG. 15, another embodiment of the UAV supervision method in the embodiment of the present invention includes:

Steps 1501 to 1503 in this embodiment are the same as steps 1101 to 1103 in the embodiment shown in FIG. 11, and details are not described herein again.

1504. Use the processor to send regulatory information to the remote monitoring platform.

In this embodiment, after the supervisory device obtains the supervisory information of the drone in the management frame by using the processor, the processor may also use the processor to send the supervisory information to the remote supervisory platform.

Specifically, after the supervisory device uses the processor to demodulate the management frame to obtain the supervisory information, the processor may further use the processor to send the supervisory information to the remote monitoring platform, thereby realizing the supervision of the remote monitoring platform. Unified management of equipment and remote monitoring of drones. Further, in this embodiment, in order to strengthen the security protection of the supervisory information of the drone, optionally, in the management frame sent by the drone, the supervisory information of the drone may be encrypted by using a preset encryption rule, then After the supervisory device obtains the supervisory information of the drone, if the detected supervisory information is the encrypted information, the preset decryption rule may be used (the preset decryption rule may be set according to the encryption rule preset by the supervisory information) Decrypt and send the decrypted regulatory information to the remote monitoring platform.

It can be understood that, in the present embodiment, the preset decryption rule for the supervisory information can refer to the prior art corresponding to the encryption rule preset by the supervisory information, and details are not described herein again.

The UAV control method and the UAV supervision method in the embodiments of the present invention are described above. The control device and the supervisory device in the embodiment of the present invention are separately described from the perspective of hardware processing. Referring to FIG. 16, the present invention is described. An embodiment of the control device in the embodiment includes:

The transmitter 1601 and the processor 1602 (wherein the number of the processors 1602 may be one or more, and one processor 1602 is exemplified in FIG. 16).

The processor 1602 is configured to acquire supervisory information of the drone, and insert the supervisory information into the management frame.

The transmitter 1601 is configured to send a management frame in a working channel of a communication network between the drone and the control terminal.

Optionally, in some embodiments of the present invention, the transmitter 1601 is further configured to:

The management frame is periodically transmitted in the working channel of the communication network between the drone and the control terminal.

A management frame is transmitted in a working channel of the communication network between the drone and the control terminal in response to the received supervisory request frame transmitted from the supervisory device.

Optionally, in some embodiments of the present invention, the processor 1602 may be further configured to:

Insert regulatory information into specific fields in the management frame.

Insert regulatory information into a custom section of a specific field in the management frame.

Split the regulatory information into a preset number of regulatory information segments;

Inserting one of the preset number of pieces of supervisory information into a specific field in the management frame.

Determining a serial number of each of the preset number of pieces of supervisory information;

Inserting a preset number of supervisory information segments and a serial number corresponding to one supervisory information segment into a specific field in the management frame.

The downlink data transmission management frame of the drone is used in the working channel.

Obtaining the supervisory information of the uplink data transmission using the drone in the working channel, and inserting the supervisory information into the management frame;

The transmitter 1601 can further be used for:

The supervisory information is encrypted according to a preset encryption rule, and the preset encryption rule is an encryption rule known to the supervisory device of the drone;

The encrypted supervisory information is inserted into the management frame.

Obtaining an operating state of each of the plurality of working channels of the communication network between the drone and the control terminal;

Selecting a working channel for transmitting a management frame according to the working state;

The transmitter 1601 can further be used for:

A management frame is sent in the selected working channel.

In this embodiment, after acquiring the supervisory information of the drone and inserting the supervisory information into the management frame, the processor 1602 may send the management frame by the transmitter 1601 in the working channel of the communication network between the drone and the control terminal. So that the supervisory device can scan and acquire the management frame in the working channel of the communication network between the drone and the control terminal, so that the supervisory information of the drone can be obtained without a password, which is beneficial to protect the drone user. Personal privacy and implementation of supervision of drones.

The embodiment of the invention further provides a drone, wherein the drone includes:

a power system for providing flight power to the drone;

A control device according to any of the preceding claims.

Specifically, the power system of the drone may include: a motor, an electric coil, a propeller, etc., wherein no one The machine may also include a payload, such as an imaging device, an infrared imager, etc., wherein the payload may be coupled to the drone via a carrier, wherein the carrier may be a gimbal.

Referring to FIG. 17, an embodiment of a supervisory device in an embodiment of the present invention includes:

The detector 1701 and the processor 1702 (wherein the number of the processors 1702 may be one or more, and one processor 1702 is exemplified in FIG. 17).

The detector 1701 is configured to scan a working channel of a communication network between the drone and the control terminal to obtain a management frame sent by the drone, wherein the management frame includes the supervisory information of the drone;

The processor 1702 is configured to obtain supervisory information of the drone in the management frame.

Optionally, in some embodiments of the present invention, the detector 1701 is further configured to:

Obtain the management frame sent by the drone periodically.

Optionally, in some embodiments of the present invention, the monitoring device may further include a transmitter 1703. As shown in FIG. 18, the transmitter 1703 may be configured to:

Send a regulatory request frame for the drone;

The detector 1701 can further be used for:

After the drone receives the supervision request frame, it acquires a management frame sent from the drone that responds to the probe request frame.

Scanning multiple working channels of the wireless communication network between the drone and the control terminal.

Optionally, in some embodiments of the present invention, the number of the detectors 1701 is one, and one detector 1701 may further be used for:

A plurality of working channels of the wireless communication network between the drone and the control terminal are scanned in turn.

Optionally, in some embodiments of the present invention, the number of the detectors 1701 is multiple, and the processor 1702 may further be used to:

Assigning multiple working channels to multiple detectors;

Each of the plurality of detectors 1701 may further be used to:

Scan a preset number of working channels.

Obtaining a management frame sent by a drone with a preset number of frames;

The processor 1702 can further be used to:

Obtain one or more pieces of supervisory information from each of the preset frames of the management frame, which will be obtained The regulatory information fragments are combined in a predetermined manner to obtain regulatory information.

Optionally, in some embodiments of the present invention, the processor 1702 may be further configured to:

Obtain supervisor information for drones from specific fields in the management frame.

Obtain supervisor information for drones from a custom section of a specific field in the management frame.

Optionally, in some embodiments of the present invention, the monitoring device may further include a display 1704. As shown in FIG. 19, the display 1704, the display 1704, may be used to:

Display regulatory information.

Send regulatory information to a remote monitoring platform.

The supervision information is decrypted according to the preset decryption rule, and the decrypted supervision information is sent to the remote supervision platform.

Determine the hazard level of the drone based on the obtained regulatory information.

In this embodiment, the detector 1701 in the supervisory device can acquire the management frame sent by the drone by scanning the working channel of the communication network between the drone and the control terminal, and the processor 1702 can further acquire the management frame. The supervision information of the drone can be seen, the supervisory equipment can determine the supervision information of the drone without obtaining the password, so as to protect the personal privacy of the drone user as much as possible, and realize the supervision of the drone.

It can be understood that the present invention may also relate to a supervisory system, including a drone, a control terminal that communicates with the drone, and a supervisory device that supervises the drone, and optionally, a remote monitoring platform that communicates with the supervisory device. . The control terminal can be used to send a control command to the drone, and the drone can control the flight according to the received control command, and the supervisory device can be used to acquire communication data between the drone and the control terminal to achieve Human-machine supervision, remote monitoring platform can be used to manage one or more regulatory devices and remotely supervise one or more drones.

A person skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the system, the device and the unit described above can refer to the corresponding process in the foregoing method embodiment, and details are not described herein again.

In the several embodiments provided by the present application, it should be understood that the disclosed system, device and method The law can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the unit is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium. A number of instructions are included to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like. .

The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the embodiments are modified, or the equivalents of the technical features are replaced by the equivalents of the technical solutions of the embodiments of the present invention.

Claims

A drone control method, comprising:

Obtaining supervisory information of the drone and inserting the regulatory information into the management frame;

The management frame is transmitted by a transmitter in a working channel of a communication network between the drone and the control terminal.
The method of claim 1 wherein the communication network between the drone and the control terminal is a WI-FI network.
The method of claim 1 wherein the communication protocol of the communication network between the drone and the control terminal is an 802.11 wireless protocol.
The method according to any one of claims 1 to 3, wherein the transmitting the management frame in a working channel of a communication network between the UAV and the control terminal by using a transmitter comprises:

The management frame is periodically transmitted by a transmitter in a working channel of a communication network between the drone and the control terminal.
The method according to any one of claims 1 to 4, wherein the management frame comprises a broadcast frame.
The method according to claim 5, wherein the broadcast frame comprises a beacon frame and a Probe Request.
The method according to any one of claims 1 to 3, wherein the transmitting the management frame in a working channel of a communication network between the UAV and the control terminal by using a transmitter comprises:

The management frame is transmitted in a working channel of a communication network between the drone and the control terminal by a transmitter in response to the received supervisory request frame transmitted from the supervisory device.
The method of claim 7, wherein the management frame is a unicast frame.
The method according to claim 8, wherein the unicast frame comprises a Probe Response;

The supervision request frame includes a Probe Request.
The method according to any one of claims 1 to 9, wherein the inserting the regulatory information into a management frame comprises:

The regulatory information is inserted into a particular field in the management frame.
The method according to claim 10, wherein the inserting the regulatory information into a specific field in a management frame comprises:

The regulatory information is inserted into a custom portion of a particular field in the management frame.
The method according to claim 10 or 11, wherein the method further comprises:

Using the processor to split the regulatory information into a preset number of pieces of regulatory information;

The inserting the regulatory information into a specific field in the management frame includes:

Inserting at least one of the preset number of pieces of supervisory information into a specific field in the management frame.
The method of claim 12 wherein said method further comprises

Determining, by the processor, a sequence number of each of a preset number of pieces of supervisory information;

The inserting the at least one of the preset number of pieces of supervisory information into the specific field in the management frame includes:

Inserting at least one of the preset number of pieces of supervisory information and a sequence number corresponding to the at least one piece of supervisory information into a specific field in the management frame.
The method according to any one of claims 1 to 13, wherein the transmitting the management frame in a working channel of a communication network between the drone and the control terminal by using a transmitter comprises:

The management frame is transmitted using the transmitter in the working channel using downlink data of the drone.
The method of claim 14 wherein said transmitter and/or said processor are disposed on said drone.
The method according to any one of claims 1 to 13, wherein the acquiring the supervisory information of the drone and inserting the supervisory information into the management frame comprises:

Obtaining supervisory information for using the uplink data transmission of the drone in the working channel, and inserting the supervisory information into a management frame;

The transmitting, by the transmitter, the management frame in a working channel of a communication network between the UAV and the control terminal includes:

The management frame is transmitted using the transmitter in the working channel using downlink data of the drone.
The method according to any one of claims 1 to 16, wherein the method further comprises:

And using the processor to encrypt the supervisory information according to a preset encryption rule, where the preset encryption rule is an encryption rule known by the supervisory device of the drone;

The inserting the regulatory information into the management frame includes:

The encrypted supervisory information is inserted into the management frame.
The method according to any one of claims 1 to 17, wherein the transmitting the management frame in a working channel of a communication network between the UAV and the control terminal by using a transmitter comprises:

Acquiring, by the processor, an operating state of each of the plurality of working channels of the communication network between the UAV and the control terminal;

Selecting, by the processor, a working channel that sends the management frame according to the working state;

The management frame is transmitted in the selected working channel by the transmitter.
The method of claim 18 wherein said operational state comprises at least a current bandwidth of the working channel.
The method according to any one of claims 1 to 19, wherein the supervision information includes identity information, location information, flight parameter information, flight attitude information, owner information, and purchase time of the drone One or more of information, purchase location information, historical flight path information, hardware configuration information, check digit information, and location information of the control terminal.
The method according to claim 20, wherein said identity information comprises a vendor identifier and a model of said drone;

The location information of the drone includes at least one of current location information of the drone and location information when the drone takes off;

The flight parameter information includes at least one of a maximum flight speed, a maximum flight altitude, and a current flight speed;

The flight attitude information includes at least one of a roll angle, a pitch angle, and a yaw angle;

The hardware configuration information includes at least configuration information of a payload of the drone;

The check bit information is a cyclic redundancy CRC check code;

The location information of the control terminal includes at least one of location information when the UAV takes off and location information output by the positioning device on the control terminal.
A method for supervising a drone, characterized in that it comprises:

Using a detector to scan a working channel of a communication network between the drone and the control terminal;

Obtaining, by the detector, a management frame sent by the drone, wherein the management frame includes the supervision information of the drone;

And obtaining, by the processor, the regulatory information of the drone in the management frame.
The method according to claim 22, wherein the communication network between the drone and the control terminal is a WI-FI network.
The method according to claim 22, wherein the communication protocol of the communication network between the drone and the control terminal is the 802.11 protocol.
The method according to any one of claims 22 to 24, wherein the obtaining, by the detector, the management frame sent by the drone comprises:

And acquiring, by the detector, a management frame periodically sent by the drone.
The method according to any one of claims 22 to 24, wherein the management frame is a broadcast frame.
The method according to claim 26, wherein the broadcast frame comprises a beacon, a Probe Request.
The method according to any one of claims 22 to 24, wherein before the obtaining the management frame sent by the drone by the detector, the method further comprises:

Transmitting, by the transmitter, a regulatory request frame for the drone;

The acquiring, by using the detector, the management frame sent by the drone includes:

After the drone receives the supervision request frame, the probe receives and acquires a management frame sent from the drone to respond to the probe request frame.
The method of claim 28 wherein said management frame is a unicast frame.
The method according to claim 29, wherein said unicast frame comprises a Probe Response;

The supervision request frame includes a Probe Request.
The method according to any one of claims 22 to 30, wherein the scanning the working channel of the wireless communication network between the drone and the control terminal by using the detector comprises:

The detector is used to scan a plurality of working channels of a wireless communication network between the drone and the control terminal.
The method according to claim 31, wherein the number of the detectors is one, and the plurality of working channels of the wireless communication network between the drone and the control terminal are scanned by the detector include:

A plurality of working channels of the wireless communication network between the drone and the control terminal are alternately scanned by one of the detectors.
The method according to claim 31, wherein the number of the detectors is plural, and the plurality of jobs of the wireless communication network between the drone and the control terminal are scanned by the detector The channel includes:

The plurality of working channels are assigned to a plurality of the detectors, each of the plurality of detectors scanning a predetermined number of working channels.
The method according to any one of claims 22 to 33, wherein the acquiring the management frame transmitted by the drone by using the detector comprises:

Using a probe to acquire a management frame sent by the drone with a preset number of frames;

The obtaining, by the processor, the regulatory information of the drone in the management frame includes:

And acquiring, by the processor, one or more pieces of supervisory information from each of the management frames of the preset number of frames, and combining the acquired pieces of supervisory information according to a preset manner to obtain the regulatory information.
The method according to any one of claims 22 to 34, wherein the obtaining, by the processor, the regulatory information of the drone in the management frame comprises:

The regulatory information of the drone is obtained from a specific field in the management frame by a processor.
The method according to claim 35, wherein the obtaining, by the processor, the regulatory information of the drone from a specific field in the management frame comprises:

The regulatory information of the drone is obtained from a custom portion of a specific field in the management frame by a processor.
The method according to any one of claims 22 to 36, wherein the method further comprises:

Displaying the regulatory information using an interactive interface
The method according to any one of claims 22 to 37, wherein the method further comprises:

The regulatory information is sent to the remote monitoring platform using a processor.
The method according to claim 38, wherein the transmitting, by the processor, the regulatory information to the remote monitoring platform comprises:

The processor decrypts the supervisory information according to a preset decryption rule, and sends the decrypted supervisory information to the remote supervision platform.
The method of claim 39, wherein the method further comprises:

Determining, by the processor, the danger level of the drone according to the obtained regulatory information.
The method according to any one of claims 22 to 40, wherein the detector is a plurality of detectors, and each of the plurality of detectors is disposed in a different area.
The method according to any one of claims 22 to 41, wherein the supervision information comprises identity information, location information, flight parameter information, flight attitude information, owner information, and purchase time information of the drone One or more of purchase location information, historical flight path information, hardware configuration information, check digit information, and location information of the control terminal.
The method according to claim 42, wherein said identity information comprises a vendor identifier and/or a model of the drone;

The location information includes at least one of current location information of the drone and location information when the drone takes off;

The flight parameter information includes at least one of a maximum flight speed, a maximum flight altitude, and a current flight speed;

The flight attitude information includes at least one of a roll angle, a pitch angle, and a yaw angle;

The hardware configuration information includes at least configuration information of a payload of the drone;

The check bit information is a cyclic redundancy CRC check code;

The location information of the control terminal includes at least one of location information when the UAV takes off and location information output by the positioning device on the control terminal.
A control device, comprising:

a processor, configured to acquire supervisory information of the drone, and insert the regulatory information into the management frame;

And a transmitter, configured to send the management frame in a working channel of a communication network between the drone and the control terminal.
The control device according to claim 44, wherein the communication network between the drone and the control terminal is a WI-FI network.
The control device according to claim 44, wherein the communication protocol of the communication network between the drone and the control terminal is an 802.11 wireless protocol.
The control device according to any one of claims 44 to 46, wherein the transmitter is further configured to:

The management frame is periodically transmitted in a working channel of a communication network between the drone and the control terminal.
The control device according to any one of claims 44 to 46, wherein the management frame comprises a broadcast frame.
The control device according to claim 48, wherein the broadcast frame comprises a beacon frame and a Probe Request.
The control device according to any one of claims 44 to 46, wherein the transmitter is further configured to:

The management frame is transmitted in a working channel of a communication network between the drone and the control terminal in response to the received supervisory request frame transmitted from the supervisory device.
The control device according to claim 50, wherein said management frame is a unicast frame.
The control device according to claim 51, wherein said unicast frame comprises a Probe Response;

The supervision request frame includes a Probe Request.
The control device according to any one of claims 44 to 52, wherein the processor is further configured to:

The regulatory information is inserted into a particular field in the management frame.
The control device according to claim 53, wherein the processor is further configured to:

The regulatory information is inserted into a custom portion of a particular field in the management frame.
The control device according to claim 53 or 54, wherein the processor is further configured to:

Splitting the regulatory information into a preset number of pieces of regulatory information;

Inserting one of the preset number of pieces of supervisory information into a specific field in the management frame.
The control device according to claim 55, wherein the processor is further configured to:

Determining a serial number of each of the preset number of pieces of supervisory information;

Inserting one of the preset number of pieces of supervisory information and a sequence number corresponding to the one piece of supervisory information into a specific field in the management frame.
The control device according to any one of claims 44 to 56, wherein the transmitter is further configured to:

Transmitting the management frame using the downlink data of the drone in the working channel.
The control device according to claim 57, wherein said transmitter and/or said processor are disposed on said drone.
The control device according to any one of claims 44 to 56, wherein the processor is further configured to:

Obtaining supervisory information for using the uplink data transmission of the drone in the working channel, and inserting the supervisory information into a management frame;

The transmitter is also used to:

Transmitting the management frame using the downlink data of the drone in the working channel.
The control according to any one of claims 44 to 59, wherein the processor is further configured to:

Encrypting the supervisory information according to a preset encryption rule, where the preset encryption rule is an encryption rule known by the supervisory device of the drone;

The encrypted supervisory information is inserted into the management frame.
The control device according to any one of claims 44 to 60, wherein the processor is further configured to:

Obtaining an operating state of each of the plurality of working channels of the communication network between the drone and the control terminal;

Selecting a working channel for transmitting the management frame according to the working state;

The transmitter is also used to:

The management frame is sent in the selected working channel.
The control device according to claim 61, wherein said operational state comprises at least a current bandwidth of the working channel.
The control device according to any one of claims 44 to 62, wherein the supervisory information includes identity information, location information, flight parameter information, flight attitude information, owner information, and purchase of the drone One or more of time information, purchase location information, historical flight path information, hardware configuration information, check digit information, and location information of the control terminal.
The control device according to claim 63, wherein said identity information comprises a vendor identifier and a model of said drone;

The location information of the drone includes at least one of current location information of the drone and location information when the drone takes off;

The flight parameter information includes at least one of a maximum flight speed, a maximum flight altitude, and a current flight speed;

The flight attitude information includes at least one of a roll angle, a pitch angle, and a yaw angle;

The hardware configuration information includes at least configuration information of a payload of the drone;

The check bit information is a cyclic redundancy CRC check code;

The location information of the control terminal includes at least one of location information when the UAV takes off and location information output by the positioning device on the control terminal.
A supervisory device, comprising:

a detector, configured to scan a working channel of a communication network between the drone and the control terminal, to obtain a management frame sent by the drone, wherein the management frame includes the supervisory information of the drone;

And a processor, configured to acquire the supervision information of the drone in the management frame.
The supervisory device according to claim 65, wherein the communication network between the drone and the control terminal is a WI-FI network.
The supervisory device according to claim 65, characterized in that the communication protocol of the communication network between the drone and the control terminal is the 802.11 protocol.
The monitoring device according to any one of claims 65 to 67, wherein the detector is further configured to:

Obtaining a management frame periodically sent by the drone.
The policing device according to any one of claims 65 to 68, wherein the management frame is a broadcast frame.
The monitoring device according to claim 69, wherein the broadcast frame comprises a beacon and a Probe Request.
The supervisory device according to any one of claims 65 to 67, wherein the supervisory device further comprises a transmitter, the transmitter for:

Sending a regulatory request frame for the drone;

The detector is also used to:

After the drone receives the supervision request frame, acquiring a management frame sent from the drone that responds to the probe request frame.
The supervision device according to claim 71, wherein the management frame is a unicast frame.
The policing device according to claim 72, wherein the unicast frame comprises a Probe Response;

The supervision request frame includes a Probe Request.
The monitoring device according to any one of claims 65 to 73, wherein the detector is further configured to:

Scanning multiple working channels of the wireless communication network between the drone and the control terminal.
The monitoring device according to claim 74, wherein the number of the detectors is one, and the detector is further configured to:

A plurality of working channels of the wireless communication network between the drone and the control terminal are scanned in turn.
The monitoring device according to claim 74, wherein the number of the detectors is multiple, and the processor is further used for:

Allocating the plurality of working channels to a plurality of the detectors;

Each of the plurality of detectors is further configured to:

Scan a preset number of working channels.
The monitoring device according to any one of claims 65 to 76, wherein the detector is further configured to:

Obtaining a management frame sent by the drone with a preset number of frames;

The processor is further configured to:

Acquiring one or more pieces of supervisory information from each of the management frames of the preset number of frames, and combining the acquired pieces of supervisory information in a preset manner to obtain the supervisory information.
The policing device according to any one of claims 65 to 77, wherein the processor is further configured to:

Obtaining the regulatory information of the drone from a specific field in the management frame.
The monitoring device according to claim 78, wherein the processor is further configured to:

Obtaining the regulatory information of the drone from a custom portion of a particular field in the management frame.
The supervisory device according to any one of claims 65 to 79, wherein the supervisory device further comprises a display, the display for:

Display the regulatory information
The monitoring device according to any one of claims 65 to 80, wherein the processor is further configured to:

The regulatory information is sent to a remote monitoring platform.
The monitoring device according to claim 81, wherein the processor is further configured to:

The supervision information is decrypted according to the preset decryption rule, and the decrypted supervision information is sent to the remote supervision platform.
The monitoring device according to claim 82, wherein the processor is further configured to:

Determining the danger level of the drone based on the obtained regulatory information.
The supervisory device according to any one of claims 65 to 83, wherein the detector is a plurality of detectors, and each of the plurality of detectors is disposed in a different area.
The supervisory device according to any one of claims 65 to 84, wherein the supervisory information includes identity information, location information, flight parameter information, flight attitude information, owner information, and purchase time of the drone One or more of information, purchase location information, historical flight path information, hardware configuration information, check digit information, and location information of the control terminal.
The supervisory device according to claim 85, wherein said identity information comprises a vendor identifier and/or a model of the drone;

The location information includes at least one of current location information of the drone and location information when the drone takes off;

The flight parameter information includes at least one of a maximum flight speed, a maximum flight altitude, and a current flight speed;

The flight attitude information includes at least one of a roll angle, a pitch angle, and a yaw angle;

The hardware configuration information includes at least configuration information of a payload of the drone;

The check bit information is a cyclic redundancy CRC check code;

The location information of the control terminal includes at least one of location information when the UAV takes off and location information output by the positioning device on the control terminal.
A drone, characterized in that it comprises:

a power system for providing flight power to the drone;

A control device according to any one of claims 44 to 64.