WO2021217596A1

WO2021217596A1 - Unmanned aerial vehicle supervision method, related apparatus and system

Info

Publication number: WO2021217596A1
Application number: PCT/CN2020/088335
Authority: WO
Inventors: 杨泽渊; 邸健; 关仲贤; 王琮
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-04-30
Filing date: 2020-04-30
Publication date: 2021-11-04

Abstract

An unmanned aerial vehicle supervision method, a related apparatus and a system. Said method may comprise: a terminal device (20) receiving flight data sent by an unmanned aerial vehicle (10); and when a reporting condition is satisfied, the terminal device (20) sending the flight data to a supervision server (30) for managing the unmanned aerial vehicle (10), the supervision server (30) being used for determining, according to the flight data, whether the unmanned aerial vehicle (10) has permission to fly. The method can reduce the supervision cost and reduce the load of an unmanned aerial vehicle.

Description

UAV supervision method, related device and system

Technical field

This application relates to the field of unmanned aerial vehicles, and in particular to an unmanned aerial vehicle supervision method, related devices and systems.

Background technique

In accordance with relevant policies and regulations, national and local government requirements, during the drone flight, flight data can be reported to the drone regulatory authority in real time to facilitate airspace management.

In the prior art, an external module with network connection capability mounted on the UAV is usually used to obtain the flight data of the UAV and report it to the supervisory authority. This will increase the cost of supervision and increase the load on drones.

Summary of the invention

The embodiments of the present application provide an unmanned aerial vehicle supervision method, related devices and systems, which can reduce the supervision cost and reduce the load of the unmanned aerial vehicle.

In the first aspect, an embodiment of the present application provides a drone monitoring method, including: a terminal device receives flight data sent by the drone; when the reporting conditions are met, the terminal device sends the flight data to a user A supervisory server that manages the drone, and the supervisory server is used to decide whether the drone has permission to fly according to the flight data.

In the second aspect, an embodiment of the present application provides a drone monitoring method, including: the drone sends flight data to a terminal device, so that the terminal device can control the flight of the drone when the reporting conditions are met. The data is sent to a supervisory server for managing the drone, and the supervisory server is used to decide whether the drone has permission to fly according to the flight data.

In a third aspect, an embodiment of the present application provides a drone monitoring method, which is executed by a monitoring server for managing the drone, and the method includes: receiving a terminal device sent when the reporting conditions are met. Flight data, the flight data is sent by the drone to the terminal device; based on the flight data, it is determined whether the drone has the authority to fly.

In a fourth aspect, an embodiment of the present application provides a terminal device, including: a memory, a processor, and a transceiver; the memory, the transceiver and the processor are coupled, the memory is used to store program instructions, and the processor is used to call the program instructions in the memory Perform the following operations: receive the flight data sent by the drone through the transceiver; when the reporting conditions are met, send the flight data to the supervisory server for managing the drone through the transceiver, the supervisory server It is used to decide whether the UAV has permission to fly according to the flight data.

In a fifth aspect, an embodiment of the present application provides a drone, including: a memory, a processor, and a transceiver; the memory, the transceiver and the processor are coupled, the memory is used to store program instructions, and the processor is used to call programs in the memory The instructions perform the following operations: send flight data to the terminal device through the transceiver, so that the terminal device sends the flight data of the drone to the supervisory server for managing the drone. The supervisory server is used to decide whether the drone is based on the flight data. Have permission to fly.

In a sixth aspect, an embodiment of the present application provides a supervisory server, the supervisory server is used to manage drones, the supervisory server includes: a memory, a processor, and a transceiver; the memory, the transceiver is coupled with the processor, and the memory Used to store program instructions, the processor is used to call the program instructions in the memory to perform the following operations: the transceiver receives the flight data sent by the terminal device when the reporting conditions are met, and the flight data is sent to the terminal by the drone Equipment; based on the flight data to decide whether the drone has permission to fly.

In the seventh aspect, an embodiment of the application provides a drone monitoring system, including a terminal device, a drone, and a monitoring server; the terminal device is the terminal device provided in the fourth aspect of the embodiment of the application, and the drone is the application For the drone provided in the fifth aspect of the embodiment, the supervision server is the supervision server provided in the sixth aspect of the embodiment of the application.

In an eighth aspect, an embodiment of the present application provides a computer-readable storage medium on which a computer program is stored. When the foregoing computer program is executed by a processor, the first aspect, the second aspect, or the third aspect of the embodiments of the present application are implemented. Methods.

Description of the drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or in the prior art, the following will briefly introduce the accompanying drawings that need to be used in the embodiments.

Figure 1 is a schematic structural diagram of an unmanned aerial vehicle monitoring system provided by an embodiment of the application;

Figure 2 is a schematic structural diagram of another UAV monitoring system provided by an embodiment of the application;

FIG. 3 is a schematic flowchart of a method for monitoring drones according to an embodiment of the application;

FIG. 4 is a schematic flowchart of another drone supervision method provided by an embodiment of the application;

FIG. 5 is a schematic flowchart of another drone supervision method provided by an embodiment of the application;

FIG. 6 is a schematic structural diagram of a terminal device provided by an embodiment of this application;

FIG. 7 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the application;

FIG. 8 is a schematic structural diagram of a supervision server provided by an embodiment of this application;

FIG. 9 is a schematic structural diagram of a control device provided by an embodiment of the application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

Fig. 1 shows an unmanned aerial vehicle monitoring system according to an embodiment of the present application. The system includes an unmanned aerial vehicle 10, a terminal device 20, and a supervisory server 30. The UAV 10 may include various types of UAV101 (Unmanned Aerial Vehicle, UAV), such as a single-rotor, two-rotor, four-rotor UAV, hexarotor or more UAVs. The terminal device 20 may be a device such as a mobile phone, a tablet computer, etc., and may also have a remote control function to realize remote control of the drone 10. The terminal device 20 can receive the flight data sent by the drone, and send the flight data to the supervision server 30 so that the supervision server 30 can control the drone 10. Wherein, the supervision server 30 may be a private network, such as a server built by an enterprise. The supervision server 30 may also be a public network, such as a server set up by a government department.

In the present application, the drone 10 may establish a communication connection with the aforementioned terminal device 20 through a wireless connection method (for example, a wireless connection method based on WiFi or radio frequency communication, etc.). The terminal device 20 may establish a communication connection with the supervision server 30 through a wireless connection method such as the Internet, a cellular network, or WiFi. The terminal device 20 may be a controller with a joystick and a display screen, and the drone 10 is controlled by the amount of the stick. The terminal device 20 can also be a smart device such as a smart phone or a tablet computer. It can control the automatic flight of the drone 10 by configuring the flight trajectory on the user interface UI, or control the automatic flight of the drone 10 through somatosensory methods, or through After the flight trajectory is recorded during the flight of the UAV 10 in advance, the UAV 10 is controlled to automatically fly along the recorded flight trajectory.

It is not limited to the terminal device 20 in the drone monitoring system shown in FIG. 1 that can control the drone 10 to fly. In another implementation manner, the drone can also be controlled by a remote control device. The drone monitoring system shown in FIG. 2 may include a drone 10, a terminal device 20, a monitoring server 30, and a control device 40. Among them, the control device 40 may have a remote control function to realize remote control of the drone 10. The drone 10 can send flight data to the control device 40, and the control device 40 can send the flight data to the terminal device 20.

Optionally, the control terminal for controlling the UAV 10 may also be dual-control or multi-control. For example, taking dual control as an example, the equipment for controlling the UAV 10 includes two groups, which are the main control equipment and the auxiliary control equipment (or slave control equipment), and each group of equipment may include terminal equipment and/or control equipment. .

For example, pilot A uses a terminal device 20 and/or a control device 40 to control the flight of the drone 10, and pilot B uses another terminal device 20 and/or another control device 40 to receive the drone 10 transmission. Image, and control the camera parameters of the UAV 10. Among them, the terminal device 20 and/or control device 40 operated by pilot A is the master control device of the aforementioned drone 10, and the terminal device 20 and/or control device 40 operated by pilot B is the master control device of the aforementioned drone 10 Auxiliary control equipment. Among them, the main control device and the auxiliary control device can be switched with each other. For example, the terminal device 20 and/or control device 40 operated by pilot B is switched to the master control device of the aforementioned drone 10, and the terminal device 20 and/or control device 40 operated by pilot A is switched to the master control device of the aforementioned drone 10 Auxiliary control equipment. The main control device can send a switching instruction to the auxiliary control device to perform the switching process between the main control device and the auxiliary control device.

In the embodiment of the present application, the flight data of the drone 10 may be reported to the supervision server 30 through the main control device, and may also be reported to the supervision server 30 through the auxiliary control device. For example, the flight data of the drone 10 is reported to the supervisory server 30 through the master control device by default. Then UAV 10 sends the flight data to the control device controlled by Pilot A, and the control device controlled by Pilot A sends the flight data of UAV 10 to the terminal controlled by Pilot A, and the terminal controlled by Pilot A. The device then sends the flight data of the drone 10 to the supervision server 30. The main control device may also send the received flight data of the drone to the auxiliary control device, and instruct the auxiliary control device to report the flight data of the drone 10 to the supervisory server 30. After the identities of the main control device and the auxiliary control device are switched, the new main control device can report the flight data of the drone 10 to the supervisory server 30.

Similarly, dual control or multiple control can also be applied to the system shown in Figure 1. For example, taking dual control as an example, the equipment for controlling the UAV 10 includes two groups, namely a master control device and an auxiliary control device (or slave control device), and each group of devices may include a terminal device 20.

For example, pilot A controls the flight of the drone 10 through a terminal device 20, and pilot B receives images transmitted by the drone 10 through another terminal device 20 and controls the photographing parameters of the drone 10. Among them, the terminal device 20 operated by the pilot A is the main control device of the aforementioned UAV 10, and the terminal device 20 operated by the pilot B is the auxiliary control device of the aforementioned UAV 10. Among them, the main control device and the auxiliary control device can be switched with each other. For example, the terminal device 20 operated by the pilot B is switched to the main control device of the aforementioned UAV 10, and the terminal device 20 operated by the pilot A is switched to the auxiliary control device of the aforementioned UAV 10. The main control device can send a switching instruction to the auxiliary control device to perform the switching process between the main control device and the auxiliary control device.

In the embodiment of the present application, the flight data of the drone 10 may be reported to the supervision server 30 through the main control device, and may also be reported to the supervision server 30 through the auxiliary control device. For example, the flight data of the drone 10 is reported to the supervisory server 30 through the master control device by default. Then the drone 10 sends the flight data to the terminal device controlled by the pilot A, and the terminal device controlled by the pilot A sends the flight data of the drone 10 to the supervisory server 30. The main control device may also send the received flight data of the drone to the auxiliary control device, and instruct the auxiliary control device to report the flight data of the drone 10 to the supervisory server 30. After the identities of the main control device and the auxiliary control device are switched, the new main control device can report the flight data of the drone 10 to the supervisory server 30.

In this application, the drone 10 may establish a communication connection with the above-mentioned control device 40 through a wireless connection method (for example, a wireless connection method based on WiFi or radio frequency communication, etc.). The control device 40 may establish a communication connection with the aforementioned terminal device 20 through a wireless connection method (for example, a wireless connection method based on WiFi or radio frequency communication, Bluetooth, etc.) or through a USB interface. The terminal device 20 may establish a communication connection with the supervision server 30 through a wireless connection method such as the Internet, a cellular network, or WiFi. The control device 40 may be a controller with a joystick, and the drone 10 is controlled by the amount of the stick. Or the control device 40 may be a controller with a display screen. The control device 40 can also be a smart device such as a smart phone or a tablet computer, which can control the automatic flight of the drone 10 by configuring the flight trajectory on the user interface UI, or control the automatic flight of the drone 10 through somatosensory methods, or through After the flight trajectory is recorded during the flight of the UAV 10 in advance, the UAV 10 is controlled to automatically fly along the recorded flight trajectory.

The terminal device 20 involved in FIG. 1 and FIG. 2 may be installed with an application (application, APP) for controlling the drone. In FIG. 1, the user can directly control the drone 10 to fly through the APP. In FIG. 2, the user can control the drone 10 to fly through the control device 40.

Possibly, the unmanned aerial vehicle 10 provided in FIG. 1 or FIG. 2 may include a pan/tilt, and a photographing device may be mounted on the pan/tilt to realize a photographing function. Among them, the gimbal can be a three-axis gimbal, that is, the attitude of the gimbal can be controlled on the pitch, roll, and yaw axes, so as to determine the direction of the gimbal and make it mounted on the gimbal. The camera device can complete the corresponding shooting tasks. The user can control the drone to shoot through the remote control device or the display interface of the terminal device.

Not limited to supervising drones, this application can also be used to supervise unmanned vehicles, robots and other equipment. Specifically, the mobile data of unmanned vehicles, robots and other equipment can be sent to the supervision server to achieve the purpose of supervision.

Next, in conjunction with the UAV monitoring system provided in FIG. 1 or FIG. 2, a UAV monitoring method provided in an embodiment of the present application is introduced. As shown in Figure 3, the drone supervision method can include the following steps:

S101: The drone sends flight data to the terminal device.

Possibly, the terminal device can be connected to the drone. The drone can send flight data to the terminal device connected to it.

Possibly, the terminal device can be connected with a control device for controlling the flight of the drone. The drone can send flight data to the control device. The control device then sends the flight data to the terminal device.

Specifically, the flight data may include at least one of the following: global positioning system (GPS) positioning data of the drone, the flight height of the drone, the flight time of the drone, the flight area of the drone, The flight speed of the drone, the flight acceleration of the drone, the flight attitude data of the drone, the inertial measurement unit (IMU) data of the drone, the route information of the drone, the identity of the drone Identification number (identity document, ID) information, equipment type information of the drone, manufacturer information of the drone, size information of the drone, weight information of the drone, etc.

Among them, the GPS positioning data is used by the supervisory server to decide whether the drone has the right to fly in the area corresponding to the GPS positioning data, and the flight height is used by the supervisory server to decide whether the drone has the right to fly at the flight height, and the flight time is used The supervisory server decides whether the drone has the right to fly in the flight time, the flight area is used by the supervisory server to decide whether the drone has the right to fly in the flight area, the flight speed and/or the flight acceleration of the drone It is used by the supervisory server to decide whether the drone is not authorized to fly due to irregular flight. The route of the drone is used for the supervisory server to decide whether the drone is not authorized to fly due to the overlapping route of other drones. The ID information and/or equipment type information is used by the supervisory server to decide whether the drone is not authorized to fly due to the unqualified equipment type, and the size information and/or weight information of the drone is used for the supervisory server to decide whether the drone can be unlicensed. Users who are certified and/or who have not passed the pilot test control the flight.

Specifically, the GPS positioning data of the drone can be measured by the GPS chip in the drone. The flying height of the drone can also be measured by the GPS chip in the drone. The flight time of the drone can be measured by the clock in the drone. The flying speed of the drone and the flying acceleration of the drone can be measured by the IMU of the drone. The size information of the drone and the weight information of the drone can be set by default at the factory. The flight attitude data of the UAV can be measured by the gyroscope, which can specifically include the current pitch angle, yaw angle, and roll angle of the UAV. The IMU data of the UAV can be measured through the IMU, which can specifically include the current acceleration and angular velocity of the UAV on the three axes. The flight path information of the drone can also be measured through the GPS chip. The flight area information of the drone can be characterized by the country code of the drone or the country code of the terminal device. The country code can be characterized by a specific field of the flight data. The flight area information of the UAV can also be measured through the GPS chip.

Possibly, before the drone sends the flight data, the flight data can also be encrypted. In other words, the flight data sent to the terminal device is encrypted data. This can ensure data security.

Possibly, the drone can send flight data at a preset frequency, such as but not limited to once every 5 seconds or once every 10 seconds.

Possibly, the preset frequency can also be determined by at least one of the following: the flying speed of the drone, the flying acceleration of the drone, and the flying height of the drone.

Specifically, the faster the flying speed of the drone, the higher the preset frequency; the greater the flying acceleration of the drone, the higher the preset frequency; the higher the flying altitude of the drone, the higher the preset frequency, or none After the flight altitude of the man-machine exceeds the threshold, the preset frequency is increased.

Possibly, the flight data reported by the drone can be determined by at least one of the following: the type of the drone, the weight of the drone, and the size of the drone. That is, different types, sizes, or weights of drones report different flight data.

Exemplarily, if the type of the drone is an agricultural drone, the flight data may be route information of the drone. If the type of drone is a consumer drone, the flight data can be the positioning data of the drone, the flying height of the drone, and the flying area of the drone.

Optionally, before sending flight data to the terminal device, the drone can also determine whether the data reporting conditions are met. When the data reporting conditions are met, the flight data is sent to the terminal device.

Specifically, the data reporting conditions may include at least one of the following: the type of the drone is a preset type, the flight area of the drone is a preset area, the flying height of the drone belongs to the preset height range, and the drone's The flight time belongs to the preset time period, the size of the drone belongs to the preset size range, and the weight of the drone belongs to the preset weight range.

Optionally, the drone may not set the reporting conditions, that is, all drones need to report flight data.

S102: When the reporting conditions are met, the terminal device sends the flight data to the supervision server.

Specifically, the supervisory server can be used to manage the drone, and decide whether the drone has permission to fly based on the flight data.

Optionally, meeting the reporting conditions may be: it is detected that the device type of the drone is a preset type, the manufacturer of the drone is a preset manufacturer, the size of the drone meets the preset size or The weight of the drone meets the preset weight. The aforementioned preset type, preset manufacturer, preset size, or preset weight are obtained by the terminal device from the supervision server.

Specifically, the terminal device determines whether the type of the drone is a preset type before sending the flight data to the supervision server. If yes, send the flight data to the supervision server. If not, the flight data will not be sent to the supervision server. Among them, the preset type may be, for example, an agricultural plant protection machine, or a small drone. The embodiment of the present application does not limit the preset type.

Specifically, the flight data sent by the drone can carry the type information of the drone. The terminal device can determine whether the type of the drone is a preset type through the flight data.

In addition, the terminal device can establish a connection with the drone or a remote control device before the drone takes off. The terminal device can obtain the type information of the drone during the process of establishing a connection with the drone or remote control device, and then determine whether the type of the drone is a preset type.

Optionally, satisfying the reporting condition may be: detecting that the user has started the supervision reporting function or the user selects a drone to access the supervision server.

Specifically, the terminal device determines whether the function of data reporting is enabled before sending flight data to the supervision server. If it is turned on, the flight data will be sent to the supervision server. If it is not turned on, the flight data will not be sent to the supervision server.

Specifically, an APP for controlling the drone can be installed on the terminal device, and the user can set the data reporting function on or off through the user interface of the APP.

Optionally, meeting the reporting conditions may be: detecting that the flying height of the drone exceeds the preset height, the flying time of the drone exceeds the preset time, the flying speed of the drone exceeds the preset speed, and the acceleration of the drone Exceeding the preset acceleration or the flying area of the drone is the preset area.

Specifically, the terminal device determines whether the flight area of the drone is a preset area before sending the flight data to the supervision server. If yes, send the flight data to the supervision server. If not, the flight data will not be sent to the supervision server. Among them, the preset area may be China, for example. Specifically, the country code can be used to determine whether the UAV's current flight area is China. When the country code is CN, it can indicate that the current flight area of the drone is China. The country code can be the country code stored locally on the terminal device, or it can be the country code carried in the flight data sent by the drone.

It is not limited to dividing the flight area by country. In a specific implementation, the flight area may also be divided by city or province, which is not limited in the embodiment of the present application. Specifically, the flight area of the UAV can be determined through the positioning information of the terminal device itself or the GPS positioning data in the flight data sent by the UAV, the flight route information of the UAV, or the flight area information of the UAV. In addition, the terminal device can also determine the flight area of the drone based on the route of the drone planned by the user.

It is not limited to judging the type and flight area of the drone. In specific implementation, the terminal device can also judge the size, weight, flight height, flight time, etc. of the drone. When the size, weight, flight height, or flight time of the drone meet the conditions, the terminal device sends the flight data to the supervisory server. For example, the weight threshold of the drone may be, but is not limited to, 250 grams. That is, drones over 250 grams need to be registered for flight, while drones weighing less than 250 grams can fly without permission. In other words, drones weighing less than 250 grams do not need to report flight data. If they weigh more than 250 grams, they meet the reporting conditions and need to report flight data.

Optionally, meeting the reporting condition may be that the communication network between the terminal device and the supervision server is normal.

Specifically, the terminal device may send flight data to the supervision server according to a preset frequency when accessing the network. Wherein, the preset frequency may be, but not limited to, once every 5 seconds or once every 10 seconds, for example. The embodiment of the present application does not limit the preset frequency for sending flight data.

Possibly, the terminal device can cache the flight data when it is not connected to the network, for example, save the flight data in the memory. When the terminal device resumes connecting to the network, the cached flight data can be sent to the supervisory server. Wherein, the frequency at which the terminal device caches flight data may also be once every 5 seconds or once every 10 seconds. The embodiment of the present application does not limit the frequency of caching flight data. Wherein, the network that the terminal device accesses can be a cellular network or WIFI, and a connection can be established with the supervision server through this network. Optionally, the cached flight data can also be managed. When the terminal device is connected to the network with the server, it is automatically or manually triggered by the user to report the cached data. Optionally, data caching time can also be performed, for example, it can be set to save for 3 days or 5 days.

Optionally, the user can view the memory size occupied by the cached data, the specific time of the cached data, the data content, etc. through the mobile terminal.

It is not limited to the drone or terminal device to determine whether the data reporting conditions are met. In specific implementation, the supervisory server can also determine whether the data reporting conditions are met. Specifically, when the user registers through the APP on the terminal device, the supervisory server can obtain the information of the drone during the registration process, and determine whether the data reporting conditions are met according to the information of the drone.

For example, if the data reporting condition is that the type of the drone is a preset type, the supervisory server may obtain the type of the drone when the user registers to determine whether the type is the preset type. If yes, the data reporting conditions are met. If not, the data reporting conditions are not met.

Optionally, the terminal device may not set reporting conditions, that is, it is mandatory to report flight data for all drones.

S103: The supervisory server decides whether the drone has permission to fly according to the flight data.

Possibly, if the supervisory server decides that the drone is not authorized to fly based on the flight data, the supervisory server may send the first indication information to the terminal device to instruct the drone to fly without authorization. The terminal device can control the drone to hover, land or return home according to the first instruction information.

Possibly, if the supervisory server decides that the drone has the authority to fly based on the flight data, the supervisory server may send the second indication information to the terminal device to indicate that the drone has the authority to fly. The terminal device can control the drone to fly according to the second instruction information.

If the flight data is the flight altitude, when the flight altitude is not within the preset flight altitude range, the supervisory server can decide that the drone has no flight permission.

If the flight data is flight time, when the flight time is not within the preset flight period, the supervisory server can decide that the drone has no flight permission.

If the flight data is GPS positioning data, when the area corresponding to the GPS positioning data does not belong to the preset area, the supervisory server may decide that the UAV has no flight permission.

If the flight data is flight speed and/or flight acceleration, when the flight speed and/or flight acceleration are not within the preset range, the supervisory server may decide that the UAV is not authorized to fly due to irregular flight.

If the flight data is route information, when the route represented by the route information overlaps the route of other drones, the supervisory server can decide that the drone has no flight permission.

If the flight data is ID information and/or device type information, when the type of the drone represented by the ID information and/or device fatigue information does not match the preset type, the supervisory server may decide that the drone has no flight permission.

If the flight data is the size information and/or weight information of the drone, when the size information and/or weight information indicates that the drone cannot be controlled by a user who is not certified and/or has not passed the pilot test, and the user is in the terminal When the user information registered on the APP of the device indicates that the user is not authenticated and/or has not passed the pilot test, the supervisory server can decide that the drone has no flight permission.

If the supervisory server monitors that the target drone is still flying without permission, it can generate a black record for the drone or the pilot who controls the drone. When the black record of the drone or the pilot exceeds the preset number of times, the drone or the pilot can be restricted for a period of time.

Optionally, the mobile terminal can prompt the user whether to connect to the monitoring platform. The user can control whether to connect to the monitoring platform through the controls or buttons on the mobile terminal.

Optionally, the supervisory server can visually display the flight data by means of statistics and calculations on the flight data, such as a map heat map of the flight area, a flight trajectory map display, etc.

Optionally, the supervisory server may receive search instructions input by the user to search for certain specific information, such as searching for the serial number of the drone, flight time, flight location and area, related equipment models, pilot information, and so on.

Optionally, the supervisory server may identify the illegal flight behavior according to the flight data, and send a prompt message to the mobile terminal. Among them, the prompt message is used to prompt the current flight behavior violation. The violation behavior may be, for example, exceeding the flight altitude, exceeding the maximum flight speed, or exceeding the allowable flying range.

Not limited to illegal flight behaviors, the supervisory server can also identify high-risk flight behaviors and provide prompts. Among them, the high-risk flight behavior may be, for example, about to exceed the flight altitude, about to exceed the maximum flight speed, or about to exceed the allowable flying range.

Optionally, the supervisory server can also continuously track the flight behavior of a certain region or a user in accordance with defined rules based on the received flight data.

Optionally, the supervisory server can also export, share, and forward the collected flight data.

Optionally, the supervisory server can also perform statistics and analysis on the flight number, flight duration, flight frequency, total flight duration and other parameters of a certain UAV based on the collected flight data.

Optionally, the supervisory server can also generate a flight log for a certain flight of a certain drone, and the flight log can record the reporting time of the flight data, the source of the reporting request, and abnormal data during the flight.

In the embodiment of the present application, the flight data can be forwarded to the supervision server through the terminal device. Compared with the prior art, the embodiment of the present application does not need to add an external module to the drone, which can reduce the supervision cost and reduce the load of the drone. The terminal device in the embodiment of the present application can accurately identify whether the flight data comes from a drone, and can accurately report the flight data to the supervisory server. In addition, the embodiments of the present application may also encrypt flight data to ensure data security. In the embodiment of the present application, the supervision server can also decide whether the drone has the flight permission according to the flight data, so as to better supervise the drone. In addition, the embodiment of the present application may send flight data to the supervisory server when the reporting conditions are met, so that the supervisory server can supervise drones that meet specific conditions.

The embodiment of the present application provides another drone supervision method. As shown in Figure 4, the drone supervision method can include the following steps:

S201: The drone sends flight data to the terminal device.

Specifically, S201 is the same as S101, and will not be repeated here.

S202: The terminal device merges the flight data and the information of the terminal device to generate a target data packet.

Specifically, the terminal device may first merge the flight data with the information of the terminal device to generate a target data packet, and send the target data packet to the supervision server. Among them, an APP for controlling the drone can be installed on the terminal device.

Specifically, the information of the terminal device may include at least one of the following: location information of the terminal device, APP version information, system model information of the terminal device, user information for controlling the drone, the name of the drone entered by the user, and the user Enter the flight plan of the drone. Among them, the user information for controlling the drone may be user information added when registering the APP on the terminal device. The user information is used by the supervisory server to decide whether the user has the authority to control the drone flight.

S203: When the report condition is met, the terminal device sends the target data packet to the supervision server.

Possibly, the terminal device may also encrypt the target data packet before sending the target data packet to the supervision server. In other words, the target data packet sent to the supervision server is an encrypted data packet. This can ensure data security.

Specifically, the terminal device determines whether the flight area of the drone is a preset area before sending the flight data to the supervision server. If yes, send the flight data to the supervision server. If not, the flight data will not be sent to the supervision server. Among them, the preset area may be China, for example. Specifically, the country code can be used to determine whether the UAV's current flight area is China. When the country code is CN, it can indicate that the UAV's current flight area is China. The country code can be the country code stored locally on the terminal device, or it can be the country code carried in the flight data sent by the drone.

It is not limited to judging the type and flight area of the drone. In specific implementation, the terminal device can also judge the size, weight, flight height, flight time, etc. of the drone. When the size, weight, flight altitude, or flight time of the drone meet the conditions, the terminal device sends the flight data to the supervisory server.

Specifically, the terminal device may send the target data packet to the supervision server according to a preset frequency when accessing the network. Wherein, the preset frequency may be, but not limited to, once every 5 seconds or once every 10 seconds, for example. The embodiment of the present application does not limit the preset frequency for sending the target data packet.

Possibly, the terminal device can cache the target data packet when it is not connected to the network, that is, save the target data packet in the memory. When the terminal device resumes connecting to the network, it can send the cached target data packet to the supervisory server. Wherein, the frequency at which the terminal device caches the target data packet may also be once every 5 seconds or once every 10 seconds. The embodiment of the present application does not limit the frequency of caching target data packets.

Optionally, the user can input and edit some customizable fields in the reported data through the mobile terminal. For example, users can add remarks, flight plan descriptions, and so on.

S204: The supervisory server decides whether the drone has the flying permission according to the target data packet.

Possibly, if the supervisory server decides that the drone is not authorized to fly based on the target data packet, the supervisory server may send the first indication information to the terminal device to indicate that the drone is not authorized to fly. The terminal device can control the drone to hover, land or return home according to the first instruction information.

Possibly, if the supervisory server decides that the drone has permission to fly based on the target data packet, the supervisory server may send second indication information to the terminal device to indicate that the drone has permission to fly. The terminal device can control the drone to fly according to the second instruction information.

If the target data packet includes the flight altitude, when the flight altitude is not within the preset flight altitude range, the supervisory server can decide that the UAV has no flight permission.

If the target data packet includes flight time, when the flight time is not within the preset flight period, the supervisory server can decide that the drone has no flight permission.

If the target data package includes GPS positioning data, when the area corresponding to the GPS positioning data does not belong to the preset area, the supervisory server can decide that the drone has no flight permission.

If the target data packet includes flight speed and/or flight acceleration, when the flight speed and/or flight acceleration are not within the preset range, the supervisory server may decide that the drone is not authorized to fly due to irregular flight.

If the target data packet includes route information, when the route represented by the route information overlaps the route of other drones, the supervisory server can decide that the drone has no flight permission.

If the target data packet includes ID information and/or device type information, when the type of the drone represented by the ID information and/or device fatigue information does not match the preset type, the supervisory server may decide that the drone has no flight permission.

If the target data packet includes the size information and/or weight information of the drone, when the size information and/or weight information indicates that the drone cannot be controlled by a user who is not certified and/or has not passed the pilot test, and the user is in When the user information registered on the APP of the terminal device indicates that the user is not authenticated and/or fails the pilot test, the supervisory server can decide that the drone has no flight permission.

Optionally, the supervisory server can perform identity confirmation and verification on the user end that accesses the supervisory server through information written by the user end, such as token information or certificate.

In the embodiments of the present application, the flight data and the information of the terminal device can be merged and sent to the supervisory server, so that the supervisor can grasp more comprehensive drone information and the information of the user who controls the drone, so as to facilitate management. In the embodiment of the present application, the supervision server can also decide whether the drone has the flight permission according to the flight data, so as to better supervise the drone.

The embodiment of the application provides another drone supervision method. As shown in Figure 5, the drone supervision method can include the following steps:

S301: Receive flight data sent by the drone.

Specifically, S301 is the same as S101, and will not be repeated here.

S302: Determine whether the data reporting function is enabled; if yes, execute S303, if not, execute S301.

Specifically, an APP for controlling the flight of the drone can be installed on the terminal device. The data reporting function can be turned on or off through the APP setting.

S303: Determine whether the type of the drone is a preset type; if yes, execute S304, if not, execute S301.

Specifically, the type information of the drone can be carried in the flight data. The preset type can be, for example, an agricultural plant protection machine, or a small drone. The embodiment of the present application does not limit the preset type.

S304: Determine whether the flight area of the drone is a preset area; if yes, execute S305, if not, execute S301.

Specifically, the flight area information of the drone can be carried in the flight data. Specifically, the flight area information can be characterized by the country code represented by a specific field of the flight data. The preset area may be China, for example. When the country code is CN, it can indicate that the UAV's current flight area is China. The embodiment of the present application does not limit the preset area.

S305: Determine whether to connect to the network; if yes, execute S306, if not, execute S307.

Specifically, it is determined whether the terminal device is connected to the network. Specifically, it can be a WiFi network or a cellular network.

S306: Send the flight data to the supervision server according to the preset frequency.

Specifically, when the terminal device accesses the network, the target data packet is sent to the supervision server according to a preset frequency. Wherein, the preset frequency may be, but not limited to, once every 5 seconds or once every 10 seconds, for example. The embodiment of the present application does not limit the preset frequency for sending the target data packet.

Specifically, the supervisory server can decide whether the drone has permission to fly according to the flight data.

S307: Cache flight data.

Specifically, when the terminal device is not connected to the network, the flight data is cached, that is, the flight data is stored in the memory. When the terminal device resumes connecting to the network, the cached flight data can be sent to the supervisory server. Wherein, the frequency at which the terminal device caches flight data may also be once every 5 seconds or once every 10 seconds. The embodiment of the present application does not limit the frequency of caching flight data.

It can be known that there can be multiple pieces of flight data sent to the terminal device. Different flight data may correspond to the same or different order ID. In order to enable the supervisor to obtain the flight record of the drone through the number of the flight data. The conditions for generating Order ID can include the following:

1. After the terminal device is connected to the drone (or control device), the motor of the drone is switched from non-stop to start-up, which can be regarded as a flight record, and an order ID is generated.

2. When the terminal device establishes a connection with the drone (or control device), the drone is already in flight, and an order ID is generated.

3. During the flight of the UAV, after the terminal device is disconnected from the UAV, when the connection is established again, the order ID is reset to generate an order ID.

In the embodiment of the present application, the terminal device may perform corresponding inspection work, such as the type of the drone, the flight area of the drone, etc., before the terminal device sends the flight data to the supervisory server. After the flight data reporting conditions are met, the flight data is reported to the supervision server, which improves the efficiency of sending flight data and also improves the supervision efficiency of the supervisor. In the embodiment of the present application, the supervision server can also decide whether the drone has the flight permission according to the flight data, so as to better supervise the drone.

Not limited to after the drone takes off, the server is supervised based on the reported flight data. In specific implementation, the flight data can also be reported before the drone takes off. The supervising server judges whether the drone has the flight permission based on the flight data. , And return the approval result (approved or rejected) to the terminal device. The terminal device controls the UAV to take off (approval result passed) or not to take off (approval result rejected) according to the approval result.

In addition, the supervisory server can also send the collected flight data to a third-party monitoring platform or database, such as providing the collected flight data to the public security system to assist the public security system in tracking and positioning the drone.

The foregoing describes the methods of the embodiments of the present application in detail. In order to facilitate better implementation of the above solutions of the embodiments of the present application, correspondingly, related devices for cooperating with the implementation of the foregoing solutions are also provided below.

FIG. 6 shows a schematic structural diagram of a terminal device provided by an embodiment of the present application. The terminal device 40 may include: a memory 410, a transceiver 420, at least one processor 430, such as a CPU, and at least one communication bus 440. Among them, the communication bus 440 is used to implement connection and communication between these components. The memory 410 may be a high-speed RAM memory or a non-volatile memory (non-volatile memory), such as at least one disk memory. The memory 410 includes the flash in the embodiment of the present application. Optionally, the memory 410 may also be at least one storage system located far away from the aforementioned processor 430. The transceiver 420 may be connected with a network interface. The network interface can optionally include a standard wired interface, a wireless interface (such as a WI-FI interface), and a communication connection with the UAV can be established through the network interface. The transceiver may include a receiver, a transmitter, or other communication modules. Other communication modules may include, but are not limited to, a WiFi module, a Bluetooth module, and so on.

Optionally, the terminal device 40 may also include a user interface for receiving user operations for controlling the drone, or receiving user operations for setting the data reporting function. Among them, the user interface may include a touch screen, keyboard or mouse, joystick, physical buttons, and so on.

The processor 430 may be used to call the program instructions stored in the memory 410 and perform the following operations:

The flight data sent by the drone is received through the transceiver 420; when the reporting conditions are met, the flight data is sent to the supervisory server for managing the drone through the transceiver 420, and the supervisory server is used to decide whether the drone should be based on the flight data Have permission to fly.

In a possible embodiment, the flight data includes at least one of the following: GPS positioning data of the drone's global positioning system, the drone's flight altitude, the drone's flight time, the drone's flight area, and Human-machine flight speed, drone flight acceleration, drone flight attitude data, drone inertial measurement unit IMU data, drone route information, drone ID information, drone equipment Type information, manufacturer information of the drone, size information of the drone, or weight information of the drone.

In a possible embodiment, different types, sizes, or weights of drones report different flight data.

In a possible embodiment, the above-mentioned meeting the reporting conditions includes: detecting that the device type of the drone is the preset type, the manufacturer of the drone is the preset manufacturer, the size of the drone meets the preset size or the drone is unmanned The weight of the machine meets the preset weight.

In a possible embodiment, the preset type, preset manufacturer, preset size, or preset weight are obtained by the terminal device from the supervision server.

In a possible embodiment, satisfying the reporting condition includes: detecting that the user has activated the supervision reporting function or that the user selects a drone to access the supervision server.

In a possible embodiment, the above-mentioned meeting the reporting conditions includes: detecting that the flying height of the drone exceeds a preset altitude, the flying time of the drone exceeds the preset time, the flying speed of the drone exceeds the preset speed, The acceleration of the drone exceeds the preset acceleration or the flying area of the drone is the preset area.

In a possible embodiment, satisfying the reporting condition includes: the communication network between the terminal device and the supervision server is normal.

In a possible embodiment, after the processor 430 executes receiving the flight data sent by the drone through the transceiver 420, it also executes: buffering the flight data when the communication network between the terminal device and the supervision server is abnormal; When the processor 430 executes when the reporting conditions are met, the flight data is sent to the supervisory server for managing drones through the transceiver 420, specifically: when the network between the terminal device and the supervisory server returns to normal, the cached The flight data is sent to the supervision server.

In a possible embodiment, after the processor 430 receives the flight data sent by the drone through the transceiver 420, before sending the flight data to the supervisory server through the transceiver 420, it also executes: fusion of flight data and terminal equipment When the processor 430 executes sending the flight data to the supervisory server through the transceiver, it specifically executes: send the target data packet to the supervisory server through the transceiver 420.

In a possible embodiment, an application program APP for controlling drones is installed on the terminal device; the information of the terminal device includes at least one of the following: location information of the terminal device, version information of the APP, and system model of the terminal device Information, user information to control the drone, the name of the drone entered by the user, and the flight plan of the drone entered by the user; among them, the user information is used by the supervisory server to decide whether the user has the authority to control the flight of the drone.

In a possible embodiment, after the processor 430 executes sending the flight data to the supervisory server for managing drones through the transceiver 420, it also executes: receiving the first instruction information sent by the supervisory server through the transceiver 420, The first instruction information is used to instruct the drone to fly without permission; according to the first instruction information, the drone is controlled to hover, land or return home.

In a possible embodiment, after the processor 430 executes sending the flight data to the supervisory server for managing drones through the transceiver 420, it also executes: receiving the second instruction information sent by the supervisory server through the transceiver 420, The second instruction information is used to indicate that the UAV has permission to fly; the unmanned flight is controlled according to the second instruction information.

In a possible embodiment, the terminal device is connected to the drone; when the processor 430 executes receiving the flight data sent by the drone through the transceiver 420, it specifically executes: receiving the drone connected to the terminal device through the transceiver 420 Flight data sent by the aircraft.

In a possible embodiment, the terminal device is connected to a control device for controlling the flight of the drone; when the processor 430 executes receiving the flight data sent by the drone through the transceiver 420, it specifically executes: receiving through the transceiver 420 The flight data sent by the control device, and the flight data is sent by the drone to the control device.

In a possible embodiment, the drone is connected to the main control device and the auxiliary control device; the main control device is used to control the flight of the drone and receive the flight parameters of the drone, and the auxiliary control device is used to control the drone The camera parameters, and the image transmitted by the receiving drone.

In a possible embodiment, the main control device includes a terminal device.

In a possible embodiment, the auxiliary control device includes a terminal device; before the processor 430 executes receiving the flight data sent by the drone through the transceiver 420, it also executes: receiving the flight data sent by the main control device through the transceiver 420.

FIG. 7 shows a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present application. The unmanned aerial vehicle 50 may include: a memory 510, a transceiver 520, at least one processor 530, such as a CPU, and at least one communication bus 540. Among them, the communication bus 540 is used to implement connection and communication between these components. The memory 510 may be a high-speed RAM memory or a non-volatile memory (non-volatile memory), such as at least one disk memory. The memory 510 includes the flash in the embodiment of the present application. Optionally, the memory 510 may also be at least one storage system located far away from the aforementioned processor 530. The transceiver 520 may be connected with a network interface. The network interface can optionally include a standard wired interface and a wireless interface (such as a WI-FI interface), and a communication connection can be established with a terminal device (or a control device) through the network interface. The transceiver may include a receiver, a transmitter, or other communication modules. Other communication modules may include, but are not limited to, a WiFi module, a Bluetooth module, and so on.

The processor 530 may be used to call the program instructions stored in the memory 510 and perform the following operations:

Send the flight data to the terminal device through the transceiver 520, so that the terminal device sends the drone flight data to the supervisory server for managing the drone when the reporting conditions are met, and the supervisory server is used to make decisions about the drone based on the flight data Do you have permission to fly?

In a possible embodiment, the above-mentioned meeting the reporting condition includes: detecting that the user has activated the supervision reporting function or the user selects a drone to access the supervision server.

In a possible embodiment, the processor 530 executes sending flight data to the terminal device through the transceiver 520, so that when the terminal device meets the reporting conditions, the flight data is sent to the supervisory server for managing drones. Specific implementation: Send the flight data to the terminal device through the transceiver 520, so that when the terminal device meets the reporting conditions, the flight data and the information of the terminal device are merged to generate a target data packet, and the target data packet is sent to the supervision server.

In a possible embodiment, the drone is connected to the terminal device; when the processor 530 executes sending flight data to the terminal device through the transceiver, it specifically executes: sending the flight data to the connected drone through the transceiver 520 Terminal Equipment.

In a possible embodiment, the drone is connected to a control device for controlling the flight of the drone; when the processor 530 executes sending flight data to the terminal device through the transceiver 520, the specific execution is: sending flight data through the transceiver 520 Data is sent to the control device so that the control device sends the flight data to the terminal device.

In a possible embodiment, the drone is connected to the main control device and the auxiliary control device; the main control device is used to control the flight of the drone and receive the flight parameters of the drone; the auxiliary control device is used to control the drone The camera parameters, and the image transmitted by the receiving drone.

In a possible embodiment, the main control device includes a terminal device; when the processor 530 executes sending flight data to the terminal device through the transceiver 520, so that the terminal device sends the flight data to a supervisory server for managing drones. , Specific implementation: send flight data to the terminal device in the main control device through the transceiver 520, so that the terminal device in the main control device sends the flight data to the supervisory server used to manage the drone.

In a possible embodiment, the auxiliary control device includes a terminal device; when the processor 530 executes sending flight data to the terminal device through the transceiver 520, it specifically executes: sending flight data to the main control device through the transceiver 520, so that the master The control device sends the flight data to the terminal device in the auxiliary control device, and the terminal device in the auxiliary control device sends the flight data to the supervisory server.

FIG. 8 shows a schematic structural diagram of a supervision server provided by an embodiment of the present application. The supervision server 60 may include: a memory 610, a transceiver 620, at least one processor 630, such as a CPU, and at least one communication bus 640. Among them, the communication bus 640 is used to implement connection and communication between these components. The memory 610 may be a high-speed RAM memory or a non-volatile memory (non-volatile memory), such as at least one disk memory. The memory 610 includes the flash in the embodiment of the present application. Optionally, the memory 410 may also be at least one storage system located far away from the aforementioned processor 630. The transceiver 620 may be connected with a network interface. The network interface can optionally include a standard wired interface and a wireless interface (such as a WI-FI interface), and a communication connection with the terminal device can be established through the network interface. The transceiver may include a receiver, a transmitter, or other communication modules. Other communication modules may include, but are not limited to, a WiFi module, a Bluetooth module, and so on.

Optionally, the supervision server 60 may also include a user interface for receiving user operations of the supervision drone. Among them, the user interface may include a touch screen, a keyboard or a mouse, and so on.

The processor 630 may be used to call program instructions stored in the memory 610, and perform the following operations:

The transceiver 620 receives the flight data sent by the terminal device when the reporting conditions are met, and the flight data is sent by the drone to the terminal device; it is determined whether the drone has permission to fly according to the flight data.

In a possible embodiment, the flight data includes at least one of the following: global positioning system GPS positioning data of the drone, flight altitude of the drone, flight time of the drone, and flight area of the drone , Drone's flight speed, drone's flight acceleration, drone's flight attitude data, drone's inertial measurement unit IMU data, drone's route information, drone's ID information, drone The equipment type information, the manufacturer information of the drone, the size information of the drone or the weight information of the drone; among them, the GPS positioning data is used by the supervisory server to decide whether the drone is flying in the area corresponding to the GPS positioning data Permission, the flight height is used by the supervisory server to decide whether the drone has the permission to fly at the flight height, the flight time is used for the supervisory server to decide whether the drone has the permission to fly during the flight time, and the flight area is used for the supervisory server to decide whether the drone has the right to fly. Whether there is permission to fly in the flight area, the flight speed and/or flight acceleration of the drone is used to monitor the server to decide whether the drone is not authorized to fly due to irregular flight, and the flight route of the drone is used to monitor the server to decide whether there is no one Whether the drone is not authorized to fly due to overlapping routes with other drones, the drone’s ID information and/or equipment type information is used by the supervisory server to decide whether the drone is not authorized to fly due to unqualified equipment types. The size information and/or weight information is used by the supervisory server to decide whether the drone can be controlled by users who are not certified and/or have not passed the pilot test.

In a possible embodiment, the preset type, the preset manufacturer, the preset size, or the preset weight are obtained by the terminal device from the supervision server.

In a possible embodiment, when the processor 630 receives the flight data sent by the terminal device when the reporting condition is met through the transceiver 620, it specifically executes: receiving the target data packet sent by the terminal device when the reporting condition is met; the target data packet It is a data packet generated after fusion of flight data and terminal equipment information.

In a possible embodiment, an application program APP for controlling drones is installed on the terminal device; the information of the terminal device includes at least one of the following: the location information of the terminal device, the version information of the APP, and the information of the terminal device System model information and user information for controlling the drone; among them, the user information is used by the supervisory server to decide whether the user has the authority to control the drone.

In a possible embodiment, after the processor 630 decides whether the drone has the authority to fly according to the flight data, the processor 630 is further configured to: send the first indication information to the terminal device through the transceiver 620, so that the terminal device according to the The first instruction information controls the drone to hover, land or return home; the first instruction information is used to instruct the drone to fly without permission.

In a possible embodiment, after the processor 630 decides whether the drone has the authority to fly according to the flight data, the processor 630 is further configured to: send the second instruction information to the terminal device through the transceiver 620, so that the terminal device according to the The second instruction information controls the drone to fly; the second instruction information is used to indicate that the drone has permission to fly.

In a possible embodiment, the terminal device is connected to the drone, and the flight data is sent by the drone to the terminal device connected to the drone.

In a possible embodiment, the terminal device is connected to a control device for controlling the flight of the drone; the flight data is sent by the drone to the control device, and the control device is sent to the terminal device.

In a possible embodiment, the main control device includes a terminal device; the flight data is sent to the supervision server by the terminal device in the main control device terminal.

In a possible embodiment, the auxiliary control device includes the terminal device; the flight data is sent by the main control device to the terminal device in the auxiliary control device, and then the terminal device in the auxiliary control device is sent to the supervisory server.

In a possible embodiment, the supervisory server further includes a display, and the processor 630 is further configured to: perform statistics on flight data, and display a flight trajectory map of the drone through the display.

In a possible embodiment, the processor 630 is further configured to: identify the illegal flight behavior according to the flight data; send a prompt message to the mobile terminal through the transceiver 620; and the prompt message is used to prompt the current flight behavior to violate the rules.

9 shows a schematic structural diagram of a control device provided by an embodiment of the present application. The control device 70 may include: a memory 710, a transceiver 720, at least one processor 730, such as a CPU, at least one communication bus 740, and a user interface 750 . Among them, the communication bus 740 is used to implement connection and communication between these components. The memory 710 may be a high-speed RAM memory or a non-volatile memory (non-volatile memory), such as at least one disk memory. The memory 710 includes the flash in the embodiment of the present application. Optionally, the memory 710 may also be at least one storage system located far away from the foregoing processor 730. The transceiver 720 may be connected with a network interface. The network interface can optionally include a standard wired interface, a wireless interface (such as a WI-FI interface), and a communication connection can be established with the drone and terminal equipment through the network interface. The transceiver may include a receiver, a transmitter, or other communication modules. Other communication modules may include, but are not limited to, a WiFi module, a Bluetooth module, and so on. The user interface 750 may be used to receive user operations for controlling the drone. Among them, the user interface 750 may include a touch screen, a keyboard or a mouse, a joystick, a physical button, and so on.

The processor 730 may be configured to call program instructions stored in the memory 710, and perform the following operations:

The flight data sent by the drone is received through the transceiver 720; the flight data is sent to the terminal device through the transceiver 720, so that the terminal device sends the flight data to the supervisory server used to manage the drone, and the supervisory server is used according to the flight The data determines whether the drone has permission to fly.

In a possible embodiment, the flight data includes at least one of the following: GPS positioning data of the drone's global positioning system, the drone's flight altitude, the drone's flight time, the drone's flight area, and Human-machine flight speed, drone flight acceleration, drone flight attitude data, drone inertial measurement unit IMU data, drone route information, drone ID information, drone equipment Type information, size information of the drone, and weight information of the drone; among them, GPS positioning data is used by the supervisory server to decide whether the drone has the right to fly in the area corresponding to the GPS positioning data, and the flight height is used for supervisory server decision-making Whether the drone has the permission to fly at the flying height, the flight time is used by the supervisory server to decide whether the drone has the permission to fly during the flight time, and the flight area is used by the supervisory server to decide whether the drone has the permission to fly in the flight area. The flight speed and/or flight acceleration of the UAV is used by the supervisory server to decide whether the UAV is not authorized to fly due to irregular flight. The flight route of the UAV is used by the supervisory server to decide whether the UAV is due to conflict with other UAVs. The flight routes overlap without permission. The ID information and/or equipment type information of the drone is used by the supervisory server to decide whether the drone is not authorized to fly due to the unqualified equipment type. The size information and/or weight information of the drone is used The supervisory server decides whether the drone can be controlled by users who are not certified and/or who have not passed the pilot test.

In a possible embodiment, the flight data is encrypted data.

In a possible embodiment, when the processor 730 executes sending flight data to the terminal device through the transceiver 720, so that the terminal device sends the flight data to the supervisory server for managing the drone, the specific execution is: The device 720 sends the flight data to the terminal device, so that the terminal device merges the flight data with the information of the terminal device, generates a target data packet, and sends the target data packet to the supervision server.

In a possible embodiment, an application program APP for controlling drones is installed on the terminal device; the information of the terminal device includes at least one of the following: location information of the terminal device, version information of the APP, and system model of the terminal device Information, user information for controlling the UAV; among them, the user information is used by the supervisory server to decide whether the user has the authority to control the UAV flight.

In a possible embodiment, the target data packet is an encrypted data packet.

It is understandable that the functions of the terminal device 40, the drone 50, the supervisory server 60, and the control device 70 in this embodiment can be specifically implemented according to the method in the foregoing method embodiment, and will not be repeated here.

A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing relevant hardware through a computer program. The program can be stored in a computer readable storage medium. During execution, it may include the procedures of the above-mentioned method embodiments. Wherein, the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random storage memory RAM, etc. In the case of no conflict, the technical features in this embodiment and the implementation can be combined arbitrarily.

The above-disclosed are only preferred embodiments of this application, and of course the scope of rights of this application cannot be limited by this. Therefore, equivalent changes made according to the claims of this application still fall within the scope of this application.

Claims

An unmanned aerial vehicle supervision method, characterized in that the method includes:

The terminal device receives the flight data sent by the drone;

When the reporting conditions are met, the terminal device sends the flight data to a supervisory server for managing the drone, and the supervisory server is used to decide whether the drone has permission to fly according to the flight data .
The method of claim 1, wherein the flight data includes at least one of the following: GPS positioning data of the UAV, the flight altitude of the UAV, and the UAV The flight time of the drone, the flight area of the drone, the flight speed of the drone, the flight acceleration of the drone, the flight attitude data of the drone, the inertial measurement unit of the drone IMU data, route information of the drone, ID information of the drone, equipment type information of the drone, manufacturer information of the drone, size information or location of the drone State the weight information of the drone.
The method according to claim 1 or 2, wherein the flight data reported by drones of different types, sizes or weights are different.
The method according to any one of claims 1 to 3, wherein the meeting the reporting condition comprises:

It is detected that the device type of the drone is a preset type, the manufacturer of the drone is a preset manufacturer, the size of the drone meets the preset size, or the weight of the drone meets the preset weight .
The method according to claim 4, wherein the preset type, the preset manufacturer, the preset size, or the preset weight are obtained by the terminal device from the supervision server.
The method according to any one of claims 1 to 5, wherein the meeting the reporting condition comprises:

It is detected that the user opens the supervision report function or the user selects the drone to access the supervision server.
The method according to any one of claims 1 to 5, wherein the meeting the reporting condition comprises:

It is detected that the flying height of the drone exceeds the preset altitude, the flying time of the drone exceeds the preset time, the flying speed of the drone exceeds the preset speed, and the acceleration of the drone exceeds the preset speed. Suppose acceleration or the flight area of the UAV is a preset area.
5. The method according to any one of claims 1 to 5, wherein the meeting the reporting condition comprises: the communication network between the terminal device and the supervision server is normal.
The method according to any one of claims 1-8, wherein after the terminal device receives the flight data sent by the drone, the method further comprises:

Cache the flight data when the communication network between the terminal device and the supervision server is abnormal;

The sending, by the terminal device, the flight data to a supervisory server for managing the drone when the reporting conditions are met, includes:

When the network between the terminal device and the supervision server returns to normal, the cached flight data is sent to the supervision server.
The method according to any one of claims 1-9, wherein after the terminal device receives the flight data sent by the drone, before the terminal device sends the flight data to the supervision server , The method further includes:

Fusion of the flight data and the information of the terminal device to generate a target data packet;

The sending of the flight data to the supervision server by the terminal device includes: the terminal device sending the target data packet to the supervision server.
The method of claim 10, wherein an application program APP for controlling the drone is installed on the terminal device;

The information of the terminal device includes at least one of the following: location information of the terminal device, version information of the APP, system model information of the terminal device, user information for controlling the drone, and all information entered by the user. The name of the drone and the flight plan of the drone entered by the user; wherein the user information is used by the supervisory server to decide whether the user has the authority to control the flight of the drone.
The method according to any one of claims 1-11, wherein after the terminal device sends the flight data to a supervisory server for managing the drone, the method further comprises:

Receiving, by the terminal device, first indication information sent by the supervision server, where the first indication information is used to indicate that the UAV does not have permission to fly;

The terminal device controls the drone to hover, land or return home according to the first instruction information.
The method according to any one of claims 1-11, wherein after the terminal device sends the flight data to a supervisory server for managing the drone, the method further comprises:

Receiving, by the terminal device, second instruction information sent by the supervision server, where the second instruction information is used to indicate that the drone has permission to fly;

The terminal device controls the drone to fly according to the second instruction information.
The method according to any one of claims 1-13, wherein the terminal device is connected to the drone;

The terminal device receiving flight data sent by the drone includes:

The terminal device receives flight data sent by the drone connected to the terminal device.
The method according to any one of claims 1-13, wherein the terminal device is connected to a control device for controlling the flight of the drone;

The terminal device receiving flight data sent by the drone includes:

The terminal device receives flight data sent by the control device, and the flight data is sent by the drone to the control device.
The method according to any one of claims 1-13, wherein the drone is connected to a main control device and an auxiliary control device; the main control device is used to control the flight of the drone and receive The flight parameters of the drone, and the auxiliary control device is used to control the camera parameters of the drone and receive images transmitted by the drone.
The method according to claim 16, wherein the main control device comprises the terminal device;

The sending of the flight data by the terminal device to a supervisory server for managing the drone includes: the terminal device in the master control device sends the flight data to the supervisory server.
The method according to claim 16, wherein the auxiliary control device comprises the terminal device;

The receiving of the flight data sent by the drone by the terminal device includes: the terminal device in the auxiliary control device receives the flight data sent by the main control device;

The terminal device sending the flight data to the supervision server for managing the drone includes: the terminal device in the auxiliary control device sends the flight data to the supervision server.
A method for drone supervision, which is characterized in that it includes:

The drone sends flight data to the terminal device, so that when the terminal device meets the reporting conditions, it sends the flight data of the drone to the supervisory server for managing the drone. The supervisory server uses Based on the flight data, it is determined whether the drone has permission to fly.
The method according to claim 19, wherein the flight data includes at least one of the following: GPS positioning data of the UAV, the flight altitude of the UAV, and the UAV The flight time of the drone, the flight area of the drone, the flight speed of the drone, the flight acceleration of the drone, the flight attitude data of the drone, the inertial measurement unit of the drone IMU data, route information of the drone, ID information of the drone, equipment type information of the drone, manufacturer information of the drone, size information or location of the drone State the weight information of the drone.
The method according to claim 19 or 20, wherein the flight data reported by drones of different types, sizes or weights are different.
The method according to any one of claims 19-21, wherein the meeting the reporting conditions comprises:

It is detected that the device type of the drone is a preset type, the manufacturer of the drone is a preset manufacturer, the size of the drone meets the preset size, or the weight of the drone meets the preset weight .
The method of claim 22, wherein the preset type, the preset manufacturer, the preset size, or the preset weight are obtained by the terminal device from the supervision server.
The method according to any one of claims 19-23, wherein the meeting the reporting condition comprises: detecting that the user has activated the supervision reporting function or that the user selects the drone to access the supervision server.
The method according to any one of claims 19-23, wherein the meeting the reporting conditions comprises: detecting that the flying height of the drone exceeds a preset height, and the flying time of the drone exceeds a preset height. It is assumed that time, the flight speed of the drone exceeds a preset speed, the acceleration of the drone exceeds a preset acceleration, or the flight area of the drone is a preset area.
The method according to any one of claims 19-23, wherein the meeting the reporting condition comprises: the communication network between the terminal device and the supervision server is normal.
The method according to any one of claims 19-26, wherein the drone sends flight data to a terminal device, so that the terminal device can control the flight of the drone when the report condition is met. The data sent to the supervisory server used to manage the UAV includes:

The drone sends flight data to a terminal device, so that the terminal device merges the flight data with the information of the terminal device, generates a target data packet, and sends the target data packet to the supervision server.
The method according to claim 27, wherein an application program APP for controlling the drone is installed on the terminal device;

The information of the terminal device includes at least one of the following: location information of the terminal device, version information of the APP, system model information of the terminal device, user information for controlling the drone, and all information entered by the user. The name of the drone and the flight plan of the drone entered by the user; wherein the user information is used by the supervisory server to decide whether the user has the authority to control the flight of the drone.
The method according to any one of claims 19-28, wherein the drone is connected to the terminal device;

The sending of flight data by the drone to the terminal device includes: the drone sending the flight data to the terminal device connected to the drone.
The method according to any one of claims 19-28, wherein the drone is connected to a control device for controlling the flight of the drone;

The sending of flight data by the drone to the terminal device includes: sending the flight data by the drone to the control device, so that the control device sends the flight data to the terminal device.
The method according to any one of claims 19-28, wherein the drone is connected to a main control device and an auxiliary control device; the main control device is used to control the flight of the drone and receive The flight parameters of the drone, and the auxiliary control device is used to control the camera parameters of the drone and receive images transmitted by the drone.
The method according to claim 31, wherein the main control device comprises the terminal device;

The sending flight data to a terminal device so that the terminal device sends the flight data to a supervisory server for managing the drone includes: sending the flight data to the terminal device in the main control device, so that The terminal device in the master control device sends flight data to a supervisory server for managing the drone.
The method of claim 31, wherein the auxiliary control device comprises the terminal device;

The sending flight data to the terminal device so that the terminal device sends the flight data to a supervisory server for managing the drone includes: sending the flight data to the main control device so that the main control device The device sends the flight data to the terminal device in the auxiliary control device, and the terminal device in the auxiliary control device sends the flight data to the supervision server.
An unmanned aerial vehicle supervision method, characterized in that the method is executed by a supervision server for managing the unmanned aerial vehicle, and the method includes:

Receiving the flight data sent by the terminal device when the reporting conditions are met, the flight data being sent by the drone to the terminal device;

Determine whether the drone has permission to fly according to the flight data.
The method according to claim 34, wherein the flight data includes at least one of the following: GPS positioning data of the UAV, the flight altitude of the UAV, and the UAV The flight time of the drone, the flight area of the drone, the flight speed of the drone, the flight acceleration of the drone, the flight attitude data of the drone, the inertial measurement unit of the drone IMU data, route information of the drone, ID information of the drone, equipment type information of the drone, manufacturer information of the drone, size information or location of the drone The weight information of the drone; wherein the GPS positioning data is used by the supervisory server to decide whether the drone has the right to fly in the area corresponding to the GPS positioning data, and the flying height is used for the The supervisory server decides whether the drone has the right to fly at the flight height, and the flight time is used by the supervisory server to decide whether the drone has the right to fly at the flight time. The flight area Used by the supervisory server to decide whether the drone has the right to fly in the flight area, and the flight speed and/or flight acceleration of the drone is used by the supervisory server to decide whether the drone is due to If the flight is irregular and without authorization, the flight route of the drone is used by the supervisory server to decide whether the drone is flying without authorization due to the overlap of the flight route with other drones. The ID information of the drone And/or equipment type information is used by the supervisory server to decide whether the drone is not authorized to fly due to the unqualified equipment type, and the size information and/or weight information of the drone is used by the supervisory server decision-making office Whether the drone can be controlled to fly by users who are not certified and/or have not passed the pilot test.
The method according to claim 34 or 35, wherein the flight data reported by drones of different types, sizes or weights are different.
The method according to any one of claims 34-36, wherein the meeting the reporting conditions comprises:

It is detected that the device type of the drone is a preset type, the manufacturer of the drone is a preset manufacturer, the size of the drone meets the preset size, or the weight of the drone meets the preset weight .
The method of claim 37, wherein the preset type, the preset manufacturer, the preset size, or the preset weight are obtained by the terminal device from the supervision server.
The method according to any one of claims 34-38, wherein the meeting the reporting conditions comprises:

It is detected that the user opens the supervision report function or the user selects the drone to access the supervision server.
The method according to any one of claims 34-38, wherein the meeting the reporting conditions comprises:

It is detected that the flying height of the drone exceeds the preset altitude, the flying time of the drone exceeds the preset time, the flying speed of the drone exceeds the preset speed, and the acceleration of the drone exceeds the preset speed. Suppose acceleration or the flight area of the UAV is a preset area.
The method according to any one of claims 34-38, wherein the meeting the reporting condition comprises: the communication network between the terminal device and the supervision server is normal.
The method according to any one of claims 34-41, wherein the receiving flight data sent by the terminal device comprises: receiving a target data packet sent by the terminal device; the target data packet is a combination of the flight data and A data packet generated after the information of the terminal device.
The method according to claim 42, wherein an application program APP for controlling the drone is installed on the terminal device;

The information of the terminal device includes at least one of the following: location information of the terminal device, version information of the APP, system model information of the terminal device, and user information for controlling the drone; wherein, the The user information is used by the supervisory server to decide whether the user has the authority to control the drone flight.
The method according to any one of claims 34-43, wherein, after the decision is made according to the flight data whether the drone has permission to fly, the method further comprises:

Send first instruction information to the terminal device, so that the terminal device controls the drone to hover, land, or return home according to the first instruction information; the first instruction information is used to instruct the unmanned aircraft The aircraft is not authorized to fly.
The method according to any one of claims 34-43, wherein, after the decision is made according to the flight data whether the drone has permission to fly, the method further comprises:

Sending second instruction information to the terminal device, so that the terminal device controls the drone to fly according to the second instruction information; the second instruction information is used to indicate that the drone is authorized to fly.
The method according to any one of claims 34-43, wherein the terminal device is connected to the drone;

The flight data is sent by the drone to the terminal device connected to the drone.
The method according to any one of claims 34-45, wherein the terminal device is connected to a control device for controlling the flight of the drone;

The flight data is sent by the drone to the control device, and sent by the control device to the terminal device.
The method according to any one of claims 34-45, wherein the drone is connected to a main control device and an auxiliary control device; the main control device is used to control the flight of the drone and receive The flight parameters of the drone, and the auxiliary control device is used to control the camera parameters of the drone and receive images transmitted by the drone.
The method of claim 48, wherein the main control device comprises the terminal device;

The flight data is sent to the supervision server by the terminal device in the main control device terminal.
The method of claim 48, wherein the auxiliary control device comprises the terminal device;

The flight data is sent by the main control device to the terminal device in the auxiliary control device, and then sent by the terminal device in the auxiliary control device to the supervision server.
The method according to any one of claims 34-50, wherein the method further comprises: performing statistics on the flight data, and displaying a flight trajectory map of the UAV.
The method according to any one of claims 34-51, wherein the method further comprises:

Identify violations of flight behavior based on the flight data;

Send a prompt message to the mobile terminal; the prompt message is used to prompt the current flight behavior to violate regulations.
A terminal device, characterized by comprising: a memory, a processor, and a transceiver;

The memory and the transceiver are coupled with the processor, the memory is used to store program instructions, and the processor is used to call the program instructions in the memory to perform the following operations:

Receiving the flight data sent by the drone through the transceiver;

When the reporting conditions are met, the flight data is sent to a supervisory server for managing the drone through the transceiver, and the supervisory server is used to decide whether the drone has permission based on the flight data flight.
The terminal device according to claim 53, wherein the flight data includes at least one of the following: GPS positioning data of the UAV, the flight altitude of the UAV, and the unmanned aircraft The flight time of the drone, the flight area of the drone, the flight speed of the drone, the flight acceleration of the drone, the flight attitude data of the drone, the inertial measurement of the drone Unit IMU data, route information of the drone, ID information of the drone, equipment type information of the drone, manufacturer information of the drone, size information of the drone, or Weight information of the drone.
The terminal device according to claim 53 or 54, wherein the flight data reported by drones of different types, sizes or weights are different.
The terminal device according to any one of claims 53-55, wherein the meeting the reporting condition comprises:

It is detected that the device type of the drone is a preset type, the manufacturer of the drone is a preset manufacturer, the size of the drone meets the preset size, or the weight of the drone meets the preset weight .
The terminal device of claim 56, wherein the preset type, the preset manufacturer, the preset size, or the preset weight are obtained by the terminal device from the supervision server.
The terminal device according to any one of claims 53-57, wherein the meeting the reporting condition comprises:

It is detected that the user opens the supervision report function or the user selects the drone to access the supervision server.
The terminal device according to any one of claims 53-57, wherein the meeting the reporting condition comprises:

It is detected that the flying height of the drone exceeds the preset altitude, the flying time of the drone exceeds the preset time, the flying speed of the drone exceeds the preset speed, and the acceleration of the drone exceeds the preset speed. Suppose acceleration or the flight area of the UAV is a preset area.
The terminal device according to any one of claims 53-57, wherein the meeting the reporting condition comprises: the communication network between the terminal device and the supervision server is normal.
The terminal device according to any one of claims 53-60, wherein after the processor executes receiving the flight data sent by the drone through the transceiver, it further executes:

Cache the flight data when the communication network between the terminal device and the supervision server is abnormal;

When the processor executes when the reporting conditions are met, the flight data is sent to the supervisory server for managing the drone through the transceiver, specifically executing:

When the network between the terminal device and the supervision server returns to normal, the cached flight data is sent to the supervision server.
The terminal device according to any one of claims 53-61, wherein after the processor executes to receive the flight data sent by the drone through the transceiver, executes to transmit the flight data through the transceiver to Before the flight data is sent to the supervisory server, it also executes:

Fusion of the flight data and the information of the terminal device to generate a target data packet;

When the processor executes sending the flight data to the supervision server through the transceiver, it specifically executes: sending the target data packet to the supervision server through the transceiver.
The terminal device of claim 62, wherein an application program APP for controlling the drone is installed on the terminal device;

The information of the terminal device includes at least one of the following: location information of the terminal device, version information of the APP, system model information of the terminal device, user information for controlling the drone, and all information entered by the user. The name of the drone and the flight plan of the drone entered by the user; wherein the user information is used by the supervisory server to decide whether the user has the authority to control the flight of the drone.
The terminal device according to any one of claims 53-63, wherein after the processor executes sending the flight data to a supervisory server for managing the drone through the transceiver, further implement:

Receiving, through the transceiver, the first indication information sent by the supervision server, where the first indication information is used to indicate that the UAV does not have permission to fly;

Control the drone to hover, land or return home according to the first instruction information.
The terminal device according to any one of claims 53-63, wherein after the processor executes sending the flight data to a supervisory server for managing the drone through the transceiver, further implement:

Receiving, through the transceiver, second instruction information sent by the supervision server, where the second instruction information is used to indicate that the drone has permission to fly;

Controlling the unmanned flight according to the second instruction information.
The terminal device according to any one of claims 53-65, wherein the terminal device is connected to the drone;

When the processor executes receiving the flight data sent by the drone through the transceiver, it specifically executes: receiving the flight data sent by the drone connected to the terminal device through the transceiver.
The terminal device according to any one of claims 53-65, wherein the terminal device is connected to a control device for controlling the flight of the drone;

When the processor executes receiving the flight data sent by the drone through the transceiver, it specifically executes: receiving the flight data sent by the control device through the transceiver, and the flight data is sent by the drone to The control device.
The terminal device according to any one of claims 53-65, wherein the drone is connected to a main control device and an auxiliary control device; the main control device is used to control the drone to fly and receive For the flight parameters of the drone, the auxiliary control device is used to control the photographing parameters of the drone, and to receive images transmitted by the drone.
The terminal device according to claim 68, wherein the master control device comprises the terminal device.
The terminal device of claim 68, wherein the auxiliary control device comprises the terminal device;

Before the processor executes receiving the flight data sent by the drone through the transceiver, it also executes: receiving the flight data sent by the master control device through the transceiver.
An unmanned aerial vehicle, characterized by comprising: a processor, a memory, and a transceiver;

The memory and the transceiver are coupled with the processor, the memory is used to store program instructions, and the processor is used to call the program instructions in the memory to perform the following operations:

The flight data is sent to the terminal device through the transceiver, so that the terminal device sends the flight data of the drone to the supervisory server for managing the drone when the reporting conditions are met, and the supervisory server It is used to decide whether the UAV has permission to fly according to the flight data.
The UAV according to claim 71, wherein the flight data includes at least one of the following: GPS positioning data of the UAV, the flight altitude of the UAV, and the The flight time of the man-machine, the flight area of the drone, the flight speed of the drone, the flight acceleration of the drone, the flight attitude data of the drone, the inertia of the drone Measurement unit IMU data, route information of the drone, ID information of the drone, equipment type information of the drone, manufacturer information of the drone, size information of the drone Or the weight information of the drone.
The drone of claim 71 or 72, wherein different types, sizes, or weights of drones report different flight data.
The unmanned aerial vehicle according to any one of claims 71-73, wherein the meeting the reporting conditions comprises:

It is detected that the device type of the drone is a preset type, the manufacturer of the drone is a preset manufacturer, the size of the drone meets the preset size, or the weight of the drone meets the preset weight .
The drone of claim 74, wherein the preset type, the preset manufacturer, the preset size, or the preset weight are obtained by the terminal device from the supervision server .
The drone according to any one of claims 71-75, wherein the meeting the reporting condition comprises: detecting that the user has started the supervision reporting function or the user selects the drone to access the supervision server.
The drone according to any one of claims 71-75, wherein the meeting the reporting conditions comprises: detecting that the flying height of the drone exceeds a preset height, and the flying time of the drone Exceeding the preset time, the flying speed of the drone exceeds the preset speed, the acceleration of the drone exceeds the preset acceleration, or the flying area of the drone is a preset area.
The unmanned aerial vehicle according to any one of claims 71-75, wherein the meeting the reporting condition comprises: the communication network between the terminal device and the supervision server is normal.
The unmanned aerial vehicle according to any one of claims 71-78, wherein the processor executes sending flight data to a terminal device through the transceiver, so that when the terminal device meets the reporting conditions, the When the flight data is sent to the supervisory server used to manage the UAV, the specific implementation is as follows:

Send flight data to the terminal device through the transceiver, so that when the terminal device meets the reporting conditions, the flight data and the information of the terminal device are merged to generate a target data packet, and the target data packet is sent To the supervisory server.
The drone of claim 79, wherein an application program APP for controlling the drone is installed on the terminal device;

The information of the terminal device includes at least one of the following: location information of the terminal device, version information of the APP, system model information of the terminal device, user information for controlling the drone, and all information entered by the user. The name of the drone and the flight plan of the drone entered by the user; wherein the user information is used by the supervisory server to decide whether the user has the authority to control the flight of the drone.
The unmanned aerial vehicle according to any one of claims 71-80, wherein the unmanned aerial vehicle is connected to the terminal device;

When the processor executes sending flight data to the terminal device through the transceiver, it specifically executes: sending the flight data to the terminal device connected to the drone through the transceiver.
The UAV according to any one of claims 71-80, wherein the UAV is connected to a control device for controlling the flight of the UAV;

When the processor executes sending flight data to the terminal device through the transceiver, it specifically executes: sending flight data to the control device through the transceiver, so that the control device sends the flight data to the Terminal Equipment.
The drone of any one of claims 71-80, wherein the drone is connected to a main control device and an auxiliary control device; the main control device is used to control the flight of the drone, The flight parameters of the drone are received, and the auxiliary control device is used to control the photographing parameters of the drone and receive the images transmitted by the drone.
The unmanned aerial vehicle according to claim 83, wherein the main control device comprises the terminal device;

When the processor executes sending flight data to a terminal device through the transceiver, so that the terminal device sends the flight data to a supervisory server for managing the drone, it specifically executes: sending through the transceiver The flight data is sent to the terminal device in the main control device, so that the terminal device in the main control device sends the flight data to a supervisory server for managing the drone.
The unmanned aerial vehicle according to claim 83, wherein the auxiliary control device comprises the terminal device;

When the processor executes sending flight data to the terminal device through the transceiver, it specifically executes: sending flight data to the main control device through the transceiver, so that the main control device sends the flight data to The terminal device in the auxiliary control device, and the terminal device in the auxiliary control device sends the flight data to the supervision server.
A supervisory server, characterized in that the supervisory server is used to manage drones, and the supervisory server includes a processor, a memory, and a transceiver;

The memory and the transceiver are coupled with the processor, the memory is used to store program instructions, and the processor is used to call the program instructions in the memory to perform the following operations:

Receiving, through the transceiver, the flight data sent by the terminal device when the reporting conditions are met, and the flight data is sent by the drone to the terminal device;

Determine whether the drone has permission to fly according to the flight data.
The supervisory server according to claim 86, wherein the flight data includes at least one of the following: GPS positioning data of the UAV, the flight altitude of the UAV, and the unmanned aircraft The flight time of the drone, the flight area of the drone, the flight speed of the drone, the flight acceleration of the drone, the flight attitude data of the drone, the inertial measurement of the drone Unit IMU data, route information of the drone, ID information of the drone, equipment type information of the drone, manufacturer information of the drone, size information of the drone, or Weight information of the drone; wherein the GPS positioning data is used by the supervisory server to decide whether the drone has the right to fly in the area corresponding to the GPS positioning data, and the flight height is used for all The supervisory server decides whether the drone has the right to fly at the flight altitude, and the flight time is used by the supervisory server to decide whether the drone has the right to fly at the flight time. The area is used by the supervisory server to decide whether the drone has the right to fly in the flight area, and the flight speed and/or flight acceleration of the drone is used by the supervisory server to decide whether the drone has the right to fly. Unauthorized flight due to irregular flight, the route of the drone is used by the supervisory server to decide whether the drone is unauthorised to fly due to overlapping routes with other drones, the ID of the drone Information and/or equipment type information is used for the supervision server to decide whether the drone is not authorized to fly due to unqualified equipment type, and the size information and/or weight information of the drone is used for the supervision server to make a decision Whether the drone can be controlled to fly by users who are not certified and/or who have not passed the pilot test.
The supervisory server according to claim 86 or 87, wherein the flight data reported by drones of different types, sizes, or weights are different.
The supervision server according to any one of claims 86-88, wherein the meeting the reporting conditions comprises:

It is detected that the device type of the drone is a preset type, the manufacturer of the drone is a preset manufacturer, the size of the drone meets the preset size, or the weight of the drone meets the preset weight .
The method of claim 89, wherein the preset type, the preset manufacturer, the preset size, or the preset weight are obtained by the terminal device from the supervision server.
The supervision server according to any one of claims 86-90, wherein the meeting the reporting conditions comprises:

It is detected that the user opens the supervision report function or the user selects the drone to access the supervision server.
The supervision server according to any one of claims 86-90, wherein the meeting the reporting conditions comprises:

It is detected that the flying height of the drone exceeds the preset altitude, the flying time of the drone exceeds the preset time, the flying speed of the drone exceeds the preset speed, and the acceleration of the drone exceeds the preset speed. Suppose acceleration or the flight area of the UAV is a preset area.
The supervision server according to any one of claims 86-90, wherein the meeting the reporting condition comprises: the communication network between the terminal device and the supervision server is normal.
The supervisory server according to any one of claims 86-93, wherein the processor receives the flight data sent by the terminal device when the reporting condition is met through the transceiver, and specifically executes: the receiving terminal device is in A target data packet sent when the reporting condition is met; the target data packet is a data packet generated after fusing the flight data and the information of the terminal device.
The supervision server according to claim 94, wherein an application program APP for controlling the drone is installed on the terminal device;

The information of the terminal device includes at least one of the following: location information of the terminal device, version information of the APP, system model information of the terminal device, and user information for controlling the drone; wherein, the The user information is used by the supervisory server to decide whether the user has the authority to control the drone flight.
The supervisory server according to any one of claims 86-95, wherein after the processor decides whether the drone has permission to fly according to the flight data, the processor is further configured to:

Send first instruction information to the terminal device through the transceiver, so that the terminal device controls the drone to hover, land, or return home according to the first instruction information; the first instruction information is used for Instruct the drone to fly without permission.
The supervisory server according to any one of claims 86-95, wherein after the processor decides whether the drone has permission to fly according to the flight data, the processor is further configured to:

Send second instruction information to the terminal device through the transceiver, so that the terminal device controls the drone to fly according to the second instruction information; the second instruction information is used to instruct the unmanned aircraft The aircraft has permission to fly.
The supervisory server according to claims 86-98, wherein the terminal device is connected to the drone, and the flight data is sent by the drone to the drone connected to the drone. Terminal Equipment.
The supervisory server according to claims 86-98, wherein the terminal device is connected to a control device for controlling the flight of the drone; the flight data is sent by the drone to the control device. Device, and sent by the control device to the terminal device.
The supervisory server according to claims 86-98, wherein the drone is connected to a main control device and an auxiliary control device; the main control device is used to control the flight of the drone and receive the drone. The flight parameters of the man-machine, and the auxiliary control device is used to control the photographing parameters of the drone and receive the images transmitted by the drone.
The supervision server according to claim 100, wherein the main control device comprises the terminal device;

The flight data is sent to the supervision server by the terminal device in the main control device terminal.
The supervision server according to claim 100, wherein the auxiliary control device comprises the terminal device;

The flight data is sent by the main control device to the terminal device in the auxiliary control device, and then sent by the terminal device in the auxiliary control device to the supervision server.
The supervisory server according to any one of claims 86-102, wherein the supervisory server further comprises a display, and the processor is further configured to: perform statistics on the flight data, and display the data on the display through the display. The flight trajectory map of the man-machine.
The supervision server according to any one of claims 86-103, wherein the processor is further configured to: identify violations of flight behaviors according to the flight data; and send a prompt message to the mobile device through the transceiver Terminal; the prompt message is used to prompt the current flight behavior violation.
An unmanned aerial vehicle monitoring system, characterized in that the system includes a terminal device, an unmanned aerial vehicle, and a monitoring server;

The terminal device is the terminal device according to any one of claims 53-70, the drone is the drone according to any one of claims 71-85, and the supervision server is any one of claims 86-104 Any one of the supervisory servers.
A computer-readable storage medium with a computer program stored thereon, wherein the computer program implements the method according to any one of claims 1-52 when the computer program is executed by a processor.