CN106716872B

CN106716872B - Aircraft, control method and device thereof and electronic equipment

Info

Publication number: CN106716872B
Application number: CN201680002663.4A
Authority: CN
Inventors: 骆磊
Original assignee: Cloudminds Shenzhen Holdings Co Ltd
Current assignee: Cloudminds Shanghai Robotics Co Ltd
Priority date: 2016-11-10
Filing date: 2016-11-10
Publication date: 2020-11-06
Anticipated expiration: 2036-11-10
Also published as: CN106716872A; WO2018086042A1

Abstract

The invention relates to the technical field of aircrafts, and provides an aircraft, a control method and device thereof and electronic equipment. Wherein the aircraft comprises an aircraft body; and a communication relay device provided on the aircraft body; the communication relay device is suitable for enabling the aircraft to be used as a communication relay node to realize communication between at least two devices to be communicated. According to the invention, the aircraft is used as a communication relay of the communication network between the devices to be communicated, so that the communication network between two points or multiple points can be established through the aircraft, the position of the aircraft is convenient to adjust, the networking requirement when an obstacle exists between the communication points or an entity cable cannot be erected is met, and the networking cost is lower compared with that of satellite communication.

Description

Aircraft, control method and device thereof and electronic equipment

Technical Field

The invention relates to the technical field of aircrafts, in particular to an aircraft, a control method and a control device of the aircraft and electronic equipment of the aircraft.

Background

At present, the user group of the remote control aircraft is larger and larger, but the remote control aircraft is basically applied to two scenes of entertainment and high-altitude shooting, and few merchants apply the automatic addressing and obstacle avoidance functions of the aircraft for delivery, but are also in the primary stage. Google applies a hot air balloon as a large-area regional hotspot access, but the access is a point-to-multipoint application, the hot air balloon is only used as a fixed access point, the hot air balloon is not intelligent, and intelligent networking cannot be realized.

In the technical field of two-point or multi-point networking, the current fixed networking technology is mature, and two-point or multi-point communication can be conveniently and quickly carried out no matter optical fibers, network cables, WiFi and the like are used. However, for some scenarios, these networking approaches may not be applicable or intelligent enough. For example, in two-point or multi-point intranet communication in a moving process in a mountain region, a solid cable is unrealistic, and the current wireless technology is greatly attenuated by the influence of an obstacle between two points, and even cannot receive signals. While the satellite communication method is intelligent, but the cost is too high.

In view of the above, it is an urgent problem in the art to overcome the above-mentioned drawbacks of the prior art.

Disclosure of Invention

The technical problems to be solved by the embodiment of the invention are that the prior art can not meet the networking requirements of barriers between communication points or the erection of solid cables, and the cost is too high when satellite communication is adopted.

The embodiment of the invention adopts the following technical scheme:

in a first aspect, an embodiment of the present invention provides an aircraft, including:

an aircraft body; and

a communication relay device provided on the aircraft body; the communication relay device is suitable for enabling the aircraft to be used as a communication relay node to realize communication between at least two devices to be communicated.

In a second aspect, an embodiment of the present invention provides a control method for an aircraft, including:

the method comprises the steps of controlling an aircraft with a communication relay device to fly to a communication relay position, and enabling the aircraft to serve as a communication relay node at the communication relay position to achieve communication between at least two devices to be communicated.

In a third aspect, an embodiment of the present invention provides a control device for an aircraft, including:

and the flight control module is used for controlling the aircraft with the communication relay device to fly to a communication relay position, so that the aircraft can be used as a communication relay node at the communication relay position to realize communication between at least two devices to be communicated.

In a fourth aspect, embodiments of the present invention provide a computer-readable storage medium including instructions for performing the control method for an aircraft as described above.

In a fifth aspect, an embodiment of the present invention provides an electronic device, including:

at least one or more processors; and the number of the first and second groups,

a memory; wherein the content of the first and second substances,

the memory stores a program of instructions executable by the at least one or more processors, the program of instructions being arranged to perform:

The embodiment of the invention has the beneficial effects that: according to the embodiment of the invention, the aircraft is used as the communication relay of the communication network between the devices to be communicated, so that the communication network between two points or multiple points can be established through the aircraft, the position of the aircraft is convenient to adjust, the networking requirement when an obstacle exists between the communication points or an entity cable cannot be erected is met, and the networking cost is lower compared with that of satellite communication.

Drawings

FIG. 1 is a schematic diagram of a communication network between mobile terminals constructed by an embodiment of the present invention by an aircraft flying around obstacles as signal relays;

FIG. 2 is a schematic diagram of a communication network between mobile terminals constructed by an embodiment of the present invention as signal relays by an aircraft on a horizontal plane bypassing an obstacle;

fig. 3 is a block diagram of an aircraft of embodiment 1 of the invention;

fig. 4 is a flowchart of a control method of the aircraft of embodiment 2 of the invention;

fig. 5 is a flowchart of a control method of the aircraft of embodiment 3 of the invention;

FIG. 6 is a detailed flowchart of step 220 in embodiment 3 of the present invention;

fig. 7 is a flowchart of a control method of an aircraft of embodiment 4 of the invention;

fig. 8 is a flowchart of a control method for another aircraft according to embodiment 4 of the invention;

fig. 9 is a flowchart of a control method of the aircraft of embodiment 5 of the invention;

fig. 10 is a flowchart of a control method of the aircraft of embodiment 6 of the invention;

fig. 11 is a flowchart of a control method of the aircraft of embodiment 7 of the invention;

fig. 12 is a block diagram of a control device of an aircraft of embodiment 8 of the invention;

fig. 13 is a block diagram of a control device of an aircraft of embodiment 9 of the invention;

FIG. 14 is a schematic diagram of a step-by-step calculation scheme;

fig. 15 is a block diagram of an electronic apparatus of embodiment 11 of the present invention.

DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION

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

In the following embodiments of the present invention, as shown in fig. 1, when two or more mobile terminals (the mobile terminals serve as devices to be communicated) perform peer-to-peer communication or multipoint communication, because of a distance between the mobile terminals or an obstacle, there may be a decrease or an interruption of signal strength, at this time, the obstacle may be bypassed by a signal relaying communication method, and signal relaying and amplification may be performed, for example, an aircraft (e.g., an unmanned aerial vehicle) is lifted off to bypass the obstacle as a signal relaying to establish a communication network between the mobile terminals.

As shown in fig. 2, the aircraft does not have to be raised to bypass obstacles, but may be raised to bypass obstacles in the horizontal plane for communication relay. In a word, the position of the aircraft is convenient to adjust, the aircraft is used as a signal relay network, so that the flexibility is high, and timely adjustment according to real-time conditions is facilitated.

By means of the schemes of the following embodiments of the present invention, a flexible and mobile aircraft can be used as a core of a network (e.g., a star network) to connect each communication node (i.e., a device to be communicated), and further, the position of an optimal relay point can be calculated in real time and the position of the relay point can be adjusted in real time when the position of the communication node changes dynamically, so as to avoid obstacles between the communication nodes and ensure intelligent and efficient operation of a communication network.

Specifically, one aircraft (multiple aircraft can be adopted according to the complexity and distance of the network) can be used as a relay for transmitting signals, when any equipment to be communicated has obstacles and cannot be communicated through point-to-point connection or remote dynamic networking is carried out, the aircraft calculates an optimal communication path which can bypass the obstacles between the communication nodes according to a current position three-dimensional map model stored in the aircraft and the positions of the communication nodes, and then a communication network between two points or multiple points is established. When the position of the communication node changes, the aircraft can also calculate and update the position of the optimal relay point in real time so as to ensure that the constructed communication network can continuously and optimally operate.

Example 1

As shown in fig. 3, embodiment 1 of the present invention provides an aircraft 100 including: an aircraft body 110 and a communication relay device 120 arranged on the aircraft body, the communication relay device 120 being adapted to enable the aircraft to function as a communication relay node for enabling communication between at least two devices to be communicated. The communication relay device 120 may be a communication module with a communication relay function, which is disposed in the aircraft body 110, and is generally connected to a processor in the aircraft 100, and can implement the communication relay function in addition to the original communication function of the aircraft, so as to be a communication relay between other devices to be communicated, and further establish a communication network.

According to the embodiment of the invention, the aircraft is used as the communication relay of the communication network between the devices to be communicated, so that the communication network between two points or multiple points can be established through the aircraft, the position of the aircraft is convenient to adjust, the networking requirement when an obstacle exists between the communication points or an entity cable cannot be erected is met, and the networking cost is lower compared with that of satellite communication.

Example 2

As shown in fig. 4, embodiment 2 of the present invention provides a control method for an aircraft, including:

step 100, controlling an aircraft with a communication relay device to fly to a communication relay position, so that the aircraft can be used as a communication relay node at the communication relay position to realize communication between at least two devices to be communicated.

The communication relay position may be selected manually (e.g., by a remote control of the aircraft) or may be calculated intelligently by the aircraft itself, as described in more detail in the embodiments below. After a certain communication relay position is determined, the aircraft is controlled to fly to the position through the embodiment to serve as a communication relay between the devices to be communicated in the communication network, so that good communication effect is achieved by using the aircraft as the relay when the devices to be communicated cannot be directly communicated or the direct communication effect is not good.

Example 3

As shown in fig. 5, embodiment 3 of the present invention provides a control method for an aircraft, including:

and step 210, acquiring real-time position information of each device to be communicated.

The real-time position information is obtained, and the area where the equipment to be communicated is located can be located.

In addition, each device to be communicated has its specific identifier in the communication network, for example, when the device to be communicated is a mobile terminal, the identifier is an International Mobile Equipment Identity (IMEI) of the mobile terminal, and the identifier is also an identifier when the mobile terminal communicates through the base station. The embodiment of the invention can also identify the communication source and confirm the communication transmission object by acquiring the code when the aircraft is subsequently used as the communication relay of the equipment to be communicated and other communication equipment. If the signal of a certain device cannot be searched and the identification code and the real-time position information of the device cannot be acquired, the position information, the motion track and the speed of the device before the signal loss are combined with the three-dimensional map information of the area where the device to be communicated is located and the current time to deduce the position range of the device.

Step 220, positioning the three-dimensional map model of the area where the device to be communicated is located according to the real-time position information of the device to be communicated, and determining the communication relay position according to the three-dimensional map model and the real-time position information of the device to be communicated.

After the real-time position information of the device to be communicated is acquired, a three-dimensional map model of the area where the communication device is located can be acquired in a memory of the aircraft or a cloud service system connected with the aircraft, and then a communication relay position is further determined.

And step 230, controlling the aircraft with the communication relay device to fly to a communication relay position, so that the aircraft can be used as a communication relay node at the communication relay position to realize communication between at least two devices to be communicated.

After the position of the communication relay is determined, the aircraft can be controlled to fly to and stay at the position to serve as the communication relay to establish a communication network.

According to the embodiment of the invention, the position of the communication relay between the to-be-communicated devices by taking the aircraft as the to-be-communicated device is searched according to the three-dimensional map model and the real-time position information of the to-be-communicated devices, so that the searched position is based on the position of the to-be-communicated device and the terrain where the to-be-communicated device is located, the actual communication requirement is met, and the intelligent and efficient operation of a communication network is.

Specifically, as shown in fig. 6, in another embodiment, the step 220 of positioning to a three-dimensional map model of an area where the device to be communicated is located according to the real-time location information of the device to be communicated, and the step of determining the communication relay location according to the three-dimensional map model and the real-time location information of the device to be communicated includes:

and step 221, determining obstacles in the three-dimensional map model according to the three-dimensional map model.

Step 222, finding the position where the communication line with each of the devices to be communicated avoids the obstacle, and determining the found position as a communication relay position.

According to the three-dimensional map model of the area where the device to be communicated is located and the real-time position information of the device to be communicated, the positions of the devices to be communicated are known to have obstacles, so that the positions serving as communication relays are determined, no obstacle influencing communication exists between the positions and the devices to be communicated, and meanwhile, the total communication distance is preferably shortest under the condition that no obstacle exists. The communication relay position can be selected manually (for example, by a remote controller of the aircraft), and can also be obtained by intelligent calculation of the aircraft (for example, the communication relay position calculation is completed in the air after the aircraft is lifted off, and the aircraft can calculate the stop position of the aircraft serving as a signal relay in real time by combining a three-dimensional map model of the area and real-time position information of a plurality of communication sources). Specifically, the calculation of the communication relay position may be based on two criteria, that is, after the calculated position is used as a signal relay network, no obstacle exists on the communication link; and secondly, after the calculated position is used as a signal relay for networking, the communication distance is shortest on the premise that no obstacle exists on a communication link.

The embodiment of the invention searches for the position of taking the aircraft as the communication relay between the devices to be communicated according to the three-dimensional map model and the real-time position information of the devices to be communicated, the position avoids the obstacles between communication sources, the flexible and mobile aircraft is taken as the communication relay to connect each node, and when the position of the devices to be communicated dynamically changes, the optimal relay position is calculated in real time and the position of the aircraft is adjusted in real time, so as to avoid the obstacles and ensure that a communication network intelligently and efficiently operates, and the method and the device are suitable for temporary long-distance two-point intranet communication, dynamic long-distance two-point intranet communication and intranet communication in mountainous areas and multi-obstacle areas.

In some embodiments, the communication relay location may also be determined by:

acquiring real-time position information of each device to be communicated; the communication relay position is determined based on the real-time position information and a preset rule, which can be set by a user in a customized manner, for example, a sphere range is determined with a certain distance as a radius around each device to be communicated (the determination of the distance can be determined according to the signal communication distance capability of the communication network), the sphere ranges of all the devices to be communicated are accumulated to form a summarized communication range, and the communication relay position is determined within the summarized communication range. And finally, controlling the aircraft with the communication relay device to fly to the communication relay position, so that the aircraft can be used as a communication relay node at the communication relay position to realize the communication between at least two devices to be communicated.

In some embodiments, after the communication relay location is determined, a communication test may be further performed on the communication relay location to determine whether the location is suitable as a communication relay location, for example, if the location and the device to be communicated cannot normally communicate with each other through a test (for example, an obstacle exists between the location and the device to be communicated, or other factors affecting the communication exist), the location is not suitable as the communication relay location, and another communication relay location needs to be reselected until a location suitable as the communication relay location is found. And finally, controlling the aircraft with the communication relay device to fly to the communication relay position, so that the aircraft can be used as a communication relay node at the communication relay position to realize the communication between at least two devices to be communicated.

Of course, the communication relay location may also be determined in other ways, which are not listed here.

Example 4

As shown in fig. 7, embodiment 4 of the present invention provides an aircraft control method that can implement control of an aircraft that uses the aircraft as a communication relay for multipoint communication (for example, communication of 3 or more devices to be communicated), including:

and step C10, acquiring the real-time position information of each device to be communicated.

And step C11, positioning the three-dimensional map model of the area where the device to be communicated is located according to the real-time position information of the device to be communicated.

And step C12, determining obstacles in the three-dimensional map model according to the three-dimensional map model.

And step C2, determining two devices to be communicated with highest priority from all the devices to be communicated.

In some embodiments, the two devices to be communicated may be randomly selected.

And step C4, finding the position where the communication lines with the two devices to be communicated with the highest priority avoid the obstacle.

In some embodiments, a location may be found where the communication line with both of the two devices to be communicated, which are randomly selected, avoid the obstacle.

And step C6, selecting communication lines between the communication lines and other devices to be communicated from the searched positions to avoid the obstacles and determining the communication lines and the positions as communication relay positions.

And finally, controlling the aircraft with the communication relay device to fly to a communication relay position, and enabling the aircraft to serve as a communication relay node at the communication relay position to realize communication between the devices to be communicated.

In this step, it is determined whether the communication lines with the two to-be-communicated devices with the highest priority avoid the obstacle or not, if so, it is determined that the positions where the communication lines with the two to-be-communicated devices with the highest priority avoid the obstacle are communication relay positions, otherwise, the step C4 is returned to search for the positions where the other communication lines with the two to-be-communicated devices with the highest priority avoid the obstacle.

The embodiment determines two points with the highest priority first, then finds the communication relay C point of the two points, and then further verifies whether an obstacle exists between the connection lines from the C point to other communication points, if no obstacle exists, the C point is established, and if an obstacle exists, the C point is returned to the above step to continuously determine the position of the C point, so that the flight control of the aircraft serving as the communication relay in the multi-point communication is realized.

In another embodiment, as shown in fig. 8, the method further comprises:

and step C5, storing the position where each communication line between the communication line and the two devices to be communicated with the highest priority level found in the step C4 avoids the obstacle, and forming a first position set.

In some embodiments, the positions where each communication line between the two devices to be communicated found in step C4 and the randomly selected two devices to be communicated avoids the obstacle may be stored, forming a first set of positions.

Step C8, when no position where the communication line with each of the devices to be communicated avoids the obstacle is found finally, selecting a position where the communication line with the largest number of devices to be communicated avoids the obstacle from the first position set as a communication relay position.

According to the scheme, the positions of the C points for establishing communication are stored for two points with the highest priority each time, so that when the connection of n communication points cannot be established finally, the position of the C point which is relatively optimal in all the previous calculation results (for example, a position which can ensure n-1 point communication is found) can be used as a signal relay.

In some embodiments, the communication relay position in the multipoint communication may also be determined by:

acquiring real-time position information of all equipment to be communicated; defining a communication range according to the real-time location information and a preset rule, where the preset rule can be set by a user in a customized manner, for example, a sphere range is determined with a certain distance as a radius around each device to be communicated (the determination of the distance can be determined according to the signal communication distance capability of the communication network), and the sphere ranges of all the devices to be communicated are accumulated to form a summarized communication range; randomly determining a communication relay position within the summarized communication range; the communication relay position is subjected to a communication test to judge whether the position is suitable as a communication relay position, for example, if the position and all the devices to be communicated cannot normally communicate through the test (for example, obstacles exist between the position and all the devices to be communicated or other factors influencing the communication of the position and the devices to be communicated exist), the position is not suitable as the communication relay position, and another communication relay position needs to be selected again until the position suitable as the communication relay position is found. And finally, controlling the aircraft with the communication relay device to fly to the communication relay position, so that the aircraft can be used as a communication relay node at the communication relay position to realize the communication between the devices to be communicated.

Of course, the communication relay position in the multipoint communication may also be determined by other means, which are not listed here.

Example 5

As shown in fig. 9, embodiment 5 of the present invention provides an aircraft control method that can implement control of an aircraft in which a plurality of aircraft are relayed as communication for multipoint communication (for example, communication of 3 or more devices to be communicated), including:

and D10, acquiring the real-time position information of each device to be communicated.

And D11, positioning the three-dimensional map model of the area where the device to be communicated is located according to the real-time position information of the device to be communicated.

And D12, determining obstacles in the three-dimensional map model according to the three-dimensional map model.

And D2, dividing all the devices to be communicated into any N groups, wherein N is more than or equal to 2.

And D4, finding the position where the communication line between each group and each device to be communicated in the group avoids the obstacle.

Step D6, judging whether the communication lines between the positions respectively found in the N groups avoid the obstacles, if so, determining that the positions respectively found are N communication relay positions, otherwise, storing the positions respectively found to form a second position set, returning to execute the step D2, circularly executing the steps until the positions of the communication lines between each group under all possible groups and each device to be communicated in the group avoid the obstacles are determined and stored, and selecting a group of positions with the shortest total communication distance in the second position set as N communication relay positions;

and D8, controlling the N aircrafts with the communication relay devices to fly to the N communication relay positions respectively.

In the embodiment, one aircraft is used for connecting a plurality of communication sources to determine all possible C point sets, another aircraft is used for connecting the rest communication sources to determine all possible C 'point sets, and then whether the connection line between the C point and the C' point is obstructed or not is judged. The method comprises the steps of dividing all devices to be communicated into any N groups, respectively finding out the positions of communication relays among each group of devices to be communicated, if the positions of each group can be communicated without obstacles, storing the positions into a position point set, searching the positions of the communication relays among all possible grouped devices to be communicated, selecting the position of the communication relay among one group of devices to be communicated with the shortest communication distance as the position of the communication relay among the devices to be communicated, and adopting two or more flexible aircrafts as the core of a star-shaped networking. And when the position of the equipment to be communicated changes dynamically, the optimal relay position can be calculated in real time, and the position of the aircraft can be adjusted in real time, so that obstacles among communication sources are avoided, the intelligent and efficient operation of a communication network is ensured, and the method and the device are suitable for temporary long-distance multi-point intranet communication, dynamic long-distance multi-point intranet communication and intranet communication in mountainous areas and multi-obstacle areas.

In some embodiments, a plurality of aircraft may also be determined as communication relay locations in a multipoint communication by:

dividing all devices to be communicated into any N groups, wherein N is more than or equal to 2, and determining the communication relay position in each group in the following way:

acquiring real-time position information of all devices to be communicated in the group; defining a communication range according to the real-time location information and a preset rule, where the preset rule can be set by a user in a customized manner, for example, a sphere range is determined with a certain distance as a radius around each device to be communicated (the determination of the distance can be determined according to the signal communication distance capability of the communication network), and the sphere ranges of all the devices to be communicated in the group are accumulated to form a summarized communication range; randomly determining a communication relay position within the summarized communication range; the communication relay position is subjected to a communication test to judge whether the position is suitable as a communication relay position, for example, if the position and all the devices to be communicated cannot normally communicate through the test (for example, obstacles exist between the position and all the devices to be communicated or other factors influencing the communication exist), the position is not suitable as the communication relay position, another communication relay position needs to be selected again until the position suitable as the communication relay position is found, and N communication relay positions are determined. And finally, controlling the N aircrafts with the communication relay devices to fly to the determined N communication relay positions respectively.

Example 6

As shown in fig. 10, embodiment 6 of the present invention provides an aircraft control method for finding a position where a communication line with each of the devices to be communicated avoids the obstacle by a step calculation method, including:

and step 310, acquiring real-time position information of each device to be communicated.

And step 320, positioning the three-dimensional map model of the area where the device to be communicated is located according to the real-time position information of the device to be communicated.

And step 330, determining obstacles in the three-dimensional map model according to the three-dimensional map model.

And 340, searching the position where the communication line between each device to be communicated and each obstacle is avoided in a stepping calculation mode.

Step 350, determining the position found first as a communication relay position.

And 360, controlling the aircraft with the communication relay device to fly to a communication relay position, so that the aircraft can be used as a communication relay node at the communication relay position to realize communication between at least two devices to be communicated.

The step calculation may be performed as follows, that is, step 340 includes:

and searching the position where the communication line between the device to be communicated and each device to be communicated avoids the obstacle by a calculation mode of starting from the value 0 of r and the value 0 of a, keeping the value of a, stepping the value of a or keeping the value of a and stepping the value of r, wherein r represents the vertical distance between the position to be searched and a connecting line between the real-time positions of the two devices to be communicated, and a represents the distance between the position to be searched and a plane which passes through the midpoint of the connecting line between the real-time positions of the two devices to be communicated and is vertical to the connecting line between the real-time positions of the two devices to be communicated.

For example:

step a1, initially taking r as 0, where a is 0, where r denotes a vertical distance of a connection line between the location to be searched and the real-time locations of the two devices to be communicated, and a denotes a distance of the location to be searched from a plane passing through a midpoint of the connection line between the real-time locations of the two devices to be communicated and perpendicular to the connection line between the real-time locations of the two devices to be communicated.

Step A2, finding the position where the communication line with each device to be communicated avoids the obstacle, if the position exists, determining the position as a communication relay position, otherwise, executing step A3.

Step A3, adding a preset step a, if a after the preset step is added is less than or equal to a first preset threshold value and the distance between the position to be searched and the real-time position of the device to be communicated which is farthest from the position to be searched is less than or equal to a second preset threshold value, returning to execute step A2, otherwise executing step A4, wherein the first preset threshold value is a value preset according to the distance between the real-time positions of the device to be communicated and the signal communication distance capability of the communication network, and the second preset threshold value is the maximum signal transmission distance of the aircraft.

Step A4, increasing r by a preset step, resetting a to 0, if the increased r after the preset step is less than or equal to a third preset threshold and the distance between the position to be searched and the real-time position of the device to be communicated which is farthest from the position to be searched is less than or equal to a second preset threshold, returning to execute the step A2, otherwise, indicating that the position to be searched does not exist in the area where the device to be communicated is located, wherein the third preset threshold is a value preset according to the communication technology implementation mode and the signal communication distance capability of the communication network.

The above step calculation scheme is explained below with reference to specific embodiments:

because the straight line between the two points is shortest, the shorter the distance of the aircraft position deviating from the connecting line between the two communication sources is, the shorter the distance of the two points through relay communication is (the shorter the communication distance is, the more stable the transmission is, the error rate is low, and the higher transmission rate can be achieved). As shown in fig. 14, it is assumed that two communication sources are respectively an a point and a B point, a distance between an AB link is L, a midpoint of the AB link is a Y point, a position of the aircraft is a C point, and a vertical distance between the aircraft and the AB link is d. According to mathematical theory, the smaller d is, the smaller AC + BC is, the distance between the point C and a plane which passes through the point Y and is vertical to the line AB is a, and the smaller a is, the smaller AC + BC is. The radius r of the cylinder in fig. 14 is d as described above. Suppose that the aircraft has a set maximum signal transmission distance d_max. The three-dimensional composition is calculated as follows:

the method comprises the following steps: initially taking r as 0; a is 0.

Step two: connecting a point A with a point C set (the point C set is initially a point, and is followed by two circles, namely two circles which are positioned on two sides of the point Y and pass through the point Y and are perpendicular to the AB connecting line and have a plane distance a), and also connecting a point B with a point C set (a specific composition mode can adopt a point connection mode, and a cone of the point A with the point C set and a cone of the point B with the point C set are also constructed to determine whether the point A overlaps with a three-dimensional obstacle model in a map), if a point C position exists, so that the AC and BC connecting lines do not pass through a three-dimensional graph of an obstacle, determining the point C, enabling an aircraft to fly to the point C as a signal relay, and ending the process, and when r is 0; when a is 0, point C is point Y, which corresponds to no obstacle between AB, and point C is only taken at point Y in AB. If there is no such C point location, the process jumps to step three.

It should be noted that, when r ≠ 0 and a ≠ 0, there may be many C points, and in this embodiment, the C point is calculated by stepping r and a, and actually the first found C point is the optimal or near-optimal communication relay point.

Step three: depending on the technical implementation and communication distance capabilities of the radio signal, values such as m 1, 5, 10 meters, etc. may be taken, and if a ≦ a, the value of m may be determined empirically and experimentally_max(a_maxA is a set threshold value which has a direct relation with the distance L between two points AB and the communication distance capability of the signal_max0.5l, 0.7l, etc., a_maxToo large may result in unnecessary calculations, while too small may reduce the success rate of communication establishment in parts of particular terrain, a_maxIs determined experimentally as an optimum value), and

(the longer distance between the AC and the BC needs to be less than or equal to the set maximum signal transmission distance of the aircraft), returning to the step two (judging whether the C point position exists after the step m is increased by the step two, so that the connecting line of the AC and the BC does not pass through the three-dimensional graph of the barrier); otherwise, jumping to the fourth step.

Step four: according to the technical implementation mode and the communication distance capability of the wireless signal, a value of n is 1 meter, 5 meters, 10 meters and the like, and a is reset to 0 (namely, the C point is searched from the central position again); if r is less than or equal to r_max(r_maxFor a set threshold, i.e. the maximum distance the aircraft can deviate from the AB line, the signal communication distance capability d needs to be taken into account_maxAccording to the triangle principle, r_maxIs necessarily less than d_maxCan be taken out of r_maxThe maximum value d can be obtained when the total number is 100 meters, 150 meters and the like_maxIf too small, the amount of the catalyst will be reduced to a part of the specific rangeSuccess rate of communication establishment in terrain, r_maxIs determined experimentally as an optimum value), and

(r does not exceed d after stepping_max) Returning to the second step (judging whether a C point position exists after the stepping m is added or not by the second step so that the AC and BC connecting lines do not pass through the three-dimensional graph of the barrier); if r is>r_maxIf the aircraft is in the set range, the fact that the point C does not exist in the set range can be used as a signal relay to inform a user that the connection cannot be established under the current condition and the aircraft does not take off.

The general calculation idea of the scheme is as follows: and (3) firstly, keeping the r unchanged, increasing the step of the a, judging whether the point C exists or not by going to the step two each time until the a exceeds the set value, then returning the a to 0, then increasing the step of the r, then increasing the step of the a again for searching, and if the r also exceeds the set value, indicating that the point C meeting the requirement cannot be found.

For another example, a is first unchanged, the step of r is increased, whether the point C exists is judged in step two each time until r exceeds the set value, r is returned to 0, then the step of a is increased, then r is increased again to search until a also exceeds the set value, and it means that the point C meeting the requirement cannot be found:

step B1, initially taking r as 0, where a is 0, where r denotes a vertical distance of a connection line between the location to be searched and the real-time locations of the two devices to be communicated, and a denotes a distance of the location to be searched from a plane passing through a midpoint of the connection line between the real-time locations of the two devices to be communicated and perpendicular to the connection line between the real-time locations of the two devices to be communicated.

Step B2, searching the position where the communication line with each device to be communicated avoids the obstacle, if the position exists, determining the position as a communication relay position, otherwise, executing step B3.

And B3, increasing r by a preset step, if the increased r after the preset step is less than or equal to a third preset threshold value and the distance between the position to be searched and the real-time position of the device to be communicated which is farthest away from the position to be searched is less than or equal to a second preset threshold value, returning to execute the step B2, otherwise executing the step B4, wherein the second preset threshold value is the maximum signal transmission distance of the aircraft, and the third preset threshold value is a value preset according to the communication technology implementation mode and the signal communication distance capability of the communication network.

And B4, increasing a preset step by a preset step, resetting r to 0, returning to execute the step B2 if a after the preset step is increased is less than or equal to a first preset threshold and the distance between the position to be searched and the real-time position of the device to be communicated which is farthest from the position to be searched is less than or equal to a second preset threshold, otherwise, indicating that the position to be searched does not exist in the area where the device to be communicated is located, wherein the first preset threshold is a value preset according to the distance between the real-time positions of the devices to be communicated and the signal communication distance capability of the communication network.

The step calculation method of this embodiment is also applicable to the schemes of embodiment 4 and embodiment 5.

Example 7

As shown in fig. 11, embodiment 7 of the present invention provides an aircraft control method for finding a position where a communication line with each of the devices to be communicated avoids the obstacle in a corpus search manner, including:

and step 410, acquiring real-time position information of each device to be communicated.

And step 420, positioning the three-dimensional map model of the area where the device to be communicated is located according to the real-time position information of the device to be communicated.

And 430, determining obstacles in the three-dimensional map model according to the three-dimensional map model.

And step 440, finding the position of the communication line between each device to be communicated and each obstacle avoided through a full set search mode.

In this step, through the corpus search mode, initially taking r as 0 and a as 0, performing a second-order matrix search to find a set of location points where the communication line with each of the devices to be communicated avoids the obstacle, wherein r represents the vertical distance of a connecting line between the position to be searched and the real-time positions of the two devices to be communicated, a represents the distance of the position to be searched from a plane passing through the midpoint of the connecting line between the real-time positions of the two devices to be communicated and perpendicular to the connecting line between the real-time positions of the two devices to be communicated, a is less than or equal to a first preset threshold value, r is less than or equal to a third preset threshold value, the first preset threshold is a value preset according to the distance between the real-time positions of the devices to be communicated and the signal communication distance capability of the communication network, the third preset threshold is a value preset according to a communication technology implementation manner and a signal communication distance capability of the communication network.

And step 450, determining the position with the shortest total communication distance with all the devices to be communicated as a communication relay position.

And step 460, controlling the aircraft with the communication relay device to fly to a communication relay position, so that the aircraft can be used as a communication relay node at the communication relay position to realize communication between at least two devices to be communicated.

In this embodiment, a corpus search mode is adopted, and r is from 0 to r_maxA is from 0 to a_maxAnd performing second-order matrix search to find all feasible relay point sets, and selecting the minimum value of AC + BC as the optimal relay point C. This method ensures that the relay points obtained are always the best position.

The corpus search method of the present embodiment is also applicable to the schemes of embodiments 4 and 5.

It should be noted that, in embodiments 3 to 7, after the aircraft serves as a communication relay of a communication network between two or more devices to be communicated at the communication relay position, each communication source still uploads its own position in real time. If one or more moving communication sources exist in each communication source, the aircraft calculates the optimal relay point position in real time so as to ensure the optimization of the C point at any time, thereby ensuring the optimization of networking. And if the position information of the communication source is not changed, stopping calculation, hovering at the current point C, and carrying out relay transmission of data.

Example 8

As shown in fig. 12, embodiment 8 of the present invention provides a control device 200 for an aircraft, including:

and a flight control module 210, configured to control an aircraft with a communication relay device to fly to a communication relay location, so that the aircraft serves as a communication relay node at the communication relay location to implement communication between at least two devices to be communicated.

The specific implementation and working principle of this embodiment are the same as those of embodiment 2, and reference may be made to the description of embodiment 2, which is not repeated herein.

Example 9

As shown in fig. 13, embodiment 9 of the present invention provides a control device 300 for an aircraft, including:

and a flight control module 310, configured to control an aircraft with a communication relay device to fly to a communication relay location, so that the aircraft serves as a communication relay node at the communication relay location to implement communication between at least two devices to be communicated.

The information obtaining module 320 is configured to obtain real-time location information of each device to be communicated.

The position determining module 330 is configured to position the three-dimensional map model of the area where the device to be communicated is located according to the real-time position information of the device to be communicated, and determine a communication relay position according to the three-dimensional map model and the real-time position information of the device to be communicated.

In another embodiment, the position determination module 230 includes:

and the obstacle determining unit is used for determining obstacles in the three-dimensional map model according to the three-dimensional map model.

And the position determining unit is used for searching the position where the communication line between the communication relay unit and each device to be communicated avoids the obstacle, and determining the searched position as a communication relay position.

In yet another embodiment, the position determination unit includes:

and the priority device determining subunit is used for determining two devices to be communicated with the highest priority from all the devices to be communicated.

And the priority position searching subunit is used for searching the position where the communication line between the two pieces of equipment to be communicated with the highest priority avoids the obstacle.

And the position determining subunit is used for selecting communication lines between the communication lines and other devices to be communicated from the searched positions to avoid the obstacles and determining the communication lines and the positions as communication relay positions.

In still another embodiment, the control device of the aircraft further includes:

and the first position set storage subunit is used for storing the positions, which are found by the priority position finding subunit and are avoided from the barrier, of each communication line between the two pieces of equipment to be communicated with the highest priority, so as to form a first position set.

And a position selecting subunit, configured to select, from the first position set, a position where the communication lines with the largest number of devices to be communicated avoid the obstacle, when no position where the communication lines with each of the devices to be communicated avoid the obstacle is found finally, and determine as a communication relay position.

In another embodiment, the control device of the aircraft further comprises:

the grouping subunit is used for dividing all the devices to be communicated into any N groups, wherein N is more than or equal to 2;

the position determination unit includes:

and the grouping position determining subunit is used for searching the position where the communication line between each group and each device to be communicated in the group avoids the obstacle.

A grouping position judging subunit, configured to judge whether the communication lines between the positions found in the N groups avoid the obstacle, determine, if yes, that the positions found are N communication relay positions, otherwise, store the positions found, form a second position set, perform, by the grouping subunit and the grouping position determining subunit, the functions thereof in a cycle until the position determination and storage that the communication lines between each group in all possible groupings and each device to be communicated in the group avoid the obstacle is completed, and select, as the N communication relay positions, a group of positions in the second position set where the total communication distance is shortest;

the flight control module is used for controlling N aircrafts with communication relay devices to fly to the N communication relay positions respectively.

In yet another embodiment, the position determination unit includes:

and the step calculation subunit is used for searching the position where the communication line between the step calculation subunit and each piece of equipment to be communicated avoids the obstacle in a step calculation mode.

A first position determination subunit for determining the position found first as a communication relay position.

Specifically, the step calculation subunit includes:

and the r-a stepping calculation subunit is used for searching the position where the communication line between each device to be communicated avoids the obstacle by a calculation mode of starting from the value 0, keeping the value of r unchanged, keeping the value of a stepped or keeping the value of a unchanged and keeping the value of r stepped, wherein r represents the vertical distance between the position to be searched and a connecting line between the real-time positions of the two devices to be communicated, and a represents the distance between the position to be searched and a plane passing through the midpoint of the connecting line between the real-time positions of the two devices to be communicated and perpendicular to the connecting line between the real-time positions of the two devices to be communicated.

For example, the position determination unit includes:

the device comprises a first initial unit, a second initial unit and a third initial unit, wherein the first initial unit is used for initially taking r to be 0, a to be 0, r represents the vertical distance of a connecting line between a position to be searched and the real-time positions of two devices to be communicated, and a represents the distance of the position to be searched from a plane which passes through the midpoint of the connecting line between the real-time positions of the two devices to be communicated and is vertical to the connecting line between the real-time positions of the two devices to be communicated.

And the first position searching unit is used for searching the position where the communication line between the first position searching unit and each device to be communicated avoids the obstacle, and if the position exists, the position is determined as a communication relay position.

The first step and judgment unit is used for increasing a by a preset step, and if a after the preset step is increased is smaller than or equal to a first preset threshold value and the distance between the position to be searched and the real-time position of the equipment to be communicated which is farthest from the position to be searched is smaller than or equal to a second preset threshold value, the first position searching unit executes the function of the first step and judgment unit, wherein the first preset threshold value is a value preset according to the distance between the real-time positions of the equipment to be communicated and the signal communication distance capability of the communication network, and the second preset threshold value is the maximum signal transmission distance of the aircraft.

The first r stepping and judging unit is used for increasing r by a preset step, a is reset to 0, if r after the preset step is increased is smaller than or equal to a third preset threshold value, and the distance between the position to be searched and the real-time position of the device to be communicated which is farthest away from the position to be searched is smaller than or equal to a second preset threshold value, the first a stepping and judging unit executes the function, otherwise, the position to be searched does not exist in the area where the device to be communicated is located, wherein the third preset threshold value is a value preset according to the communication technology implementation mode and the signal communication distance capability of the communication network.

Alternatively, the position determination unit includes:

and the second initial unit is used for initially taking r to be 0, and a to be 0, wherein r represents the vertical distance of a connecting line between the position to be searched and the real-time positions of the two devices to be communicated, and a represents the distance of the position to be searched from a plane which passes through the midpoint of the connecting line between the real-time positions of the two devices to be communicated and is vertical to the connecting line between the real-time positions of the two devices to be communicated.

And the second position searching unit is used for searching the position where the communication line between the second position searching unit and each device to be communicated avoids the obstacle, and if the position exists, the position is determined as a communication relay position.

And the second r stepping and judging unit is used for increasing r by a preset step, and if the r after the preset step is increased is less than or equal to a third preset threshold and the distance between the position to be searched and the real-time position of the equipment to be communicated which is farthest from the position to be searched is less than or equal to a second preset threshold, the second position searching unit executes the function of the second position searching unit, wherein the second preset threshold is the maximum signal transmission distance of the aircraft, and the third preset threshold is a value preset according to the communication technology implementation mode and the signal communication distance capability of the communication network.

And the second step and judgment unit a is used for increasing a by a preset step, r is reset to 0, if a after the preset step is increased is less than or equal to a first preset threshold value, and the distance between the position to be searched and the real-time position of the device to be communicated which is farthest away from the position to be searched is less than or equal to a second preset threshold value, the second step and judgment unit r executes the function, otherwise, the device to be communicated does not have the position to be searched in the area where the device to be communicated is located, wherein the first preset threshold value is a value preset according to the distance between the real-time positions of the device to be communicated and the signal communication distance capability of the communication network.

In still another embodiment, the position determination unit includes:

and the corpus searching subunit is used for searching the position where the communication line between the to-be-communicated equipment and each to-be-communicated equipment avoids the obstacle through a corpus searching mode.

And the shortest distance position determining subunit is used for determining the position with the shortest total communication distance between all the devices to be communicated as the communication relay position.

Specifically, the corpus searching subunit is configured to perform a second-order matrix search by initially taking r as 0 and a as 0 in a corpus searching mode, find a set of location points where communication lines with each of the devices to be communicated avoid the obstacle, wherein r represents the vertical distance of a connecting line between the position to be searched and the real-time positions of the two devices to be communicated, a represents the distance of the position to be searched from a plane passing through the midpoint of the connecting line between the real-time positions of the two devices to be communicated and perpendicular to the connecting line between the real-time positions of the two devices to be communicated, a is less than or equal to a first preset threshold value, r is less than or equal to a third preset threshold value, the first preset threshold is a value preset according to the distance between the real-time positions of the devices to be communicated and the signal communication distance capability of the communication network, the third preset threshold is a value preset according to a communication technology implementation manner and a signal communication distance capability of the communication network.

The specific implementation and working principle of this embodiment are the same as those of embodiments 3-7, and reference may be made to the description of embodiments 3-7, which is not repeated herein.

Example 10

Embodiment 10 of the present invention provides a computer-readable storage medium including instructions for executing the control method of the aircraft according to any one of embodiments 2 to 7. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.

Example 11

As shown in fig. 15, embodiment 11 of the present invention provides an electronic device 400 including:

at least one or more processors 410 and memory 420; the processor 410 and the memory 420 may be connected by a bus or other means, and fig. 15 illustrates the connection by a bus as an example.

The memory 420, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules (e.g., the modules shown in fig. 12 and 13) corresponding to the control method of the aircraft in the embodiments of the present application. The processor 410 executes various functional applications of the server and data processing by executing nonvolatile software programs, instructions and modules stored in the memory 420, namely, implements the control method of the aircraft according to the above-described method embodiments.

The memory 420 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created from use of the control device of the aircraft, and the like. Further, the memory 420 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 420 optionally includes memory located remotely from processor 410, which may be connected to the control of the aircraft via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The one or more modules are stored in the memory 420 and, when executed by the one or more processors 410, perform a method of controlling an aircraft in any of the method embodiments described above.

According to the electronic equipment provided by the embodiment of the invention, the aircraft is used as the communication relay of the communication network between the equipment to be communicated, so that the communication network between two points or multiple points can be established through the aircraft, the position of the aircraft is convenient to adjust, the networking requirement when an obstacle exists between the communication points or an entity cable cannot be erected is met, and the networking cost is lower compared with that of satellite communication.

The product can execute the method provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the methods provided in the embodiments of the present application.

Example 12

An embodiment 12 of the present invention provides an aircraft including:

an aircraft body, a communication relay device, and the electronic apparatus described in embodiment 11. Wherein the aircraft is used as a communication relay of a communication network between more than two devices to be communicated through the relay communication node. The communication relay node can be a communication module with a communication relay function, the communication module is arranged in the aircraft body and is generally connected with a processor in the aircraft, the original communication function of the aircraft can be realized, the communication relay function can also be realized, the communication relay node becomes a communication relay between other devices to be communicated, and a communication network is further established.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A method of controlling an aircraft, comprising:

acquiring real-time position information of each mobile terminal;

positioning a three-dimensional map model of an area where the mobile terminal is located according to the real-time position information of the mobile terminal, and determining a communication relay position according to the three-dimensional map model and the real-time position information of the mobile terminal, wherein the step of determining the communication relay position according to the three-dimensional map model and the real-time position information of the mobile terminal comprises the following steps:

determining an obstacle in the three-dimensional map model according to the three-dimensional map model;

searching a position where a communication line with each mobile terminal avoids the obstacle, and determining the searched position as a communication relay position;

the communication relay position is determined in a summarized communication range by taking the real-time position information of each mobile terminal as a circle center and a distance as a radius, and the communication relay position is a position where a communication line between the communication relay position and each mobile terminal avoids an obstacle;

controlling an aircraft with a communication relay device to fly to a communication relay position, and enabling the aircraft to serve as a communication relay node at the communication relay position to realize communication between at least two mobile terminals.

2. The control method for an aircraft according to claim 1, wherein the step of finding a position where a communication line with each of the mobile terminals avoids the obstacle, and the step of determining the found position as a communication relay position includes:

step C2, determining two mobile terminals with the highest priority from all the mobile terminals;

step C4, finding the positions of communication lines between the two mobile terminals with the highest priority and avoiding the obstacles;

and step C6, selecting communication lines between the mobile terminals and other mobile terminals from the searched positions to avoid the obstacles and determining the communication lines with the positions as communication relay positions.

3. The method of controlling an aircraft according to claim 2, characterized in that the method further comprises:

storing the positions of the communication lines between each mobile terminal and the two mobile terminals with the highest priority, which are found in the step C4, and avoiding the obstacles to form a first position set;

when no position where the communication line with each of the mobile terminals avoids the obstacle is found finally, a position where the communication line with the largest number of mobile terminals avoids the obstacle is selected from the first position set to be determined as a communication relay position.

4. The control method for an aircraft according to any one of claims 1 to 3, wherein before the step of finding a position where a communication line with each of the mobile terminals avoids the obstacle, determining the found position as a communication relay position, the method further comprises:

d2, dividing all mobile terminals into any N groups, wherein N is more than or equal to 2;

the searching for a position where a communication line with each of the mobile terminals avoids the obstacle, and the determining the found position as a communication relay position includes:

step D4, finding the position where the communication line between each group and each mobile terminal in the group avoids the obstacle;

step D6, judging whether the communication lines between the positions respectively found in the N groups avoid the obstacle, if yes, determining the positions respectively found to be N communication relay positions, otherwise, storing the positions respectively found to form a second position set, returning to step D2 and circularly executing the steps until the position determination and storage that the communication lines between each group and each mobile terminal in the group avoid the obstacle under all possible grouping is completed,

selecting a group of positions with the shortest total communication distance in the second position set as N communication relay positions;

the step of controlling the aircraft having the communication relay device to fly to the communication relay location includes:

and controlling N aircrafts with communication relay devices to fly to the N communication relay positions respectively.

5. The control method for an aircraft according to any one of claims 1 to 3, wherein the step of finding a position where a communication line with each of the mobile terminals avoids the obstacle, and the step of determining the found position as a communication relay position includes:

searching the position where the communication line between each mobile terminal and each barrier is avoided in a stepping calculation mode; determining the location found first as a communication relay location; alternatively, the first and second electrodes may be,

searching the position where the communication line with each mobile terminal avoids the barrier through a full set search mode; and determining the position with the shortest total communication distance with all the mobile terminals as a communication relay position.

6. A control device for an aircraft, comprising:

the information acquisition module is used for acquiring real-time position information of each mobile terminal;

the position determining module is used for positioning a three-dimensional map model of an area where the mobile terminal is located according to the real-time position information of the mobile terminal, and determining a communication relay position according to the three-dimensional map model and the real-time position information of the mobile terminal, wherein the communication relay position is a sphere range determined by taking the real-time position information of each mobile terminal as a circle center and taking a distance as a radius, the sphere ranges of all the mobile terminals are accumulated to form a summarized communication range, the communication relay position is determined in the summarized communication range, and the communication relay position is a position where a communication line between the communication relay position and each mobile terminal avoids obstacles; the position determination module includes: an obstacle determining unit, configured to determine an obstacle in the three-dimensional map model according to the three-dimensional map model; a position determination unit for finding a position where a communication line with each of the mobile terminals avoids the obstacle, and determining the found position as a communication relay position;

and the flight control module is used for controlling the aircraft with the communication relay device to fly to the communication relay position, so that the aircraft can be used as a communication relay node at the communication relay position to realize the communication between at least two mobile terminals.

7. The control device of the aircraft according to claim 6, characterized in that the position determination unit comprises:

a priority device determining subunit, configured to determine two mobile terminals with the highest priority from among all the mobile terminals;

the priority position searching subunit is used for searching the position where the communication lines with the two mobile terminals with the highest priority avoid the obstacle;

and the position determining subunit is used for selecting communication lines between the mobile terminals and other mobile terminals from the searched positions to avoid the obstacles and determining the communication lines with the positions as communication relay positions.

8. The control device of the aircraft according to claim 7, characterized in that said device further comprises:

a first position collection storage subunit, configured to store positions where communication lines between each of the two mobile terminals with the highest priority, which are found by the priority position finding subunit, and the two mobile terminals with the highest priority avoid the obstacle, so as to form a first position collection;

and a position selecting subunit, configured to select, from the first position set, a position where the communication lines with the largest number of mobile terminals avoid the obstacle as a communication relay position when no position where the communication lines with each of the mobile terminals avoid the obstacle is found finally.

9. The control device of the aircraft according to any one of claims 6 to 8, characterized in that it further comprises:

the grouping subunit is used for dividing all the mobile terminals into any N groups, wherein N is more than or equal to 2;

the position determination unit includes:

the grouping position determining subunit is used for searching the position where the communication line between each group and each mobile terminal in the group avoids the obstacle;

a grouping position judging subunit, configured to judge whether the communication lines between the positions found in the N groups avoid the obstacle, determine, if yes, that the positions found are N communication relay positions, otherwise, store the positions found, form a second position set, and perform, by using the grouping subunit and the grouping position determining subunit, the functions thereof in a cycle until the position determination and storage that the communication lines between each group in all possible groupings and each mobile terminal in the group avoid the obstacle are completed, and select, as the N communication relay positions, a group of positions in the second position set where the total communication distance is shortest;

10. The control device of the aircraft according to any one of claims 6 to 8, characterized in that the position determination unit comprises:

the step calculation subunit is used for searching the position where the communication line with each mobile terminal avoids the obstacle in a step calculation mode;

a first position determination subunit operable to determine the position found first as a communication relay position; alternatively, the first and second electrodes may be,

the position determination unit includes:

the mobile terminal comprises a corpus searching subunit, a corpus searching unit and a searching unit, wherein the corpus searching subunit is used for searching the position where the communication line between the mobile terminal and each mobile terminal avoids the barrier through a corpus searching mode;

and the shortest distance position determining subunit is used for determining the position with the shortest total communication distance between all the mobile terminals as the communication relay position.

11. A computer-readable storage medium, characterized by comprising instructions for carrying out the control method of the aircraft according to any one of claims 1 to 5.

12. An electronic device, comprising:

at least one or more processors; and the number of the first and second groups,

a memory; wherein the content of the first and second substances,

the memory stores a program of instructions executable by the at least one or more processors, the program of instructions being arranged to perform the steps of the method of controlling an aircraft according to any one of claims 1-5.