CN109477891B

CN109477891B - Unmanned aerial vehicle detection method, detection equipment, control method of server and server

Info

Publication number: CN109477891B
Application number: CN201780007988.6A
Authority: CN
Inventors: 詹国豪; 谢鹏; 钟晓航; 杨秉臻
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2017-03-21
Filing date: 2017-03-21
Publication date: 2024-05-17
Anticipated expiration: 2037-03-21
Also published as: CN109477891A; WO2018170734A1

Abstract

An unmanned aerial vehicle detection method, detection equipment, a server control method and a server are used for realizing safety supervision of an unmanned aerial vehicle. The unmanned aerial vehicle detection method comprises the following steps: acquiring a data packet comprising supervision information of the unmanned aerial vehicle by using a detector, wherein the data packet is transmitted in a working channel of a communication network between the unmanned aerial vehicle and a control terminal of the unmanned aerial vehicle; and analyzing the data packet by using a processor to acquire the supervision information of the unmanned aerial vehicle.

Description

Unmanned aerial vehicle detection method, detection equipment, control method of server and server

Technical Field

The embodiment of the application relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle detection method and detection equipment, a server control method and a server.

Background

Unmanned plane (UnmannedAerial Vehicle) is a unmanned plane mainly controlled by radio remote control or self program, and has been widely focused and studied because of its advantages of low cost, high efficiency and cost ratio, high flexibility, high adaptability, safety and stability, etc.

With the reduction of price threshold and the improvement of operation flexibility, unmanned aerial vehicle's frequency of occurrence is higher and higher, and control unmanned aerial vehicle's crowd no longer only is limited to professional player any more. However, as an aviation aircraft, the unmanned aerial vehicle brings new experiences to wide consumers, and meanwhile, due to the fact that management of relevant fields is not perfect, potential risks are brought to society, and particularly in the process that the unmanned aerial vehicle uses airspace, the problems of ambiguous flying areas, privacy invading, potential safety hazards and the like exist, and in order to guarantee safety of the public, the unmanned aerial vehicle needs to be supervised at a certain level.

At present, in the supervision technology aiming at the unmanned aerial vehicle, the method is mainly used for discovering interception and discovery of the unmanned aerial vehicle, namely acquiring the position information of the position of the unmanned aerial vehicle, the acquisition of the position information of the unmanned aerial vehicle can be generally realized through technologies such as phased array radar, electronic imaging, sound wave detection, radio frequency signal detection and the like, and the acquisition of the position information of the unmanned aerial vehicle can also be realized through the cooperation of ADS-B equipment carried on the unmanned aerial vehicle and radar equipment on the ground, so that the supervision of the unmanned aerial vehicle is achieved, but the technologies are difficult to accurately position the unmanned aerial vehicle, and are also unfavorable for tracking and positioning operators and acquiring more detailed information of the invasive unmanned aerial vehicle.

Disclosure of Invention

The embodiment of the invention provides an unmanned aerial vehicle detection method and detection equipment, a server control method and a server, which are used for realizing supervision of unmanned aerial vehicles.

In view of this, a first aspect of the present invention provides a method for detecting a unmanned aerial vehicle, which may include:

Acquiring a data packet comprising supervision information of the unmanned aerial vehicle by using a detector, wherein the data packet is transmitted in a working channel of a communication network between the unmanned aerial vehicle and a control terminal of the unmanned aerial vehicle;

and analyzing the data packet by using a processor to acquire the supervision information of the unmanned aerial vehicle.

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

receiving supervision information of the unmanned aerial vehicle sent by detection equipment of the unmanned aerial vehicle by using a communication interface;

and evaluating the risk level of the unmanned aerial vehicle according to the supervision information by using the processor.

A third aspect of the invention provides a detection apparatus, which may comprise:

The system comprises a detector, a controller and a controller, wherein the detector is used for acquiring a data packet comprising supervision information of the unmanned aerial vehicle, and the data packet is transmitted in a working channel of a communication network between the unmanned aerial vehicle and a control terminal of the unmanned aerial vehicle;

and the processor is used for analyzing the data packet to acquire the supervision information of the unmanned aerial vehicle.

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

The communication interface is used for receiving the supervision information of the unmanned aerial vehicle, which is sent by the detection equipment of the unmanned aerial vehicle;

And the processor is used for evaluating the risk level of the unmanned aerial vehicle according to the supervision information.

From the above technical solutions, the embodiment of the present invention has the following advantages:

different from the situation of the prior art, the detection method and the detection equipment of the unmanned aerial vehicle can scan the working channel of the communication network between the unmanned aerial vehicle and the control terminal thereof so as to intercept the data packet sent by the unmanned aerial vehicle, and the detection equipment can acquire the supervision information of the unmanned aerial vehicle by analyzing the data packet, so that the unmanned aerial vehicle is supervised, the hardware structure of the unmanned aerial vehicle is not required to be changed, the supervision cost is low, the recognition rate of the unmanned aerial vehicle is high, and the detection distance is long. Meanwhile, by the detection method of the server and the server, the risk level of the unmanned aerial vehicle can be estimated according to the supervision information of the unmanned aerial vehicle, and hierarchical monitoring and unified management of the unmanned aerial vehicle can be realized.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic diagram of data transmission of an unmanned aerial vehicle in an embodiment of the invention;

Fig. 2 is a schematic diagram of an embodiment of a method for detecting a unmanned aerial vehicle according to an embodiment of the present invention;

Fig. 3 is a schematic diagram of another embodiment of a detection method of a unmanned aerial vehicle according to an embodiment of the present invention;

Fig. 4 is a schematic diagram of another embodiment of a detection method of a unmanned aerial vehicle according to an embodiment of the present invention;

fig. 5 is a schematic diagram of another embodiment of a detection method of an unmanned aerial vehicle according to an embodiment of the present invention;

Fig. 6 is a schematic diagram of another embodiment of a detection method of a unmanned aerial vehicle according to an embodiment of the present invention;

fig. 7 is a schematic diagram of another embodiment of a detection method of a unmanned aerial vehicle according to an embodiment of the present invention;

fig. 8 is a schematic diagram of another embodiment of a detection method of a unmanned aerial vehicle according to an embodiment of the present invention;

Fig. 9 is a schematic diagram of another embodiment of a detection method of a unmanned aerial vehicle according to an embodiment of the present invention;

Fig. 10 is a schematic diagram of another embodiment of a detection method of a unmanned aerial vehicle according to an embodiment of the present invention;

fig. 11 is a schematic diagram of another embodiment of a detection method of a unmanned aerial vehicle according to an embodiment of the present invention;

Fig. 12 is a schematic diagram of another embodiment of a detection method of a unmanned aerial vehicle according to an embodiment of the present invention;

fig. 13 is an application schematic diagram of a detection method of an unmanned aerial vehicle in an embodiment of the invention;

FIG. 14 is a diagram illustrating an embodiment of a control method of a server according to an embodiment of the present invention;

FIG. 15 is a schematic diagram of another embodiment of a control method of a server according to an embodiment of the present invention;

FIG. 16 is a diagram illustrating another embodiment of a control method of a server according to an embodiment of the present invention;

FIG. 17 is a schematic diagram of another embodiment of a control method of a server according to an embodiment of the present invention;

FIG. 18 is a diagram illustrating another embodiment of a control method of a server according to an embodiment of the present invention;

FIG. 19 is a diagram illustrating another embodiment of a control method of a server according to an embodiment of the present invention;

FIG. 20 is a schematic diagram of an embodiment of a detection apparatus according to an embodiment of the present invention;

FIG. 21 is a schematic view of another embodiment of a detecting device according to an embodiment of the present invention;

FIG. 22 is a schematic view of another embodiment of a detecting device according to an embodiment of the present invention;

FIG. 23 is a diagram of a server according to an embodiment of the present invention.

Detailed Description

The embodiment of the invention provides a detection method and detection equipment of an unmanned aerial vehicle, a control method of a server and the server, which are used for realizing supervision of the unmanned aerial vehicle.

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be implemented in other sequences than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In the embodiment of the invention, the unmanned aerial vehicle is assumed to exist, and as shown in fig. 1, the unmanned aerial vehicle can be in communication connection with the control terminal so as to realize flight control of the unmanned aerial vehicle by the control terminal, and the unmanned aerial vehicle can transmit the acquired image data to the control terminal. The unmanned aerial vehicle can also carry out safety supervision by the detection equipment, namely the detection equipment can acquire the communication data between unmanned aerial vehicle and its control terminal, and simultaneously, the detection equipment can be connected with the server communication to can report the communication data between unmanned aerial vehicle and the control terminal who acquires to the server, make the server can assist the detection equipment to carry out safety supervision to unmanned aerial vehicle.

In the security supervision of unmanned aerial vehicles, many research institutions and companies are developing intrusion detection means for unmanned aerial vehicles. Currently, the prior art is mainly focused on the following: 1. radar, which finds targets by using advanced phased array radar; 2. the method comprises the steps that sound detection is carried out, as each model of unmanned aerial vehicle has characteristic sound fingerprints, detection equipment can finally and definitely judge the model of the unmanned aerial vehicle through characteristic audio, and then judge how large the load of the unmanned aerial vehicle is, and the damage caused is; 3. a control circuit between the radio scanning unmanned aerial vehicle and the control terminal; 4. the camera utilizes visible light camera or infrared camera discernment unmanned aerial vehicle. However, the above-described technique has the following drawbacks: 1. the radar technology has limited precision, and the accurate position of the unmanned aerial vehicle can be positioned only by combining optical detection; 2. the voice detection technology needs to record the voiceprint of each unmanned aerial vehicle in advance, so that the workload is huge; 3. the radio scanning technology needs to crack a communication protocol between the unmanned aerial vehicle and the control terminal, and the difficulty of cracking the communication protocol is greater along with importance of manufacturers on the safety of the unmanned aerial vehicle; 4. the recognition distance of the camera technology is limited, so that birds in the air are easily misjudged to be unmanned aerial vehicles. Therefore, in general, it is difficult for the detection device in the prior art to accurately locate the position of the unmanned aerial vehicle, and it is also disadvantageous to track and locate the control terminal and obtain more detailed information of the invasive unmanned aerial vehicle.

In the embodiment of the invention, the unmanned aerial vehicle detection method and the detection equipment, the unmanned aerial vehicle detection method and the server are provided, wherein the detection equipment of the unmanned aerial vehicle can scan a working channel of a communication network between the unmanned aerial vehicle and a control terminal thereof so as to intercept a data packet sent by the unmanned aerial vehicle, the detection equipment can acquire supervision information of the unmanned aerial vehicle by analyzing the data packet, realize the positioning of the unmanned aerial vehicle and the tracking of the control terminal without breaking a communication protocol between the unmanned aerial vehicle and the control terminal, access the communication system of the unmanned aerial vehicle to acquire the supervision information of the unmanned aerial vehicle, overcome the technical defects of low precision, short acting distance, limited identification and the like, and meanwhile, the server side can evaluate the current danger level of the unmanned aerial vehicle according to the supervision information reported by the detection equipment, can effectively judge whether the unmanned aerial vehicle has dangerous behaviors such as invasion and the like, and assist the detection equipment in the safety supervision of the unmanned aerial vehicle.

It may be appreciated that in the embodiment of the present invention, the unmanned aerial vehicle, that is, the unmanned aerial vehicle may be a rotorcraft, a fixed-wing aircraft, or a hybrid-fixed-wing aircraft. The rotary wing aircraft may include, but is not limited to, single rotor, dual rotor, three rotor, four rotor, six rotor, etc., and is not limited herein. In practical applications, the unmanned aerial vehicle may implement multi-dimensional movements, such as vertical movement, pitching movement, rolling movement, forward and backward movement, etc., and the body may be provided with an auxiliary device for carrying the object, so as to implement fixing of the carrying object, optionally adjust the posture of the carrying object (e.g., change the height, inclination angle and/or direction of the carrying object), stably maintain the carrying object in a determined posture, etc., where the carrying object on the auxiliary device may include a camera, a video camera or a sensor, etc., so as to implement execution of different tasks and multi-functions of the unmanned aerial vehicle, and is not limited herein.

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

For easy understanding, a specific flow in the embodiment of the present invention is described below, referring to fig. 2, and an embodiment of a method for detecting an unmanned aerial vehicle in the embodiment of the present invention includes:

201. Acquiring a data packet comprising supervision information of the unmanned aerial vehicle by using a detector;

In this embodiment, in order to obtain the supervision information of the unmanned aerial vehicle, the detection device realizes supervision on the unmanned aerial vehicle, and the detector can be used to scan the working channel of the communication network between the unmanned aerial vehicle and the control terminal, and if the data packet including the supervision information of the unmanned aerial vehicle sent by the unmanned aerial vehicle is scanned, the detector can be used to obtain the data packet. The data packets may be transmitted in a working channel of a communication network between the drone and a control terminal of the drone.

Specifically, in the flight process of the unmanned aerial vehicle, the unmanned aerial vehicle can package own supervision information into a data packet, such as an OSD data packet, and can be continuously pushed to the control terminal at a frequency of 1HZ, so that a detector can be correspondingly arranged on the detection equipment, and the detector can circularly scan on a working channel of a communication network between the unmanned aerial vehicle and the control terminal so as to detect whether the unmanned aerial vehicle transmits the data packet comprising the supervision information of the unmanned aerial vehicle in the working channel. Based on the flight control of the unmanned aerial vehicle by the control terminal and the flight characteristics of the unmanned aerial vehicle, the communication network between the unmanned aerial vehicle and the control terminal can be a wireless communication network. In practical applications, in order to facilitate supervision of the unmanned aerial vehicle by the detection device, the communication network between the unmanned aerial vehicle and the control terminal may be known to the detection device. Therefore, the detection device can scan the working channel of the known communication network by using the detector to acquire the data sent by the unmanned aerial vehicle in the working channel.

It can be appreciated that, in this embodiment, the communication connection between the unmanned aerial vehicle and the control terminal may be based on a software radio (SDR) technology, WI-FI technology, etc., and in practical application, the unmanned aerial vehicle and the control terminal may also establish a connection based on other communication technologies, such as bluetooth, a custom modulation mode, or any mode of a communication protocol, which is not limited herein.

It should be noted that, in this embodiment, when the probe device scans the working channel of the communication network between the unmanned aerial vehicle and the control terminal by using the probe, the probe device may perform scanning in real time, or may perform periodic scanning according to a specified period, which may be specifically determined according to a manner in which the unmanned aerial vehicle sends a data packet, which is not limited herein.

202. And analyzing the data packet by using a processor to acquire the supervision information of the unmanned aerial vehicle.

In this embodiment, based on a communication connection manner between the unmanned aerial vehicle and the control terminal, the detection device may know or designate a technical specification of the unmanned aerial vehicle to issue a data packet, and after the detection device acquires the data packet including the supervision information of the unmanned aerial vehicle by using the detector, the detection device may perform corresponding analysis on the data packet by using the processor according to the known or designated technical specification, and acquire the supervision information of the unmanned aerial vehicle from the data packet, so as to implement supervision on the unmanned aerial vehicle.

In this embodiment, the detection device monitors the working channel of the communication network between the unmanned aerial vehicle and the control terminal by using the detector, can intercept the data packet of the communication between the unmanned aerial vehicle and the control terminal, and can acquire the supervision information of the unmanned aerial vehicle in the data packet by using the processor, thereby realizing the supervision of the unmanned aerial vehicle, without changing the hardware structure of the unmanned aerial vehicle, having low supervision cost, high recognition rate of the unmanned aerial vehicle and long detection distance.

It can be understood that in practical application, one detector may be configured by one detector, and multiple detectors may be configured by one detector, where multiple detectors are located in different areas, and at least one detector may be located in different areas, where, for the configuration situation of the detectors, the detector may perform different operations according to the risk level of the unmanned aerial vehicle, or may perform different manners of evaluating the risk level of the unmanned aerial vehicle by using different methods, which are described below respectively:

1. The detector is one

Referring to fig. 3, another embodiment of a method for detecting a unmanned aerial vehicle according to an embodiment of the present invention includes:

301. Acquiring a data packet which is sent by each unmanned aerial vehicle and comprises supervision information of the corresponding unmanned aerial vehicle by using a detector;

In this embodiment, the detection device may implement supervision on multiple unmanned aerial vehicles, when the detection device is configured with only one detector, in a communication network between each unmanned aerial vehicle in the multiple unmanned aerial vehicles and a corresponding control terminal, because different unmanned aerial vehicles may use different working channels to send data packets or send data packets through frequency hopping, the detector may be utilized to perform alternate cyclic scanning (such as working channels in a 2.4GHZ or 5GHZ communication frequency band) in different working channels, and perform data interception on each working channel, and when it is monitored that a data packet conforming to unmanned aerial vehicle communication flows, the detector may be utilized to obtain a data packet including supervision information of a corresponding unmanned aerial vehicle sent by each unmanned aerial vehicle in the multiple unmanned aerial vehicles. Wherein the data packets of each unmanned aerial vehicle are transmitted in the working channel of the communication network between the unmanned aerial vehicle and the corresponding control terminal.

It can be appreciated that the communication connection between different unmanned aerial vehicles and corresponding control terminals can be based on different modes, so that when the detection device obtains the data packets of different unmanned aerial vehicles by using the detector, different modes can be adopted based on the corresponding communication connection, and the method is not limited herein.

In this embodiment, the communication connection between each of the plurality of unmanned aerial vehicles and the corresponding control terminal may refer to the content illustrated in step 201 in the embodiment shown in fig. 2, which is not described herein.

302. Analyzing the data packet by using a processor to obtain supervision information of each of the plurality of unmanned aerial vehicles;

In this embodiment, after the detection device obtains the data packet including the supervision information of the corresponding unmanned aerial vehicle sent by each of the plurality of unmanned aerial vehicles by using the detector, the processor may analyze the data packet to obtain the supervision information of each of the plurality of unmanned aerial vehicles.

Specifically, after the detection device acquires the data packet of each unmanned aerial vehicle in the plurality of unmanned aerial vehicles, the detection device can correspondingly analyze the data packet of the corresponding unmanned aerial vehicle according to the technical specification of the transmission of the data packet between each unmanned aerial vehicle and the control terminal, so that the supervision information of each unmanned aerial vehicle can be obtained, and the supervision of the corresponding unmanned aerial vehicle can be realized according to the supervision information.

In this embodiment, the supervision information of the unmanned aerial vehicle acquired by the detection device may include, but is not limited to, one or more of identity information, location information, flight parameter information, flight attitude information, owner information, purchase time information, purchase location information, historical flight trajectory information, hardware configuration information, check bit information, and location information of the control terminal of the unmanned aerial vehicle. Through the acquisition to supervision information, the detection equipment can know unmanned aerial vehicle's relevant parameter, realizes the supervision to unmanned aerial vehicle better, for example, through the positional information who obtains unmanned aerial vehicle in the supervision information, can realize unmanned aerial vehicle's location.

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

303. Evaluating, with a processor, a risk level of each of the plurality of drones according to the regulatory information;

In this embodiment, after the detection device analyzes the data packet by using the processor to obtain the supervision information of each of the plurality of unmanned aerial vehicles, the risk level of each of the plurality of unmanned aerial vehicles may be estimated by using the processor according to the supervision information.

Specifically, after the monitoring information is acquired by the detection equipment, the danger level of the unmanned aerial vehicle can be further determined by the processor according to the monitoring information, so that different emergency measures can be formulated or started according to the danger level of the unmanned aerial vehicle, and the unmanned aerial vehicle with different danger levels can be distinguished and safely monitored. The risk level can be used for describing the current safety degree of the unmanned aerial vehicle, and the higher the risk level is, the greater the safety threat possibly caused by the unmanned aerial vehicle is. The level setting of the level of the unmanned aerial vehicle can be set to different degrees, such as level I (low security threat), level II (medium security threat) and level III (high security threat), and the level setting is only schematically illustrated, and other different level settings can be used by those skilled in the art.

In this embodiment, after the detection device obtains the supervision information of each unmanned aerial vehicle in the plurality of unmanned aerial vehicles by using the processor, the supervision information of each unmanned aerial vehicle may be used to evaluate the risk level of the corresponding unmanned aerial vehicle, so as to perform corresponding supervision on each unmanned aerial vehicle according to the risk level.

304. Determining a first unmanned aerial vehicle with the highest risk level in the plurality of unmanned aerial vehicles by using a processor;

In this embodiment, after the detection device evaluates the risk level of each of the plurality of unmanned aerial vehicles according to the supervision information by using the processor, the processor may determine the first unmanned aerial vehicle with the highest risk level among the plurality of unmanned aerial vehicles.

For example, assuming that the detection device acquires the data packets of the 3 unmanned aerial vehicles of the unmanned aerial vehicle 1, the unmanned aerial vehicle 2 and the unmanned aerial vehicle 3, and determines that the corresponding risk levels are I level, II level and I level according to the supervision information of the unmanned aerial vehicle 1, the unmanned aerial vehicle 2 and the unmanned aerial vehicle 3 respectively, then the risk level of the unmanned aerial vehicle 2 can be determined to be the highest, that is, the unmanned aerial vehicle 2 can be the first unmanned aerial vehicle.

It will be appreciated that in practical applications, the first drone is not limited to the one described above, and if the risk level of the drone 3 is also level II, then the drone 2 and the drone 3 may be determined to be the first drone, which is not limited herein.

305. And after the first unmanned aerial vehicle is determined, continuously scanning a working channel of a communication network between the first unmanned aerial vehicle and a control terminal of the first unmanned aerial vehicle by using the detector.

In this embodiment, after the detection device determines the first unmanned aerial vehicle with the highest risk level, it may be considered that, compared with other unmanned aerial vehicles, the first unmanned aerial vehicle may have the greatest security threat level, and there is a high possibility that an event such as intrusion into the limited flight area is unfavorable for public security occurs, so the detection device may continuously scan the working channel of the communication network between the first unmanned aerial vehicle and the control terminal of the first unmanned aerial vehicle by using the detector, and temporarily does not detect other unmanned aerial vehicles.

Specifically, the detection device may make or start a corresponding emergency measure according to the risk level of the first unmanned aerial vehicle while continuously scanning the working channel of the communication network between the first unmanned aerial vehicle and the control terminal of the first unmanned aerial vehicle, for example, limiting the flight distance, the flight height, the flight time, the flight speed, the flight direction, etc. of the unmanned aerial vehicle, and for example, may execute a corresponding limiting policy: the unmanned aerial vehicle is controlled to fly to a preset position or a preset area or a warning signal is sent to the unmanned aerial vehicle, so that the danger level of the first unmanned aerial vehicle is reduced, and whether the danger level of the unmanned aerial vehicle is reduced can be judged through further acquired supervision information of the first unmanned aerial vehicle.

It may be appreciated that in this embodiment, since the risk level of the unmanned aerial vehicle other than the first unmanned aerial vehicle is relatively low, the unmanned aerial vehicle other than the first unmanned aerial vehicle may be relatively safe by default, and then the detection device may not continuously scan the working channel of the communication network between the unmanned aerial vehicle other than the first unmanned aerial vehicle and the corresponding control terminal. In practical application, after the channel of the unmanned aerial vehicle with the highest danger level is continuously scanned for a preset time, the working channels of other unmanned aerial vehicles can be intermittently scanned, so that unmanned aerial vehicles with other dangerous levels being raised can be prevented from being detected by detection equipment.

Referring to fig. 4, another embodiment of a method for detecting a unmanned aerial vehicle according to an embodiment of the present invention includes:

In this embodiment, steps 401 to 402 are the same as steps 301 to 302 in the embodiment shown in fig. 3, and are not repeated here.

403. Determining a second unmanned aerial vehicle closest to the detector in the plurality of unmanned aerial vehicles according to the supervision information by using the processor;

In this embodiment, after the detection device analyzes the data packet by using the processor to obtain the supervision information of each of the plurality of unmanned aerial vehicles, the processor may determine, according to the supervision information, a second unmanned aerial vehicle closest to the detector among the plurality of unmanned aerial vehicles.

In particular, the detectors of the detection device configuration may be located in different areas. In order to ensure the flight safety of the unmanned aerial vehicle, the air traffic control of each country has different regulations on airspace close to an airport or other areas, namely, a limited flight zone can be arranged. For example, all unmanned aerial vehicles are prohibited from flying, regardless of their altitude or range, within a certain distance of an airport. Therefore, when the detector is arranged at the edge of the limited flight zone or in the limited flight zone, the distance between the unmanned aerial vehicle and the limited flight zone can be judged by determining the distance between the detector and the unmanned aerial vehicle, and the closer the distance between the unmanned aerial vehicle and the limited flight zone is, the larger the probability that the unmanned aerial vehicle invades the limited flight zone is, and the higher the danger level of the unmanned aerial vehicle can be defaulted.

Further, in this embodiment, the concept of a supervision area may also be provided, where the supervision area is the concept of supervising the unmanned aerial vehicle, and in the supervision area, the unmanned aerial vehicle may be allowed to fly but is to be supervised to a certain extent, for example, when the unmanned aerial vehicle cannot send a data packet containing supervision information, the unmanned aerial vehicle may be restricted from flying, and the unmanned aerial vehicle is controlled to return to a take-off area or position, an emergency landing of the unmanned aerial vehicle, and so on, so as to reduce the security threat of the unmanned aerial vehicle. Outside the surveillance area, the unmanned aerial vehicle may not be supervised as there is no security threat. In some areas, there are both regulatory regions and limited regions, where the limited region may be located within the regulatory region, or may partially overlap the regulatory region, or where the limited region does not overlap the regulatory region. The detector may be located in a surveillance zone or in a limited flight zone, where the distance of the drone from the detector is strongly related to the likelihood that the drone will cause a public safety event. When the detector receives a data packet which is sent by the unmanned aerial vehicle and contains supervision information, the processor of the detection equipment can determine the distance from the unmanned aerial vehicle to the detector according to the position of the unmanned aerial vehicle in the supervision information and the position of the detector, and the relationship between the current position of the unmanned aerial vehicle and a supervision area or a limited flight area can be judged through the distance, so that the smaller the distance is, the deeper the unmanned aerial vehicle is or the closer the unmanned aerial vehicle is to the supervision area or the limited flight area is, and the greater the possibility that the unmanned aerial vehicle causes public safety events is.

The other descriptions of the flight-limiting area and the monitoring area can be specifically referred to the existing specification, and will not be repeated here.

404. And after the second unmanned aerial vehicle is determined, continuously scanning a working channel of a communication network between the second unmanned aerial vehicle and a control terminal of the second unmanned aerial vehicle by using the detector.

In this embodiment, after determining the second unmanned aerial vehicle, since the second unmanned aerial vehicle is deepest or is close to the surveillance zone or the limited flight zone, a public safety event is most likely to be caused, and the detection device can continuously scan the working channel of the communication network between the second unmanned aerial vehicle and the control terminal of the second unmanned aerial vehicle by using the detector, that is, the detector only detects the unmanned aerial vehicle closest to the second unmanned aerial vehicle, and can temporarily not detect other unmanned aerial vehicles. In practical application, after the channel of the unmanned aerial vehicle with the highest danger level is continuously scanned for a preset time, the working channels of other unmanned aerial vehicles can be intermittently scanned, so that the situation that other unmanned aerial vehicles which are approaching to the detector rapidly cannot be detected by the detection equipment is prevented.

Except that the determination of the second unmanned aerial vehicle is different from that of the first unmanned aerial vehicle, the content in this embodiment may refer to the content described in step 305 in the embodiment shown in fig. 3, which is not described here again.

Referring to fig. 5, another embodiment of a method for detecting a unmanned aerial vehicle according to an embodiment of the present invention includes:

In this embodiment, steps 501 to 502 are the same as steps 301 to 302 in the embodiment shown in fig. 3, and are not repeated here.

503. Determining, by the processor, a distance from each of the plurality of unmanned aerial vehicles to the detector according to the supervisory information, and determining a third unmanned aerial vehicle having a distance less than or equal to a preset distance threshold;

In this embodiment, after the detection device analyzes the data packet by using the processor to obtain the supervision information of each of the plurality of unmanned aerial vehicles, the processor may determine, according to the supervision information, a distance between each of the plurality of unmanned aerial vehicles and the detector, and determine a third unmanned aerial vehicle with a distance less than or equal to a preset distance threshold.

Specifically, based on the part of the content illustrated in step 303 in the embodiment shown in fig. 3 and the part of the content illustrated in step 403 in the embodiment shown in fig. 4, in this embodiment, as described above, since the detectors may be disposed in different areas (the flight limit area and/or the supervision area), the distance between the unmanned aerial vehicle and the detector is related to the possibility that the unmanned aerial vehicle causes a public safety event, the detection device may preset a distance threshold as the safety distance between the unmanned aerial vehicle and the detector, and the detector only detects the unmanned aerial vehicle having a distance from the detector less than or equal to the safety distance, and temporarily does not detect other unmanned aerial vehicles other than the distance threshold. For example, assuming that the preset distance threshold is 100 meters, the detection device determines that distances from the unmanned aerial vehicle 1, the unmanned aerial vehicle 2 and the unmanned aerial vehicle 3 to the detector are 300 meters, 500 meters and 80 meters respectively according to the supervision information by using the processor, and then it can be determined that the risk level of the unmanned aerial vehicle 3 is higher relative to the unmanned aerial vehicle 1 and the unmanned aerial vehicle 2, that is, the unmanned aerial vehicle 3 can be a third unmanned aerial vehicle.

It will be appreciated that in practical applications, the third unmanned aerial vehicle is not limited to the one unmanned aerial vehicle described above, and if the distance from the unmanned aerial vehicle 1 to the detector is 50 meters, then the unmanned aerial vehicle 1 and the unmanned aerial vehicle 3 may be determined to be the third unmanned aerial vehicle, which is not limited herein.

504. And after the third unmanned aerial vehicle is determined, continuously scanning a working channel of a communication network between the third unmanned aerial vehicle and a control terminal of the third unmanned aerial vehicle by using the detector.

In this embodiment, after determining the third unmanned aerial vehicle, the detection device may continuously scan the working channel of the communication network between the third unmanned aerial vehicle and the control terminal of the third unmanned aerial vehicle by using the detector. At this time, the detection device detects only the unmanned aerial vehicle whose distance from the detector is smaller than or equal to the preset distance threshold, and does not detect other unmanned aerial vehicles temporarily. In practical application, after the channel of the unmanned aerial vehicle with the highest danger level is continuously scanned for a preset time, the working channels of other unmanned aerial vehicles can be intermittently scanned, so that the situation that other unmanned aerial vehicles which are approaching to the detector rapidly cannot be detected by the detection equipment is prevented.

Except that the determination of the third unmanned aerial vehicle is different from the first unmanned aerial vehicle, the content in this embodiment may refer to the content described in step 305 in the embodiment shown in fig. 3, which is not described here again.

2. The number of the detectors is multiple

Referring to fig. 6, another embodiment of a method for detecting a unmanned aerial vehicle according to an embodiment of the present invention includes:

601. acquiring, with a plurality of probes, individually or cooperatively, a data packet including supervisory information of the drone;

In this embodiment, the detection device may be configured with a plurality of detectors, and after the detection device is turned on, the detection device may acquire, individually or cooperatively, a data packet including supervision information of the unmanned aerial vehicle using the plurality of detectors.

Specifically, after the unmanned aerial vehicle and the control terminal establish communication connection, a plurality of working channels can exist in the corresponding communication network for the unmanned aerial vehicle to transmit data with the control terminal, because the unmanned aerial vehicle adopts point-to-point communication mostly, the working channels used by the unmanned aerial vehicle are different, and the unmanned aerial vehicle is not clear to use a certain working channel specifically, under the condition that the number of the working channels is more, the detection equipment can scan the plurality of working channels by utilizing the detector, so that the plurality of working channels are distributed to the plurality of detectors by adopting a mode of covering the frequency division bands of the plurality of receiving channels, namely, the processor of the detection equipment scans the working channels with the preset number, thereby ensuring that the capturing time meets the supervision requirement and realizing the supervision of one or more unmanned aerial vehicles.

In practical application, when the detection device is provided with a plurality of detectors, the detection device may allocate a plurality of working channels to the plurality of detectors, and each of the plurality of detectors may scan a preset number of working channels to realize scanning of the plurality of working channels, so that when the detectors monitor data packets conforming to the unmanned aerial vehicle, the plurality of detectors may be utilized to acquire the data packets including the supervision information of the unmanned aerial vehicle individually or cooperatively. For example, assuming that, based on a communication network between the unmanned aerial vehicle and the control terminal, a plurality of working channels that the unmanned aerial vehicle can use are 10 working channels, and 5 detectors are located on the detecting device, each detector can scan 2 working channels in turn respectively. It should be noted that, in this embodiment, when there are multiple detectors, the preset number of working channels scanned by each detector may be inconsistent, for example, one detector may scan 2 working channels in turn, another detector may scan 3 working channels in turn, and further, for example, the working channels scanned between different detectors may overlap, which is only illustrative and not limiting here.

Further, in this embodiment, the plurality of detectors may be configured in different areas, and the plurality of detectors may be connected with the processor of the detecting device by a wired or wireless connection, so that the detecting device may acquire data packets of the unmanned aerial vehicle passing through different geographic positions, so that supervision of the unmanned aerial vehicle may be implemented in a single area, and continuous supervision of the unmanned aerial vehicle may be implemented, for example, the detectors may be located in a limited flight area or a non-limited flight area, and in particular, the method is not limited herein.

In addition, through the coverage of a plurality of detector frequency division, not only can the capture time of the receiving detection equipment to the unmanned aerial vehicle data package be reduced, but also the redundant backup function can be realized, and under the condition that the receiving channel of one detector is damaged, the full-frequency coverage can be realized by the receiving channels of the rest detectors, so that the reliability of the detection equipment is improved.

It will be appreciated that in practical applications, a plurality of detectors may be used to acquire data packets of more than one unmanned aerial vehicle, and for convenience of explanation, in this embodiment, a single unmanned aerial vehicle is taken as an example, and after this explanation, the explanation will not be repeated.

602. Analyzing the data packet by using a processor to acquire supervision information of the unmanned aerial vehicle;

In this embodiment, after the detection device obtains the data packet including the supervision information of the unmanned aerial vehicle by using the plurality of detectors individually or cooperatively, the processor may analyze the data packet to obtain the supervision information of the unmanned aerial vehicle.

Except that the data packet is a data packet of a certain unmanned aerial vehicle, the content in this embodiment may refer to the content described in step 302 in the embodiment shown in fig. 3, which is not described herein again.

603. And when the number of the acquired detectors of the data packet is greater than or equal to a preset first number threshold, evaluating the risk level of the unmanned aerial vehicle according to the supervision information by using the processor.

In this embodiment, after the detection device analyzes the data packet by using the processor and obtains the supervision information of the unmanned aerial vehicle, when the number of the detectors that obtain the data packet is greater than or equal to a preset first number threshold, the detection device may evaluate the risk level of the unmanned aerial vehicle according to the supervision information by using the processor.

Specifically, the detection device may preset a first number threshold, and may use the preset first number threshold as a criterion for judging whether the unmanned aerial vehicle may cause a public safety event, so as to estimate that the unmanned aerial vehicle may cause the public safety event when the number of the detectors for acquiring the data packet is greater than or equal to the preset first number threshold, and may estimate the risk level of the unmanned aerial vehicle according to the supervision information of the unmanned aerial vehicle obtained by analyzing the data packet. If the number of the acquired detectors of the data packet is smaller than the preset first number threshold, the unmanned aerial vehicle can be considered to not cause public safety events, and at this time, the safety level of the unmanned aerial vehicle can not be evaluated. Based on the part of the description of step 403 in the embodiment shown in fig. 4, since the plurality of detectors may be configured in different areas, for example, the plurality of detectors are respectively configured at different positions on the edge of the limited flight zone, for example, the plurality of detectors are arranged at intervals in the edge of the monitored zone, if the plurality of detectors have the number of detectors greater than or equal to the preset first number threshold value to acquire the data packet of the unmanned aerial vehicle, the unmanned aerial vehicle may be considered to fly around the limited flight zone, and may attempt to enter the limited flight zone, or may already enter the limited flight zone, and at this time, the risk level of the unmanned aerial vehicle may be estimated according to the supervision information of the unmanned aerial vehicle acquired by the plurality of detectors.

In addition, when the number of the detectors acquiring the data packet is smaller than a preset first number threshold, the detection device may be a false detection of the detectors, the unmanned aerial vehicle is not detected by the detection device, and only when the number of the detectors acquiring the data packet is larger than or equal to the preset first number threshold, the unmanned aerial vehicle is considered to be detected by the detection device, and the risk level of the unmanned aerial vehicle needs to be evaluated at the moment.

It should be understood that, in the present embodiment, the configuration positions of the plurality of detectors are not limited to the above description, and in practical applications, other configuration positions may be also used, for example, when the concept of the surveillance zone is provided, the plurality of detectors may be partially configured at the edge of the surveillance zone and partially configured at the edge of the limited flight zone, which is not limited herein.

Further, in this embodiment, in order to realize continuous detection of the unmanned aerial vehicle, among the multiple detectors, the detector that acquires the data packet in the detection device may broadcast its own position information and/or the data packet to other detectors, so as to instruct the other detectors to detect the unmanned aerial vehicle corresponding to the data packet. For example, if the probe device is configured with the probe 1, the probe 2, and the probe 3, and if the probe 1 acquires the data packet of the unmanned aerial vehicle, the probe 1 may broadcast its own position information and/or the data packet of the unmanned aerial vehicle to the probe 2 and the probe 3, and when the probe 2 and the probe 3 receive the position information of the probe 1 and/or the data packet of the unmanned aerial vehicle, the probe 2 and the probe 3 may be activated, and the data packet of the unmanned aerial vehicle may be analyzed to obtain the supervision information of the unmanned aerial vehicle, and the unmanned aerial vehicle may be directionally detected by using the supervision information of the unmanned aerial vehicle.

It can be appreciated that the method for detecting the unmanned aerial vehicle corresponding to the data packet by using the other detectors in the embodiment is merely illustrative, and in practical application, other methods may be adopted alone or in combination, so long as the other detectors can perform directional detection on the unmanned aerial vehicle corresponding to the data packet, which is not limited herein.

Further, in this embodiment, the detection device may instruct the specific detector to detect the unmanned aerial vehicle by using one or more of the flight direction, the position information, and the flight speed of the unmanned aerial vehicle determined by the processor according to the supervision information. In practical application, the processor of the detection device can acquire one or more of the flight direction, the position information and the flight speed of the unmanned aerial vehicle according to the supervision information of the unmanned aerial vehicle, the processor of the detection device can activate the detector arranged in the direction according to the flight direction of the unmanned aerial vehicle, so that the detector in the direction can detect the unmanned aerial vehicle, and in addition, the time when the unmanned aerial vehicle enters the detection range of the detector arranged in the flight direction can be further estimated according to the current position of the unmanned aerial vehicle, the position of the detector and the flight speed of the unmanned aerial vehicle, so that the processor of the detection device can determine when to instruct or activate the detector to detect the unmanned aerial vehicle according to the time. The time that the unmanned aerial vehicle reaches a certain position can be accurately achieved through combining the flight speed of the unmanned aerial vehicle, so that the unmanned aerial vehicle can be detected by the specific detector which is more suitable for the detection equipment to indicate, and the unmanned aerial vehicle is not limited in the specific position.

Referring to fig. 7, another embodiment of a method for detecting a unmanned aerial vehicle according to an embodiment of the present invention includes:

Steps 701 to 702 in this embodiment are the same as steps 601 to 602 in the embodiment shown in fig. 6, and will not be repeated here.

703. And evaluating the risk level of the unmanned aerial vehicle according to the number of the detectors acquiring the data packet by using the processor.

In this embodiment, the detecting device may further utilize the processor to evaluate the risk level of the unmanned aerial vehicle according to the number of the detectors that acquire the data packet.

Specifically, based on the part of the description of step 403 in the embodiment shown in fig. 4, since a plurality of detectors may be configured in different areas, such as the edge of the limited area or the interior of the limited area or the edge of the supervision area, the following example may be performed for the evaluation of the risk level of the unmanned aerial vehicle according to the location of the unmanned aerial vehicle (the unmanned aerial vehicle is located outside the supervision area or the supervision area):

For example, the plurality of detectors are respectively configured at different positions at the edge of the limited flight zone, wherein if the number of detectors for acquiring the data packet of the unmanned aerial vehicle is larger, the unmanned aerial vehicle may fly around the limited flight zone or the unmanned aerial vehicle may fly closer to the limited flight zone or enter the limited flight zone for a distance, and the risk level of the unmanned aerial vehicle is higher, otherwise, if the number of detectors for acquiring the data packet of the unmanned aerial vehicle is smaller, the unmanned aerial vehicle may fly only at a safe distance outside the limited flight zone or only pass through the limited flight zone and not stay in the limited flight zone, and the risk level of the unmanned aerial vehicle is lower. Thus, the detection device can evaluate the risk level of the drone with the processor based on the number of detectors that acquired the data packet.

It should be understood that, in the present embodiment, the configuration positions of the plurality of detectors are not limited to the above description, and in practical applications, other configuration positions may be used, for example, when there is a concept of a surveillance area, the plurality of detectors may be partially configured at the edge of the surveillance area and partially configured at the edge of the limited flight area, and the number of detectors that acquire the data packet of the unmanned aerial vehicle is also used to evaluate the risk level of the unmanned aerial vehicle, which is not limited herein.

It should be noted that, in practical application, other situations may also exist, and the specific situation may be determined according to the configuration situation of the detector and the actual setting of the flight limiting area and the supervision area, which is not limited herein.

Further, in this embodiment, the detection device may preset a second number threshold, and may use the preset second number threshold as a criterion for determining whether the unmanned aerial vehicle is likely to generate a security event, so that when the number of the acquired detectors of the data packet is greater than or equal to the preset second number threshold, it may be estimated that the unmanned aerial vehicle is likely to generate the security event, and then the processor may be used to evaluate the risk level of the unmanned aerial vehicle according to the number of the acquired detectors of the data packet, and the specific method may refer to the above description and will not be repeated herein.

It should be understood that, step 703 in this embodiment may be performed before step 702 or may be performed simultaneously with step 702, which is not limited herein.

Referring to fig. 8, another embodiment of a method for detecting a unmanned aerial vehicle according to an embodiment of the present invention includes:

steps 801 to 802 in this embodiment are the same as steps 601 to 602 in the embodiment shown in fig. 6, and will not be repeated here.

803. Determining a second flight path of the unmanned aerial vehicle by using the processor according to the acquisition sequence of the detectors for acquiring the data packets;

In this embodiment, the detecting device may further determine, by using the processor, a second flight path of the unmanned aerial vehicle according to an acquisition order of the detectors that acquire the data packet.

Specifically, after the detection device acquires the data packet of the unmanned aerial vehicle by using the detector, the data packet of the unmanned aerial vehicle can be recorded, and meanwhile, the detector acquiring the data packet can be recorded. Generally, the scanning range of the detector is limited, and when the unmanned aerial vehicle is not in the scanning range of the detector, the detection device cannot acquire the data packet of the unmanned aerial vehicle by using the detector. Therefore, in this embodiment, since the plurality of detectors of the detecting device may be configured in different areas, after the detectors that acquire the data packet from the plurality of detectors are recorded, the second flight path of the unmanned aerial vehicle may be determined according to the acquisition order of the detectors that acquire the data packet.

For example, if the probe device is configured with the probe 1, the probe 2, the probe 3, the probe 4, and the probe 5, and the probe device is configured with the a coordinate point, the B coordinate point, the C coordinate point, the D coordinate point, and the E coordinate point, respectively, then if all of the 5 probes acquire the data packet of the unmanned aerial vehicle, and the acquisition order is the probe 3, the probe 2, the probe 5, the probe 1, and the probe 4, then the second flight path of the unmanned aerial vehicle can be roughly determined to be the path obtained by sequentially connecting the C coordinate point, the B coordinate point, the E coordinate point, the a coordinate point, and the D coordinate point.

It can be understood that, in practical application, if one detector can acquire the data packets of a plurality of unmanned aerial vehicles, then the identity information of the unmanned aerial vehicle can be determined from the supervision information of the unmanned aerial vehicle obtained by analyzing the data packets, the detector acquiring the data packet of the same unmanned aerial vehicle is determined from the plurality of detectors according to the identity information of the unmanned aerial vehicle, and then the corresponding second flight path of the unmanned aerial vehicle is determined according to the acquisition sequence of the detectors acquiring the data packet of the same unmanned aerial vehicle.

804. And evaluating the risk level of the unmanned aerial vehicle according to the second flight path of the unmanned aerial vehicle by using the processor.

In this embodiment, after the detection device determines the second flight path of the unmanned aerial vehicle according to the acquisition sequence of the detector that acquires the data packet by using the processor, the risk level of the unmanned aerial vehicle may be estimated by using the processor according to the second flight path of the unmanned aerial vehicle.

Specifically, based on the part of the description of step 403 in the embodiment shown in fig. 4, since the plurality of detectors may be configured in different areas, such as the edge of the limited area or the interior of the limited area or the edge of the supervision area, the following exemplary evaluation of the risk level of the unmanned aerial vehicle may be performed according to the position of the unmanned aerial vehicle (the unmanned aerial vehicle is located outside the supervision area or the supervision area), and the second flight path of the unmanned aerial vehicle:

1. the plurality of detectors are respectively configured at different positions at the edge of the limited flight zone and/or inside the limited flight zone, wherein if the second flight path of the unmanned aerial vehicle determined by the detection device through the processor is a plurality of circles of flight around the outer periphery of the limited flight zone, the unmanned aerial vehicle can be estimated to possibly try to invade the limited flight zone, the danger level of the unmanned aerial vehicle will be higher, if the second flight path of the unmanned aerial vehicle determined by the detection device is the flight inside the limited flight zone, the unmanned aerial vehicle can be confirmed to invade the limited flight zone, the danger level of the unmanned aerial vehicle will be higher relatively, and if the second flight path of the unmanned aerial vehicle determined by the detection device is the periphery of the limited flight zone, the unmanned aerial vehicle can be considered to pass through the periphery of the limited flight zone only, and the danger level of the unmanned aerial vehicle will be lower relatively.

2. The plurality of detectors are respectively arranged at the edge of the monitoring area or at different positions in the monitoring area (the limited flight area is positioned in the monitoring area), and when the second flight path of the unmanned aerial vehicle is positioned in the monitoring area and the distance between the unmanned aerial vehicle and the limited flight area in the monitoring area is relatively short, the probability that the unmanned aerial vehicle possibly enters the limited flight area is relatively high, and the danger level of the unmanned aerial vehicle is relatively high; the second flight path of unmanned aerial vehicle is located in the supervision district and unmanned aerial vehicle is far away from the limit area of flying, then unmanned aerial vehicle only is the district activity in the supervision to have the possibility of getting into the limit area of flying, unmanned aerial vehicle's danger level is then lower. If the second flight path of the unmanned aerial vehicle is the outer edge of the surveillance zone, the risk level of the unmanned aerial vehicle is lower than in the first two cases.

It should be understood that, in the present embodiment, the configuration positions of the plurality of detectors are not limited to the above description, and in practical applications, other configuration positions may be also used, for example, when only the concept of the monitoring area is adopted, the plurality of detectors may be partially configured at the edge of the monitoring area or inside the monitoring area, which is not limited herein.

It should be noted that, in this embodiment, only the case where the processor is used to evaluate the risk level of the unmanned aerial vehicle according to the second flight path of the unmanned aerial vehicle is described in the above two examples, and in practical application, other cases may also exist, and the situation may be specifically determined according to the configuration situation of the detector and the actual setting of the limited flight zone and the supervision zone, which is not limited herein.

It should be understood that steps 803 to 804 in this embodiment may be performed before step 802, or may be performed simultaneously with step 802, which is not limited herein.

Referring to fig. 9, another embodiment of a method for detecting a unmanned aerial vehicle according to an embodiment of the present invention includes:

Steps 901 to 902 in this embodiment are the same as steps 601 to 602 in the embodiment shown in fig. 6, and will not be repeated here.

903. And evaluating the risk level of the unmanned aerial vehicle according to the position of the detector for acquiring the data packet by using the processor.

In this embodiment, after the detection device analyzes the data packet by using the processor and obtains the supervision information of the unmanned aerial vehicle, the processor may be used to evaluate the risk level of the unmanned aerial vehicle according to the position of the detector that obtains the data packet.

In the embodiment, when the probe acquires the data packet of the unmanned aerial vehicle, the probe device can record the probe, and the processor can be used for evaluating the risk level of the unmanned aerial vehicle simply and efficiently according to the position of the acquired probe.

For example, based on the part of the content illustrated in step 803 in the embodiment shown in fig. 8 and the part of the content illustrated in step 403 in the embodiment shown in fig. 4, since the scanning range of the probe is limited and the plurality of probes of the detecting device can be configured in different areas, if the probe located at the edge of the limited area acquires the data packet of the drone, the position of the probe located at the edge of the limited area can be used to predict that the drone is present around the edge of the limited area, the drone is likely to invade the limited area, the risk level of the drone is higher, and if the probe located at the interior of the limited area acquires the data packet of the drone, the position of the probe located at the interior of the limited area can be used to predict that the drone is present at the interior of the limited area, and the risk level of the drone is higher than the drone, but if the probe located outside the limited area acquires the data packet of the drone, the risk level of the drone is lower than the drone is not yet estimated according to the position of the probe.

It should be noted that, in this embodiment, only the two cases described above are used to evaluate the risk level of the unmanned aerial vehicle by using the processor according to the position of the probe that acquires the data packet, and in practical application, other cases may exist, and the situation may be specifically determined according to the configuration of the probe and the actual setting of the flight-limiting area and the supervision area, which is not limited herein.

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

Further, in this embodiment, no matter the number of the plurality of or one of the detectors, after the detection device acquires the supervision information of the unmanned aerial vehicle, the detection device may evaluate the risk level of the unmanned aerial vehicle according to the supervision information, and may further send the supervision information to the server, so that the server evaluates the risk level of the unmanned aerial vehicle, and meanwhile, the detection device may also evaluate the risk level of the unmanned aerial vehicle according to the supervision information and the additional information of the unmanned aerial vehicle issued by the server, which is described below respectively:

referring to fig. 10, another embodiment of a method for detecting a unmanned aerial vehicle according to an embodiment of the present invention includes:

Step 1001 in this embodiment is the same as step 201 in the embodiment shown in fig. 2, and will not be described here again.

1002. Analyzing the data packet by using a processor to acquire supervision information of the unmanned aerial vehicle;

in this embodiment, after the detection device obtains the data packet including the supervision information of the unmanned aerial vehicle by using the detector, the processor may analyze the data packet to obtain the supervision information of the unmanned aerial vehicle.

1003. And evaluating the risk level of the unmanned aerial vehicle according to the supervision information by using the processor.

In this embodiment, after the detection device analyzes the data packet by using the processor to obtain the supervision information of the unmanned aerial vehicle, the risk level of the unmanned aerial vehicle may be estimated by using the processor according to the supervision information.

Based on the description of step 303 in the embodiment shown in fig. 3, since different relevant parameters of the unmanned aerial vehicle are related to the supervision information of the unmanned aerial vehicle obtained by the detection device, the detection device may use the processor to evaluate the risk level of the unmanned aerial vehicle according to the supervision information, which is specifically as follows:

1. And evaluating the risk level of the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle in the supervision information by using the processor: the supervision information of the unmanned aerial vehicle may include position information of the unmanned aerial vehicle, where the position information may include latitude, longitude and altitude, and the position of the unmanned aerial vehicle may be determined more accurately according to the position information of the unmanned aerial vehicle, so that the risk level of the unmanned aerial vehicle may be estimated by comparing the position of the unmanned aerial vehicle with the position of the limited flight zone, or by comparing the position of the unmanned aerial vehicle with the position of the supervision zone when the supervision zone is provided.

For example, the closer the position of the unmanned aerial vehicle is to the flight-limiting area, the greater the probability of the unmanned aerial vehicle invading the flight-limiting area by default, and the higher the risk level of the unmanned aerial vehicle.

2. Further, the evaluating, by the processor, the risk level of the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle in the supervision information may further include determining, by the processor, a first flight path of the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle in the supervision information, and evaluating the risk level of the unmanned aerial vehicle according to the first flight path: unlike the embodiment shown in fig. 8, the risk level of the unmanned aerial vehicle needs to be estimated by using the processor according to the second flight path of the unmanned aerial vehicle determined by the acquisition sequence of the probe acquiring the data packet, in this embodiment, the first flight path of the unmanned aerial vehicle can be determined more accurately according to the position information of the unmanned aerial vehicle in the supervision information. In practical application, each time the detection device obtains the supervision information of the unmanned aerial vehicle, the supervision information of the unmanned aerial vehicle obtained at present can be recorded to be used as historical supervision information, and then the detection device can combine the current position information of the unmanned aerial vehicle obtained from the current supervision information and the historical position information of the unmanned aerial vehicle obtained from the historical supervision information to determine the first flight path of the unmanned aerial vehicle after obtaining the current supervision information of the unmanned aerial vehicle.

For example, in the current flight process of the unmanned aerial vehicle, the detecting device records the historical supervision information of the unmanned aerial vehicle for three times, according to the recorded time sequence, the unmanned aerial vehicle can be determined to pass through the A1 coordinate point, the B1 coordinate point and the C1 coordinate point in sequence according to the historical supervision information of the unmanned aerial vehicle, and then the current position D1 coordinate point of the unmanned aerial vehicle determined by combining the current supervision information of the unmanned aerial vehicle can be determined to be the path obtained by sequentially connecting the A1 coordinate point, the B1 coordinate point, the C1 coordinate point and the D1 coordinate point.

In this embodiment, except that the determination manner of the first flight path is different from that of the second flight path, the manner of evaluating the risk level of the unmanned aerial vehicle according to the first flight path is the same as that of evaluating the risk level of the unmanned aerial vehicle according to the second flight path described in step 804 in the embodiment shown in fig. 8, and will not be repeated here.

It can be appreciated that, in practical application, in addition to the above description, the method for evaluating the risk level of the unmanned aerial vehicle according to the first flight path or the second flight path may also be used to compare the first flight path or the second flight path with the preset flight path, so as to determine the risk level of the unmanned aerial vehicle according to the deviation degree when the first flight path or the second flight path deviates from the preset flight path, so that when the unmanned aerial vehicle deviates from the preset flight path, it may be estimated that the unmanned aerial vehicle may have a hardware fault or other problem, and a dangerous accident may occur, so that the detection device may formulate or initiate corresponding emergency measures according to the corresponding risk level, so as to prevent the dangerous accident.

Note that, in the above embodiment, specific content of evaluating the risk level of the unmanned aerial vehicle according to the supervision information may refer to the content described in step 1003 in the present embodiment.

Referring to fig. 11, another embodiment of a method for detecting a unmanned aerial vehicle according to an embodiment of the present invention includes:

steps 1101 to 1102 in the embodiment of the present invention are the same as steps 1001 to 1002 in the embodiment shown in fig. 10, and are not repeated here.

1103. Periodically or aperiodically transmitting supervision information to the server;

In this embodiment, after the detection device analyzes the data packet by using the processor to obtain the supervision information of the unmanned aerial vehicle, the supervision information may be periodically or aperiodically sent to the server, so that the server may further evaluate the risk level of the unmanned aerial vehicle according to the received supervision information, to implement intrusion detection on one or more areas, and so on.

1104. Receiving additional information of the unmanned aerial vehicle corresponding to the supervision information, which is sent from the server;

in this embodiment, after the probe device periodically or aperiodically transmits the supervision information to the server, the additional information of the unmanned aerial vehicle corresponding to the supervision information, which is transmitted from the server, may be received.

Specifically, after receiving the supervision information sent by the detection device, the server may obtain, from the local memory, additional information of the unmanned aerial vehicle corresponding to the supervision information according to the identity information of the unmanned aerial vehicle in the supervision information, where the additional information may include at least one of, but not limited to, an activation account number, a purchase time, a purchase location, owner information, and a flight number of the unmanned aerial vehicle.

After the unmanned aerial vehicle is purchased, the unmanned aerial vehicle seller or purchaser can report the additional information of the unmanned aerial vehicle to a server and store the additional information so as to be reserved for standby.

1105. And evaluating the risk level of the unmanned aerial vehicle according to the supervision information and the additional information by using the processor.

In this embodiment, after the detection device receives the additional information of the unmanned aerial vehicle corresponding to the supervision information sent from the server, the processor may be used to evaluate the risk level of the unmanned aerial vehicle according to the supervision information and the additional information.

Specifically, after the detection device obtains the supervision information and the additional information of the unmanned aerial vehicle, the supervision information and the additional information can be compared to evaluate the risk level of the unmanned aerial vehicle. For example, the location information in the supervisory information of the unmanned aerial vehicle indicates that the current location of the unmanned aerial vehicle is china, but the additional information indicates that the purchase location of the unmanned aerial vehicle is us, then, because the purchase location and the use location of the unmanned aerial vehicle are inconsistent, it can be considered that the unmanned aerial vehicle may have a danger such as being unfamiliar with the flying environment, being prone to flying accidents, stealing national military secrets or other scout classes, the danger level may be determined according to the sensitivity of the current location of the unmanned aerial vehicle in a certain area of china, the higher the sensitivity, the higher the danger level of the unmanned aerial vehicle.

It will be appreciated that the present embodiment only describes the manner in which the detection device evaluates the risk level of the unmanned aerial vehicle according to the supervision information and the additional information by using the above two examples, and in practical application, other manners may be adopted to combine or use alone, as long as the risk level of the unmanned aerial vehicle can be evaluated, which is not limited herein.

Further, in this embodiment, the detecting device may also use the processor to evaluate the risk level of the unmanned aerial vehicle according to the additional information, for example, the additional information of the unmanned aerial vehicle, such as the number of times the unmanned aerial vehicle flies, may be obtained from the server according to the identity serial number of the unmanned aerial vehicle in the supervision information, where the number of times the unmanned aerial vehicle flies is less, and in some cases, it may be considered that there may be a risk that the flight experience of the flight crew is insufficient and a flight accident is easy to occur, and then it may be considered that the risk level of the unmanned aerial vehicle is higher at this time.

Based on the description of the risk level of the unmanned aerial vehicle in the foregoing embodiments, in practical application, at least one embodiment of the foregoing embodiments may be used in combination to comprehensively evaluate the risk level of the unmanned aerial vehicle, specifically, weight setting may be performed on each manner of evaluating the risk level of the unmanned aerial vehicle, weighting calculation may be performed on an evaluation result corresponding to each manner of evaluating the risk level of the unmanned aerial vehicle, and the finally obtained weighted calculation value may be used as the risk level of the unmanned aerial vehicle. The setting of the risk level of the unmanned aerial vehicle may be specifically set according to the evaluation criteria of the risk level of the unmanned aerial vehicle in various embodiments, which is not limited herein.

It can be appreciated that, in order to facilitate a more detailed understanding of the position information of the unmanned aerial vehicle by the detection device, the detection device may be provided with an interaction device, through which the relevant information of the unmanned aerial vehicle may be advantageously displayed, and the following detailed description will be made:

referring to fig. 12, another embodiment of a method for detecting a unmanned aerial vehicle according to an embodiment of the present invention includes:

Steps 1201 to 1202 in this embodiment are the same as steps 1001 to 1002 in the embodiment shown in fig. 10, and will not be described here again.

1203. And acquiring the position information of the unmanned aerial vehicle and/or the control terminal in the supervision information by using the processor, and displaying the unmanned aerial vehicle and/or the control terminal on a map of an interaction interface of the interaction device according to the position information.

In this embodiment, after the detection device analyzes the data packet by using the processor to obtain the supervision information of the unmanned aerial vehicle, the processor may be used to obtain the position information of the unmanned aerial vehicle and/or the control terminal in the supervision information, and may display the unmanned aerial vehicle and/or the control terminal on the map of the interaction interface of the interaction device according to the position information.

Specifically, in order to facilitate supervision of the unmanned aerial vehicle, the detection device may further be provided with an interaction device, in which an interaction interface for display is provided, and in order to further intuitively display the position of the unmanned aerial vehicle and/or the control terminal, after the detection device obtains the supervision information of the unmanned aerial vehicle, the detection device may determine the position information of the unmanned aerial vehicle and/or the control terminal from the supervision information of the unmanned aerial vehicle, and may display the unmanned aerial vehicle and/or the control terminal on a map of the interaction interface of the interaction device according to the position information. The unmanned aerial vehicle and/or the control terminal can be provided with corresponding display icons so as to be beneficial to distinguishing the unmanned aerial vehicle and the control terminal, meanwhile, an obvious visual prompt effect can be achieved, and the shape, the color and the size of the display icons corresponding to the unmanned aerial vehicle and/or the control terminal can be set according to actual needs, so that the unmanned aerial vehicle and/or the control terminal are not limited.

Further, based on the evaluation of the risk level of the unmanned aerial vehicle and the additional information obtained from the server according to the supervision information in the above embodiment, the detection device may further display one or more of the supervision information of the unmanned aerial vehicle, the additional information of the unmanned aerial vehicle obtained from the server according to the supervision information, and the risk level by using the interaction device, so as to provide more relevant information of the unmanned aerial vehicle at the end of the detection device.

For example, as shown in fig. 13, assuming that a control terminal of the unmanned aerial vehicle is a remote controller, an unmanned aerial vehicle operator can control the unmanned aerial vehicle to fly through the remote controller, in a communication 1 process between the unmanned aerial vehicle and the remote controller, a detector in a detection device can intercept a data packet broadcasted by the unmanned aerial vehicle through a communication 3, after the detector acquires the data packet of the unmanned aerial vehicle, the detection device can analyze the data packet by using a processor to obtain supervision information, meanwhile, the detection device including the detector can establish a communication 2 with a server, and the detection device can receive additional information of the unmanned aerial vehicle sent by the server according to the supervision information through the communication 2. In practical application, in order to be favorable to realizing supervision to unmanned aerial vehicle, detection device can be equipped with APP, this APP can be disposed on mobile device (mobile device is the part of detection device, interaction device then can be mobile device or be the part of mobile device, for example the display screen of mobile device), after starting APP on mobile device, can be at interactive interface display be used for supervision unmanned aerial vehicle's map, then on this map, unmanned aerial vehicle's position (unmanned aerial vehicle icon) and control terminal's position (humanoid icon) can be displayed, simultaneously, at unmanned aerial vehicle's position, can utilize the form such as display frame to show unmanned aerial vehicle's supervision information and additional information.

Furthermore, based on the description of the above embodiment, in practical application, the detecting device may further upload the working state information of the detector to the server periodically or aperiodically, so that the server knows whether the detector works normally or not, so that corresponding maintenance measures can be taken for the detector under the condition that the detector cannot work normally, and meanwhile, when the detecting device is configured with a plurality of detectors, under the condition that the detector cannot work normally, the server can take another corresponding measure to adjust the working modes of other detectors that work normally, so as to compensate the work of the detector that cannot work normally. Based on the control instruction sent by the server can be received by the detection equipment, and the detector can be turned off or started by the processor according to the control instruction so as to meet different detection requirements of the detection equipment on the detector.

Alternatively, in this embodiment, the processor and the interaction device may be configured on a mobile device, where the mobile device may be a mobile phone with a display screen, a tablet computer, or the like.

The unmanned aerial vehicle detection method in the embodiment of the present invention is described above from the perspective of the detection device side, and the control method of the server in the embodiment of the present invention is described below from the perspective of the server side, referring to fig. 14, and one embodiment of the control method of the server in the embodiment of the present invention includes:

1401. Receiving supervision information of the unmanned aerial vehicle sent by detection equipment of the unmanned aerial vehicle by using a communication interface;

in this embodiment, the detection device of the unmanned aerial vehicle may establish a communication connection with the server, so as to implement unified management of the detection device by the server and intrusion detection of the unmanned aerial vehicle in a corresponding area, and the server may receive supervision information of the unmanned aerial vehicle sent by the detection device by using the communication interface.

1402. And evaluating the risk level of the unmanned aerial vehicle according to the supervision information by using the processor.

In this embodiment, after the server receives the supervision information of the unmanned aerial vehicle sent by the detection device of the unmanned aerial vehicle by using the communication interface, the risk level of the unmanned aerial vehicle may be estimated by using the processor according to the supervision information.

Specifically, after the server obtains the supervision information, the supervision information and the data in the database can be automatically compared to determine the risk level of the unmanned aerial vehicle corresponding to the supervision information, so that different emergency measures can be formulated or started according to the risk level of the unmanned aerial vehicle, such as limiting the flight distance, the flight height, the flight time, the flight speed, the flight direction and the like of the unmanned aerial vehicle, or controlling the unmanned aerial vehicle to fly to a preset position or a preset area, so as to realize the distinguishing response of the unmanned aerial vehicle with different risk levels.

In the embodiment shown in fig. 3, the server may also perform level setting of different levels on the risk level of the unmanned aerial vehicle, and the same parts will not be repeated here.

It can be understood that, according to the supervision information reported by the detection device, the server can evaluate the risk level of the unmanned aerial vehicle based on different methods, and the following descriptions are provided respectively:

Referring to fig. 15, another embodiment of a control method of a server according to an embodiment of the present invention includes:

1501. Receiving supervision information of the unmanned aerial vehicle sent by detection equipment of the unmanned aerial vehicle by using a communication interface;

In this embodiment, the server can acquire the supervision information of unmanned aerial vehicle that unmanned aerial vehicle's detection equipment sent through communication interface, and this supervision information can instruct unmanned aerial vehicle's relevant parameter, and unmanned aerial vehicle can be understood more through supervision information, is favorable to realizing the intrusion detection to unmanned aerial vehicle.

1502. And evaluating the risk level of the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle in the supervision information by using the processor.

In this embodiment, after the server receives the supervision information of the unmanned aerial vehicle sent by the detection device of the unmanned aerial vehicle by using the communication interface, the processor may be used to evaluate the risk level of the unmanned aerial vehicle according to the location information of the unmanned aerial vehicle in the supervision information.

In this embodiment, except that the execution subject is a server, the method for evaluating the risk level of the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle in the supervision information may refer to the content described in step 1003 in the embodiment shown in fig. 10, and further, the method for evaluating the risk level of the unmanned aerial vehicle by using the first flight path of the unmanned aerial vehicle determined by the processor according to the position information of the unmanned aerial vehicle in the supervision information may refer to the content described in step 1003 in the embodiment shown in fig. 10, which is not repeated here.

Further, in this embodiment, after the server obtains the supervision information sent by the detection device, the identity information of the unmanned aerial vehicle may be determined from the supervision information, and additional information of the unmanned aerial vehicle corresponding to the supervision information may be searched from the local memory according to the identity information of the unmanned aerial vehicle, and in order to assist the detection device in evaluating the risk level of the unmanned aerial vehicle by using the additional information, the server may further use the communication interface to send the additional information of the unmanned aerial vehicle to the detection device.

Furthermore, in the working process of the detection equipment, after the detection equipment and the server are in communication connection, in order to facilitate unified management of the detection equipment by the server, the server can receive the working state information of the detector sent by the detection equipment by using the communication interface, and can judge whether the corresponding detector works normally or not according to the working state information, and when the fact that the corresponding detector cannot work normally is determined, the server can take corresponding maintenance measures for the detector, such as assigning workers to repair or replace the corresponding detector. Meanwhile, when the detection equipment is configured with a plurality of detectors, the server can give an instruction for adjusting the working modes of other detectors which can work normally to the detection equipment when the fact that the detectors can not work normally is determined, so that the work of the detectors which can not work normally can be made up. Based on the above, the server may send a control instruction to the detection device by using the communication interface, where the control instruction may be used to turn off or turn on the detector of the detection device, e.g. turn off a detector that cannot work normally, and turn on a spare detector.

Referring to fig. 16, another embodiment of a control method of a server according to an embodiment of the present invention includes:

step 1601 in the embodiment of the present invention is the same as step 1501 in the embodiment shown in fig. 15, and is not described here again.

1602. And evaluating the risk level of the unmanned aerial vehicle according to the supervision information and the additional information of the unmanned aerial vehicle obtained from the local memory according to the supervision information by using the processor.

In this embodiment, after the server receives the supervision information of the unmanned aerial vehicle sent by the detection device of the unmanned aerial vehicle by using the communication interface, the risk level of the unmanned aerial vehicle may be estimated by using the processor according to the supervision information and the additional information of the unmanned aerial vehicle obtained from the local memory according to the supervision information.

Specifically, after the server obtains the supervision information of the unmanned aerial vehicle, the identity information of the unmanned aerial vehicle can be determined from the supervision information, and additional information of the unmanned aerial vehicle corresponding to the supervision information can be searched from the local memory according to the identity information of the unmanned aerial vehicle, wherein the additional information can at least include, but is not limited to, at least one of an activation account number, a purchase time, a purchase place, owner information and a flight number of the unmanned aerial vehicle.

In practical application, after the server acquires the supervision information and the additional information of the unmanned aerial vehicle, the risk level of the unmanned aerial vehicle can be further estimated according to the supervision information and the additional information. Except that the execution subject is a server, the method may refer to the content described in step 1105 in the embodiment shown in fig. 11, which is not described herein.

Referring to fig. 17, another embodiment of a control method of a server according to an embodiment of the present invention includes:

1701. Receiving supervision information of the unmanned aerial vehicle transmitted by each of a plurality of detection devices arranged in different areas by utilizing a communication interface;

In this embodiment, the server may establish communication connection with a plurality of detection devices, so as to implement unified management of the plurality of detection devices, where each detection device in the plurality of detection devices may be configured in a different area, and after the plurality of detection devices establish communication connection with the server, the server may receive supervision information of the unmanned aerial vehicle sent by each of the plurality of detection devices that are set in different areas by using a communication interface.

It will be appreciated that in this embodiment, each of the plurality of detecting devices may be configured with a detector, and will not be described in detail later herein.

In this embodiment, the working conditions of the plurality of detection devices may be the same as those when one detection device is configured with the plurality of detectors (i.e., one detection device in this embodiment corresponds to one detector in one detection device), and details of the description of the embodiment shown in fig. 6 may be referred to herein, which are not repeated herein.

1702. And determining the number of the detection devices for transmitting the supervision information by using the processor according to the supervision information, and evaluating the risk level of the unmanned aerial vehicle according to the number of the detection devices for transmitting the supervision information.

In this embodiment, after the server receives the supervision information of the unmanned aerial vehicle sent by each of the plurality of detection devices disposed in different areas by using the communication interface, the processor may determine the number of detection devices sending the supervision information according to the supervision information, and may evaluate the risk level of the unmanned aerial vehicle according to the number of detection devices sending the supervision information.

In this embodiment, the number of detection devices that will send supervision information corresponds to the number of detectors that acquire the data packet of the unmanned aerial vehicle, and except that the execution body is a server, the method for evaluating the risk level of the unmanned aerial vehicle may refer to the content illustrated in step 703 in the embodiment shown in fig. 7, which is not described herein again.

Further, in this embodiment, the server may also set a first number threshold, which is used as a criterion for evaluating the risk level of the unmanned aerial vehicle according to the number of the detecting devices sending the supervision information, that is, the server may evaluate the risk level of the unmanned aerial vehicle according to the number of the detecting devices sending the supervision information only when the number of the detecting devices sending the supervision information is greater than or equal to the first number threshold.

Referring to fig. 18, another embodiment of a control method of a server according to an embodiment of the present invention includes:

Step 1801 in the embodiment of the present invention is the same as step 1701 in the embodiment shown in fig. 17, and will not be described here again.

1802. Determining, by the processor, a transmission order of the probe devices that transmit the supervision information according to the supervision information, and determining a second flight path of the unmanned aerial vehicle according to the transmission order of the probe devices that transmit the supervision information;

In this embodiment, after the server receives the supervision information of the unmanned aerial vehicle sent by each of the plurality of detection devices disposed in different areas by using the communication interface, the processor may determine, according to the supervision information, a sending order of the detection devices that send the supervision information, and may determine, according to the sending order of the detection devices that send the supervision information, a second flight path of the unmanned aerial vehicle.

In this embodiment, the sending sequence of the detecting device sending the supervision information is equivalent to the acquisition sequence of the detector acquiring the data packet of the unmanned aerial vehicle, and except that the execution body is a server, the evaluation method of the second flight path of the unmanned aerial vehicle may refer to the content described in step 803 in the embodiment shown in fig. 8, which is not described herein again.

The server can track the intermodal of the detection devices after cross comparison by acquiring the supervision information of the unmanned aerial vehicle reported by the detection devices, so that the second flight track of the unmanned aerial vehicle can be described more accurately, and the problem that the range of one detection device is limited is effectively solved.

1803. The risk level of the drone is assessed with the processor according to a second flight path of the drone determined by the regulatory information.

In this embodiment, after determining, by the server, the second flight path of the unmanned aerial vehicle according to the transmission sequence of the detection device for transmitting the supervision information determined by the processor according to the supervision information, the risk level of the unmanned aerial vehicle may be estimated by the processor according to the second flight path of the unmanned aerial vehicle determined by the supervision information.

In addition to the execution subject being a server, the method for evaluating the risk level of the unmanned aerial vehicle according to the second flight path of the unmanned aerial vehicle in this embodiment may refer to the content of step 804 in the embodiment shown in fig. 8, which is not described here again.

Referring to fig. 19, another embodiment of a control method of a server according to an embodiment of the present invention includes:

step 1901 in the embodiment of the present invention is the same as step 1701 in the embodiment shown in fig. 17, and will not be described here again.

1902. And determining the position of the detection device sending the supervision information according to the supervision information by using the processor, and evaluating the danger level of the unmanned aerial vehicle according to the position of the detection device sending the supervision information.

In this embodiment, after the server receives the supervision information of the unmanned aerial vehicle sent by each of the plurality of detection devices disposed in different areas by using the communication interface, the processor may determine the location of the detection device sending the supervision information according to the supervision information, and may evaluate the risk level of the unmanned aerial vehicle according to the location of the detection device sending the supervision information.

In this embodiment, the position of the detecting device sending the supervision information corresponds to the position of the detector that obtains the data packet of the unmanned aerial vehicle, and except that the execution subject is a server, the method for evaluating the risk level of the unmanned aerial vehicle according to the position of the detecting device sending the supervision information may refer to the content described in step 903 in the embodiment shown in fig. 9, which is not described herein again.

It will be understood that, in the embodiments shown in fig. 17 to 19, when each of the plurality of detection devices is configured with one detector, the case of evaluating the risk level of the unmanned aerial vehicle is described, and in practical applications, the case that one detection device is configured with a plurality of detectors is also applicable to the above embodiments, and in addition to the execution subject being a server, the description of the embodiments shown in fig. 7, 8 and 9 may be specifically referred to, which will not be repeated here.

Similarly, it should be noted that, on the server side, based on the description of the risk level of the unmanned aerial vehicle in the foregoing embodiments, in practical application, at least one embodiment of the foregoing embodiments may also be used in combination to comprehensively evaluate the risk level of the unmanned aerial vehicle, specifically, a weight setting may be performed for each manner of evaluating the risk level of the unmanned aerial vehicle, a weighting calculation may be performed for an evaluation result corresponding to each manner of evaluating the risk level of the unmanned aerial vehicle, and the finally obtained weighted calculation value may be used as the risk level of the unmanned aerial vehicle. The setting of the risk level of the unmanned aerial vehicle may be specifically set according to the evaluation criteria of the risk level of the unmanned aerial vehicle in various embodiments, which is not limited herein.

It can be understood that, based on the evaluation of the risk level of the unmanned aerial vehicle by the detection device side and the evaluation of the risk level of the unmanned aerial vehicle by the server side, both sides can send respective evaluation results to each other, so that if the evaluation results are inconsistent, whether the detection device or the server side fails can be further judged.

The unmanned aerial vehicle control method and the unmanned aerial vehicle detection method in the embodiment of the present invention are described above, and the detection device and the server in the embodiment of the present invention are described below from the perspective of hardware processing, referring to fig. 20, and one embodiment of the detection device in the embodiment of the present invention includes:

a detector 2001 and a processor 2002 (wherein the number of processors 2002 may be one or more, one processor 2002 being shown as an example).

Wherein the probe 2001 is configured to obtain a data packet including supervision information of the unmanned aerial vehicle, where the data packet is transmitted in an operation channel of a communication network between the unmanned aerial vehicle and a control terminal of the unmanned aerial vehicle;

the processor 2002 is configured to parse the data packet to obtain the supervision information of the unmanned aerial vehicle.

Optionally, in some embodiments of the invention, the processor 2002 may be further configured to:

the administration information is sent to the server periodically or aperiodically.

And receiving the additional information of the unmanned aerial vehicle corresponding to the supervision information, which is sent from the server.

and evaluating the risk level of the unmanned aerial vehicle according to the supervision information.

And evaluating the risk level of the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle in the supervision information.

And determining a first flight path of the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle in the supervision information, and evaluating the risk level of the unmanned aerial vehicle according to the first flight path.

And evaluating the risk level of the unmanned aerial vehicle according to the supervision information and the additional information.

Alternatively, in some embodiments of the invention, the detector 2001 is one;

The detector 2001 may further be configured to:

acquiring a data packet which is sent by each unmanned aerial vehicle and comprises supervision information of the corresponding unmanned aerial vehicle;

the processor 2002 may further be configured to:

analyzing the data packet to obtain supervision information of each of the plurality of unmanned aerial vehicles;

evaluating a risk level of each of the plurality of unmanned aerial vehicles according to the regulatory information;

Determining a first unmanned aerial vehicle with the highest risk level in the plurality of unmanned aerial vehicles;

The detector 2001 may further be configured to:

and after the first unmanned aerial vehicle is determined, continuously scanning the working channel of the communication network between the first unmanned aerial vehicle and the control terminal of the first unmanned aerial vehicle.

Alternatively, in some embodiments of the invention, the detector 2001 is one;

The detector 2001 may further be configured to:

the processor 2002 may further be configured to:

Determining a second unmanned aerial vehicle closest to the detector in the plurality of unmanned aerial vehicles according to the supervision information;

The detector 2001 may further be configured to:

And after the second unmanned aerial vehicle is determined, continuously scanning a working channel of a communication network between the second unmanned aerial vehicle and a control terminal of the second unmanned aerial vehicle.

Alternatively, in some embodiments of the invention, the detector 2001 is one;

The detector 2001 may further be configured to:

the processor 2002 may further be configured to:

Determining the distance between each of the plurality of unmanned aerial vehicles and the detector according to the supervision information, and determining a third unmanned aerial vehicle with the distance smaller than or equal to a preset distance threshold;

The detector 2001 may further be configured to:

And after the third unmanned aerial vehicle is determined, continuously scanning a working channel of a communication network between the third unmanned aerial vehicle and a control terminal of the third unmanned aerial vehicle.

Alternatively, in some embodiments of the present invention, the detector 2001 includes a plurality, each of the plurality of detectors 2001 being disposed in a different area;

The detector 2001 may further be configured to:

Individually or cooperatively acquiring a data packet including regulatory information of the drone.

and when the number of the acquired detectors of the data packet is greater than or equal to a preset first number threshold, evaluating the risk level of the unmanned aerial vehicle according to the supervision information.

and evaluating the risk level of the unmanned aerial vehicle according to the number of the detectors for acquiring the data packet.

And when the number of the detectors acquiring the data packet is greater than or equal to a preset second number threshold, evaluating the risk level of the unmanned aerial vehicle according to the number of the detectors acquiring the data packet.

Alternatively, in some embodiments of the invention, the processor 2002 may be further configured to,

And determining a second flight path of the unmanned aerial vehicle according to the acquisition sequence of the detectors acquiring the data packets.

And evaluating the risk level of the unmanned aerial vehicle according to the second flight path of the unmanned aerial vehicle.

Optionally, in some embodiments of the present invention, the detector 2001 may further be configured to:

And the detector acquiring the data packet broadcasts the position information of the detector and/or the data packet to other detectors so as to instruct the other detectors to detect the unmanned aerial vehicle corresponding to the data packet.

and indicating the specific detector to detect the unmanned aerial vehicle according to one or more of the flight direction, the position information and the flight speed of the unmanned aerial vehicle determined by the supervision information.

and evaluating the risk level of the unmanned aerial vehicle according to the position of the detector for acquiring the data packet.

the operating state information of the detector is uploaded to the server periodically or aperiodically.

Optionally, in some embodiments of the present invention, as shown in fig. 21, the detecting device further includes a receiver 2003, the receiver 2003 being configured to:

Receiving a control instruction sent from a server;

the processor 2002 may further be configured to:

the detector is turned off or on according to the control command.

Optionally, in some embodiments of the present invention, as shown in fig. 22, the detecting device further includes an interaction means 2004, the interaction means 2004 being configured to:

and displaying one or more of the supervision information of the unmanned aerial vehicle, the additional information of the unmanned aerial vehicle acquired from the server according to the supervision information and the danger level.

And acquiring the position information of the unmanned aerial vehicle and/or the control terminal in the supervision information, and displaying the unmanned aerial vehicle and/or the control terminal on a map of an interaction interface of the interaction device according to the position information.

In this embodiment, the detection device scans the working channel of the communication network between the unmanned aerial vehicle and the control terminal by using the detector 2001, after acquiring the data packet sent from the unmanned aerial vehicle, the processor 2002 can be used to analyze the data to acquire the supervision information of the unmanned aerial vehicle.

Referring to fig. 23, an embodiment of a server according to the present invention includes:

A processor 2301 and a communication interface 2302 (wherein the number of processors may be one or more, one processor being illustrated in the figure);

The communication interface 2302 is configured to receive supervision information of the unmanned aerial vehicle sent by the detection device of the unmanned aerial vehicle;

The processor 2301 is configured to evaluate a risk level of the unmanned aerial vehicle according to the supervision information.

Optionally, in some embodiments of the present invention, the processor 2301 may be further configured to:

Acquiring additional information of the unmanned aerial vehicle corresponding to the supervision information from a local memory according to the supervision information;

Communication interface 2302 may be further configured to:

and sending the additional information to the detection equipment of the unmanned aerial vehicle.

Optionally, in some embodiments of the present invention, the communication interface 2302 may be further configured to:

And receiving the working state information of the detector sent by the detection equipment.

And sending a control instruction to the detection equipment, wherein the control instruction is used for switching off or switching on a detector of the detection equipment.

And evaluating the risk level of the unmanned aerial vehicle according to the supervision information and the additional information of the unmanned aerial vehicle obtained from the local memory according to the supervision information.

Alternatively, in some embodiments of the present invention, the detection device is a plurality of detection devices, each of the plurality of detection devices being disposed in a different area;

Communication interface 2302 may be further configured to:

And receiving supervision information of the unmanned aerial vehicle transmitted by each of a plurality of detection devices arranged in different areas.

And determining the number of the detection devices sending the supervision information according to the supervision information, and evaluating the risk level of the unmanned aerial vehicle according to the number of the detection devices sending the supervision information.

and determining the sending sequence of the detection equipment for sending the supervision information according to the supervision information, and determining the second flight path of the unmanned aerial vehicle according to the sending sequence of the detection equipment for sending the supervision information.

and evaluating the risk level of the unmanned aerial vehicle according to the second flight path of the unmanned aerial vehicle determined by the supervision information.

and determining the position of the detection equipment transmitting the supervision information according to the supervision information, and evaluating the danger level of the unmanned aerial vehicle according to the position of the detection equipment transmitting the supervision information.

In this embodiment, the processor 2301 in the server evaluates the risk level of the unmanned aerial vehicle by using the supervision information of the unmanned aerial vehicle sent by the detection device of the unmanned aerial vehicle, so as to realize intrusion detection of the unmanned aerial vehicle in a certain area, execute corresponding emergency measures according to the evaluation result, and distinguish and deal with the unmanned aerial vehicle with different risk levels, thereby being beneficial to assisting the detection device to safely supervise the unmanned aerial vehicle.

It will be appreciated that the present invention may also relate to a surveillance system comprising a drone, a control terminal in communication with the drone, a detection device for surveillance of the drone, and a server in communication with the detection device. The control terminal can be used for sending a control instruction to the unmanned aerial vehicle, the unmanned aerial vehicle can control flying according to the received control instruction, the detection equipment can be used for acquiring communication data between the unmanned aerial vehicle and the control terminal so as to realize supervision of the unmanned aerial vehicle, the server can be used for managing one or more detection equipment and evaluating the dangerous level of one or more unmanned aerial vehicles, and safety supervision of one or more unmanned aerial vehicles is remotely realized.

It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.

In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, randomAccess Memory), a magnetic disk, an optical disk, or other various media capable of storing program codes.

The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method of unmanned aerial vehicle detection, comprising:

Scanning a working channel of a communication network between the unmanned aerial vehicle and a control terminal by using a detector, and directly accessing a communication system of the unmanned aerial vehicle without breaking a communication protocol between the unmanned aerial vehicle and the control terminal to acquire a data packet comprising supervision information of the unmanned aerial vehicle, wherein the data packet is transmitted in the working channel of the communication network between the unmanned aerial vehicle and the control terminal of the unmanned aerial vehicle;

analyzing the data packet by using a processor to acquire the supervision information of the unmanned aerial vehicle; the supervision information comprises relevant parameters of the unmanned aerial vehicle;

2. The method according to claim 1, wherein the method further comprises:

3. The method of claim 2, wherein after the periodically or aperiodically sending the regulatory information to a server, the method further comprises:

And receiving additional information of the unmanned aerial vehicle corresponding to the supervision information, which is sent from the server.

4. The method of claim 1, wherein the evaluating, with the processor, the risk level of the drone from the regulatory information comprises:

And evaluating the risk level of the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle in the supervision information by using the processor.

5. The method of claim 4, wherein the evaluating, with the processor, the risk level of the drone based on the location information of the drone in the regulatory information comprises:

and determining a first flight path of the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle in the supervision information by using the processor, and determining and evaluating the risk level of the unmanned aerial vehicle according to the first flight path.

6. A method according to claim 3, wherein said evaluating, with said processor, a risk level of said drone from said regulatory information, comprises:

and evaluating the risk level of the unmanned aerial vehicle according to the supervision information and the additional information by using the processor.

7. The method of claim 3 or 6, wherein the additional information includes at least one of an activation account number, a purchase time, a purchase location, owner information, a number of flights of the unmanned aerial vehicle.

8. The method according to any one of claim 1 to 6, wherein,

The detector is one;

The acquiring the data packet including the supervision information of the unmanned aerial vehicle includes:

acquiring a data packet which is sent by each unmanned aerial vehicle and comprises supervision information of the corresponding unmanned aerial vehicle by using a detector;

The analyzing, by the processor, the data packet to obtain the supervision information of the unmanned aerial vehicle includes:

Analyzing the data packet by using a processor to acquire supervision information of each of a plurality of unmanned aerial vehicles;

The evaluating, with the processor, the risk level of the drone according to the regulatory information includes:

evaluating, with a processor, a risk level for each of a plurality of said unmanned aerial vehicles based on said regulatory information;

The method further comprises the steps of:

determining a first unmanned aerial vehicle with the highest risk level in a plurality of unmanned aerial vehicles by using the processor;

And after the first unmanned aerial vehicle is determined, continuously scanning a working channel of a communication network between the first unmanned aerial vehicle and a control terminal of the first unmanned aerial vehicle by using the detector.

9. The method according to any one of claim 1 to 6, wherein,

The detector is one;

The method further comprises the steps of:

determining a second unmanned aerial vehicle closest to the detector in the unmanned aerial vehicles according to the supervision information by using the processor;

And after the second unmanned aerial vehicle is determined, continuously scanning a working channel of a communication network between the second unmanned aerial vehicle and a control terminal of the second unmanned aerial vehicle by using the detector.

10. The method according to any one of claim 1 to 6, wherein,

The detector is one;

The method further comprises the steps of:

Determining, by the processor, a distance from each of the plurality of unmanned aerial vehicles to the detector according to the supervision information, and determining a third unmanned aerial vehicle having the distance less than or equal to a preset distance threshold;

And after the third unmanned aerial vehicle is determined, continuously scanning a working channel of a communication network between the third unmanned aerial vehicle and a control terminal of the third unmanned aerial vehicle by using the detector.

11. The method according to any one of claim 1 to 6, wherein,

The detector comprises a plurality of detectors, and each detector is arranged in a different area;

and acquiring the data packet comprising the supervision information of the unmanned aerial vehicle by utilizing a plurality of the detectors singly or cooperatively.

12. The method of claim 11, wherein the determining, with the processor, the risk level of the drone from the regulatory information comprises:

and when the number of the detectors for acquiring the data packet is greater than or equal to a preset first number threshold, evaluating the risk level of the unmanned aerial vehicle according to the supervision information by using the processor.

13. A method of unmanned aerial vehicle detection, comprising:

Scanning an operating channel of a communication network between the unmanned aerial vehicle and a control terminal by utilizing a plurality of detectors individually or cooperatively to acquire a data packet comprising supervision information of the unmanned aerial vehicle, wherein the data packet is transmitted in the operating channel of the communication network between the unmanned aerial vehicle and the control terminal of the unmanned aerial vehicle; wherein each of a plurality of said detectors is disposed in a different region;

Evaluating the risk level of the unmanned aerial vehicle according to the number of the detectors acquiring the data packet by using the processor; or determining a second flight path of the unmanned aerial vehicle by using the processor according to the acquisition sequence of the detectors acquiring the data packets, and evaluating the risk level of the unmanned aerial vehicle by using the processor according to the second flight path of the unmanned aerial vehicle; or determining and evaluating the risk level of the unmanned aerial vehicle according to the position of the detector which acquires the data packet by using the processor.

14. The method of claim 13, wherein the evaluating, with the processor, the risk level of the drone based on the number of probes that acquired the data packet comprises:

And when the number of the detectors acquiring the data packet is greater than or equal to a preset second number threshold, evaluating the risk level of the unmanned aerial vehicle by using the processor according to the number of the detectors acquiring the data packet.

15. The method of claim 13, wherein the method further comprises:

And the detector acquiring the data packet broadcasts the self-position information to other detectors and/or the data packet so as to instruct the other detectors to detect the unmanned aerial vehicle corresponding to the data packet.

16. The method of claim 13, wherein the method further comprises:

And indicating a specific detector to detect the unmanned aerial vehicle by utilizing one or more of the flight direction, the position information and the flight speed of the unmanned aerial vehicle determined by the processor according to the supervision information.

17. The method according to claim 1 or 13, characterized in that the method further comprises:

And periodically or aperiodically uploading the working state information of the detector to a server.

18. The method according to claim 1 or 13, characterized in that the method further comprises:

And receiving a control instruction sent from the server, and closing or starting the detector by using the processor according to the control instruction.

19. The method according to claim 1 or 13, characterized in that the method further comprises:

And displaying one or more of the supervision information of the unmanned aerial vehicle, the additional information of the unmanned aerial vehicle acquired from a server according to the supervision information and the risk level on an interaction device by using a processor.

20. The method of claim 19, wherein the processor and the interaction means are configured on a mobile device.

21. The method of claim 1 or 13, wherein the regulatory information includes one or more of identity information, location information, flight parameter information, flight attitude information, owner information, time of purchase information, purchase location information, historical flight trajectory information, hardware configuration information, check bit information, and location information with the control terminal of the unmanned aerial vehicle.

22. The method of claim 21, wherein the identity information includes a vendor identifier and a model of the drone;

The position information of the unmanned aerial vehicle comprises at least one of current position information of the unmanned aerial vehicle and position information of the unmanned aerial vehicle during take-off;

the flight parameter information comprises at least one of a maximum flight speed, a maximum flight altitude and a current flight speed;

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

The hardware configuration information at least comprises configuration information of a payload of the unmanned aerial vehicle;

the check bit information is cyclic redundancy CRC check code;

the position information of the control terminal comprises at least one of position information of the unmanned aerial vehicle during take-off and position information output by positioning equipment on the control terminal.

23. A control method of a server, comprising:

Receiving supervision information of the unmanned aerial vehicle sent by detection equipment of the unmanned aerial vehicle by utilizing a communication interface, wherein the supervision information comprises relevant parameters of the unmanned aerial vehicle; the supervision information is obtained by analyzing a data packet by a processor of the detection equipment, and the data packet is obtained by scanning a working channel of a communication network between the unmanned aerial vehicle and a control terminal by a detector of the detection equipment, and directly accessing a communication system of the unmanned aerial vehicle without breaking a communication protocol between the unmanned aerial vehicle and the control terminal;

And evaluating the dangerous level of the unmanned aerial vehicle by using a processor according to the supervision information so as to judge whether the unmanned aerial vehicle has invasion behaviors or not.

24. The method of claim 23, wherein after receiving the supervisory information of the drone sent by the probe device of the drone using the communication interface, the method further comprises:

Acquiring additional information of the unmanned aerial vehicle corresponding to the supervision information from a local memory according to the supervision information by using the processor;

And sending the additional information to the detection equipment of the unmanned aerial vehicle by utilizing the communication interface.

25. The method according to claim 23 or 24, characterized in that the method further comprises:

And receiving the working state information sent by the detection equipment by utilizing the communication interface.

26. The method according to claim 23 or 24, characterized in that the method further comprises:

and sending a control instruction to the detection equipment by utilizing the communication interface, wherein the control instruction is used for closing or opening the detection equipment.

27. The method of claim 23 or 24, wherein the evaluating, with a processor, the risk level of the drone from the regulatory information comprises:

28. The method of claim 27, wherein the evaluating, with the processor, the risk level of the drone based on the location information of the drone in the regulatory information comprises:

And determining a first flight path of the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle in the supervision information by using a processor, and evaluating the risk level of the unmanned aerial vehicle according to the first flight path.

29. The method of claim 23 or 24, wherein the evaluating, with a processor, the risk level of the drone from the regulatory information comprises:

and evaluating the risk level of the unmanned aerial vehicle according to the supervision information and/or the additional information of the unmanned aerial vehicle obtained from a local memory according to the supervision information by using a processor.

30. The method of claim 24, wherein the additional information includes at least one of an activation account number, a time of purchase, a place of purchase, and owner information of the drone.

31. The method according to claim 23 or 24, wherein,

The detection equipment is multiple, and each detection equipment is arranged in a different area;

the receiving, by using a communication interface, the supervision information of the unmanned aerial vehicle sent by the detection device of the unmanned aerial vehicle includes:

and receiving supervision information of the unmanned aerial vehicle transmitted by each of the plurality of detection devices arranged in different areas by using a communication interface.

32. The method of claim 31, wherein the evaluating, with a processor, the risk level of the drone based on the regulatory information comprises:

and determining the number of detection devices sending the supervision information by using a processor according to the supervision information, and evaluating the risk level of the unmanned aerial vehicle according to the number of detection devices sending the supervision information.

33. The method according to claim 23 or 24, characterized in that the method further comprises:

And determining the sending sequence of the detection equipment for sending the supervision information according to the supervision information by using the processor, and determining the second flight path of the unmanned aerial vehicle according to the sending sequence of the detection equipment for sending the supervision information.

34. The method of claim 33, wherein the evaluating, with a processor, the risk level of the drone based on the regulatory information comprises:

And evaluating, with the processor, a risk level of the drone according to a second flight trajectory path of the drone determined by the regulatory information.

35. The method of claim 23 or 24, wherein the using a processor evaluates the risk level of the drone based on the regulatory information:

And determining the position of the detection equipment transmitting the supervision information by using a processor according to the supervision information, and evaluating the risk level of the unmanned aerial vehicle according to the position of the detection equipment transmitting the supervision information.

36. The method of claim 23 or 24, wherein the regulatory information comprises one or more of identity information, location information, flight parameter information, flight attitude information, owner information, time of purchase information, purchase location information, historical flight trajectory information, hardware configuration information, check bit information, and location information of a control terminal connected to the drone.

37. The method of claim 36, wherein the identity information includes a vendor identifier and a model of the drone;

the check bit information is cyclic redundancy CRC check code;

38. A detection apparatus, characterized by comprising:

The detector is used for scanning a working channel of a communication network between the unmanned aerial vehicle and the control terminal, and directly accessing the communication system of the unmanned aerial vehicle without breaking a communication protocol between the unmanned aerial vehicle and the control terminal to acquire a data packet comprising supervision information of the unmanned aerial vehicle, wherein the data packet is transmitted in the working channel of the communication network between the unmanned aerial vehicle and the control terminal of the unmanned aerial vehicle;

The processor is used for analyzing the data packet to acquire the supervision information of the unmanned aerial vehicle; the supervision information comprises relevant parameters of the unmanned aerial vehicle;

A processor, further configured to: and evaluating the risk level of the unmanned aerial vehicle according to the supervision information.

39. The detection apparatus according to claim 38, wherein the processor is further configured to:

40. The probe device of claim 39, wherein the processor is further configured to:

41. The detection apparatus according to claim 38, wherein the processor evaluates a risk level of the drone based on the regulatory information, in particular comprising:

42. The probe device of claim 41, wherein the processor evaluates a risk level of the drone based on location information of the drone in the regulatory information, specifically comprising:

43. The probe device of claim 40, wherein the processor evaluates a risk level of the drone based on the regulatory information, specifically comprising:

44. The probe device of claim 40 or 43, wherein the additional information includes at least one of an activation account number, a purchase time, a purchase location, owner information, a number of flights of the drone.

45. The detecting device according to any one of claims 38 to 43, wherein,

The detector is one;

the detector is further configured to:

The processor is further configured to:

analyzing the data packet to acquire supervision information of each of the plurality of unmanned aerial vehicles;

the detector is further configured to:

and after the first unmanned aerial vehicle is determined, continuously scanning a working channel of a communication network between the first unmanned aerial vehicle and a control terminal of the first unmanned aerial vehicle.

46. The detecting device according to any one of claims 38 to 43, wherein,

The detector is one;

the detector is further configured to:

The processor is further configured to:

the detector is further configured to:

47. The detecting device according to any one of claims 38 to 43, wherein,

The detector is one;

the detector is further configured to:

The processor is further configured to:

Analyzing the data packet to acquire supervision information of each of a plurality of unmanned aerial vehicles;

Determining the distance from each of the plurality of unmanned aerial vehicles to the detector according to the supervision information, and determining a third unmanned aerial vehicle with the distance smaller than or equal to a preset distance threshold;

the detector is further configured to:

48. The detecting device according to any one of claims 38 to 43, wherein,

the detector is further configured to:

49. The probe device of claim 48, wherein the processor is configured to determine a risk level of the drone based on the regulatory information, and wherein the method comprises:

And when the number of the detectors for acquiring the data packet is greater than or equal to a preset first number threshold, evaluating the risk level of the unmanned aerial vehicle according to the supervision information.

50. A detection apparatus, characterized by comprising:

A plurality of probes for individually or cooperatively scanning an operating channel of a communication network between a drone and a control terminal to obtain a data packet including supervisory information of the drone, wherein the data packet is transmitted in the operating channel of the communication network between the drone and the control terminal of the drone; wherein each of a plurality of said detectors is disposed in a different region;

the processor is further configured to:

Evaluating the risk level of the unmanned aerial vehicle according to the number of the acquired detectors of the data packet; or determining a second flight path of the unmanned aerial vehicle according to the acquisition sequence of the detectors acquiring the data packets, and evaluating the risk level of the unmanned aerial vehicle according to the second flight path of the unmanned aerial vehicle; or evaluating the risk level of the unmanned aerial vehicle according to the position of the detector for acquiring the data packet.

51. The probe apparatus of claim 50, wherein the processor evaluates the risk level of the drone based on the number of probes that acquired the data packet, and specifically comprising:

52. The detection apparatus according to claim 50, wherein the detector is further configured to:

And broadcasting the self-position information and/or the data packet to other detectors so as to instruct the other detectors to detect the unmanned aerial vehicle corresponding to the data packet.

53. The detection apparatus according to claim 50, wherein the processor is further configured to:

and indicating a specific detector to detect the unmanned aerial vehicle according to one or more of the flight direction, the position information and the flight speed of the unmanned aerial vehicle determined by the supervision information.

54. The detection apparatus according to claim 38 or 50, wherein the processor is further configured to:

55. The detection apparatus according to claim 38 or 50, further comprising a receiver for:

Receiving a control instruction sent from a server;

The processor is further configured to:

and closing or starting the detector according to the control instruction.

56. The detection apparatus according to claim 38 or 50, further comprising interaction means, the processor being configured to:

and displaying one or more of the supervision information of the unmanned aerial vehicle, the additional information of the unmanned aerial vehicle acquired from a server according to the supervision information and the risk level on an interaction device.

57. The probe device of claim 56, wherein said processor and said interaction means are disposed on a mobile device.

58. The probe apparatus of claim 38 or 50, wherein the supervisory information comprises one or more of identity information, location information, flight parameter information, attitude information, owner information, time of purchase information, purchase location information, historical flight trajectory information, hardware configuration information, check bit information, and location information with the control terminal for the unmanned aerial vehicle.

59. The probe device of claim 58, wherein the identity information includes a vendor identifier and a model of the drone;

the check bit information is cyclic redundancy CRC check code;

60. A server, comprising:

The communication interface is used for receiving the supervision information of the unmanned aerial vehicle, which is sent by the detection equipment of the unmanned aerial vehicle, wherein the supervision information comprises relevant parameters of the unmanned aerial vehicle; the supervision information is obtained by analyzing a data packet by a processor of the detection equipment, and the data packet is obtained by scanning a working channel of a communication network between the unmanned aerial vehicle and a control terminal by a detector of the detection equipment, and directly accessing a communication system of the unmanned aerial vehicle without breaking a communication protocol between the unmanned aerial vehicle and the control terminal;

And the processor is used for evaluating the risk level of the unmanned aerial vehicle according to the supervision information so as to judge whether the unmanned aerial vehicle has invasion behaviors or not.

61. The server of claim 60, wherein the processor is further configured to:

the communication interface is further configured to:

62. The server of claim 60 or 61, wherein the communication interface is further configured to:

63. The server of claim 60 or 61, wherein the communication interface is further configured to:

64. The server of claim 60 or 61, wherein the processor is further configured to:

65. The server of claim 64, wherein the processor is further configured to:

66. The server of claim 60 or 61, wherein the processor is further configured to:

and evaluating the risk level of the unmanned aerial vehicle according to the supervision information and the additional information of the unmanned aerial vehicle obtained from a local memory according to the supervision information.

67. The server of claim 61, wherein the additional information includes at least one of an activation account number, a time of purchase, a place of purchase, and owner information of the drone.

68. The server according to claim 60 or 61, wherein,

the communication interface is further configured to:

receiving supervision information of the unmanned aerial vehicle transmitted by each of the plurality of detection devices arranged in different areas.

69. The server according to claim 68, wherein the processor is further configured to:

and determining the number of detection devices sending the supervision information according to the supervision information, and evaluating the risk level of the unmanned aerial vehicle according to the number of detection devices sending the supervision information.

70. The server of claim 60 or 61, wherein the processor is further configured to:

71. The server of claim 70, wherein the processor is further configured to:

And evaluating, with the processor, a risk level of the drone according to a second flight path of the drone determined by the regulatory information.

72. The server of claim 60 or 61, wherein the processor is further configured to:

and determining the position of the detection equipment transmitting the supervision information according to the supervision information, and evaluating the risk level of the unmanned aerial vehicle according to the position of the detection equipment transmitting the supervision information.

73. The server of claim 60 or 61, wherein the regulatory information comprises one or more of identity information, location information, flight parameter information, attitude information, owner information, time of purchase information, purchase location information, historical flight trajectory information, hardware configuration information, check bit information, and location information of a control terminal connected to the drone.

74. The server of claim 73, wherein the identity information includes a vendor identifier and a model of the drone;

the check bit information is cyclic redundancy CRC check code;