CN109885629B - Unmanned aerial vehicle management method, unmanned aerial vehicle management device, computer system and readable storage medium - Google Patents
Unmanned aerial vehicle management method, unmanned aerial vehicle management device, computer system and readable storage medium Download PDFInfo
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Abstract
The invention discloses a unmanned aerial vehicle management method, a device, a computer system and a readable storage medium, which are based on a blockchain database and comprise the following steps: dividing a flight full map, receiving a management area map, and outputting the management area map to working nodes in a blockchain database; encrypting the management area map to obtain an encrypted map, and outputting the encrypted map to a working node of a blockchain database for storage; receiving current position information and outputting a management area map matched with the current position information; and controlling the unmanned aerial vehicle to start, so that the unmanned aerial vehicle flies according to the management area map. The method improves the timeliness of the unmanned aerial vehicle for acquiring the map of the management area and the no-fly area; the unmanned aerial vehicle can identify the latest no-fly area, so that the occurrence of personnel collision caused by the installation is avoided; the map management system and the map management method have the advantages that malicious tampering of equipment outside the blockchain database on the management area map is avoided, strong forcing is achieved on the forbidden area management of the unmanned aerial vehicle, and the efficiency of preparation work before take-off of the unmanned aerial vehicle is improved.
Description
Technical Field
The present invention relates to the field of blockchain technologies, and in particular, to a method and apparatus for unmanned aerial vehicle management, a computer system, and a readable storage medium.
Background
At present, the unmanned aerial vehicle no-fly zone is managed by the industry, so that the unmanned aerial vehicle downloads no-fly data from a centralized download server. However, this approach has the following problems:
1. the real-time performance is poor, the unmanned aerial vehicle cannot quickly acquire the latest forbidden flight data, so that the unmanned aerial vehicle cannot identify the latest forbidden flight area, and the occurrence of collision accidents of a person and a collision machine is easily caused;
2. the data volume is large, and the unmanned aerial vehicle needs to download and update global data before flying each time, so that the unmanned aerial vehicle works more complicated and slowly before taking off;
3. the forcing is poor, and the unmanned aerial vehicle can still fly when the data of the no-fly area is not acquired, so that the unmanned aerial vehicle can easily break into the no-fly area, and the accident of collision of people and the unmanned aerial vehicle is caused.
Disclosure of Invention
The invention aims to provide a method, a device, a computer system and a readable storage medium for managing a unmanned aerial vehicle, which are used for solving the problems existing in the prior art.
In order to achieve the above object, the present invention provides a method for managing a unmanned aerial vehicle, based on a blockchain database, the blockchain database having a plurality of working nodes, comprising the steps of:
s1: dividing a flight full map, receiving a management area map, and outputting the management area map to a working node in the blockchain database;
s2: encrypting the management area map to obtain an encrypted map, and outputting the encrypted map to a working node of a blockchain database for storage;
s3: receiving current position information and outputting a management area map matched with the current position information;
s4: and controlling the unmanned aerial vehicle to start, so that the unmanned aerial vehicle flies according to the management area map.
In the above aspect, the step S1 includes:
s11: dividing the flight full map into a plurality of regional maps, and respectively outputting the regional maps to a plurality of management clients;
s12: the control management user terminal draws a management area map according to the received area map;
s13: corresponding a plurality of management user terminals to a plurality of working nodes in the block chain database one by one;
s14: and receiving a management area map uploaded by a management user terminal, and outputting the management area map to a working node corresponding to the management user terminal in the blockchain database.
In the above solution, the step S2 includes:
s21: setting a working node which receives the management area map as an uploading node, and temporarily storing the management area map in the uploading node;
s22: receiving a temporary storage success instruction output by the uploading node;
s23: encrypting the management area map according to the temporary storage instruction to obtain an encrypted map, and outputting the encrypted map to the uploading node for storage;
s24: and receiving a saving success instruction output by the uploading node.
In the above solution, the step S23 includes:
s23-1: obtaining a private key by utilizing a random number generation module according to the temporary storage instruction, and outputting the private key to the uploading node;
s23-2: controlling the uploading node to encrypt the management area map by using the private key so as to obtain an encrypted map;
s23-3: calculating the private key by using an elliptic curve algorithm to obtain a public key;
s23-4: carrying out hash operation on the management area map by utilizing one-way hash operation to obtain a hash value;
s23-5: setting other working nodes except the uploading node in the blockchain database as verification nodes;
s23-6: transmitting the public key, the encrypted map and the hash value to a verification node, wherein the verification node decrypts the encrypted map by using the received public key and obtains a decryption digest;
if the decryption digests obtained by the verification node are consistent with the hash value, the verification node generates an acknowledgement signal; receiving an acknowledgement signal output by the blockchain database;
if at least one decryption digest obtained by the verification node is inconsistent with the hash value, receiving an invalidation signal output by the blockchain database;
s23-7: deleting the temporarily stored management area map in the uploading node according to the admission signal, and storing the encrypted map in the uploading node; or (b)
And deleting the temporarily stored management area map in the uploading node according to the invalid signal.
In the above solution, the step S3 includes:
s31: outputting a positioning request signal to an unmanned aerial vehicle control end, wherein the unmanned aerial vehicle control end extracts current position information of the current unmanned aerial vehicle control end according to the positioning request signal;
s32: receiving current position information output by the unmanned aerial vehicle control end;
s33: retrieving an encrypted map matched with the current position information from each working node of a blockchain database according to the current position information;
s34: extracting the encrypted map and decrypting the encrypted map by using a private key to obtain a management area map;
s35: and outputting the management area map to the unmanned aerial vehicle control end.
In the above solution, the step S4 includes:
s41: starting the unmanned aerial vehicle through the unmanned aerial vehicle control end according to the management area map;
s42: outputting a positioning request signal to an unmanned aerial vehicle control end in real time, and receiving current position information output by the unmanned aerial vehicle control end according to the positioning request signal in real time;
s43: and the management area map is provided with a no-fly area, and the unmanned aerial vehicle is controlled by the unmanned aerial vehicle control terminal according to the current position information and the management area map.
In the above solution, the step S43 includes:
s43-1: outputting a no-fly instruction when the current position information is coincident with the edge of the no-fly area; or (b)
When the current position information is positioned at the map boundary of the management area, generating an edge instruction;
s43-2: outputting the flight control forbidden instruction to the unmanned aerial vehicle control end; the unmanned aerial vehicle control end extracts a displacement instruction from the unmanned aerial vehicle according to the flight control instruction and outputs the displacement instruction; receiving and judging whether the unmanned aerial vehicle moves to a no-fly area according to the displacement instruction; or (b)
Retrieving an encrypted map adjacent to the current location information from each working node of a blockchain database according to the edge instruction;
s43-3: if the unmanned aerial vehicle is judged to move out of the no-fly zone according to the displacement instruction, outputting a no-fly zone execution instruction to the unmanned aerial vehicle control end, so that the unmanned aerial vehicle control end controls the unmanned aerial vehicle to execute the displacement instruction; if the unmanned aerial vehicle is judged to move into the no-fly zone according to the displacement instruction, outputting a no-fly zone prohibition instruction to the unmanned aerial vehicle control end, so that the unmanned aerial vehicle control end controls the unmanned aerial vehicle to stop executing the displacement instruction; or (b)
If the block chain database is provided with an encrypted map adjacent to the current position information, extracting the encrypted map, decrypting the encrypted map by using a private key to obtain a management area map, and outputting the management area map to the unmanned aerial vehicle control end; outputting an extraction instruction to the unmanned aerial vehicle control end if the blockchain database does not have the encryption map adjacent to the current position information, and extracting and outputting a displacement instruction from the unmanned aerial vehicle by the unmanned aerial vehicle control end according to the extraction instruction; receiving and judging whether the unmanned aerial vehicle moves out of a management area map according to the displacement instruction;
if the unmanned aerial vehicle moves into the management area map according to the displacement instruction, outputting a boundary area execution instruction to the unmanned aerial vehicle control end, so that the unmanned aerial vehicle control end controls the unmanned aerial vehicle to execute the displacement instruction; if the unmanned aerial vehicle moves to the outside of the management area map according to the displacement instruction, outputting a boundary area prohibition instruction to the unmanned aerial vehicle control end, so that the unmanned aerial vehicle control end controls the unmanned aerial vehicle to stop executing the displacement instruction.
In order to achieve the above object, the present invention also provides an unmanned aerial vehicle management device, including:
the management area module is used for dividing the flight full map, receiving a management area map and outputting the management area map to the working nodes in the blockchain database;
the encryption module is used for encrypting the management area map to obtain an encrypted map, and outputting the encrypted map to a working node of a blockchain database for storage;
the position management module is used for receiving the current position information and outputting a management area map matched with the current position information;
and the flight control module is used for controlling the unmanned aerial vehicle to start so that the unmanned aerial vehicle flies according to the management area map.
The present invention also provides a computer system comprising a plurality of computer devices, each computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processors of the plurality of computer devices together implementing the steps of the above-described unmanned aerial vehicle management method when executing the computer program.
In order to achieve the above object, the present invention further provides a computer readable storage medium, which includes a plurality of storage media, each storage medium having a computer program stored thereon, the computer programs stored on the plurality of storage media, when executed by a processor, collectively implement the steps of the above-mentioned unmanned aerial vehicle management method.
The invention provides a unmanned aerial vehicle management method, a device, a computer system and a readable storage medium, wherein a flight full map is segmented through a management area module, a management area map is received, and the management area map is output to a working node in a blockchain database; the flight full map is divided into the regional maps, so that a manager can manage and update the management regional map of the regional map in jurisdiction respectively, and can upload the latest management regional map and the no-fly region to the no-fly node in time, thereby improving the timeliness of the unmanned plane to acquire the management regional map and the no-fly region; the unmanned aerial vehicle can identify the latest no-fly area, so that the occurrence of personnel collision caused by the installation is avoided;
the management area map is encrypted through the encryption module, so that malicious tampering of equipment outside the block chain database on the management area map is avoided, the operation safety of the unmanned aerial vehicle is ensured, and the situation that collision personnel or buildings are caused by malicious tampering of the management area map by the unmanned aerial vehicle is avoided;
receiving current position information through a position management module, and outputting a management area map matched with the current position information; controlling the unmanned aerial vehicle to start through a flight control module, so that the unmanned aerial vehicle flies according to a management area map; the unmanned aerial vehicle is in a stop-and-fly state in an unable start state before the current area management map of the unmanned aerial vehicle is not acquired, so that the control of the no-fly area of the unmanned aerial vehicle is forced strongly, the occurrence of collision accidents of the unmanned aerial vehicle is avoided greatly, and the safety and reliability of the flying work of the unmanned aerial vehicle are ensured;
meanwhile, when the management area map of the area where the unmanned aerial vehicle is to move is not arranged in the blockchain database, the unmanned aerial vehicle cannot enter the area through the flight control module, so that the safety and reliability of the unmanned aerial vehicle in flight are further guaranteed.
Finally, as the unmanned aerial vehicle only needs to acquire the management area map where the current position information of the unmanned aerial vehicle is located before starting, the data downloading amount of the unmanned aerial vehicle before taking off is rapidly reduced, and the efficiency of preparation work of the unmanned aerial vehicle before taking off is greatly improved.
Drawings
FIG. 1 is a flowchart of a first embodiment of a method for unmanned aerial vehicle management;
FIG. 2 is a flowchart illustrating the operation of the unmanned aerial vehicle management device and the service system according to the first embodiment of the present invention;
fig. 3 is a schematic program module diagram of a second embodiment of the unmanned aerial vehicle management device according to the present invention;
fig. 4 is a schematic hardware structure of a computer device in a third embodiment of the computer system according to the present invention.
Reference numerals:
1. unmanned aerial vehicle management device 2, block chain database 3, unmanned aerial vehicle control end
4. Management client 5, computer device 11, management area module 12, and encryption module
13. Location management module 14, flight control module 51, memory 52, and processor
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a method and a device for managing an unmanned aerial vehicle, a computer system and a readable storage medium, which are suitable for the field of block chains and are used for providing the method for managing the unmanned aerial vehicle based on a management area module, an encryption module, a position management module and a flight control module. Dividing a flight full map through a management area module, receiving a management area map, and outputting the management area map to a working node in the blockchain database; the flight full map is divided into the regional maps, so that a manager can manage and update the management regional map of the regional map in jurisdiction respectively, and can upload the latest management regional map and the no-fly region to the no-fly node in time, thereby improving the timeliness of the unmanned plane to acquire the management regional map and the no-fly region; the unmanned aerial vehicle can identify the latest no-fly area, so that the occurrence of personnel collision caused by the installation is avoided;
the management area map is encrypted through the encryption module, so that malicious tampering of equipment outside the block chain database on the management area map is avoided, the operation safety of the unmanned aerial vehicle is ensured, and the situation that collision personnel or buildings are caused by malicious tampering of the management area map by the unmanned aerial vehicle is avoided;
receiving current position information through a position management module, and outputting a management area map matched with the current position information; controlling the unmanned aerial vehicle to start through a flight control module, so that the unmanned aerial vehicle flies according to a management area map; the unmanned aerial vehicle is in a stop-and-fly state in an unable start state before the current area management map of the unmanned aerial vehicle is not acquired, so that the control of the no-fly area of the unmanned aerial vehicle is forced strongly, the occurrence of collision accidents of the unmanned aerial vehicle is avoided greatly, and the safety and reliability of the flying work of the unmanned aerial vehicle are ensured;
meanwhile, when the management area map of the area where the unmanned aerial vehicle is to move is not arranged in the blockchain database, the unmanned aerial vehicle cannot enter the area through the flight control module, so that the safety and reliability of the unmanned aerial vehicle in flight are further guaranteed.
Finally, as the unmanned aerial vehicle only needs to acquire the management area map where the current position information of the unmanned aerial vehicle is located before starting, the data downloading amount of the unmanned aerial vehicle before taking off is rapidly reduced, and the efficiency of preparation work of the unmanned aerial vehicle before taking off is greatly improved.
Example 1
Referring to fig. 1 and 2, in the unmanned aerial vehicle management method of the present embodiment, based on a blockchain database 2, the blockchain database 2 has a plurality of working nodes, and the unmanned aerial vehicle management method 1 includes the following steps:
s1: dividing a flight full map, receiving a management area map, and outputting the management area map to working nodes in the blockchain database 2;
s2: encrypting the management area map to obtain an encrypted map, and outputting the encrypted map to a working node of the blockchain database 2 for storage;
s3: receiving current position information and outputting a management area map matched with the current position information;
s4: and controlling the unmanned aerial vehicle to start, so that the unmanned aerial vehicle flies according to the management area map.
Specifically, the step S1 includes:
s11: dividing the flight full map into a plurality of area maps, and respectively outputting the plurality of area maps to a plurality of management clients 4; the flight full map is an electronic map, and the electronic map is matched with a flyable area of the unmanned aerial vehicle;
s12: the control management user side 4 draws a management area map according to the received area map; wherein, the area map is made by drawing the range of the no-fly zone in the area map;
s13: the management clients 4 are in one-to-one correspondence with the working nodes in the block chain database 2;
s14: and receiving the management area map uploaded by the management user terminal 4, and outputting the management area map to a working node corresponding to the management user terminal 4 in the blockchain database 2.
Specifically, the step S2 includes:
s21: setting a working node which receives the management area map as an uploading node, and temporarily storing the management area map in the uploading node;
s22: receiving a temporary storage success instruction output by the uploading node;
s23: encrypting the management area map according to the temporary storage instruction to obtain an encrypted map, and outputting the encrypted map to the uploading node for storage;
s24: and receiving a saving success instruction output by the uploading node.
Further, the step S23 includes:
s23-1: obtaining a private key by utilizing a random number generation module according to the temporary storage instruction, and outputting the private key to the uploading node;
s23-2: controlling the uploading node to encrypt the management area map by using the private key so as to obtain an encrypted map;
s23-3: calculating the private key by using an elliptic curve algorithm to obtain a public key;
s23-4: carrying out hash operation on the management area map by utilizing one-way hash operation to obtain a hash value;
s23-5: setting other working nodes except the uploading node in the blockchain database 2 as verification nodes;
s23-6: transmitting the public key, the encrypted map and the hash value to a verification node, wherein the verification node decrypts the encrypted map by using the received public key and obtains a decryption digest;
if the decryption digests obtained by the verification node are consistent with the hash value, the verification node generates an acknowledgement signal; receiving an acknowledgement signal output by the blockchain database 2;
if at least one decryption digest obtained by the verification node is inconsistent with the hash value, receiving an invalidation signal output by the blockchain database 2;
s23-7: deleting the temporarily stored management area map in the uploading node according to the admission signal, and storing the encrypted map in the uploading node; or (b)
And deleting the temporarily stored management area map in the uploading node according to the invalid signal.
Preferably, when the manager needs to modify the management area map, the management user 4 updates the latest modified management area map to the uploading working node according to the method described in the steps S1 and S2, and deletes the management area map stored in the working node previously.
Specifically, the step S3 includes:
s31: outputting a positioning request signal to an unmanned aerial vehicle control end 3, wherein the unmanned aerial vehicle control end 3 extracts current position information of the current unmanned aerial vehicle control end 3 according to the positioning request signal;
s32: receiving current position information output by the unmanned aerial vehicle control terminal 3;
s33: retrieving an encrypted map matched with the current position information from each working node of the blockchain database 2 according to the current position information;
s34: extracting the encrypted map and decrypting the encrypted map by using a private key to obtain a management area map;
s35: and outputting the management area map to the unmanned aerial vehicle control end 3.
Specifically, the step S4 includes:
s41: starting the unmanned aerial vehicle through the unmanned aerial vehicle control terminal 3 according to the management area map; the unmanned aerial vehicle realizes displacement by receiving a displacement instruction output by operation equipment;
s42: outputting a positioning request signal to the unmanned aerial vehicle control terminal 3 in real time, and receiving current position information output by the unmanned aerial vehicle control terminal 3 according to the positioning request signal in real time;
s43: and the management area map is provided with a no-fly area, and the unmanned aerial vehicle is controlled by the unmanned aerial vehicle control terminal 3 according to the current position information and the management area map.
Further, the step S43 includes:
s43-1: outputting a no-fly instruction when the current position information is coincident with the edge of the no-fly area; or (b)
When the current position information is positioned at the map boundary of the management area, generating an edge instruction;
s43-2: outputting the flight control forbidden instruction to the unmanned aerial vehicle control end 3; the unmanned aerial vehicle control end 3 extracts a displacement instruction from the unmanned aerial vehicle according to the flight control instruction and outputs the displacement instruction; receiving and judging whether the unmanned aerial vehicle moves to a no-fly area according to the displacement instruction; or (b)
Retrieving an encrypted map adjacent to the current location information from each working node of the blockchain database 2 according to the edge instruction;
s43-3: if the unmanned aerial vehicle is judged to move out of the no-fly zone according to the displacement instruction, outputting a no-fly zone execution instruction to the unmanned aerial vehicle control end 3, so that the unmanned aerial vehicle control end 3 controls the unmanned aerial vehicle to execute the displacement instruction; if the unmanned aerial vehicle is judged to move into the no-fly zone according to the displacement instruction, outputting a no-fly zone prohibition instruction to the unmanned aerial vehicle control end 3, so that the unmanned aerial vehicle control end 3 controls the unmanned aerial vehicle to stop executing the displacement instruction; or (b)
If the blockchain database 2 has an encrypted map adjacent to the current position information, extracting the encrypted map, decrypting the encrypted map by using a private key to obtain a management area map, and outputting the management area map to the unmanned aerial vehicle control end 3; if the blockchain database 2 does not have the encryption map adjacent to the current position information, outputting an extraction instruction to the unmanned aerial vehicle control end 3, and extracting and outputting a displacement instruction from the unmanned aerial vehicle by the unmanned aerial vehicle control end 3 according to the extraction instruction; receiving and judging whether the unmanned aerial vehicle moves out of a management area map according to the displacement instruction;
if the unmanned aerial vehicle moves into the management area map according to the displacement instruction, outputting a boundary area execution instruction to the unmanned aerial vehicle control end 3, so that the unmanned aerial vehicle control end 3 controls the unmanned aerial vehicle to execute the displacement instruction; if the unmanned aerial vehicle moves to the outside of the management area map according to the displacement instruction, outputting a boundary area prohibition instruction to the unmanned aerial vehicle control end 3, so that the unmanned aerial vehicle control end 3 controls the unmanned aerial vehicle to stop executing the displacement instruction.
Example two
Referring to fig. 3, a unmanned aerial vehicle management device 1 of the present embodiment includes:
the management area module 11 is used for dividing the flight full map, receiving a management area map and outputting the management area map to the working nodes in the blockchain database 2;
the encryption module 12 is used for encrypting the management area map to obtain an encrypted map, and outputting the encrypted map to a working node of the blockchain database 2 for storage;
a location management module 13, configured to receive current location information and output a management area map that matches the current location information;
and the flight control module 14 is used for controlling the starting of the unmanned aerial vehicle to fly according to the management area map.
According to the technical scheme, based on a blockchain, a blockchain database is used as a blockchain storage system, a management area map is temporarily stored in a working node in the blockchain database through an encryption module 12, the management area map is encrypted, and finally a verification node verifies whether the encryption of the management area map is successful or not so as to prove that the management area map is really uploaded by a proving user side corresponding to a certain working node in the blockchain database.
Embodiment III:
in order to achieve the above objective, the present invention further provides a computer system, which includes a plurality of computer devices 5, where the components of the unmanned aerial vehicle management apparatus 1 of the second embodiment may be dispersed in different computer devices, and the computer devices may be a smart phone, a tablet computer, a notebook computer, a desktop computer, a rack server, a blade server, a tower server, or a rack server (including a separate server, or a server cluster formed by a plurality of servers) that execute a program, and so on. The computer device of the present embodiment includes at least, but is not limited to: a memory 51, a processor 52, which may be communicatively coupled to each other via a system bus, as shown in fig. 4. It should be noted that fig. 4 only shows a computer device with components-but it should be understood that not all of the illustrated components are required to be implemented and that more or fewer components may be implemented instead.
In the present embodiment, the memory 51 (i.e., readable storage medium) includes a flash memory, a hard disk, a multimedia card, a card memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disk, and the like. In some embodiments, the memory 51 may be an internal storage unit of a computer device, such as a hard disk or memory of the computer device. In other embodiments, the memory 51 may also be an external storage device of a computer device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like. Of course, the memory 51 may also include both internal storage units of the computer device and external storage devices. In this embodiment, the memory 51 is generally used to store an operating system installed in a computer device and various application software, such as program codes of the unmanned aerial vehicle management device of the first embodiment. Further, the memory 51 may also be used to temporarily store various types of data that have been output or are to be output.
Processor 52 may be a central processing unit (Central Processing Unit, CPU), controller, microcontroller, microprocessor, or other data processing chip in some embodiments. The processor 52 is typically used to control the overall operation of the computer device. In this embodiment, the processor 52 is configured to execute the program code stored in the memory 51 or process data, for example, execute the unmanned aerial vehicle management device, so as to implement the unmanned aerial vehicle management method of the first embodiment.
Embodiment four:
to achieve the above object, the present invention also provides a computer-readable storage system including a plurality of storage media such as flash memory, hard disk, multimedia card, card memory (e.g., SD or DX memory, etc.), random Access Memory (RAM), static Random Access Memory (SRAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), programmable Read Only Memory (PROM), magnetic memory, magnetic disk, optical disk, server, app application store, etc., on which a computer program is stored that when executed by the processor 52 performs the corresponding functions. The computer readable storage medium of the present embodiment is used to store the unmanned aerial vehicle management apparatus, and when executed by the processor 52, implements the unmanned aerial vehicle management method of the first embodiment.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (8)
1. A method of unmanned aerial vehicle management, based on a blockchain database having a plurality of working nodes, comprising the steps of:
s1: dividing a flight full map, receiving a management area map, and outputting the management area map to a working node in the blockchain database;
s2: encrypting the management area map to obtain an encrypted map, and outputting the encrypted map to a working node of a blockchain database for storage;
the step S2 includes:
s21: setting a working node which receives the management area map as an uploading node, and temporarily storing the management area map in the uploading node;
s22: receiving a temporary storage success instruction output by the uploading node;
s23: encrypting the management area map according to the temporary success instruction to obtain an encrypted map, and outputting the encrypted map to the uploading node for storage;
s24: receiving a saving success instruction output by the uploading node;
the step S23 includes:
s23-1: obtaining a private key by utilizing a random number generation module according to the temporary storage success instruction, and outputting the private key to the uploading node;
s23-2: controlling the uploading node to encrypt the management area map by using the private key so as to obtain an encrypted map;
s23-3: calculating the private key by using an elliptic curve algorithm to obtain a public key;
s23-4: carrying out hash operation on the management area map by utilizing one-way hash operation to obtain a hash value;
s23-5: setting other working nodes except the uploading node in the blockchain database as verification nodes;
s23-6: transmitting the public key, the encrypted map and the hash value to a verification node, wherein the verification node decrypts the encrypted map by using the received public key and obtains a decryption digest;
if the decryption digests obtained by the verification node are consistent with the hash value, the verification node generates an acknowledgement signal; receiving an acknowledgement signal output by the blockchain database;
if at least one decryption digest obtained by the verification node is inconsistent with the hash value, receiving an invalidation signal output by the blockchain database;
s23-7: deleting the temporarily stored management area map in the uploading node according to the admission signal, and storing the encrypted map in the uploading node; or (b)
Deleting the temporarily stored management area map in the uploading node according to the invalid signal; s3: receiving current position information and outputting a management area map matched with the current position information;
s4: and controlling the unmanned aerial vehicle to start, so that the unmanned aerial vehicle flies according to the management area map.
2. The method for unmanned aerial vehicle management according to claim 1, wherein the step S1 comprises:
s11: dividing the flight full map into a plurality of regional maps, and respectively outputting the regional maps to a plurality of management clients;
s12: the control management user terminal draws a management area map according to the received area map;
s13: corresponding a plurality of management user terminals to a plurality of working nodes in the block chain database one by one;
s14: and receiving a management area map uploaded by a management user terminal, and outputting the management area map to a working node corresponding to the management user terminal in the blockchain database.
3. The method of unmanned aerial vehicle management according to claim 1, wherein the step S3 comprises:
s31: outputting a positioning request signal to an unmanned aerial vehicle control end, wherein the unmanned aerial vehicle control end extracts current position information of the current unmanned aerial vehicle control end according to the positioning request signal;
s32: receiving current position information output by the unmanned aerial vehicle control end;
s33: retrieving an encrypted map matched with the current position information from each working node of a blockchain database according to the current position information;
s34: extracting the encrypted map and decrypting the encrypted map by using a private key to obtain a management area map;
s35: and outputting the management area map to the unmanned aerial vehicle control end.
4. The method of unmanned aerial vehicle management according to claim 1, wherein step S4 comprises:
s41: starting the unmanned aerial vehicle through the unmanned aerial vehicle control end according to the management area map;
s42: outputting a positioning request signal to an unmanned aerial vehicle control end in real time, and receiving current position information output by the unmanned aerial vehicle control end according to the positioning request signal in real time;
s43: and the management area map is provided with a no-fly area, and the unmanned aerial vehicle is controlled by the unmanned aerial vehicle control terminal according to the current position information and the management area map.
5. The method of unmanned aerial vehicle management according to claim 4, wherein the step S43 comprises:
s43-1: outputting a no-fly instruction when the current position information is coincident with the edge of the no-fly area; or (b)
When the current position information is positioned at the map boundary of the management area, generating an edge instruction;
s43-2: outputting the flight control forbidden instruction to the unmanned aerial vehicle control end; the unmanned aerial vehicle control end extracts a displacement instruction from the unmanned aerial vehicle according to the flight control instruction and outputs the displacement instruction; receiving and judging whether the unmanned aerial vehicle moves to a no-fly area according to the displacement instruction; or (b)
Retrieving an encrypted map adjacent to the current location information from each working node of a blockchain database according to the edge instruction;
s43-3: if the unmanned aerial vehicle is judged to move out of the no-fly zone according to the displacement instruction, outputting a no-fly zone execution instruction to the unmanned aerial vehicle control end, so that the unmanned aerial vehicle control end controls the unmanned aerial vehicle to execute the displacement instruction; if the unmanned aerial vehicle is judged to move into the no-fly zone according to the displacement instruction, outputting a no-fly zone prohibition instruction to the unmanned aerial vehicle control end, so that the unmanned aerial vehicle control end controls the unmanned aerial vehicle to stop executing the displacement instruction; or (b)
If the block chain database is provided with an encrypted map adjacent to the current position information, extracting the encrypted map, decrypting the encrypted map by using a private key to obtain a management area map, and outputting the management area map to the unmanned aerial vehicle control end; outputting an extraction instruction to the unmanned aerial vehicle control end if the blockchain database does not have the encryption map adjacent to the current position information, and extracting and outputting a displacement instruction from the unmanned aerial vehicle by the unmanned aerial vehicle control end according to the extraction instruction; receiving and judging whether the unmanned aerial vehicle moves out of a management area map according to the displacement instruction;
if the unmanned aerial vehicle moves into the management area map according to the displacement instruction, outputting a boundary area execution instruction to the unmanned aerial vehicle control end, so that the unmanned aerial vehicle control end controls the unmanned aerial vehicle to execute the displacement instruction; if the unmanned aerial vehicle moves to the outside of the management area map according to the displacement instruction, outputting a boundary area prohibition instruction to the unmanned aerial vehicle control end, so that the unmanned aerial vehicle control end controls the unmanned aerial vehicle to stop executing the displacement instruction.
6. A drone management device, comprising:
the management area module is used for dividing the flight full map, receiving a management area map and outputting the management area map to the working nodes in the blockchain database;
the encryption module is used for encrypting the management area map to obtain an encrypted map, and outputting the encrypted map to a working node of a blockchain database for storage;
encrypting the management area map to obtain an encrypted map, and outputting the encrypted map to a working node of a blockchain database for storage comprises the following steps: setting a working node which receives the management area map as an uploading node, and temporarily storing the management area map in the uploading node; receiving a temporary storage success instruction output by the uploading node; encrypting the management area map according to the temporary success instruction to obtain an encrypted map, and outputting the encrypted map to the uploading node for storage; receiving a saving success instruction output by the uploading node; encrypting the management area map according to the temporary success instruction to obtain an encrypted map, and outputting the encrypted map to the uploading node for storage, wherein the method comprises the following steps: obtaining a private key by utilizing a random number generation module according to the temporary storage success instruction, and outputting the private key to the uploading node; controlling the uploading node to encrypt the management area map by using the private key so as to obtain an encrypted map; calculating the private key by using an elliptic curve algorithm to obtain a public key; carrying out hash operation on the management area map by utilizing one-way hash operation to obtain a hash value; setting other working nodes except the uploading node in the blockchain database as verification nodes; transmitting the public key, the encrypted map and the hash value to a verification node, wherein the verification node decrypts the encrypted map by using the received public key and obtains a decryption digest; if the decryption digests obtained by the verification node are consistent with the hash value, the verification node generates an acknowledgement signal; receiving an acknowledgement signal output by the blockchain database; if at least one decryption digest obtained by the verification node is inconsistent with the hash value, receiving an invalidation signal output by the blockchain database; deleting the temporarily stored management area map in the uploading node according to the admission signal, and storing the encrypted map in the uploading node; or deleting the management area map temporarily stored in the uploading node according to the invalid signal; the position management module is used for receiving the current position information and outputting a management area map matched with the current position information;
and the flight control module is used for controlling the unmanned aerial vehicle to start so that the unmanned aerial vehicle flies according to the management area map.
7. A computer system comprising a plurality of computer devices, each computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor of the plurality of computer devices collectively implement the steps of the drone management method of any one of claims 1 to 5 when the computer program is executed.
8. A computer readable storage medium comprising a plurality of storage media, each storage medium having stored thereon a computer program, characterized in that the computer programs stored on the plurality of storage media when executed by a processor collectively implement the steps of the drone management method of any one of claims 1 to 5.
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| CN201910031685.9A CN109885629B (en) | 2019-01-14 | 2019-01-14 | Unmanned aerial vehicle management method, unmanned aerial vehicle management device, computer system and readable storage medium |
| PCT/CN2019/089513 WO2020147244A1 (en) | 2019-01-14 | 2019-05-31 | Unmanned aerial vehicle management method and device, computer system, and readable storage medium |
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| CN111259437A (en) * | 2020-01-09 | 2020-06-09 | 腾讯科技（深圳）有限公司 | Operation control method based on block chain and related equipment |
| CN111669795B (en) * | 2020-06-30 | 2021-08-13 | 中国科学技术大学 | Ad hoc network mobile access switching method based on block chain security attribute |
| CN111915931A (en) * | 2020-07-26 | 2020-11-10 | 中国人民解放军93209部队 | Batch flight plan error correction method, device and system based on Mercker tree |
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| CN105373616A (en) * | 2015-11-26 | 2016-03-02 | 杨珊珊 | Manufacture method and manufacture device of electronic map |
| CN106970640A (en) * | 2017-03-21 | 2017-07-21 | 北京小米移动软件有限公司 | The no-fly control method and device of unmanned plane |
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| US11209815B2 (en) * | 2016-04-01 | 2021-12-28 | Intel Corporation | Drone control registration |
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| CN105373616A (en) * | 2015-11-26 | 2016-03-02 | 杨珊珊 | Manufacture method and manufacture device of electronic map |
| CN106970640A (en) * | 2017-03-21 | 2017-07-21 | 北京小米移动软件有限公司 | The no-fly control method and device of unmanned plane |
| CN107911793A (en) * | 2017-10-30 | 2018-04-13 | 东南大学 | A kind of unmanned plane arbitrary graphic no-fly zone navigation by recognition system |
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