CN110971289B

CN110971289B - Unmanned aerial vehicle control method and device, storage medium and electronic equipment

Info

Publication number: CN110971289B
Application number: CN201811151051.9A
Authority: CN
Inventors: 王悦; 赵炳根; 赵自强
Original assignee: BYD Co Ltd
Current assignee: BYD Co Ltd
Priority date: 2018-09-29
Filing date: 2018-09-29
Publication date: 2021-06-18
Anticipated expiration: 2038-09-29
Also published as: CN110971289A

Abstract

The utility model relates to a control method, device and storage medium and electronic equipment of unmanned aerial vehicle, be applied to the main unmanned aerial vehicle in the unmanned aerial vehicle interactive network, including main unmanned aerial vehicle and at least one from unmanned aerial vehicle in the unmanned aerial vehicle interactive network, the method includes: determining a target assistance task; acquiring a candidate unmanned aerial vehicle from at least one slave unmanned aerial vehicle according to the target assistance task; sending an assistance request message to the candidate unmanned aerial vehicle; the assistance request message comprises a target assistance task; determining a target unmanned aerial vehicle from the candidate unmanned aerial vehicles according to the response message of the candidate unmanned aerial vehicles to the assistance request message; generating a control instruction according to the target assistance task, and sending the control instruction to the target unmanned aerial vehicle; the control instruction is used for controlling the target unmanned aerial vehicle to execute the target assistance task. Like this, main unmanned aerial vehicle make full use of target unmanned aerial vehicle carries out target and assists the task to improve the efficiency that main unmanned aerial vehicle carried out the task, and avoided main unmanned aerial vehicle's quantity less and the problem that the execution task efficiency is low that leads to.

Description

Unmanned aerial vehicle control method and device, storage medium and electronic equipment

Technical Field

The present disclosure relates to the field of unmanned aerial vehicle technologies, and in particular, to a method and an apparatus for controlling an unmanned aerial vehicle, a storage medium, and an electronic device.

Background

At present, generally, problems that police vehicles cannot reach an incident scene in time or target objects are caught and lost due to traffic congestion are solved, and in consideration of the fact that unmanned aerial vehicles can achieve high-resolution image acquisition, more and more police vehicles are provided with the unmanned aerial vehicles, so that the police vehicles can be assisted to monitor the incident scene or catch the target objects.

However, the number of the police vehicles is small, so that the unmanned aerial vehicles equipped with the police vehicles cannot be distributed in a large range, and thus before monitoring the event site, the unmanned aerial vehicles equipped with the police vehicles need to fly to the event site, the battery power of the unmanned aerial vehicles is limited, and if the distance from the unmanned aerial vehicles to the event site is long, the remaining power of the unmanned aerial vehicles cannot support the unmanned aerial vehicles to fly to the event site, or the remaining power of the unmanned aerial vehicles cannot guarantee monitoring the event site for a preset time; when a target object is tracked, if the track of the target object is unknown, a large-scale tracking cannot be performed only by an unmanned aerial vehicle equipped with a police vehicle. Therefore, the distribution of unmanned aerial vehicles equipped on police vehicles limits the case handling efficiency of police officers less.

Disclosure of Invention

In order to solve the above problem, the present disclosure provides a control method and apparatus for an unmanned aerial vehicle, a storage medium, and an electronic device.

In a first aspect, a method for controlling an unmanned aerial vehicle is provided, where the method is applied to a master unmanned aerial vehicle in an unmanned aerial vehicle interactive network, where the unmanned aerial vehicle interactive network includes the master unmanned aerial vehicle and at least one slave unmanned aerial vehicle, and the method includes:

determining a target assistance task;

acquiring a candidate unmanned aerial vehicle from at least one slave unmanned aerial vehicle according to the target assistance task;

sending an assistance request message to the candidate drone; the assistance request message comprises the target assistance task;

determining a target drone from the candidate drones according to a response message of the candidate drones to the assistance request message;

generating a control instruction according to the target assistance task, and sending the control instruction to the target unmanned aerial vehicle; the control instruction is used for controlling the target unmanned aerial vehicle to execute the target assistance task.

Optionally, before generating a control instruction according to the target assistance task, the method further includes:

determining whether an assisting vehicle corresponding to the target unmanned aerial vehicle is in a running state;

the generating of the control instruction according to the target assistance task comprises:

and when the assisting vehicle corresponding to the target unmanned aerial vehicle is not in a running state, generating a control instruction according to the target assisting task.

Optionally, when the target assistance task includes an object search task, the obtaining a candidate drone from at least one slave drone according to the target assistance task includes:

determining all slave drones in the drone interaction network as the candidate drones.

Optionally, after generating a control instruction according to the target assistance task, the method further includes:

receiving a target image sent by the target unmanned aerial vehicle and the current position of the target unmanned aerial vehicle; the target image comprises a target object;

and tracking the target object according to the current position when the target object is determined to be a preset search object.

Optionally, after the tracking the target object according to the current position, the method further includes:

determining an auxiliary unmanned aerial vehicle within a first preset position range of the current position; the auxiliary unmanned aerial vehicle is a slave unmanned aerial vehicle which is included in the unmanned aerial vehicle interaction network and is except for the target unmanned aerial vehicle;

and monitoring the target object through the auxiliary unmanned aerial vehicle.

Optionally, when the target assistance task includes a scene monitoring task, the obtaining a candidate drone from at least one slave drone according to the target assistance task includes:

acquiring coordinate positions corresponding to a plurality of slave unmanned aerial vehicles included in an unmanned aerial vehicle interactive network;

and determining the slave unmanned aerial vehicle in a second preset position range of the target position as the candidate unmanned aerial vehicle according to the coordinate position.

receiving a scene image sent by the target unmanned aerial vehicle; the scene image is an image within a third preset position range of the target position;

and displaying the scene image.

receiving a low power prompt message sent by the target unmanned aerial vehicle;

and according to the low power prompt message, re-determining the target unmanned aerial vehicle from the slave unmanned aerial vehicles except the target unmanned aerial vehicle included in the unmanned aerial vehicle interaction network.

In a second aspect, a method for controlling a drone is provided, which is applied to a candidate drone in at least one slave drone included in a drone interaction network, where the drone interaction network includes a master drone and at least one slave drone, and the method includes:

receiving a request assistance message sent by a main unmanned aerial vehicle; the request assistance message comprises a target assistance task;

determining whether to approve execution of the target assistance task;

generating an assistance confirmation message when the target assistance task is agreed to be executed;

and sending the assistance confirmation message to the main unmanned aerial vehicle so that the main unmanned aerial vehicle determines the candidate unmanned aerial vehicle as a target unmanned aerial vehicle according to the assistance confirmation message, generates a control instruction according to the target assistance task, and sends the control instruction to the target unmanned aerial vehicle, wherein the control instruction is used for controlling the target unmanned aerial vehicle to execute the target assistance task.

Optionally, when the target assistance task includes an object search task, after the sending the assistance confirmation message to the master drone, the method further includes:

acquiring a target image within a fourth preset position range of an assisting vehicle corresponding to the target unmanned aerial vehicle; the target image comprises a target object;

acquiring the matching degree between the target object and a preset search object;

when the matching degree is greater than or equal to a preset matching degree, acquiring the current position of the target unmanned aerial vehicle;

and sending the target image and the current position to the main unmanned aerial vehicle so that the main unmanned aerial vehicle can determine whether the target object is a preset search object or not, and tracking the target object according to the current position when the target object is the preset search object.

Optionally, when the target assistance task includes a scene monitoring task, after the assistance confirmation message is sent to the master drone, the method further includes:

acquiring a scene image within a third preset position range of the target position;

and sending the scene image to the main unmanned aerial vehicle so that the main unmanned aerial vehicle can display the scene image.

Optionally, after the sending the assistance confirmation message to the master drone, the method further includes:

acquiring the current residual capacity of the target unmanned aerial vehicle;

and when the current residual power is less than or equal to the preset power, generating a low power prompt message, and sending the low power prompt message to the master unmanned aerial vehicle, so that the master unmanned aerial vehicle can re-determine the target unmanned aerial vehicle from slave unmanned aerial vehicles, except the target unmanned aerial vehicle, included in the slave unmanned aerial vehicle interaction network according to the low power prompt message.

In a third aspect, a control apparatus for an unmanned aerial vehicle is provided, where the control apparatus is applied to a master unmanned aerial vehicle in an unmanned aerial vehicle interactive network, where the unmanned aerial vehicle interactive network includes the master unmanned aerial vehicle and at least one slave unmanned aerial vehicle, and the apparatus includes:

the task determination module is used for determining a target assistance task;

the unmanned aerial vehicle acquisition module is used for acquiring candidate unmanned aerial vehicles from at least one slave unmanned aerial vehicle according to the target assistance task;

an assistance message sending module, configured to send an assistance request message to the candidate drone; the assistance request message comprises the target assistance task;

an unmanned aerial vehicle determination module, configured to determine a target unmanned aerial vehicle from the candidate unmanned aerial vehicles according to a response message of the candidate unmanned aerial vehicle to the assistance request message;

the command processing module is used for generating a control command according to the target assistance task and sending the control command to the target unmanned aerial vehicle; the control instruction is used for controlling the target unmanned aerial vehicle to execute the target assistance task.

Optionally, the method further comprises:

the state determination module is used for determining whether the assisting vehicle corresponding to the target unmanned aerial vehicle is in a running state;

and the instruction processing module is used for generating a control instruction according to the target assistance task when the assistance vehicle corresponding to the target unmanned aerial vehicle is not in a running state.

Optionally, when the target assistance task includes an object search task, the drone acquisition module is configured to determine all slave drones in the drone interaction network as the candidate drones.

Optionally, the method further comprises:

the information receiving module is used for receiving a target image sent by the target unmanned aerial vehicle and the current position of the target unmanned aerial vehicle; the target image comprises a target object;

and the tracking module is used for tracking the target object according to the current position when the target object is determined to be a preset search object.

Optionally, the method further comprises:

the auxiliary determining module is used for determining an auxiliary unmanned aerial vehicle in a first preset position range of the current position; the auxiliary unmanned aerial vehicle is a slave unmanned aerial vehicle which is included in the unmanned aerial vehicle interaction network and is except for the target unmanned aerial vehicle;

and the monitoring module is used for monitoring the target object through the auxiliary unmanned aerial vehicle.

Optionally, when the target assistance task includes a scene monitoring task, the drone determining module includes:

the position acquisition submodule is used for acquiring coordinate positions corresponding to a plurality of slave unmanned aerial vehicles included in the unmanned aerial vehicle interactive network;

and the determining submodule is used for determining the slave unmanned aerial vehicle in a second preset position range of the target position as the candidate unmanned aerial vehicle according to the coordinate position.

Optionally, the method further comprises:

the image receiving module is used for receiving the scene image sent by the target unmanned aerial vehicle; the scene image is an image within a third preset position range of the target position;

and the display module is used for displaying the scene image.

Optionally, the method further comprises:

the prompt message receiving module is used for receiving a low power prompt message sent by the target unmanned aerial vehicle;

and the re-determining module is used for re-determining the target unmanned aerial vehicle from the slave unmanned aerial vehicles except the target unmanned aerial vehicle, which are included in the unmanned aerial vehicle interaction network, according to the low power prompt message.

In a fourth aspect, a control apparatus for a drone is provided, where the control apparatus is applied to a candidate drone in at least one slave drone included in a drone interaction network, where the drone interaction network includes a master drone and at least one slave drone, and the apparatus includes:

the assistance message receiving module is used for receiving a request assistance message sent by the main unmanned aerial vehicle; the request assistance message comprises a target assistance task;

a task judgment module for determining whether the target assistance task is allowed to be executed;

a confirmation message generation module, configured to generate a assistance confirmation message when the target assistance task is agreed to be executed;

and the confirmation message sending module is used for sending the assistance confirmation message to the main unmanned aerial vehicle so that the main unmanned aerial vehicle can determine that the candidate unmanned aerial vehicle is the target unmanned aerial vehicle according to the assistance confirmation message, generate a control instruction according to the target assistance task, and send the control instruction to the target unmanned aerial vehicle, wherein the control instruction is used for controlling the target unmanned aerial vehicle to execute the target assistance task.

Optionally, when the target assistance task includes an object search task, the method further includes:

the target image acquisition module is used for acquiring a target image within a fourth preset position range of the assisting vehicle corresponding to the target unmanned aerial vehicle; the target image comprises a target object;

the matching degree acquisition module is used for acquiring the matching degree between the target object and a preset search object;

the position acquisition module is used for acquiring the current position of the target unmanned aerial vehicle when the matching degree is greater than or equal to a preset matching degree;

and the information sending module is used for sending the target image and the current position to the main unmanned aerial vehicle so that the main unmanned aerial vehicle can determine whether the target object is a preset search object or not, and when the target object is the preset search object, the target object is tracked according to the current position.

Optionally, when the target assistance task includes a scene monitoring task, the method further includes:

the scene image acquisition module is used for acquiring a scene image within a third preset position range of the target position;

and the image sending module is used for sending the scene image to the main unmanned aerial vehicle so that the main unmanned aerial vehicle can display the scene image.

Optionally, the method further comprises:

the electric quantity obtaining module is used for obtaining the current residual electric quantity of the target unmanned aerial vehicle;

and the message processing module is used for generating a low-power prompt message when the current residual power is less than or equal to the preset power, and sending the low-power prompt message to the master unmanned aerial vehicle, so that the master unmanned aerial vehicle can re-determine the target unmanned aerial vehicle from slave unmanned aerial vehicles except the target unmanned aerial vehicle, which are included in the slave unmanned aerial vehicle interaction network, according to the low-power prompt message.

In a fifth aspect, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of the first or second aspect.

In a sixth aspect, an electronic device is provided, comprising:

a memory having a computer program stored thereon;

a processor for executing the computer program in the memory to implement the steps of the method of the first or second aspect.

Through the technical scheme, the main unmanned aerial vehicle can firstly determine a target assistance task; then, acquiring candidate unmanned planes from at least one slave unmanned plane according to the target assistance task; then sending an assistance request message to the candidate drone; the assistance request message comprises the target assistance task; secondly, determining a target unmanned aerial vehicle from the candidate unmanned aerial vehicles according to the response message of the candidate unmanned aerial vehicles to the assistance request message; finally, generating a control instruction according to the target assistance task, and sending the control instruction to the target unmanned aerial vehicle; the control instruction is used for controlling the target unmanned aerial vehicle to execute the target assistance task. Like this, main unmanned aerial vehicle make full use of target unmanned aerial vehicle carries out target and assists the task to improve the efficiency that main unmanned aerial vehicle carried out the task, and avoided main unmanned aerial vehicle's quantity less and the problem that the execution task efficiency is low that leads to.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:

fig. 1 is a block diagram of a drone control system shown in an exemplary embodiment of the present disclosure;

fig. 2 is a flowchart illustrating a first method for controlling a drone according to an exemplary embodiment of the present disclosure;

fig. 3 is a flowchart illustrating a second method for controlling a drone according to an exemplary embodiment of the present disclosure;

fig. 4 is a flowchart illustrating a control method of a third drone according to an exemplary embodiment of the present disclosure;

fig. 5 is a block diagram of a control apparatus of a first type of drone shown in an exemplary embodiment of the present disclosure;

fig. 6 is a block diagram of a control apparatus of a first type of drone shown in an exemplary embodiment of the present disclosure;

fig. 7 is a block diagram of a control apparatus of a first type of drone shown in an exemplary embodiment of the present disclosure;

fig. 8 is a block diagram of a control apparatus of a first type of drone shown in an exemplary embodiment of the present disclosure;

fig. 9 is a block diagram of a control apparatus of a first type of drone shown in an exemplary embodiment of the present disclosure;

fig. 10 is a block diagram of a control apparatus of a first type of drone shown in an exemplary embodiment of the present disclosure;

fig. 11 is a block diagram of a control apparatus of a first type of drone shown in an exemplary embodiment of the present disclosure;

fig. 12 is a block diagram of a control apparatus of a first type of drone shown in an exemplary embodiment of the present disclosure;

fig. 13 is a block diagram of a control apparatus of a first type of drone shown in an exemplary embodiment of the present disclosure;

fig. 14 is a block diagram of a control apparatus of a first type of drone shown in an exemplary embodiment of the present disclosure;

fig. 15 is a block diagram of a control apparatus of a first type of drone shown in an exemplary embodiment of the present disclosure;

fig. 16 is a block diagram of an electronic device shown in an exemplary embodiment of the present disclosure.

Detailed Description

The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.

First, the present disclosure is explained in detail, and the present disclosure may be applied to a drone control system, as shown in fig. 1, the control system may include a master drone 1 and at least one slave drone 2 (i.e., slave drone 21, slave drone 22, …, slave drone 2n, n is a positive integer), the master drone 1 and the at least one slave drone 2 are both connected to a drone interaction network, so that the master drone 1 may perform information interaction with the at least one slave drone 2, wherein the master drone 1 may be configured on a master vehicle car1, and the at least one slave drone 2 may be respectively configured on corresponding assist vehicles, i.e., slave drone 21 is configured on an assist vehicle car21, slave drone 22 is configured on an assist vehicle car22, …, and slave drone 2n is configured on an assist vehicle car2 n. For example, the host vehicle car1 may be a police vehicle, and the assisting vehicle car2 may be a social vehicle (e.g., a private vehicle, a passenger vehicle, etc.), so that the master drone of the police vehicle configuration may control the slave drone of the social vehicle configuration to assist in handling cases, thereby improving the handling efficiency.

According to the unmanned aerial vehicle, the main unmanned aerial vehicle acquires the candidate unmanned aerial vehicle from at least one slave unmanned aerial vehicle according to the target assistance task, sends the request assistance message to the candidate unmanned aerial vehicle, and determines the target unmanned aerial vehicle according to the response message of the candidate unmanned aerial vehicle to the request assistance message, so that the main unmanned aerial vehicle fully utilizes the target unmanned aerial vehicle to execute the target assistance task, the efficiency of the main unmanned aerial vehicle for executing the task is improved, and the problem of low task execution efficiency caused by the small number of the main unmanned aerial vehicle is solved.

The present disclosure is described in detail below with reference to specific examples.

Fig. 2 is a flowchart illustrating a method for controlling a drone according to an exemplary embodiment of the present disclosure, where as shown in fig. 2, the method is applied to a master drone in a drone interaction network, where the drone interaction network includes a master drone and at least one slave drone, and the method includes:

s201, determining a target assistance task.

In one possible implementation, the target application may be issued to a terminal of an assisting person (the assisting person is a bound owner of an assisting vehicle provided with a slave drone) so that the assisting person determines whether to use the target application, and when it is determined that the assisting person uses the target application, information registration (the information includes assisting person information, assisting vehicle information, slave drone information, and the like) may be performed in the target application by the assisting person, and likewise, the target application may be issued to a terminal of a policeman so that the policeman determines whether to use the target application, and when it is determined that the policeman uses the target application, information registration (the information includes policeman information, police vehicle information, and the like) may be performed in the target application by the policeman, Master drone information, etc.). In this way, all the assisting persons and police officers who register information in the target application, and the master unmanned aerial vehicle and the slave unmanned aerial vehicle can perform information interaction through the target application, and the information interaction mode can be a mobile network (such as 4G, 3G, 2.5G and the like).

In this step, the target assistance task may be issued in the target application by police officers, and at this time, the master drone may determine the target assistance task, where the target assistance task may include an object search task (e.g., a task of searching for wanted objects, a task of searching for missing people, a task of searching for criminals, etc.) or a scene monitoring task (e.g., a task of monitoring a report place, etc.), which is only an example and is not limited in this disclosure.

S202, acquiring candidate unmanned aerial vehicles from at least one slave unmanned aerial vehicle according to the target assistance task.

When the target assistance task is an object search task, considering that the position information of the search object may not be determined, at this time, the search object needs to be searched in a large range, and all the slave unmanned aerial vehicles in the unmanned aerial vehicle interactive network can be determined as candidate unmanned aerial vehicles in the step, so that the search range of the search object is enlarged; when this target assists the task to be the scene monitoring task, consider that need monitor the target location, if monitor this target location from unmanned aerial vehicle far away through this target location, then should follow unmanned aerial vehicle and can't in time monitor the scene, and fly to this target location and consume more electric quantity, and this electric quantity from unmanned aerial vehicle is limited, make this follow unmanned aerial vehicle's surplus electric quantity can support this follow unmanned aerial vehicle's monitoring time shorter, consequently, this step can acquire the coordinate position that a plurality of follow unmanned aerial vehicle that unmanned aerial vehicle interaction network includes correspond, and confirm according to this coordinate position that follow unmanned aerial vehicle in the second of target location presets the position within range is this candidate unmanned aerial vehicle.

And S203, sending an assistance request message to the candidate unmanned aerial vehicle.

Wherein the assistance request message comprises a target assistance task.

And S204, determining a target unmanned aerial vehicle from the candidate unmanned aerial vehicles according to the response message of the candidate unmanned aerial vehicle to the assistance request message.

In this step, when the response message of the candidate drone is the assistance confirmation message, determining that the candidate drone is the target drone; when the response message of the candidate unmanned aerial vehicle is the assistance rejection message, the candidate unmanned aerial vehicle is determined not to be the target unmanned aerial vehicle, so that whether the assisting personnel corresponding to the candidate unmanned aerial vehicle agrees to execute the target assistance task or not can be determined, and the autonomous selectivity of the user is improved.

And S205, generating a control instruction according to the target assistance task, and sending the control instruction to the target unmanned aerial vehicle.

Wherein, this control command is used for controlling this target unmanned aerial vehicle to carry out this target and assist the task.

By adopting the method, the master unmanned aerial vehicle can acquire the candidate unmanned aerial vehicle from at least one slave unmanned aerial vehicle according to the target assistance task, send the request assistance message to the candidate unmanned aerial vehicle, and determine the target unmanned aerial vehicle according to the response message of the candidate unmanned aerial vehicle to the request assistance message, so that the master unmanned aerial vehicle fully utilizes the target unmanned aerial vehicle to execute the target assistance task, the task execution efficiency of the master unmanned aerial vehicle is improved, and the problem of low task execution efficiency caused by the small number of the master unmanned aerial vehicle is solved.

Fig. 3 is a flowchart illustrating a method for controlling a drone according to an exemplary embodiment of the present disclosure, where the method is applied to a candidate drone in at least one slave drone included in a drone interaction network, where the drone interaction network includes a master drone and at least one slave drone, as shown in fig. 3, and the method includes:

s301, receiving a request assistance message sent by the main unmanned aerial vehicle.

The request assistance message includes a target assistance task, and the target assistance task may include an object search task (e.g., a task of searching for wanted objects, a task of searching for missing people, a task of searching for criminals, etc.) or a scene monitoring task (e.g., a task of monitoring for a report place, etc.), which are given by way of example only and are not limited in this disclosure.

S302, whether the target assistance task is executed is determined.

In this step, whether to agree to execute the target assistance task can be determined by the assistant corresponding to the target unmanned aerial vehicle, so that the autonomous selectivity of the user is improved. In a possible implementation manner, the target drone may send the target assistance task to the terminal of the assisting person, so that the terminal of the assisting person displays a prompt message according to the target assistance task, if the prompt message is "whether to approve execution of the target assistance task", and displays a "yes" button and a "no" button, when the user clicks the "yes" button, it is determined that the assisting person approves execution of the target assistance task, and when the user clicks the "no" button, it is determined that the assisting person refuses execution of the target assistance task, which is only an example, and the disclosure does not limit this.

S303, generating an assistance confirmation message when the target assistance task is approved to be executed.

It should be noted that when the target assistance task is rejected from being executed, an assistance rejection message is generated.

S304, sending the assistance confirmation message to the host drone, so that the host drone determines the candidate drone as a target drone according to the assistance confirmation message, generates a control instruction according to the target assistance task, and sends the control instruction to the target drone.

Wherein, this control command is used for controlling this target unmanned aerial vehicle to carry out this target and assists the task, and specifically, target unmanned aerial vehicle receives this control command, assists the task according to this control command execution this target.

By adopting the method, whether the candidate unmanned aerial vehicle assists the main unmanned aerial vehicle to execute the target assistance task can be determined, so that when the candidate unmanned aerial vehicle determines to assist the main unmanned aerial vehicle to execute the target assistance task, the candidate unmanned aerial vehicle is determined to be the target unmanned aerial vehicle, the main unmanned aerial vehicle can fully utilize the target unmanned aerial vehicle to execute the target assistance task, the task execution efficiency of the main unmanned aerial vehicle is improved, and the problem of low task execution efficiency caused by the small number of the main unmanned aerial vehicles is solved.

Fig. 4 is a schematic flowchart of a control method for a drone according to an exemplary embodiment of the present disclosure, and as shown in fig. 4, the control method is applied to the drone control system shown in fig. 1, where a master drone is a police drone configured on a police vehicle, and a slave drone is an assist drone configured on an assist vehicle, and the method includes:

s401, the police unmanned aerial vehicle determines a target assistance task.

In one possible implementation, the target application may be issued to a terminal of an assistant (the assistant is a bound vehicle owner equipped with an assistant vehicle for assisting a drone), so that the assistant determines whether to use the target application, and when determining that the assistant uses the target application, the assistant registers information (the information includes assistant information, assistant vehicle information, assistant drone information, and the like) in the target application, and likewise, the target application may be issued to a terminal of a policeman, so that the policeman determines whether to use the target application, and when determining that the policeman uses the target application, the policeman registers information (the information includes policeman information, police vehicle information, and the like) in the target application, Police drone information, etc.). Therefore, all the assisting personnel and the police officers for registering information in the target application program, and the police unmanned aerial vehicle and the assisting unmanned aerial vehicle can perform information interaction through the target application program, and the information interaction mode can be a mobile network (such as 4G, 3G, 2.5G and the like).

In this step, the target assistance task may be issued in the target application by a police officer, at this time, the police drone may determine the target assistance task through the target application, where the target assistance task may include an object search task (e.g., a task of searching for wanted objects, a task of searching for missing people, a task of searching for criminals, etc.) or a scene monitoring task (e.g., a task of monitoring a report place, etc.), which is only an example and is not limited by the present disclosure.

In this disclosure, this alert unmanned aerial vehicle that uses has the function of warning, if police officer handles a case through driving alert vehicle, can carry out the high altitude flashing light through this alert unmanned aerial vehicle and whistle to other vehicles on the alert vehicle driving route of suggestion are in time dodged.

S402, the police unmanned aerial vehicle acquires candidate unmanned aerial vehicles from at least one assisting unmanned aerial vehicle according to the target assisting task.

It should be noted that, after the assisting personnel corresponding to the assisting unmanned aerial vehicle completes information registration in the target application program, the target application program may display a sliding switch button to the assisting personnel, and when the sliding switch button is closed, it is determined that the assisting unmanned aerial vehicle does not agree to join the unmanned aerial vehicle interactive network, and at this time, the assisting unmanned aerial vehicle cannot acquire the target assisting task sent by the police unmanned aerial vehicle; when the user agrees to assist police unmanned aerial vehicle to carry out assistance task, can start (like clicking or sliding etc.) this sliding switch button, at this moment, should assist unmanned aerial vehicle and join in this unmanned aerial vehicle interactive network to this assistance unmanned aerial vehicle can receive the target assistance task that police unmanned aerial vehicle sent, and it is thus clear that at least one in this step assists unmanned aerial vehicle for the assistance unmanned aerial vehicle who starts this sliding switch button, above-mentioned example is just illustration, and this disclosure does not limit this.

When the target assisting task is an object searching task, considering that the position information of the searching object may not be determined, at this time, the searching object needs to be searched in a large range, and all assisting unmanned aerial vehicles in the unmanned aerial vehicle interactive network can be determined to be candidate unmanned aerial vehicles in the step, so that the searching range of the searching object is enlarged; when the target assisting task is a scene monitoring task, considering that a target position needs to be monitored, if the target position is monitored by an assisting unmanned aerial vehicle far away from the target position, the assisting unmanned aerial vehicle cannot monitor the scene in time, and the assisting unmanned aerial vehicle flies to the target position to consume more electric quantity, and the electric quantity of the assisting unmanned aerial vehicle is limited, so that the monitoring time of the assisting unmanned aerial vehicle can be short due to the residual electric quantity of the assisting unmanned aerial vehicle, therefore, the step can acquire the coordinate positions corresponding to a plurality of assisting unmanned aerial vehicles included in the unmanned aerial vehicle interaction network, and determine the assisting unmanned aerial vehicle within a second preset position range of the target position as the candidate unmanned aerial vehicle according to the coordinate position, so that the scene can be monitored in time by determining the assisting unmanned aerial vehicle close in position as the candidate unmanned aerial vehicle, and because the candidate unmanned aerial vehicle is close to the target position, the electric quantity consumed by flight is saved, and therefore the monitoring time of the candidate unmanned aerial vehicle is prolonged.

S403, the police drone sends an assistance request message to the candidate drone.

Wherein the assistance request message comprises a target assistance task.

S404, the police drone determines the target drone from the candidate drones according to the response message of the candidate drone to the assistance request message.

In this step, after receiving the request assistance message sent by the police unmanned aerial vehicle, the candidate unmanned aerial vehicle determines whether to approve execution of the target assistance task, and generates an assistance confirmation message and sends the assistance confirmation message to the police unmanned aerial vehicle when the candidate unmanned aerial vehicle approves execution of the target assistance task; and when the target assistance task is refused to be executed, generating an assistance refusing message, and sending the assistance refusing message to the police unmanned aerial vehicle. In a possible implementation manner, the candidate drone may send the target assistance task to the terminal of the assisting person, so that the terminal of the assisting person displays a prompt message according to the target assistance task, if the prompt message is "whether to approve execution of the target assistance task", and displays a "yes" button and a "no" button, when the user clicks the "yes" button, it is determined that the assisting person approves execution of the target assistance task, and when the user clicks the "no" button, it is determined that the assisting person refuses execution of the target assistance task, which is only an example, and the disclosure does not limit this.

In this step, when the response message of the candidate drone is the assistance confirmation message, the police drone determines that the candidate drone is the target drone; when the response message of the candidate unmanned aerial vehicle is the assistance rejection message, the police unmanned aerial vehicle determines that the candidate unmanned aerial vehicle is not the target unmanned aerial vehicle, so that whether the target assistance task is agreed to be executed or not can be determined by the assisting personnel corresponding to the candidate unmanned aerial vehicle, and the autonomous selectivity of the user is improved.

S405, the police unmanned aerial vehicle generates a control instruction according to the target assistance task and sends the control instruction to the target unmanned aerial vehicle.

Because this assist vehicle is at the in-process of traveling, this assist unmanned aerial vehicle usually needs the priority to assist this assist vehicle to travel, then assist and carry out this target and assist the task, consequently, before this step, can confirm earlier whether this target unmanned aerial vehicle corresponds assists the vehicle and is in the state of traveling, when this target unmanned aerial vehicle corresponds assists the vehicle and is not in the state of traveling, this target unmanned aerial vehicle need not to assist this assist vehicle to travel, at this moment, police uses unmanned aerial vehicle to assist task generation this control command according to this target, thereby ensure to assist unmanned aerial vehicle and preferentially assist this assist vehicle.

When the assistance vehicle that corresponds at this target unmanned aerial vehicle is in the running state, in a possible implementation, this assistance unmanned aerial vehicle needs the priority to assist this assistance vehicle to travel, then assists and carries out this target assistance task, at this moment, police uses unmanned aerial vehicle to assist task generation auxiliary instruction according to this target, and this auxiliary instruction is used for instructing this target unmanned aerial vehicle priority to assist this assistance vehicle to travel, then assists and carries out this target assistance task. Through the mode, if the assisting personnel of the assisting vehicle assist the target assisting task, the assisting vehicle can be parked at a safe position after receiving the assisting request message, and the assisting unmanned aerial vehicle continues driving after finishing the target assisting task, so that safe driving is improved. In another possible implementation manner, when the police unmanned aerial vehicle sends the control instruction, the task emergency level corresponding to the target assistance task and the target assistance task need to be jointly sent to the target unmanned aerial vehicle, so that the target unmanned aerial vehicle can determine whether the target unmanned aerial vehicle executes the target assistance task according to the task emergency level of the target assistance task, when the task emergency level is greater than or equal to a preset emergency level, the target unmanned aerial vehicle is determined to execute the target assistance task, when the task emergency level is less than the preset emergency level, the target unmanned aerial vehicle is determined to preferentially assist the assistance vehicle to run, and then the target assistance task is assisted to be executed. Exemplarily, if the target assisting task includes a task of searching for wanted objects, a task of searching for missing people, a task of searching for criminals, a task of monitoring a report place, and the like, the task emergency level corresponding to the task of searching for wanted objects may be set to 2, the task emergency level corresponding to the task of searching for missing people may be set to 1, the task emergency level corresponding to the task of searching for criminals may be set to 3, and the task emergency level corresponding to the task of monitoring a report place may be set to 2, and the preset emergency level may be set to 3, so that, when the assisting vehicle corresponding to the target unmanned aerial vehicle is in a driving state, if the target assisting task is the task of searching for criminals, the target unmanned aerial vehicle executes the target assisting task; if the target assisting task is a task of searching for a missing person, the target drone preferentially assists the assisting vehicle in driving and then assists in executing the target assisting task, and the above examples are only illustrative and the disclosure is not limited thereto.

And S406, the target unmanned aerial vehicle executes the target assistance task according to the control instruction.

In this step, when the target assisting task is an object searching task, firstly, the target unmanned aerial vehicle acquires a target image in a fourth preset position range of an assisting vehicle corresponding to the target unmanned aerial vehicle, wherein the target image comprises a target object; then, obtaining the matching degree between the target object and a preset searching object; then, determining whether the matching degree is greater than or equal to a preset matching degree; secondly, when the matching degree is greater than or equal to a preset matching degree, the current position of the target unmanned aerial vehicle is obtained, the target image and the current position are sent to the police unmanned aerial vehicle, when the matching degree is smaller than the preset matching degree, the target image is collected again, in this way, the target object can be confirmed through the matching degree, so that accurate identification of the target object is ensured, after the police unmanned aerial vehicle receives the target image and the current position, whether the target object is a preset search object is determined, and when the target object is the preset search object, the target object is tracked according to the current position, in this way, the target object can be confirmed again through the police unmanned aerial vehicle, so that accurate identification of the target object is further ensured.

For example, if the target assisting task issued by the police drone equipped by the police vehicle is a task of searching for wanted objects, a task of searching for missing people, a task of searching for criminals, or the like, the target drone starts an image capturing device (such as a camera) after receiving the control instruction, and captures a target image in a fourth preset position range of the assisting vehicle according to a preset capturing period, for example, a circle with the assisting vehicle as a center and a predetermined distance (such as 5km) as a diameter may be in the fourth preset position range of the assisting vehicle, and during the searching process, the wide angle camera of the image capturing device may be used for initial target image capturing, and when there may be a preset search object in the initial target image (i.e., the matching degree is greater than or equal to a preset matching degree), the wide angle camera is switched to a long focus mode, therefore, clear target images can be collected, and the clear target images can be sent to the police unmanned aerial vehicle, so that the police unmanned aerial vehicle can send the target images to terminals of police officers, whether target objects in the target images are preset search objects or not is further determined by the police officers, and the accurate recognition rate of the objects is improved.

In addition, when the police unmanned aerial vehicle determines that the target object is a preset search object, an auxiliary unmanned aerial vehicle in a first preset position range of the current position can be determined, wherein the auxiliary unmanned aerial vehicle is an assisting unmanned aerial vehicle which is included in the unmanned aerial vehicle interactive network and is other than the target unmanned aerial vehicle; and monitor this target object through this supplementary unmanned aerial vehicle. Like this, can carry out the omnidirectional control to this target object through this target unmanned aerial vehicle and this supplementary unmanned aerial vehicle jointly, avoid the dead angle of control, make the control more comprehensive, if can set up the different crossings that distribute around the target object with this target unmanned aerial vehicle and this supplementary unmanned aerial vehicle, of course, police in this disclosure can also with the target object around the camera that fixed camera or police service personnel equipped with on the road be connected in order to communicate, thereby can trail this target object comprehensively.

Furthermore, when the power of the target drone is low, if the matching degree is greater than or equal to the preset matching degree, it may cause the target drone to be unable to monitor the target object for a long time, so that there is a problem of loss of the target object, and therefore, in order to avoid this problem, the target drone in the present disclosure acquires the current remaining power of the target drone, and determines whether the current remaining power is less than or equal to the preset power (for example, the preset power may be half of the total battery power of the target drone), and generates a low power prompt message when the current remaining power is less than or equal to the preset power, and sends the low power prompt message to the police drone, so that the police drone, according to the low power prompt message, from assisting drones other than the target drone included in the drone interaction network, redetermining the target unmanned aerial vehicle to continue to monitor the target object, and the process of redetermining the target unmanned aerial vehicle can refer to the determination process of the auxiliary unmanned aerial vehicle, which is not repeated. In this way, the target drone can return to the assisting vehicle or a nearby charging station or the like for charging when the electric quantity is low, and the target drone can continue to track the target object through the redetermined target drone.

When this target assists task to include scene monitoring task, this target unmanned aerial vehicle gathers the scene image of the third default position within range of target location, and send this scene image to this alert unmanned aerial vehicle of using, so that this alert unmanned aerial vehicle demonstrates this scene image, thereby provide near scene of target location for the user, convenience of customers observes the current situation around the target location, user experience has been improved, specifically, this alert unmanned aerial vehicle of using can send the scene image to target terminal (like the on-vehicle terminal of alert vehicle or alert personnel's terminal), so that alert personnel know the current situation around the target location in advance through this target terminal. For example, if the target assisting task issued by the unmanned aerial vehicle for police equipped by the police vehicle is a task for monitoring a report place, the target unmanned aerial vehicle may monitor a third preset position range of the report place, and similarly, the image collector installed on the target unmanned aerial vehicle may collect the scene image according to a preset collecting period.

It should be noted that, when the electric quantity of the target unmanned aerial vehicle is low, the target unmanned aerial vehicle may not monitor the target position for a long time, so that the police officers cannot know the current situation of the target position in real time. Therefore, in order to avoid this problem, the target drone in the present disclosure obtains the current remaining power of the target drone, and determines whether the current remaining power is less than or equal to a preset power, and generates a low power prompt message when the current remaining power is less than or equal to the preset power, and sends the low power prompt message to the police drone, so that the police drone re-determines the target drone from assisting drones included in the drone interaction network except for the target drone according to the low power prompt message, so as to continue to monitor the target location, and the process of re-determining the target drone may refer to the determination process of the assisting drone, which is not described again, so that the target drone may return to the assisting vehicle or a nearby charging station for charging when the power is low, and continue to monitor the target location through the re-determined target drone, therefore, the problem that monitoring interruption is caused because the electric quantity of the target unmanned aerial vehicle is too low and the residual electric quantity cannot support monitoring of the target position is avoided, and the monitoring continuity is ensured.

By adopting the method, the police unmanned aerial vehicle can acquire the candidate unmanned aerial vehicle from at least one assistant unmanned aerial vehicle according to the target assistant task, send the request assistant message to the candidate unmanned aerial vehicle, and determine the target unmanned aerial vehicle according to the response message of the candidate unmanned aerial vehicle to the request assistant message, so that the police unmanned aerial vehicle fully utilizes the target unmanned aerial vehicle to execute the target assistant task, the task execution efficiency of the police unmanned aerial vehicle is improved, and the problem of low task execution efficiency caused by the small number of the police unmanned aerial vehicles is solved.

Fig. 5 is a block diagram of a control apparatus of a drone shown in an exemplary embodiment of the present disclosure, and as shown in fig. 5, the control apparatus is applied to a master drone in a drone interaction network, where the drone interaction network includes the master drone and at least one slave drone, and the apparatus includes:

a task determining module 501, configured to determine a target assistance task;

an unmanned aerial vehicle obtaining module 502 for obtaining a candidate unmanned aerial vehicle from at least one slave unmanned aerial vehicle according to the target assistance task;

an assistance message sending module 503, configured to send an assistance request message to the candidate drone; the assistance request message includes the target assistance task;

a drone determining module 504, configured to determine a target drone from the candidate drones according to a response message of the candidate drone to the assistance request message;

the instruction processing module 505 is configured to generate a control instruction according to the target assistance task, and send the control instruction to the target unmanned aerial vehicle; the control instruction is used for controlling the target unmanned aerial vehicle to execute the target assistance task.

Fig. 6 is a block diagram of a control apparatus of a drone shown in an exemplary embodiment of the present disclosure, and as shown in fig. 6, the control apparatus further includes:

a state determination module 506, configured to determine whether the assisting vehicle corresponding to the target drone is in a driving state;

the instruction processing module 505 is configured to generate a control instruction according to the target assistance task when the assistance vehicle corresponding to the target unmanned aerial vehicle is not in a driving state.

Optionally, when the target assistance task includes an object search task, the drone obtaining module 502 is configured to determine all slave drones in the drone interaction network as the candidate drone.

Fig. 7 is a block diagram of a control apparatus of a drone shown in an exemplary embodiment of the present disclosure, and as shown in fig. 7, the control apparatus further includes:

an information receiving module 507, configured to receive a target image sent by the target drone and a current position of the target drone; the target image comprises a target object;

a tracking module 508, configured to track the target object according to the current position when the target object is determined to be a preset search object.

Fig. 8 is a block diagram of a control apparatus of a drone shown in an exemplary embodiment of the present disclosure, and as shown in fig. 8, the control apparatus further includes:

an auxiliary determining module 509, configured to determine an auxiliary drone in a first preset position range of the current position; the auxiliary unmanned aerial vehicle is a slave unmanned aerial vehicle which is included in the unmanned aerial vehicle interaction network and is except for the target unmanned aerial vehicle;

and a monitoring module 510, configured to monitor the target object through the auxiliary drone.

Fig. 9 is a block diagram of a control apparatus of a drone, shown in an exemplary embodiment of the present disclosure, and as shown in fig. 9, when the target assistance task includes a scene monitoring task, the drone acquisition module 502 includes:

the position acquisition submodule 5021 is used for acquiring coordinate positions corresponding to a plurality of slave unmanned aerial vehicles in the unmanned aerial vehicle interactive network;

the determining submodule 5022 is used for determining the slave drone in the second preset position range of the target position as the candidate drone according to the coordinate position.

Fig. 10 is a block diagram of a control apparatus of a drone shown in an exemplary embodiment of the present disclosure, and as shown in fig. 10, the control apparatus further includes:

an image receiving module 511, configured to receive a scene image sent by the target drone; the scene image is an image within a third preset position range of the target position;

and a display module 512, configured to display the scene image.

Fig. 11 is a block diagram of a control apparatus of a drone shown in an exemplary embodiment of the present disclosure, and as shown in fig. 11, the control apparatus further includes:

a prompt message receiving module 513, configured to receive a low power prompt message sent by the target drone;

a re-determining module 514, configured to re-determine the target drone from the slave drones included in the drone interaction network, except for the target drone, according to the low power prompt message.

By adopting the device, the main unmanned aerial vehicle can acquire the candidate unmanned aerial vehicle from at least one slave unmanned aerial vehicle according to the target assistance task, and send the request assistance message to the candidate unmanned aerial vehicle, and the target unmanned aerial vehicle is determined according to the response message of the candidate unmanned aerial vehicle to the request assistance message, so that the main unmanned aerial vehicle fully utilizes the target unmanned aerial vehicle to execute the target assistance task, the efficiency of executing the task of the main unmanned aerial vehicle is improved, and the problem of low efficiency of executing the task caused by the small number of the main unmanned aerial vehicle is avoided.

Fig. 12 is a block diagram of a control apparatus of a drone, as shown in fig. 12, for application to a candidate drone of at least one slave drone included in a drone interaction network including a master drone and at least one slave drone, according to an exemplary embodiment of the present disclosure, the apparatus including:

an assistance message receiving module 1201, configured to receive an assistance request message sent by a host unmanned aerial vehicle; the request assistance message comprises a target assistance task;

a task determination module 1202 for determining whether to approve execution of the target assistance task;

a confirmation message generating module 1203, configured to generate an assistance confirmation message when the target assistance task is approved to be executed;

a confirmation message sending module 1204, configured to send the assistance confirmation message to the master unmanned aerial vehicle, so that the master unmanned aerial vehicle determines that the candidate unmanned aerial vehicle is the target unmanned aerial vehicle according to the assistance confirmation message, and generates a control instruction according to the target assistance task, and sends the control instruction to the target unmanned aerial vehicle, where the control instruction is used to control the target unmanned aerial vehicle to execute the target assistance task.

Fig. 13 is a block diagram of a control apparatus of a drone, shown in fig. 13, when the target assistance task includes an object search task, the method further includes:

a target image acquisition module 1205, configured to acquire a target image within a fourth preset position range of the assisting vehicle corresponding to the target unmanned aerial vehicle; the target image comprises a target object;

a matching degree obtaining module 1206, configured to obtain a matching degree between the target object and a preset search object;

a position obtaining module 1207, configured to obtain a current position of the target unmanned aerial vehicle when the matching degree is greater than or equal to a preset matching degree;

an information sending module 1208, configured to send the target image and the current position to the main drone, so that the main drone determines whether the target object is a preset search object, and tracks the target object according to the current position when the target object is the preset search object.

Fig. 14 is a block diagram of a control device of a drone, shown in fig. 14, when the target assistance task includes a scene monitoring task, the method further includes:

a scene image collecting module 1209, configured to collect a scene image within a third preset position range of the target position;

an image sending module 1210, configured to send the scene image to the host drone so that the host drone displays the scene image.

Fig. 15 is a block diagram of a control apparatus of a drone shown in an exemplary embodiment of the present disclosure, and as shown in fig. 15, the control apparatus further includes:

a power obtaining module 1211, configured to obtain a current remaining power of the target drone;

and the message processing module 1212 is configured to generate a low power prompting message when the current remaining power is less than or equal to a preset power, and send the low power prompting message to the master unmanned aerial vehicle, so that the master unmanned aerial vehicle determines the target unmanned aerial vehicle again from slave unmanned aerial vehicles, except the target unmanned aerial vehicle, included in the slave unmanned aerial vehicle interaction network according to the low power prompting message.

Adopt above-mentioned device, can assist main unmanned aerial vehicle to carry out this target and assist the task through confirming whether candidate unmanned aerial vehicle assists, thereby when this candidate unmanned aerial vehicle confirms that assist main unmanned aerial vehicle carries out this target and assists the task, confirm this candidate unmanned aerial vehicle is the target unmanned aerial vehicle, thereby make full use of target unmanned aerial vehicle execution target assist the task of main unmanned aerial vehicle, the efficiency of main unmanned aerial vehicle's executive task has been improved, and the problem that the executive task efficiency that has avoided main unmanned aerial vehicle's quantity less and lead to is low is avoided.

With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.

Fig. 16 is a block diagram illustrating an electronic device 1600 according to an exemplary embodiment of the present disclosure. As shown in fig. 16, the electronic device 1600 may include: a processor 1601, a memory 1602. The electronic device 1600 may also include one or more of a multimedia component 1603, an input/output (I/O) interface 1604, and a communications component 1605.

The processor 1601 is configured to control the overall operation of the electronic device 1600, so as to complete all or part of the steps in the above-mentioned control method for the unmanned aerial vehicle. The memory 1602 is used to store various types of data to support operation at the electronic device 1600, such as instructions for any application or method operating on the electronic device 1600, and application-related data, such as contact data, messaging, pictures, audio, video, and so forth. The Memory 1602 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk or optical disk. Multimedia components 1603 may include screen and audio components. Wherein the screen may be, for example, a touch screen and the audio component is used for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may further be stored in memory 1602 or transmitted through communications component 1605. The audio assembly also includes at least one speaker for outputting audio signals. The I/O interface 1604 provides an interface between the processor 1601 and other interface modules, such as a keyboard, a mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 1605 is used for wired or wireless communication between the electronic device 1600 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, Near Field Communication (NFC), 2G, 3G, or 4G, or a combination of one or more of them, so that the corresponding Communication component 1605 may include: Wi-Fi module, bluetooth module, NFC module.

In an exemplary embodiment, the electronic Device 1600 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components, for executing the above-mentioned control method of the drone.

In another exemplary embodiment, there is also provided a computer readable storage medium comprising program instructions which, when executed by a processor, implement the steps of the control method of a drone described above. For example, the computer readable storage medium may be the memory 1602 described above including program instructions that are executable by the processor 1601 of the electronic device 1600 to perform the control method of the drone described above.

The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims

1. A control method of a unmanned aerial vehicle is applied to a master unmanned aerial vehicle in an unmanned aerial vehicle interactive network, wherein the unmanned aerial vehicle interactive network comprises the master unmanned aerial vehicle and at least one slave unmanned aerial vehicle, and each slave unmanned aerial vehicle corresponds to an assistance vehicle, and the method comprises the following steps:

determining a target assistance task;

when the assisting vehicle corresponding to the target unmanned aerial vehicle is not in a running state, generating a control instruction according to the target assisting task, and sending the control instruction to the target unmanned aerial vehicle; the control instruction is used for controlling the target unmanned aerial vehicle to execute the target assistance task;

when the assisting vehicle corresponding to the target unmanned aerial vehicle is in a running state, generating an auxiliary instruction according to the target assisting task, and sending the auxiliary instruction to the target unmanned aerial vehicle; the auxiliary instruction is used for instructing the target unmanned aerial vehicle to preferentially assist the assisting vehicle in running and then assist in executing the target assisting task.

2. The method of claim 1, wherein, when the target assistance task comprises an object search task, the obtaining candidate drones from at least one slave drone according to the target assistance task comprises:

3. The method of claim 2, further comprising, after the generating control instructions according to the target assistance task:

4. The method of claim 3, further comprising, after said tracking said target object according to said current position:

and monitoring the target object through the auxiliary unmanned aerial vehicle.

5. The method of claim 1, wherein, when the target assistance task comprises a scene monitoring task, the obtaining a candidate drone from at least one slave drone according to the target assistance task comprises:

6. The method of claim 5, further comprising, after the generating control instructions according to the target assistance task:

and displaying the scene image.

7. The method of claim 1, further comprising, after the generating control instructions according to the target assistance task:

8. A method for controlling a drone, the method being applied to a candidate drone among at least one slave drone included in a drone interaction network including a master drone and at least one slave drone, each slave drone corresponding to an assistance vehicle, the method comprising:

determining whether to approve execution of the target assistance task;

sending the assistance confirmation message to the master unmanned aerial vehicle so that the master unmanned aerial vehicle determines that the candidate unmanned aerial vehicle is a target unmanned aerial vehicle according to the assistance confirmation message, and when an assistance vehicle corresponding to the target unmanned aerial vehicle is not in a running state, generating a control instruction according to the target assistance task, and sending the control instruction to the target unmanned aerial vehicle, wherein the control instruction is used for controlling the target unmanned aerial vehicle to execute the target assistance task; when the assisting vehicle corresponding to the target unmanned aerial vehicle is in a running state, generating an auxiliary instruction according to the target assisting task, and sending the auxiliary instruction to the target unmanned aerial vehicle; the auxiliary instruction is used for instructing the target unmanned aerial vehicle to preferentially assist the assisting vehicle in running and then assist in executing the target assisting task.

9. The method of claim 8, wherein when the target assistance task comprises an object search task, after the sending the assistance confirmation message to the master drone, further comprising:

10. The method of claim 8, wherein when the target assistance task comprises a scenario monitoring task, after the sending the assistance confirmation message to the master drone, further comprising:

11. The method according to any of claims 9-10, wherein after said sending the assistance confirmation message to the master drone, further comprising:

acquiring the current residual capacity of the target unmanned aerial vehicle;

12. The utility model provides a controlling means of unmanned aerial vehicle which characterized in that is applied to the main unmanned aerial vehicle in the unmanned aerial vehicle interactive network, include in the unmanned aerial vehicle interactive network main unmanned aerial vehicle and at least one follow unmanned aerial vehicle, the device includes:

the task determination module is used for determining a target assistance task;

the command processing module is used for generating a control command according to the target assistance task when an assistance vehicle corresponding to the target unmanned aerial vehicle is not in a running state, and sending the control command to the target unmanned aerial vehicle; the control instruction is used for controlling the target unmanned aerial vehicle to execute the target assistance task;

the instruction processing module is further configured to generate an auxiliary instruction according to the target assistance task when an assistance vehicle corresponding to the target unmanned aerial vehicle is in a driving state, and send the auxiliary instruction to the target unmanned aerial vehicle; the auxiliary instruction is used for instructing the target unmanned aerial vehicle to preferentially assist the assisting vehicle in running and then assist in executing the target assisting task.

13. A control device of a drone, applied to a candidate drone among at least one slave drone included in a drone interaction network including a master drone and at least one slave drone, the device comprising:

a confirmation message sending module, configured to send the assistance confirmation message to the master unmanned aerial vehicle, so that the master unmanned aerial vehicle determines, according to the assistance confirmation message, that the candidate unmanned aerial vehicle is the target unmanned aerial vehicle, and when an assistance vehicle corresponding to the target unmanned aerial vehicle is not in a driving state, generates a control instruction according to the target assistance task, and sends the control instruction to the target unmanned aerial vehicle, where the control instruction is used to control the target unmanned aerial vehicle to execute the target assistance task; when the assisting vehicle corresponding to the target unmanned aerial vehicle is in a running state, generating an auxiliary instruction according to the target assisting task, and sending the auxiliary instruction to the target unmanned aerial vehicle; the auxiliary instruction is used for instructing the target unmanned aerial vehicle to preferentially assist the assisting vehicle in running and then assist in executing the target assisting task.

14. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7; or which program, when being executed by a processor, is adapted to carry out the steps of the method of any one of claims 8-11.

15. An electronic device, comprising:

a memory having a computer program stored thereon;

a processor for executing the computer program in the memory to implement the method of any of claims 1-7 or the steps of the method of any of claims 8-11.