CN112306089A - Unmanned aerial vehicle control method, device, equipment and computer storage medium - Google Patents
Unmanned aerial vehicle control method, device, equipment and computer storage medium Download PDFInfo
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- CN112306089A CN112306089A CN202011099092.5A CN202011099092A CN112306089A CN 112306089 A CN112306089 A CN 112306089A CN 202011099092 A CN202011099092 A CN 202011099092A CN 112306089 A CN112306089 A CN 112306089A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
Abstract
The embodiment of the invention provides an unmanned aerial vehicle control method, an unmanned aerial vehicle control device, unmanned aerial vehicle control equipment and a computer storage medium, wherein wireless communication signal strength detection is carried out on other unmanned aerial vehicles except a designated unmanned aerial vehicle in an unmanned aerial vehicle system; and when the wireless communication signal strength of any other unmanned aerial vehicle is detected to exceed the preset limit value, changing the current motion mode. The strength of the wireless communication signals is used for judging the distance between the unmanned aerial vehicles, no additional sensor is needed, and the cost of the unmanned aerial vehicles is saved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle control method, device, equipment and computer storage media.
Background
At present, unmanned aerial vehicle's use is more and more popularized. Among them, in the application in the fields such as national defense and military, movie and television shooting, literary and artistic performances, express delivery commodity circulation, often need a large amount of unmanned aerial vehicles to carry out flight operation in same airspace. Among the prior art, the motion of the unmanned aerial vehicle of most models is controlled by user's operation and unmanned aerial vehicle wireless connection's control end. When facing a large amount of unmanned aerial vehicles fly simultaneously in same airspace, the user relies on observing hardly to control the distance between the unmanned aerial vehicle, leads to collision each other between the unmanned aerial vehicle easily, and this has become one of the key challenges that restricts unmanned aerial vehicle development.
Disclosure of Invention
The embodiment of the invention provides a method, a device and equipment for controlling unmanned aerial vehicles and a computer storage medium, which are used for solving the problem that a large number of unmanned aerial vehicles flying at the same time in the same airspace are easy to collide with each other in the prior art.
The embodiment of the invention provides an unmanned aerial vehicle control method, which is applied to a designated unmanned aerial vehicle in an unmanned aerial vehicle system, wherein the unmanned aerial vehicle system comprises a control end and a plurality of unmanned aerial vehicles, and the method comprises the following steps:
detecting the strength of wireless communication signals of other unmanned aerial vehicles except the designated unmanned aerial vehicle in the unmanned aerial vehicle system;
and when the wireless communication signal strength of any other unmanned aerial vehicle is detected to exceed the preset limit value, changing the current motion mode.
Optionally, the control end sequentially performs wireless communication with the plurality of unmanned aerial vehicles, and the designated unmanned aerial vehicle is a master device communicating with the control end.
Optionally, the drone control method includes:
executing the wireless broadcast communication signal to scan, and detecting the wireless broadcast communication signal intensity of other unmanned aerial vehicles when the other unmanned aerial vehicles are determined to be scanned;
or, the wireless broadcast communication signal is executed for scanning, when the scanning of other unmanned aerial vehicles is determined, the connection and communication with the scanned other unmanned aerial vehicles are established, and the strength of the wireless data communication signals of the other unmanned aerial vehicles is detected.
Optionally, when determining that the other drone is scanned, establishing a connection with the scanned other drone includes:
when other unmanned aerial vehicles are determined to be scanned, judging whether connection records exist between the unmanned aerial vehicles and the other unmanned aerial vehicles;
if so, establishing connection according to the configuration information corresponding to the other unmanned aerial vehicles in the connection record;
if not, when the designated unmanned aerial vehicle is the master device communicated with the control end, the designated unmanned aerial vehicle sends indication information to the control end, and connection is established with the unmanned aerial vehicle which is not communicated with the control end currently and serves as the slave device under the control of the control end.
Optionally, the designating the drone as a master device communicating with the control end, and establishing a connection with other scanned drones when determining that other drones are scanned, includes:
when the unmanned aerial vehicle which is not communicated with the control end at present and serves as the slave device is determined to be scanned, the indication information is sent to the control end, and connection is established with the slave device under the control of the control end.
Optionally, changing the current motion mode comprises:
sending alarm information to a control end, and actively changing the current motion mode;
or sending alarm information to a control end, and changing the current motion mode under the control of the control end.
Optionally, changing the current motion mode comprises:
actively stopping the motion;
and/or a reverse movement to the current direction of movement.
Based on the same inventive concept, the embodiment of the present invention further provides an unmanned aerial vehicle control apparatus, including:
the signal intensity detection module is used for detecting the intensity of wireless communication signals of other unmanned aerial vehicles except the designated unmanned aerial vehicle in the unmanned aerial vehicle system;
and the avoiding module is used for changing the current motion mode when the wireless communication signal strength of any other unmanned aerial vehicle is detected to exceed a preset limit value.
Based on the same inventive concept, the embodiment of the invention also provides unmanned aerial vehicle equipment, which comprises a processor and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the instructions to implement the drone control method.
Based on the same inventive concept, the embodiment of the invention also provides a computer storage medium, wherein a computer program is stored in the computer storage medium, and the computer program is used for realizing the unmanned aerial vehicle control method.
The invention has the following beneficial effects:
according to the unmanned aerial vehicle control method, the unmanned aerial vehicle control device, the unmanned aerial vehicle control equipment and the computer storage medium, the distance between the unmanned aerial vehicles is judged by utilizing the strength of the wireless communication signal, an additional sensor is not needed, and the cost of the unmanned aerial vehicle is saved.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle system provided in an embodiment of the present invention;
fig. 2 is a schematic flow chart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an unmanned aerial vehicle control device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an unmanned aerial vehicle device provided in an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, the present invention is further described with reference to the accompanying drawings and examples. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their repetitive description will be omitted. The words expressing the position and direction described in the present invention are illustrated in the accompanying drawings, but may be changed as required and still be within the scope of the present invention. The drawings of the present invention are for illustrative purposes only and do not represent true scale.
It should be noted that in the following description, specific details are set forth in order to provide a thorough understanding of the present invention. The invention can be implemented in a number of ways different from those described herein and similar generalizations can be made by those skilled in the art without departing from the spirit of the invention. Therefore, the present invention is not limited to the specific embodiments disclosed below. The description which follows is a preferred embodiment of the present application, but is made for the purpose of illustrating the general principles of the application and not for the purpose of limiting the scope of the application. The protection scope of the present application shall be subject to the definitions of the appended claims.
The following describes a method, an apparatus, a device, and a computer storage medium for controlling an unmanned aerial vehicle according to an embodiment of the present invention with reference to the accompanying drawings.
An embodiment of the present invention provides an unmanned aerial vehicle control method, which is applied to a designated unmanned aerial vehicle in an unmanned aerial vehicle system, as shown in fig. 1, the unmanned aerial vehicle system includes a control end 10 and a plurality of unmanned aerial vehicles, wherein in a specific implementation process, for the control end 10, each time can only communicate with one unmanned aerial vehicle (i.e., a master device 20 at that time), and other unmanned aerial vehicles (i.e., slave devices 21 at that time) can only wait for the master device 20 to complete communication with the control end 10, and then sequentially communicate with the control end 10 at a later time (i.e., the slave devices 21 at the current time become master devices at a later time).
As shown in fig. 2, the unmanned aerial vehicle control method provided in the embodiment of the present invention is applied to a designated unmanned aerial vehicle in an unmanned aerial vehicle system, and includes:
s101, detecting the strength of wireless communication signals of other unmanned aerial vehicles except the designated unmanned aerial vehicle in the unmanned aerial vehicle system;
in a specific implementation process, the designated drone may be the master device, or may be the arbitrary slave device, which is not limited herein. For the same time, all drones in the drone system may perform wireless communication signal strength, and therefore the number of designated drones is not limited. The realization of wireless communication signal intensity detection function can be right wireless communication device in the unmanned aerial vehicle increases the function of detecting other unmanned aerial vehicle's wireless communication signal intensity. Generally, the scheme when the designated drone is the master device is simpler for the whole system. Then, the function of the drone to detect the wireless communication signal strength of the other drone may be set to be turned on only as the master device.
S102, when the fact that the strength of the wireless communication signal of any other unmanned aerial vehicle exceeds a preset limit value is detected, the current motion mode is changed.
In a specific implementation process, the Wireless communication mode may be a Wireless Local Area Network (WLAN), bluetooth, Zigbee, EnOcean, Z-Wave, and the like, and is not limited herein.
Since the wireless communication signal may be attenuated due to an increase in the transmission distance, the magnitude of the intensity of the wireless communication signal may be used to reflect the magnitude of the distance between the designated drone performing the detection and the other drone of the detected wireless communication signal.
Like this, judge through the intensity that utilizes wireless communication signal the distance between the unmanned aerial vehicle does not need extra sensor, has practiced thrift unmanned aerial vehicle's cost.
Optionally, the control end sequentially performs wireless communication with the plurality of unmanned aerial vehicles, and the designated unmanned aerial vehicle is a master device communicating with the control end.
Therefore, the unmanned aerial vehicle communicated with the control end is set as the main equipment, and the control end can control the unmanned aerial vehicles conveniently in the follow-up process.
Optionally, the drone control method further includes:
executing the wireless broadcast communication signal to scan, and detecting the wireless broadcast communication signal intensity of other unmanned aerial vehicles when the other unmanned aerial vehicles are determined to be scanned;
or, the wireless broadcast communication signal is executed for scanning, when the scanning of other unmanned aerial vehicles is determined, the connection and communication with the scanned other unmanned aerial vehicles are established, and the strength of the wireless data communication signals of the other unmanned aerial vehicles is detected.
In a specific implementation process, the slave device waits for communication with the control end, so that the slave device can be connected with the control end in time after the master device completes communication with the control end, and the slave device can send out a wireless broadcast communication signal when not connected with the control end, so that connection with the control end is conveniently established later. The master device may directly determine the distance according to the scanned wireless broadcast communication signal of the slave device, or may determine the distance according to the wireless communication signal after establishing the connection. For technologies such as WLAN, the accuracy of determining the distance according to the wireless communication signal after establishing the connection is relatively higher.
In this way, by directly detecting the strength of the scanned wireless broadcast communication signal of the slave device, the distance can be judged more quickly, and the connection with the corresponding slave device is not needed, thereby simplifying the signal strength detection step. By judging the distance according to the wireless communication signal after establishing connection with the slave device, the signal strength detection precision can be improved, and further the distance precision is improved.
Optionally, when determining that the other drone is scanned, establishing a connection with the scanned other drone includes:
when other unmanned aerial vehicles are determined to be scanned, judging whether connection records exist between the unmanned aerial vehicles and the other unmanned aerial vehicles;
if so, establishing connection according to the configuration information corresponding to the other unmanned aerial vehicles in the connection record;
if not, when the designated unmanned aerial vehicle is the master device communicated with the control end, the designated unmanned aerial vehicle sends indication information to the control end, and the designated unmanned aerial vehicle is connected with the slave device under the control of the control end.
In a specific implementation process, the control end may pre-store connection configuration information corresponding to the slave device, and software in the control end may send the configuration information to the master device after receiving the indication information, so as to control the master device to connect with the slave device; the control end may also manually input the configuration information by a user after receiving the indication information, and then the control end sends the configuration information to the master device to control the master device to establish a connection with the slave device. Specifically, if the connection mode in the unmanned aerial vehicle system is a WiFi network, the method for establishing connection between the master device and the slave device is as follows: firstly, the master device performs WiFi Mesh scanning on wireless broadcast signals of the peripheral slave devices to acquire identification information of the corresponding slave devices; then, the master device sends a connection request to the corresponding slave device according to the configuration information; after receiving the connection request, the slave device sends feedback response information to the master device; and finally, the master device receives the feedback response information, and the master device establishes connection with the slave device.
In this way, the speed of establishing connection between the master device and the slave device is increased by connecting with the slave device according to the configuration information in the connection record. Or, the control end controls the master device to establish connection with the slave device, so that the problem that the master device cannot be connected because the corresponding configuration information is not stored in the master device is avoided.
Optionally, the designating the drone as a master device communicating with the control end, and establishing a connection with other scanned drones when determining that other drones are scanned, includes:
when the unmanned aerial vehicle which is not communicated with the control end at present and serves as the slave device is determined to be scanned, the indication information is sent to the control end, and connection is established with the slave device under the control of the control end.
In a specific implementation process, the control end may pre-store connection configuration information corresponding to the slave device, and software in the control end may send the configuration information to the master device after receiving the indication information, so as to control the master device to connect with the slave device; the control end may also manually input the configuration information by a user after receiving the indication information, and then the control end sends the configuration information to the master device to control the master device to establish a connection with the slave device.
Therefore, the control end controls the main equipment and the slave equipment to establish connection, and the problem that the main equipment cannot be connected because the corresponding configuration information is not stored in the main equipment is avoided.
Optionally, changing the current motion mode comprises:
sending alarm information to a control end, and actively changing the current motion mode;
or sending alarm information to a control end, and changing the current motion mode under the control of the control end.
In a specific implementation process, the control end may control the current movement mode by controlling the current movement mode according to a preset operation in software stored in the control end, or may manually control the specific movement mode of the main device through the control end by a user, which is not limited herein. Because of the delay of the communication signal, the main device directly changes the motion mode and gives an alarm to the control end, and compared with the mode that the control end controls and changes the motion direction, the active mode has higher reaction speed.
Therefore, the main equipment can carry out avoidance operation more quickly by actively changing the motion mode; the main equipment can carry out avoidance operation more flexibly by changing the current motion mode under the control of the control end.
Optionally, changing the current motion mode comprises:
actively stopping the motion;
and/or a reverse movement to the current direction of movement.
In a specific implementation process, the drone that changes the current motion state according to the rule may be a drone serving as a master device that is communicating with the control end, or may be another drone serving as a slave device that is not communicating with the control end.
In this way, the unmanned aerial vehicle can avoid colliding with other unmanned aerial vehicles by actively stopping the motion; the unmanned aerial vehicle can further increase the ground distance of the unmanned aerial vehicle to be collided with and reduce the danger through reverse motion.
Based on the same inventive concept, an embodiment of the present invention further provides an unmanned aerial vehicle control apparatus, as shown in fig. 3, including:
the signal intensity detection module M101 is used for detecting the intensity of wireless communication signals of other unmanned aerial vehicles except the designated unmanned aerial vehicle in the unmanned aerial vehicle system;
and the avoidance module M103 is used for changing the current motion mode when the wireless communication signal strength of any other unmanned aerial vehicle is detected to exceed a preset limit value.
In the specific implementation process, the unmanned aerial vehicle control device further comprises: and the alarm module M102 is configured to send alarm information to the control terminal when detecting that the wireless signal strength of any slave device exceeds a preset limit value.
In a specific implementation process, in the specific implementation process, the Wireless communication mode may be a Wireless Local Area Network (WLAN), bluetooth, Zigbee, or the like, and is not limited herein.
In a specific implementation process, when the signal strength detection module M101 detects a wireless communication signal, it may scan the wireless broadcast communication signal, and when it is determined that another unmanned aerial vehicle is scanned, detect the wireless broadcast communication signal strength of the another unmanned aerial vehicle; or, the wireless broadcast communication signal may be scanned, when it is determined that another unmanned aerial vehicle is scanned, the scanned unmanned aerial vehicle establishes connection and communication with the other unmanned aerial vehicle, and the strength of the wireless data communication signal of the other unmanned aerial vehicle is detected. Specifically, the control end may pre-store connection configuration information corresponding to the slave device, and software in the control end may send the configuration information to the master device after receiving the indication information, so as to control the signal strength detection module M101 of the master device to connect to the slave device; the control end may also manually input the configuration information by a user after receiving the indication information, and then the control end sends the configuration information to the master device to control the signal strength detection module M101 of the master device to establish a connection with the slave device. Specifically, if the connection mode in the unmanned aerial vehicle system is a WiFi network, the method for establishing connection between the master device and the slave device is as follows: firstly, the signal strength detection module M101 performs WiFi Mesh scanning on the wireless broadcast signals of the peripheral slave devices to obtain the corresponding identification information of the slave devices; then, the signal strength detection module M101 sends a connection request to the corresponding slave device according to the configuration information; after receiving the connection request, the slave device sends feedback response information to the master device; finally, the signal strength detection module M101 receives the feedback response information, and the master device establishes a connection with the slave device.
Specifically, the signal strength detection module M101 establishes a connection mode with the scanned other unmanned aerial vehicles, including: when other unmanned aerial vehicles are determined to be scanned, judging whether connection records exist between the unmanned aerial vehicles and the other unmanned aerial vehicles; if so, establishing connection according to the configuration information corresponding to the other unmanned aerial vehicles in the connection record; if not, when the designated unmanned aerial vehicle is the master device communicated with the control end, the designated unmanned aerial vehicle sends indication information to the control end, and the designated unmanned aerial vehicle is connected with the unmanned aerial vehicle which is not communicated with the control end and serves as a slave device under the control of the control end.
Or, the signal strength detecting module M101 establishes a connection with the scanned other drones, including: when the unmanned aerial vehicle which is not communicated with the control end at present and serves as the slave device is determined to be scanned, the indication information is sent to the control end, and connection is established with the slave device under the control of the control end. Specifically, the control end may pre-store connection configuration information corresponding to the slave device, and software in the control end may send the configuration information to the master device after receiving the indication information, so as to control the master device to connect with the slave device; the control end may also manually input the configuration information by a user after receiving the indication information, and then the control end sends the configuration information to the master device to control the master device to establish a connection with the slave device.
When detecting that the wireless signal intensity of any slave device exceeds a preset limit value, the alarm module M102 sends alarm information to the control terminal, and then the avoidance module M103 may be configured to actively change the current movement mode; the alarm module M102 may also change the current motion mode under the control of the control end. The avoidance module M103 may be used to actively stop motion; and the unmanned aerial vehicle can also be used for controlling the reverse movement of the unmanned aerial vehicle to the current movement direction. Specifically, the control end may control the current movement mode to be a specific movement mode of the control end controlling the avoidance module 103 according to a preset operation in software stored in the control end, or may be a specific movement mode of the avoidance module 103 manually controlled by a user through the control end, which is not limited herein. Because of the delay of the communication signal, the reaction speed of the active mode is faster when the avoidance module 103 directly changes the motion mode than when the alarm module 102 gives an alarm to the control end and then the control end controls the avoidance module 103 to change the motion direction.
Like this, judge through the intensity that utilizes wireless communication signal the distance between the unmanned aerial vehicle does not need extra sensor, has practiced thrift unmanned aerial vehicle's cost.
Based on the same inventive concept, the embodiment of the invention also provides unmanned aerial vehicle equipment, which comprises a processor and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the instructions to implement the drone control method provided by the above-mentioned embodiments of the present invention.
In a specific implementation, as shown in fig. 4, the apparatus includes a processor 110 and a memory 120 for storing instructions executable by the processor 110; wherein the processor 110 is configured to execute the instructions to implement the drone controlling method described above.
In particular implementations, the electronic devices may vary widely due to different configurations or capabilities, and may include one or more processors 110 and memory 120, one or more storage media 130 storing applications 131 or data 132. Memory 120 and storage medium 130 may be, among other things, transient or persistent storage. The application 131 stored in the storage medium 130 may include one or more units (not shown in fig. 4) described above, and each module may include a series of instruction operations in the information processing apparatus. Still further, the processor 110 may be configured to communicate with the storage medium 130 to execute a series of instruction operations in the storage medium 130 on the electronic device. The electronic device may also include one or more power supplies (not shown in FIG. 4); one or more transceivers 140, the transceivers 140 comprising a wired or wireless network interface 141, one or more input-output interfaces 142; and/or one or more operating systems 133, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, etc.
Therefore, the electronic equipment is used for realizing the unmanned aerial vehicle control method, the distance between the unmanned aerial vehicles is judged by using the strength of the wireless communication signal, no additional sensor is needed, and the cost of the unmanned aerial vehicle is saved.
Based on the same inventive concept, the embodiment of the invention also provides a computer storage medium, wherein a computer program is stored in the computer storage medium, and the computer program is used for realizing the unmanned aerial vehicle control method.
The specific working principle of the computer storage medium is basically consistent with the unmanned aerial vehicle control method, and therefore, the detailed description is omitted.
According to the unmanned aerial vehicle control method, the unmanned aerial vehicle control device, the unmanned aerial vehicle control equipment and the computer storage medium, the distance between the unmanned aerial vehicles is judged by utilizing the strength of the wireless communication signal, an additional sensor is not needed, and the cost of the unmanned aerial vehicle is saved.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. An unmanned aerial vehicle control method is applied to a designated unmanned aerial vehicle in an unmanned aerial vehicle system, the unmanned aerial vehicle system comprises a control end and a plurality of unmanned aerial vehicles, and the method is characterized by comprising the following steps:
detecting the strength of wireless communication signals of other unmanned aerial vehicles except the designated unmanned aerial vehicle in the unmanned aerial vehicle system;
and when the wireless communication signal strength of any other unmanned aerial vehicle is detected to exceed the preset limit value, changing the current motion mode.
2. The drone controlling method of claim 1, wherein the control end is in turn in wireless communication with the plurality of drones, the designated drone being a master device in communication with the control end.
3. A drone controlling method according to claim 1 or 2, characterised by comprising:
executing the wireless broadcast communication signal to scan, and detecting the wireless broadcast communication signal intensity of other unmanned aerial vehicles when the other unmanned aerial vehicles are determined to be scanned;
or, the wireless broadcast communication signal is executed for scanning, when the scanning of other unmanned aerial vehicles is determined, the connection and communication with the scanned other unmanned aerial vehicles are established, and the strength of the wireless data communication signals of the other unmanned aerial vehicles is detected.
4. The drone controlling method of claim 3, wherein determining to establish a connection with the other scanned drone when the other drone is scanned comprises:
when other unmanned aerial vehicles are determined to be scanned, judging whether connection records exist between the unmanned aerial vehicles and the other unmanned aerial vehicles;
if so, establishing connection according to the configuration information corresponding to the other unmanned aerial vehicles in the connection record;
if not, when the designated unmanned aerial vehicle is the master device communicated with the control end, the designated unmanned aerial vehicle sends indication information to the control end, and connection is established with the unmanned aerial vehicle which is not communicated with the control end currently and serves as the slave device under the control of the control end.
5. The drone controlling method according to claim 3, wherein the designated drone is a master device communicating with the control end, and when determining that other drones are scanned, establishing a connection with the scanned other drones includes:
when the unmanned aerial vehicle which is not communicated with the control end at present and serves as the slave device is determined to be scanned, the indication information is sent to the control end, and connection is established with the slave device under the control of the control end.
6. The drone controlling method of claim 2, wherein changing the current movement mode comprises:
sending alarm information to a control end, and actively changing the current motion mode;
or sending alarm information to a control end, and changing the current motion mode under the control of the control end.
7. The drone controlling method of claim 1, wherein changing the current movement mode comprises:
actively stopping the motion;
and/or a reverse movement to the current direction of movement.
8. An unmanned aerial vehicle controlling means, its characterized in that includes:
the signal intensity detection module is used for detecting the intensity of wireless communication signals of other unmanned aerial vehicles except the designated unmanned aerial vehicle in the unmanned aerial vehicle system;
and the avoiding module is used for changing the current motion mode when the wireless communication signal strength of any other unmanned aerial vehicle is detected to exceed a preset limit value.
9. A drone device comprising a processor and a memory for storing processor-executable instructions;
wherein the processor is configured to execute the instructions to implement the drone controlling method of any one of claims 1-7.
10. A computer storage medium, characterized in that the computer storage medium has stored therein a computer program implementing the drone controlling method according to any one of claims 1-7.
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