CN116208389A - Unmanned aerial vehicle communication control method and device, electronic equipment and storage medium - Google Patents

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

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Publication number
CN116208389A
CN116208389A CN202310087289.4A CN202310087289A CN116208389A CN 116208389 A CN116208389 A CN 116208389A CN 202310087289 A CN202310087289 A CN 202310087289A CN 116208389 A CN116208389 A CN 116208389A
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China
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unmanned aerial
aerial vehicle
remote control
server
live broadcast
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Chinese (zh)
Inventor
吴涛
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Beijing Yuandu Internet Technology Co ltd
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Beijing Yuandu Internet Technology Co ltd
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Priority to CN202310087289.4A priority Critical patent/CN116208389A/en
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L63/00—Network architectures or network communication protocols for network security
    • H04L63/08—Network architectures or network communication protocols for network security for authentication of entities
    • H04L63/0876—Network architectures or network communication protocols for network security for authentication of entities based on the identity of the terminal or configuration, e.g. MAC address, hardware or software configuration or device fingerprint
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
    • H04L69/16—Implementation or adaptation of Internet protocol [IP], of transmission control protocol [TCP] or of user datagram protocol [UDP]
    • H04L69/161—Implementation details of TCP/IP or UDP/IP stack architecture; Specification of modified or new header fields
    • H04L69/162—Implementation details of TCP/IP or UDP/IP stack architecture; Specification of modified or new header fields involving adaptations of sockets based mechanisms
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
    • H04L69/16—Implementation or adaptation of Internet protocol [IP], of transmission control protocol [TCP] or of user datagram protocol [UDP]
    • H04L69/163—In-band adaptation of TCP data exchange; In-band control procedures
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
    • H04L69/16—Implementation or adaptation of Internet protocol [IP], of transmission control protocol [TCP] or of user datagram protocol [UDP]
    • H04L69/164—Adaptation or special uses of UDP protocol
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L9/00—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols
    • H04L9/32—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials
    • H04L9/321—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials involving a third party or a trusted authority
    • H04L9/3213—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials involving a third party or a trusted authority using tickets or tokens, e.g. Kerberos
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L9/00—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols
    • H04L9/32—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials
    • H04L9/3247—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials involving digital signatures
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L9/00—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols
    • H04L9/32—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials
    • H04L9/3297—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials involving time stamps, e.g. generation of time stamps

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  • Engineering & Computer Science (AREA)
  • Computer Security & Cryptography (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Power Engineering (AREA)
  • Computer Hardware Design (AREA)
  • Computing Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Selective Calling Equipment (AREA)

Abstract

The application provides a unmanned aerial vehicle communication control method, a device, electronic equipment and a storage medium, wherein the method is applied to a server and comprises the following steps: acquiring a control request sent by a front end aiming at an unmanned aerial vehicle, wherein the control request comprises an identifier of the unmanned aerial vehicle; based on the identification, detecting whether the unmanned aerial vehicle is in a live broadcast state; based on the identification, detecting whether the unmanned aerial vehicle and the server have completed communication authentication; if the unmanned aerial vehicle is detected to be in a live broadcast state and the unmanned aerial vehicle and the server are detected to finish communication authentication, forwarding the control request to a remote control end of the unmanned aerial vehicle; and obtaining response information generated by the remote control end in response to the control request, and forwarding the response information to the front end. According to the embodiment of the application, the front end of the non-remote control end can remotely control the unmanned aerial vehicle, so that the flexibility of unmanned aerial vehicle communication control is improved, and the safety of unmanned aerial vehicle communication control is ensured.

Description

Unmanned aerial vehicle communication control method and device, electronic equipment and storage medium
Technical Field
The application relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle communication control method, an unmanned aerial vehicle communication control device, electronic equipment and a storage medium.
Background
Unmanned aerial vehicles typically perform flight tasks under control of a corresponding remote control, such as: the user holds the remote control end, gives the flight instruction to the unmanned aerial vehicle through the remote control end, instructs the unmanned aerial vehicle to carry out the flight task. Limited by the communication distance, the user at the remote control end side can only carry out communication control on the unmanned aerial vehicle in a very limited communication range of the unmanned aerial vehicle, so that the flexibility of the communication control of the unmanned aerial vehicle is lower.
Disclosure of Invention
An object of the application is to provide an unmanned aerial vehicle communication control method, device, electronic equipment and storage medium, the front end of non-remote control end can remote control unmanned aerial vehicle, has improved unmanned aerial vehicle communication control's flexibility to unmanned aerial vehicle communication control's security has been guaranteed.
According to an aspect of the embodiments of the present application, a method for controlling communication of a unmanned aerial vehicle is disclosed, the method is applied to a server, and the method includes:
acquiring a control request sent by a front end aiming at an unmanned aerial vehicle, wherein the control request comprises an identifier of the unmanned aerial vehicle;
Based on the identification, detecting whether the unmanned aerial vehicle is in a live broadcast state;
based on the identification, detecting whether the unmanned aerial vehicle and the server have completed communication authentication;
if the unmanned aerial vehicle is detected to be in a live broadcast state and the unmanned aerial vehicle and the server are detected to finish communication authentication, forwarding the control request to a remote control end of the unmanned aerial vehicle;
and obtaining response information generated by the remote control end in response to the control request, and forwarding the response information to the front end.
According to an aspect of the embodiments of the present application, a communication control device for an unmanned aerial vehicle is disclosed, where the device is provided with a server, and the device includes:
the front-end communication module is configured to acquire a control request sent by the front end for the unmanned aerial vehicle, wherein the control request comprises an identifier of the unmanned aerial vehicle;
the live broadcast detection module is configured to detect whether the unmanned aerial vehicle is in a live broadcast state or not based on the identification;
a communication authentication detection module configured to detect whether the unmanned aerial vehicle and the server have completed communication authentication based on the identification;
the request forwarding module is configured to forward the control request to a remote control end of the unmanned aerial vehicle if the unmanned aerial vehicle is detected to be in a live broadcast state and communication authentication between the unmanned aerial vehicle and the server is detected to be completed;
And the response forwarding module is configured to acquire response information generated by the remote control end in response to the control request and forward the response information to the front end.
In an exemplary embodiment of the present application, the live detection module is configured to:
based on the identification, searching live broadcast record information generated by the server when the unmanned aerial vehicle applies for live broadcast;
and according to the live broadcast state information in the live broadcast record information, confirming whether the unmanned aerial vehicle is in a live broadcast state.
In an exemplary embodiment of the present application, the communication authentication detection module is configured to:
detecting whether a communication authentication identifier generated based on the identifier is recorded or not;
if the communication authentication identifier is recorded, confirming that the unmanned aerial vehicle and the server have completed communication authentication;
and if the communication authentication identification is not recorded, confirming that the unmanned aerial vehicle and the server do not complete communication authentication.
In an exemplary embodiment of the present application, the apparatus is configured to:
after communication connection is established with the remote control end, responding to parameter information sent by the remote control end, and authenticating the remote control end, wherein the parameter information comprises the identification;
After the remote control end passes authentication, detecting whether the unmanned aerial vehicle is in a live broadcast state;
and after confirming that the unmanned aerial vehicle is in a live broadcast state, generating and recording a communication authentication identifier for describing that the unmanned aerial vehicle and the server have completed communication authentication based on the identifier.
In an exemplary embodiment of the present application, after confirming that the drone is in the in-flight state, the apparatus is configured to:
generating and recording a token identifier of the remote control end, and sending the token identifier of the remote control end to the remote control end;
responding to the token identification and private data sent by the remote control end, and detecting whether the token identification sent by the remote control end is recorded;
and if the token identification sent by the remote control terminal is recorded, storing the private data in association with the unmanned aerial vehicle.
In an exemplary embodiment of the present application, the private data of the remote control terminal includes: and the device data of the remote control end and the flight control data of the unmanned aerial vehicle.
In an exemplary embodiment of the present application, the parameter information further includes: timestamp information, signature information.
In an exemplary embodiment of the present application, when the control request includes a request to view an airline of the unmanned aerial vehicle, the response information includes the airline of the unmanned aerial vehicle;
The response information includes a pod view of the drone when the control request includes a request to view the pod view of the drone.
In an exemplary embodiment of the present application, the response information further includes a live parameter for describing a current live configuration of the drone.
In an exemplary embodiment of the present application, the remote control end establishes a communication connection with the server using a transmission control protocol TCP.
According to an aspect of an embodiment of the present application, an electronic device is disclosed, including: one or more processors; storage means for storing one or more programs that, when executed by the one or more processors, cause the electronic device to implement any of the embodiments above.
According to an aspect of the embodiments of the present application, a computer program medium having stored thereon computer readable instructions, which when executed by a processor of a computer, cause the computer to perform any of the above embodiments is disclosed.
According to an aspect of embodiments of the present application, there is provided a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The computer instructions are read from the computer-readable storage medium by a processor of a computer device, and executed by the processor, cause the computer device to perform the methods provided in the various alternative implementations described above.
In this embodiment of the present application, after a control request sent by a front end for an unmanned aerial vehicle is obtained by a server, if it is detected that the unmanned aerial vehicle is in a live broadcast state and it is detected that communication authentication is completed between the unmanned aerial vehicle and the server, the control request is forwarded to a remote control end of the unmanned aerial vehicle, and then the server forwards response information generated by the remote control end in response to the control request to the front end. In this way, the front end of the non-remote control end can remotely control the unmanned aerial vehicle, so that the flexibility of communication control of the unmanned aerial vehicle is improved; and whether the detection process of communication authentication is finished or not ensures the safety of unmanned aerial vehicle communication control.
Other features and advantages of the present application will be apparent from the following detailed description, or may be learned in part by the practice of the application.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The above and other objects, features and advantages of the present application will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.
FIG. 1 illustrates an exemplary system architecture diagram according to one embodiment of the present application.
Fig. 2 shows a flowchart of a method of controlling drone communication according to one embodiment of the present application.
Fig. 3 shows a detailed flow diagram of drone communication control according to one embodiment of the present application.
Fig. 4 shows a block diagram of a drone communication control device according to one embodiment of the present application.
Fig. 5 shows a hardware diagram of an electronic device according to one embodiment of the present application.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these example embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The drawings are merely schematic illustrations of the present application and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus a repetitive description thereof will be omitted.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more example embodiments. In the following description, numerous specific details are provided to give a thorough understanding of example embodiments of the present application. One skilled in the relevant art will recognize, however, that the aspects of the application may be practiced without one or more of the specific details, or with other methods, components, steps, etc. In other instances, well-known structures, methods, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the application.
Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in software or in one or more hardware modules or integrated circuits or in different networks and/or processor devices and/or microcontroller devices.
The application provides a communication control method of an unmanned aerial vehicle, which is applied to a server. The server adopts the unmanned aerial vehicle communication control method provided by the application, so that the remote control end of the unmanned aerial vehicle can receive the control request sent by the front end aiming at the unmanned aerial vehicle and respond to the control request, and the front end can remotely control the unmanned aerial vehicle.
In detail, reference is made to an exemplary system architecture schematic diagram of an embodiment of the present application shown in fig. 1. In an embodiment, the terminal that directly controls the unmanned aerial vehicle 104 is the remote control terminal 103. The remote control terminal 103 may control the actions of the unmanned aerial vehicle 104 (e.g., change the flight destination of the unmanned aerial vehicle, change the tracking target of the unmanned aerial vehicle, etc.), or may collect relevant data of the unmanned aerial vehicle 104 (e.g., collect the route of the unmanned aerial vehicle, collect the nacelle frame of the unmanned aerial vehicle, collect the flight altitude of the unmanned aerial vehicle, etc.). Meanwhile, the remote control terminal 103 is also an agent for interaction between the unmanned aerial vehicle 104 and the outside. Remote control terminal 103 includes, but is not limited to: personal computers, tablet computers, cell phones, etc.
The front end 102 is typically separated from the remote end 103. The front end 102 sends a control request generated for the unmanned aerial vehicle 104 to the server 101 when it is required to instruct the unmanned aerial vehicle 104 to perform a specific action or to acquire relevant data of the unmanned aerial vehicle 104. The server 101 then forwards the control request to the remote control 103 according to the unmanned aerial vehicle communication control method provided in the present application. The remote control terminal 103 responds to the received control request, instead instructs the unmanned aerial vehicle 104 to perform a specific action, or instead obtains relevant data of the unmanned aerial vehicle 104, then generates response information, and sends the response information to the server 101. The final server 101 forwards the response information to the front end 102. Front end 102 includes, but is not limited to: personal computers, tablet computers, cell phones, etc.
Fig. 2 shows a flowchart of a method for controlling communication of a drone, which is provided in the present application, and the method is applied to a server, and includes:
step S210, a control request sent by the front end for the unmanned aerial vehicle is obtained, wherein the control request comprises an identification of the unmanned aerial vehicle;
step S220, detecting whether the unmanned aerial vehicle is in a live broadcast state or not based on the identification;
step S230, detecting whether the unmanned aerial vehicle and the server finish communication authentication or not based on the identification;
Step S240, if the unmanned aerial vehicle is detected to be in a live broadcast state and the unmanned aerial vehicle and the server are detected to finish communication authentication, forwarding a control request to a remote control end of the unmanned aerial vehicle;
step S250, response information generated by the remote control end in response to the control request is obtained, and the response information is forwarded to the front end.
Specifically, when the front end needs to instruct the unmanned aerial vehicle to execute a specific action or needs to acquire related data of the unmanned aerial vehicle, a control request generated for the unmanned aerial vehicle is sent to a server. The control request includes an identifier of the unmanned aerial vehicle (for example, a product identifier SN of the unmanned aerial vehicle, a Serial Number) and is mainly used for indicating the identity of the unmanned aerial vehicle.
After the server acquires the control request sent by the front end, the identification of the unmanned aerial vehicle is extracted from the control request. And then detecting whether the unmanned aerial vehicle is in a live broadcast state or not based on the identification of the unmanned aerial vehicle. Whether the unmanned aerial vehicle is in live broadcast state is mainly used for reflecting whether the unmanned aerial vehicle is accepted to interact with the outside currently. If the unmanned aerial vehicle is not in a live broadcast state, the unmanned aerial vehicle is not accepted to interact with the outside at present, and the server does not forward the control request sent by the front end. Otherwise, if the unmanned aerial vehicle is in a live broadcast state, which means that the unmanned aerial vehicle currently accepts to interact with the outside world, the server can forward the control request sent by the front end.
In addition, the communication safety between the unmanned aerial vehicle and the server is considered, and whether the unmanned aerial vehicle and the server finish communication authentication or not is detected based on the identification of the unmanned aerial vehicle. If the communication authentication between the unmanned aerial vehicle and the server is not completed, the server does not forward the control request sent by the front end, and the communication between the unmanned aerial vehicle and the server is not authenticated to be in a safe state. Otherwise, if the communication authentication between the unmanned aerial vehicle and the server is completed, which means that the communication between the unmanned aerial vehicle and the server is not authenticated as a safe state, the server can forward the control request sent by the front end.
Because in this application embodiment, the interaction between unmanned aerial vehicle and the external world is actually carried out by the remote control terminal, so the server is in live broadcast state when detecting unmanned aerial vehicle to detect unmanned aerial vehicle and server and accomplish communication authentication, forward control request to unmanned aerial vehicle's remote control terminal.
After receiving the control request, the remote control receives the control request, and then responds to the control request to instruct the unmanned aerial vehicle to execute specific actions or to acquire relevant data of the unmanned aerial vehicle, and then generates response information and sends the response information to the server. The final server forwards the response information to the front end.
In summary, in the embodiment of the present application, after a server obtains a control request sent by a front end for an unmanned aerial vehicle, if it is detected that the unmanned aerial vehicle is in a live broadcast state and it is detected that communication authentication is completed between the unmanned aerial vehicle and the server, the control request is forwarded to a remote control end of the unmanned aerial vehicle, and then the server forwards response information generated by the remote control end in response to the control request to the front end. In this way, the front end of the non-remote control end can remotely control the unmanned aerial vehicle, so that the flexibility of communication control of the unmanned aerial vehicle is improved; and whether the detection process of communication authentication is finished or not ensures the safety of unmanned aerial vehicle communication control.
In an embodiment, when the control request sent by the front end for the unmanned aerial vehicle includes a request for viewing an air line of the unmanned aerial vehicle, the response information generated by the remote control end in response to the control request includes the air line of the unmanned aerial vehicle.
In this embodiment, the front end sends a control request to the unmanned aerial vehicle to view the route of the unmanned aerial vehicle. After the control request is obtained through the server, the remote control end responds to the control request to obtain the route of the unmanned aerial vehicle, the route of the unmanned aerial vehicle is packaged in the response information, and then the response information is sent to the front end.
After the front end obtains the response information containing the route of the unmanned aerial vehicle, the route of the unmanned aerial vehicle can be visually displayed in real time, so that a user at the front end side can visually check the real-time route of the unmanned aerial vehicle.
In an embodiment, when the control request sent by the front end for the unmanned aerial vehicle includes a request to view a nacelle screen of the unmanned aerial vehicle, the response information generated by the remote control end in response to the control request includes the nacelle screen of the unmanned aerial vehicle.
In this embodiment, the front end sends a control request for the unmanned aerial vehicle to view the nacelle picture of the unmanned aerial vehicle. After the control request is obtained through the server, the remote control end responds to the control request to obtain the nacelle picture of the unmanned aerial vehicle, the nacelle picture of the unmanned aerial vehicle is packaged in the response information, and then the response information is sent to the front end.
After the front end obtains the response information containing the nacelle picture of the unmanned aerial vehicle, the nacelle picture of the unmanned aerial vehicle can be played in real time, so that a user at the front end side can watch the real-time nacelle picture of the unmanned aerial vehicle.
In an embodiment, the pod view of the drone may include multiple views for multiple orientations (e.g., a front view of the drone, a rear view of the drone, a left view of the drone, and a right view of the drone).
In this embodiment, the front end sends a control request for the drone, which may further include an identification of the pod view in addition to viewing the pod view of the drone, to play the pod view in real time for a particular orientation of the drone.
In an embodiment, the control request sent by the front end for the drone includes a request to alter the destination of the drone. After the control request is obtained through the server, the remote control end responds to the control request to change the destination of the unmanned aerial vehicle. After the destination is changed, the unmanned aerial vehicle can automatically re-plan a new route to go to the new destination.
In one embodiment, the drone automatically tracks targets in the pod frame to perform circuit inspection, rescue searches, material delivery, etc., and the tracked targets are framed in the pod frame for emphasis identification. When watching the real-time nacelle picture of the unmanned aerial vehicle, the user at the front end side can manually select objects except the tracking target in the nacelle picture in the play interface of the front end so as to instruct the unmanned aerial vehicle to change the tracking target into the selected object.
The front end responds to the object selection operation detected in the playing interface, generates a control request and sends the control request to the server. The control request includes a request to change the tracking target to the selected object. After the control request is obtained through the server, the remote control terminal responds to the control request to change the tracking target into the selected object.
In an embodiment, the response information generated by the remote control end further includes live broadcast parameters describing the current live broadcast configuration of the unmanned aerial vehicle. Specifically, live parameters include, but are not limited to: network speed, picture resolution, picture frame rate, etc.
It should be noted that, in the related art, the remote control end and the server generally use the user datagram protocol UDP to establish a communication connection. When a plurality of remote control terminals are in parallel communication connection with the server, if the remote control terminals send data to the server through the same UDP address and the server does not identify the source of the data, the data received by the server is cross chaotic. The related art needs to assign a separate UDP address to each remote control to avoid data confusion, and for this reason, the related art sets either one server that opens multiple ports or multiple servers. Because the server needs to start UDP service in advance no matter whether the remote control terminal transmits data or not, a large amount of port occupation is consumed in the mode, and a large amount of server resources are wasted.
Therefore, in an embodiment, the remote control end and the server establish communication connection by adopting a Transmission Control Protocol (TCP), so that occupation of a large number of ports is avoided, and server resources are saved.
In one embodiment, the front end establishes a communication connection with the server using websocket protocol. In this way, the front end can use the browser as a client, and various online interfaces with rich functions provided by the application browser are communicated with the server.
In an embodiment, based on the identification, detecting whether the drone is in a live state includes:
based on the identification, searching live broadcast record information generated by the server when the unmanned aerial vehicle applies for live broadcast;
and according to the live broadcast state information in the live broadcast record information, confirming whether the unmanned aerial vehicle is in a live broadcast state.
In this embodiment, if the remote control end can directly control and proxy a plurality of unmanned aerial vehicles simultaneously, then the remote control end replaces unmanned aerial vehicle when applying for live broadcast to the server, can add the identification of unmanned aerial vehicle that applies for live broadcast in the application request to the server generates the live broadcast record information of this unmanned aerial vehicle according to the identification of unmanned aerial vehicle that applies for live broadcast, and marks the live broadcast state information in the live broadcast record information as the information that the state corresponds in the live broadcast.
For example: the remote control end A can directly control and proxy the unmanned aerial vehicle a1 and the unmanned aerial vehicle a2 at the same time. When the remote control end A replaces the unmanned aerial vehicle a1 to apply for live broadcast to the server, the SN of the unmanned aerial vehicle a1 is added into the application request, so that the server generates live broadcast record information of the unmanned aerial vehicle a1 according to the SN of the unmanned aerial vehicle a1, and the live broadcast state information is marked as '1' to indicate that the unmanned aerial vehicle a1 is in a live broadcast state.
If the remote control end can only directly control and proxy one unmanned aerial vehicle at the same time, the server can pre-store the association relation between each remote control end and the corresponding unmanned aerial vehicle identifier. When the remote control terminal replaces the unmanned aerial vehicle to apply for live broadcast to the server, the identification of the unmanned aerial vehicle for applying for live broadcast does not need to be particularly added in the application request. The server can confirm the identification of the unmanned aerial vehicle applying for live broadcasting according to the identity of the remote control terminal and the stored association relation, further generate the live broadcasting record information of the unmanned aerial vehicle, and mark the live broadcasting state information in the live broadcasting record information as the information corresponding to the state in live broadcasting.
For example: the remote control end A can only directly control and proxy the unmanned aerial vehicle a at the same time, the remote control end B can only control and proxy the unmanned aerial vehicle B at the same time, and the server stores the following association relations, namely the SN of the remote control end A-unmanned aerial vehicle a and the SN of the remote control end B-unmanned aerial vehicle B, in advance. When the remote control terminal A replaces the unmanned aerial vehicle a to apply for live broadcast to the server, the SN of the unmanned aerial vehicle a does not need to be particularly added in the application request. After the server obtains the application request of the remote control end A, the identity of the remote control end A is confirmed, and the identification of the unmanned aerial vehicle applying for live broadcast can be confirmed as 'SN of the unmanned aerial vehicle a' by combining the stored association relation. And the server generates live broadcast record information of the unmanned aerial vehicle a according to the SN of the unmanned aerial vehicle a, and marks the live broadcast state information in the live broadcast record information as 1 to indicate that the unmanned aerial vehicle a is in a live broadcast state.
In an embodiment, based on the identification, detecting whether the drone and the server have completed communication authentication includes:
detecting whether a communication authentication identifier generated based on the identifier is recorded or not;
if the communication authentication identifier is recorded, confirming that the unmanned aerial vehicle and the server have completed communication authentication;
and if the communication authentication identification is not recorded, confirming that the unmanned aerial vehicle and the server do not complete communication authentication.
In this embodiment, under the proxy of the remote control end, after the unmanned aerial vehicle and the server complete communication authentication, the server generates and records a communication authentication identifier for the unmanned aerial vehicle based on the identifier of the unmanned aerial vehicle.
After obtaining the control request sent by the front end and obtaining the identification of the unmanned aerial vehicle aimed at by the front end in advance from the control request, the server detects whether the communication authentication identification generated based on the identification of the unmanned aerial vehicle aimed at by the front end is recorded or not.
If the communication authentication identifier generated based on the identifier of the unmanned aerial vehicle aimed at by the front end is recorded, confirming that the unmanned aerial vehicle aimed at by the front end and the server have completed communication authentication; otherwise, if the communication authentication identifier generated based on the identifier of the unmanned aerial vehicle aimed at by the front end is not recorded, confirming that the unmanned aerial vehicle aimed at by the front end and the server do not finish communication authentication.
In an embodiment, the method for controlling communication of a drone provided by the present application further includes:
after communication connection is established with the remote control end, responding to parameter information sent by the remote control end, and authenticating the remote control end, wherein the parameter information comprises an identifier;
after the remote control end passes authentication, detecting whether the unmanned aerial vehicle is in a live broadcast state;
after confirming that the unmanned aerial vehicle is in the live broadcast state, generating and recording a communication authentication identifier for describing that the unmanned aerial vehicle and the server have completed communication authentication based on the identifier.
In this embodiment, after the remote control end establishes communication connection with the server, the remote control end sends parameter information including the identifier of the unmanned aerial vehicle that the remote control end proxies to the server.
After receiving the parameter information sent by the remote control end, the server authenticates the remote control end to confirm whether the identity of the remote control end is credible or not. If the authentication passes, the identity of the remote control terminal is indicated to be credible; otherwise, if the authentication is not passed, the identity of the remote control terminal is not trusted.
After the remote control end passes authentication, the server detects whether the unmanned aerial vehicle proxied by the remote control end is in a live broadcast state. After confirming that the unmanned aerial vehicle proxied by the remote control end is in a live broadcast state, the server generates a communication authentication identifier based on the identifier of the unmanned aerial vehicle proxied by the remote control end, and indicates that the unmanned aerial vehicle proxied by the remote control end and the server have completed communication authentication.
In the embodiment, the server performs authentication on the remote control terminal, so that the possibility that the server is attacked by malicious requests is reduced, and the waste of bandwidth resources is reduced.
In an embodiment, the parameter information further includes: timestamp information, signature information.
In this embodiment, the signature information of the remote control terminal is generated by processing the identifier and the timestamp information of the unmanned aerial vehicle according to a contracted signature generation algorithm. After obtaining parameter information sent by a remote control end, the server extracts the identification, the time stamp information and the signature information of the unmanned aerial vehicle from the parameter information, processes the identification and the time stamp information of the unmanned aerial vehicle according to the same signature generation algorithm to generate information to be verified, and compares the information to be verified with the signature information.
If the information to be verified is consistent with the signature information, confirming that the remote control terminal passes authentication; otherwise, if the information to be verified is inconsistent with the signature information, the remote control end is confirmed to pass the authentication.
It can be understood that, besides the timestamp information and the signature information, the parameter information sent by the remote control end may also include other information that can be used to prove that the identity of the remote control end is trusted, so the embodiment should not limit the function and the protection scope of the application.
In an embodiment, after confirming that the unmanned aerial vehicle is in a live state, the unmanned aerial vehicle communication authentication method provided by the application further includes:
generating and recording a token identifier of the remote control end, and sending the token identifier of the remote control end to the remote control end;
responding to the token identification and private data sent by the remote control end, and detecting whether the token identification sent by the remote control end is recorded;
and if the token identification sent by the remote control terminal is recorded, storing the private data in association with the unmanned aerial vehicle.
In this embodiment, after the server authenticates the remote control end and confirms that the unmanned aerial vehicle proxied by the remote control end is in a live broadcast state, the server generates and records a token identification token for the remote control end, and then sends the token of the remote control end to the remote control end, so that when a subsequent request of the remote control end interacts with the server, the server verifies the remote control end again.
After the remote control end obtains the token allocated by the server, when the private data of the token need to be uploaded to the server, the remote control end jointly sends the token and the private data to the server so as to request the server to store the private data.
The server responds to the token and the private data sent by the remote control end, and detects whether the token sent by the remote control end is recorded or not. If the token sent by the remote control end is recorded, the remote control end passes verification, and private data sent by the remote control end and the unmanned aerial vehicle proxied by the remote control end are stored in a correlated mode.
In one embodiment, the private data of the remote control terminal includes: and equipment data of the remote control end and flight control data of the unmanned aerial vehicle.
Specifically, the device data of the remote control terminal includes, but is not limited to: the type of operating system adopted by the remote control end (such as an android operating system, an IOS operating system, a WINDOWS operating system and the like), the version of the operating system adopted by the remote control end, the CPU model of the remote control end, the CPU temperature of the remote control end and the like.
Flight control data for an unmanned aerial vehicle includes, but is not limited to: GPS of unmanned aerial vehicle, longitude and latitude of unmanned aerial vehicle, unmanned aerial vehicle's height, unmanned aerial vehicle's speed, unmanned aerial vehicle's atmospheric pressure in position, unmanned aerial vehicle's course angle, unmanned aerial vehicle's accumulative flight time etc..
Fig. 3 shows a detailed flow diagram of the unmanned aerial vehicle communication control according to an embodiment of the present application.
Referring to fig. 3, in an embodiment, after the remote control end establishes a communication connection with the server by adopting a TCP protocol, SN, timestamp information, and signature information thereof of the unmanned aerial vehicle are sent to the server. And after confirming that the signature information is credible according to the SN and the timestamp information of the unmanned aerial vehicle, the server confirms that the remote control terminal passes authentication.
And then the server confirms whether the unmanned aerial vehicle proxied by the remote control end is in a live broadcast state. After confirming that the unmanned aerial vehicle proxied by the remote control end is in a live broadcast state, the server generates a token for the remote control end and records the token, and then sends the token of the remote control end to the remote control end; and the server also generates a TCP authentication identifier based on the SN of the unmanned aerial vehicle so as to verify whether the communication between the unmanned aerial vehicle and the server is safe when the front end interacts with the server.
The front end establishes communication connection with the server by adopting websocket protocol, and logs in the server through an account number and a password. After successful login, the server generates and records a token for the front end, and then sends the token of the front end to the front end, so that when a subsequent request of the front end interacts with the server, the server verifies the front end again.
The front end needs to pass the server again before sending the control request to the server. Therefore, before the front-end sends the control request to the server, the front-end token, the SN of the drone, the timestamp information, and its signature information are sent to the server. After confirming that the token and signature information of the front end are all trusted, the server confirms that the front end passes authentication.
And the front end sends a control request for the unmanned aerial vehicle to the server after passing the authentication. And if the server detects that the unmanned aerial vehicle is in a live broadcast state based on the SN of the unmanned aerial vehicle contained in the control request and detects that the TCP authentication identifier of the unmanned aerial vehicle is recorded, the control request is forwarded to the remote control terminal.
After the remote control terminal responds to the control request to generate response information, the response information and the token of the remote control terminal are transmitted to the server together. And after confirming the token credibility of the remote control terminal, the server processes the response information.
If the response information relates to the operating system version of the remote control end, the server adopts timer queue data constructed based on a timer to perform timing processing on the response information so as to meet the requirement of real-time communication, and then sends the response information to the front end, and the front end displays the route, the nacelle picture and the like contained in the response information.
Fig. 4 shows a block diagram of a drone communication control device according to an embodiment of the present application, the device being provided to a server, the device including:
the front-end communication module 310 is configured to obtain a control request sent by the front end for the unmanned aerial vehicle, where the control request includes an identifier of the unmanned aerial vehicle;
a live broadcast detection module 320 configured to detect, based on the identification, whether the unmanned aerial vehicle is in a live broadcast state;
a communication authentication detection module 330 configured to detect, based on the identification, whether the drone and the server have completed communication authentication;
a request forwarding module 340, configured to forward the control request to a remote control end of the unmanned aerial vehicle if it is detected that the unmanned aerial vehicle is in a live broadcast state and it is detected that the unmanned aerial vehicle and the server have completed communication authentication;
And a response forwarding module 350, configured to obtain response information generated by the remote control end in response to the control request, and forward the response information to the front end.
In an exemplary embodiment of the present application, the live detection module is configured to:
based on the identification, searching live broadcast record information generated by the server when the unmanned aerial vehicle applies for live broadcast;
and according to the live broadcast state information in the live broadcast record information, confirming whether the unmanned aerial vehicle is in a live broadcast state.
In an exemplary embodiment of the present application, the communication authentication detection module is configured to:
detecting whether a communication authentication identifier generated based on the identifier is recorded or not;
if the communication authentication identifier is recorded, confirming that the unmanned aerial vehicle and the server have completed communication authentication;
and if the communication authentication identification is not recorded, confirming that the unmanned aerial vehicle and the server do not complete communication authentication.
In an exemplary embodiment of the present application, the apparatus is configured to:
after communication connection is established with the remote control end, responding to parameter information sent by the remote control end, and authenticating the remote control end, wherein the parameter information comprises the identification;
After the remote control end passes authentication, detecting whether the unmanned aerial vehicle is in a live broadcast state;
and after confirming that the unmanned aerial vehicle is in a live broadcast state, generating and recording a communication authentication identifier for describing that the unmanned aerial vehicle and the server have completed communication authentication based on the identifier.
In an exemplary embodiment of the present application, after confirming that the drone is in the in-flight state, the apparatus is configured to:
generating and recording a token identifier of the remote control end, and sending the token identifier of the remote control end to the remote control end;
responding to the token identification and private data sent by the remote control end, and detecting whether the token identification sent by the remote control end is recorded;
and if the token identification sent by the remote control terminal is recorded, storing the private data in association with the unmanned aerial vehicle.
In an exemplary embodiment of the present application, the private data of the remote control terminal includes: and the device data of the remote control end and the flight control data of the unmanned aerial vehicle.
In an exemplary embodiment of the present application, the parameter information further includes: timestamp information, signature information.
In an exemplary embodiment of the present application, when the control request includes a request to view an airline of the unmanned aerial vehicle, the response information includes the airline of the unmanned aerial vehicle;
The response information includes a pod view of the drone when the control request includes a request to view the pod view of the drone.
In an exemplary embodiment of the present application, the response information further includes a live parameter for describing a current live configuration of the drone.
In an exemplary embodiment of the present application, the remote control end establishes a communication connection with the server using a transmission control protocol TCP.
An electronic device 40 according to an embodiment of the present application is described below with reference to fig. 5. The electronic device 40 shown in fig. 5 is only an example and should not be construed as limiting the functionality and scope of use of the embodiments herein.
As shown in fig. 5, the electronic device 40 is in the form of a general purpose computing device. Components of electronic device 40 may include, but are not limited to: the at least one processing unit 410, the at least one memory unit 420, and a bus 430 connecting the various system components, including the memory unit 420 and the processing unit 410.
Wherein the storage unit stores program code that is executable by the processing unit 410 such that the processing unit 410 performs the steps according to various exemplary embodiments of the present invention described in the description of the exemplary methods described above in this specification. For example, the processing unit 410 may perform the various steps as shown in fig. 2.
The storage unit 420 may include readable media in the form of volatile storage units, such as Random Access Memory (RAM) 4201 and/or cache memory 4202, and may further include Read Only Memory (ROM) 4203.
The storage unit 420 may also include a program/utility 4204 having a set (at least one) of program modules 4205, such program modules 4205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.
Bus 430 may be a local bus representing one or more of several types of bus structures including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or using any of a variety of bus architectures.
The electronic device 40 may also communicate with one or more external devices 500 (e.g., keyboard, pointing device, bluetooth device, etc.), one or more devices that enable a user to interact with the electronic device 40, and/or any device (e.g., router, modem, etc.) that enables the electronic device 40 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 450. An input/output (I/O) interface 450 is connected to the display unit 440. Also, the electronic device 40 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet, through the network adapter 460. As shown, network adapter 460 communicates with other modules of electronic device 40 over bus 430. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with electronic device 40, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware. Thus, the technical solution according to the embodiments of the present application may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a usb disk, a mobile hard disk, etc.) or on a network, and includes several instructions to cause a computing device (may be a personal computer, a server, a terminal device, or a network device, etc.) to perform the method according to the embodiments of the present application.
In an exemplary embodiment of the present application, there is also provided a computer-readable storage medium having stored thereon computer-readable instructions, which, when executed by a processor of a computer, cause the computer to perform the method described in the method embodiment section above.
According to an embodiment of the present application, there is also provided a program product for implementing the method in the above method embodiments, which may employ a portable compact disc read only memory (CD-ROM) and comprise program code and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer readable signal medium may include a data signal propagated in baseband or as part of a carrier wave with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).
It should be noted that although in the above detailed description several modules or units of a device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functions of two or more modules or units described above may be embodied in one module or unit, in accordance with embodiments of the present application. Conversely, the features and functions of one module or unit described above may be further divided into a plurality of modules or units to be embodied.
Furthermore, although the various steps of the methods herein are depicted in the accompanying drawings in a particular order, this is not required to either suggest that the steps must be performed in that particular order, or that all of the illustrated steps must be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step to perform, and/or one step decomposed into multiple steps to perform, etc.
From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware. Thus, the technical solution according to the embodiments of the present application may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.) or on a network, and includes several instructions to cause a computing device (may be a personal computer, a server, a mobile terminal, or a network device, etc.) to perform the method according to the embodiments of the present application.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

Claims (13)

1. A method for controlling communication of a unmanned aerial vehicle, wherein the method is applied to a server, and the method comprises:
acquiring a control request sent by a front end aiming at an unmanned aerial vehicle, wherein the control request comprises an identifier of the unmanned aerial vehicle;
based on the identification, detecting whether the unmanned aerial vehicle is in a live broadcast state;
based on the identification, detecting whether the unmanned aerial vehicle and the server have completed communication authentication;
if the unmanned aerial vehicle is detected to be in a live broadcast state and the unmanned aerial vehicle and the server are detected to finish communication authentication, forwarding the control request to a remote control end of the unmanned aerial vehicle;
and obtaining response information generated by the remote control end in response to the control request, and forwarding the response information to the front end.
2. The method of claim 1, wherein detecting whether the drone is in a live state based on the identification comprises:
based on the identification, searching live broadcast record information generated by the server when the unmanned aerial vehicle applies for live broadcast;
and according to the live broadcast state information in the live broadcast record information, confirming whether the unmanned aerial vehicle is in a live broadcast state.
3. The method of claim 1, wherein detecting whether the drone and the server have completed communication authentication based on the identification comprises:
detecting whether a communication authentication identifier generated based on the identifier is recorded or not;
if the communication authentication identifier is recorded, confirming that the unmanned aerial vehicle and the server have completed communication authentication;
and if the communication authentication identification is not recorded, confirming that the unmanned aerial vehicle and the server do not complete communication authentication.
4. The method according to claim 1, wherein the method further comprises:
after communication connection is established with the remote control end, responding to parameter information sent by the remote control end, and authenticating the remote control end, wherein the parameter information comprises the identification;
after the remote control end passes authentication, detecting whether the unmanned aerial vehicle is in a live broadcast state;
and after confirming that the unmanned aerial vehicle is in a live broadcast state, generating and recording a communication authentication identifier for describing that the unmanned aerial vehicle and the server have completed communication authentication based on the identifier.
5. The method of claim 4, wherein upon confirming that the drone is in an on-air state, the method further comprises:
Generating and recording a token identifier of the remote control end, and sending the token identifier of the remote control end to the remote control end;
responding to the token identification and private data sent by the remote control end, and detecting whether the token identification sent by the remote control end is recorded;
and if the token identification sent by the remote control terminal is recorded, storing the private data in association with the unmanned aerial vehicle.
6. The method of claim 5, wherein the private data of the remote control comprises: and the device data of the remote control end and the flight control data of the unmanned aerial vehicle.
7. The method of claim 4, wherein the parameter information further comprises: timestamp information, signature information.
8. The method of claim 1, wherein the response information comprises an airline of the drone when the control request comprises a request to view the airline of the drone;
the response information includes a pod view of the drone when the control request includes a request to view the pod view of the drone.
9. The method of claim 8, wherein the response information further includes live parameters describing a current live configuration of the drone.
10. The method of claim 1, wherein the remote control establishes a communication connection with the server using a transmission control protocol TCP.
11. An unmanned aerial vehicle communication control device, characterized in that, the device is located the server, the device includes:
the front-end communication module is configured to acquire a control request sent by the front end for the unmanned aerial vehicle, wherein the control request comprises an identifier of the unmanned aerial vehicle;
the live broadcast detection module is configured to detect whether the unmanned aerial vehicle is in a live broadcast state or not based on the identification;
a communication authentication detection module configured to detect whether the unmanned aerial vehicle and the server have completed communication authentication based on the identification;
the request forwarding module is configured to forward the control request to a remote control end of the unmanned aerial vehicle if the unmanned aerial vehicle is detected to be in a live broadcast state and communication authentication between the unmanned aerial vehicle and the server is detected to be completed;
and the response forwarding module is configured to acquire response information generated by the remote control end in response to the control request and forward the response information to the front end.
12. An electronic device, comprising:
One or more processors;
storage means for storing one or more programs which, when executed by the one or more processors, cause the electronic device to implement the method of any of claims 1-10.
13. A computer readable storage medium having stored thereon computer readable instructions which, when executed by a processor of a computer, cause the computer to perform the method of any of claims 1 to 10.
CN202310087289.4A 2023-01-19 2023-01-19 Unmanned aerial vehicle communication control method and device, electronic equipment and storage medium Pending CN116208389A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116389783A (en) * 2023-06-05 2023-07-04 四川农业大学 Live broadcast linkage control method, system, terminal and medium based on unmanned aerial vehicle

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116389783A (en) * 2023-06-05 2023-07-04 四川农业大学 Live broadcast linkage control method, system, terminal and medium based on unmanned aerial vehicle
CN116389783B (en) * 2023-06-05 2023-08-11 四川农业大学 Live broadcast linkage control method, system, terminal and medium based on unmanned aerial vehicle

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