CN117425148A

CN117425148A - Ground-air task cooperative control method, service equipment and storage medium

Info

Publication number: CN117425148A
Application number: CN202311331882.5A
Authority: CN
Inventors: 张兆生; 卫小乐
Original assignee: Shenzhen Chinasoft International Technology Service Co ltd
Current assignee: Shenzhen Chinasoft International Technology Service Co ltd
Priority date: 2023-10-13
Filing date: 2023-10-13
Publication date: 2024-01-19

Abstract

The application provides a ground-air task cooperative control method, service equipment and a computer readable storage medium. The ground-air task cooperative control method comprises the following steps: encrypting a task request in response to the task request of target ground equipment to obtain encrypted task data; transmitting the encrypted task data to a target aerial device in an aerial device list of the target ground device; after the target aerial device receives the encrypted task data, decrypting the encrypted task data to obtain a decrypted task instruction; and if the decrypted task instruction is legal and the ground equipment list of the target air equipment contains the target ground equipment, reporting the decrypted task instruction to the interactive application of the target air equipment. The method and the device can improve the data security and the anti-interference performance of the aerial equipment.

Description

Ground-air task cooperative control method, service equipment and storage medium

Technical Field

The present application relates to the field of communications technologies, and in particular, to a ground-air task cooperative control method, a service device, and a computer readable storage medium.

Background

Aerial devices (such as unmanned aerial vehicles) are increasingly used in various production and living scenes, for example, unmanned aerial vehicles can be utilized to perform rescue, inspection, transportation and other operations; in order to better utilize the air equipment to execute tasks, various ground equipment (such as mobile phones and the like) can be connected with the air equipment through various data communication interfaces (such as Wifi, bluetooth, 4G/5G and the like) of the air equipment, and various ground equipment (such as mobile phones and the like) is applied to transmit instructions to the air equipment to control the air equipment to execute corresponding operations. However, the wireless communication interface connection on the air equipment has a great safety problem, and the illegal equipment can impersonate the legal equipment to send a control instruction to the air equipment, so that the air equipment is illegally controlled (such as illegally changing the flight data of the air equipment, resetting the return point, changing the navigation point and the like), and the flight safety of the air equipment is seriously threatened. It can be seen that how to improve the data security and anti-interference performance of the air equipment is a technical problem to be solved.

Disclosure of Invention

The application provides a ground-air task cooperative control method, service equipment and a computer readable storage medium, which can improve the data security and anti-interference performance of air equipment.

In a first aspect, the present application provides a ground-air task cooperative control method, which is applied to a service device in a ground-air cooperative system, where the ground-air cooperative system includes a ground device, an air device and a service device, and the method includes:

encrypting a task request in response to the task request of target ground equipment to obtain encrypted task data;

transmitting the encrypted task data to a target aerial device in an aerial device list of the target ground device;

after the target aerial device receives the encrypted task data, decrypting the encrypted task data to obtain a decrypted task instruction;

and if the decrypted task instruction is legal and the ground equipment list of the target air equipment contains the target ground equipment, reporting the decrypted task instruction to the interactive application of the target air equipment.

In a second aspect, the present application further provides a service device, where the service device includes a processor and a memory, where the memory stores a computer program, and when the processor invokes the computer program in the memory, any of the ground-air task cooperative control methods provided in the present application is executed.

In a third aspect, the present application further provides a computer readable storage medium having stored thereon a computer program, the computer program being loaded by a processor to perform the ground-air task cooperative control method.

In the application, in the first aspect, by encrypting the task request and then sending the task request to the target air device, decrypting the encrypted task data after the target air device receives the encrypted task data, and reporting a legal decrypted task instruction to the interactive application of the target air device, the control of the air device by the instruction which is not encrypted in a pre-negotiation encryption mode can be avoided, so that the problem of flight safety of the air device caused by sending a control instruction to the air device by illegal devices is avoided, and the data safety and anti-interference performance of the air device are improved; in the second aspect, under the condition that the ground equipment list of the target air equipment contains the target ground equipment, the decrypted task instruction is reported to the interactive application of the target air equipment, so that the situation that equipment which is not in the ground equipment list of the target air equipment transmits the instruction to the air equipment to control the target air equipment can be avoided, the problem of flight safety of the air equipment caused by the fact that illegal equipment transmits the control instruction to the air equipment is avoided, and the data safety and anti-interference performance of the air equipment are improved.

Drawings

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

FIG. 1 is a schematic diagram of a ground-air cooperative system provided in an embodiment of the present application;

FIG. 2 is a schematic diagram of a schematic framework of a service device according to an embodiment of the present application;

fig. 3 is a schematic flow chart of a ground-air task cooperative control method provided in an embodiment of the present application;

FIG. 4 is a schematic diagram of a schematic framework of a ground-air task cooperative process according to an embodiment of the present application;

fig. 5 is a schematic flow chart of calling an RPC module to implement instruction transmission according to an embodiment of the present application;

FIG. 6 is a schematic flow chart of a reliable device and routing path management provided in an embodiment of the present application;

fig. 7 is a schematic diagram of a framework for performing networking management by using a networking management module according to an embodiment of the present application;

FIG. 8 is a schematic diagram of an embodiment of a ground-air task cooperative control process provided in an embodiment of the present application;

Fig. 9 is an interaction schematic diagram of a device in the air and a ground device in a ground-air cooperative system provided in an embodiment of the present application;

fig. 10 is a schematic structural diagram of a service device provided in an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

The flow diagrams depicted in the figures are merely illustrative and not necessarily all of the elements and operations/steps are included or performed in the order described. For example, some operations/steps may be further divided, combined, or partially combined, so that the order of actual execution may be changed according to actual situations.

In the description of the embodiments of the present application, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or an implicit indication of the number of features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the embodiments of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

The following description is presented to enable any person skilled in the art to make and use the application. In the following description, details are set forth for purposes of explanation. It will be apparent to one of ordinary skill in the art that the present application may be practiced without these specific details. In other instances, well-known processes have not been described in detail in order to avoid unnecessarily obscuring descriptions of the embodiments of the present application. Thus, the present application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed in the embodiments of the present application.

The embodiment of the application provides a ground-air task cooperative control method, service equipment and a computer readable storage medium.

Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.

Fig. 1 is a schematic diagram of a framework of a ground-air collaboration system provided in an embodiment of the present application, and fig. 2 is a schematic diagram of a principle framework of a service device provided in an embodiment of the present application.

As shown in fig. 1, the ground-air task cooperative control method provided by the embodiment of the application can be applied to the ground-air cooperative system shown in fig. 1, where the ground-air cooperative system includes ground equipment, air equipment and service equipment.

The ground equipment can be various sensors, control equipment, mobile phones, car phones and the like. The ground equipment can integrate various interactive applications, and the ground equipment interacts with the interactive application of the air equipment through the integrated interactive application; for example, the ground equipment sends tasks to the air equipment through the interactive application of the ground equipment, and the ground-air task coordination is realized through the interactive application of the air equipment to execute the tasks.

Wherein the aerial device may be an aerial unmanned aerial vehicle or the like. The air equipment can integrate various interactive applications, and the air equipment interacts with the interactive application of the ground equipment through the integrated interactive application, so that ground-air task coordination is realized.

The service equipment can be computer equipment such as a mobile phone, a computer and the like, and can also be a server; as shown in fig. 2, the service device includes a distributed service module, a ground-air security module, an RPC (Remote Procedure Call ) module, a networking management module, a protocol stack module, and a soft-hard collaboration module. In fig. 2, the interactive application 1, the interactive application 2, …, and the interactive application n include an interactive application of an air device and an interactive application of a ground device. The distributed soft bus is an intangible bus and is a common path for information transmission among all the components; as shown in fig. 2, the service device can control functions such as data transmission and instruction transmission between devices in the ground-air cooperative system through a distributed soft bus (including a task bus and a data bus).

The distributed service module can be used for registering tasks and callbacks of tasks initiated by the interactive application (such as goods taking tasks initiated by the interactive application of the ground equipment), calling back the tasks, reporting instructions of the interactive application, monitoring application closing of the interactive application, closing the tasks and the like. In some embodiments, the distributed service module may further include a distributed service module on the ground device side and a distributed service module on the air device side, where the distributed service module on the ground device side may be used to perform callback registration on data (such as an initiated task) to be transmitted by the ground device, and the distributed service module on the air device side may be used to callback data (such as a received task) received by the air device, report an instruction to an interactive application of the air device to invoke the interactive application to execute a corresponding instruction, and so on. Therefore, the distributed service module can realize distributed service among ground-air devices (namely ground devices and air devices), dispersedly deploy different services on different ground-air devices and realize interactive circulation among the services.

The ground-air security module can be used for filtering MAC addresses, encrypting/decrypting transmission data, performing security authentication on the transmission data and the like. In some embodiments, the ground-air security module may further include a ground-air security module on the ground device side and a ground-air security module on the air device side, where the ground security module may be configured to encrypt data (e.g., an initiated task) to be transmitted by the ground device and the ground-air security module on the air device side may be configured to decrypt data (e.g., a received task) received by the air device; similarly, the ground air security module at the air device side can be used for encrypting data (such as returned task execution results) to be transmitted by the air device, and the ground air security module at the ground device side can be used for decrypting data (such as received task execution results) received by the ground device. Therefore, illegal equipment invasion can be prevented through the ground-air safety module at the air equipment side (such as an unmanned aerial vehicle), a unified safety mechanism is carried out on each communication interface, and the anti-interference capability of the air equipment is improved.

The RPC module is used for realizing data communication between ground equipment and air equipment. Illustratively, as shown in fig. 5, the ground equipment and the air equipment communicate through a remote procedure call module (i.e., an RPC module), so as to implement procedure call and request service between the ground and air equipment, and after the RPC module calls, the equipment interacts through a distributed soft bus (including a task bus and a data bus, and refer to fig. 9). For example, taking ground equipment as a vehicle and air equipment as an unmanned aerial vehicle as an example, the process of transmitting instructions to the unmanned aerial vehicle by the vehicle is as follows: the vehicle-mounted machine calls an RPC module to acquire a service handle of the unmanned aerial vehicle; returning a service handle of the unmanned aerial vehicle by the RPC module; through the RPC module, the vehicle sends instructions (such as monitoring, stopping, continuous transmission and the like) to the unmanned aerial vehicle through a service handle of the unmanned aerial vehicle, and after the ground-air security module of the unmanned aerial vehicle passes the security authentication (including equipment security detection, routing security detection and the like) of the instructions sent by the vehicle, the instructions sent by the vehicle are distributed to the distributed service modules of the unmanned aerial vehicle; the distributed service module of the unmanned aerial vehicle reports the instruction sent by the vehicle to the interaction application of the unmanned aerial vehicle, so that the unmanned aerial vehicle application can execute the instruction sent by the vehicle, further the unmanned aerial vehicle executes the task operation corresponding to the instruction, and interaction between the vehicle and the unmanned aerial vehicle is realized.

The protocol stack module and the soft-hard coordination module can be used for realizing data interaction of various communication interfaces (such as Wifi, blutooth, image transmission RF, data transmission RF, LORA, zigbee, 4G/5G and the like). Therefore, when the communication interface of the ground equipment is different from the communication interface of the air equipment, the data interaction between the interaction application of the ground equipment and the interaction application of the air equipment can be realized through the protocol stack module and the soft and hard cooperative module.

The networking management module is used for updating the air equipment list of each ground equipment according to the appearance and the information of the equipment in the ground-air cooperative system and updating the ground equipment list of each air equipment. In order to ensure the safe communication between the ground equipment and the air equipment, each ground equipment dynamically maintains a corresponding air equipment list according to the appearance and disappearance of equipment in the air in the ground-air cooperative system, and the ground equipment can perform reliable and safe data transmission with the air equipment in the air equipment list correspondingly maintained (for example, the ground equipment can receive an instruction sent by the air equipment in the air equipment list); similarly, each aerial device can dynamically maintain a corresponding ground device list according to the presence and absence of the ground devices in the ground-air cooperative system, and the aerial device can perform reliable and safe data transmission with the ground devices in the ground device list correspondingly maintained (for example, the aerial device can receive instructions sent by the ground devices in the ground device list). Referring to fig. 6 and 7, taking maintenance of an aerial device list of a target ground device as an example, the maintenance procedure of the aerial device list of the ground device is as follows:

1. The ground device establishes heartbeat with the air device, and the heartbeat establishing process comprises negotiation of data encryption mode and the like.

2. The target ground device transmits the broadcast packet.

Specifically, when the ground equipment is to send the broadcast, the ground-air security module encapsulates the broadcast data according to the negotiated data encryption mode, and sends the broadcast packet after encapsulation.

3. The target ground device receives a return packet based on the broadcast packet feedback from surrounding air devices.

Specifically, after receiving a broadcast packet sent by a target ground device, surrounding air devices (such as air devices which are accessed into a ground-air cooperative system and have a distance smaller than a preset distance threshold value) receive the broadcast packet, a ground-air security module encapsulates reply data of the air devices according to a negotiated data encryption mode, and returns the encapsulated reply data to the target ground device, and at the moment, the target ground device can receive a return packet fed back by the surrounding air devices based on the broadcast packet.

4. The ground-air safety module analyzes the return packet received by the target ground equipment, judges whether the data corresponding to the return packet accords with a safety mechanism, considers the air equipment corresponding to the return packet as safety equipment if so, and adds the air equipment into an air equipment list of the target ground equipment; otherwise, if not, the air device corresponding to the return packet is considered as non-safety device, and the alarm information can be output.

5. And (3) carrying out path analysis on the air equipment list of the target ground equipment to obtain MAC addresses (Media Access Control Address, which are called medium access control addresses, local area network addresses, ethernet addresses or physical addresses) between the air equipment and the target ground equipment, and updating the routing paths between the ground equipment and the air equipment.

Similarly, for each ground device added to the ground-air cooperative system, the maintenance procedure of the aerial device list of the ground device may be referred to as above, to obtain the aerial device list of each ground device. And so on, for each air device added into the ground-air cooperative system, the maintenance process of the air device list of the ground device can be referred to, so as to obtain the ground device list of each air device.

Therefore, unified equipment management on ground-air equipment (such as unmanned aerial vehicle, vehicle machine, sensor and the like) in the ground-air cooperative system can be realized through the networking management module, a reliable equipment list is formed, and management and jump of a ground-air heterogeneous equipment unified communication mechanism are realized.

It should be noted that the scenarios in fig. 1 and fig. 2 are only used to explain the ground-air task cooperative control method provided in the embodiments of the present application, but do not constitute limitation of the application scenario of the ground-air task cooperative control method provided in the embodiments of the present application.

The following describes the ground-air task cooperative control method by taking a service device applied to the ground-air cooperative system shown in fig. 1 and fig. 2 as an example, please refer to fig. 3, and fig. 3 is a flow chart of the ground-air task cooperative control method provided in the embodiment of the present application. The ground-air task cooperative control method comprises the following steps 301 to 304, wherein:

301. and encrypting the task request in response to the task request of the target ground equipment to obtain encrypted task data.

The ground equipment can be various sensors, control equipment, mobile phones, car phones and the like. For example, taking a scenario in which a vehicle and an unmanned aerial vehicle form together to complete cargo transportation operation, the ground device may be a vehicle.

Wherein the aerial device may be an unmanned aerial vehicle or the like. For example, taking a scenario in which a vehicle and an unmanned aerial vehicle form together to complete cargo transportation operation, the aerial device may be an unmanned aerial vehicle.

The target ground equipment refers to ground equipment for initiating a task request. For example, taking a scenario that the cargo transportation operation is completed by the coordination of the vehicle and the unmanned aerial vehicle formation as an example, 5 vehicles (such as vehicles 1, 2, 3, 4 and 5) and 4 unmanned aerial vehicles (such as unmanned aerial vehicles 1, 2, 3 and 4) are added in the ground-air coordination system, and the target ground equipment is the vehicle 1 if the vehicle 1 initiates the cargo taking and delivering task to the unmanned aerial vehicle 2.

Illustratively, as shown in fig. 4, the ground-air security module includes a ground-air security module on a ground device side and a ground-air security module on an air device side, and the distributed service module includes a distributed service module of the ground device and a distributed service module of the air device. When the target ground device needs to cooperate with the aerial device to complete a task (for example, taking a scenario that a vehicle and an unmanned aerial vehicle form a team cooperate to complete package transportation operation, after the vehicle 1 transports a package to a designated operation position, the unmanned aerial vehicle needs to pick up the package from the designated operation position and send the package to a package destination), firstly, the target ground device searches the aerial device meeting the requirements (for example, in an aerial device list { unmanned aerial vehicle 1, unmanned aerial vehicle 2, unmanned aerial vehicle 3} of the vehicle 1, the unmanned aerial vehicle 2 with the loading capacity meeting the requirements and being idle) from the aerial device list of the target ground device as the target aerial device, and the target ground device initiates a task request for enabling the target aerial device to execute the corresponding task. And then, the ground air security module at the ground equipment side encrypts the task request to obtain encrypted task data.

302. And sending the encrypted task data to the target aerial device in the aerial device list of the target ground device.

The target aerial device refers to aerial devices requesting to execute task requests initiated by target ground devices.

The air equipment list of the target ground equipment is a set of air equipment which is added into all air equipment of the ground-air cooperative system and can establish communication with the target ground equipment. For example, the air equipment list of the target ground equipment may be established in a manner of referring to the following steps B1 to B4, and specifically, the following related description may be referred to, which is not repeated herein.

Referring to fig. 5, in order to implement the task request of the target ground device to be sent to the air device for execution, step 302 may be implemented by calling a remote procedure call module (i.e. RPC module), where step 302 may specifically include: responding to a remote procedure call request of the target ground equipment to the target air equipment, and acquiring a first service handle of the target air equipment; and controlling the target ground equipment to transmit the encrypted task data to the target air equipment based on the first service handle.

For example, when a target ground device (e.g., a vehicle) needs to send a task request to a target air device (e.g., an unmanned aerial vehicle), firstly, the target ground device (e.g., the vehicle) calls an RPC module to acquire a service handle of the target air device (e.g., the unmanned aerial vehicle); then, the target aerial device (such as the unmanned aerial vehicle) returns a service handle of the target aerial device (such as the unmanned aerial vehicle); and then, the target ground equipment (such as a vehicle machine) sends the ground-air security module to the target air equipment (such as the unmanned aerial vehicle) through the service handle of the target air equipment (such as the unmanned aerial vehicle) to encrypt the task request to obtain encrypted task data.

303. And after the target air equipment receives the encrypted task data, decrypting the encrypted task data to obtain a decrypted task instruction.

Illustratively, step 303 may specifically include: after the target aerial device receives the encrypted task data from the target ground device, the ground-air safety module at the aerial device side decrypts the encrypted task data received by the target aerial device according to a negotiated encryption mode, if the task data received by the target aerial device is not encrypted according to the negotiated encryption mode, the ground-air safety module at the aerial device side fails to decrypt the encrypted task data received by the target aerial device, and the encrypted task data received by the target aerial device is considered to be unsafe data, namely, a decrypted task instruction is illegal, so that the decrypted task instruction is not reported to the interactive application of the target aerial device, the target aerial device cannot continuously execute the task instruction corresponding to the encrypted task data, the interactive safety between the ground device and the aerial device is improved, and the problem that the communication interfaces of the ground device and the aerial device are invaded is effectively avoided; if the encrypted task data received by the target air equipment is obtained by encrypting according to the negotiated encryption mode, the ground-air security module at the air equipment side successfully decrypts the encrypted task data received by the target air equipment according to the negotiated encryption mode to obtain a decrypted task instruction, the encrypted task data received by the target air equipment is considered to be safe data, namely the decrypted task instruction is legal, the decrypted task instruction can be subsequently reported to the interactive application of the target air equipment so as to call the interactive application of the target air equipment to execute the decrypted task instruction, and the safe interaction of the task instruction between the ground equipment and the air equipment is realized.

For example, taking an example that the target aerial device is an unmanned aerial vehicle and the target ground device is a vehicle, assuming that an aerial device list of the target ground device (such as the vehicle 1) is { unmanned aerial vehicle 1, unmanned aerial vehicle 2, unmanned aerial vehicle 3}, and a ground device list of the target aerial device (such as the unmanned aerial vehicle 2) is { vehicle 1, vehicle 2, vehicle 3}, after the unmanned aerial vehicle 2 receives the encrypted task data from the vehicle 1, an aerial device side aerial space security module decrypts the encrypted task data received by the unmanned aerial vehicle 2 according to a negotiated encryption mode, if the encrypted task data received by the unmanned aerial vehicle 2 is not obtained by encrypting according to the negotiated encryption mode, the aerial device side aerial space security module fails to decrypt the encrypted task data received by the unmanned aerial vehicle 2, and considers that the encrypted task data received by the unmanned aerial vehicle 2 is unsafe data, namely, a task instruction corresponding to the encrypted task data is not legal after decryption, so that the task instruction corresponding to the encrypted task data is not continuously executed, thereby improving the interaction security between the unmanned aerial vehicle 1 and the unmanned aerial vehicle 2; if the encrypted task data received by the unmanned aerial vehicle 2 is obtained by encrypting in a negotiated encryption mode, the ground-air security module at the air equipment side successfully decrypts the encrypted task data received by the unmanned aerial vehicle 2 in the negotiated encryption mode to obtain a decrypted task instruction, the encrypted task data received by the unmanned aerial vehicle 2 is considered to be security data, and the unmanned aerial vehicle 2 can be subsequently called to execute the decrypted task instruction, so that the security interaction of the task instruction between the vehicle 1 and the unmanned aerial vehicle 2 is realized.

304. And if the decrypted task instruction is legal and the ground equipment list of the target air equipment contains the target ground equipment, reporting the decrypted task instruction to the interactive application of the target air equipment.

The ground device list of the target air device may be established by referring to the following steps D1 to D4, and specifically, the following related description may be referred to, which is not repeated herein.

The implementation of step 304 is various and illustratively includes:

(1) When the target ground device is in the ground device list of the target air device, the target ground device is considered to be a security device capable of calling the target air device, and the target air device can be called to execute the decrypted task instruction, where step 304 may specifically include: and if the decrypted task instruction is legal and the ground equipment list of the target air equipment contains the target ground equipment, reporting the decrypted task instruction to the interactive application of the target air equipment, so that the interactive application of the target air equipment executes the decrypted task instruction, and the target air equipment completes task operation corresponding to the task request of the target ground equipment.

Illustratively, in step 303, after the target air device receives the encrypted task data, on the one hand, the ground air security module decrypts the encrypted task data to obtain a decrypted task instruction; on the other hand, the ground-air safety module at the air equipment side can also carry out equipment safety detection on the target ground equipment, and the detection process specifically comprises the following steps: the ground-air safety module at the air equipment side detects whether the target ground equipment is in a ground equipment list of the target air equipment, if the target ground equipment is in the ground equipment list of the target air equipment, the target ground equipment is considered to be the safety equipment, and the target air equipment can be called to execute instructions; if the target ground equipment is not in the ground equipment list of the target air equipment, the target ground equipment is considered to be not safety equipment, and the target air equipment is forbidden to be called to execute instructions, namely, step 304 is not entered when the target ground equipment is not in the ground equipment list of the target air equipment, so that illegal control of the target air equipment by unsafe equipment is avoided, the data interaction safety of the air equipment is improved, and the flight safety of the air equipment is further improved. When the target ground device is in the ground device list of the target air device, step 304 is entered, and the distributed service module reports the decrypted task instruction to the interactive application of the target air device, and the interactive application of the target air device executes the decrypted task instruction, so that the target air device completes the task operation corresponding to the task request of the target ground device.

For example, taking an example that the target aerial device is an unmanned aerial vehicle and the target ground device is a vehicle, assuming that the aerial device list of the target ground device (e.g., vehicle 1) is { unmanned aerial vehicle 1, unmanned aerial vehicle 2, unmanned aerial vehicle 3}, the ground device list of the target aerial device (e.g., unmanned aerial vehicle 2) is { vehicle 1, vehicle 2, vehicle 3}, after the unmanned aerial vehicle 2 receives the encrypted task data from the vehicle 1, the ground air security module at the aerial device side will also perform the device security detection on the vehicle 1, specifically, the ground air security module at the aerial device side detects whether the vehicle 1 is in the ground device list of the unmanned aerial vehicle 2, since the vehicle 1 is in the ground device list of the unmanned aerial vehicle 2 { vehicle 1, vehicle 2, vehicle 3}, the vehicle 1 is considered as a security device, and the vehicle 2 will invoke the instruction sent by the vehicle 1.

For another example, taking the case that the target aerial device is an unmanned aerial vehicle and the target ground device is a vehicle, assuming that the aerial device list of the target ground device (such as the vehicle 4) is { unmanned aerial vehicle 1, unmanned aerial vehicle 2, unmanned aerial vehicle 3}, the ground device list of the target aerial device (such as the unmanned aerial vehicle 2) is { unmanned aerial vehicle 1, vehicle 2, vehicle 3}, after the unmanned aerial vehicle 2 receives the encrypted task data from the vehicle 4, the ground air security module at the aerial device side also detects whether the vehicle 4 is in the ground device list of the unmanned aerial vehicle 2, and because the vehicle 4 is not in the ground device list of the unmanned aerial vehicle 2, the vehicle 4 is considered to be not a security device, the unmanned aerial vehicle 2 is prohibited from being called to execute instructions, so as to avoid illegal control of the unmanned aerial vehicle 2 by the unsafe device, improve the data interaction security of the unmanned aerial vehicle 2, and further improve the flight security of the unmanned aerial vehicle 2.

(2) Further, in order to improve the security of the interaction between the ground device and the air device, the ground-air security module at the air device side is further used to perform route analysis on the encrypted task data, when the target ground device is in the ground device list of the target air device and the route obtained by analyzing the encrypted task data is in the route management table of the target air device, the target ground device is considered to be the security device capable of calling the target air device, and the target air device can be called to execute the task instruction after decryption, where step 304 specifically may include: and if the decrypted task instruction is legal, the ground equipment list of the target air equipment contains the target ground equipment, and the route management table of the target air equipment contains the route path obtained by analyzing the encrypted task data, reporting the decrypted task instruction to the interactive application of the target air equipment, so that the interactive application of the target air equipment executes the decrypted task instruction, and the target air equipment completes task operation corresponding to the task request of the target ground equipment.

The routing management table of the target air device is a set of routing paths between each ground device and the target air device in a ground device list of the target air device, for example, the ground device list of the target air device is { car 1, car 2, car 3}, and the target air device is unmanned aerial vehicle 1, then the routing management table of the target air device is { MAC address between car 1 and unmanned aerial vehicle 1, MAC address between car 2 and unmanned aerial vehicle 1, MAC address between car 3 and unmanned aerial vehicle 1 }. For example, the route management table of the target air device may be established in a manner of referring to the following steps E1 to E2, and specifically, the following related description may be referred to, which is not repeated herein.

Illustratively, in step 303, after the target air device receives the encrypted task data, the ground air security module in the first aspect decrypts the encrypted task data to obtain the decrypted task instruction. In a second aspect, the ground-air safety module at the air equipment side can also perform equipment safety detection on the target ground equipment, and specifically the detection process is as follows: the ground-air safety module at the air equipment side detects whether the target ground equipment is in a ground equipment list of the target air equipment, if the target ground equipment is in the ground equipment list of the target air equipment, the target ground equipment is considered to be the safety equipment, and the target air equipment can be called to execute instructions; if the target ground equipment is not in the ground equipment list of the target air equipment, the target ground equipment is considered to be not safety equipment, and the target air equipment is forbidden to be called to execute instructions, namely, step 304 is not entered when the target ground equipment is not in the ground equipment list of the target air equipment, so that illegal control of the target air equipment by unsafe equipment is avoided, the data interaction safety of the air equipment is improved, and the flight safety of the air equipment is further improved. In a third aspect, the ground air security module at the air device side may further perform route security detection on the target ground device, where a specific detection process is as follows (i.e. a MAC address filtering process): the ground-air safety module at the air equipment side carries out route analysis on the encrypted task data, detects whether a route path obtained by analyzing the encrypted task data is in a route management table of the target air equipment, and considers the target ground equipment as safety equipment if the route path obtained by analyzing the encrypted task data is in the route management table of the target air equipment, so that the target air equipment can be called to execute instructions; if the target ground equipment is not in the ground equipment list of the target air equipment, the target ground equipment is considered to be not safety equipment, and the target air equipment is forbidden to be called to execute instructions, namely, step 304 is not entered when the target ground equipment is not in the ground equipment list of the target air equipment, so that illegal control of the target air equipment by unsafe equipment is avoided, the data interaction safety of the air equipment is improved, and the flight safety of the air equipment is further improved. When the target ground device is in the ground device list of the target air device and the route path obtained by analyzing the encrypted task data is in the route management table of the target air device, step 304 is entered, and the distributed service module reports the decrypted task instruction to the interactive application of the target air device, and the interactive application of the target air device executes the decrypted task instruction, so that the target air device completes the task operation corresponding to the task request of the target ground device.

Further, in order to ensure that the target air device can effectively execute the task request of the target ground device, after the target air device completes execution of the task request, an execution result can be returned to the target ground device, that is, the ground-air task cooperative control method further comprises the following steps A1 to A4:

a1, after the target aerial device executes the decrypted task instruction, encrypting an execution result of the decrypted task instruction to obtain encryption result data.

The distributed service module may monitor that the interactive application of the target air device is closed after the target air device executes the decrypted task instruction, and when the distributed service module may monitor that the interactive application of the target air device is closed, the ground air security module at the air device side encrypts the execution result of the decrypted task instruction to obtain encrypted result data.

A2, sending the encryption result data to the target ground equipment.

For example, in order to implement feedback of the execution result of the target air device to the target ground device, step A2 may be implemented by calling a remote procedure call module (i.e. RPC module), where step A2 may specifically include: responding to a remote procedure call request of the target air equipment to the target ground equipment, and acquiring a second service handle of the target ground equipment; controlling the target aerial device to transmit the encryption result data to the target ground-based device based on the second service handle.

The implementation of step A2 is similar to that of step 302, and reference may be made to the above description, and details thereof will not be repeated here.

A3, after the target ground equipment receives the encryption result data, decrypting the encryption result data to obtain decrypted result data.

The ground air safety module at the ground equipment side decrypts the encrypted result data received by the target ground equipment according to the negotiated encryption mode after the target ground equipment receives the encrypted result data from the target air equipment, if the task data received by the target ground equipment is not encrypted according to the negotiated encryption mode, the ground air safety module at the ground equipment side fails to decrypt the encrypted result data received by the target ground equipment, and considers that the encrypted result data received by the target ground equipment is unsafe data, namely the decrypted result data is illegal, so that a decrypted task instruction is not reported to interactive application of the target ground equipment, the interaction safety between the air equipment and the ground equipment is improved, and the problem that communication interfaces of the air equipment and the ground equipment are invaded is effectively avoided; if the encryption result data received by the target ground equipment is obtained by encryption according to the negotiated encryption mode, the ground air security module at the ground equipment side successfully decrypts the encryption result data received by the target ground equipment according to the negotiated encryption mode to obtain decrypted result data, and the encryption result data received by the target ground equipment is considered to be security data, namely the decrypted result data is legal, and then the decrypted result data can be reported to the interactive application of the target ground equipment to realize the security interaction between the air equipment and the ground equipment.

And A4, if the aerial equipment list of the target ground equipment contains the target aerial equipment, reporting the decrypted result data to the interactive application of the target ground equipment.

The implementation manner of the step A4 is various, and illustratively includes:

(1) When the target aerial device is in the aerial device list of the target ground device, the target aerial device is considered to be a security device capable of calling the target ground device, and the decrypted result data can be reported to the interactive application of the target ground device, and at this time, the step A4 specifically may include: and if the decrypted result data is legal and the target aerial equipment is contained in the aerial equipment list of the target ground equipment, reporting the decrypted result data to the interactive application of the target ground equipment.

(2) Further, in order to improve the security of the interaction between the air device and the ground device, the ground air security module at the ground device side is also used to perform route analysis on the encrypted result data, when the target air device is in the air device list of the target ground device and the route obtained by analyzing the encrypted result data is in the route management table of the target ground device, the target air device is considered to be a security device capable of transmitting data to the target ground device, and the decrypted result data can be reported to the interaction application of the target ground device, where step 304 specifically may include: and if the decrypted result data is legal, the air equipment list of the target ground equipment contains the target air equipment, and the route management table of the target ground equipment contains the route path obtained by analyzing the encrypted result data, reporting the decrypted result data to the interactive application of the target ground equipment.

The implementation of step A4 is similar to that of step 304, and specific reference may be made to the foregoing related description, which is not repeated here. For example, the route management table of the target ground device may be established in a manner of referring to the following steps C1 to C2, and specifically, reference may be made to the following related description, which is not repeated here.

Further, in order to make the ground-related staff better understand the task execution result of the target air device, the target air device may further photograph the result image of the decrypted task instruction execution and return the result image to the target ground device, where step A4 may specifically include: after the target air equipment executes the decrypted task instruction, a result image of the target air equipment executed by the decrypted task instruction is obtained; and encrypting based on the result image to obtain encryption result data. For example, after the target aerial device executes the decrypted task instruction, the target aerial device may capture a resultant image after the decrypted task instruction is executed; the ground-air security module at the air equipment side can acquire the result image for encryption to obtain encryption result data.

Further, in order to ensure the interaction safety of the ground equipment and the aerial equipment, the aerial equipment list of the target ground equipment can be obtained by the following steps of:

And B1, responding to the broadcasting request of the target ground equipment, and transmitting a first broadcasting packet issued by the target ground equipment to the air equipment to be selected in the ground-air cooperative system.

The air equipment to be selected is air equipment meeting preset screening conditions, for example, all the air equipment accessed to the ground-air cooperative system; for another example, the task request execution efficiency of the target ground equipment can be improved by the air equipment within the preset distance range of the target ground equipment in the air equipment of the ground-air cooperative system; for another example, in the air equipment of the ground-air cooperative system, the flight route and the task destination of the target ground equipment (for example, after the target ground equipment uniformly transports the package of the destination a to the fixed operation base, the air equipment of the fixed operation base continuously transports the package of the fixed operation base to the destination a, and the air equipment of the flight route as the destination a can be used as the air equipment to be selected) are identical, so that the execution accuracy of the task request of the target ground equipment is improved.

And B2, after the air equipment to be selected receives the first broadcast packet, the first return packet fed back by the air equipment to be selected based on the first broadcast packet is sent to the target ground equipment.

And B3, after the target ground equipment receives the first return packet, analyzing the first return packet.

And B4, if the analyzed first return packet meets a preset safety condition, adding the air equipment to be selected into an air equipment list of the target ground equipment.

For example, as shown in fig. 6, after the target ground device (e.g. the vehicle 1) joins the ground-air coordination system (see "networking management" section in fig. 6), the target ground device (e.g. the vehicle 1) may initiate a broadcast request, and at this time, the ground-air security module on the ground device side encrypts the broadcast request issued by the target ground device (e.g. the vehicle 1) according to the negotiated encryption manner to obtain the first broadcast packet. Then, the first broadcast packet is transmitted to an air device (e.g., the drone 1) to be selected in the ground-air cooperative system (refer to the "transmit broadcast packet" section shown in fig. 6). Then, the air equipment to be selected replies after receiving the first broadcast packet, and the ground-air security module at the air equipment side encrypts the reply of the first broadcast packet according to a negotiated encryption mode to obtain a first return packet fed back by the air equipment to be selected based on the first broadcast packet; and then, the first return packet is sent to the target ground equipment (shown in a part for receiving the return packet in fig. 6), the ground air safety module at the ground equipment side analyzes the received first return packet (shown in a part for analyzing the ground air safety mechanism in fig. 6) according to the negotiated encryption mode, if the first return packet can be normally analyzed, the analyzed first return packet accords with the preset safety condition, and the air equipment to be selected is added into the air equipment list of the target ground equipment (shown in a part for analyzing the reliable equipment list in fig. 6). Otherwise, if the first return packet cannot be normally parsed, the first return packet after the first parsing does not conform to the preset security condition, the air equipment to be selected is not added to the air equipment list of the target ground equipment, the air equipment to be selected corresponding to the first return packet is considered to be non-security equipment, and alarm information (shown by the non-security equipment and the alarm part in fig. 6) can be output.

Further, in order to ensure the interaction safety of the ground equipment and the air equipment, the route management table of the target ground equipment can be updated by the following ways as steps C1-C2:

and C1, after the target ground equipment receives the first return packet, carrying out route analysis on the first return packet to obtain a first route path between the air equipment to be selected and the target ground equipment.

And C2, updating a route management table of the target ground equipment based on the first route path.

For example, as shown in fig. 6, the ground air security module at the ground equipment side performs route analysis on the first return packet of the air equipment to be selected (such as unmanned aerial vehicles 1, 2 and 3) respectively, so as to obtain first route paths (such as paths 1, 2 and 3 respectively) between the unmanned aerial vehicles 1, 2 and 3 and the target ground equipment (see the section of "path analysis" in fig. 6); since the route management table of the target ground device does not have the first route path between the target ground devices of the unmanned aerial vehicle 1, the first route path between the target ground devices of the unmanned aerial vehicle 2 and the first route path between the target ground devices of the unmanned aerial vehicle 3, the route 1 and the route 3 are added into the route management table of the target ground device (refer to the part of the "updated ground device route" shown in fig. 6).

Further, in order to ensure the interaction safety of the ground equipment and the air equipment, the ground equipment list of the target air equipment can be obtained by the following steps of:

d1, responding to a broadcast request of the target air equipment, and sending a second broadcast packet issued by the target air equipment to ground equipment to be selected in a ground-air cooperative system;

the ground equipment to be selected is ground equipment meeting preset screening conditions, for example, the ground equipment can be all ground equipment accessed to a ground-air cooperative system; for another example, the ground equipment in the preset distance range of the target air equipment in the ground equipment of the ground-air cooperative system can be used for improving the task request execution efficiency of the target air equipment.

D2, after the ground equipment to be selected receives the second broadcast packet, sending a second return packet fed back by the ground equipment to be selected based on the second broadcast packet to the target air equipment;

d3, after the target aerial device receives the second return packet, analyzing the second return packet;

and D4, if the analyzed second return packet meets a preset safety condition, adding the ground equipment to be selected into a ground equipment list of the target air equipment.

The implementation of the steps D1 to D4 is similar to the implementation of the steps A1 to A4, and specific reference may be made to the description related to the steps A1 to A4, which are not repeated here.

Further, to ensure the interaction security of the ground device and the air device, the route management table of the target air device may be updated by the following manner as steps E1 to E2:

and E1, after the target aerial equipment receives the second return packet, carrying out route analysis on the second return packet to obtain a second route path between the ground equipment to be selected and the target aerial equipment.

And E2, updating a route management table of the target air equipment based on the second route path.

The implementation of steps E1 to E2 is similar to the implementation of steps C1 to C2, and specific reference may be made to the description related to steps A1 to A4, which are not repeated here.

For a better understanding of the embodiments of the present application, please refer to fig. 4, 7, 8 and 9, in the following, taking "the target ground device is a vehicle, the target air device is an unmanned plane, the vehicle and the unmanned plane form a cooperative completion cargo transportation operation scene" as an example, the cooperative control process of the ground-air task in the embodiment is described. As shown in fig. 9, heterogeneous devices (such as sensing devices, control devices, mobile phones, car technologies, intelligent devices and the like) on a plurality of unmanned aerial vehicles and various ground surfaces are connected into the ground-air cooperative system, and a heartbeat can be established between the unmanned aerial vehicle and the car machine through a group management module, reliable devices can be managed (such as adding the car machine into a ground device list of the unmanned aerial vehicle to serve as a safety device capable of sending instructions to the unmanned aerial vehicle, adding the unmanned aerial vehicle into an air device list of the car machine to serve as a safety device capable of sending instructions to the car machine), and route paths can be managed (such as updating route paths between the car machine and the unmanned aerial vehicle into a route management table), as shown in fig. 7. At this time, the ground-air security module includes a ground-air security module on the vehicle side and an air security module on the unmanned aerial vehicle side, and the distributed service module includes a distributed service module on the vehicle side and a distributed service module on the unmanned aerial vehicle side, as shown in fig. 8, the ground-air task cooperative control process may be as follows:

1. And the vehicle starts the pick-up and delivery task, and registers the task and the callback function in the distributed service module. (refer to step 1 in FIG. 4)

2. The distributed service module registers tasks and callback functions, searches unmanned aerial vehicles in a network, and registers a safety mechanism of a goods taking and delivering task; including mac filtering, encryption, etc. (see step 2, step 4 and step 5 in FIG. 4)

3. Through the RPC module, the vehicle and the unmanned aerial vehicle carry out task interaction, and the unmanned aerial vehicle receives goods delivery tasks through a soft bus. (see steps 3, 6, 7 and 8 in FIG. 4.)

4. The ground-air security module of the unmanned aerial vehicle side analyzes and decrypts, filters the mac address, and distributes tasks to the distributed service module of the unmanned aerial vehicle side. (see step 9 in FIG. 4)

5. The distributed service module of the unmanned aerial vehicle reports the instruction to the unmanned aerial vehicle so as to call the interactive application of the unmanned aerial vehicle. (see step 10 in FIG. 4)

6. And the interactive application of the unmanned aerial vehicle executes the goods taking action. (see step 11 of FIG. 4)

7. The unmanned aerial vehicle takes goods from the vehicle and distributes the goods to the destination, and a distributed service module on the unmanned aerial vehicle side monitors goods delivery service. (refer to step 12 in FIG. 4)

8. After the distributed service module of the unmanned aerial vehicle side monitors that the goods delivery service is successful, the ground-air safety module of the unmanned aerial vehicle side encrypts the goods delivery result. (see step 13 in FIG. 4)

9. And feeding back a successful distribution result of the unmanned aerial vehicle to the vehicle. (see step 14 in FIG. 4)

10. The ground-air safety module at the vehicle side analyzes and decrypts the feedback result, filters the mac address, and distributes the feedback result to the distributed service module at the vehicle side. (see step 15 in FIG. 4)

11. And the distributed service on the vehicle side reports the feedback result to the vehicle and the task is completed. (see step 16 in FIG. 4)

It can be seen from the foregoing that, in this embodiment, in the first aspect, the ground-air security module encrypts the task request and then sends the task request to the target air device, the target air device decrypts the encrypted task data through the ground-air security module, and then reports the legal decrypted task instruction to the interactive application of the target air device, so that the control of the air device by the instruction encrypted in the pre-negotiation encryption mode is avoided, the problem of flight security of the air device caused by sending the control instruction to the air device by the illegal device is avoided, and the data security and anti-interference performance of the air device are improved; in the second aspect, under the condition that the ground equipment list of the target air equipment contains the target ground equipment, the decrypted task instruction is reported to the interactive application of the target air equipment, so that the situation that equipment which is not in the ground equipment list of the target air equipment transmits the instruction to the air equipment to control the target air equipment can be avoided, the problem of flight safety of the air equipment caused by the fact that illegal equipment transmits the control instruction to the air equipment is avoided, and the data safety and anti-interference performance of the air equipment are improved. In the third aspect, under the condition that the route management table of the target air device contains the route path obtained by analyzing the encrypted task data, the decrypted task instruction is reported to the interactive application of the target air device, so that the control of the air device by the device instruction with the route path which is inconsistent with the pre-recorded route path can be avoided, the problem of flight safety of the air device caused by sending the control instruction to the air device by illegal devices is avoided, and the data safety and anti-interference performance of the air device are improved. In the fourth aspect, because various heterogeneous ground devices and air devices can be self-networked after being added into the ground-air cooperative system, devices in an air device list of target air devices can be devices of various data communication interfaces, so that task cooperation between the various heterogeneous ground devices and the air devices can be realized, the universality of a data architecture is improved, and the development difficulty of ground-air task cooperation is reduced.

In addition, in order to better implement the ground-air task cooperative control method in the embodiment of the present application, on the basis of the ground-air task cooperative control method, a service device is further provided in the embodiment of the present application, as shown in fig. 10, the service device 1000 includes a processor 1001 and a memory 1002, where the processor 1001 and the memory 1002 are connected by a bus 1003, and the bus is an I2C (Inter-integrated Circuit) bus, for example.

In particular, the processor 1001 is used to provide computing and control capabilities, supporting the operation of the overall service device 1000. The processor 1001 may be a central processing unit (Central Processing Unit, CPU), and the processor 1001 may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field-programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. Wherein the general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

Specifically, the Memory 1002 may be a Flash chip, a Read-Only Memory (ROM) disk, an optical disk, a U-disk, a removable hard disk, or the like.

It will be appreciated by those skilled in the art that the structure shown in fig. 1 is merely a block diagram of a portion of the structure related to the embodiments of the present application and is not limiting of the service device to which the embodiments of the present application apply, and that a particular service device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.

The processor 1001 is configured to run a computer program stored in the memory 1002, and implement any one of the ground-air task cooperative control methods provided in the embodiments of the present application when the computer program is executed. For example, the processor 1001 is configured to execute a computer program stored in the memory 1002, and when the computer program is executed, the following steps may be implemented:

encrypting a task request in response to the task request of target ground equipment to obtain encrypted task data; transmitting the encrypted task data to a target aerial device in an aerial device list of the target ground device; after the target aerial device receives the encrypted task data, decrypting the encrypted task data to obtain a decrypted task instruction; and if the decrypted task instruction is legal and the ground equipment list of the target air equipment contains the target ground equipment, reporting the decrypted task instruction to the interactive application of the target air equipment.

It should be noted that, for convenience and brevity of description, a specific working process of the service device described above may refer to a corresponding process in the following ground-air task cooperative control method embodiment, which is not described herein again.

Those of ordinary skill in the art will appreciate that all or a portion of the steps in the above-described ground-air task cooperative control method may be performed by instructions, or by instructions controlling associated hardware, which may be stored in a computer-readable storage medium and loaded and executed by a processor.

To this end, embodiments of the present application provide a computer readable storage medium having stored therein a plurality of computer programs that can be loaded by a processor to perform any of the ground-air task cooperative control methods provided by the embodiments of the present application.

Wherein the computer-readable storage medium may comprise: read Only Memory (ROM), random access Memory (RAM, random Access Memory), magnetic or optical disk, and the like.

In the embodiments of the computer readable storage medium and the service device, the descriptions of the embodiments are emphasized, and for the part not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments. It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process and the beneficial effects of the computer readable storage medium, the service device and the corresponding units described above may refer to the description of the ground-air task cooperative control method in the above embodiment, which is not described herein in detail.

The above describes in detail a ground-air task cooperative control method, a service device and a computer readable storage medium provided in the embodiments of the present application, and specific examples are applied to illustrate the principles and embodiments of the present application, where the above description of the embodiments is only for helping to understand the method and core ideas of the present application; meanwhile, those skilled in the art will have variations in the specific embodiments and application scope in light of the ideas of the present application, and the present description should not be construed as limiting the present application in view of the above.

Claims

1. The ground-air task cooperative control method is characterized by being applied to service equipment in a ground-air cooperative system, wherein the ground-air cooperative system comprises ground equipment, air equipment and the service equipment, and the method comprises the following steps:

2. The ground-air task cooperative control method according to claim 1, characterized in that the method further comprises:

after the target air equipment executes the decrypted task instruction, encrypting an execution result of the decrypted task instruction to obtain encryption result data;

transmitting the encryption result data to the target ground equipment through the target air equipment;

after the target ground equipment receives the encryption result data, decrypting the encryption result data to obtain decrypted result data;

and if the air equipment list of the target ground equipment contains the target air equipment, reporting the decrypted result data to the interactive application of the target ground equipment.

3. The ground-air task cooperative control method according to claim 1, characterized in that the method further comprises:

responding to a broadcast request of the target ground equipment, and transmitting a first broadcast packet issued by the target ground equipment to air equipment to be selected in a ground-air cooperative system;

After the air equipment to be selected receives the first broadcast packet, the first return packet fed back by the air equipment to be selected based on the first broadcast packet is sent to the target ground equipment;

after the target ground equipment receives the first return packet, analyzing the first return packet;

and if the analyzed first return packet meets a preset safety condition, adding the air equipment to be selected into the air equipment list of the target ground equipment.

4. A ground-air task cooperative control method according to claim 3, characterized in that the method further comprises:

after the target ground equipment receives the first return packet, carrying out route analysis on the first return packet to obtain a first route path between the air equipment to be selected and the target ground equipment;

and updating a route management table of the target ground equipment based on the first route path.

5. The ground-air task cooperative control method according to claim 1, characterized in that the method further comprises:

responding to the broadcasting request of the target air equipment, and transmitting a second broadcasting packet issued by the target air equipment to ground equipment to be selected in a ground-air cooperative system;

After the ground equipment to be selected receives the second broadcast packet, a second return packet fed back by the ground equipment to be selected based on the second broadcast packet is sent to the target air equipment;

after the target air equipment receives the second return packet, analyzing the second return packet;

and if the analyzed second return packet meets the preset safety condition, adding the ground equipment to be selected into the ground equipment list of the target air equipment.

6. The ground-air task cooperative control method according to claim 5, characterized in that the method further comprises:

after the target aerial device receives the second return packet, performing route analysis on the second return packet to obtain a second route path between the ground device to be selected and the target aerial device;

and updating a route management table of the target air equipment based on the second route path.

7. The method according to claim 6, wherein if the decrypted task instruction is legal and the target ground device is included in the ground device list of the target air device, reporting the decrypted task instruction to an interactive application of the target air device, the method comprises:

And if the decrypted task instruction is legal, the ground equipment list of the target air equipment contains the target ground equipment, and the route management table of the target air equipment contains the route path obtained by analyzing the encrypted task data, reporting the decrypted task instruction to the interactive application of the target air equipment.

8. A ground-air task cooperative control method according to claim 1, wherein the sending the encrypted task data to a target air device in the air device list of the target ground device includes:

responding to a remote procedure call request of the target ground equipment to the target air equipment, and acquiring a first service handle of the target air equipment;

and controlling the target ground equipment to transmit the encrypted task data to the target air equipment based on the first service handle.

9. A service device comprising a processor and a memory, wherein the memory stores a computer program, and wherein the processor executes the ground-air task cooperative control method according to any one of claims 1 to 8 when calling the computer program in the memory.

10. A computer-readable storage medium, having stored thereon a computer program, the computer program being loaded by a processor to perform the ground-air task cooperative control method of any of claims 1 to 8.