WO2020156157A1 - 无人机控制方法、装置及系统 - Google Patents

无人机控制方法、装置及系统 Download PDF

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Publication number
WO2020156157A1
WO2020156157A1 PCT/CN2020/072138 CN2020072138W WO2020156157A1 WO 2020156157 A1 WO2020156157 A1 WO 2020156157A1 CN 2020072138 W CN2020072138 W CN 2020072138W WO 2020156157 A1 WO2020156157 A1 WO 2020156157A1
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WO
WIPO (PCT)
Prior art keywords
uav
control
command
network element
control device
Prior art date
Application number
PCT/CN2020/072138
Other languages
English (en)
French (fr)
Inventor
张成晨
舒林
吴问付
宗在峰
Original Assignee
华为技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to EP20748143.3A priority Critical patent/EP3886400A4/en
Publication of WO2020156157A1 publication Critical patent/WO2020156157A1/zh
Priority to US17/363,469 priority patent/US20210329503A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/0005—Control or signalling for completing the hand-off
    • H04W36/0011—Control or signalling for completing the hand-off for data sessions of end-to-end connection
    • H04W36/0016—Hand-off preparation specially adapted for end-to-end data sessions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/0202—Control of position or course in two dimensions specially adapted to aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L65/00—Network arrangements, protocols or services for supporting real-time applications in data packet communication
    • H04L65/1066—Session management
    • H04L65/1083—In-session procedures
    • H04L65/1094—Inter-user-equipment sessions transfer or sharing
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
    • H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/34—Reselection control
    • H04W36/36—Reselection control by user or terminal equipment
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/34—Reselection control
    • H04W36/36—Reselection control by user or terminal equipment
    • H04W36/362—Conditional handover
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls

Definitions

  • This application relates to communication technology, and in particular to an unmanned aerial vehicle (UAV) control method, device and system.
  • UAV unmanned aerial vehicle
  • UAV-related technologies have become more mature. Users can control UAVs in a variety of different communication scenarios by operating the UAV controller. Among them, for long-distance communication scenarios, the controller can control the UAV through the communication network by accessing the communication network provided by the operator.
  • UTM unmanned aerial vehicle traffic management
  • the present application provides a UAV control method, device and system, so as to realize that the UTM can manage the connected UAV and its controller through a communication network.
  • the first aspect of the application provides a drone control method.
  • the UAV traffic management network element UTM determines that the UAV control device needs to be switched, it sends a hosting command to the network device, so that the network device can instruct the UAV to switch according to the hosting command
  • the UAV control device initiates a switch to the UAV control device through UTM.
  • the drone control method provided in this embodiment includes:
  • the UAV traffic management network element determines that the UAV UAV control device needs to be switched
  • the UTM sends a hosting command to the network device; so that the network device instructs the UAV to switch the control device of the UAV according to the hosting command; wherein the hosting command is used to switch the control device of the UAV ,
  • the escrow command includes: instruction information for switching the control device of the UAV and the UAV information.
  • the UAV control method provided in this embodiment sends a managed command to the network device when it is determined through the UTM that the control device of the UAV needs to be switched, so that the network device instructs the UAV to switch the control device of the UAV according to the managed command, thereby realizing UAV control Switching of equipment.
  • the UTM can instruct the UAV to be switched to the control device of the UTM through the escrow command
  • the UTM can instruct the UAV to accept the escrow of the UTM, thereby clarifying the UTM's control of the UAV connected to the communication network, and finally realizing that the UTM can pass
  • the communication network controls the connected UAV.
  • the escrow command further includes: information about the control device of the UAV to be switched to.
  • the escrow command also includes the information of the UAV control device to be switched to as determined by the UTM, so that the UAV control device can determine the control of the UAV to be switched to according to the escrow command After the device information, instruct the UAV to switch to the control device of the UAV to be switched. If the UTM instructs the UAV to receive the trusteeship of the UTM, the trusteeship command may not include the information of the UAV control device to be switched to. When the network device receives the trusteeship command sent by the UTM, it can instruct the UAV control device to switch to UTM.
  • the escrow command further includes: information of the user plane function network element corresponding to the UAV control device to be switched to; wherein, the UAV to be switched to The information of the user plane function network element corresponding to the control device is used for the network device to determine the user plane function network element corresponding to the UAV control device to be switched to.
  • the escrow command also includes the information of the user plane function network element corresponding to the control device of the UAV to be switched to; thus, after the network device determines the structured control information according to the escrow command, The structured control information can be sent to the user plane function network element corresponding to the UAV.
  • the information that can be carried by the hosting command is enriched, and the information of the user plane function network element corresponding to the UAV can be modified when the UAV control device is switched.
  • the network device is a session management function network element corresponding to the UAV.
  • the network device is a session management function network element corresponding to the UAV.
  • the UTM sending an escrow command to a network device includes: the UTM sending the escrow command to a policy control function network element, so that the policy control function network element instructs the The session management function network element needs to switch the control device of the UAV.
  • the policy control function network element can send a managed command to the policy function network element to indicate The network element of the session management function needs to switch the control device of the UAV.
  • the method before the UTM determines that the control device of the UAV needs to be switched, the method further includes: the UTM receives an escrow request message from the UAV, and the escrow request message is used to request the switch The control device of the UAV; the UTM determining that the control device of the UAV needs to be switched includes: the UTM determines that the control device of the UAV needs to be switched according to the escrow request message.
  • the UAV control method provided in this embodiment can switch the UAV control device according to the request of the UAV. For example, when the UAV can send an escrow request message to UTM when it determines that it needs to switch its control device, after receiving the UAV's request message, the UTM determines that the UAV control device needs to be switched according to the UAV request, and performs subsequent control of the UAV The control flow of equipment switching.
  • the second aspect of the present application provides a UAV control method. After receiving a escrow command through a network device, the UAV can be instructed to switch the control device of the UAV according to the escrow command, and the switch to the UAV control device is initiated through the UTM.
  • the drone control method provided in this embodiment includes:
  • the network device receives a trusteeship command; wherein the trusteeship command is used to switch the control device of the UAV UAV, and the trusteeship command includes: instructions for switching the control device of the UAV and information of the UAV;
  • the network device instructs the UAV to switch the control device of the UAV according to the escrow command.
  • the network device can instruct the UAV to switch the control device of the UAV according to the escrow command, thereby realizing the switching of the UAV control device and clarifying the control of the UAV The way the device switches.
  • the escrow command further includes: information of the control device of the UAV to be switched to.
  • the escrow command further includes: information of the user plane function network element corresponding to the UAV control device to be switched to; wherein, the UAV to be switched to The information of the user plane function network element corresponding to the control device is used for the network device to determine the user plane function network element corresponding to the UAV control device to be switched to.
  • the network device instructing the UAV to switch the control device of the UAV according to the escrow command includes:
  • the network device sends a switching command to the UAV according to the escrow command; the switching command is used to instruct the UAV to switch the control device of the UAV.
  • the switching command includes: instruction information for switching the UAV control device and/or information about the UAV control device to be switched to.
  • the method further includes:
  • the network device determines structured control information according to the escrow command, and sends the structured control information to the user plane function network element corresponding to the UAV;
  • the structured control information is used to instruct to modify the information of the UAV control device in the detection rule and/or forwarding rule in the user plane function network element corresponding to the UAV to the UAV to be switched to Information about the control device of the UAV; and/or instruct to modify the information of the user plane function network element corresponding to the UAV control device in the detection rule and/or forwarding rule in the user plane function network element corresponding to the UAV to Information of the user plane function network element of the UAV control device that is switched to.
  • the method further includes:
  • the network device sends an escrow command response to the UAV traffic management network element UTM; the escrow command response is used to indicate that the control device of the UAV has been switched.
  • the third aspect of the present application provides a drone control method, which is used in a drone control system including UTM and network equipment, including: the drone traffic management network element UTM sends a hosting command to the network device; wherein the hosting The command is used to switch the control device of the UAV UAV, and the managed command includes: instruction information for switching the control device that controls the UAV and the UAV information;
  • the network device receives the escrow command from the UTM, and instructs the UAV to switch the control device of the UAV according to the escrow command.
  • the fourth aspect of the present application provides a drone control method. After a first device receives a release control command instructing to release the control right of the second device over the UAV, it sends the release control right of the second device over the UAV.
  • the drone control method provided in this embodiment includes:
  • the first device receives a command to release the control right; wherein, the release control right command is used to release the control right of the second device to the UAV UAV, and the release control right command includes: releasing the second device to the UAV The instruction information of the control right and the UAV information;
  • the first device initiates the release of the control right of the second device to the UAV according to the release control right command.
  • the first device when the first device receives the command to release the control right, the first device initiates the release of the control right of the second device to the UAV, thereby realizing the release of the control right of the UAV control device . Therefore, this embodiment realizes the release of the control right of the UAV control device, and further clarifies the control of the UAV control device that accesses the communication network.
  • the command to release the control right further includes: a reason for releasing the control right of the second device to the UAV and/or information of the second device.
  • the reason for releasing the control right of the second device to the UAV in the release control right command is used to make the first device determine the reason for releasing the control right of the second device to the UAV.
  • the information of the second device is used by the first device to determine the specific need to release the second device that has control over the UAV.
  • the method further includes: The machine flow management network element UTM sends a release control right command response; the release control right command response is used to indicate that the second device has released the control right of the UAV.
  • the first device is a session management function network element corresponding to the second device
  • the first device initiating the release of the control right of the second device to the UAV according to the release control right command includes: the first device sends the first device to the second device according to the release control right command A release command, where the first release command is used to instruct the second device to release control of the UAV.
  • the first device provided in this embodiment can be applied in a 5G communication system, specifically, it can be a session management function network element corresponding to the second device, and after the session management function network element receives a command to release the control right, that is, Instruct the second device to release the control right of the UAV by sending the first release command to the second device. Therefore, the management of the control right of the second device to the UAV is realized through the session management function network element on the network side of the second device.
  • the first device initiating the release of the control right of the second device to the UAV according to the release control right command further includes: the first device according to the release The control right command determines structured control information, and sends the structured control information to the user plane function network element corresponding to the second device; the structured control information is used to instruct the user plane function network element to delete The information used in the detection rule and/or forwarding rule for the second device to control the UAV; and/or the first device to the user plane function network element corresponding to the second device according to the control release command Sending a session release request; the session release request is used to instruct the user plane function network element to release the session context for the second device to control the UAV.
  • the UAV control method provided in this embodiment not only instructs the second device to release the control right of the UAV, but also needs to modify the network side resources required by the second device to control the UAV on the network side, and finally pass the user plane function network element After the PDU session used by the second device in the user plane function network element to control the UAV is released, the second device cannot continue to control the UAV through the PDU session, thereby realizing the release of the control right of the second device to the UAV.
  • the first release command includes: instruction information for releasing the control right of the second device to the UAV and the UAV information.
  • the first device is the second device; the first device initiates the release of the control right of the second device to the UAV according to the release control right command, include:
  • the second device sends a session management message to the corresponding session management function network element of the second device according to the release control right command, where the session management message is used to instruct the session management function network element to modify or release The session context used by the second device to control the UAV.
  • the first device provided in this embodiment may be the second device itself, that is, UTM directly sends to the second device to release its control of the UAV, then when the second device receives the command to release the control directly sent by UTM Afterwards, it initiates the release of its control right over the UAV to the session management function network element corresponding to the second device. In this way, the management of the control right of the UAV is initiated through the second device.
  • the first device is the second device; the first device initiates the release of the control right of the second device to the UAV according to the release control right command, include:
  • the second device sends a first de-registration message to the access and mobility management function network element corresponding to the second device according to the release control right command; the first de-registration message is used to instruct the second device The second device goes to register.
  • the first device provided in this embodiment is also the second device itself. After the second device receives the command to release the control right directly sent by the UTM, if it is determined that the second device is only used to control the UAV that needs to release the control right, Then the second device can directly initiate a de-registration process after receiving the command to release the control right, and release its control right to the UAV by de-registering.
  • the method before the first device initiates the release of the control right of the second device to the UAV according to the control release command, the method further includes:
  • the second device receives a release control right response sent by the UAV, where the release control right response is used to indicate that the UAV has finished switching the control device of the UAV.
  • a UTM is provided to directly send a release control command to the second device.
  • the second device can also notify the UAV that the second device is about to release control of the UAV After the UAV determines that the second device is about to release the control right, the UAV requests the UTM to host the UAV.
  • the subsequent switching of the UAV control device and the release of the control right of the UAV by the second device can be performed simultaneously, thereby improving the UTM control efficiency of the UAV and its control devices.
  • the first device is an access and mobility management function network element corresponding to the second device; the first device initiates the release of the first device according to the release control right command
  • the control right of the second device to the UAV includes: the first device sends a second release command to the second device according to the release control right command, and the second release command is used to instruct the second The device releases control of the UAV.
  • the first device provided in this embodiment can be applied in a 5G communication system, specifically, it can be an access and mobility management function network element corresponding to the second device, and the access and mobility management function network element receives the release After the control right command, the second device is instructed to release the control right of the UAV by sending a second release command to the second device.
  • the network element of the access and mobility management function of the network side of the second device the management of the control right of the second device to the UAV is realized.
  • the second release command includes one or more of the following: instruction information for releasing the control right of the second device to the UAV and information about the UAV.
  • the first device is an access and mobility management function network element corresponding to the second device; after the first device receives a control right release command, the method includes:
  • the first device sends a second de-registration message to the second device according to the release control right command, where the second de-registration message is used to instruct to de-register the second device.
  • the fifth aspect of the present application provides a drone control method.
  • the drone traffic management network element UTM determines that the second device’s control of the UAV needs to be released, it sends a release control command to the first device so that the second device It can instruct the UAV to switch the control device of the UAV according to the command, and initiate the switch of the control device of the UAV through the UTM.
  • the drone control method provided in this embodiment includes:
  • the UTM UTM traffic management network element determines that the second device's control over the UAV UAV needs to be released
  • the UTM sends the release control right command to the first device; so that the first device initiates the release of the control right of the second device to the UAV according to the release control right command; wherein, the release control The right command is used to release the control right of the second device to the UAV, and the release control right command includes: indication information for releasing the control right of the second device to the UAV and the UAV information.
  • the UTM determines that the second device's control of the UAV needs to be released, the UTM sends a release control command to the first device, and the first device initiates the release of the second device pair.
  • UAV control rights so as to realize the release of control rights of UAV control equipment. Therefore, this embodiment realizes the release of UTM's control over the UAV control device, and further clarifies the UTM's control of the UAV control device connected to the communication network, and finally realizes that the UTM can control the connected UAV through the communication network The device is controlled.
  • the command to release the control right further includes: a reason for releasing the control right of the second device to the UAV.
  • the first device includes: the second device, a session management function network element corresponding to the second device, or an access and mobility management function corresponding to the second device Network element.
  • the sixth aspect of the present application provides a drone control method, which is used in a drone control system including a UTM and a first device, including: the drone traffic management network element UTM sends a control right release command to the first device;
  • the release control right command is used to release the control right of the second device to the UAV UAV, and the release control right command includes: instruction information for releasing the control right of the second device to the UAV and the UAV information ;
  • the first device receives the command to release the control right from the UTM, and initiates the release of the control right of the UAV by the second device according to the command to release the control right.
  • the seventh aspect of the present application provides a drone control method.
  • the UTM traffic management network element of the drone determines to grant the fourth device the control right to the UAV, it sends the command to grant the control right to the fourth device so that the fourth device can follow
  • the grant control command indicates to grant the fourth device the control right to the UAV.
  • the drone control method provided in this embodiment includes:
  • UTM the UAV traffic management network element, determines to give the fourth device control over the UAV
  • the UTM sends a control right command to the third device, where the control right command is used to give an instruction to the fourth device to control the UAV.
  • the assigned control command includes: instruction information for assigning the fourth device to control the UAV, UAV information, and fourth device information.
  • the UAV control method provided in this embodiment sends a control right command to the third device through UTM, and the third device initiates the control right of the fourth device to the UAV according to the control right command, thereby realizing the granting of new device pairs
  • the UAV's control right further clarifies the granting of the UTM's control right to the connected UAV control device, and finally realizes that the UTM can control the connected UAV through the communication network.
  • the eighth aspect of the present application provides a UAV control method. After the fourth device receives the control right command, it can grant the fourth device the control right to the UAV according to the control right command instruction.
  • the unmanned machine control method provided in this embodiment includes:
  • the third device receives the control right command sent by the UTM traffic management network element UTM; where the control right command is used to give the instruction to the fourth device the control right of the UAV.
  • the grant control command includes: the instruction information for granting the fourth device the control right of the UAV, the UAV information, and the fourth device information;
  • the third device initiates to grant the control right of the UAV to the fourth device according to the command for granting control rights.
  • the third device when the third device receives the command to grant control rights, the third device initiates the granting of control rights to the fourth device to the UAV according to the command granting control rights, so as to realize the granting of the new device to the UAV
  • the control right of the UAV further clarifies the process of granting control right to the new UAV control device after switching the UAV control device.
  • the ninth aspect of the present application provides an unmanned aerial vehicle control method for an unmanned aerial vehicle control system including UTM and a third device, including:
  • the UTM traffic management network element UTM sends a command for granting control rights to the third device; wherein the command for granting control rights is used to give instructions to the fourth device to control the UAV.
  • the assigned control command includes: instruction information for assigning the fourth device to control the UAV, UAV information, and fourth device information.
  • the third device receives the control right command sent by the UTM traffic management network element of the drone, and according to the control right command, initiates the control right of the fourth device to the UAV
  • the tenth aspect of the present application provides an unmanned aerial vehicle control device, which can be used to execute the unmanned aerial vehicle control method as described in the first aspect of the present application.
  • the device can be a UTM or a device in the UTM.
  • the man-machine control device includes: a transceiver module and a processing module; these modules can perform the corresponding functions performed by the UTM in any embodiment of the first aspect.
  • the processing module is used to determine that the control device of the UAV UAV needs to be switched; the transceiver module is used to send a hosting command to the network device; so that the network device instructs the UAV to switch the control device of the UAV according to the hosting command;
  • the command is used to switch the control device of the UAV, and the managed command includes: the instruction information for switching the control device of the UAV and the UAV information.
  • the eleventh aspect of this application provides a drone control device, which can be used to execute the drone control method as described in the second aspect of this application.
  • the device can be a network device or a device in a network device, where
  • the drone control device includes: a transceiver module and a processing module; these modules can perform the corresponding functions performed by the network device in any embodiment of the second aspect.
  • the transceiver module is used to receive a trusteeship command; where the trusteeship command is used to switch the control device of the UAV UAV, and the trusteeship command includes: the instruction information for switching the UAV control device and the UAV information; The command indicates that the UAV needs to switch the control device of the UAV.
  • the drone control device provided by the eleventh aspect of the present application for executing the drone control method, reference may be made to the description in the second aspect, which is not specifically limited here.
  • the twelfth aspect of the present application provides an unmanned aerial vehicle control device, which can be used to execute the unmanned aerial vehicle control method as described in the fourth aspect of the present application.
  • the device may be a first device or a device in the first device , wherein the drone control device includes: a transceiver module and a processing module; these modules can perform the corresponding functions performed by the first device in any of the embodiments of the fourth aspect.
  • the transceiver module is used to receive a control right release command; wherein the control right release command is used to release the control right of the second device to the UAV UAV, and the release control right command includes: release the control right of the second device to the UAV The instruction information and UAV information; the processing module is used to initiate the release of the control right of the second device to the UAV according to the release control right command.
  • the control right release command is used to release the control right of the second device to the UAV UAV
  • the release control right command includes: release the control right of the second device to the UAV The instruction information and UAV information
  • the processing module is used to initiate the release of the control right of the second device to the UAV according to the release control right command.
  • the thirteenth aspect of the present application provides an unmanned aerial vehicle control device, which can be used to execute the unmanned aerial vehicle control method as described in the fifth aspect of the present application.
  • the device may be a UTM or a device in the UTM, wherein the
  • the drone control device includes: a transceiver module and a processing module; these modules can perform the corresponding functions performed by the UTM in any embodiment of the fifth aspect.
  • the processing module is used to determine that the second device's control of the UAV UAV needs to be released; the transceiver module is used to send a release control command to the first device; so that the first device initiates the release of the first device according to the release control command.
  • the control right of the device over the UAV; where the release control right command is used to release the control right of the second device over the UAV, and the release control right command includes: instructions to release the control right of the second device over the UAV and UAV information.
  • the fourteenth aspect of this application provides a drone control device, which can be used to execute the drone control method as described in the seventh aspect of this application.
  • the device can be a UTM or a device in the UTM, wherein the
  • the drone control device includes: a transceiver module and a processing module; these modules can perform the corresponding functions performed by the UTM in any embodiment of the seventh aspect.
  • the processing module is used to determine to give the fourth device the control right of the UAV; the transceiver module is used to send the command to give the control right to the third device, where the command to give the control right is used to give the instruction to the fourth device to control the UAV.
  • the assigned control command includes: instruction information for assigning the fourth device to control the UAV, UAV information, and fourth device information.
  • the fifteenth aspect of the present application provides an unmanned aerial vehicle control device, which can be used to execute the unmanned aerial vehicle control method as described in the eighth aspect of the present application, wherein the device may be a third device or a third device.
  • the drone control device includes: a transceiver module and a processing module; these modules can perform the corresponding functions performed by the first device in any embodiment of the eighth aspect.
  • the transceiver module is used to receive a control right command, where the control right command is used to give the instruction the fourth device the control right of the UAV.
  • the grant control command includes: instruction information for granting the fourth device the control right to the UAV, UAV information, and the fourth device information; the processing module is used to initiate granting the fourth device the control right to the UAV according to the control right command.
  • an embodiment of the present application provides an unmanned aerial vehicle control system.
  • the system includes the UTM described in the tenth aspect and the network equipment described in the eleventh aspect.
  • an embodiment of the present application provides an unmanned aerial vehicle control system, the system including the first device described in the twelfth aspect and the UTM described in the thirteenth aspect.
  • an embodiment of the present application provides an unmanned aerial vehicle control system.
  • the system includes the UTM described in the fourteenth aspect and the third device described in the fifteenth aspect.
  • a nineteenth aspect of the present application provides a communication device, the communication device including a processor, configured to implement the functions in the method described in the first aspect.
  • the communication device may also include a memory for storing program instructions and data.
  • the memory is coupled with the processor, and the processor can call and execute program instructions stored in the memory to implement the functions of the method described in the first aspect.
  • the communication device may further include a communication interface for the communication device to communicate with other devices, and the communication interface may be a transceiver.
  • the processor is used to determine that the control device of the UAV UAV needs to be switched; and send a hosting command to the network device through the transceiver; so that the network device instructs the UAV to switch the UAV according to the hosting command
  • a twentieth aspect of the present application provides a communication device.
  • the communication device includes a processor, configured to implement the functions in the method described in the second aspect.
  • the communication device may also include a memory for storing program instructions and data.
  • the memory is coupled with the processor, and the processor can call and execute program instructions stored in the memory to implement the functions of the method described in the second aspect.
  • the communication device may further include a communication interface for the communication device to communicate with other devices, and the communication interface may be a transceiver.
  • the transceiver is used to receive a escrow command; wherein, the escrow command is used to switch the control device of the UAV UAV, and the escrow command includes: instruction information for switching the control device of the UAV and information of the UAV
  • the processor is used to instruct the UAV to switch the control device of the UAV according to the escrow command.
  • a twenty-first aspect of the present application provides a communication device, the communication device including a processor, configured to implement the functions in the method described in the fourth aspect.
  • the communication device may also include a memory for storing program instructions and data.
  • the memory is coupled with the processor, and the processor can call and execute program instructions stored in the memory to implement the functions of the method described in the fourth aspect.
  • the communication device may further include a communication interface for the communication device to communicate with other devices, and the communication interface may be a transceiver.
  • the transceiver is used to receive a command to release the control right; wherein the command to release the control right is used to release the control right of the second device to the UAV UAV, and the command to release the control right includes: release the control of the second device to the UAV Right indication information and UAV information; the processor is used to initiate the release of the control right of the second device to the UAV according to the release control right command.
  • the communication device provided in the twenty-first aspect of the present application for executing the drone control method, refer to the description in the fourth aspect, which is not specifically limited here.
  • a twenty-second aspect of the present application provides a communication device, the communication device including a processor, configured to implement the functions in the method described in the fifth aspect.
  • the communication device may also include a memory for storing program instructions and data.
  • the memory is coupled with the processor, and the processor can call and execute program instructions stored in the memory to implement the functions of the method described in the fifth aspect.
  • the communication device may further include a communication interface for the communication device to communicate with other devices, and the communication interface may be a transceiver.
  • the processor is used to determine that the control right of the UAV UAV by the second device needs to be released; the transceiver is used to send a control right release command to the first device; so that the first device initiates the control right release command Release the control right of the second device to the UAV; where the release control right command is used to release the control right of the second device to the UAV, and the release control right command includes: instructions to release the control right of the second device to the UAV and UAV information .
  • the method for controlling the drone provided by the communication device in the twenty-second aspect of the present application, please refer to the description in the fifth aspect, which is not specifically limited here.
  • a twenty-third aspect of the present application provides a communication device, the communication device including a processor, configured to implement the functions in the method described in the seventh aspect.
  • the communication device may also include a memory for storing program instructions and data.
  • the memory is coupled with the processor, and the processor can call and execute program instructions stored in the memory to implement the functions of the method described in the seventh aspect.
  • the communication device may further include a transceiver, and the transceiver is used for the communication device to communicate with other devices, and the communication interface may be a transceiver.
  • the processor is used to determine to grant the fourth device the control right to the UAV; the transceiver is used to send the command to grant the control right to the third device, wherein the command to grant the control right is used to give the instruction to the fourth device pair Control of UAV.
  • the assigned control command includes: instruction information for assigning the fourth device to control the UAV, UAV information, and fourth device information.
  • a twenty-fourth aspect of the present application provides a communication device, the communication device including a processor, configured to implement the functions in the method described in the eighth aspect.
  • the communication device may also include a memory for storing program instructions and data.
  • the memory is coupled with the processor, and the processor can call and execute the program instructions stored in the memory to implement the functions of the method described in the eighth aspect.
  • the communication device may further include a transceiver, and the transceiver is used for the communication device to communicate with other devices, and the communication interface may be a transceiver. Wherein, the transceiver is used to receive a control right command, where the control right command is used to give the fourth device the control right of the UAV to the instruction.
  • the grant control command includes: instruction information for granting the fourth device the control right of the UAV, UAV information, and information of the fourth device; the processor is used for initiating granting the fourth device the control right to the UAV according to the grant control command.
  • the embodiments of the present application also provide a computer-readable storage medium, including instructions, which when run on a computer, cause the computer to execute the first, second, third, and third aspects of the present application.
  • FIG. 1 is a schematic diagram of application scenarios of various embodiments of the application
  • FIG. 2 is a schematic diagram of the architecture of an embodiment of the communication network provided by this application.
  • FIG. 3 is a schematic structural diagram of an embodiment of a communication network provided by this application.
  • FIG. 4 is a schematic structural diagram of an embodiment of a communication network provided by this application.
  • FIG. 5 is a schematic flowchart of an embodiment of a UAV control method provided by this application.
  • FIG. 6 is a schematic flowchart of an embodiment of a UAV control method provided by this application.
  • FIG. 7 is a schematic flowchart of an embodiment of a UAV control method provided by this application.
  • FIG. 8 is a schematic flowchart of an embodiment of a UAV control method provided by this application.
  • FIG. 9 is a schematic flowchart of an embodiment of a UAV control method provided by this application.
  • FIG. 10 is a schematic flowchart of an embodiment of a UAV control method provided by this application.
  • FIG. 11 is a schematic flowchart of an embodiment of a UAV control method provided by this application.
  • FIG. 12 is a schematic flowchart of an embodiment of a UAV control method provided by this application.
  • FIG. 13 is a schematic flowchart of an embodiment of a UAV control method provided by this application.
  • FIG. 14 is a schematic structural diagram of an embodiment of a UAV control device provided by this application.
  • 15 is a schematic structural diagram of an embodiment of a communication device provided by this application.
  • FIG. 16 is a schematic structural diagram of an embodiment of the UAV control system provided by this application.
  • FIG. 17 is a schematic structural diagram of an embodiment of the UAV control system provided by this application.
  • FIG. 18 is a schematic structural diagram of an embodiment of the UAV control system provided by this application.
  • FIG. 1 is a schematic diagram of the application scenario of each embodiment of the application.
  • each embodiment of the application is applied to an unmanned aerial system (UAS), and UAS1 includes UAV11 and UAV control device 12.
  • UAV control device 12 is used to control the UAV 11, and the UAV control device 12 includes: a smart phone, a tablet computer, a laptop computer, or a UAV special controller.
  • the UAV control device 12 can establish a connection with UAV11 through short-distance communication methods such as wireless fidelity (Wifi) or Bluetooth low energy (bluetooth low energy, BLE). The established connection relationship controls UAV11.
  • Wired wireless fidelity
  • BLE Bluetooth low energy
  • UAV 11 and UAV control device 12 in UAV system 1 are required. Access to the communication network 2 respectively, so that the UAV control device 12 can control the UAV 11 through the communication network 2.
  • the user of the UAV 11 can operate the UAV control device 12 to send a control signal to the UAV 11 via the communication network 2; or, the UAV 11 can send the UAV 11 status to the UAV control device 12 via the communication network 2.
  • the communication network 2 shown in FIG. 1 may be the communication network shown in FIG. 2.
  • FIG. 2 is a schematic diagram of the architecture of an embodiment of a wireless network provided by this application.
  • the communication system may be a fifth generation (5th generation, 5G) communication system or other systems, which is not limited in this application.
  • 5G fifth generation
  • (Radio) Access Network ((Radio) Access Network, (R) AN) is used for UAV access communication system.
  • Access and mobility management network elements are used for UAV mobile management, registration management, connection management, legal interception, access authentication and access authorization and other functions. Access and mobility management network elements can be access and mobility management in 5G communication systems.
  • Mobility management access and mobility management function, AMF
  • the session management function network element is used for UAV session management functions, such as: session establishment, modification and release, maintenance of the tunnel between the user plane function network element and AN node, etc.
  • the session management function network element can be a session in a 5G communication system A management function (session management function, SMF) entity.
  • the user plane function network element is used to connect to the PDU session point outside the data network, data table routing and forwarding, and the user plane part of the policy rule execution.
  • the user plane function network element can be the user plane function in the 5G communication system.
  • plane function, UPF plane function
  • the policy control function network element is used to support functions such as a unified policy framework to manage network behaviors and provide policy rules to the control plane network element.
  • the policy control function network element may be a policy control function (PCF) entity in a 5G communication system.
  • PCF policy control function
  • the UAV is connected to the (wireless) access network through a wireless interface; the data between the (wireless) access network and the user plane function network element is transmitted through the N3 interface; Wireless) signaling and data between the access network and the access and mobility management function network element are transmitted through the N2 interface; the signaling and data between the access and mobility management function network element and the session management network element are transmitted through the N11 interface ; The signaling and data between the session management network element and the user plane function network element are transmitted through the N4 interface.
  • the wireless interface, the N2 interface, the N3 interface, the N11 interface, and the N4 interface have been defined in the 5G communication system, and will not be repeated in this application.
  • FIG. 3 is a schematic diagram of the architecture of an embodiment of the wireless network provided by this application.
  • FIG. 3 shows a schematic diagram of the architecture of the communication network accessed by the UAV control device.
  • the communication network may also be a 5G communication system or Other systems are not limited by this application.
  • the manner in which the UAV control device accesses the communication network as shown in FIG. 3 and the functions implemented by each node in the communication network as shown in FIG. 3 are the same as those shown in FIG. 2 and will not be repeated.
  • the communication network shown in FIG. 1 may be the communication system shown in FIG. 3, and the communication system may be a third generation partnership project (3GPP) communication system, or other communication systems.
  • 3GPP third generation partnership project
  • FIG. 4 is a schematic diagram of the architecture of an embodiment of the wireless network provided by this application;
  • FIG. 4 shows a schematic diagram of the communication architecture of a communication system accessed by UAV and UAV control devices; wherein, UAV and UAV control devices pass through
  • the wireless access network is connected to the core network (core network, CN).
  • the communication network accessed by the UAV is the communication network shown in FIG. 2 and the communication network accessed by the UAV control device is shown in FIG. 3.
  • the communication network shown is taken as an example for illustration, not a limitation.
  • GSM global system of mobile communication
  • CDMA code Code division multiple access
  • WCDMA wideband code division multiple access
  • GPRS general packet radio service
  • LTE long term evolution
  • FDD frequency division duplex
  • TDD LTE time division duplex
  • UMTS universal mobile telecommunication system
  • WiMAX microwave access
  • WiMAX future new radio
  • UAV11 in UAS1 needs to occupy the particularity of aviation airspace, relevant UAV regulatory agencies need to monitor or identify UAV11 and UAV control equipment 12 that use communication networks.
  • Some communication networks have set up UAV traffic management networks. Yuan (unmanned aerial vehicle traffic management, UTM), to realize the management of the UAV 11 connected to the communication network 2 and the UAV control device 12 through the UTM.
  • UTM stores UAV11 and UAV control device 12 related data, such as: identification information, owner information, current location and operating status, etc.
  • UTM can be used to achieve pairing and identification between UAV11 and UAV control device 12 And authorized UAV control device 12 to control UAV11 and other functions.
  • the UTM may be a network element that performs a corresponding function in an existing communication network, or a network element that is newly installed in an existing communication network and performs a corresponding function.
  • UTM can be set in the 5G communication system, and the UAV can be paired and identified through the access and mobility management function network element and the session management function network element corresponding to the UAV;
  • UTM can also pair, identify, and authorize the UAV control device through the access and mobility management function network element corresponding to the UAV control device or the session function network element.
  • UAV control function can be set in the 5G communication system, and the UAV can be paired and identified through the access and mobility management function network element and the session management function network element corresponding to the UAV;
  • UTM can also pair, identify, and authorize the UAV control device through the access and mobility management function network element corresponding to the UAV control device or the session function network element.
  • UTM can be set in the 3GPP communication system, and the UAV can be paired and identified through the core network corresponding to the UAV, or through the core network corresponding to the UAV control device The function of pairing, identifying and authorizing the UAV control device to control the UAV.
  • FIG. 5 is a schematic flowchart of an embodiment of a UAV control method provided by this application.
  • the embodiment shown in FIG. 5 provides a method for UTM to indicate to the UAV that the control device of the UAV needs to be switched, including:
  • UTM determines that the control device of the UAV needs to be switched.
  • UTM first determines that the control device of the original UAV needs to be switched, where the control device of the UAV is used to control the UAV.
  • the need to switch the UAV control device includes: switching the original UAV control device to a new control device, and the new control device controls the UAV; or, switching the original UAV control device It is UTM, and UTM manages the UAV.
  • UTM determines through S101 that the control device of the UAV needs to be switched, it sends a hosting command to the network device.
  • the hosting command is used to indicate to the network device that the UAV needs to switch the control device of the UAV; the hosting command includes: instruction information for switching the control device of the UAV And UAV information.
  • the instruction information of the control device for switching the UAV in the hosting command is used for the network device to determine that the control device of the UAV needs to be switched;
  • the UAV information in the hosting command is used for the network device to determine the UAV that needs to switch the control device, and the UAV information Including: UAV address information and/or UAV identification information.
  • the escrow command provided in this embodiment may be a new information element included in the message sent by the UTM to the network device in the prior art; or the escrow command may also be the message sent by the UTM to the network device in the prior art A part of the existing information element in the message; or, the escrow command may also be a new message or a new instruction sent by the UTM to the network device; this embodiment does not limit this.
  • the network device provided in this embodiment includes: a network device corresponding to the UAV, and the network device corresponding to the UAV can manage the communication between the UAV and the UAV control device.
  • the network equipment includes: SMF network elements or AMF network elements corresponding to UAV in the 5G communication system, or other network elements in the core network corresponding to UAV.
  • the escrow command also includes: information of the control device of the UAV to be switched to, so that the network device can determine the information of the control device of the UAV to be switched .
  • the information of the control device of the UAV to be switched to carried in the escrow command is used to instruct the original control device of the UAV to switch to the information of the control device of the UAV to be switched to, and the information includes: control of the UAV to be switched to Address information or identification information of the device.
  • the information also includes the address information of the user plane function network element corresponding to the UAV control device to be switched to; wherein, the address information of the user plane function network element corresponding to the UAV control device to be switched to is used
  • the network device determines the user plane function network element corresponding to the UAV control device to which the UAV will be switched.
  • the escrow command sent by the UTM to the network device is used for UTM to host the UAV, that is, the escrow command is used to switch the control device of the UAV to UTM
  • the network device receives the escrow command and subsequently instructs the UAV to switch the control device of the UAV, the network device and the UAV can determine the UTM information, and the UTM information may not be included in the escrow command.
  • S103 The network device instructs the UAV to switch the control device of the UAV according to the escrow command.
  • the network device instructs the UAV according to the escrow command to switch the control device of the UAV.
  • the network device instructs the UAV to switch the control device of the UAV by sending a switching command to the UAV.
  • the switching command includes: the instruction information of switching the UAV control device and/or the information of the UAV control device to be switched to.
  • the switching command sent by the network device to the UAV may be included in the message sent by the existing network device to the UAV, or the switching command is a new message sent by the network device to the UAV.
  • the switching command may include all or part of the elements in the hosting command received by the network device, for example: the hosting command is included in the switching command sent by the network device to the UAV in the form of an information element; or the network device will switch the command Include in the existing message sent to UAV.
  • the UAV When the network device instructs the UAV to switch the control device of the UAV according to the managed command, the UAV will modify the information of the original control device stored in the UAV to the information of the control device of the UAV to be switched to according to the received switching command.
  • UAV to UAV control equipment switching In particular, if the control device of the UAV to be switched to is UTM, the UAV can realize the UTM's custody of the UAV after modifying the information of the original control device stored in the UAV to UTM information. Finally, when the information of the original control device is modified, the UAV no longer sends any signaling or data to the original control device, nor does it receive any signaling or data from the original control device.
  • the network device sends a escrow command response to the UTM; wherein the escrow command response is used to indicate to the UTM that the control device of the UAV has been switched.
  • the escrow command response provided in this embodiment may be a new information element included in the message in the prior art; or, the escrow command response may also be a part of the existing information element in the message in the prior art ; Or, the escrow command response may also be a new message or a new instruction; this embodiment does not limit this.
  • the UAV control method provided in this embodiment sends a trusteeship command to a network device through the UTM, and the network device instructs the UAV to switch the control device of the UAV according to the trusteeship command, so as to realize the switch of the control device of the UAV.
  • the UTM can instruct the UAV to be switched to the control device of the UTM through the escrow command
  • the UTM can instruct the UAV to accept the escrow of the UTM, thereby clarifying the UTM's control of the UAV connected to the communication network, and finally realizing that the UTM can pass
  • the communication network controls the connected UAV.
  • the UTM directly sends the escrow command to the UAV.
  • the content and form of the escrow command are the same as those described in the above process, and will not be repeated here.
  • the UAV will, according to the received escrow command, modify the information of the original control device stored in the UAV to the information of the control device of the UAV to be switched to, and send it to the SMF network element PDU session modification request; so that the SMF network element modifies the PDU session of the UAV through the N4 interface of the UPF network element according to the PDU session modification request, so as to realize the switching of the UAV to the control device of the UAV.
  • this application also provides a method when the method is applied in a 5G communication system, and the network device is a session management function network element corresponding to the UAV.
  • the session management function network element may be an SMF network element in a 5G communication system.
  • FIG. 6 is a schematic flowchart of an embodiment of the UAV control method provided by this application. As shown in FIG. 6, each network element in the UAV and 5G communication system and the connection relationship between each other can be referred to figure 2.
  • the UTM initiates the switching of the UAV control device to the SMF network element.
  • the UTM can initiate the switching of the UAV control device by sending an escrow command to the policy control function network element corresponding to the UAV.
  • the policy control function network element may be a PCF network element in a 5G communication system. After the PCF network element receives the escrow command, it sends the escrow command to the SMF network element by modifying the session management strategy.
  • the UTM can directly send the escrow command to the SMF network element corresponding to the UAV.
  • the SMF network element sends a handover command to the UAV.
  • the SMF network element when the SMF network element receives the escrow command sent from the PCF network element through 1a, or when the SMF network element receives the escrow command sent by the UTM through 1b, the SMF network element sends a handover command to the UAV.
  • the UAV After the UAV receives the switching command sent by the SMF through step 2, it is determined that the UAV control device needs to be switched, and the information of the original UAV control device stored in the UAV is modified to the UAV control device to be switched indicated by the switching command Information.
  • the information of the UAV control device includes address information and/or identification information.
  • the SMF initiates a protocol data unit (protocol data unit, PDU) session modification.
  • protocol data unit protocol data unit
  • the SMF network element can initiate a detection rule and/or forwarding rule for the control device of the original UAV in the UPF corresponding to the UAV. modify. Specifically, after the SMF network element sends a switching command to the UAV to indicate that the control device of the UAV needs to be switched, in step 3a, the UAV sends a switching command response to the SMF network element to confirm to the SMF network element that the control device information has been switched.
  • the switching command may be included in an existing or new information element in the PDU session modification command; the switching command response may be a PDU session modification command response, or an existing PDU session modification command response. Or new information elements.
  • the switching command and the switching command response may also be new message types, and the present invention does not limit the form of the switching command and the switching command response.
  • the modified PDU session is used for communication between the UAV and the control device of the UAV.
  • the SMF network element modifies the UAV PDU session through the N4 interface of the UPF network element in step 3b.
  • the modification of the PDU session specifically includes: after the SMF determines the structured control information according to the escrow command, the structured control information is sent to the user plane function network element corresponding to the UAV; wherein, the structured control information is used to indicate: Modify the information of the control device of the UAV in the detection rule and/or forwarding rule in the UPF network element corresponding to the UAV to the information of the control device of the UAV to be switched to; and/or, the structured control information is also used for: Instruct to modify the address information of the user plane function network element corresponding to the UAV control device in the detection rule and/or forwarding rule in the UPF network element corresponding to the UAV to the user plane function network element corresponding to the UAV control device to be switched to Address information.
  • this embodiment can also initiate the modification of the PDU session by the UAV in step 4.
  • the SMF network element sends a switching command to the UAV to indicate that the UAV control device needs to switch
  • the UAV initiates a PDU session modification request to the SMF network element to request modification of the UAV and UAV control device for communication PDU session.
  • the PDU session modification request includes the information of the control device of the UAV to be switched to.
  • the UAV PDU session is modified through the N4 interface of the UPF network element.
  • the modification of the PDU session specifically includes: after the SMF determines the structured control information according to the PDU session modification request, the structured control information is sent to the user plane function network element corresponding to the UAV; the structured control information is used to indicate: Modify the information of the control device of the UAV in the detection rule and/or forwarding rule in the UPF network element corresponding to the UAV to the information of the control device of the UAV to be switched to; and/or, the structured control information is also used for: Instruct to modify the address information of the user plane function network element corresponding to the UAV control device in the detection rule and/or forwarding rule in the UPF network element corresponding to the UAV to the user plane function network element corresponding to the UAV control device to be switched to Address information.
  • SMF responds to UTM with the control device that has switched UAV.
  • the SMF network element After the SMF network element completes the PDU session modification through step 3b or 4b or the SMF network element determines that the UAV control device has been switched, it sends a escrow command response to the UTM to confirm that the UAV has completed the UAV control device switch. Subsequently, when the control device of the UAV completes the switching, the control device of the UAV to be switched can realize the control of the UAV.
  • FIG. 7 is a schematic flowchart of an embodiment of a UAV control method provided by this application.
  • the embodiment shown in FIG. 7 provides a method for a UTM to instruct a first device to initiate release of the control right of a UAV by a second device.
  • the embodiment shown in FIG. 7 can be executed alone, or the embodiment shown in FIG. 7 can be executed after the UTM instructs the UAV control device in FIG. 6 to switch, that is, the UTM first instructs the UAV to switch the control device and determines the UAV After the switching of the control device of the UAV has been completed, the UTM then instructs the control device of the original UAV to release the control right of the UAV.
  • the control device of the original UAV is the second device in this embodiment.
  • the UAV control method provided in this embodiment includes:
  • S201 The UTM determines that the second device's control of the UAV needs to be released.
  • the UTM first determines that the control right of the second device to the UAV needs to be released, where the second device is the device used to control the UAV at this time.
  • the UTM determines in S201 that the control right of the second device to the UAV needs to be released, it sends a control right release command to the first device, and the control right release command is used to release the control right of the second device to the UAV.
  • the command to release the control right includes: indication information for releasing the control right of the second device to the UAV and UAV information.
  • the instruction information of releasing the control right of the second device to the UAV in the release control command is used by the network device to determine that the control right of the second device to the UAV needs to be released; the UAV information in the release control command is used for the first device It is determined that the UAV corresponding to the control right specifically released by the second device needs to be released.
  • the release control right command provided in this embodiment may be a new information element included in the message sent by the UTM to the second device in the prior art; or, the release control right command may also be the UTM in the prior art A part of the existing information elements in the message sent to the second device; or, the release control right command may also be a new message or a new instruction sent by the UTM to the second device; this embodiment does not limit this.
  • the command to release the control right further includes: the reason for releasing the control right of the second device to the UAV and/or the information of the second device; wherein, the reason for releasing the control right of the second device to the UAV is used to make the second device control the UAV.
  • the device determines the reason for releasing the control right of the second device to the UAV, and the information of the second device is used to enable the first device to determine the second device that needs to release the control right of the UAV.
  • the release of the control right command further includes: the length of time for releasing the control right of the second device to the UAV; wherein, the length of time for releasing the control right of the second device to the UAV is used to: After the control right, after the time period has elapsed, the second device may request the UTM again to establish the second device's control right to the UAV.
  • S203 The first device initiates to release the control right of the second device to the UAV.
  • the first device receives the control right release command sent by the UTM, it initiates the release of the control right of the second device to the UAV according to the control right release command.
  • the first device determines that the control right of the second device to the UAV has been released, the first device sends a control right release command response to the UTM; wherein the control right release command response is used to indicate that the control right has been released. 2.
  • the command response to release the control right provided in this embodiment may be a new information element included in the message in the prior art; or, the command response to release the control right may also be an existing message in the prior art. Part of the information element; or, the command response to release the control right may also be a new message or a new instruction; this embodiment does not limit this.
  • UTM can first host the UAV through the embodiment in Figure 5, and then UTM can release the second device that controls the UAV through the embodiment in Figure 7, thereby achieving The second device is forbidden to control the UAV and the UTM or other control devices are allowed to host the UAV. After that, UTM can notify the operator or drone regulator that the second device has been prohibited from controlling the UAV.
  • a command to release the control right is sent to the first device through the UTM, and the first device initiates the release of the control right of the second device to the UAV, thereby realizing the control right of the UAV control device freed. Therefore, this embodiment realizes the release of UTM's control over the UAV control device, and further clarifies the UTM's control of the UAV control device connected to the communication network, and finally realizes that the UTM can control the connected UAV through the communication network The device is controlled.
  • the UTM determines to release the control right of the second device to the UAV, it can send the release control right command to the first device, and the first device initiates the release of the second device pair.
  • the first device may be a second device, or a session management function network element corresponding to the second device, or an access and mobility management function network element corresponding to the second device. yuan.
  • the session management function network element may be an SMF network element in a 5G communication system
  • the access and mobility management function network element may be an AMF network element in a 5G communication system.
  • Figure 8 is a schematic flowchart of an embodiment of the UAV control method provided by this application.
  • Figure 8 shows that after the UTM determines to release the control right of the second device to the UAV, it sends a release control right command to the SMF network element, and the SMF network The yuan initiates the process of releasing the control right of the second device to the UAV.
  • the second device is the UAV control device
  • the first device is the session function management network element corresponding to the second device as an example.
  • the UAV control device and the 5G communication system Refer to Figure 3 for the network elements in the network and the connection relationship between them.
  • the UTM sends a command to release the control right to the SMF network element.
  • the UTM may send a release control right command to the SMF by sending a release control right command to the policy control function network element corresponding to the second device.
  • the policy control function network element may be a PCF network element in a 5G communication system. After the PCF network element receives the command to release the control right, it sends the command to release the control right to the SMF network element through session management policy modification or session management policy termination.
  • the UTM may directly send a command to release the control right to the SMF network element corresponding to the second device.
  • the SMF network element sends a command to release the control right to the second device.
  • the SMF network element after receiving the release control right command sent by the UTM in step 1, the SMF network element sends the first release command to the UAV in step 2.
  • the first release command is used to instruct the second device to release the control right of the UAV.
  • the first release command may include all or part of the elements in the release control right command received by the SMF network element, or the first release command may include the release control right command.
  • the command to release the control right is included in the first release command in the form of an information element.
  • the first release command includes: indication information for releasing the control right of the second device to the UAV and UAV information; further, the first release command further includes: a reason for releasing the control right of the second device to the UAV.
  • SMF initiates PDU session modification or release.
  • the SMF network element after step 1, after the SMF network element receives the command to release the control right, it initiates to modify the detection rule and/or forwarding rule of the UAV controlled by the second device recorded in the UPF corresponding to the second device. Specifically, after the SMF network element sends the first release command to the second device, in step 3a, the second device sends a first release command response to the SMF network element for determining to the SMF network element the control right of the second device to the UAV Has been released.
  • the first release command may be included in an existing or new information element in the PDU session modification command; the first release command response may be a PDU session modification command response or may be included in a PDU session modification command response Existing or new information elements in.
  • the first release command and the first release command response may also be new message types, and the present invention does not limit the form of the first release command and the first release command response.
  • the modified PDU session is used for the second device to control the UAV.
  • the PDU session of the second device is modified through the N4 interface of the UPF network element.
  • the modification of the PDU session initiated by the SMF network element specifically includes the following two possible specific implementation modes:
  • the SMF network element specifically deletes the information related to the UAV control by the second device in the PDU session in the UPF network element through the N4 interface of the UPF network element.
  • the SMF network element determines the structured control information according to the release control command, it sends the structured control information to the UPF network element, where the structured control information is used to instruct the UPF network element to delete the detection rule and/or forwarding rule Used in the second device to control the UAV information.
  • the SMF network element deletes the information related to the UAV control by the second device in the PDU session in the UPF network element, the second device cannot continue to control the UAV through the PDU session;
  • the SMF network element receives After the response to the first release command, the PDU session used by the second device to control the UAV can be directly released.
  • the SMF network element specifically releases the PDU session used by the second device in the UPF network element to control the UAV through the N4 interface of the UPF network element.
  • the SMF network element sends a session release request to the UPF network element corresponding to the second device according to the release control right command, where the session release request is used to instruct the UPF network element to release the session context for the second device to control the UAV.
  • the second device cannot continue to control the UAV through the PDU session.
  • the second device initiates modification or release of the PDU session.
  • this embodiment can also initiate the modification or release of the PDU session by the second device in step 4.
  • the second device initiates a PDU session modification request to the SMF network element to request to modify the PDU session used by the second device to control the UAV .
  • the SMF network element modifies the PDU session of the second device through the N4 interface of the UPF network element according to the PDU session modification request sent by the second device.
  • the modification of the PDU session initiated by the second device specifically includes the following two possible specific implementation modes:
  • the first The PDU session modification request sent by the second device to the SMF network element is used to instruct to modify the PDU session.
  • the SMF network element receives the PDU session modification request, only the PDU session used by the second device to control the UAV is modified.
  • the SMF network element specifically deletes information related to UAV control by the second device in the PDU session in the UPF network element through the N4 interface of the UPF network element.
  • the SMF network element determines the structured control information according to the PDU session modification request, it sends the structured control information to the UPF network element, where the structured control information is used to instruct the UPF network element to delete the detection rule and/or forwarding rule Used in the second device to control the UAV information.
  • the SMF network element deletes the information related to the UAV control by the second device in the PDU session in the UPF network element, the second device cannot continue to control the UAV through the PDU session.
  • the second device sends the SMF
  • the PDU session modification request sent by the network element is used to instruct the release of the PDU session.
  • the SMF network element can release the PDU session used by the second device to control the UAV according to the PDU session modification request.
  • the SMF network element specifically releases the PDU session used by the second device in the UPF network element to control the UAV through the N4 interface of the UPF network element.
  • the SMF network element sends a session release request to the UPF network element corresponding to the second device according to the PDU session release request, where the session release request is used to instruct the UPF network element to release the session context for the second device to control the UAV.
  • the SMF network element releases the PDU session used by the second device in the UPF network element to control the UAV, the second device cannot continue to control the UAV through the PDU session.
  • the SMF responds to the UTM that the second device has released the control right of the UAV.
  • the SMF network element After the SMF network element completes the PDU session modification through step 3b or 4b or the SMF network element determines that the second device has released the control right of the UAV, it sends a response to the UTM command to release the control right to confirm that the second device has completed the UAV The release of control. After the release of the control right of the UAV by the second device is completed, the second device cannot continue to control the UAV.
  • Figure 9 is a schematic flow chart of an embodiment of the UAV control method provided by this application.
  • Figure 9 shows that after the UTM determines the control right of the second device over the UAV, it directly sends a release control right command to the second device, and the second device The device initiates the process of releasing control of the UAV.
  • the second device and the first device are the same device, and the second device is the control device of the UAV as an example for description.
  • the control device of the UAV and the 5G communication system Refer to Figure 3 for the network elements and their connections between them.
  • the UTM sends a command to release the control right to the second device.
  • the UTM directly sends a command to release the control right to the second device, and the command can be implemented by a new message type between the UTM and the second device.
  • the second device sends a request to release the control right to the SMF.
  • the second device determines that it needs to release its control right over the UAV, and initiates the release of the second device's control right over the UAV. For example, the second device may first delete the UAV information stored in the second device, and then send a session management message to the SMF network element corresponding to the second device.
  • the session management message is used to instruct the SMF network element to modify or release the second device Control the UAV context.
  • the SMF modifies or releases the PDU session.
  • the SMF network element After the SMF network element receives the session management message sent by the second device, the SMF network element instructs the UPF network element corresponding to the second device to modify or release the PDU session for the second device to control the UAV.
  • the SMF network element modifies or releases the context of the UAV controlled by the second device through the UPF network element corresponding to the second device according to the session management message. So that the second device cannot continue to control the UAV through the PDU session.
  • the second device initiates a de-registration process.
  • the second device requests the AMF network element to initiate deregistration of the second device by sending a first deregistration message to the AMF network element corresponding to the second device.
  • the second device may perform step 4 to initiate de-registration after performing steps 1-3 in FIG. 9; or, the second device may directly perform step 4 to initiate after receiving the command to release the control right in step 1. Go to register.
  • the second device before initiating the de-registration process, the second device also needs to determine whether the second device is only used to control the UAV; if it is determined that the second device is only used to control the UAV that needs to release the control right, the second device can After receiving the command to release the control right, the registration process is initiated directly.
  • the SMF network element After the SMF network element completes the PDU session modification through step 3 or the SMF network element determines that the second device has released the control right of the UAV, it sends a control right release command response to the UTM to confirm that the first 2. Release of the device's control over the UAV.
  • the second device may send the release control right command response to the UTM after completing the de-registration in step 4 or after the second device has determined that the second device has released the control right of the UAV to confirm that the first device has been completed. 2. Release of the device's control over the UAV.
  • FIG. 10 is a schematic flowchart of an embodiment of the UAV control method provided by this application.
  • FIG. 10 shows that after the UTM determines the control right of the second device over the UAV, it sends a control right release command to the AMF network element corresponding to the second device. And the AMF network element initiates the process of controlling the UAV by the second device.
  • the second device is the control device of the UAV
  • the first device is the access and mobility management function network element corresponding to the second device as an example for description.
  • the control device of the UAV and Refer to Figure 3 for each network element in the 5G communication system and the connection relationship between each other.
  • UTM sends a command to release the control right to the AMF network element.
  • the UTM After determining that the UTM needs to release the control right of the second device to the UAV, it can send a control right command to the AMF network element, so that the AMF network element initiates the release of the control right of the second device to the UAV.
  • the command to release the control right can be implemented through a new message type between the UTM and the second device, or the command to release the control right can be included in an existing message between the UTM and the second device.
  • the AMF network element sends a second release command to the second device, which is used to instruct the second device to release the control right of the UAV.
  • the AMF network element after receiving the release control right command sent by the UTM, the AMF network element sends a second release command to the second device according to the release control right command, where the second release command is used to instruct the second device to release the control right to the UAV Control.
  • the second release command includes: indication information for releasing the control right of the second device to the UAV and UAV information; further, the second release command further includes: a reason for releasing the control right of the second device to the UAV.
  • the second release command may be included in the configuration update command sent by the AMF network element to the second device, or the second release command may be a new command sent by the AMF network element to the second device.
  • the second release command may include all or part of the elements of the release control right command received by the AMF network element, or the configuration update command may include the release control right command.
  • the command to release the control right is included in the configuration update command in the form of an information element.
  • the second device requests the SMF to release the control right.
  • the second device determines that it needs to release its control right over the UAV, and initiates the release of the control right over the UAV by the second device.
  • SMF modifies the PDU session.
  • Steps 3-4 in the embodiment shown in FIG. 10 can refer to steps 2-3 in the embodiment in FIG.
  • the AMF network element initiates the registration process.
  • the AMF network element initiates the de-registration of the second device by sending a second de-registration message to the second device.
  • the AMF network element can perform step 5 to initiate de-registration after performing steps 1-4 in Figure 10; or, the AMF network element can directly perform step 5 to initiate after receiving the command to release the control right in step 1. Go to register.
  • the AMF network element before initiating the de-registration process, the AMF network element also needs to determine whether the second device is only used to control the UAV; if it is determined that the second device is only used to control the UAV that needs to release the control right, the AMF network element can After receiving the command to release the control right, it directly initiates the de-registration process for the second device.
  • the SMF network element after the SMF network element completes the PDU session modification through step 4 or after the SMF network element determines that the second device has released the control right of the UAV, it sends a release control right command response to the UTM to confirm that the first 2. Release of the device's control over the UAV.
  • the AMF network element may complete the de-registration through step 5 or after the AMF network element determines that the second device has released the control right of the UAV, it sends a control right release command response to the UTM to confirm that the first device has been completed. 2. Release of the device's control over the UAV.
  • FIG. 11 is a schematic flowchart of an embodiment of a UAV control method provided by this application.
  • a UTM is provided to directly send a release control right command to a second device.
  • the second device can also notify the UAV of the first
  • the second device is about to release the control right of the UAV, so that after the UAV determines that the second device is about to release the control right, the UAV requests the UTM to take care of the UAV.
  • the UAV control method provided in this embodiment can enable the custody of the UAV and the release of the control right of the second device for controlling the UAV to be completed in parallel. As shown in Figure 11,
  • the UTM sends a command to release the control right to the second device.
  • the UTM directly sends the command to release the control right to the second device, or the UTM may send the command to release the control right to the second device through the AMF network element or SMF network element corresponding to the second device.
  • the command can be implemented by a new message type between the UTM and the second device or the command can be an element contained in the existing message between the UTM and the second device.
  • the second device sends a notification of releasing the control right to the UAV.
  • the second device after receiving the release control right command sent by the UTM, the second device sends a release control right notification message to the corresponding UAV.
  • the release control right notification message is used to indicate to the UAV that the second device needs to release the second device. Control of UAV.
  • the second device may send the control release notification message to the UAV through the established communication channel used to control the UAV, where the communication channel includes: one of the CN accessed by the second device and the CN accessed by the UAV.
  • the communication channel between the second device and the UAV directly.
  • the second device may also send a response to the second device to confirm to the UTM that it has received the command to release the control right.
  • the UAV sends a response to release the control right to the second device.
  • the UAV after receiving the release control right notification message sent by the second device, the UAV sends a release control right response to the second device, and confirms to the second device that it has finished switching the control device of the UAV.
  • UAV sends an escrow request message to UTM.
  • the UAV After the UAV receives the response to release the control right sent by the second device, it determines that the second device is about to release the control right. In order to avoid the situation that the UAV has no control device, the UAV can send a trust request message to the UTM, requesting the UTM to replace the first device.
  • the second device controls the UAV, that is, the UAV is managed.
  • the UTM After the UTM receives the escrow request message from the UAV, it determines according to the escrow request message that the control device of the UAV needs to be switched, and instructs the control device of the UAV to switch.
  • step 5 can be performed with reference to any embodiment of the UAV control method in which the UTM indicates that the control device of the UAV needs to be switched as shown in FIG. 5 or FIG. 6, and will not be repeated.
  • UTM instructs to release the control right of the second device to the UAV.
  • step 6 can be performed in any embodiment in the method in which the UTM instructs the second device to release the control right of the UAV as shown in FIGS. 7-10, and will not be repeated.
  • step 5 and step 6 in the embodiment shown in FIG. 11 is not limited, or step 5 and step 6 can be performed in parallel.
  • the SMF network element corresponding to the second device and the SMF network element corresponding to the UAV as shown in FIG. 11 may be the same network element or different network elements.
  • FIG. 12 is a schematic flowchart of an embodiment of a UAV control method provided by this application.
  • the embodiment shown in FIG. 12 provides a UAV control method in which UTM grants control rights to a new control device to a UAV.
  • the control device given the control right is marked as the fourth device, that is, the UTM gives the fourth device the control right over the UAV, so that the fourth device can control the UAV.
  • the new fourth device is assigned to the UAV Control.
  • UTM determines to give the fourth device the control right over the UAV.
  • the UTM first determines to give the fourth device the control right over the UAV, that is, it determines that the fourth device can control the UAV.
  • the UTM determines that the fourth device needs to be given the control right of the UAV in S301, it sends a control right command to the third device, and the control right command is used to instruct the third device to give the fourth device control right over the UAV.
  • the given control command includes: the instruction information for giving the fourth device the control right of the UAV, UAV information and the fourth device information.
  • the UAV information includes: UAV address information and/or UAV identification information, and the fourth device information Including: information and/or identification information of the fourth device.
  • the indication information in the grant control command to grant the fourth device control over the UAV is used by the third device to determine that the fourth device needs to be given control over the UAV; the UAV identification information in the grant control command is used for the first The fourth device determines the UAV corresponding to the fourth device that needs to be given control.
  • the third device in this embodiment may be a network device corresponding to the fourth device, and the network device corresponding to the fourth device can manage the communication between the fourth device and the UAV.
  • the third device may be an access and mobility management function network element corresponding to the fourth device, and the access and mobility management function network element may be an AMF network element in a 5G communication system.
  • control right command provided in this embodiment may be a new information element included in the message sent by the UTM to the third device in the prior art; or, the control right command may also be a UTM in the prior art.
  • a part of the existing information element in the message sent to the third device; or, the command for granting control rights may also be a new message or new instruction sent by the UTM to the third device; this embodiment does not limit this.
  • the third device initiates to grant the control right of the UAV to the fourth device according to the command for granting control rights.
  • the third device After the third device receives the command for granting control rights sent by the UTM, the third device initiates granting the fourth device the control rights for the UAV according to the command for granting control rights.
  • the third device sends a grant command to the fourth device to indicate that the fourth device needs to grant the control right to the UAV.
  • the grant command includes: instruction information for granting the fourth device the control right of the UAV and/or UAV information.
  • the grant command sent by the third device to the fourth device may be included in the existing message sent by the third device to the fourth device, or the grant command is a new message sent by the third device to the fourth device.
  • the grant command may include all or part of the elements in the command to grant control received by the third device, or the grant command may include a command to grant control.
  • the command to grant control rights is included in the grant command sent by the third device to the fourth device in element form.
  • the fourth device stores UAV information in the fourth device according to the received grant command, so that the fourth device can control the UAV, so as to grant the fourth device the control right over the UAV.
  • the UAV control method provided in this embodiment sends a command for granting control rights to the third device through UTM, and the third device initiates granting control rights to the fourth device to the UAV according to the command for granting control rights, thereby realizing granting new devices
  • the control of the UAV further clarifies the grant of the UTM to the control equipment of the connected UAV, and finally realizes that the UTM can control the connected UAV through the communication network.
  • FIG. 13 is a schematic flowchart of an embodiment of the UAV control method provided by this application, as shown in FIG. 13,
  • UTM sends a command for granting control to the AMF network element.
  • UTM can, according to the foregoing embodiment of this application, after hosting the UAV and releasing the control rights of the original UAV control device, determine to establish the control rights of the fourth device over the UAV, and send the grant control to the AMF network element corresponding to the fourth device Power order.
  • the AMF network element initiates to grant the fourth device the control right over the UAV.
  • the AMF network element may send a grant command to the fourth device to instruct the fourth device to grant the control right of the UAV.
  • the AMF network element After the AMF network element receives the control right command sent by the UTM, it initiates a configuration update modification to the fourth device according to the control right command, and sends a configuration update command to the fourth device.
  • the configuration update command is this The grant command described in the embodiment.
  • the configuration update command may include all or part of the elements of the control right grant command received by the AMF network element, or the configuration update command includes the control right command.
  • the command to grant control is included in the configuration update command in the form of an information element.
  • the fourth device may locally save the UAV information, and respond to the AMF network element with a configuration update response for determining to the AMF network element that the configuration has been updated.
  • the fourth device requests the SMF network element to establish a PDU session.
  • the fourth device sends a session establishment request message to the SMF network element through step 3a to request the establishment of a PDU session used by the fourth device to control the UAV.
  • the session establishment request message includes: indication information that the requested PDU session is used for the fourth device to control the UAV.
  • the SMF network element instructs the UPF network element corresponding to the fourth device to establish detection rules and/or forwarding rules for the fourth device to control the UAV information through step 3b.
  • the UPF network element reserves resources for the PDU session for the fourth device to control the UAV, and allocates address information for the fourth device to control the UAV.
  • the SMF network element instructs the UPF network element corresponding to the fourth device to modify the detection rule and/or information in the forwarding rule for the fourth device to control the UAV , So that the fourth device can control the UAV through the modified PDU session.
  • the SMF network element sends a session establishment response to the fourth device through step 3c, it confirms to the fourth device that the PDU session has been established.
  • the SMF network element in step 3c sends a session modification response to the fourth device to confirm to the fourth device that the PDU session has been modified.
  • UTM switches the UAV control device to the fourth device.
  • the UTM can switch the control device of the original UAV to the fourth device through the UAV control method of the embodiment described in any one of Figures 5-6.
  • the implementation method is the same as that of the fourth device. Repeat.
  • SMF modifies the PDU session.
  • the UTM determines that the UAV has switched the control device of the UAV as the fourth device, it sends a control right switching notification to the SMF network element corresponding to the fourth device through step 5a, so that the SMF network element determines that the control right of the UAV has been switched.
  • the control right switching notification includes: UAV information, for example: UAV address information and/or identification information.
  • the SMF network element when the SMF network element receives the control switch notification sent by the UTM, it instructs the UPF network element corresponding to the fourth device to modify the detection rule and/or forwarding rule for the fourth device to control the UAV information, so that the fourth device The device can control the UAV through the modified PDU session.
  • the UTM can release the original UAV through the UAV control method in any of the embodiments shown in Figure 7-10.
  • the realization method and principle of the control device of the UAV are the same, so it will not be repeated.
  • the methods provided in the embodiments of this application are introduced from the perspective of interaction between UTM, UAV, UAV control equipment, UAV corresponding network equipment, and UAV control equipment corresponding network equipment.
  • the control equipment of UTM, UAV, UAV, the network equipment corresponding to UAV, and the network equipment corresponding to UAV control equipment may also include hardware structure and/or software modules to A hardware structure, a software module, or a form of a hardware structure plus a software module realizes the above-mentioned functions.
  • FIG. 14 is a schematic structural diagram of an embodiment of a UAV control device provided by this application.
  • the UAV control device shown in FIG. 14 can be used to implement the UAV control method provided in the foregoing embodiments.
  • the UAV control device 1400 includes: Module 1401 and processing module 1402.
  • the UAV control device 1400 shown in FIG. 14 may be the UTM traffic management network element UTM described in any one of the embodiments of FIGS. 5-6, or may be capable of implementing The aforementioned device for the function of the UTM UTM traffic management network element as described in any of the embodiments in FIGS. 5-6.
  • the processing module 1402 is used to determine that the control device of the UAV UAV needs to be switched; the transceiver module 1401 is used to send a hosting command to the network device; so that the network device instructs the UAV to switch according to the hosting command
  • the escrow command further includes: information of the control device of the UAV to be switched to.
  • the escrow command further includes: information of the user plane function network element corresponding to the control device of the UAV to be switched to; wherein, the user plane function network element corresponding to the control device of the UAV to be switched to The information is used for the network device to determine the user plane function network element corresponding to the UAV control device to be switched to.
  • the network device is a session management function network element corresponding to the UAV.
  • the transceiver module 1401 is specifically configured to send an escrow command to the policy control function network element, so that the policy control function network element indicates that the session management function network element needs to switch the control device of the UAV.
  • the transceiver module 1401 is further configured to receive an escrow request message from the UAV, the escrow request message is used to request to switch the control device of the UAV; the determining module 1402 is specifically configured to determine the UAV according to the escrow request message The control equipment needs to be switched.
  • the UAV control apparatus 1400 shown in FIG. 14 may also be the network device described in any of the foregoing embodiments in FIGS. 5-6, or may be capable of implementing the foregoing FIG. 5 -6 The function of the network equipment described in any of the embodiments.
  • the transceiver module 1401 is used to receive the escrow command;
  • the escrow command is used to switch the control equipment of the UAV UAV, and
  • the escrow command includes: the instruction information for switching the UAV control equipment and the UAV information ;
  • the processing module 1402 is used to instruct the UAV to switch the control device of the UAV according to the escrow command.
  • the escrow command further includes: information of the control device of the UAV to be switched to.
  • the escrow command further includes: information of the user plane function network element corresponding to the control device of the UAV to be switched to; wherein, the user plane function network element corresponding to the control device of the UAV to be switched to The information is used to determine the user plane function network element corresponding to the UAV control device to be switched to.
  • the processing module 1402 is specifically configured to send a switching command to the UAV through the transceiver module 1401 according to the escrow command; the switching command is used to instruct the UAV to switch the control device of the UAV.
  • the switching command includes: instruction information of the control device of the UAV to switch and/or information of the control device of the UAV to be switched to.
  • the processing module 1402 is further configured to determine structured control information according to the escrow command, and send the structured control information to the user plane function network element corresponding to the UAV; wherein, the structured control information is used In: Instruct to modify the information of the UAV control device in the detection rule and/or forwarding rule in the user plane function network element corresponding to the UAV to the information of the UAV control device to be switched to; and/or, instruct the UAV corresponding to The detection rule and/or the information of the user plane function network element corresponding to the UAV control device in the user plane function network element in the forwarding rule is modified to the information of the user plane function network element of the UAV control device to be switched to.
  • the transceiver module 1401 is further configured to send a escrow command response to the UTM traffic management network element of the drone; the escrow command response is used to indicate that the UAV control device has been switched.
  • the UAV control apparatus 1400 shown in FIG. 14 may also be the first device described in any one of the embodiments in FIGS. 7-11, or it may be able to implement The function of the first device described in any of the embodiments 7-11.
  • the transceiver module 1401 is used to receive the command to release the control right; the command to release the control right is used to release the control right of the second device to the UAV UAV, and the command to release the control right includes: Indication information of the control right of the second device to the UAV and UAV information; the processing module 1402 is configured to initiate the release of the control right of the second device to the UAV according to the release control right command.
  • the command to release the control right further includes: the reason for releasing the control right of the second device to the UAV and/or the information of the second device.
  • the transceiver module 1401 is further configured to send a control right release command response to the UTM traffic management network element of the drone; the control right release command response is used to indicate that the control of the UAV by the second device has been released right.
  • the UAV control apparatus in the foregoing embodiment is a session management function network element corresponding to the second device.
  • the processing module 1402 is specifically configured to send a first release command to the second device through the transceiver module 1401 according to the command to release the control right, and the first release command is used to instruct the second device to release the control right of the UAV.
  • the processing module 1402 is further configured to determine structured control information according to the command to release the control right, and send the structured control information to the user plane function network element corresponding to the second device through the transceiver module 1401 ;
  • the structured control information is used to: instruct the user plane function network element to delete the information used for the second device to control the UAV in the detection rule and/or forwarding rule; and/or correspond to the second device through the transceiver module 1401 according to the control release command
  • the user plane function network element sends a session release request; the session release request is used to instruct the user plane function network element to release the session context for the second device to control the UAV.
  • the first release command includes: indication information for releasing the control right of the second device to the UAV and UAV information.
  • the UAV control apparatus in the foregoing embodiment is the second device.
  • the processing module 1402 is specifically configured to send a session management message to the corresponding session management function network element of the second device through the transceiver module 1401 according to the control release command by the second device, and the session management message is used to instruct the session management function network element to modify Or release the session context for the second device to control the UAV.
  • the UAV control apparatus in the foregoing embodiment is the second device.
  • the processing module 1402 is specifically configured to send a first de-registration message to the access and mobility management function network element corresponding to the second device through the transceiver module 1401 according to the command to release the control right; The device is deregistered.
  • the transceiver module 1401 is further configured to send a release control right notification message to the UAV, and the release control right notification message is used to indicate to the UAV that the second device needs to release the control right of the UAV; the transceiver module 1401 It is also used to receive the release control right response sent by the UAV, and the release control right response is used to indicate that the UAV has finished switching the UAV control device.
  • the UAV control apparatus in the foregoing embodiment is an access and mobility management function network element corresponding to the second device.
  • the processing module 1402 is specifically configured to send a second release command to the second device through the transceiver module 1401 according to the command to release the control right.
  • the second release command is used to instruct the second device to release the control right of the UAV.
  • the second release command includes one or more of the following: instruction information for releasing the control right of the second device to the UAV and the UAV information.
  • the UAV control apparatus in the foregoing embodiment is an access and mobility management function network element corresponding to the second device.
  • the processing module 1402 is specifically configured to send a second de-registration message to the second device through the transceiver module 1401 according to the control right release command by the first device, and the second de-registration message is used to instruct to de-register the second device.
  • the UAV control device 1400 shown in FIG. 14 may also be the UTM traffic management network element UTM described in any one of the embodiments in FIGS. 7-11, or, It is a device that can realize the function of UTM as described in any of the embodiments in Figures 7-11.
  • the transceiver module 1401 and the processing module 1402. the processing module 1402 is used to determine that the second device's control of the UAV UAV needs to be released; the transceiver module 1401 is used to send a release control command to the first device; so that the first device initiates the release of the first device according to the release control command. 2.
  • the control right of the device over the UAV; where the release control right command is used to release the control right of the second device over the UAV, and the release control right command includes: instructions to release the control right of the second device over the UAV and UAV information.
  • the command to release the control right further includes: a reason for releasing the control right of the second device to the UAV.
  • the first device includes: the second device, a session management function network element corresponding to the second device, or an access and mobility management function network element corresponding to the second device yuan.
  • the UAV control apparatus 1400 shown in FIG. 14 may also be the UAV traffic management network element UTM described in any of the embodiments of FIGS. 12-13, or it may It is a device that can realize the function of UTM as described in any of the embodiments in Figures 12-13.
  • the processing module 1402 is used to determine to grant the fourth device the control right to the UAV; the transceiver module 1401 is used to send the command to grant control to the third device, where the command to grant the control right is used to Indicates to give the fourth device control over the UAV.
  • the assigned control command includes: instruction information for assigning the fourth device to control the UAV, UAV information, and fourth device information.
  • the UAV control apparatus 1400 shown in FIG. 14 may also be the third device described in any one of the embodiments in FIGS. 12-13, or it may be able to implement -13 The function of the third device in any of the embodiments.
  • the transceiver module 1401 is used to receive a control right grant command, where the control right command is used to give the instruction the fourth device the control right of the UAV.
  • the grant control command includes: instruction information for granting the fourth device the control right of the UAV, UAV information, and the fourth device information; the processing module 1402 is used for initiating granting the fourth device the control right to the UAV according to the control grant command.
  • the UAV control device provided in the foregoing embodiments serves as the third device to execute the UAV control method shown in Figure 12-13.
  • the UAV control method shown in Figure 12-13 For specific implementation methods and principles, please refer to the corresponding embodiment in Figure 12-13. Repeat it again.
  • each functional module in each embodiment of this application can be integrated into one
  • the processor may also exist alone physically, or two or more modules may be integrated into one module.
  • the above-mentioned integrated modules can be implemented in the form of hardware or software functional modules.
  • FIG. 15 is a schematic structural diagram of an embodiment of a communication device provided by this application.
  • FIG. 15 shows a communication device 1500 provided in this application.
  • the communication device shown in FIG. 15 can be used to implement the UAV control method provided in the foregoing embodiments of the application.
  • the communication device 1500 includes:
  • At least one processor 1520 is configured to execute functions specifically executed by the communication device in the UAV control method.
  • the processor may be a general-purpose processor, a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, and can implement or execute the steps in the embodiments of this application.
  • the general-purpose processor may be a microprocessor or any conventional processor.
  • the steps of the method disclosed in the embodiments of the present application may be directly embodied as being executed and completed by a hardware processor, or executed and completed by a combination of hardware and software modules in the processor.
  • the communication device 1500 also includes:
  • At least one memory 1530 is used to store program instructions and/or data.
  • the memory 1530 is coupled to the processor 1520.
  • the processor 1520 may operate in cooperation with the memory 1530.
  • the processor 1515 may execute program instructions stored in the memory 1530.
  • At least one of the at least one memory may be included in the processor.
  • the memory can be a non-volatile memory, such as a hard disk drive (HDD) or a solid-state drive (SSD), etc., or a volatile memory, such as random-access memory (random- access memory, RAM).
  • the memory is any other medium that can be used to carry or store desired program codes in the form of instructions or data structures and that can be accessed by a computer, but is not limited thereto.
  • the memory in the embodiments of the present application may also be a circuit or any other device capable of realizing a storage function for storing program instructions and/or data.
  • the communication interface may be a transceiver 1510, a circuit, a bus, or another form of interface for communicating with other devices through a transmission medium, so that the device used in the apparatus 1500 can communicate with other devices.
  • the memory 1530, the processor 1520, and the transceiver 1510 in the communication device 1500 are connected by a bus 1540.
  • the specific connection medium between the communication interface, the processor, and the memory is not limited.
  • the memory, processor, and transceiver are connected through a bus as an example.
  • the bus is represented by a thick line in the figure. The connection between other components is only a schematic illustration, and is not quoted. Is limited.
  • the bus can be divided into address bus, data bus, control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.
  • the coupling described in the embodiments of the present application is an indirect coupling or communication connection between devices, units or modules, which can be electrical, mechanical or other forms, and is used for information exchange between devices, units or modules. .
  • the communication device 1500 shown in FIG. 15 may be used to perform the UTM function described in any of the embodiments in FIGS. 5-6.
  • the device can be a UTM or a device in UTM, where the device can be a chip system; or, the communication device 1500 shown in FIG. 15 can be used as the UAV control device 1400 in the embodiment shown in FIG.
  • the UAV control device 1400 functions as the UTM of any of the embodiments in FIGS. 5-6, wherein the processor 1520 is used to perform the function of the processing module 1402, and the transceiver 1510 is used to perform the function of the transceiver module 1401.
  • the control device of the UAV may determine through the processor 1520 that the control device of the UAV needs to be switched, and send the hosting command to the network device through the transceiver 1510.
  • the specific implementation method and principle of the communication device 1500 as UTM in this example please refer to the detailed description of UTM in the corresponding UAV control method example in Figs. 5-6, which will not be repeated here.
  • the communication device shown in FIG. 15 may also be used to perform the function of the network device described in any of the embodiments in FIGS. 5-6.
  • the device may be a network device, or a device in a network device, where the device may be a chip system; or, the communication device shown in FIG. 15 may also be used as the UAV control device 1400 in the embodiment shown in FIG. 14 ,
  • the execution control device 1400 functions as a network device in any one of the embodiments in FIGS. 5-6, where the processor 1520 is used to perform the function of the processing module 1402, and the transceiver 1510 is used to perform the function of the transceiver module 1401.
  • the UAV 15 may receive the escrow command through the transceiver 1510, and instruct the UAV to switch the control device of the UAV according to the escrow command through the processor 1520.
  • the communication device 1500 as a network device in this example, please refer to the detailed description of the network device in the example of the corresponding UAV control method in Figures 5-6, which will not be repeated here.
  • the communication device shown in FIG. 15 may also be used to perform the function of the first device as described in any of the embodiments in FIGS. 7-11.
  • the device may be the first device or a device in the first device, where the device may be a chip system.
  • the communication device shown in FIG. 15 may also be used as the UAV control device 1400 in the embodiment shown in FIG. 14, and the function of the execution control device 1400 as the first device in any of the embodiments in FIGS. 7-11 , Where the processor 1520 is used to execute the function of the processing module 1402, and the transceiver 1510 is used to execute the function of the transceiver module 1401.
  • the communication apparatus 1500 as shown in FIG.
  • the communication apparatus 1500 may receive a control right release command through the transceiver 1510, and initiate the release of the control right of the UAV by the second device according to the control right release command through the processor 1520.
  • the specific implementation method of the communication apparatus 1500 as the first device in this example please refer to the detailed description of the first device in the example of the corresponding UAV control method in Figs. 7-11, which will not be repeated here.
  • the communication device shown in FIG. 15 may also be used to perform the UTM function described in any of the embodiments in FIGS. 7-11.
  • the device can be a UTM or a device in UTM, where the device can be a chip system; or, the communication device shown in FIG. 15 can also be used as the UAV control device 1400 in the embodiment shown in FIG.
  • the control device 1400 functions as the UTM of any of the embodiments in FIGS. 7-11, wherein the processor 1520 is used to perform the function of the processing module 1402, and the transceiver 1510 is used to perform the function of the transceiver module 1401.
  • the communication device 1500 may determine through the processor 1520 that the second device's control of the UAV UAV needs to be released, and send a command to release the control right to the first device through the transceiver 1510.
  • the communication device 1500 is used as a specific implementation method of UTM.
  • UTM the communication device 1500 is used as a specific implementation method of UTM.
  • the communication device shown in FIG. 15 may also be used to perform the UTM function described in any of the embodiments 12-13.
  • the device can be a UTM or a device in UTM, where the device can be a chip system; or, the communication device shown in FIG. 15 can also be used as the UAV control device 1400 in the embodiment shown in FIG.
  • the control device 1400 functions as the UTM in any of the embodiments in FIGS. 12-13, wherein the processor 1520 is used to perform the function of the processing module 1402, and the transceiver 1510 is used to perform the function of the transceiver module 1401.
  • the communication apparatus 1500 as shown in FIG.
  • the communication device 1500 may determine, through the processor 1520, to grant the fourth device the control right to the UAV, and send the command to grant the control right to the third device through the transceiver 1510.
  • the communication device 1500 is used as a specific implementation method of UTM.
  • UTM the communication device 1500 is used as a specific implementation method of UTM.
  • the communication device shown in FIG. 15 may also be used to perform the function of the third device as described in any one of the embodiments 12-13.
  • the device may be a third device or a device in the third device, where the device may be a chip system; or, the communication device shown in FIG. 15 may also be used as the UAV control device in the embodiment shown in FIG.
  • the device 1400 executes the function of the control device 1400 as the third device of any one of the embodiments in FIGS. 12-13, wherein the processor 1520 is used to execute the function of the processing module 1402, and the transceiver 1510 is used to execute the transceiver module 1401 Function.
  • the 15 may receive the control right grant command through the transceiver 1510, and initiate the granting of the control right of the UAV to the third device according to the control right command through the processor 1520.
  • the control right grant command through the transceiver 1510
  • FIG. 16 is a schematic structural diagram of an embodiment of the UAV control system provided by this application.
  • the UAV control system 1600 provided in this embodiment includes: UTM1601 and network equipment 1602.
  • the UTM1601 and the network device 1602 in the UAV control system 1600 as shown in FIG. 16 may be network elements in the communication network shown in FIG. 2; or, the UTM1601 and the network device in the UAV control system 1600 may be as shown in FIG.
  • the UAV control device shown in Figure 5-6 respectively performs the functions of the UTM and the network device in the embodiment shown in Figures 5-6; or, the UTM1601 and the network device in the UAV control system 1600 can also be the communication shown in Figure 15 Device, and respectively perform the functions of UTM and network equipment in the embodiment shown in Figures 5-6.
  • UTM1601 sends a hosting command to the network device 1602; wherein the hosting command is used to switch the control device of the UAV UAV; after the network device 1602 receives the hosting command from UTM1601, According to the escrow command, instruct the UAV to switch the control device of the UAV.
  • the specific implementation method of the above example please refer to the detailed description of UTM and network equipment in the corresponding UAV control method example in Figure 5-6, which will not be repeated here.
  • FIG. 17 is a schematic structural diagram of an embodiment of the UAV control system provided by this application.
  • the UAV control system 1700 provided in this embodiment includes: UTM1701 and a first device 1702.
  • the UTM 1701 and the first device 1702 in the UAV control system 1700 as shown in FIG. 17 may be network elements in the communication network as shown in FIG. 3, or the first device 1702 may also be the UAV as shown in FIG. Control equipment; or, UTM1701 and network equipment in the UAV control system 1700 may be UAV control devices as shown in FIG. 14 and respectively perform the functions of UTM and the first device in the embodiment shown in FIGS.
  • the UTM 1701 and the first device 1702 in the UAV control system 1700 may also be communication devices as shown in FIG. 15 and respectively perform the functions of the UTM and the first device in the embodiments shown in FIGS. 7-11.
  • the UTM 1701 sends a release control right command to the first device 1702; the release control right command is used to release the control right of the second device to the UAV UAV; the first device 1702 Receive the release control right command from UTM1701, and initiate the release of the control right of the second device to the UAV according to the release control right command.
  • the UTM 1701 sends a release control right command to the first device 1702
  • the release control right command is used to release the control right of the second device to the UAV UAV
  • the first device 1702 Receive the release control right command from UTM1701, and initiate the release of the control right of the second device to the UAV according to the release control right command.
  • FIG. 18 is a schematic structural diagram of an embodiment of the UAV control system provided by this application.
  • the UAV control system 1800 provided in this embodiment includes: a UTM 1801 and a third device 1802.
  • the UTM 1801 and the third device 1802 in the UAV control system 1800 shown in FIG. 18 may be network elements in the communication network shown in FIG. 3; or, the UTM 1801 and the third device 1802 in the UAV control system 1800 may be
  • the UAV control device shown in Figure 14 respectively performs the functions of the UTM and the third device in the embodiment shown in Figures 12-13; or, the UTM 1801 and the third device 1802 in the UAV control system 1800 can also be as The communication device shown in FIG.
  • the UTM 1801 sends a control right command to the third device 1802, where the control right command is used to instruct the third device to grant the fourth device the control right of the UAV; After receiving the control right command, the third device 1802 initiates to give the fourth device the control right to the UAV according to the control right command.
  • the control right command is used to instruct the third device to grant the fourth device the control right of the UAV.
  • the third device 1802 initiates to give the fourth device the control right to the UAV according to the control right command.
  • the methods provided in the embodiments of the present application may be implemented in whole or in part by software, hardware, firmware, or any combination thereof.
  • software When implemented by software, it can be implemented in the form of a computer program product in whole or in part.
  • the computer program product includes one or more computer instructions.
  • the computer may be a general-purpose computer, a dedicated computer, a computer network, network equipment, user equipment, or other programmable devices.
  • the computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website, computer, server, or data center.
  • the computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center integrated with one or more available media.
  • the usable medium may be a magnetic medium (for example, a floppy disk, a hard disk, and a magnetic tape), an optical medium (for example, a digital video disc (digital video disc, DVD)), or a semiconductor medium (for example, SSD).

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Abstract

本申请提供一种无人机控制方法、装置及系统，其中方法包括：UTM确定无人机UAV的控制设备需要切换；UTM向网络设备发送托管命令；以使网络设备根据托管命令，指示UAV需要切换UAV的控制设备；其中，托管命令用于切换UAV的控制设备，托管命令包括：切换UAV的控制设备的指示信息和UAV的信息。本申请提供的无人机控制方法、装置及系统，通过UTM向网络设备发送托管命令，由网络设备根据托管命令指示UAV需要切换UAV的控制设备，从而实现了UTM通过通信网络对接入的UAV及其控制设备进行控制。

Description

无人机控制方法、装置及系统
本申请要求于2019年02月02日提交中国专利局、申请号为2019101076975、申请名称为“无人机控制方法、装置及系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及通信技术，尤其涉及一种无人机(unmanned aerial vehicle，UAV)控制方法、装置及系统。
背景技术
随着电子技术和通信技术的迅速发展，UAV相关技术也更加成熟，用户可以通过操作UAV控制器的方式，在多种不同通信场景下实现对UAV的控制。其中，对于远距离通信场景，控制器可以通过接入运营商提供的通信网络，通过通信网络控制UAV。
在现有技术中，为了实现对于使用通信网络的UAV及其控制器的监控与识别，相关的无人机监管机构在通信网络中设置无人机流量管理网元(unmanned aerial vehicle traffic management，UTM)，以通过UTM实现对接入通信网络的UAV及其控制器进行监管。
但是现有技术中，没有UTM启用和禁用接入通信网络的UAV与其控制器之间的通信的可用方案，从而导致UTM无法干预UAV与其控制器间的通信。因此，如何使UTM能够通过通信网络对接入的UAV及其控制器进行管理，是本领域亟待解决的技术问题。
发明内容
本申请提供一种无人机控制方法、装置及系统，以实现UTM能够通过通信网络对接入的UAV及其控制器进行管理。
本申请第一方面提供一种无人机控制方法，通过无人机流量管理网元UTM确定UAV的控制设备需要切换时，向网络设备发送托管命令，使得网络设备能够根据托管命令指示UAV需要切换UAV的控制设备，通过UTM发起对UAV的控制设备的切换。具体地，本实施例提供的无人机控制方法，包括：
无人机流量管理网元UTM确定无人机UAV的控制设备需要切换；
所述UTM向网络设备发送托管命令；以使所述网络设备根据所述托管命令，指示所述UAV需要切换所述UAV的控制设备；其中，所述托管命令用于切换所述UAV的控制设备，所述托管命令包括：切换所述UAV的控制设备的指示信息和所述UAV的信息。
其中，本实施例提供的UAV控制方法，通过UTM确定UAV的控制设备需要切换时，向网络设备发送托管命令，以使网络设备根据托管命令指示UAV需要切换UAV的控制设备，从而实现UAV的控制设备的切换。尤其是UTM可以通过托管命令指示将要切换到的UAV的控制设备是UTM时，能够实现UTM指示UAV接受UTM的托管，进而明确了UTM对接入通信网络的UAV的控制，最终实现了UTM能够通过通信网络对接入的UAV进行控制。
在本申请第一方面一实施例中，所述托管命令还包括：将要切换到的所述UAV的控制设备的信息。
其中，在本实施例提供的UAV控制方法中，托管命令中还包括了UTM确定的将要切换到的UAV的控制设备的信息，使得UAV的控制设备能够根据托管命令确定将要切换到的UAV的控制设备的信息后，指示UAV切换到将要切换的UAV的控制设备。而若UTM指示UAV接收UTM的托管时，则托管命令中可以不包括将要切换到的UAV的控制设备的信息，当网络设备接收到UTM发送的托管命令后，即可指示UAV的控制设备切换为UTM。
在本申请第一方面一实施例中，所述托管命令还包括：将要切换到的所述UAV的控制设备对应的用户面功能网元的信息；其中，所述将要切换到的所述UAV的控制设备对应的用户面功能网元的信息用于，所述网络设备确定所述将要切换到的所述UAV的控制设备对应的用户面功能网元。
其中，本实施例提供的UAV控制方法中，托管命令中还包括了将要切换到的UAV的控制设备对应的用户面功能网元的信息；从而使得网络设备根据托管命令确定结构化控制信息后，能够将结构化控制信息发送至所述UAV对应的用户面功能网元。从而丰富了托管命令能够携带的信息，实现对UAV的控制设备切换时对UAV对应的用户面功能网元的信息进行修改。
在本申请第一方面一实施例中，所述网络设备为所述UAV对应的会话管理功能网元。
其中，本实施例应用在例如5G通信系统中时，所述的网络设备为UAV对应的会话管理功能网元。
在本申请第一方面一实施例中，所述UTM向网络设备发送托管命令，包括：所述UTM向策略控制功能网元发送所述托管命令，以使所述策略控制功能网元指示所述会话管理功能网元需要切换所述UAV的控制设备。
其中，本实施例提供的UAV控制方法应用在例如5G通信系统中时，UTM具体在确定UAV的控制设备需要切换之后，可以通过策略控制功能网元发送托管命令的方式，让策略功能网元指示会话管理功能网元需要切换UAV的控制设备。
在本申请第一方面一实施例中，所述UTM确定所述UAV的控制设备需要切换之前，还包括：所述UTM接收来自所述UAV的托管请求消息，所述托管请求消息用于请求切换所述UAV的控制设备；所述UTM确定所述UAV的控制设备需要切换，包括：所述UTM根据所述托管请求消息确定所述UAV的控制设备需要切换。
其中，本实施例提供的UAV控制方法，能够根据UAV的请求来对UAV的控制设备进行切换。例如当UAV可以在确定需要切换其控制设备时，向UTM发送托管请求消息，则UTM接收到UAV的请求消息后，根据UAV的请求确定UAV的控制设备需要进行切换，并执行后续对UAV的控制设备进行切换的控制流程。
本申请第二方面提供一种无人机控制方法，通过网络设备在接收到托管命令后，能够根据托管命令指示UAV需要切换UAV的控制设备，通过UTM发起对UAV的控制设备的切换。具体地，本实施例提供的无人机控制方法，包括：
网络设备接收托管命令；其中，所述托管命令用于切换无人机UAV的控制设备，所述托管命令包括：切换所述UAV的控制设备的指示信息和所述UAV的信息；
所述网络设备根据所述托管命令，指示所述UAV需要切换所述UAV的控制设备。
其中，本实施例提供的UAV控制方法，在网络设备接收到托管命令后，网络设备能够根据托管命令指示UAV需要切换UAV的控制设备，从而实现UAV的控制设备的切换，进而明确了UAV的控制设备进行切换的方式。
在本申请第二方面一实施例中，所述托管命令还包括：将要切换到的所述UAV的控制设备的信息。
在本申请第二方面一实施例中，所述托管命令还包括：将要切换到的所述UAV的控制设备对应的用户面功能网元的信息；其中，所述将要切换到的所述UAV的控制设备对应的用户面功能网元的信息用于，所述网络设备确定所述将要切换到的所述UAV的控制设备对应的用户面功能网元。
在本申请第二方面一实施例中，所述网络设备根据所述托管命令，指示所述UAV需要切换所述UAV的控制设备，包括：
所述网络设备根据所述托管命令向所述UAV发送切换命令；所述切换命令用于指示所述UAV需要切换所述UAV的控制设备。
在本申请第二方面一实施例中，所述切换命令包括：切换所述UAV的控制设备的指示信息和/或将要切换到的所述UAV的控制设备的信息。
在本申请第二方面一实施例中，所述网络设备接收托管命令之后，还包括：
所述网络设备根据所述托管命令确定结构化控制信息，并将所述结构化控制信息发送至所述UAV对应的用户面功能网元；
其中，所述结构化控制信息用于：指示将所述UAV对应的用户面功能网元中的检测规则和/或转发规则中所述UAV的控制设备的信息修改为将要切换到的所述UAV的控制设备的信息；和/或，指示将所述UAV对应的用户面功能网元中的检测规则和/或转发规则中所述UAV的控制设备对应的用户面功能网元的信息修改为将要切换到的所述UAV的控制设备的用户面功能网元的信息。
在本申请第二方面一实施例中，所述网络设备根据所述托管命令，指示所述UAV需要切换所述UAV的控制设备之后，还包括：
所述网络设备向无人机流量管理网元UTM发送托管命令响应；所述托管命令响应用于指示已切换所述UAV的控制设备。
本申请第三方面提供一种无人机控制方法，用于包括UTM和网络设备的无人机控制系统，包括：无人机流量管理网元UTM向网络设备发送托管命令；其中，所述托管命令用于切换无人机UAV的控制设备，所述托管命令包括：切换控制所述UAV的控制设备的指示信息和所述UAV的信息；
所述网络设备接收来自所述UTM的所述托管命令，并根据所述托管命令，指示所述UAV需要切换所述UAV的控制设备。
本申请第四方面提供一种无人机控制方法，通过第一设备接收到指示释放第二设备对UAV的控制权的释放控制权命令后，发释放第二设备对UAV的控制权。具体地，本实施例提供的无人机控制方法，包括：
第一设备接收释放控制权命令；其中，所述释放控制权命令用于释放第二设备对无人机UAV的控制权，所述释放控制权命令包括：释放所述第二设备对所述UAV的控制权的指示信息和所述UAV的信息；
所述第一设备根据所述释放控制权命令发起释放所述第二设备对所述UAV的控制权。
综上，本实施例提供的UAV控制方法，当第一设备接收到释放控制权命令，则由第一设备发起释放第二设备对UAV的控制权，从而实现UAV的控制设备的控制权的释放。因此，本实施例实现了对UAV的控制设备控制权的释放，进而明确了对接入通信网络的UAV的控制设备的控制。
在本申请第四方面一实施例中，所述释放控制权命令还包括：释放所述第二设备对所述UAV的控制权的原因和/或第二设备的信息。
其中，在本实施例提供的UAV控制方法中，释放控制权命令中的释放第二设备对UAV的控制权的原因用于使第一设备确定释放第二设备对UAV的控制权的原因，第二设备的信息用于第一设备确定具体需要释放对UAV具有控制权的第二设备。
在本申请第四方面一实施例中，所述第一设备根据所述释放控制权命令发起释放所述第二设备对所述UAV的控制权之后，还包括：所述第一设备向无人机流量管理网元UTM发送释放控制权命令响应；所述释放控制权命令响应用于指示已释放所述第二设备对所述UAV的控制权。
在本申请第四方面一实施例中，所述第一设备为所述第二设备对应的会话管理功能网元；
所述第一设备根据所述释放控制权命令发起释放所述第二设备对所述UAV的控制权，包括：所述第一设备根据所述释放控制权命令，向所述第二设备发送第一释放命令，所述第一释放命令用于指示所述第二设备释放对所述UAV的控制权。
其中，本实施例提供的第一设备可以应用在5G通信系统中，具体可以是所述第二设备对应的会话管理功能网元，并且该会话管理功能网元接收到释放控制权命令后，即通过向第二设备发送第一释放命令的方式指示第二设备释放对UAV的控制权。从而通过第二设备的网络侧的会话管理功能网元，实现了对第二设备对UAV的控制权的管理。
在本申请第四方面一实施例中，所述第一设备根据所述释放控制权命令发起释放所述第二设备对所述UAV的控制权，还包括：所述第一设备根据所述释放控制权命令确定结构化控制信息，并将所述结构化控制信息发送至所述第二设备对应的用户面功能网元；所述结构化控制信息用于：指示所述用户面功能网元删除检测规则和/或转发规则中用于所述第二设备控制所述UAV的信息；和/或所述第一设备根据所述释放控制权命令向所述第二设备对应的用户面功能网元发送会话释放请求；所述会话释放请求用于：指示所述用户面功能网元释放用于所述第二设备控制所述UAV的会话上下文。
其中，本实施例提供的UAV控制方法除了向第二设备指示释放对UAV的控制权，还需要在网络侧修改第二设备控制UAV所需的网络侧资源，并最终当用户面功能网元通过释放用户面功能网元中第二设备控制UAV所使用的PDU会话后，第二设备无法继续通过该PDU会话控制UAV，从而实现了释放第二设备对UAV的控制权。
在本申请第四方面一实施例中，所述第一释放命令包括：释放所述第二设备对所述UAV的控制权的指示信息和所述UAV的信息。
在本申请第四方面一实施例中，所述第一设备为所述第二设备；所述第一设备根据所述释放控制权命令发起释放所述第二设备对所述UAV的控制权，包括：
所述第二设备根据所述释放控制权命令，向所述第二设备的对应的会话管理功能网元 发送会话管理消息，所述会话管理消息用于指示所述会话管理功能网元修改或释放用于所述第二设备控制所述UAV的会话上下文。
其中，本实施例提供的第一设备可以为第二设备自身，即，UTM直接向第二设备发送释放该其对UAV的控制权，则当第二设备接收到UTM直接发送的释放控制权命令后，向第二设备对应的会话管理功能网元发起释放其对UAV的控制权。从而实现了通过第二设备发起对UAV的控制权的管理。
在本申请第四方面一实施例中，所述第一设备为所述第二设备；所述第一设备根据所述释放控制权命令发起释放所述第二设备对所述UAV的控制权，包括：
所述第二设备根据所述释放控制权命令，向所述第二设备对应的接入和移动管理功能网元发送第一去注册消息；所述第一去注册消息用于指示对所述第二设备进行去注册。
其中，本实施例提供的第一设备也为第二设备自身，则当第二设备接收到UTM直接发送的释放控制权命令后，若确定第二设备仅用于控制需要释放控制权的UAV，则第二设备可以在收到释放控制权命令后直接发起去注册流程，通过去注册的方式实现释放其对UAV的控制权。
在本申请第四方面一实施例中，所述第一设备根据所述释放控制权命令发起释放所述第二设备对所述UAV的控制权之前，还包括：
所述第二设备向所述UAV发送释放控制权通知消息，所述释放控制权通知消息用于向所述UAV指示需要释放所述第二设备对所述UAV的控制权；
所述第二设备接收所述UAV发送的释放控制权响应，所述释放控制权响应用于指示所述UAV已完成切换所述UAV的控制设备。
其中，供了一种UTM向第二设备直接发送释放控制权命令，第二设备除了根据释放控制权命令发起释放其控制UAV的控制权，还能够向UAV通知第二设备即将释放对UAV的控制权，进而使得UAV确定第二设备将要释放控制权后，UAV向UTM请求对该UAV进行托管。并且在随后UAV的控制设备的切换和第二设备对UAV控制权的释放可以同步进行，从而提高了UTM对UAV及其控制设备的控制效率。
在本申请第四方面一实施例中，所述第一设备为所述第二设备对应的接入和移动管理功能网元；所述第一设备根据所述释放控制权命令发起释放所述第二设备对所述UAV的控制权，包括：所述第一设备根据所述释放控制权命令，向所述第二设备发送第二释放命令，所述第二释放命令用于指示所述第二设备释放对所述UAV的控制权。
其中，本实施例提供的第一设备可以应用在5G通信系统中，具体可以是所述第二设备对应的接入和移动管理功能网元，并且该接入和移动管理功能网元接收到释放控制权命令后，即通过向第二设备发送第二释放命令的方式指示第二设备释放对UAV的控制权。从而通过第二设备的网络侧的接入和移动管理功能网元，实现了对第二设备对UAV的控制权的管理。
在本申请第四方面一实施例中，所述第二释放命令包括以下的一项或多项：释放所述第二设备对所述UAV的控制权的指示信息和所述UAV的信息。
在本申请第四方面一实施例中，所述第一设备为所述第二设备对应的接入和移动管理功能网元；所述第一设备接收释放控制权命令之后，包括：
所述第一设备根据所述释放控制权命令，向所述第二设备发送第二去注册消息，所述 第二去注册消息用于指示对所述第二设备进行去注册。
本申请第五方面提供一种无人机控制方法，通过无人机流量管理网元UTM确定第二设备对UAV的控制权需要释放时，向第一设备发送释放控制权命令，使得第二设备能够根据命令指示UAV需要切换UAV的控制设备，通过UTM发起对UAV的控制设备的切换。具体地，本实施例提供的无人机控制方法，包括：
无人机流量管理网元UTM确定第二设备对无人机UAV的控制权需要释放；
所述UTM向第一设备发送所述释放控制权命令；以使所述第一设备根据所述释放控制权命令发起释放所述第二设备对所述UAV的控制权；其中，所述释放控制权命令用于释放所述第二设备对所述UAV的控制权，所述释放控制权命令包括：释放所述第二设备对所述UAV的控制权的指示信息和所述UAV的信息。
综上，本实施例提供的UAV控制方法，在UTM确定第二设备对UAV的控制权需要释放时，通过UTM向第一设备发送释放控制权命令，并由第一设备发起释放第二设备对UAV的控制权，从而实现UAV的控制设备的控制权的释放。因此，本实施例实现了UTM对UAV的控制设备控制权的释放，进而明确了UTM对接入通信网络的UAV的控制设备的控制，最终实现了UTM能够通过通信网络对接入的UAV的控制设备进行控制。
在本申请第五方面一实施例中，所述释放控制权命令还包括：释放所述第二设备对所述UAV的控制权的原因。
在本申请第五方面一实施例中，所述第一设备包括：所述第二设备、所述第二设备对应的会话管理功能网元或者所述第二设备对应的接入和移动管理功能网元。
本申请第六方面提供一种无人机控制方法，用于包括UTM和第一设备的无人机控制系统，包括：无人机流量管理网元UTM向第一设备发送释放控制权命令；所述释放控制权命令用于释放第二设备对无人机UAV的控制权，所述释放控制权命令包括：释放所述第二设备对所述UAV的控制权的指示信息和所述UAV的信息；
所述第一设备接收来自所述UTM的所述释放控制权命令，并根据所述释放控制权命令发起释放所述第二设备对所述UAV的控制权。
本申请第七方面提供一种无人机控制方法，通过无人机流量管理网元UTM确定赋予第四设备对UAV的控制权时，向第四设备发送赋予控制权命令，使得第四设备能够根据赋予控制权命令指示赋予第四设备对UAV的控制权。具体地，本实施例提供的无人机控制方法，包括：
无人机流量管理网元UTM确定赋予第四设备对UAV的控制权；
所述UTM向第三设备发送赋予控制权命令，其中，赋予控制权命令用于向指示赋予第四设备对UAV的控制权。赋予控制命令包括：赋予第四设备对UAV的控制权的指示信息、UAV的信息以及第四设备的信息。
其中，本实施例提供的UAV控制方法，通过UTM向第三设备发送赋予控制权命令，由第三设备根据赋予控制权命令发起赋予第四设备对UAV的控制权，从而实现赋予新的设备对UAV的控制权，进而明确了UTM对接入的UAV的控制设备的控制权的赋予，最终实现了UTM能够通过通信网络对接入的UAV进行控制。
本申请第八方面提供一种无人机控制方法，当第四设备接收到赋予控制权命令后，能够根据赋予控制权命令指示赋予第四设备对UAV的控制权。具体地，本实施例提供的无人 机控制方法，包括：
第三设备接收无人机流量管理网元UTM发送的赋予控制权命令；其中，赋予控制权命令用于向指示赋予第四设备对UAV的控制权。赋予控制命令包括：赋予第四设备对UAV的控制权的指示信息、UAV的信息以及第四设备的信息；
所述第三设备根据所述赋予控制权命令，发起赋予第四设备对UAV的控制权。
其中，本实施例提供的UAV控制方法，当第三设备接收到赋予控制权命令，则第三设备根据赋予控制权命令发起赋予第四设备对UAV的控制权，从而实现赋予新的设备对UAV的控制权，进而明确了对UAV的控制设备进行切换后，对UAV新的控制设备的控制权赋予过程。
本申请第九方面提供一种无人机控制方法，用于包括UTM和第三设备的无人机控制系统，包括：
无人机流量管理网元UTM向第三设备发送赋予控制权命令；其中，赋予控制权命令用于向指示赋予第四设备对UAV的控制权。赋予控制命令包括：赋予第四设备对UAV的控制权的指示信息、UAV的信息以及第四设备的信息。
第三设备接收无人机流量管理网元UTM发送的赋予控制权命令，并根据所述赋予控制权命令，发起赋予第四设备对UAV的控制权
本申请第十方面提供一种无人机控制装置，可用于执行如本申请第一方面所述的无人机控制方法，该装置可以是UTM，也可以是UTM中的装置，其中，该无人机控制装置包括：收发模块和处理模块；这些模块可以执行上述第一方面任一实施例中UTM所执行的相应功能。
示例性地，处理模块用于确定无人机UAV的控制设备需要切换；收发模块用于向网络设备发送托管命令；以使网络设备根据托管命令，指示UAV需要切换UAV的控制设备；其中，托管命令用于切换UAV的控制设备，托管命令包括：切换UAV的控制设备的指示信息和UAV的信息。对于本申请第十方面提供的无人机控制装置所执行的无人机控制方法的具体实施例，可以参见第一方面中的描述，此处不再具体限定。
本申请第十一方面提供一种无人机控制装置，可用于执行如本申请第二方面所述的无人机控制方法，该装置可以是网络设备，也可以是网络设备中的装置，其中，该无人机控制装置包括：收发模块和处理模块；这些模块可以执行上述第二方面任一实施例中网络设备所执行的相应功能。
示例性地，收发模块用于接收托管命令；其中，托管命令用于切换无人机UAV的控制设备，托管命令包括：切换UAV的控制设备的指示信息和UAV的信息；处理模块用于根据托管命令，指示UAV需要切换UAV的控制设备。对于本申请第十一方面提供的无人机控制装置执行无人机控制方法的具体实施例，可以参见第二方面中的描述，此处不再具体限定。
本申请第十二方面提供一种无人机控制装置，可用于执行如本申请第四方面所述的无人机控制方法，该装置可以是第一设备，也可以是第一设备中的装置，其中，该无人机控制装置包括：收发模块和处理模块；这些模块可以执行上述第四方面任一实施例中第一设备所执行的相应功能。
示例性地，收发模块用于接收释放控制权命令；其中，释放控制权命令用于释放第二设备对无人机UAV的控制权，释放控制权命令包括：释放第二设备对UAV的控制权的指示 信息和UAV的信息；处理模块用于根据释放控制权命令发起释放第二设备对UAV的控制权。对于本申请第十二方面提供的无人机控制装置执行无人机控制方法的具体实施例，可以参见第四方面中的描述，此处不再具体限定。
本申请第十三方面提供一种无人机控制装置，可用于执行如本申请第五方面所述的无人机控制方法，该装置可以是UTM，也可以是UTM中的装置，其中，该无人机控制装置包括：收发模块和处理模块；这些模块可以执行上述第五方面任一实施例中UTM所执行的相应功能。
示例性地，处理模块用于确定第二设备对无人机UAV的控制权需要释放；收发模块用于向第一设备发送释放控制权命令；以使第一设备根据释放控制权命令发起释放第二设备对UAV的控制权；其中，释放控制权命令用于释放第二设备对UAV的控制权，释放控制权命令包括：释放第二设备对UAV的控制权的指示信息和UAV的信息。对于本申请第十三方面提供的无人机控制装置执行无人机控制方法的具体实施例，可以参见第五方面中的描述，此处不再具体限定。
本申请第十四方面提供一种无人机控制装置，可用于执行如本申请第七方面所述的无人机控制方法，该装置可以是UTM，也可以是UTM中的装置，其中，该无人机控制装置包括：收发模块和处理模块；这些模块可以执行上述第七方面任一实施例中UTM所执行的相应功能。
示例性地，处理模块用于确定赋予第四设备对UAV的控制权；收发模块用于向第三设备发送赋予控制权命令，其中，赋予控制权命令用于向指示赋予第四设备对UAV的控制权。赋予控制命令包括：赋予第四设备对UAV的控制权的指示信息、UAV的信息以及第四设备的信息。对于本申请第十四方面提供的无人机控制装置执行无人机控制方法的具体实施例，可以参见第七方面中的描述，此处不再具体限定。
本申请第十五方面提供一种无人机控制装置，可用于执行如本申请第八方面所述的无人机控制方法，其中，该装置可以是第三设备，也可以是第三设备中的装置，该无人机控制装置包括：收发模块和处理模块；这些模块可以执行上述第八方面任一实施例中第一设备所执行的相应功能。
示例性地，收发模块用于接收赋予控制权命令，其中，赋予控制权命令用于向指示赋予第四设备对UAV的控制权。赋予控制命令包括：赋予第四设备对UAV的控制权的指示信息、UAV的信息以及第四设备的信息；处理模块用于根据赋予控制权命令，发起赋予第四设备对UAV的控制权。对于本申请第十五方面提供的无人机控制装置执行无人机控制方法的具体实施例，可以参见第八方面中的描述，此处不再具体限定。
第十六方面，本申请实施例提供了一种无人机控制系统，所述系统包括第十方面所述的UTM、和第十一方面所述的网络设备。
第十七方面，本申请实施例提供了一种无人机控制系统，所述系统包括第十二方面所述的第一设备、和第十三方面所述的UTM。
第十八方面，本申请实施例提供了一种无人机控制系统，所述系统包括第十四方面所述的UTM、和第十五方面所述的第三设备。
本申请第十九方面提供一种通信装置，所述通信装置包括处理器，用于实现上述第一方面描述的方法中的功能。所述通信装置还可以包括存储器，用于存储程序指令和数据。 所述存储器与所述处理器耦合，所述处理器可以调用并执行所述存储器中存储的程序指令，用于实现上述第一方面描述的方法的功能。所述通信装置还可以包括通信接口，所述通信接口用于该通信装置与其它设备进行通信，该通信接口可以是收发器。示例性地，处理器用于确定无人机UAV的控制设备需要切换；并通过收发器向网络设备发送托管命令；以使所述网络设备根据所述托管命令，指示所述UAV需要切换所述UAV的控制设备；其中，所述托管命令用于切换所述UAV的控制设备，所述托管命令包括：切换所述UAV的控制设备的指示信息和所述UAV的信息。对于本申请第十九方面提供的通信装置执行无人机控制方法的具体实施例，可以参见第一方面中的描述，此处不再具体限定。
本申请第二十方面提供一种通信装置，所述通信装置包括处理器，用于实现上述第二方面描述的方法中的功能。所述通信装置还可以包括存储器，用于存储程序指令和数据。所述存储器与所述处理器耦合，所述处理器可以调用并执行所述存储器中存储的程序指令，用于实现上述第二方面描述的方法的功能。所述通信装置还可以包括通信接口，所述通信接口用于该通信装置与其它设备进行通信，该通信接口可以是收发器。示例性地，收发器用于接收托管命令；其中，所述托管命令用于切换无人机UAV的控制设备，所述托管命令包括：切换所述UAV的控制设备的指示信息和所述UAV的信息；处理器用于根据所述托管命令，指示所述UAV需要切换所述UAV的控制设备。对于本申请第二十方面提供的通信装置执行无人机控制方法的具体实施例，可以参见第二方面中的描述，此处不再具体限定。
本申请第二十一方面提供一种通信装置，所述通信装置包括处理器，用于实现上述第四方面描述的方法中的功能。所述通信装置还可以包括存储器，用于存储程序指令和数据。所述存储器与所述处理器耦合，所述处理器可以调用并执行所述存储器中存储的程序指令，用于实现上述第四方面描述的方法的功能。所述通信装置还可以包括通信接口，所述通信接口用于该通信装置与其它设备进行通信，该通信接口可以是收发器。示例性地，收发器，用于接收释放控制权命令；其中，释放控制权命令用于释放第二设备对无人机UAV的控制权，释放控制权命令包括：释放第二设备对UAV的控制权的指示信息和UAV的信息；处理器，用于根据释放控制权命令发起释放第二设备对UAV的控制权。对于本申请第二十一方面提供的通信装置执行无人机控制方法的具体实施例，可以参见第四方面中的描述，此处不再具体限定。
本申请第二十二方面提供一种通信装置，所述通信装置包括处理器，用于实现上述第五方面描述的方法中的功能。所述通信装置还可以包括存储器，用于存储程序指令和数据。所述存储器与所述处理器耦合，所述处理器可以调用并执行所述存储器中存储的程序指令，用于实现上述第五方面描述的方法的功能。所述通信装置还可以包括通信接口，所述通信接口用于该通信装置与其它设备进行通信，该通信接口可以是收发器。示例性地，处理器，用于确定第二设备对无人机UAV的控制权需要释放；收发器，用于向第一设备发送释放控制权命令；以使第一设备根据释放控制权命令发起释放第二设备对UAV的控制权；其中，释放控制权命令用于释放第二设备对UAV的控制权，释放控制权命令包括：释放第二设备对UAV的控制权的指示信息和UAV的信息。对于本申请第二十二方面提供的通信装置执行无人机控制方法的具体实施例，可以参见第五方面中的描述，此处不再具体限定。
本申请第二十三方面提供一种通信装置，所述通信装置包括处理器，用于实现上述第七方面描述的方法中的功能。所述通信装置还可以包括存储器，用于存储程序指令和数据。 所述存储器与所述处理器耦合，所述处理器可以调用并执行所述存储器中存储的程序指令，用于实现上述第七方面描述的方法的功能。所述通信装置还可以包括收发器，所述收发器用于该通信装置与其它设备进行通信，该通信接口可以是收发器。示例性地，处理器，用于确定赋予第四设备对UAV的控制权；收发器，用于向第三设备发送赋予控制权命令，其中，赋予控制权命令用于向指示赋予第四设备对UAV的控制权。赋予控制命令包括：赋予第四设备对UAV的控制权的指示信息、UAV的信息以及第四设备的信息。对于本申请第二十三方面提供的通信装置执行无人机控制方法的具体实施例，可以参见第七方面中的描述，此处不再具体限定。
本申请第二十四方面提供一种通信装置，所述通信装置包括处理器，用于实现上述第八方面描述的方法中的功能。所述通信装置还可以包括存储器，用于存储程序指令和数据。所述存储器与所述处理器耦合，所述处理器可以调用并执行所述存储器中存储的程序指令，用于实现上述第八方面描述的方法的功能。所述通信装置还可以包括收发器，所述收发器用于该通信装置与其它设备进行通信，该通信接口可以是收发器。其中，收发器，用于接收赋予控制权命令，其中，其中，赋予控制权命令用于向指示赋予第四设备对UAV的控制权。赋予控制命令包括：赋予第四设备对UAV的控制权的指示信息、UAV的信息以及第四设备的信息；处理器，用于根据赋予控制权命令，发起赋予第四设备对UAV的控制权。对于本申请第二十四方面提供的通信装置执行无人机控制方法的具体实施例，可以参见第八方面中的描述，此处不再具体限定。
第二十五方面，本申请实施例中还提供一种计算机可读存储介质，包括指令，当其在计算机上运行时，使得计算机执行本申请第一方面、第二方面、第三方面、第四方面、第五方面或者第六方面任一项实施例所述的方法。
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图1为本申请各实施例应用场景的示意图；
图2为本申请提供的通信网络一实施例的架构示意图；
图3为本申请提供的通信网络一实施例的架构示意图；
图4为本申请提供的通信网络一实施例的架构示意图；
图5为本申请提供的UAV控制方法一实施例的流程示意图；
图6为本申请提供的UAV控制方法一实施例的流程示意图；
图7为本申请提供的UAV控制方法一实施例的流程示意图；
图8为本申请提供的UAV控制方法一实施例的流程示意图；
图9为本申请提供的UAV控制方法一实施例的流程示意图；
图10为本申请提供的UAV控制方法一实施例的流程示意图；
图11为本申请提供的UAV控制方法一实施例的流程示意图；
图12为本申请提供的UAV控制方法一实施例的流程示意图；
图13为本申请提供的UAV控制方法一实施例的流程示意图；
图14为本申请提供的UAV控制装置一实施例的结构示意图；
图15为本申请提供的通信装置一实施例的结构示意图；
图16为本申请提供的UAV控制系统一实施例的结构示意图；
图17为本申请提供的UAV控制系统一实施例的结构示意图；
图18为本申请提供的UAV控制系统一实施例的结构示意图。
具体实施方式
图1为本申请各实施例应用场景的示意图，如图1所示，本申请各实施例应用于无人机系统1(unmanned aerial system，UAS)中，UAS1包括UAV11和UAV的控制设备12。其中，UAV的控制设备12用于控制UAV11，UAV的控制设备12包括：智能手机、平板电脑、手提电脑或者UAV专用控制器等。针对短距离的控制场景，UAV的控制设备12可以通过无线保真(wireless fidelity，Wifi)或者低功耗蓝牙技术(bluetooth low energy，BLE)等短距离通信方式与UAV11建立连接关系后，通过所建立的连接关系控制UAV11。而针对长距离的控制场景，特别是非视距的控制场景下，如图1所示，为了实现UAV的控制设备12对UAV11的控制，需要无人机系统1中的UAV11和UAV的控制设备12分别接入通信网络2，从而使得UAV的控制设备12能够通过通信网络2对UAV11进行控制。例如，UAV11的用户可以操作UAV的控制设备12通过通信网络2向UAV11发送控制信号；或者，UAV11可以通过通信网络2向UAV的控制设备12发送UAV11的状态。
可选地，如图1所示的通信网络2可以为图2所示的通信网络。例如，图2为本申请提供的无线网络一实施例的架构示意图，该通信系统可以是第五代(5th generation，5G)通信系统，也可以是其他系统，本申请不限定。其中，(无线)接入网络((Radio)Access Network，(R)AN)用于UAV接入通信系统。接入和移动管理网元用于UAV的移动管理、注册管理、连接管理、合法监听、接入认证和接入授权等功能，接入和移动管理网元可以是5G通信系统中的接入和移动管理(access and mobility management function，AMF)实体。会话管理功能网元用于UAV的会话管理功能，例如：会话建立、修改和释放，维护用户面功能网元与AN节点间的隧道等功能，会话管理功能网元可以是5G通信系统中的会话管理功能(session management function，SMF)实体。用户面功能网元用于连接到数据网外部的PDU会话点、数据表路由和转发以及策略规则执行的用户面部分等功能，用户面功能网元可以是5G通信系统中的用户面功能(user plane function，UPF)实体。策略控制功能网元用于支持统一策略框架管理网络行为以及向控制面网元提供策略规则等功能，策略控制功能网元可以是5G通信系统中的策略控制功能(policy control function，PCF)实体。
如图2所示的通信系统如果是5G通信系统，则UAV与(无线)接入网络通过无线接口连接；(无线)接入网络与用户面功能网元之间的数据通过N3接口传输；(无线)接入网络与接入和移动管理功能网元之间的信令和数据通过N2接口传输；接入和移动管理功能网元与会话管理网元之间的信令和数据通过N11接口传输；会话管理网元与用户面功能网元之间的信令和数据通过N4接口传输。需要说明的是，无线接口、N2接口、N3接口、N11接口和N4接口已在5G通信系统中定义，本申请不再赘述。
同时，图3为本申请提供的无线网络一实施例的架构示意图，如图3示出了UAV的控制设备接入的通信网络的架构示意图，该通信网络也可以是5G通信系统，也可以是其他系统，本申请不限定。其中，UAV的控制设备接入如图3所示的通信网络的方式，以及如图3所示的通信网络中各节点所实现的功能与图2所示相同，不再赘述。
或者，可选地，如图1所示的通信网络可以为图3所示的通信系统，该通信系统可以是第三代合作伙伴计划(third generation partnership project，3GPP)通信系统，也可以是其他系统，本申请不限定。例如：图4为本申请提供的无线网络一实施例的架构示意图；如图4示出了UAV以及UAV的控制设备接入的通信系统的通信架构示意图；其中，UAV以及UAV的控制设备分别通过无线接入网络接入核心网(core network，CN)。
需要说明的是，本申请提供各实施例提供的方法及装置，以UAV所接入的通信网络为如图2所示的通信网络，UAV的控制设备所接入的通信网络为如图3所示的通信网络为例进行说明，而非对其进行限定。除了图2-图4中所示通信系统的示例外，本申请各实施例提供的方法及装置还可应用于其他通信系统，例如：全球移动通讯(global system of mobile communication，GSM)系统、码分多址(code division multiple access，CDMA)系统、宽带码分多址(wideband code division multiple access，WCDMA)系统、通用分组无线业务(general packet radio service，GPRS)、长期演进(long term evolution，LTE)系统、LTE频分双工(frequency division duplex，FDD)系统、LTE时分双工(time division duplex，TDD)、通用移动通信系统(universal mobile telecommunication system，UMTS)、全球互联微波接入(worldwide interoperability for microwave access，WiMAX)通信系统、未来的新无线(new radio，NR)等。
由于UAS1中的UAV11需要占用航空空域的特殊性，相关的无人机监管机构需要对使用通信网络的UAV11以及UAV的控制设备12进行监控或识别，一些通信网络中设置了无人机流量管理网元(unmanned aerial vehicle traffic management，UTM)，以通过UTM实现对接入通信网络2的UAV11以及UAV的控制设备12进行管理。其中，UTM中存储有UAV11和UAV的控制设备12的相关数据，例如：标识信息、拥有者信息、当前位置以及操作状态等，UTM可用于实现UAV11与UAV的控制设备12之间进行配对、标识以及授权UAV的控制设备12对UAV11的控制等功能。可选地，UTM可以是现有的通信网络中执行对应功能的网元，或者是现有的通信网络中新设置的网元并执行对应功能的。
例如，在如图2所示的5G通信系统中，UTM可以设置在5G通信系统中，通过UAV对应的接入和移动管理功能网元和会话管理功能网元对UAV进行配对以及标识的功能；在图3所示的5G通信系统中，UTM同样可以通过UAV的控制设备对应的接入和移动管理功能网元或会话功能网元对UAV的控制设备进行配对、标识以及授权UAV的控制设备对UAV的控制的功能。又例如，在如图4所示的3GPP通信系统中，UTM可以设置在3GPP通信系统中，并通过UAV对应的核心网对UAV进行配对以及标识的功能，或者通过UAV的控制设备对应的核心网对UAV的控制设备进行配对、标识以及授权UAV的控制设备对UAV的控制的功能。
但是，在包括如图1-4在内的现有技术中，由于没有UTM对接入通信网络2的UAV11以及UAV的控制设备12的控制权进行管理的解决方案，在一些UAV的控制场景下，若通信网络2运营商或者无人机监管机构希望禁止用户通过UAV的控制设备12对UAV11进行控制，并希望UTM接管UAV11时，不能通过UTM实现对UAV11的控制设备的切换，也不能通过UTM实现对UAV的控制设备12控制权的释放，从而导致了UTM不能通过通信网络2对UAV11以及UAV的控制设备12进行控制。因此，如何使UTM能够通过通信网络对接入的UAV以及UAV的控制设备进行控制，是本领域亟待解决的技术问题。
下面结合附图对本申请实施例提供的UAV控制方法进行介绍。
图5为本申请提供的UAV控制方法一实施例的流程示意图，如图5所示实施例中提供了一种UTM向UAV指示UAV的控制设备需要切换的方法，包括：
S101：UTM确定UAV的控制设备需要切换。
具体地，UTM首先确定原UAV的控制设备需要切换，其中，UAV的控制设备用于控制UAV。
可选地，本实施例中提供的UAV的控制设备需要切换包括：将原UAV的控制设备切换为新的控制设备，由新的控制设备对UAV进行控制；或者，将原UAV的控制设备切换为UTM，由UTM对UAV进行托管控制。
S102：UTM向网络设备发送托管命令。
具体地，UTM经过S101确定UAV的控制设备需要切换后，向网络设备发送托管命令，托管命令用于向网络设备指示UAV需要切换UAV的控制设备；托管命令包括：切换UAV的控制设备的指示信息和UAV的信息。
其中，托管命令中的切换UAV的控制设备的指示信息用于网络设备确定UAV的控制设备需要切换；托管命令中的UAV的信息用于网络设备确定需要切换控制设备的UAV，所述UAV的信息包括：UAV的地址信息和/或UAV的标识信息。
可选地，本实施例提供的托管命令可以是包含在现有技术中UTM向网络设备发送的消息中的新的信息元素；或者，托管命令还可以是现有技术中UTM向网络设备发送的消息中已有信息元素的一部分；或者，托管命令还可以是UTM向网络设备发送的新的消息或者新的指令；本实施例对此不做限定。
可选地，本实施例所提供的网络设备包括：UAV对应的网络设备，所述UAV对应的网络设备能够对UAV与UAV的控制设备之间的通信进行管理。例如，网络设备包括：5G通信系统中UAV对应的SMF网元或者AMF网元，或者UAV对应的核心网中的其他网元。
进一步地，在本实施例提供的托管命令一种可能的实现方式中，托管命令中还包括：将要切换到的UAV的控制设备的信息，使得网络设备能够确定需要切换的UAV的控制设备的信息。其中，托管命令中携带的将要切换到的UAV的控制设备的信息用于指示UAV的原控制设备切换为将要切换到的UAV的控制设备的信息，所述信息包括：将要切换到的UAV的控制设备的地址信息或标识信息。可选的，所述信息中还包括将要切换到的UAV的控制设备对应的用户面功能网元的地址信息；其中，将要切换到的UAV的控制设备对应的用户面功能网元的地址信息用于网络设备确定UAV将要切换到的UAV的控制设备对应的用户面功能网元。
而在本实施例提供的托管命令的另一种可能的实现方式中，若UTM向网络设备发送的托管命令用于UTM对UAV进行托管，即，托管命令用于将UAV的控制设备切换为UTM，而网络设备在接收到托管命令以及后续向UAV指示需要切换UAV的控制设备时，网络设备和UAV能够确定UTM的信息，则托管命令中可不包括UTM的信息。
S103：网络设备根据托管命令，指示UAV需要切换UAV的控制设备。
具体地，当网络设备收到UTM发送的托管命令后，网络设备根据托管命令指示UAV需要切换UAV的控制设备。
在本步骤一种可能的实现方式中，网络设备通过向UAV发送切换命令的方式，指示UAV需要切换UAV的控制设备。其中，切换命令包括：切换UAV的控制设备的指示信息和/或 将要切换到的UAV的控制设备的信息。网络设备向UAV发送的切换命令可以包含在现有的网络设备向UAV发送的消息中，或者，切换命令是网络设备向UAV发送的新的消息。
可选地，切换命令可以包括网络设备所接收到的托管命令中的全部或部分元素，例如：托管命令以信息元素形式包含在网络设备向UAV发送的切换命令中；或者，网络设备将切换命令包含在现有的消息中发送给UAV。
当网络设备根据托管命令指示UAV需要切换UAV的控制设备后，UAV根据所接收到的切换命令，将UAV中存储的原控制设备的信息修改为将要切换到的UAV的控制设备的信息，从而实现UAV对UAV的控制设备的切换。特别地，若所述将要切换到的UAV的控制设备为UTM，则UAV将UAV中存储的原控制设备的信息修改为UTM的信息后，能够实现UTM对UAV的托管。最终，当完成原控制设备的信息的修改后，UAV不再向原控制设备发送任何信令或数据，也不再接收原控制设备的任何信令或数据。
可选地，在S103之后，若网络设备确定UAV的控制设备已切换，则网络设备向UTM发送托管命令响应；其中，托管命令响应用于向UTM指示已完成切换UAV的控制设备。
可选地，本实施例提供的托管命令响应可以是包含在现有技术中的消息中的新的信息元素；或者，托管命令响应还可以是现有技术中的消息中已有信息元素的一部分；或者，托管命令响应还可以是新的消息或者新的指令；本实施例对此不做限定。
综上，本实施例提供的UAV控制方法，通过UTM向网络设备发送托管命令，由网络设备根据托管命令指示UAV需要切换UAV的控制设备，从而实现UAV的控制设备的切换。尤其是UTM可以通过托管命令指示将要切换到的UAV的控制设备是UTM时，能够实现UTM指示UAV接受UTM的托管，进而明确了UTM对接入通信网络的UAV的控制，最终实现了UTM能够通过通信网络对接入的UAV进行控制。
可选地，在本实施例的一种可能的实现方式中，UTM直接向UAV发送托管命令。托管命令的内容和形式和上述流程中描述的一致，这里不再赘述。其中，若UAV接收到UTM发送的托管命令，UAV根据所接收到的托管命令，将UAV中存储的原控制设备的信息修改为将要切换到的UAV的控制设备的信息，并向SMF网元发送PDU会话修改请求；以使SMF网元根据PDU会话修改请求通过UPF网元的N4接口进行UAV的PDU会话的修改，从而实现UAV对UAV的控制设备的切换。
进一步地，在如图5所示的UAV控制方法实施例的基础上，本申请还提供一种该方法应用在5G通信系统中，并且网络设备为UAV对应的会话管理功能网元时，具体的实现方式，其中，会话管理功能网元可以是5G通信系统中的SMF网元。下面结合图6进行说明，图6为本申请提供的UAV控制方法一实施例的流程示意图，如图6所示的UAV及5G通信系统中的各网元及其相互之间的连接关系可参照图2。
1、UTM向SMF网元发起切换UAV的控制设备。
在一种具体的实现方式1a中，UTM可以通过向UAV对应的策略控制功能网元发送托管命令的方式，发起切换UAV的控制设备。其中，所述的策略控制功能网元可以是5G通信系统中的PCF网元。当PCF网元接收到托管命令后，通过会话管理策略修改的方式将托管命令发送至SMF网元。
在另一种具体的实现方式1b中，UTM可以直接向UAV对应的SMF网元发送托管命令。
2、SMF网元向UAV发送切换命令。
具体地，当SMF网元通过1a接收到来自PCF网元发送的托管命令，或者，当SMF网元通过1b接收到UTM发送的托管命令后，SMF网元向UAV发送切换命令。
对于UAV通过步骤2接收到SMF发送的切换命令后，确定UAV的控制设备需要切换，并将UAV中所存储的原UAV的控制设备的信息修改为切换命令所指示的将要切换的UAV的控制设备的信息。所述UAV的控制设备的信息包括：地址信息和/或标识信息。
3、SMF发起协议数据单元(protocol data unit，PDU)会话修改。
可选地，在步骤1之后，本实施例的步骤3中，SMF网元在接收到托管命令后，可以发起对UAV对应的UPF中关于原UAV的控制设备的检测规则和/或转发规则进行修改。具体地，SMF网元通过向UAV发送切换命令指示UAV的控制设备需要切换后，步骤3a中，UAV向SMF网元发送切换命令响应，用于向SMF网元确认控制设备信息已切换。可选的，切换命令可以包含在PDU会话修改命令中的已有的或新的信息元素中；切换命令响应可以是PDU会话修改命令响应，也可以是包含在PDU会话修改命令响应中的已有的或新的信息元素中。切换命令和切换命令响应也可以是新的消息类型，本发明对于切换命令和切换命令响应的形式不做限制。其中，所修改的PDU会话用于UAV与UAV的控制设备进行通信。
则SMF网元接收到UAV发送的切换命令响应后，在步骤3b通过UPF网元的N4接口进行UAV的PDU会话的修改。其中，PDU会话的修改具体包括：SMF具体根据托管命令确定结构化控制信息后，将结构化控制信息发送至UAV对应的用户面功能网元；其中，所述的结构化控制信息用于：指示将UAV对应的UPF网元中的检测规则和/或转发规则中UAV的控制设备的信息修改为将要切换到的UAV的控制设备的信息；和/或，所述结构化控制信息还用于：指示将UAV对应的UPF网元中的检测规则和/或转发规则中UAV的控制设备对应的用户面功能网元的地址信息修改为将要切换到的UAV的控制设备对应的用户面功能网元的地址信息。
4、UAV发起PDU会话修改。
或者，若步骤2中SMF向UAV发送了切换命令，本实施例还可以通过步骤4中由UAV发起对PDU会话的修改。具体地，SMF网元通过向UAV发送切换命令指示UAV的控制设备需要切换后，步骤4a中，UAV向SMF网元发起PDU会话修改请求，用于请求修改UAV与UAV的控制设备进行通信所使用的PDU会话。其中，PDU会话修改请求中包括将要切换到的UAV的控制设备的信息。
则SMF网元接收到UAV发起的PDU会话修改请求后，在步骤4b通过UPF网元的N4接口进行UAV的PDU会话的修改。其中，PDU会话的修改具体包括：SMF具体根据PDU会话修改请求确定结构化控制信息后，将结构化控制信息发送至UAV对应的用户面功能网元；所述的结构化控制信息用于：指示将UAV对应的UPF网元中的检测规则和/或转发规则中UAV的控制设备的信息修改为将要切换到的UAV的控制设备的信息；和/或，所述结构化控制信息还用于：指示将UAV对应的UPF网元中的检测规则和/或转发规则中UAV的控制设备对应的用户面功能网元的地址信息修改为将要切换到的UAV的控制设备对应的用户面功能网元的地址信息。
5、SMF向UTM响应已切换UAV的控制设备。
具体地，SMF网元在通过步骤3b或4b完成PDU会话修改或者SMF网元确定已切换UAV的控制设备之后，向UTM发送托管命令响应，确认UAV已完成UAV的控制设备的切换。随 后，当UAV的控制设备完成切换，将要切换的UAV的控制设备能够实现对UAV的控制。
图7为本申请提供的UAV控制方法一实施例的流程示意图，如图7所示的实施例中提供了一种UTM指示第一设备发起释放第二设备对UAV的控制权的方法。其中，图7所示的实施例能够单独执行，或者，图7所示实施例可以在图6中UTM指示UAV的控制设备进行切换后执行，即UTM先指示UAV进行控制设备切换，并确定UAV已完成UAV的控制设备的切换后，UTM再指示原UAV的控制设备释放对UAV的控制权，此时原UAV的控制设备即为本实施例中的第二设备。如图7所示，本实施例提供的UAV控制方法包括：
S201：UTM确定第二设备对UAV的控制权需要释放。
具体地，UTM首先确定第二设备对UAV的控制权需要释放，其中，所述第二设备为此时用于控制UAV的设备。
可选地，UTM在接收到如图6所示实施例中所述的托管命令响应后，确定需要释放此时用于控制该UAV的第二设备的控制权。
S202：UTM向第一设备发送释放控制权命令。
具体地，UTM经过S201确定第二设备对UAV的控制权需要释放之后，向第一设备发送释放控制权命令，释放控制权命令用于释放第二设备对UAV的控制权。释放控制权命令包括：释放第二设备对UAV的控制权的指示信息和UAV的信息。
其中，释放控制权命令中的释放第二设备对UAV的控制权的指示信息用于网络设备确定第二设备对UAV的控制权需要释放；释放控制权命令中的UAV的信息用于第一设备确定需要释放第二设备具体释放的控制权对应的UAV。
可选地，本实施例提供的释放控制权命令可以是包含在现有技术中UTM向第二设备发送的消息中的新的信息元素；或者，释放控制权命令还可以是现有技术中UTM向第二设备发送的消息中已有信息元素的一部分；或者，释放控制权命令还可以是UTM向第二设备发送的新的消息或者新的指令；本实施例对此不做限定。
可选地，释放控制权命令中还包括：释放第二设备对UAV的控制权的原因和/或第二设备的信息；其中，释放第二设备对UAV的控制权的原因用于使第二设备确定释放第二设备对UAV的控制权的原因，第二设备的信息用于使第一设备确定需要释放对UAV的控制权的第二设备。
可选地，释放控制权命令中还包括：释放第二设备对UAV的控制权的时长；其中，所述释放第二设备对UAV的控制权的时长用于：第二设备在释放对UAV的控制权之后，经过该时长的时间后，第二设备可向UTM再次请求建立该第二设备对UAV的控制权。
S203：第一设备发起释放第二设备对UAV的控制权。
具体地，当第一设备接收到UTM发送的释放控制权命令后，根据释放控制权命令发起释放第二设备对UAV的控制权。
可选地，在S203之后，若第一设备确定第二设备对UAV的控制权已释放，则第一设备向UTM发送释放控制权命令响应；其中，释放控制权命令响应用于指示已释放第二设备对UAV的控制权。
可选地，本实施例提供的释放控制权命令响应可以是包含在现有技术中的消息中的新的信息元素；或者，释放控制权命令响应还可以是现有技术中的消息中已有信息元素的一部分；或者，释放控制权命令响应还可以是新的消息或者新的指令；本实施例对此不做限 定。
进一步地，结合附图5和图7，UTM可以先通过图5中的实施例对UAV进行托管，随后UTM再通过图7中的实施例实现对控制UAV的第二设备的释放，从而实现了禁止第二设备控制UAV并由UTM或其他控制设备对UAV进行托管。在此之后，UTM可以通知运营商或者无人机监管机构已禁止第二设备控制UAV。
综上，本实施例提供的UAV控制方法中，通过UTM向第一设备发送释放控制权命令，由第一设备发起释放第二设备对UAV的控制权，从而实现UAV的控制设备的控制权的释放。因此，本实施例实现了UTM对UAV的控制设备控制权的释放，进而明确了UTM对接入通信网络的UAV的控制设备的控制，最终实现了UTM能够通过通信网络对接入的UAV的控制设备进行控制。
进一步地，在如图7所示的实施例中，UTM确定释放第二设备对UAV的控制权后，可以将释放控制权命令发送至第一设备，并由第一设备发起释放第二设备对UAV的控制权。本实施例提供的UAV控制方法中，所述第一设备可以是第二设备，也可以是第二设备对应的会话管理功能网元，还可以是第二设备对应的接入和移动管理功能网元。其中，会话管理功能网元可以是5G通信系统中的SMF网元，接入和移动管理功能网元可以是5G通信系统中的AMF网元。下面结合附图8-10对针对UTM分别向不同的第一设备发送释放控制权命令的实施例进行说明。
图8为本申请提供的UAV控制方法一实施例的流程示意图，如图8示出了UTM确定释放第二设备对UAV的控制权后，向SMF网元发送释放控制权命令，并由SMF网元发起释放第二设备对UAV的控制权的流程。其中，如图8所示的实施例中，以第二设备为UAV的控制设备，第一设备为第二设备对应的会话功能管理网元为例进行说明，该UAV的控制设备及5G通信系统中的各网元及其相互之间的连接关系可参照图3。
1、UTM向SMF网元发送释放控制权命令。
在具体的实现方式1a中，UTM可以通过向第二设备对应的策略控制功能网元发送释放控制权命令的方式，向SMF发送释放控制权命令。其中，所述的策略控制功能网元可以是5G通信系统中的PCF网元。当PCF网元接收到释放控制权命令后，通过会话管理策略修改或会话管理策略终止的方式将释放控制权命令发送至SMF网元。
在具体的实现方式1b中，UTM可以直接向第二设备对应的SMF网元发送释放控制权命令。
2、SMF网元向第二设备发送释放控制权命令。
具体地，SMF网元通过步骤1接收到UTM发送的释放控制权命令后，通过步骤2向UAV发送第一释放命令。其中，第一释放命令用于指示第二设备释放对UAV的控制权。
可选地，第一释放命令可以包括SMF网元所接收的释放控制权命令中的全部或部分元素，或者，第一释放命令可以包括该释放控制权命令。例如：释放控制权命令以信息元素形式包含在第一释放命令中。可选地，第一释放命令包括：释放第二设备对UAV的控制权的指示信息和UAV的信息；进一步地，第一释放命令还包括：释放第二设备对UAV的控制权的原因。
对于第二设备，通过步骤2接收到SMF发送的第一释放命令后，确定需要释放其对UAV的控制权，并将第二设备中存储的UAV的信息删除。所述UAV的信息包括：地址信息和/ 或标识信息。
3、SMF发起PDU会话修改或释放。
可选地，在步骤1之后，SMF网元接收到释放控制权命令后，发起对第二设备对应的UPF中记录的该第二设备控制UAV的检测规则和/或转发规则进行修改。具体地，SMF网元向第二设备发送第一释放命令后，步骤3a中，第二设备向SMF网元发送第一释放命令响应，用于向SMF网元确定第二设备对UAV的控制权已释放。可选地，第一释放命令可以包含在PDU会话修改命令中的已有的或新的信息元素中；第一释放命令响应可以是PDU会话修改命令响应，也可以是包含在PDU会话修改命令响应中的已有的或新的信息元素中。第一释放命令和第一释放命令响应也可以是新的消息类型，本发明对于第一释放命令和第一释放命令响应的形式不做限制。其中，所修改的PDU会话用于第二设备控制UAV。
则SMF网元接收到第一释放命令响应后，在步骤3b中，通过UPF网元的N4接口进行第二设备的PDU会话的修改。其中，由SMF网元发起的PDU会话的修改具体包括以下两种可能的具体实现方式：
在一种可能的具体实现方式中，若第二设备用于与UAV通信的PDU会话不只用于第二设备控制该UAV时，即，第二设备可能还通过该PDU会话控制其他UAV，则SMF网元接收到第一释放命令响应后，仅对第二设备用于控制UAV的PDU会话进行修改。其中，SMF网元具体通过UPF网元的N4接口删除UPF网元中PDU会话中用于第二设备控制UAV相关的信息。具体地，SMF网元根据释放控制权命令确定结构化控制信息后，将结构化控制信息发送至UPF网元，其中，结构化控制信息用于：指示UPF网元删除检测规则和/或转发规则中用于第二设备控制该UAV的信息。最终当SMF网元通过删除UPF网元中PDU会话中用于第二设备控制UAV相关的信息后，第二设备就无法继续通过该PDU会话控制UAV；
在另一种可能的具体实现方式中，若第二设备用于与UAV通信的PDU会话仅用于第二设备控制该UAV和/或第二设备仅用于控制该UAV，则SMF网元接收到第一释放命令响应后，可以直接对第二设备用于控制UAV的PDU会话进行释放。其中，SMF网元具体通过UPF网元的N4接口释放UPF网元中第二设备控制UAV所使用的PDU会话。具体地，SMF网元根据释放控制权命令向第二设备对应的UPF网元发送会话释放请求，其中，会话释放请求用于指示UPF网元释放用于第二设备控制UAV的会话上下文。最终当SMF网元通过释放UPF网元中第二设备控制UAV所使用的PDU会话后，第二设备无法继续通过该PDU会话控制UAV。
4、第二设备发起PDU会话修改或释放。
或者，可选地，若步骤1中SMF向第二设备发送了第一释放命令，本实施例还可以通过步骤4中由第二设备发起对PDU会话的修改或释放。具体地，SMF网元向第二设备发送第一释放命令后，步骤4a中，第二设备向SMF网元发起PDU会话修改请求，用于请求修改第二设备用于控制UAV所使用的PDU会话。随后步骤4b中，SMF网元根据第二设备发送的PDU会话修改请求，通过UPF网元的N4接口进行第二设备的PDU会话修改。其中，由第二设备发起的PDU会话的修改具体包括以下两种可能的具体实现方式：
在一种可能的具体实现方式中，若第二设备用于与UAV通信的PDU会话不只用于第二设备控制该UAV时，即，第二设备可能还通过该PDU会话控制其他UAV，则第二设备向SMF网元发送的PDU会话修改请求用于指示对PDU会话进行修改，则SMF网元接收到PDU会话修改请求后，仅对第二设备用于控制UAV的PDU会话进行修改。其中，SMF网元具体通过 UPF网元的N4接口删除UPF网元中PDU会话中用于第二设备控制UAV相关的信息。具体地，SMF网元根据PDU会话修改请求确定结构化控制信息后，将结构化控制信息发送至UPF网元，其中，结构化控制信息用于：指示UPF网元删除检测规则和/或转发规则中用于第二设备控制该UAV的信息。最终当SMF网元通过删除UPF网元中PDU会话中用于第二设备控制UAV相关的信息后，以使得第二设备就无法继续通过PDU会话控制该UAV。
在另一种可能的实现方式中，若第二设备用于与UAV通信的PDU会话仅用于第二设备控制该UAV和/或第二设备仅用于控制该UAV，则第二设备向SMF网元发送的PDU会话修改请求用于指示对PDU会话进行释放，则SMF网元接收到PDU会话修改请求后，可以根据PDU会话修改请求，对第二设备用于控制UAV的PDU会话进行释放。其中，SMF网元具体通过UPF网元的N4接口释放UPF网元中第二设备控制UAV所使用的PDU会话。具体地，SMF网元根据PDU会话释放请求向第二设备对应的UPF网元发送会话释放请求，其中，会话释放请求用于指示UPF网元释放用于第二设备控制UAV的会话上下文。最终当SMF网元通过释放UPF网元中第二设备控制UAV所使用的PDU会话后，第二设备无法继续通过该PDU会话控制UAV。
5、SMF向UTM响应已释放第二设备对UAV的控制权。
具体地，SMF网元在通过步骤3b或4b完成PDU会话修改或者SMF网元确定已释放第二设备对UAV的控制权之后，向UTM发送释放控制权命令响应，确认已完成第二设备对UAV的控制权的释放。当完成第二设备对UAV的控制权的释放后，第二设备无法再继续实现对UAV的控制。
图9为本申请提供的UAV控制方法一实施例的流程示意图，如图9示出了UTM确定第二设备对UAV的控制权之后，向第二设备直接发送释放控制权命令，并由第二设备发起其对UAV释放控制权的流程。其中，如图9所示的实施例中，以第二设备与第一设备为同一设备，并且第二设备为UAV的控制设备为例进行说明，该UAV的控制设备及5G通信系统中的各网元及其相互之间的连接关系可参照图3。
1、UTM向第二设备发送释放控制权命令。
UTM直接向第二设备发送释放控制权命令，该命令可以由UTM与第二设备之间新的消息类型来实现。
2、第二设备向SMF发送释放控制权请求。
具体地，第二设备接收到UTM发送的释放控制权命令后，确定需要释放其对UAV的控制权，并发起释放第二设备对UAV的控制权。例如，第二设备可以先将第二设备中存储的UAV的信息删除后，向第二设备对应的SMF网元发送会话管理消息，该会话管理消息用于指示SMF网元修改或释放第二设备控制UAV的上下文。
3、SMF进行PDU会话的修改或释放。
当SMF网元接收到第二设备发送的会话管理消息后，SMF网元指示第二设备对应的UPF网元修改或释放第二设备控制该UAV的PDU会话。其中，SMF网元根据会话管理消息通过第二设备对应的UPF网元修改或释放第二设备控制UAV的上下文。以使得第二设备无法通过PDU会话继续控制该UAV。
4、第二设备发起去注册流程。
具体地，第二设备通过向第二设备对应的AMF网元发送第一去注册消息的方式，向AMF 网元请求发起对第二设备的去注册。
可选地，第二设备可以在执行完图9中的步骤1-3后，执行步骤4发起去注册；或者，第二设备可以在步骤1接收到释放控制权命令后，直接执行步骤4发起去注册。
可选地，第二设备在发起去注册流程之前，还需要判断第二设备是否仅用于控制该UAV；若确定第二设备仅用于控制需要释放控制权的UAV，则第二设备可以在收到释放控制权命令后直接发起去注册流程。
5、向UTM响应已释放第二设备对UAV的控制权。
在具体的实现方式5a中，SMF网元在通过步骤3完成PDU会话修改或者SMF网元在确定已释放第二设备对UAV的控制权之后，向UTM发送释放控制权命令响应，确认已完成第二设备对UAV的控制权的释放。
在具体的实现方式5b中，第二设备可以在通过步骤4完成去注册或者第二设备在确定已释放第二设备对UAV的控制权之后，向UTM发送释放控制权命令响应，确认已完成第二设备对UAV的控制权的释放。
图10为本申请提供的UAV控制方法一实施例的流程示意图，如图10示出了UTM确定第二设备对UAV的控制权之后，向第二设备对应的AMF网元发送释放控制权命令，并由AMF网元发起第二设备对UAV的控制权的流程。其中，如图10所示的实施例中，以第二设备为UAV的控制设备，第一设备为第二设备对应的接入和移动管理功能网元为例进行说明，该UAV的控制设备及5G通信系统中的各网元及其相互之间的连接关系可参照图3。
1、UTM向AMF网元发送释放控制权命令。
UTM在确定需要释放第二设备对UAV的控制权后，可以向AMF网元发送是否控制权命令，使得AMF网元发起释放第二设备对UAV的控制权。其中，释放控制权命令可以通过UTM与第二设备之间新的消息类型来实现，或者，释放控制权命令可包含在UTM与第二设备之间现有的消息中。
2、AMF网元向第二设备发送第二释放命令，用于指示第二设备释放对UAV的控制权。
可选地，AMF网元在接收到UTM发送的释放控制权命令后，根据释放控制权命令向第二设备发送第二释放命令，其中，第二释放命令用于指示第二设备释放对UAV的控制权。可选地，第二释放命令包括：释放第二设备对UAV的控制权的指示信息和UAV的信息；进一步地，第二释放命令还包括：释放第二设备对UAV的控制权的原因。可选地，第二释放命令可以包含在AMF网元向第二设备发送的配置更新命令中，或者，第二释放命令可以是AMF网元向第二设备发送的新的命令。其中，第二释放命令中可以包括AMF网元所接收的释放控制权命令的全部或部分元素，或者，配置更新命令包括该释放控制权命令。例如：释放控制权命令以信息元素形式包含在配置更新命令中。
3、第二设备向SMF请求释放控制权。
具体地，第二设备收到UTM发送的释放控制权命令后，确定需要释放其对UAV的控制权，并发起释放第二设备对UAV的控制权。
4、SMF进行PDU会话的修改。
图10所示实施例中的步骤3-4可参照图9实施例中的步骤2-3，实现方式与原理相同，不再赘述。
5、AMF网元发起去注册流程。
具体地，AMF网元通过向第二设备发送第二去注册消息的方式，发起对第二设备的去注册。
可选地，AMF网元可以在执行完图10中的步骤1-4后，执行步骤5发起去注册；或者，AMF网元可以在步骤1接收到释放控制权命令后，直接执行步骤5发起去注册。
可选地，AMF网元在发起去注册流程之前，还需要判断第二设备是否仅用于控制该UAV；若确定第二设备仅用于控制需要释放控制权的UAV，则AMF网元可以在收到释放控制权命令后直接发起对第二设备的去注册流程。
6、向UTM响应已释放第二设备对UAV的控制权。
在具体的实现方式6a中，SMF网元在通过步骤4完成PDU会话修改或者SMF网元在确定已释放第二设备对UAV的控制权之后，向UTM发送释放控制权命令响应，确认已完成第二设备对UAV的控制权的释放。
在具体的实现方式6b中，AMF网元可以在通过步骤5完成去注册或者AMF网元在确定已释放第二设备对UAV的控制权之后，向UTM发送释放控制权命令响应，确认已完成第二设备对UAV的控制权的释放。
图11为本申请提供的UAV控制方法一实施例的流程示意图。如图11所示的实施例中，提供了一种UTM向第二设备直接发送释放控制权命令，第二设备除了根据释放控制权命令发起释放其控制UAV的控制权，还能够向UAV通知第二设备即将释放对UAV的控制权，进而使得UAV确定第二设备将要释放控制权后，UAV向UTM请求对该UAV进行托管。本实施例提供的UAV控制方法，能够使得UAV的托管以及第二设备用于控制该UAV的控制权的释放能够并行完成。如图11所示，
1、UTM向第二设备发送释放控制权命令。
其中，UTM直接向第二设备发送释放控制权命令，或者，UTM可以通过第二设备对应的AMF网元或SMF网元向第二设备发送释放控制权命令。其中，该命令可以由UTM与第二设备之间新的消息类型来实现或，该命令可以是包含在UTM与第二设备之间现有消息中的元素。
2、第二设备向UAV发送释放控制权通知。
具体地，第二设备在接收到UTM发送的释放控制权命令之后，向对应的UAV发送释放控制权通知消息，该释放控制权通知消息用于向UAV指示，第二设备需要释放该第二设备对UAV的控制权。
可选地，第二设备可以通过所建立的用于控制UAV的通信信道向UAV发送所述释放控制权通知消息，其中，通信信道包括：第二设备接入的CN与UAV接入的CN之间的通信信道，或者第二设备与UAV直接建立的通信信道。
可选地，第二设备在接收到释放控制权命令之后，还可以向第二设备发送响应，向UTM确认已收到其发送的释放控制权命令。
3、UAV向第二设备发送释放控制权响应。
具体地，UAV在接收到第二设备发送的释放控制权通知消息后，向第二设备发送释放控制权响应，向第二设备确认已完成切换UAV的控制设备。
4、UAV向UTM发送托管请求消息。
具体地，当UAV接收到第二设备发送的释放控制权响应后，确定第二设备即将释放控 制权，为了避免UAV出现无控制设备的情况，UAV可以向UTM发送托管请求消息，请求UTM代替第二设备控制UAV，即对UAV进行托管。
5、UTM接收到来自UAV的托管请求消息之后，根据托管请求消息确定UAV的控制设备需要切换，并指示切换UAV的控制设备。
其中，步骤5可参照如图5或图6所示的UTM指示UAV的控制设备需要切换的UAV控制方法中，任意实施例进行，不再赘述。
6、UTM指示释放第二设备对UAV的控制权。
其中，步骤6可参照如图7-10所示的UTM指示第二设备释放对UAV的控制权的方法中，任意实施例进行，不再赘述。
可选地，如图11所示实施例中步骤5和步骤6的先后顺序不作限定，或者，步骤5和步骤6可以并行执行。
可选地，如图11所示的第二设备对应的SMF网元和UAV对应的SMF网元，可以是同一个网元，或者是不同的网元。
图12为本申请提供的UAV控制方法一实施例的流程示意图，如图12所示实施例提供了一种UTM向新的控制设备赋予对UAV的控制权的UAV控制方法，在本实施例中，为了便于说明，将赋予控制权的控制设备记为第四设备，即，UTM赋予第四设备对UAV的控制权，使得第四设备能够控制UAV。
可选地，本实施例提供的UAV控制方法，可以在如图7-11所示的任一项实施例中，UTM释放第二设备对UAV的控制权之后，赋予新的第四设备对UAV的控制权。
S301：UTM确定赋予第四设备对UAV的控制权。
具体地，UTM首先确定赋予第四设备对UAV的控制权，即确定第四设备可以对UAV进行控制。
S302：UTM向第三设备发送赋予控制权命令。
具体地，UTM经过S301确定需要赋予第四设备对UAV的控制权之后，向第三设备发送赋予控制权命令，赋予控制权命令用于向第三设备指示赋予第四设备对UAV的控制权。赋予控制命令包括：赋予第四设备对UAV的控制权的指示信息、UAV的信息以及第四设备的信息，UAV的信息包括：UAV的地址信息和/或UAV的标识信息，第四设备的信息包括：第四设备的信息和/或标识信息。
其中，赋予控制权命令中的赋予第四设备对UAV的控制权的指示信息用于第三设备确定需要赋予第四设备对UAV的控制权；赋予控制权命令中的UAV的标识信息用于第四设备确定需要赋予第四设备控制权对应的UAV。
可选地，本实施例中的第三设备可以是第四设备对应的网络设备，所述第四设备对应的网络设备能够对第四设备和UAV之间的通信进行管理。例如，第三设备可以是第四设备对应的接入和移动管理功能网元，所述的接入和移动管理功能网元可以是5G通信系统中的AMF网元。
可选地，本实施例提供的赋予控制权命令可以是包含在现有技术中UTM向第三设备发送的消息中的新的信息元素；或者，赋予控制权命令还可以是现有技术中UTM向第三设备发送的消息中已有信息元素的一部分；或者，赋予控制权命令还可以是UTM向第三设备发送的新的消息或者新的指令；本实施例对此不做限定。
S303：第三设备根据赋予控制权命令，发起赋予第四设备对UAV的控制权。
具体地，当第三设备收到UTM发送的赋予控制权命令后，第三设备根据赋予控制权命令发起赋予第四设备对UAV的控制权。
在本实施例一种可能的实现方式中，第三设备通过向第四设备发送赋予命令的方式，指示第四设备需要赋予对UAV的控制权。其中，赋予命令包括：赋予第四设备对UAV的控制权的指示信息和/或UAV的信息。第三设备向第四设备发送的赋予命令可以包含在现有的第三设备向第四设备发送的消息中，或者，赋予命令是第三设备向第四设备发送的新的消息。
可选地，赋予命令可以包括第三设备所接收到的赋予控制权命令中的全部或部分元素，或者，赋予命令可以包括赋予控制权命令。例如：赋予控制权命令以元素形式包含在第三设备向第四设备发送的赋予命令中。
第四设备根据所收到的赋予命令，将第四设备中存储UAV的信息，以使第四设备能够对UAV的进行控制，从而实现赋予第四设备对UAV的控制权。
综上，本实施例提供的UAV控制方法，通过UTM向第三设备发送赋予控制权命令，由第三设备根据赋予控制权命令发起赋予第四设备对UAV的控制权，从而实现赋予新的设备对UAV的控制权，进而明确了UTM对接入的UAV的控制设备的控制权的赋予，最终实现了UTM能够通过通信网络对接入的UAV进行控制。
进一步地，在如图12所示的UAV控制方法实施例的基础上，本申请还提供一种该方法应用在5G系统中，并且第三设备为第四设备对应的接入和移动管理功能网元时，具体的实现方式，其中，接入和移动管理功能网元可以是5G通信系统中的AMF网元。下面结合图13进行说明，图13为本申请提供的UAV控制方法一实施例的流程示意图，如图13所示，
1、UTM向AMF网元发送赋予控制权命令。
其中，UTM可以根据本申请前述实施例中，托管UAV并释放原UAV的控制设备的控制权后，确定建立第四设备对UAV的控制权，并向第四设备对应的AMF网元发送赋予控制权命令。
2、AMF网元发起赋予第四设备对UAV的控制权。
其中，AMF网元可以通过向第四设备发送赋予命令的方式，用于指示赋予第四设备对UAV的控制权。
可选地，AMF网元在接收到UTM发送的赋予控制权命令后，根据赋予控制权命令，向第四设备发起配置更新修改，并向第四设备发送配置更新命令，配置更新命令即为本实施例所述的赋予命令。其中，其中，配置更新命令中可以包括AMF网元所接收的赋予控制权命令的全部或部分元素，或者，配置更新命令包括该赋予控制权命令。例如：赋予控制权命令以信息元素形式包含在配置更新命令中。
可选地，第四设备接收到AMF网元发送的配置更新命令后，第四设备可以本地保存UAV的信息，并向AMF网元回应配置更新响应，用于向AMF网元确定配置已更新。
3、第四设备向SMF网元请求建立PDU会话。
具体地，第四设备通过步骤3a向SMF网元发送会话建立请求消息，用于请求建立第四设备控制UAV使用的PDU会话。可选地，会话建立请求消息中包括：所请求建立的PDU会 话用于第四设备控制UAV的指示信息。
则SMF网元接收到第四设备发送的会话建立请求消息后，通过步骤3b指示第四设备对应的UPF网元建立检测规则和/或转发规则中用于第四设备控制该UAV的信息，以使UPF网元为第四设备控制UAV的PDU会话预留资源，并为第四设备分配用于控制UAV的地址信息。
可选地，若第四设备已建立用于控制UAV的PDU会话，则SMF网元指示第四设备对应的UPF网元修改检测规则和/或转发规则中用于第四设备控制该UAV的信息，以使得第四设备能够通过所修改的PDU会话控制该UAV。
随后，当SMF网元通过步骤3c向第四设备发送会话建立响应，向第四设备确认PDU会话已建立。可选地，若步骤3b中执行PDU会话的修改，则步骤3c中SMF网元向第四设备发送会话修改响应，向第四设备确认PDU会话已修改。
4、UTM将UAV的控制设备切换为第四设备。
具体地，本步骤中，UTM可以通过如图5-6中任一项所述的实施例的UAV控制方法，将原UAV的控制设备切换为第四设备，其实现方式与原理相同，不再赘述。
5、SMF修改PDU会话。
具体地，当UTM确定UAV已切换UAV的控制设备为第四设备后，通过步骤5a向第四设备对应的SMF网元发送控制权切换通知，使得SMF网元确定UAV的控制权已切换。可选地，控制权切换通知中包括：UAV的信息，例如：UAV的地址信息和/或标识信息。
随后，当SMF网元接收到UTM发送的控制权切换通知后，指示第四设备对应的UPF网元修改检测规则和/或转发规则中用于第四设备控制该UAV的信息，以使得第四设备能够通过所修改的PDU会话控制该UAV。
可选地，在本实施例提供的步骤5之后，若UAV的原控制设备尚未释放控制权，则UTM可以通过如图7-10所示任一项实施例的UAV控制方法，释放UAV的原控制设备对UAV的控制权，其实现方式与原理相同，不再赘述。
上述本申请提供的各实施例中，分别从UTM、UAV、UAV的控制设备、UAV对应的网络设备以及UAV的控制设备对应的网络设备之间交互的角度对本申请实施例提供的方法进行了介绍。为了实现上述本申请实施例提供的方法中的各功能，UTM、UAV、UAV的控制设备、UAV对应的网络设备以及UAV的控制设备对应的网络设备还可以包括硬件结构和/或软件模块，以硬件结构、软件模块、或硬件结构加软件模块的形式来实现上述各功能。上述各功能中的某个功能以硬件结构、软件模块、还是硬件结构加软件模块的方式来执行，取决于技术方案的特定应用和设计约束条件。例如，图14为本申请提供的UAV控制装置一实施例的结构示意图，如图14所示的UAV控制装置可用于实现上述各实施例中提供的UAV控制方法，该UAV控制装置1400包括：收发模块1401和处理模块1402。
在一种可能的实现方式中，如图14所示的UAV控制装置1400可以是前述如图5-6任一项实施例中所述的无人机流量管理网元UTM，或者可以是能够实现前述如图5-6任一项实施例中所述的无人机流量管理网元UTM的功能的装置。则此时，对于UAV控制装置1400，处理模块1402用于确定无人机UAV的控制设备需要切换；收发模块1401用于向网络设备发送托管命令；以使网络设备根据托管命令，指示UAV需要切换UAV的控制设备；其中，托管命令用于切换UAV的控制设备，托管命令包括：切换UAV的控制设备的指示信息和UAV 的信息。可选地，在上述实施例中，托管命令还包括：将要切换到的UAV的控制设备的信息。
可选地，在上述实施例中，托管命令还包括：将要切换到的UAV的控制设备对应的用户面功能网元的信息；其中，将要切换到的UAV的控制设备对应的用户面功能网元的信息用于，网络设备确定将要切换到的UAV的控制设备对应的用户面功能网元。
可选地，在上述实施例中，网络设备为UAV对应的会话管理功能网元。
可选地，在上述实施例中，收发模块1401具体用于，向策略控制功能网元发送托管命令，以使策略控制功能网元指示会话管理功能网元需要切换UAV的控制设备。
可选地，在上述实施例中，收发模块1401还用于，接收来自UAV的托管请求消息，托管请求消息用于请求切换UAV的控制设备；确定模块1402具体用于，根据托管请求消息确定UAV的控制设备需要切换。
上述各实施例提供的UAV控制装置作为UTM执行如图5-6中任一项所示的UAV控制方法时，其具体实现方式与原理可参照图5-6中对应的实施例，此处不再赘述。
在另一种可能的实现方式中，如图14所示的UAV控制装置1400还可以是前述如图5-6任一项实施例中所述的网络设备，或者可以是能够实现前述如图5-6任一项实施例中所述的网络设备的功能的装置。则此时，对于UAV控制装置1400，收发模块1401用于接收托管命令；其中，托管命令用于切换无人机UAV的控制设备，托管命令包括：切换UAV的控制设备的指示信息和UAV的信息；处理模块1402用于根据托管命令，指示UAV需要切换UAV的控制设备。
可选地，在上述实施例中，托管命令还包括：将要切换到的UAV的控制设备的信息。
可选地，在上述实施例中，托管命令还包括：将要切换到的UAV的控制设备对应的用户面功能网元的信息；其中，将要切换到的UAV的控制设备对应的用户面功能网元的信息用于确定将要切换到的UAV的控制设备对应的用户面功能网元。
可选地，在上述实施例中，处理模块1402具体用于，根据托管命令通过收发模块1401向UAV发送切换命令；切换命令用于指示UAV需要切换UAV的控制设备。
可选地，在上述实施例中，切换命令包括：切换UAV的控制设备的指示信息和/或将要切换到的UAV的控制设备的信息。
可选地，在上述实施例中，处理模块1402还用于，根据托管命令确定结构化控制信息，并将结构化控制信息发送至UAV对应的用户面功能网元；其中，结构化控制信息用于：指示将UAV对应的用户面功能网元中的检测规则和/或转发规则中UAV的控制设备的信息修改为将要切换到的UAV的控制设备的信息；和/或，指示将UAV对应的用户面功能网元中的检测规则和/或转发规则中UAV的控制设备对应的用户面功能网元的信息修改为将要切换到的UAV的控制设备的用户面功能网元的信息。
可选地，在上述实施例中，收发模块1401还用于，向无人机流量管理网元UTM发送托管命令响应；托管命令响应用于指示已切换UAV的控制设备。
上述各实施例提供的UAV控制装置作为网络设备执行如图5-6中任一项所示的UAV控制方法时，其具体实现方式与原理可参照如图5-6中对应的实施例，此处不再赘述。
在另一种可能的实现方式中，如图14所示的UAV控制装置1400还可以是前述如图7-11任一项实施例中所述的第一设备，或者，可以是能够实现如图7-11任一项实施例中所述 的第一设备的功能的装置。则此时，对于UAV控制装置1400，收发模块1401用于接收释放控制权命令；其中，释放控制权命令用于释放第二设备对无人机UAV的控制权，释放控制权命令包括：释放第二设备对UAV的控制权的指示信息和UAV的信息；处理模块1402用于根据释放控制权命令发起释放第二设备对UAV的控制权。
可选地，在上述实施例中，释放控制权命令还包括：释放第二设备对UAV的控制权的原因和/或第二设备的信息。
可选地，在上述实施例中，收发模块1401还用于，向无人机流量管理网元UTM发送释放控制权命令响应；释放控制权命令响应用于指示已释放第二设备对UAV的控制权。
上述各实施例提供的UAV控制装置作为第一设备执行如图7中所示的UAV控制方法时，其具体实现方式与原理可参照如图7中对应的实施例，此处不再赘述。
可选地，在上述实施例中的UAV控制装置为所述第二设备对应的会话管理功能网元。则处理模块1402具体用于，根据释放控制权命令，通过收发模块1401向第二设备发送第一释放命令，第一释放命令用于指示第二设备释放对UAV的控制权。
可选地，在上述实施例中，处理模块1402还用于，根据释放控制权命令确定结构化控制信息，并通过收发模块1401将结构化控制信息发送至第二设备对应的用户面功能网元；结构化控制信息用于：指示用户面功能网元删除检测规则和/或转发规则中用于第二设备控制UAV的信息；和/或根据释放控制权命令通过收发模块1401向第二设备对应的用户面功能网元发送会话释放请求；会话释放请求用于：指示用户面功能网元释放用于第二设备控制UAV的会话上下文。
可选地，在上述实施例中，第一释放命令包括：释放第二设备对UAV的控制权的指示信息和UAV的信息。
上述各实施例提供的UAV控制装置作为第一设备执行如图8中所示的UAV控制方法时，其具体实现方式与原理可参照如图8中对应的实施例，此处不再赘述。
可选地，在上述实施例中的UAV控制装置为第二设备。则处理模块1402具体用于，第二设备根据释放控制权命令，通过收发模块1401向第二设备的对应的会话管理功能网元发送会话管理消息，会话管理消息用于指示会话管理功能网元修改或释放用于第二设备控制UAV的会话上下文。
可选地，在上述实施例中的UAV控制装置为第二设备。则处理模块1402具体用于，根据释放控制权命令，通过收发模块1401向第二设备对应的接入和移动管理功能网元发送第一去注册消息；第一去注册消息用于指示对第二设备进行去注册。
上述各实施例提供的UAV控制装置作为第一设备执行如图9中所示的UAV控制方法时，其具体实现方式与原理可参照如图9中对应的实施例，此处不再赘述。
可选地，在上述实施例中，收发模块1401还用于，向UAV发送释放控制权通知消息，释放控制权通知消息用于向UAV指示需要释放第二设备对UAV的控制权；收发模块1401还用于，接收UAV发送的释放控制权响应，释放控制权响应用于指示UAV已完成切换UAV的控制设备。
上述各实施例提供的UAV控制装置作为第一设备执行如图11中所示的UAV控制方法时，其具体实现方式与原理可参照如图11中对应的实施例，此处不再赘述。
可选地，在上述实施例中的UAV控制装置为第二设备对应的接入和移动管理功能网元。 则处理模块1402具体用于，根据释放控制权命令，通过收发模块1401向第二设备发送第二释放命令，第二释放命令用于指示第二设备释放对UAV的控制权。
可选地，所述第二释放命令包括以下的一项或多项：释放所述第二设备对所述UAV的控制权的指示信息和所述UAV的信息。
可选地，在上述实施例中的UAV控制装置为第二设备对应的接入和移动管理功能网元。则处理模块1402具体用于，第一设备根据释放控制权命令，通过收发模块1401向第二设备发送第二去注册消息，第二去注册消息用于指示对第二设备进行去注册。
上述各实施例提供的UAV控制装置作为第一设备执行如图10中所示的UAV控制方法时，其具体实现方式与原理可参照如图10中对应的实施例，此处不再赘述。
在另一种可能的实现方式中，如图14所示的UAV控制装置1400还可以是前述如图7-11任一项实施例中所述的无人机流量管理网元UTM，或者，可以是能够实现如图7-11任一项实施例中所述的UTM的功能的装置。则此时，对于UAV控制装置1400，收发模块1401和处理模块1402。其中，处理模块1402用于确定第二设备对无人机UAV的控制权需要释放；收发模块1401用于向第一设备发送释放控制权命令；以使第一设备根据释放控制权命令发起释放第二设备对UAV的控制权；其中，释放控制权命令用于释放第二设备对UAV的控制权，释放控制权命令包括：释放第二设备对UAV的控制权的指示信息和UAV的信息。
可选地，在上述实施例中，释放控制权命令还包括：释放第二设备对所述UAV的控制权的原因。
可选地，在上述实施例中，所述第一设备包括：所述第二设备、所述第二设备对应的会话管理功能网元或者所述第二设备对应的接入和移动管理功能网元。
上述各本实施例提供的UAV控制装置作为UTM执行如图7-11中所示的UAV控制方法时，其具体实现方式与原理可参照如图7-11中对应的实施例，此处不再赘述。
在另一种可能的实现方式中，如图14所示的UAV控制装置1400还可以是前述如图12-13任一项实施例中所述的无人机流量管理网元UTM，或者，可以是能够实现如图12-13任一项实施例中所述的UTM的功能的装置。则此时，对于UAV控制装置1400，处理模块1402用于确定赋予第四设备对UAV的控制权；收发模块1401用于向第三设备发送赋予控制权命令，其中，赋予控制权命令用于向指示赋予第四设备对UAV的控制权。赋予控制命令包括：赋予第四设备对UAV的控制权的指示信息、UAV的信息以及第四设备的信息。
上述各本实施例提供的UAV控制装置作为UTM执行如图12-13中所示的UAV控制方法时，其具体地实现方式与原理可参照如图12-13中对应的实施例，此处不再赘述。
在另一种可能的实现方式中，如图14所示的UAV控制装置1400还可以是前述如图12-13任一项实施例中所述第三设备，或者，可以是能够实现如图12-13任一项实施例中所述第三设备的功能的装置。则此时，对于UAV控制装置1400，收发模块1401用于接收赋予控制权命令，其中，赋予控制权命令用于向指示赋予第四设备对UAV的控制权。赋予控制命令包括：赋予第四设备对UAV的控制权的指示信息、UAV的信息以及第四设备的信息；处理模块1402用于根据赋予控制权命令，发起赋予第四设备对UAV的控制权。
上述各实施例提供的UAV控制装置作为第三设备执行如图12-13中所示的UAV控制方法，其具体地实现方式与原理可参照如图12-13中对应的实施例，此处不再赘述。
本申请各实施例中对模块的划分是示意性的，仅仅为一种逻辑功能划分，实际实现时 可以有另外的划分方式，另外，在本申请各个实施例中的各功能模块可以集成在一个处理器中，也可以是单独物理存在，也可以两个或两个以上模块集成在一个模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。
图15为本申请提供的通信装置一实施例的结构示意图。如图15所示为本申请提供的通信装置1500，如图15所示的通信装置可用于实现本申请上述各实施例中提供的UAV控制方法，该通信装置1500包括：
至少一个处理器1520，用于执行UAV控制方法中具体由通信装置执行的功能。处理器可以是通用处理器、数字信号处理器、专用集成电路、现场可编程门阵列或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件，可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者任何常规的处理器等。结合本申请实施例所公开的方法的步骤可以直接体现为硬件处理器执行完成，或者用处理器中的硬件及软件模块组合执行完成。通信装置1500还包括：
至少一个存储器1530，用于存储程序指令和/或数据存储器1530和处理器1520耦合。处理器1520可能和存储器1530协同操作。处理器1515可能执行存储器1530中存储的程序指令。所述至少一个存储器中的至少一个可以包括于处理器中。存储器可以是非易失性存储器，比如硬盘(hard disk drive，HDD)或固态硬盘(solid-state drive，SSD)等，还可以是易失性存储器(volatile memory)，例如随机存取存储器(random-access memory，RAM)。存储器是能够用于携带或存储具有指令或数据结构形式的期望的程序代码并能够由计算机存取的任何其他介质，但不限于此。本申请实施例中的存储器还可以是电路或者其它任意能够实现存储功能的装置，用于存储程序指令和/或数据。
通信接口，该通信接口可以是收发器1510、电路、总线或者其它形式的接口，用于通过传输介质和其它设备进行通信，从而用于装置1500中的装置可以和其它设备进行通信。通信装置1500中的存储器1530、处理器1520以及收发器1510之间通过总线1540连接。本申请实施例在图15所示的通信装置的示例中，不限定通信接口、处理器以及存储器之间的具体连接介质。如图15中以存储器、处理器以及收发器之间通过总线连接作为示例性说明，总线在图中以粗线表示，其它部件之间的连接方式，仅是进行示意性说明，并不引以为限。所述总线可以分为地址总线、数据总线、控制总线等。为便于表示，图中仅用一条粗线表示，但并不表示仅有一根总线或一种类型的总线。此外，本申请各实施例中所述的耦合是装置、单元或模块之间的间接耦合或通信连接，可以是电性，机械或其它的形式，用于装置、单元或模块之间的信息交互。
在一种可能的实现方式中，如图15所示的通信装置1500可用于执行如图5-6中任一项实施例所述的UTM的功能。该装置可以是UTM，也可以是UTM中的装置，其中该装置可以为芯片系统；或者，如图15所示的通信装置1500可以作为如图14所示实施例中的UAV控制设备1400，执行UAV控制设备1400作为如图5-6中任一项实施例的UTM时的功能，其中，处理器1520用于执行处理模块1402的功能，收发器1510用于执行收发模块1401的功能。示例性地，如图15所示的通信装置1500可以通过处理器1520确定UAV的控制设备需要切换，并通过收发器1510向网络设备发送托管命令。本示例中通信装置1500作为UTM的具体实现方法与原理，可参见如图5-6中对应UAV控制方法示例中对于UTM的详细描述，此处不再赘述。
在另一种可能的实现方式中，如图15所示的通信装置还可以用于执行如图5-6中任一项实施例所述的网络设备的功能。该装置可以是网络设备，也可以是网络设备中的装置，其中该装置可以为芯片系统；或者，如图15所示的通信装置还可以作为如图14所示实施例中的UAV控制设备1400，执行控制设备1400作为如图5-6中任一项实施例的网络设备时的功能，其中，处理器1520用于执行处理模块1402的功能，收发器1510用于执行收发模块1401的功能。示例性地，如图15所示的通信装置1500可以通过收发器1510接收托管命令，并通过处理器1520根据托管命令指示UAV需要切换UAV的控制设备。本示例中通信装置1500作为网络设备的具体实现方法与原理，可参见如图5-6中对应UAV控制方法示例中对于网络设备的详细描述，此处不再赘述。
在另一种可能的实现方式中，如图15所示的通信装置还可以用于执行如图7-11中任一项实施例所述的第一设备的功能。该装置可以是第一设备，也可以是第一设备中的装置，其中该装置可以为芯片系统。或者，如图15所示的通信装置还可以作为如图14所示实施例中的UAV控制设备1400，执行控制设备1400作为如图7-11中任一项实施例的第一设备时的功能，其中，处理器1520用于执行处理模块1402的功能，收发器1510用于执行收发模块1401的功能。示例性地，如图15所示的通信装置1500可以通过收发器1510接收释放控制权命令，并通过处理器1520根据释放控制权命令发起释放第二设备对UAV的控制权。本示例中通信装置1500作为第一设备的具体实现方法，可参见如图7-11中对应UAV控制方法示例中对于第一设备的详细描述，此处不再赘述。
在另一种可能的实现方式中，如图15所示的通信装置还可以用于执行如图7-11中任一项实施例所述的UTM的功能。该装置可以是UTM，也可以是UTM中的装置，其中该装置可以为芯片系统；或者，如图15所示的通信装置还可以作为如图14所示实施例中的UAV控制设备1400，执行控制设备1400作为如图7-11中任一项实施例的UTM时的功能，其中，处理器1520用于执行处理模块1402的功能，收发器1510用于执行收发模块1401的功能。示例性地，如图15所示的通信装置1500可以通过处理器1520确定第二设备对无人机UAV的控制权需要释放，并通过收发器1510向第一设备发送释放控制权命令。本示例中通信装置1500作为UTM的具体实现方法，可参见如图7-11中对应UAV控制方法示例中对于UTM的详细描述，此处不再赘述。
在另一种可能的实现方式中，如图15所示的通信装置还可以用于执行如12-13中任一项实施例所述的UTM的功能。该装置可以是UTM，也可以是UTM中的装置，其中该装置可以为芯片系统；或者，如图15所示的通信装置还可以作为如图14所示实施例中的UAV控制设备1400，执行控制设备1400作为如图12-13中任一项实施例的UTM时的功能，其中，处理器1520用于执行处理模块1402的功能，收发器1510用于执行收发模块1401的功能。示例性地，如图15所示的通信装置1500可以通过处理器1520确定赋予第四设备对UAV的控制权，并通过收发器1510向第三设备发送赋予控制权命令。本示例中通信装置1500作为UTM的具体实现方法，可参见如图12-13中对应UAV控制方法示例中对于UTM的详细描述，此处不再赘述。
在另一种可能的实现方式中，如图15所示的通信装置还可以用于执行如12-13中任一项实施例所述的第三设备的功能。该装置可以是第三设备，也可以是第三设备中的装置，其中该装置可以为芯片系统；或者，如图15所示的通信装置还可以作为如图14所示实施 例中的UAV控制设备1400，执行控制设备1400作为如图12-13中任一项实施例的第三设备时的功能，其中，处理器1520用于执行处理模块1402的功能，收发器1510用于执行收发模块1401的功能。示例性地，如图15所示的通信装置1500可以通过收发器1510接收赋予控制权命令，并通过处理器1520根据赋予控制权命令，发起赋予第三设备对UAV的控制权。本示例中通信装置1500作为第三设备的具体实现方法，可参见如图12-13中对应UAV控制方法示例中对于第三设备的详细描述，此处不再赘述。
图16为本申请提供的UAV控制系统一实施例的结构示意图。如图16所示，本实施例提供的UAV控制系统1600包括：UTM1601和网络设备1602。如图16所示的UAV控制系统1600中的UTM1601和网络设备1602可以是如图2所示的通信网络中的网元；或者，该UAV控制系统1600中的UTM1601和网络设备可以是如图14所示的UAV控制装置，并分别执行如图5-6所示实施例中UTM和网络设备的功能；或者，该UAV控制系统1600中的UTM1601和网络设备还可以是如图15所示的通信装置，并分别执行如图5-6所示实施例中UTM和网络设备的功能。示例性地，本实施例提供的UAV控制系统1600中，UTM1601向网络设备1602发送托管命令；其中，托管命令用于切换无人机UAV的控制设备；网络设备1602接收来自UTM1601的托管命令后，根据托管命令，指示UAV需要切换UAV的控制设备。上述示例的具体实现方法，可参见如图5-6中对应UAV控制方法示例中对于UTM和网络设备的详细描述，此处不再赘述。
图17为本申请提供的UAV控制系统一实施例的结构示意图。如图17所示，本实施例提供的UAV控制系统1700包括：UTM1701和第一设备1702。如图17所示的UAV控制系统1700中的UTM1701和第一设备1702可以是如图3所示的通信网络中的网元，或者，第一设备1702还可以是如图3所示的UAV的控制设备；或者，该UAV控制系统1700中的UTM1701和网络设备可以是如图14所示的UAV控制装置并分别执行如图7-11所示实施例中UTM和第一设备的功能；或者，该UAV控制系统1700中的UTM1701和第一设备1702还可以是如图15所示的通信装置，并分别执行如图7-11所示实施例中UTM和第一设备的功能。示例性地，本实施例提供的UAV控制系统1700中，UTM1701向第一设备1702发送释放控制权命令；释放控制权命令用于释放第二设备对无人机UAV的控制权；第一设备1702接收来自UTM1701的释放控制权命令，并根据释放控制权命令发起释放第二设备对UAV的控制权。上述示例的具体实现方法，可参见如图7-11中对应UAV控制方法示例中对于UTM和第一设备的详细描述，此处不再赘述。
图18为本申请提供的UAV控制系统一实施例的结构示意图。如图18所示，本实施例提供的UAV控制系统1800包括：UTM1801和第三设备1802。如图18所示的UAV控制系统1800中的UTM1801和第三设备1802可以是如图3所示的通信网络中的网元；或者，该UAV控制系统1800中的UTM1801和第三设备1802可以是如图14所示的UAV控制装置，并分别执行如图12-13所示实施例中UTM和第三设备的功能；或者，该UAV控制系统1800中的UTM1801和第三设备1802还可以是如图15所示的通信装置，并分别执行如图12-13所示实施例中UTM和第三设备的功能。示例性地，本实施例提供的UAV控制系统1800中，UTM1801向第三设备1802发送赋予控制权命令，其中，赋予控制权命令用于向第三设备指示赋予第四设备对UAV的控制权；第三设备1802接收到赋予控制权命令后，根据赋予控制权命令，发起赋予第四设备对UAV的控制权。上述示例的具体实现方法，可参见如图12-13 中对应UAV控制方法示例中对于UTM和第三设备的详细描述，此处不再赘述。
本申请各实施例提供的方法中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。所述计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行所述计算机程序指令时，全部或部分地产生按照本发明实施例所述的流程或功能。所述计算机可以是通用计算机、专用计算机、计算机网络、网络设备、用户设备或者其他可编程装置。所述计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，所述计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(digital subscriber line，DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机可读存储介质可以是计算机可以存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质(例如，软盘、硬盘、磁带)、光介质(例如，数字视频光盘(digital video disc，DVD))、或者半导体介质(例如,SSD)等。
显然，本领域的技术人员可以对本申请进行各种改动和变型而不脱离本申请的范围。这样，倘若本申请的这些修改和变型属于本申请权利要求及其等同技术的范围之内，则本申请也意图包含这些改动和变型在内。

Claims (37)

  1. 一种无人机控制方法，其特征在于，包括：
    无人机流量管理网元UTM确定无人机UAV的控制设备需要切换；
    所述UTM向网络设备发送托管命令；以使所述网络设备根据所述托管命令，指示所述UAV需要切换所述UAV的控制设备；其中，所述托管命令用于切换所述UAV的控制设备，所述托管命令包括：切换所述UAV的控制设备的指示信息和所述UAV的信息。
  2. 根据权利要求1所述的方法，其特征在于，
    所述托管命令还包括：将要切换到的所述UAV的控制设备的信息。
  3. 根据权利要求1或2所述的方法，其特征在于，
    所述托管命令还包括：将要切换到的所述UAV的控制设备对应的用户面功能网元的信息；其中，所述将要切换到的所述UAV的控制设备对应的用户面功能网元的信息用于，所述网络设备确定所述将要切换到的所述UAV的控制设备对应的用户面功能网元。
  4. 根据权利要求1-3任一项所述的方法，其特征在于，
    所述网络设备为所述UAV对应的会话管理功能网元。
  5. 根据权利要求4所述的方法，其特征在于，所述UTM向网络设备发送托管命令，包括：
    所述UTM向策略控制功能网元发送所述托管命令，以使所述策略控制功能网元指示所述会话管理功能网元需要切换所述UAV的控制设备。
  6. 根据权利要求1-5任一项所述的方法，其特征在于，所述UTM确定所述UAV的控制设备需要切换之前，还包括：
    所述UTM接收来自所述UAV的托管请求消息，所述托管请求消息用于请求切换所述UAV的控制设备；
    所述UTM确定所述UAV的控制设备需要切换，包括：
    所述UTM根据所述托管请求消息确定所述UAV的控制设备需要切换。
  7. 一种无人机控制方法，其特征在于，包括：
    网络设备接收托管命令；其中，所述托管命令用于切换无人机UAV的控制设备，所述托管命令包括：切换所述UAV的控制设备的指示信息和所述UAV的信息；
    所述网络设备根据所述托管命令，指示所述UAV需要切换所述UAV的控制设备。
  8. 根据权利要求7所述的方法，其特征在于，
    所述托管命令还包括：将要切换到的所述UAV的控制设备的信息。
  9. 根据权利要求7或8所述的方法，其特征在于，
    所述托管命令还包括：将要切换到的所述UAV的控制设备对应的用户面功能网元的信息；其中，所述将要切换到的所述UAV的控制设备对应的用户面功能网元的信息用于，所述网络设备确定所述将要切换到的所述UAV的控制设备对应的用户面功能网元。
  10. 根据权利要求7-9任一项所述的方法，其特征在于，所述网络设备根据所述托管命令，指示所述UAV需要切换所述UAV的控制设备，包括：
    所述网络设备根据所述托管命令向所述UAV发送切换命令；所述切换命令用于指示所述UAV需要切换所述UAV的控制设备。
  11. 根据权利要求10所述的方法，其特征在于，
    所述切换命令包括：切换所述UAV的控制设备的指示信息和/或将要切换到的所述UAV的控制设备的信息。
  12. 根据权利要求7-11任一项所述的方法，其特征在于，所述网络设备接收托管命令之后，还包括：
    所述网络设备根据所述托管命令确定结构化控制信息，并将所述结构化控制信息发送至所述UAV对应的用户面功能网元；
    其中，所述结构化控制信息用于：指示将所述UAV对应的用户面功能网元中的检测规则和/或转发规则中所述UAV的控制设备的信息修改为将要切换到的所述UAV的控制设备的信息；和/或，指示将所述UAV对应的用户面功能网元中的检测规则和/或转发规则中所述UAV的控制设备对应的用户面功能网元的信息修改为将要切换到的所述UAV的控制设备的用户面功能网元的信息。
  13. 根据权利要求7-12任一项所述的方法，其特征在于，所述网络设备根据所述托管命令，指示所述UAV需要切换所述UAV的控制设备之后，还包括：
    所述网络设备向无人机流量管理网元UTM发送托管命令响应；所述托管命令响应用于指示已切换所述UAV的控制设备。
  14. 一种无人机控制方法，其特征在于，包括：
    无人机流量管理网元UTM向网络设备发送托管命令；其中，所述托管命令用于切换无人机UAV的控制设备，所述托管命令包括：切换控制所述UAV的控制设备的指示信息和所述UAV的信息；
    所述网络设备接收来自所述UTM的所述托管命令，并根据所述托管命令，指示所述UAV需要切换所述UAV的控制设备。
  15. 一种无人机控制装置，其特征在于，包括：
    处理模块，用于确定无人机UAV的控制设备需要切换；
    收发模块，用于向网络设备发送托管命令；以使所述网络设备根据所述托管命令，指示所述UAV需要切换所述UAV的控制设备；其中，所述托管命令用于切换所述UAV的控制设备，所述托管命令包括：切换所述UAV的控制设备的指示信息和所述UAV的信息。
  16. 根据权利要求15所述的装置，其特征在于，
    所述托管命令还包括：将要切换到的所述UAV的控制设备的信息。
  17. 根据权利要求15或16所述的装置，其特征在于，
    所述托管命令还包括：将要切换到的所述UAV的控制设备对应的用户面功能网元的信息；其中，所述将要切换到的所述UAV的控制设备对应的用户面功能网元的信息用于，所述网络设备确定所述将要切换到的所述UAV的控制设备对应的用户面功能网元。
  18. 根据权利要求15-17任一项所述的装置，其特征在于，
    所述网络设备为所述UAV对应的会话管理功能网元。
  19. 根据权利要求18所述的装置，其特征在于，所述收发模块具体用于，
    向策略控制功能网元发送所述托管命令，以使所述策略控制功能网元指示所述会话管理功能网元需要切换所述UAV的控制设备。
  20. 根据权利要求15-19任一项所述的装置，其特征在于，所述收发模块还用于，
    接收来自所述UAV的托管请求消息，所述托管请求消息用于请求切换所述UAV的控制 设备；
    所述确定模块具体用于，根据所述托管请求消息确定所述UAV的控制设备需要切换。
  21. 一种无人机控制装置，其特征在于，包括：
    收发模块，用于接收托管命令；其中，所述托管命令用于切换无人机UAV的控制设备，所述托管命令包括：切换所述UAV的控制设备的指示信息和所述UAV的信息；
    处理模块，用于根据所述托管命令，指示所述UAV需要切换所述UAV的控制设备。
  22. 根据权利要求21所述的装置，其特征在于，
    所述托管命令还包括：将要切换到的所述UAV的控制设备的信息。
  23. 根据权利要求21或22所述的装置，其特征在于，
    所述托管命令还包括：将要切换到的所述UAV的控制设备对应的用户面功能网元的信息；其中，所述将要切换到的所述UAV的控制设备对应的用户面功能网元的信息用于确定所述将要切换到的所述UAV的控制设备对应的用户面功能网元。
  24. 根据权利要求21-23任一项所述的装置，其特征在于，
    所述处理模块具体用于，根据所述托管命令通过所述收发模块向所述UAV发送切换命令；所述切换命令用于指示所述UAV需要切换所述UAV的控制设备。
  25. 根据权利要求24所述的装置，其特征在于，
    所述切换命令包括：切换所述UAV的控制设备的指示信息和/或将要切换到的所述UAV的控制设备的信息。
  26. 根据权利要求21-25任一项所述的装置，其特征在于，所述处理模块还用于，
    根据所述托管命令确定结构化控制信息，并将所述结构化控制信息发送至所述UAV对应的用户面功能网元；
    其中，所述结构化控制信息用于：指示将所述UAV对应的用户面功能网元中的检测规则和/或转发规则中所述UAV的控制设备的信息修改为将要切换到的所述UAV的控制设备的信息；和/或，指示将所述UAV对应的用户面功能网元中的检测规则和/或转发规则中所述UAV的控制设备对应的用户面功能网元的信息修改为将要切换到的所述UAV的控制设备的用户面功能网元的信息。
  27. 根据权利要求21-26任一项所述的装置，其特征在于，所述收发模块还用于，
    向无人机流量管理网元UTM发送托管命令响应；所述托管命令响应用于指示已切换所述UAV的控制设备。
  28. 一种无人机控制系统，其特征在于，包括：如权利要求15-20任一项所述的无人机流量管理网元UTM和如权利要求21-27任一项所述的网络设备。
  29. 一种通信装置，其特征在于，包括：处理器和存储器；所述存储器中存储有指令，所述处理器调用并执行所述指令时，使所述装置执行如权利要求1-14任一项所述的方法。
  30. 一种计算机可读存储介质，其特征在于，包括指令，当其在计算机上运行时，使得所述计算机执行如权利要求1-14任一项所述的方法。
  31. 一种无人机流量管理网元，其特征在于，包括：处理器和存储器；所述存储器用于存储计算机可执行指令，当所述无人机流量管理网元运行时，所述处理器执行所述存储器存储的所述计算机可执行指令，以使所述无人机流量管理网元执行如权利要求1-6任一项所述的无人机控制方法。
  32. 一种网络设备，其特征在于，包括：处理器和存储器；所述存储器用于存储计算机可执行指令，当所述网络设备运行时，所述处理器执行所述存储器存储的所述计算机可执行指令，以使所述网络设备执行如权利要求7-13任一项所述的无人机控制方法。
  33. 一种处理器，其特征在于，用于执行如权利要求1-6任一项，或权利要求7-13任一项所述的无人机控制方法。
  34. 一种芯片系统，其特征在于，包括：
    存储器，用于存储计算机程序；
    处理器，用于从所述存储器调用并运行所述计算机程序，使得安装有所述芯片系统的设备执行如权利要求1-6任一项，或权利要求7-13任一项所述的无人机控制方法。
  35. 一种计算机程序产品，所述计算机程序产品包括计算机程序，当所述计算机程序在计算机上运行时，使得计算机执行如权利要求1-6任一项，或权利要求7-13任一项所述的无人机控制方法。
  36. 一种用来执行权利要求1-6任一项所述的无人机控制方法的装置。
  37. 一种用来执行权利要求7-13任一项所述的无人机控制方法的装置。
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