WO2021195888A1 - 无人机的控制方法、控制终端、服务器及存储介质 - Google Patents

无人机的控制方法、控制终端、服务器及存储介质 Download PDF

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Publication number
WO2021195888A1
WO2021195888A1 PCT/CN2020/082202 CN2020082202W WO2021195888A1 WO 2021195888 A1 WO2021195888 A1 WO 2021195888A1 CN 2020082202 W CN2020082202 W CN 2020082202W WO 2021195888 A1 WO2021195888 A1 WO 2021195888A1
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Prior art keywords
drone
control
control terminal
target
identity information
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PCT/CN2020/082202
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English (en)
French (fr)
Inventor
魏建平
尹小俊
尹航
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN202080005226.4A priority Critical patent/CN112805651A/zh
Priority to PCT/CN2020/082202 priority patent/WO2021195888A1/zh
Publication of WO2021195888A1 publication Critical patent/WO2021195888A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • This application relates to the field of communication technology, and in particular to a control method, control terminal, server and storage medium of an unmanned aerial vehicle.
  • multi-aircraft collaborative operation of drones will become stronger and stronger.
  • multi-aircraft collaborative operation of drones will greatly improve operating efficiency in application scenarios such as geographic search, regional surveying and mapping, agricultural operations, and communication support.
  • the present application provides a control method, control terminal, server, and storage medium of the drone.
  • this application provides a method for controlling a drone, which is applied to a control terminal of a drone, and the method includes:
  • the identity information of the target drone is selected from the identity information of the multiple drones stored locally in the control terminal.
  • the identity information of the control terminal and the multiple drones are selected.
  • the identity information of each drone has been bound in the server;
  • this application provides a method for controlling drones, which is applied to a server, and the method includes:
  • binding If binding is determined, forward the control instruction to the target drone according to the identity information of the target drone.
  • the present application provides a control terminal of an unmanned aerial vehicle.
  • the control terminal of an unmanned aerial vehicle includes: a memory, a processor, and a communication circuit, the memory and the communication circuit are respectively connected to the processor ;
  • the memory is used to store a computer program
  • the processor is used to execute the computer program and when executing the computer program, implement the following steps:
  • the identity information of the target drone is selected from the identity information of the multiple drones stored locally in the control terminal.
  • the identity information of the control terminal and the multiple drones are selected.
  • the identity information of each drone has been bound in the server;
  • Control the communication circuit to send the control instruction and the identity information of the target drone to the server, so that the server sends the control instruction to the target drone according to the identity information of the target drone Forward.
  • the present application provides a server, the server includes: a memory, a processor, and a communication circuit, the memory and the communication circuit are respectively connected to the processor;
  • the memory is used to store a computer program
  • the processor is used to execute the computer program, and when executing the computer program, implement the following steps:
  • Controlling the communication circuit to receive the control instructions of the target drone and the identity information of the target drone sent by the control terminal of the drone;
  • control the communication circuit to forward the control instruction to the target drone according to the identity information of the target drone.
  • the present application provides a computer-readable storage medium that stores a computer program, and when the computer program is executed by a processor, the processor realizes the method described in the first aspect. Control method of drone.
  • the present application provides a computer-readable storage medium that stores a computer program, and when the computer program is executed by a processor, the processor realizes the method described in the second aspect Control method of drone.
  • the embodiment of the application provides a drone control method, a control terminal, a server, and a storage medium, which are applied to the control terminal: according to the detected user's target drone selection operation, a plurality of drones pre-stored locally from the control terminal are selected and operated.
  • the identity information of the target drone is selected from the identity information of the man-machine, and the identity information of the control terminal and the identity information of multiple drones have been bound in the server; one is generated according to the detected user’s target drone control operation Or multiple control instructions of the target drone; send the control instructions and the identity information of the target drone to the server, so that the server forwards the control instructions to the target drone according to the identity information of the target drone.
  • more than one target drone can be selected according to the user's needs, and more than one control instructions corresponding to the target drone can be generated according to the user's needs and sent to the server so that the server can forward to the target drone.
  • it provides half of the technical support for users to control more than one flight behavior of more than one drone; when the server forwards, the user can control more than one flight behavior of more than one drone, thereby realizing remote multiple drones Requirements for collaborative work.
  • Applied to the server Receive the control instructions of the target drone and the identity information of the target drone sent by the control terminal of the drone; According to the identity information of the target drone and the pre-stored identity information bound to the control terminal The identity information of multiple drones is used to determine whether the target drone is bound to the control terminal of the drone; if the binding is confirmed, the control command is forwarded to the target drone according to the identity information of the target drone. In this way, when the target drone is bound to the control terminal of the drone, the received control command of the control terminal can be forwarded to the target drone according to the identity information of the drone, so as to provide the user Controlling more than one flight behavior of more than one drone provides technical support for the other half.
  • more than one target drone When applied to a control terminal, more than one target drone can be selected according to the user's needs, and more than one control instructions corresponding to the target drone can be generated according to the user's needs and sent to the server.
  • the target drone When applied to the server, the target drone can be When the drone is bound to the control terminal of the drone, the received control command of the control terminal is forwarded to the target drone according to the identity information of the drone. In this way, the user can control more than one More than one flight behavior of the UAV can realize the requirement of remote multi-UAV cooperative operation.
  • FIG. 1 is a schematic flowchart of an embodiment of a control method for a drone according to the present application
  • FIG. 2 is a schematic flowchart of another embodiment of the control method of the drone according to the present application.
  • FIG. 3 is a schematic flowchart of another embodiment of the control method of the unmanned aerial vehicle according to the present application.
  • FIG. 4 is a schematic flowchart of another embodiment of the control method of the unmanned aerial vehicle according to the present application.
  • FIG. 5 is a schematic flowchart of another embodiment of the control method of the unmanned aerial vehicle according to the present application.
  • Fig. 6 is a schematic diagram of a practical application of the control method of the unmanned aerial vehicle according to the present application.
  • FIG. 7 is a schematic structural diagram of an embodiment of a control terminal for a drone of the present application.
  • Fig. 8 is a schematic structural diagram of an embodiment of a server of the present application.
  • the existing UAV operation mode is a point-to-point stand-alone operation, which has low efficiency.
  • the stand-alone operation takes a long time, and it is easy to miss the search and rescue opportunity, causing casualties, and the flying distance is limited. Therefore, the demand for remote multi-machine cooperative operation is becoming stronger and stronger, and remote multi-machine cooperative operation will greatly improve operation efficiency in special application scenarios.
  • it is currently unable to achieve the requirements of remote multi-machine collaborative operation.
  • the embodiments of the application are applied to the control terminal: according to the detected user's target drone selection operation, the identity information of the target drone is selected from the identity information of the multiple drones pre-stored locally in the control terminal, and the identity of the control terminal is selected.
  • the information and the identity information of multiple drones have been bound in the server; generate control instructions for one or more target drones based on the detected user’s target drone control operations; send control instructions and target drones to the server The identity information of the human and the machine, so that the server forwards the control instructions to the target drone according to the identity information of the target drone.
  • more than one target drone can be selected according to the user's needs, and more than one control instructions corresponding to the target drone can be generated according to the user's needs and sent to the server so that the server can forward to the target drone.
  • This provides half of the technical support for the user to control more than one flight behavior of more than one drone; when the server forwards it, the user can control more than one flight behavior of more than one drone, thereby enabling remote multiple drones Requirements for collaborative work.
  • Applied to the server Receive the control instructions of the target drone and the identity information of the target drone sent by the control terminal of the drone; According to the identity information of the target drone and the pre-stored identity information bound to the control terminal The identity information of multiple drones is used to determine whether the target drone is bound to the control terminal of the drone; if the binding is confirmed, the control command is forwarded to the target drone according to the identity information of the target drone. In this way, when the target drone is bound to the control terminal of the drone, the received control command of the control terminal can be forwarded to the target drone according to the identity information of the drone, so as to provide the user Controlling more than one flight behavior of more than one drone provides technical support for the other half.
  • the target drone When applied to a control terminal, more than one target drone can be selected according to the user’s needs, and more than one control command corresponding to the target drone can be generated according to the user’s needs and sent to the server.
  • the target drone When applied to the server, the target drone can be When the drone is bound to the control terminal of the drone, the received control command of the control terminal is forwarded to the target drone according to the identity information of the drone. In this way, the user can control more than one More than one flight behavior of the UAV can realize the requirement of remote multi-UAV cooperative operation.
  • the control method of the drone in the embodiment of the present application includes the control method of the drone applied in the control terminal of the drone (referred to as the control terminal method) and the control method of the drone applied in the server (referred to as the relay terminal method).
  • the control terminal method the control method of the drone applied in the control terminal of the drone
  • the relay terminal method the control method of the drone applied in the server
  • control-end method and the relay-end method are combined and explained together, the control-end method and the relay-end method are independent of each other.
  • the control-end method provides the user to control more than one flight behavior of more than one drone.
  • Half of the technical support; the relay end method provides the user with the other half of the technical support for controlling more than one flight behavior of more than one drone; when the control end method and the relay end method are combined, the user can control more than one drone More than one flight behavior, which can achieve the requirements of remote multi-UAV collaborative operation.
  • Figure 1 is a schematic flow diagram of an embodiment of a drone control method of the present application
  • Figure 2 is a schematic flow diagram of another embodiment of the drone control method of the present application
  • Figure 3 is a schematic view of another embodiment of the drone control method of the present application.
  • the control terminal method includes: step S101, step S102, and step S103; the relay terminal method includes: step S201, step S202, and step S203.
  • Step S101 According to the detected user's target drone selection operation, the identity information of the target drone is selected from the identity information of multiple drones stored locally in the control terminal, and the identity information of the control terminal and multiple drones are controlled.
  • the machine's identity information has been bound in the server.
  • the control terminal of the UAV refers to the terminal that can directly or indirectly control the UAV.
  • the control terminal of the drone includes, but is not limited to, a remote control, a control station, a personal computer, a mobile terminal, and so on.
  • the control terminal of the drone can also be a combined control terminal.
  • a mobile terminal is connected to a remote control to form a combined control terminal.
  • the user sends instructions on the mobile terminal to transmit to the remote control, and then controls the drone through the remote control; and
  • a personal computer is connected to a control station to form a combined control terminal, and the user sends instructions on the personal computer to transmit to the control station, and then control the drone through the control station; and so on.
  • the identity information of the drone may be information used to identify the identity of the drone to distinguish different drones, such as a unique identification code, device identification code, IP address, and so on.
  • the identity information of the control terminal may be information used to identify the identity of the control terminal to distinguish different control terminals, such as a unique identification code, a device identification code, an IP address, and so on. For example: UAV 1, UAV 2, UAV 3, Control terminal 1, Control terminal 2, Control terminal 3.
  • the control terminal can control the drone through the server, and the identity information of the control terminal and the identity information of multiple drones need to be bound in the server in advance, that is to say, only the identity information of the control terminal and multiple With the identity information of the drone, the server will forward the control instructions of the control terminal to the target drone.
  • control terminal 1 is bound to drone 1 to drone 5; or, control terminal 2 is bound to drone 6 to drone 8; or, control terminal 1, 2 and drone 1 to none Man-machine 8 binding; etc.
  • the selection operation input by the user is used to select the target drone.
  • the control terminal After the control terminal detects the user's target drone selection operation, it selects the target drone from the multiple drone identity information pre-saved locally in the control terminal ’S identity information.
  • the number of target drones can be more than one.
  • Step S102 Generate one or more target drone control instructions according to the detected user's target drone control operation.
  • the target drone control operation input by the user is used to generate instructions to control the target drone, and the control terminal detects the user's target drone control operation to generate one or more target drone control instructions. It should be noted that when the number of target drones is more than two, the control commands for more than two target drones may be the same control command or two or more different control commands.
  • control command can be the same, that is, control command A; or, the control command for target drone 1 and target drone 2 can be the same, that is, control command B1, and the control command for target drone 3 can be It is the control instruction B2; or, the control instructions for the target drone 1, the target drone 2, and the target drone 3 may be the control instruction C1, the control instruction C2, and the control instruction C3, respectively.
  • Step S103 Send the control instruction and the identity information of the target drone to the server, so that the server forwards the control instruction to the target drone according to the identity information of the target drone.
  • Step S201 Receive the control instruction of the target drone and the identity information of the target drone sent by the control terminal of the drone.
  • Step S202 Determine whether the target drone is bound to the control terminal of the drone according to the identity information of the target drone and the pre-stored identity information of multiple drones bound to the identity information of the control terminal.
  • Step S203 If binding is determined, the control instruction is forwarded to the target drone according to the identity information of the target drone.
  • the identity information of the control terminal and the identity information of multiple drones are pre-bound in the server, and the server will forward the control instructions of the control terminal to the target drone. Therefore, when the server receives the control instruction of the target drone and the identity information of the target drone sent by the control terminal of the drone, it will bind to the identity information of the target drone and the pre-stored identity information of the control terminal. Determine whether the target drone is bound to the control terminal of the drone by setting the identity information of multiple drones. After the binding is determined, the control command is sent to the target drone according to the identity information of the target drone. Forward.
  • the embodiments of the application are applied to the control terminal: according to the detected user's target drone selection operation, the identity information of the target drone is selected from the identity information of the multiple drones pre-stored locally in the control terminal, and the identity of the control terminal is selected.
  • the information and the identity information of multiple drones have been bound in the server; generate control instructions for one or more target drones based on the detected user’s target drone control operations; send control instructions and target drones to the server The identity information of the human and the machine, so that the server forwards the control instructions to the target drone according to the identity information of the target drone.
  • more than one target drone can be selected according to the user's needs, and more than one control instructions corresponding to the target drone can be generated according to the user's needs and sent to the server so that the server can forward to the target drone.
  • it provides half of the technical support for users to control more than one flight behavior of more than one drone; when the server forwards, the user can control more than one flight behavior of more than one drone, thereby realizing remote multiple drones Requirements for collaborative work.
  • Applied to the server Receive the control instructions of the target drone and the identity information of the target drone sent by the control terminal of the drone; According to the identity information of the target drone and the pre-stored identity information bound to the control terminal The identity information of multiple drones is used to determine whether the target drone is bound to the control terminal of the drone; if the binding is confirmed, the control command is forwarded to the target drone according to the identity information of the target drone. In this way, when the target drone is bound to the control terminal of the drone, the received control command of the control terminal can be forwarded to the target drone according to the identity information of the drone, so as to provide the user Controlling more than one flight behavior of more than one drone provides technical support for the other half.
  • more than one target drone When applied to a control terminal, more than one target drone can be selected according to the user's needs, and more than one control instructions corresponding to the target drone can be generated according to the user's needs and sent to the server.
  • the target drone When applied to the server, the target drone can be When the drone is bound to the control terminal of the drone, the received control command of the control terminal is forwarded to the target drone according to the identity information of the drone. In this way, the user can control more than one More than one flight behavior of the UAV can realize the requirement of remote multi-UAV cooperative operation.
  • the method further includes: step S104 and step S105.
  • Step S104 Obtain the identity information of the control terminal and the identity information of multiple drones.
  • Step S105 Send the identity information of the control terminal and the identity information of the multiple drones to the server so that the server binds the identity information of the control terminal with the identity information of the multiple drones.
  • step S104 the identity information of the control terminal and the identity information of multiple drones can be obtained in the following ways: one way is to directly Just get it; the other can be that the user directly enters the identity information of the control terminal and the identity information of multiple drones on the control terminal; the other can be that the user enters on the mobile terminal, personal computer, tablet computer and other terminals
  • the identity information of the control terminal and the identity information of multiple drones are transmitted to the control terminal through mobile terminals, personal computers, tablet computers and other terminals. Therefore, step S104 may specifically be to detect the user's identity information input operation, and obtain the identity information of the control terminal and the identity information of multiple drones according to the detected input operation.
  • the control terminal originally has the identity information of the control terminal, but there is no identity information of multiple drones.
  • the identity information of the multiple drones bound to the control terminal comes from the server.
  • the method may further include: receiving the identity information of multiple drones bound to the identity information of the control terminal from the server.
  • the identity information of the control terminal and the identity information of multiple drones are sent by the control terminal to the server, that is, the method may further include: step S204a1 and step S204a2.
  • Step S204a1 Receive the identity information of the control terminal and the identity information of multiple drones sent by the control terminal of the drone.
  • Step S204a2 Bind the identity information of the control terminal with the identity information of multiple drones.
  • the identity information of the control terminal and the identity information of multiple drones are sent from the remote terminal to the server, that is, the method may further include: step S204b1 and step S204b2.
  • Step S204b1 Receive the identity information of the control terminal and the identity information of multiple drones sent by the remote terminal.
  • Step S204b2 Bind the identity information of the control terminal with the identity information of multiple drones.
  • the user connects to the server through a remote terminal, such as a personal computer, and sends the identity information of the control terminal and the identity information of multiple drones to the server on the personal computer, so that the server can send the identity information of the control terminal and multiple The identity information of the drone is bound.
  • a remote terminal such as a personal computer
  • UAV control terminal there may be more than one UAV control terminal, usually more than two.
  • control terminals In order to ensure that two or more control terminals can control the UAV in an orderly and effective manner, avoid control confusion, and ensure the realization of the requirements of orderly and effective coordination of remote multiple UAVs, the following describes in detail there are more than two controls When the identity information of the terminal is bound to the identity information of multiple drones, the details of the control end method and the transfer end method.
  • control terminals are divided into the main control terminal and the auxiliary control terminal; among them, some control commands of the auxiliary control terminal can be directly forwarded by the server to control the target drone, and some control The instruction needs to apply for the corresponding control authority to the main control terminal through the server. After the main control terminal is authorized, the authorized control instruction issued by the auxiliary control terminal can control the target drone through the server.
  • the identity information of the main control terminal of the drone and the identity information of multiple drones, and the identity information of the secondary control terminal of the drone and the identity information of multiple drones are bound in the server in advance, so that the server can Distinguish between the UAV's main control terminal and the UAV's auxiliary control terminal.
  • control methods can be implemented in a variety of specific ways.
  • the following is a specific description of the combination of the main control terminal of the drone (control end method), the auxiliary control terminal of the drone (control end method), and the server (transit end method). Some of these implementations.
  • the method may include some of the following steps: step S106B, step S206, step S207, step S106A, step S107A, step S108A, step S208, step S209, step S107B, step S108B , Step S210, Step S211, Step S109B.
  • Step S106B control terminal method, applied to the auxiliary control terminal of the drone: Send the application information of the control authority of the target control operation of the target drone to the server, so that the server forwards the application information to the main control terminal of the drone , Among them, the identity information of the main control terminal of the drone and the identity information of multiple drones have been bound in the server.
  • Step S206 (transit terminal method, applied to the server): receiving the application information for the control authority of the target control operation of the target drone sent by the auxiliary control terminal of the drone.
  • Step S207 forward the application information to the main control terminal of the drone bound to the identity information of the multiple drones.
  • Step S106A control terminal method, applied to the main control terminal of the drone: Receive the application information for the control authority of the target control operation of the target drone sent by the server, where the application information is from the auxiliary control terminal of the drone Generated and sent to the server, the identity information of the auxiliary control terminal of the drone and the identity information of multiple drones have been bound in the server.
  • Step S107A control terminal method, applied to the main control terminal of the drone: in response to the application information, generate authorization information or rejection information for the control authority of the target control operation of the target drone.
  • Step S108A control terminal method, applied to the main control terminal of the drone: Send the generated authorization information or rejection information to the server so that the server forwards the authorization information or rejection information to the auxiliary control terminal.
  • Step S208 (transit method, applied to the server): Receive the authorization information or rejection information of the control authority of the target control operation of the target drone sent by the main control terminal of the drone.
  • the authorization information or rejection information is the pair of the main control terminal
  • the application information is generated in response.
  • Step S209 (transit terminal method, applied to the server): Send authorization information of the control authority for the target control operation of the target drone to the auxiliary control terminal of the drone, or send the target drone to the auxiliary control terminal of the drone The target control operation rejects the control authority information so that the auxiliary control terminal displays the rejection notice. If the authorization information is sent, step S107B is entered; if the rejection information is sent, step S109B is entered.
  • Step S107B control terminal method, applied to the auxiliary control terminal of the drone: After it is determined that the authorization information of the control authority for the target control operation of the target drone sent by the server is received, the user's target is detected according to the unmanned The target control operation of the drone generates one or more authorization control instructions for the target drone, where the authorization information is generated by the main control terminal in response to the application information (that is, the specific details of step S102 applied to the auxiliary control terminal of the drone content).
  • the authorized control instruction may be a control instruction authorized by the main control terminal of the drone.
  • Step S108B control terminal method, applied to the auxiliary control terminal of the drone: Send the authorization control instruction and the identity information of the target drone to the server, so that the server forwards to the target drone according to the identity information of the target drone
  • the authorization control instruction that is, the specific details of step S103 applied to the auxiliary control terminal of the drone.
  • Step S210 (transit method, applied to the server): Receive the authorization control instruction for the target control operation of the target drone and the identity information of the target drone sent by the auxiliary control terminal of the drone (that is, the specific details of step S201 ).
  • Step S211 (transit method, applied to the server): When it is determined that the authorization information is received, the authorization control instruction is forwarded to the target drone according to the identity information of the target drone (that is, the control instruction is sent to the target drone in step S203). The specific details of the target drone forwarding).
  • Step S109B control terminal method, applied to the auxiliary control terminal of the drone: When it is determined that the rejection information of the control authority of the target control operation of the target drone sent by the server is received, display the rejection of the control authority of the target control operation Notification, where the rejection information is generated by the main control terminal in response to the application information.
  • the auxiliary control terminal applies for control authority to the main control terminal through the server for the first time. If the main control terminal sends out authorization information, the auxiliary control terminal sends the authorization information to the target drone through the server for the second time after receiving the authorization information.
  • Authorization control instruction the server forwards the authorization control instruction to the target drone, so that the auxiliary control terminal can control the target drone under the authorization of the main control terminal; if the main control terminal sends a rejection message, the auxiliary control terminal will display it after receiving the rejection message Reject notification.
  • the auxiliary control terminal wishes to control the flight height of the target drone, and applies to the main control terminal. After obtaining the authorization information, the auxiliary control terminal sends an authorization control command to the server, requiring the target drone's flight height to be controlled at about 100 meters.
  • the method may include some of the following steps: step S106B, step S206, step S207, step S106A, step S109A, step S110A, step S211, step S212, step S107A, step S108A, step S208, step S209, step S109B.
  • Step S106B control terminal method, applied to the auxiliary control terminal of the drone: Send the application information of the control authority of the target control operation of the target drone to the server so that the server forwards the application information to the main control terminal of the drone, Among them, the identity information of the main control terminal of the drone and the identity information of multiple drones have been bound in the server.
  • Step S206 (transit terminal method, applied to the server): receiving the application information for the control authority of the target control operation of the target drone sent by the auxiliary control terminal of the drone.
  • Step S207 forward the application information to the main control terminal of the drone bound to the identity information of the multiple drones.
  • Step S106A control terminal method, applied to the main control terminal of the drone: Receive the application information for the control authority of the target control operation of the target drone sent by the server, where the application information is from the auxiliary control terminal of the drone Generated and sent to the server, the identity information of the auxiliary control terminal of the drone and the identity information of multiple drones have been bound in the server.
  • Step S109A control terminal method, applied to the main control terminal of the unmanned aerial vehicle: In response to the application information, an authorization control instruction for the control authority of the target control operation of the target unmanned aerial vehicle is generated. If the main control terminal refuses the authorization, go to step 107A.
  • the authorized control instruction may be a control instruction authorized by the main control terminal of the drone.
  • Step S110A control terminal method, applied to the main control terminal of the drone: Send the generated authorization control instruction and the identity information of the target drone to the server so that the server can send the target drone to the target based on the identity information of the target drone.
  • the machine forwards authorization control instructions.
  • Step S212 transmission terminal method, applied to the server: receiving the authorization control instruction for the target control operation of the target drone and the identity information of the target drone sent by the main control terminal of the drone.
  • Step S213 (transit method, applied to the server): According to the identity information of the target drone, the authorization control instruction is forwarded to the target drone.
  • Step S107A control terminal method, applied to the main control terminal of the unmanned aerial vehicle: In response to the application information, a rejection message of the control authority of the target control operation of the target unmanned aerial vehicle is generated.
  • Step S108A control terminal method, applied to the main control terminal of the drone: Send the generated rejection information to the server so that the server forwards the rejection information to the auxiliary control terminal.
  • Step S208 transmission terminal method, applied to the server: receiving the rejection information of the control authority of the target control operation of the target drone sent by the main control terminal of the drone, the rejection information is generated by the main control terminal in response to the application information .
  • Step S209 (transit terminal method, applied to the server): Send rejection information of the control authority of the target control operation of the target drone to the secondary control terminal of the drone so that the secondary control terminal displays the rejection notification.
  • Step S109B control terminal method, auxiliary control terminal of the drone:
  • a notification of the rejection of the control authority of the target control operation is displayed, Among them, the rejection information is generated by the main control terminal in response to the application information.
  • the main control terminal of the drone can also generate authorization information for the control authority of the target control operation of the target drone in response to the application information; send the generated authorization information to the server so that the server forwards to the auxiliary control terminal Authorization information.
  • the server receives the authorization information of the control authority of the target control operation of the target UAV sent by the main control terminal of the unmanned aerial vehicle; and sends the authorization information of the control authority of the target control operation of the target UAV to the auxiliary control terminal of the unmanned aerial vehicle.
  • the auxiliary control terminal applies for the control authority to the main control terminal through the server for the first time. If the main control terminal agrees to the authorization, it directly sends the authorization control instruction to the target drone through the server, and no longer returns to the auxiliary control terminal, simplifying
  • the intermediate step is to realize that the auxiliary control terminal controls the target drone under the authorization of the main control terminal; if the main control terminal does not agree to the authorization, it sends a rejection message, and the auxiliary control terminal displays a rejection notice after receiving the rejection message.
  • the auxiliary control terminal wants to control the flying height of the target drone at about 100 meters, it applies to the main control terminal, the main control terminal agrees to the authorization, and the main control terminal sends an authorization control command to the target drone through the server, requesting that the target is not The flying height of the man-machine is controlled at about 100 meters.
  • control terminals when there are more than two control terminals, there is always one control terminal as the main control terminal, and the other control terminals are auxiliary control terminals.
  • the relevant authority needs to be applied to the main control terminal to prevent multiple control terminals from repeating tasks and task conflicts. Wait for the problem to occur.
  • control terminal of the drone, the communication circuit of the drone, and the server include 4G or 5G modules. Due to the wide coverage area of mobile communication 4G/5G, high communication rate, convenient networking and other advantages, it can quickly realize multi-control one (that is, multiple control terminals control one drone) and one-control multiple (that is, one drone).
  • the control terminal controls multiple drones) systems.
  • the drone includes drone 1, drone 2, and drone 3 (abbreviated as UAV1, UAV2, UAV3 in the figure), and the control terminal includes the remote control of the drone. (Abbreviated as remote control 1, remote control 2, remote control 3 in the figure), UAV control station, among which the personal computer is connected to the UAV control station.
  • the communication circuit of the drone, the control terminal and the server includes a 4G or 5G module, and the drone, the control terminal and the server are transferred through the LTE base station.
  • UAV1, UAV2, UAV3, remote control 1, remote control 2, and remote control 3 are pre-bound in the server, and remote control 1 is the main remote control, remote control 2 and remote control 3 are auxiliary remote control; remote control 1 is bound to UAV1, UAV2, UAV3, remote control 1
  • the first type of control command can be sent to UAV1, UAV2, UAV3, the remote control 1 can send the second type of control command to UAV1; the remote control 2 is bound to UAV2, and the remote control 2 can send the second type of control command to UAV2; remote control 3 Binding with UAV3, remote control 3 can send the second type of control command to UAV3. Controlling the flying height belongs to the first type of control command.
  • remote control 1 Only the remote control 1 has the authority to control the flying height of UAV1, UAV2, and UAV3. If remote control 2 wants to change the flying height of UAV2, remote control 2 needs to apply to remote control 1 through the server. After UAV1 agrees to the authorization, remote control 2 can change the flying height of UAV2.
  • the specific implementation method may be the above-mentioned flow method.
  • Figure 7 is a schematic structural diagram of an embodiment of a control terminal for a drone of the present application.
  • the steps in the control method and related content please refer to the related content of the above-mentioned drone control method applied to the control terminal of the drone, which will not be repeated here.
  • the control terminal 100 of the unmanned aerial vehicle includes: a memory 1, a processor 2, and a communication circuit 3, and the memory 1 and the communication circuit 3 are connected to the processor 2 respectively.
  • the processor 2 may be a micro control unit, a central processing unit, or a digital signal processor, and so on.
  • the memory 1 can be a Flash chip, a read-only memory, a magnetic disk, an optical disk, a U disk or a mobile hard disk, etc.
  • the communication circuit 3 can be used for the control terminal 100 of the drone to communicate with the outside, and can also be used for the communication between itself and the processor 2 and the communication between the memory 1 and the processor 2.
  • the memory 1 is used to store a computer program; the processor 2 is used to execute the computer program and when the computer program is executed, the following steps are implemented:
  • the identity information of the target drone is selected from the identity information of multiple drones stored locally in the control terminal, and the identity information of the control terminal and the identity of multiple drones are selected
  • the information has been bound in the server; generate one or more target drone control instructions based on the detected user's target drone control operation; control the communication circuit to send the control instructions and the target drone's identity information to the server, So that the server forwards the control instructions to the target drone according to the identity information of the target drone.
  • the processor executes the computer program, it implements the following steps: obtain the identity information of the control terminal and the identity information of multiple drones; the control communication circuit sends the identity information of the control terminal and the identity information of multiple drones to The server enables the server to bind the identity information of the controlling terminal with the identity information of multiple drones.
  • the processor when the processor executes the computer program, it implements the following steps: detecting the user's identity information input operation, and acquiring the control terminal's identity information and the identity information of multiple drones according to the detected input operation.
  • the control communication circuit receives the identity information of multiple drones bound to the identity information of the control terminal sent by the server.
  • control terminal of the drone is the main control terminal of the drone or the auxiliary control terminal of the drone.
  • the control terminal of the drone is the auxiliary control terminal of the drone.
  • the control communication circuit sends the application information of the control authority of the target control operation of the target drone to the server. Make the server forward the application information to the main control terminal of the drone, where the identity information of the main control terminal of the drone and the identity information of multiple drones have been bound in the server; when it is determined that the target sent by the server is received
  • the authorization information of the control authority of the target control operation of the drone one or more authorization control instructions of the target drone are generated according to the target control operation of the target drone of the detected user, where the authorization information is the main control
  • the terminal is generated in response to the application information; the control communication circuit sends the authorization control instruction and the identity information of the target drone to the server, so that the server forwards the authorization control instruction to the target drone according to the identity information of the target drone.
  • the auxiliary control terminal also includes a display circuit.
  • the processor executes the computer program, it implements the following steps: when it is determined that the server has received the rejection information of the control authority for the target control operation of the target drone, the display circuit is controlled to display the target The notification of rejection of the control authority of the control operation, wherein the rejection information is generated by the main control terminal in response to the application information.
  • the control terminal of the drone is the main control terminal of the drone.
  • the control communication circuit receives the application information for the control authority of the target control operation of the target drone sent by the server. , Where the application information is generated by the auxiliary control terminal of the drone and sent to the server, and the identity information of the auxiliary control terminal of the drone and the identity information of multiple drones have been bound in the server; in response to the application The information generates authorization information or rejection information of the control authority of the target control operation of the target drone; the control communication circuit sends the generated authorization information or rejection information to the server so that the server forwards the authorization information or rejection information to the auxiliary control terminal.
  • the processor when the processor executes the computer program, it implements the following steps: in response to the application information, it generates an authorization control instruction for the control authority of the target drone's target control operation; the authorization control instruction to be generated by the control communication circuit and the target drone's The identity information is sent to the server so that the server forwards the authorization control instruction to the target drone according to the identity information of the target drone.
  • the communication circuit includes 4G or 5G modules.
  • FIG 8 is a schematic structural diagram of an embodiment of the server of the present application. It should be noted that the server can execute the steps in the above-mentioned drone control method applied to the server. For a detailed description of the relevant content, please refer to the above The relevant content of the control method of the UAV applied to the server will not be repeated here.
  • the server 200 includes a memory 10, a processor 20, and a communication circuit 30, and the memory 10 and the communication circuit 30 are respectively connected to the processor 20.
  • the processor 20 may be a micro control unit, a central processing unit, or a digital signal processor, and so on.
  • the memory 10 may be a Flash chip, a read-only memory, a magnetic disk, an optical disk, a U disk, or a mobile hard disk, etc.
  • the communication circuit 30 can be used for the server 200 to communicate with the outside, and can also be used for the communication between itself and the processor 20 and the communication between the memory 10 and the processor 20.
  • the memory 10 is used to store a computer program; the processor 20 is used to execute the computer program and when the computer program is executed, the following steps are implemented:
  • the control communication circuit receives the control instructions of the target drone and the identity information of the target drone sent by the control terminal of the drone; according to the identity information of the target drone and the pre-stored information bound to the control terminal’s identity information. Determine whether the target drone is bound to the control terminal of the drone; if it is determined to be bound, control the communication circuit to forward the control command to the target drone according to the identity information of the target drone .
  • the control communication circuit receives the control terminal's identity information and the multiple drone's identity information sent by the drone's control terminal; and the control terminal's identity information and multiple drones' identity information The identity information of the drone is bound.
  • the control communication circuit receives the control terminal's identity information and the multiple drone's identity information sent by the remote terminal; and the control terminal's identity information and the multiple drone's Identity information binding.
  • control terminal of the UAV includes the main control terminal of the UAV and/or the auxiliary control terminal of the UAV.
  • the control communication circuit receives the application information for the control authority of the target control operation of the target drone sent by the auxiliary control terminal of the drone;
  • the main control terminal of the drone bound with the identity information of the man-machine forwards the application information;
  • the control communication circuit receives the authorization information of the control authority of the target control operation of the target drone sent by the main control terminal of the drone, and the authorization information is The main control terminal is generated in response to the application information;
  • the control communication circuit forwards the authorization information to the auxiliary control terminal of the drone;
  • the control communication circuit receives the target of the target drone sent by the auxiliary control terminal of the drone
  • the authorization control instruction for the control operation when it is determined that the authorization information is received, the control communication circuit forwards the authorization control instruction to the target UAV.
  • the control communication circuit receives the rejection information of the control authority of the target control operation of the target drone sent by the main control terminal of the drone, and the rejection information is the main control terminal pair
  • the application information is generated in response
  • the control communication circuit sends the rejection information of the control authority of the target control operation of the target drone to the auxiliary control terminal of the unmanned aerial vehicle so that the auxiliary control terminal displays the rejection notice.
  • the communication circuit includes 4G or 5G modules.
  • This application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, the processor realizes the unmanned aerial vehicle applied to the control terminal of the unmanned aerial vehicle as any one of the above items. ⁇ Control methods. For a detailed description of the relevant content, please refer to the relevant content section above, which will not be repeated here.
  • the computer-readable storage medium may be an internal storage unit of the aforementioned drone control terminal, such as a hard disk or a memory.
  • the computer-readable storage medium may also be an external storage device, such as an equipped plug-in hard disk, a smart memory card, a secure digital card, a flash memory card, and so on.
  • the present application also provides another computer-readable storage medium.
  • the computer-readable storage medium stores a computer program.
  • the processor realizes the control method of the drone applied to the server as in any one of the above items.
  • the computer-readable storage medium may be an internal storage unit of the aforementioned server, such as a hard disk or a memory.
  • the computer-readable storage medium may also be an external storage device, such as an equipped plug-in hard disk, a smart memory card, a secure digital card, a flash memory card, and so on.

Abstract

一种无人机的控制方法、控制终端、服务器及存储介质，该方法包括：根据选择操作选择目标无人机的身份信息(S101)；根据控制操作生成控制指令(S102)；向服务器发送控制指令和目标无人机的身份信息(S103)；接收控制终端发送的控制指令和目标无人机的身份信息(S201)；根据目标无人机的身份信息，判断目标无人机是否与控制终端绑定(S202)；若绑定，根据目标无人机的身份信息将控制指令向目标无人机转发(S203)。

Description

无人机的控制方法、控制终端、服务器及存储介质 技术领域
本申请涉及通信技术领域，尤其涉及一种无人机的控制方法、控制终端、服务器及存储介质。
背景技术
随着无人机任务类型的多样化，任务领域也不断扩展，点对点的单机工作已显单薄，且作业效率低。如在应急搜救等场景，无人机单独作业耗时较长，很容易错失搜救时机，造成人员的伤亡。而且无人机的飞行距离受限。
未来无人机，多机协同作业的需求越来越强烈，相比单机，无人机多机协同作业在地域搜索、区域测绘、农业作业、通信保障等应用场景会较大的提升作业效率。
但是，现有的无人机及系统无法实现远程多机协同作业的要求。
发明内容
基于此，本申请提供一种无人机的控制方法、控制终端、服务器及存储介质。
第一方面，本申请提供了一种无人机的控制方法，应用于无人机的控制终端，所述方法包括：
根据检测到的用户的目标无人机选择操作从所述控制终端本地预先保存的多个无人机的身份信息中选择目标无人机的身份信息，所述控制终端的身份信息和所述多个无人机的身份信息已经在服务器中绑定；
根据检测到的所述用户的目标无人机控制操作生成所述一个或多个目标无人机的控制指令；
向服务器发送所述控制指令和所述目标无人机的身份信息，以使所述服务 器根据所述目标无人机的身份信息将所述控制指令向所述目标无人机转发。
第二方面，本申请提供了一种无人机的控制方法，应用于服务器，所述方法包括：
接收无人机的控制终端发送的目标无人机的控制指令和目标无人机的身份信息；
根据所述目标无人机的身份信息和预先存储的与所述控制终端的身份信息绑定的多个无人机的身份信息，判断所述目标无人机是否与所述无人机的控制终端绑定；
若确定绑定，根据所述目标无人机的身份信息，将所述控制指令向所述目标无人机转发。
第三方面，本申请提供了一种无人机的控制终端，所述无人机的控制终端包括：存储器、处理器以及通信电路，所述存储器和所述通信电路分别与所述处理器连接；
所述存储器用于存储计算机程序；
所述处理器用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：
根据检测到的用户的目标无人机选择操作从所述控制终端本地预先保存的多个无人机的身份信息中选择目标无人机的身份信息，所述控制终端的身份信息和所述多个无人机的身份信息已经在服务器中绑定；
根据检测到的所述用户的目标无人机控制操作生成所述一个或多个目标无人机的控制指令；
控制所述通信电路向服务器发送所述控制指令和所述目标无人机的身份信息，以使所述服务器根据所述目标无人机的身份信息将所述控制指令向所述目标无人机转发。
第四方面，本申请提供了一种服务器，所述服务器包括：存储器、处理器以及通信电路，所述存储器和所述通信电路分别与所述处理器连接；
所述存储器用于存储计算机程序；
所述处理器用于执行所述计算机程序并在执行所述计算机程序时，实现如 下步骤：
控制所述通信电路接收无人机的控制终端发送的目标无人机的控制指令和目标无人机的身份信息；
根据所述目标无人机的身份信息和预先存储的与所述控制终端的身份信息绑定的多个无人机的身份信息，判断所述目标无人机是否与所述无人机的控制终端绑定；
若确定绑定，根据所述目标无人机的身份信息，控制所述通信电路将所述控制指令向所述目标无人机转发。
第五方面，本申请提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现如第一方面所述的无人机的控制方法。
第六方面，本申请提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现如第二方面所述的无人机的控制方法。
本申请实施例提供了一种无人机的控制方法、控制终端、服务器以及存储介质，应用于控制终端：根据检测到的用户的目标无人机选择操作从控制终端本地预先保存的多个无人机的身份信息中选择目标无人机的身份信息，控制终端的身份信息和多个无人机的身份信息已经在服务器中绑定；根据检测到的用户的目标无人机控制操作生成一个或多个目标无人机的控制指令；向服务器发送控制指令和目标无人机的身份信息，以使服务器根据目标无人机的身份信息将控制指令向目标无人机转发。通过这种方式，能够根据用户的需求选择一个以上的目标无人机，根据用户的需求生成对应目标无人机的一个以上的控制指令，并发给服务器，以使服务器向目标无人机转发，从而为用户控制一个以上无人机的一个以上的飞行行为提供一半的技术支持；当服务器转发后即可实现用户控制一个以上无人机的一个以上的飞行行为，从而能够实现远程多无人机协同作业的要求。应用于服务器：接收无人机的控制终端发送的目标无人机的控制指令和目标无人机的身份信息；根据目标无人机的身份信息和预先存储的与控制终端的身份信息绑定的多个无人机的身份信息，判断目标无人机是否与 无人机的控制终端绑定；若确定绑定，根据目标无人机的身份信息，将控制指令向目标无人机转发。通过这种方式，能够在目标无人机与无人机的控制终端绑定的情况下，将接收到的控制终端的控制指令根据无人机的身份信息向目标无人机转发，从而为用户控制一个以上无人机的一个以上的飞行行为提供另一半的技术支持。由于应用于控制终端时，能够根据用户的需求选择一个以上的目标无人机，根据用户的需求生成对应目标无人机的一个以上的控制指令，并发给服务器，应用于服务器时，能够在目标无人机与无人机的控制终端绑定的情况下，将接收到的控制终端的控制指令根据无人机的身份信息向目标无人机转发，通过这种方式，能够实现用户控制一个以上无人机的一个以上的飞行行为，从而能够实现远程多无人机协同作业的要求。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请。
附图说明
为了更清楚地说明本申请实施例技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请无人机的控制方法一实施例的流程示意图；
图2是本申请无人机的控制方法另一实施例的流程示意图；
图3是本申请无人机的控制方法又一实施例的流程示意图；
图4是本申请无人机的控制方法又一实施例的流程示意图；
图5是本申请无人机的控制方法又一实施例的流程示意图；
图6是本申请无人机的控制方法一实际应用的示意图；
图7是本申请无人机的控制终端一实施例的结构示意图；
图8是本申请服务器一实施例的结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
附图中所示的流程图仅是示例说明，不是必须包括所有的内容和操作/步骤，也不是必须按所描述的顺序执行。例如，有的操作/步骤还可以分解、组合或部分合并，因此实际执行的顺序有可能根据实际情况改变。
现有无人机的作业方式是点对点的单机工作，单机工作效率低，在应急搜救等特殊场景，单机作业耗时较长，容易错失搜救时机，造成人员的伤亡；且飞行距离受限。因此，远程多机协同作业的需求越来越强烈，远程多机协同作业在特殊应用场景会较大提升作业效率。但是，目前无法实现远程多机协同作业的要求。
本申请实施例应用于控制终端：根据检测到的用户的目标无人机选择操作从控制终端本地预先保存的多个无人机的身份信息中选择目标无人机的身份信息，控制终端的身份信息和多个无人机的身份信息已经在服务器中绑定；根据检测到的用户的目标无人机控制操作生成一个或多个目标无人机的控制指令；向服务器发送控制指令和目标无人机的身份信息，以使服务器根据目标无人机的身份信息将控制指令向目标无人机转发。通过这种方式，能够根据用户的需求选择一个以上的目标无人机，根据用户的需求生成对应目标无人机的一个以上的控制指令，并发给服务器，以使服务器向目标无人机转发，从而为用户控制一个以上无人机的一个以上的飞行行为提供一半的技术支持；当服务器转发后即可实现用户控制一个以上无人机的一个以上的飞行行为，从而能够实现远程多无人机协同作业的要求。应用于服务器：接收无人机的控制终端发送的目标无人机的控制指令和目标无人机的身份信息；根据目标无人机的身份信息和预先存储的与控制终端的身份信息绑定的多个无人机的身份信息，判断目标无人机是否与无人机的控制终端绑定；若确定绑定，根据目标无人机的身份信息，将控制指令向目标无人机转发。通过这种方式，能够在目标无人机与无人机的控制终端绑定的情况下，将接收到的控制终端的控制指令根据无人机的 身份信息向目标无人机转发，从而为用户控制一个以上无人机的一个以上的飞行行为提供另一半的技术支持。由于应用于控制终端时，能够根据用户的需求选择一个以上的目标无人机，根据用户的需求生成对应目标无人机的一个以上的控制指令，并发给服务器，应用于服务器时，能够在目标无人机与无人机的控制终端绑定的情况下，将接收到的控制终端的控制指令根据无人机的身份信息向目标无人机转发，通过这种方式，能够实现用户控制一个以上无人机的一个以上的飞行行为，从而能够实现远程多无人机协同作业的要求。
下面结合附图，对本申请的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
本申请实施例无人机的控制方法包括应用在无人机的控制终端的无人机的控制方法(简称控制端方法)和应用在服务器的无人机的控制方法(简称中转端方法)。为了描述的方便，也为了便于更好理解本申请实施例无人机的控制方法，下面将控制端方法和中转端方法结合起来一起进行详细说明。
需要说明的是，虽然将控制端方法和中转端方法结合起来一起说明，但是控制端方法和中转端方法是彼此独立的，控制端方法为用户控制一个以上无人机的一个以上的飞行行为提供一半的技术支持；中转端方法为用户控制一个以上无人机的一个以上的飞行行为提供另一半的技术支持；当控制端方法和中转端方法结合在一起时能够实现用户控制一个以上无人机的一个以上的飞行行为，从而能够实现远程多无人机协同作业的要求。
参见图1至图3，图1是本申请无人机的控制方法一实施例的流程示意图，图2是本申请无人机的控制方法另一实施例的流程示意图，图3是本申请无人机的控制方法又一实施例的流程示意图。需要说明的是，图1的方法是控制端方法，图2的方法是中转端方法，图3的方法是控制端方法和中转端方法结合在一起的方法。
控制端方法包括：步骤S101、步骤S102以及步骤S103；中转端方法包括：步骤S201、步骤S202以及步骤S203。
控制端方法：
步骤S101：根据检测到的用户的目标无人机选择操作从控制终端本地预 先保存的多个无人机的身份信息中选择目标无人机的身份信息，控制终端的身份信息和多个无人机的身份信息已经在服务器中绑定。
无人机的控制终端是指能够直接或间接对无人机进行控制的终端。无人机的控制终端包括但不限于遥控器、控制站、个人电脑、移动终端，等等。无人机的控制终端也可以是组合的控制终端，例如移动终端连接遥控器组成组合的控制终端，用户在移动终端上发送指令传输到遥控器，再通过遥控器对无人机进行控制；又如，个人电脑连接控制站组成组合的控制终端，用户在个人电脑上发送指令传输到控制站，再通过控制站对无人机进行控制；等等。
用户输入的操作可以有两种方式，一种是用户可以直接在控制终端上进行操作，另一种是对于组合的控制终端，用户可以采用间接的方式在一个控制终端输入操作，该控制终端将操作对应的指令传输至另一个控制终端。无人机的身份信息可以是用于标识无人机身份、以区分不同无人机的信息，例如唯一识别码、设备识别码、IP地址，等等。控制终端的身份信息可以是用于标识控制终端身份、以区分不同控制终端的信息，例如唯一识别码、设备识别码、IP地址，等等。例如：无人机1、无人机2、无人机3，控制终端1、控制终端2、控制终端3。
控制终端能够通过服务器控制无人机，需要预先将控制终端的身份信息和多个无人机的身份信息在服务器中绑定，也就是说只有在服务器中绑定控制终端的身份信息和多个无人机的身份信息，服务器才会将控制终端的控制指令转发给目标无人机。
例如：控制终端1和无人机1至无人机5绑定；或者，控制终端2和无人机6至无人机8绑定；或者，控制终端1、2和无人机1至无人机8绑定；等等。
用户输入的选择操作是用于选择目标无人机的，控制终端检测到用户的目标无人机选择操作后，从控制终端本地预先保存的多个无人机的身份信息中选择目标无人机的身份信息。目标无人机的数量可以是一个以上。
步骤S102：根据检测到的用户的目标无人机控制操作生成一个或多个目标无人机的控制指令。
用户输入的目标无人机控制操作是用于生成控制目标无人机的指令的，控制终端检测到用户的目标无人机控制操作生成一个或多个目标无人机的控制指令。需要说明的是，当目标无人机的数量是两个以上时，针对两个以上的目标无人机的控制指令可以是同一个控制指令，也可以是两个以上不同的控制指令。
例如：目标无人机的数量有3个，分别是目标无人机1、目标无人机2、目标无人机3，针对目标无人机1、目标无人机2、目标无人机3的控制指令可以是同一个，即控制指令A；或者，针对目标无人机1、目标无人机2的控制指令可以是同一个，即控制指令B1，针对目标无人机3的控制指令可以是控制指令B2；或者，针对目标无人机1、目标无人机2、目标无人机3的控制指令可以分别是控制指令C1、控制指令C2、控制指令C3。
步骤S103：向服务器发送控制指令和目标无人机的身份信息，以使服务器根据目标无人机的身份信息将控制指令向目标无人机转发。
然后向服务器发送控制指令和目标无人机的身份信息，以便于服务器根据目标无人机的身份信息将控制指令向目标无人机转发。
中转端方法：
步骤S201：接收无人机的控制终端发送的目标无人机的控制指令和目标无人机的身份信息。
步骤S202：根据目标无人机的身份信息和预先存储的与控制终端的身份信息绑定的多个无人机的身份信息，判断目标无人机是否与无人机的控制终端绑定。
步骤S203：若确定绑定，根据目标无人机的身份信息，将控制指令向目标无人机转发。
在服务器中预先绑定控制终端的身份信息和多个无人机的身份信息，服务器才会将控制终端的控制指令转发给目标无人机。因此，当服务器接收到无人机的控制终端发送的目标无人机的控制指令和目标无人机的身份信息后，根据目标无人机的身份信息和预先存储的与控制终端的身份信息绑定的多个无人机的身份信息，判断目标无人机是否与无人机的控制终端绑定，在确定绑定后 才根据目标无人机的身份信息，将控制指令向目标无人机转发。
本申请实施例应用于控制终端：根据检测到的用户的目标无人机选择操作从控制终端本地预先保存的多个无人机的身份信息中选择目标无人机的身份信息，控制终端的身份信息和多个无人机的身份信息已经在服务器中绑定；根据检测到的用户的目标无人机控制操作生成一个或多个目标无人机的控制指令；向服务器发送控制指令和目标无人机的身份信息，以使服务器根据目标无人机的身份信息将控制指令向目标无人机转发。通过这种方式，能够根据用户的需求选择一个以上的目标无人机，根据用户的需求生成对应目标无人机的一个以上的控制指令，并发给服务器，以使服务器向目标无人机转发，从而为用户控制一个以上无人机的一个以上的飞行行为提供一半的技术支持；当服务器转发后即可实现用户控制一个以上无人机的一个以上的飞行行为，从而能够实现远程多无人机协同作业的要求。应用于服务器：接收无人机的控制终端发送的目标无人机的控制指令和目标无人机的身份信息；根据目标无人机的身份信息和预先存储的与控制终端的身份信息绑定的多个无人机的身份信息，判断目标无人机是否与无人机的控制终端绑定；若确定绑定，根据目标无人机的身份信息，将控制指令向目标无人机转发。通过这种方式，能够在目标无人机与无人机的控制终端绑定的情况下，将接收到的控制终端的控制指令根据无人机的身份信息向目标无人机转发，从而为用户控制一个以上无人机的一个以上的飞行行为提供另一半的技术支持。由于应用于控制终端时，能够根据用户的需求选择一个以上的目标无人机，根据用户的需求生成对应目标无人机的一个以上的控制指令，并发给服务器，应用于服务器时，能够在目标无人机与无人机的控制终端绑定的情况下，将接收到的控制终端的控制指令根据无人机的身份信息向目标无人机转发，通过这种方式，能够实现用户控制一个以上无人机的一个以上的飞行行为，从而能够实现远程多无人机协同作业的要求。
下面分别详细说明控制端方法和中转端方法中，为预先绑定控制终端的身份信息、多个无人机的身份信息而进行的相关流程的详细内容。
控制端方法：
该方法还包括：步骤S104和步骤S105。
步骤S104：获取控制终端的身份信息和多个无人机的身份信息。
步骤S105：将控制终端的身份信息和多个无人机的身份信息发送给服务器以使服务器将控制终端的身份信息与多个无人机的身份信息绑定。
步骤S104中获取控制终端的身份信息和多个无人机的身份信息，可以有如下方式：一种可以是如果控制终端上本来有控制终端的身份信息和多个无人机的身份信息，直接获取即可；另一种可以是用户直接在控制终端上输入控制终端的身份信息和多个无人机的身份信息；还有一种可以是用户在移动终端、个人电脑、平板电脑等终端上输入控制终端的身份信息和多个无人机的身份信息，通过移动终端、个人电脑、平板电脑等终端将输入信息传输给控制终端。因此，步骤S104具体可以是检测用户的身份信息输入操作，根据检测到的输入操作获取控制终端的身份信息和多个无人机的身份信息。
或者，控制终端上本来有控制终端的身份信息，但没有多个无人机的身份信息，与该控制终端绑定的多个无人机的身份信息来自服务器，此时步骤S101中，在检测用户的目标无人机选择操作之前，该方法还可以包括：接收服务器发送的与控制终端的身份信息绑定的多个无人机的身份信息。
中转端方法：
在一实施例中，控制终端的身份信息和多个无人机的身份信息由控制终端发给服务器，即该方法还可以包括：步骤S204a1和步骤S204a2。
步骤S204a1：接收无人机的控制终端发送的控制终端的身份信息和多个无人机的身份信息。
步骤S204a2：将控制终端的身份信息和多个无人机的身份信息绑定。
在另一实施例中，控制终端的身份信息和多个无人机的身份信息由远程终端发给服务器，即该方法还可以包括：步骤S204b1和步骤S204b2。
步骤S204b1：接收远程终端发送的控制终端的身份信息和多个无人机的身份信息。
步骤S204b2：将控制终端的身份信息和多个无人机的身份信息绑定。
例如：用户通过远程终端，例如个人电脑，连接上服务器，在个人电脑上将控制终端的身份信息和多个无人机的身份信息发送给服务器，以便于服务器 将控制终端的身份信息和多个无人机的身份信息绑定。
由于实际应用中，无人机的控制终端可能不止一个，通常是两个以上。为了保证两个以上的控制终端对无人机进行控制时能够有序、有效，避免控制混乱，保证实现远程多无人机有序、有效协同作业的要求，下面详细说明有两个以上的控制终端的身份信息和多个无人机的身份信息绑定时，控制端方法与中转端方法的详细内容。
为了方便控制协同，如果有两个以上的控制终端，将控制终端分为主控制终端和辅控制终端；其中，辅控制终端的有些控制指令可以直接通过服务器转发后控制目标无人机，有些控制指令需要通过服务器向主控制终端申请对应的控制权限，主控制终端授权后，辅控制终端发出的经过授权后的控制指令才能通过服务器控制目标无人机。
预先在服务器中绑定无人机的主控制终端的身份信息与多个无人机的身份信息，以及无人机的辅控制终端的身份信息与多个无人机的身份信息，这样服务器能够区分无人机的主控制终端和无人机的辅控制终端。
上述控制方式能够通过多种具体方式实现，下面将无人机的主控制终端(控制端方法)、无人机的辅控制终端(控制端方法)以及服务器(中转端方法)结合在一起具体说明其中一些实现方式。
参见图4，在一些实施例中，该方法可以包括如下步骤中的一些步骤：步骤S106B、步骤S206、步骤S207、步骤S106A、步骤S107A、步骤S108A、步骤S208、步骤S209、步骤S107B、步骤S108B、步骤S210、步骤S211、步骤S109B。
步骤S106B(控制端方法，应用于无人机的辅控制终端)：向服务器发送目标无人机的目标控制操作的控制权限的申请信息，以使服务器向无人机的主控制终端转发申请信息，其中，无人机的主控制终端的身份信息与多个无人机的身份信息已经在服务器中绑定。
步骤S206(中转端方法，应用于服务器)：接收无人机的辅控制终端发送的目标无人机的目标控制操作的控制权限的申请信息。
步骤S207(中转端方法，应用于服务器)：向与多个无人机的身份信息 绑定的无人机的主控制终端转发申请信息。
步骤S106A(控制端方法，应用于无人机的主控制终端)：接收服务器发送的目标无人机的目标控制操作的控制权限的申请信息，其中，申请信息是由无人机的辅控制终端生成并向服务器发送的，无人机的辅控制终端的身份信息与多个无人机的身份信息已经在服务器中绑定。
步骤S107A(控制端方法，应用于无人机的主控制终端)：响应于申请信息生成目标无人机的目标控制操作的控制权限的授权信息或者拒绝信息。
步骤S108A(控制端方法，应用于无人机的主控制终端)：将生成的授权信息或者拒绝信息发送给服务器以使服务器向辅控制终端转发授权信息或者拒绝信息。
步骤S208(中转端方法，应用于服务器)：接收无人机的主控制终端发送的目标无人机的目标控制操作的控制权限的授权信息或者拒绝信息，授权信息或者拒绝信息是主控制终端对申请信息进行响应生成的。
步骤S209(中转端方法，应用于服务器)：向无人机的辅控制终端发送目标无人机的目标控制操作的控制权限的授权信息，或向无人机的辅控制终端发送目标无人机的目标控制操作的控制权限的拒绝信息以使辅控制终端显示拒绝通知。如果发送的是授权信息，进入步骤S107B；如果发送的是拒绝信息，进入步骤S109B。
步骤S107B(控制端方法，应用于无人机的辅控制终端)：当确定接收到服务器发送的目标无人机的目标控制操作的控制权限的授权信息后，根据检测到的用户的目标无人机的目标控制操作生成一个或多个目标无人机的授权控制指令，其中，授权信息是主控制终端对申请信息进行响应生成的(即步骤S102应用于无人机的辅控制终端的具体细节内容)。
在本实施例中，授权控制指令可以是经过无人机的主控制终端授权后的控制指令。
步骤S108B(控制端方法，应用于无人机的辅控制终端)：向服务器发送授权控制指令和目标无人机的身份信息，以使服务器根据目标无人机的身份信息向目标无人机转发授权控制指令(即步骤S103应用于无人机的辅控制终端 的具体细节内容)。
步骤S210(中转端方法，应用于服务器)：接收无人机的辅控制终端发送的目标无人机的目标控制操作的授权控制指令和目标无人机的身份信息(即步骤S201的具体细节内容)。
步骤S211(中转端方法，应用于服务器)：当确定接收到授权信息时，根据目标无人机的身份信息，将授权控制指令向目标无人机转发(即步骤S203中将所述控制指令向所述目标无人机转发的具体细节内容)。
步骤S109B(控制端方法，应用于无人机的辅控制终端)：当确定接收到服务器发送的目标无人机的目标控制操作的控制权限的拒绝信息后，显示目标控制操作的控制权限的拒绝通知，其中，拒绝信息是主控制终端对申请信息进行响应生成的。
在本实施例中，辅控制终端第一次通过服务器向主控制终端申请控制权限，如果主控制终端发出授权信息，辅控制终端接收到授权信息后第二次通过服务器才向目标无人机发送授权控制指令，服务器向目标无人机转发授权控制指令，从而实现辅控制终端在主控制终端的授权下控制目标无人机；如果主控制终端发出拒绝信息，辅控制终端接收到拒绝信息后显示拒绝通知。
例如，辅控制终端希望控制目标无人机的飞行高度，向主控制终端申请，得到授权信息后，辅控制终端向服务器发送授权控制指令，要求目标无人机的飞行高度控制在100米左右。
参见图5，在另一些实施例中，该方法可以包括如下步骤中的一些步骤：步骤S106B、步骤S206、步骤S207、步骤S106A、步骤S109A、步骤S110A、步骤S211、步骤S212、步骤S107A、步骤S108A、步骤S208、步骤S209、步骤S109B。
步骤S106B(控制端方法，应用于无人机的辅控制终端)：向服务器发送目标无人机的目标控制操作的控制权限的申请信息以使服务器向无人机的主控制终端转发申请信息，其中，无人机的主控制终端的身份信息与多个无人机的身份信息已经在服务器中绑定。
步骤S206(中转端方法，应用于服务器)：接收无人机的辅控制终端发 送的目标无人机的目标控制操作的控制权限的申请信息。
步骤S207(中转端方法，应用于服务器)：向与多个无人机的身份信息绑定的无人机的主控制终端转发申请信息。
步骤S106A(控制端方法，应用于无人机的主控制终端)：接收服务器发送的目标无人机的目标控制操作的控制权限的申请信息，其中，申请信息是由无人机的辅控制终端生成并向服务器发送的，无人机的辅控制终端的身份信息与多个无人机的身份信息已经在服务器中绑定。
步骤S109A(控制端方法，应用于无人机的主控制终端)：响应于申请信息生成目标无人机的目标控制操作的控制权限的授权控制指令。如果主控制终端拒绝授权，进入步骤107A。
在本实施例中，授权控制指令可以是经过无人机的主控制终端授权后的控制指令。
步骤S110A(控制端方法，应用于无人机的主控制终端)：将生成的授权控制指令和目标无人机的身份信息发送给服务器以使服务器根据目标无人机的身份信息向目标无人机转发授权控制指令。
步骤S212(中转端方法，应用于服务器)：接收无人机的主控制终端发送的目标无人机的目标控制操作的授权控制指令和目标无人机的身份信息。
步骤S213(中转端方法，应用于服务器)：根据目标无人机的身份信息，将授权控制指令向目标无人机转发。
步骤S107A(控制端方法，应用于无人机的主控制终端)：响应于申请信息生成目标无人机的目标控制操作的控制权限的拒绝信息。
步骤S108A(控制端方法，应用于无人机的主控制终端)：将生成的拒绝信息发送给服务器以使服务器向辅控制终端转发拒绝信息。
步骤S208(中转端方法，应用于服务器)：接收无人机的主控制终端发送的目标无人机的目标控制操作的控制权限的拒绝信息，拒绝信息是主控制终端对申请信息进行响应生成的。
步骤S209(中转端方法，应用于服务器)：向无人机的辅控制终端发送目标无人机的目标控制操作的控制权限的拒绝信息以使辅控制终端显示拒绝 通知。
步骤S109B(控制端方法，无人机的辅控制终端)：当确定接收到服务器发送的目标无人机的目标控制操作的控制权限的拒绝信息后，显示目标控制操作的控制权限的拒绝通知，其中，拒绝信息是主控制终端对申请信息进行响应生成的。
步骤S109A执行时，无人机的主控制终端也可以响应于申请信息生成目标无人机的目标控制操作的控制权限的授权信息；将生成的授权信息发送给服务器以使服务器向辅控制终端转发授权信息。服务器接收无人机的主控制终端发送的目标无人机的目标控制操作的控制权限的授权信息；向无人机的辅控制终端发送目标无人机的目标控制操作的控制权限的授权信息。
在本实施例中，辅控制终端第一次通过服务器向主控制终端申请控制权限，如果主控制终端同意授权，直接通过服务器向目标无人机发出授权控制指令，不再返回辅控制终端，简化中间步骤，实现辅控制终端在主控制终端的授权下控制目标无人机；如果主控制终端不同意授权，则发出拒绝信息，辅控制终端接收到拒绝信息后显示拒绝通知。
例如，辅控制终端希望控制目标无人机的飞行高度控制在100米左右，向主控制终端申请，主控制终端同意授权，主控制终端通过服务器向目标无人机发出授权控制指令，要求目标无人机的飞行高度控制在100米左右。
上述实施例，当有两个以上的控制终端时始终存在一个控制终端为主控制终端，其他控制终端为辅控制终端，其相关权限需向主控制终端申请，防止多控制终端任务重复、任务冲突等问题发生。
其中，无人机的控制终端、无人机以及服务器的通信电路包括4G或5G模块。由于移动通信4G/5G的覆盖区域广泛，通信速率高，组网方便等优势，能够快速实现无人机的多控一(即多个控制终端控制一个无人机)和一控多(即一个控制终端控制多个无人机)系统。
例如，参见图6，在一实际应用中，无人机包括无人机1、无人机2、无人机3(图中简写为UAV1、UAV2、UAV3)，控制终端包括无人机的遥控器(图中简写为遥控1、遥控2、遥控3)、无人机控制站，其中个人电脑与无 人机控制站连接。无人机、控制终端以及服务器的通信电路包括通过4G或5G模块，无人机、控制终端与服务器之间再通过LTE基站中转。UAV1、UAV2、UAV3、遥控1、遥控2、遥控3预先在服务器中绑定，且遥控1为主遥控，遥控2和遥控3为辅遥控；遥控1与UAV1、UAV2、UAV3绑定，遥控1可以对UAV1、UAV2、UAV3发送第一类型的控制指令，遥控1可以对UAV1发送第二类型的控制指令；遥控2与UAV2绑定，遥控2可以对UAV2发送第二类型的控制指令；遥控3与UAV3绑定，遥控3可以对UAV3发送第二类型的控制指令。控制飞行高度属于第一类型的控制指令，只有遥控1具有控制UAV1、UAV2、UAV3的飞行高度的权限。如果遥控2希望改变UAV2的飞行高度，遥控2需要通过服务器向遥控1进行申请，在UAV1同意授权后，遥控2可以改变UAV2的飞行高度。具体实现方式可以是上述介绍的流程方式。
参见图7，图7是本申请无人机的控制终端一实施例的结构示意图，需要说明的是，该无人机的控制终端能够执行上述应用于无人机的控制终端的无人机的控制方法中的步骤，相关内容的详细说明，请参见上述应用于无人机的控制终端的无人机的控制方法的相关内容，在此不再赘叙。
该无人机的控制终端100包括：存储器1、处理器2以及通信电路3，存储器1和通信电路3分别与处理器2连接。
其中，处理器2可以是微控制单元、中央处理单元或数字信号处理器，等等。
其中，存储器1可以是Flash芯片、只读存储器、磁盘、光盘、U盘或者移动硬盘等等。
其中，通信电路3可以用于无人机的控制终端100与外部通信，也可以用于自身与处理器2的通信、以及存储器1与处理器2之间的通信。
存储器1用于存储计算机程序；处理器2用于执行计算机程序并在执行计算机程序时，实现如下步骤：
根据检测到的用户的目标无人机选择操作从控制终端本地预先保存的多个无人机的身份信息中选择目标无人机的身份信息，控制终端的身份信息和多个无人机的身份信息已经在服务器中绑定；根据检测到的用户的目标无人机控 制操作生成一个或多个目标无人机的控制指令；控制通信电路向服务器发送控制指令和目标无人机的身份信息，以使服务器根据目标无人机的身份信息将控制指令向目标无人机转发。
其中，处理器在执行计算机程序时，实现如下步骤：获取控制终端的身份信息和多个无人机的身份信息；控制通信电路将控制终端的身份信息和多个无人机的身份信息发送给服务器以使服务器将控制终端的身份信息与多个无人机的身份信息绑定。
其中，处理器在执行计算机程序时，实现如下步骤：检测用户的身份信息输入操作，根据检测到的输入操作获取控制终端的身份信息和多个无人机的身份信息。
其中，处理器在执行计算机程序时，实现如下步骤：控制通信电路接收服务器发送的与控制终端的身份信息绑定的多个无人机的身份信息。
其中，无人机的控制终端为无人机的主控制终端或无人机的辅控制终端。
其中，无人机的控制终端为无人机的辅控制终端，处理器在执行计算机程序时，实现如下步骤：控制通信电路向服务器发送目标无人机的目标控制操作的控制权限的申请信息以使服务器向无人机的主控制终端转发申请信息，其中，无人机的主控制终端的身份信息与多个无人机的身份信息已经在服务器中绑定；当确定接收到服务器发送的目标无人机的目标控制操作的控制权限的授权信息后，根据检测到的用户的目标无人机的目标控制操作生成一个或多个目标无人机的授权控制指令，其中，授权信息是主控制终端对申请信息进行响应生成的；控制通信电路向服务器发送授权控制指令和目标无人机的身份信息，以使服务器根据目标无人机的身份信息向目标无人机转发授权控制指令。
其中，辅控制终端还包括显示电路，处理器在执行计算机程序时，实现如下步骤：当确定接收到服务器发送的目标无人机的目标控制操作的控制权限的拒绝信息后，控制显示电路显示目标控制操作的控制权限的拒绝通知，其中，拒绝信息是主控制终端对申请信息进行响应生成的。
其中，无人机的控制终端为无人机的主控制终端，处理器在执行计算机程序时，实现如下步骤：控制通信电路接收服务器发送的目标无人机的目标控制 操作的控制权限的申请信息，其中，申请信息是由无人机的辅控制终端生成并向服务器发送的，无人机的辅控制终端的身份信息与多个无人机的身份信息已经在服务器中绑定；响应于申请信息生成目标无人机的目标控制操作的控制权限的授权信息或者拒绝信息；控制通信电路将生成的授权信息或者拒绝信息发送给服务器以使服务器向辅控制终端转发授权信息或者拒绝信息。
其中，处理器在执行计算机程序时，实现如下步骤：响应于申请信息生成目标无人机的目标控制操作的控制权限的授权控制指令；控制通信电路将生成的授权控制指令和目标无人机的身份信息发送给服务器以使服务器根据目标无人机的身份信息向目标无人机转发授权控制指令。
其中，通信电路包括4G或5G模块。
参见图8，图8是本申请服务器一实施例的结构示意图，需要说明的是，该服务器能够执行上述应用于服务器的无人机的控制方法中的步骤，相关内容的详细说明，请参见上述应用于服务器的无人机的控制方法的相关内容，在此不再赘叙。
该服务器200包括：存储器10、处理器20以及通信电路30，存储器10和通信电路30分别与处理器20连接。
其中，处理器20可以是微控制单元、中央处理单元或数字信号处理器，等等。
其中，存储器10可以是Flash芯片、只读存储器、磁盘、光盘、U盘或者移动硬盘等等。
其中，通信电路30可以用于服务器200与外部通信，也可以用于自身与处理器20的通信、以及存储器10与处理器20之间的通信。
存储器10用于存储计算机程序；处理器20用于执行计算机程序并在执行计算机程序时，实现如下步骤：
控制通信电路接收无人机的控制终端发送的目标无人机的控制指令和目标无人机的身份信息；根据目标无人机的身份信息和预先存储的与控制终端的身份信息绑定的多个无人机的身份信息，判断目标无人机是否与无人机的控制终端绑定；若确定绑定，根据目标无人机的身份信息，控制通信电路将控制指 令向目标无人机转发。
其中，处理器在执行计算机程序时，实现如下步骤：控制通信电路接收无人机的控制终端发送的控制终端的身份信息和多个无人机的身份信息；将控制终端的身份信息和多个无人机的身份信息绑定。
其中，处理器在执行计算机程序时，实现如下步骤：控制通信电路接收远程终端发送的控制终端的身份信息和多个无人机的身份信息；将控制终端的身份信息和多个无人机的身份信息绑定。
其中，无人机的控制终端包括无人机的主控制终端和/或无人机的辅控制终端。
其中，处理器在执行计算机程序时，实现如下步骤：控制通信电路接收无人机的辅控制终端发送的目标无人机的目标控制操作的控制权限的申请信息；控制通信电路向与多个无人机的身份信息绑定的无人机的主控制终端转发申请信息；控制通信电路接收无人机的主控制终端发送的目标无人机的目标控制操作的控制权限的授权信息，授权信息是主控制终端对申请信息进行响应生成的；控制通信电路将所述授权信息转发给所述无人机的辅控制终端；控制通信电路接收无人机的辅控制终端发送的目标无人机的目标控制操作的授权控制指令；当确定接收到授权信息时，控制通信电路将授权控制指令向目标无人机转发。
其中，处理器在执行计算机程序时，实现如下步骤：控制通信电路接收无人机的主控制终端发送的目标无人机的目标控制操作的控制权限的拒绝信息，拒接信息是主控制终端对申请信息进行响应生成的；控制通信电路向无人机的辅控制终端发送目标无人机的目标控制操作的控制权限的拒绝信息以使辅控制终端显示拒绝通知。
其中，通信电路包括4G或5G模块。
本申请还提供一种计算机可读存储介质，计算机可读存储介质存储有计算机程序，计算机程序被处理器执行时使处理器实现如上任一项的应用于无人机的控制终端的无人机的控制方法。相关内容的详细说明请参见上述相关内容部分，在此不再赘叙。
其中，该计算机可读存储介质可以是上述无人机的控制终端的内部存储单元，例如硬盘或内存。该计算机可读存储介质也可以是外部存储设备，例如配备的插接式硬盘、智能存储卡、安全数字卡、闪存卡，等等。
本申请还提供另一种计算机可读存储介质，计算机可读存储介质存储有计算机程序，计算机程序被处理器执行时使处理器实现如上任一项的应用于服务器的无人机的控制方法。相关内容的详细说明请参见上述相关内容部分，在此不再赘叙。
其中，该计算机可读存储介质可以是上述服务器的内部存储单元，例如硬盘或内存。该计算机可读存储介质也可以是外部存储设备，例如配备的插接式硬盘、智能存储卡、安全数字卡、闪存卡，等等。
应当理解，在本申请说明书中所使用的术语仅仅是出于描述特定实施例的目的而并不意在限制本申请。
还应当理解，在本申请说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合，并且包括这些组合。
以上所述，仅为本申请的具体实施例，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。

Claims (36)

  1. 一种无人机的控制方法，其特征在于，应用于无人机的控制终端，所述方法包括：
    根据检测到的用户的目标无人机选择操作从所述控制终端本地预先保存的多个无人机的身份信息中选择目标无人机的身份信息，所述控制终端的身份信息和所述多个无人机的身份信息已经在服务器中绑定；
    根据检测到的所述用户的目标无人机控制操作生成所述一个或多个目标无人机的控制指令；
    向服务器发送所述控制指令和所述目标无人机的身份信息，以使所述服务器根据所述目标无人机的身份信息将所述控制指令向所述目标无人机转发。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    获取所述控制终端的身份信息和所述多个无人机的身份信息；
    将所述控制终端的身份信息和所述多个无人机的身份信息发送给所述服务器以使所述服务器将所述控制终端的身份信息与所述多个无人机的身份信息绑定。
  3. 根据权利要求2所述的方法，其特征在于，所述获取所述控制终端的身份信息和所述多个无人机的身份信息，还包括：
    检测用户的身份信息输入操作，根据检测到的输入操作获取所述控制终端的身份信息和所述多个无人机的身份信息。
  4. 根据权利要求1所述的方法，其特征在于，在检测用户的目标无人机选择操作之前，所述方法还包括：
    接收服务器发送的与所述控制终端的身份信息绑定的多个无人机的身份信息。
  5. 根据权利要求1所述的方法，其特征在于，所述无人机的控制终端为所述无人机的主控制终端或所述无人机的辅控制终端。
  6. 根据权利要求1-5任一项所述的方法，其特征在于，所述无人机的控制终端为所述无人机的辅控制终端，所述方法还包括：
    向所述服务器发送所述目标无人机的目标控制操作的控制权限的申请信息以使所述服务器向所述无人机的主控制终端转发所述申请信息，其中，所述无人机的主控制终端的身份信息与所述多个无人机的身份信息已经在所述服务器中绑定；
    所述根据检测到的所述用户的目标无人机控制操作生成所述一个或多个目标无人机的控制指令，包括：
    当确定接收到服务器发送的目标无人机的目标控制操作的控制权限的授权信息后，根据检测到的所述用户的目标无人机的目标控制操作生成所述一个或多个目标无人机的授权控制指令，其中，所述授权信息是所述主控制终端对所述申请信息进行响应生成的；
    所述向服务器发送所述控制指令和所述目标无人机的身份信息，以使所述服务器根据所述目标无人机的身份信息将所述控制指令向所述目标无人机转发，包括：
    向所述服务器发送所述授权控制指令和所述目标无人机的身份信息，以使所述服务器根据所述目标无人机的身份信息向所述目标无人机转发所述授权控制指令。
  7. 根据权利要求6所述的方法，其特征在于，所述方法还包括：当确定接收到服务器发送的目标无人机的目标控制操作的控制权限的拒绝信息后，显示目标控制操作的控制权限的拒绝通知，其中，所述拒绝信息是所述主控制终端对所述申请信息进行响应生成的。
  8. 根据权利要求1-5任一项所述的方法，其特征在于，所述无人机的控制终端为所述无人机的主控制终端，所述方法还包括：
    接收所述服务器发送的所述目标无人机的目标控制操作的控制权限的申请信息，其中，所述申请信息是由无人机的辅控制终端生成并向所述服务器发送的，所述无人机的辅控制终端的身份信息与所述多个无人机的身份信息已经在服务器中绑定；
    响应于所述申请信息生成目标无人机的目标控制操作的控制权限的授权信息或者拒绝信息；
    将生成的所述授权信息或者拒绝信息发送给所述服务器以使所述服务器向所述辅控制终端转发所述授权信息或者拒绝信息。
  9. 根据权利要求8所述的方法，其特征在于，所述方法还包括：
    响应于所述申请信息生成目标无人机的目标控制操作的控制权限的授权控制指令；
    将生成的所述授权控制指令和所述目标无人机的身份信息发送给所述服务器以使所述服务器根据所述目标无人机的身份信息向所述目标无人机转发所述授权控制指令。
  10. 根据权利要求1-5任一项所述的方法，其特征在于，所述无人机的控制终端、所述无人机以及所述服务器的通信电路包括4G或5G模块。
  11. 一种无人机的控制方法，其特征在于，应用于服务器，所述方法包括：
    接收无人机的控制终端发送的目标无人机的控制指令和目标无人机的身份信息；
    根据所述目标无人机的身份信息和预先存储的与所述控制终端的身份信息绑定的多个无人机的身份信息，判断所述目标无人机是否与所述无人机的控制终端绑定；
    若确定绑定，根据所述目标无人机的身份信息，将所述控制指令向所述目标无人机转发。
  12. 根据权利要求11所述的方法，其特征在于，所述方法还包括：
    接收所述无人机的控制终端发送的所述控制终端的身份信息和所述多个无人机的身份信息；
    将所述控制终端的身份信息和所述多个无人机的身份信息绑定。
  13. 根据权利要求11所述的方法，其特征在于，所述方法还包括：
    接收远程终端发送的所述控制终端的身份信息和所述多个无人机的身份信息；
    将所述控制终端的身份信息和所述多个无人机的身份信息绑定。
  14. 根据权利要求11所述的方法，其特征在于，所述无人机的控制终端包括所述无人机的主控制终端和/或所述无人机的辅控制终端。
  15. 根据权利要求11-14任一项所述的方法，其特征在于，所述方法还包括：
    接收所述无人机的辅控制终端发送的所述目标无人机的目标控制操作的控制权限的申请信息；
    向与多个无人机的身份信息绑定的无人机的主控制终端转发所述申请信息；
    接收所述无人机的主控制终端发送的目标无人机的目标控制操作的控制权限的授权信息，所述授权信息是所述主控制终端对所述申请信息进行响应生成的；
    将所述授权信息转发给所述无人机的辅控制终端；
    所述接收无人机的控制终端发送的目标无人机的控制指令，包括：接收无人机的辅控制终端发送的目标无人机的目标控制操作的授权控制指令；
    所述将所述控制指令向所述目标无人机转发，包括：
    当确定接收到所述授权信息时，将所述授权控制指令向所述目标无人机转发。
  16. 根据权利要求15所述的方法，其特征在于，所述方法还包括：
    接收所述无人机的主控制终端发送的目标无人机的目标控制操作的控制权限的拒绝信息，所述拒接信息是所述主控制终端对所述申请信息进行响应生成的；
    向所述无人机的辅控制终端发送所述目标无人机的目标控制操作的控制权限的拒绝信息以使所述辅控制终端显示拒绝通知。
  17. 根据权利要求11-14任一项所述的方法，其特征在于，所述无人机的控制终端、所述无人机以及所述服务器的通信电路包括4G或5G模块。
  18. 一种无人机的控制终端，其特征在于，所述无人机的控制终端包括：存储器、处理器以及通信电路，所述存储器和所述通信电路分别与所述处理器连接；
    所述存储器用于存储计算机程序；
    所述处理器用于执行所述计算机程序并在执行所述计算机程序时，实现如 下步骤：
    根据检测到的用户的目标无人机选择操作从所述控制终端本地预先保存的多个无人机的身份信息中选择目标无人机的身份信息，所述控制终端的身份信息和所述多个无人机的身份信息已经在服务器中绑定；
    根据检测到的所述用户的目标无人机控制操作生成所述一个或多个目标无人机的控制指令；
    控制所述通信电路向服务器发送所述控制指令和所述目标无人机的身份信息，以使所述服务器根据所述目标无人机的身份信息将所述控制指令向所述目标无人机转发。
  19. 根据权利要求18所述的控制终端，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：
    获取所述控制终端的身份信息和所述多个无人机的身份信息；
    控制所述通信电路将所述控制终端的身份信息和所述多个无人机的身份信息发送给所述服务器以使所述服务器将所述控制终端的身份信息与所述多个无人机的身份信息绑定。
  20. 根据权利要求19所述的控制终端，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：
    检测用户的身份信息输入操作，根据检测到的输入操作获取所述控制终端的身份信息和所述多个无人机的身份信息。
  21. 根据权利要求18所述的控制终端，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：
    控制通信电路接收服务器发送的与所述控制终端的身份信息绑定的多个无人机的身份信息。
  22. 根据权利要求18所述的控制终端，其特征在于，所述无人机的控制终端为所述无人机的主控制终端或所述无人机的辅控制终端。
  23. 根据权利要求18-22任一项所述的控制终端，其特征在于，所述无人机的控制终端为所述无人机的辅控制终端，所述处理器在执行所述计算机程序时，实现如下步骤：
    控制所述通信电路向所述服务器发送所述目标无人机的目标控制操作的控制权限的申请信息以使所述服务器向所述无人机的主控制终端转发所述申请信息，其中，所述无人机的主控制终端的身份信息与所述多个无人机的身份信息已经在所述服务器中绑定；
    当确定接收到服务器发送的目标无人机的目标控制操作的控制权限的授权信息后，根据检测到的所述用户的目标无人机的目标控制操作生成所述一个或多个目标无人机的授权控制指令，其中，所述授权信息是所述主控制终端对所述申请信息进行响应生成的；
    控制所述通信电路向所述服务器发送所述授权控制指令和所述目标无人机的身份信息，以使所述服务器根据所述目标无人机的身份信息向所述目标无人机转发所述授权控制指令。
  24. 根据权利要求23所述的控制终端，其特征在于，所述辅控制终端还包括显示电路，所述处理器在执行所述计算机程序时，实现如下步骤：
    当确定接收到服务器发送的目标无人机的目标控制操作的控制权限的拒绝信息后，控制所述显示电路显示目标控制操作的控制权限的拒绝通知，其中，所述拒绝信息是所述主控制终端对所述申请信息进行响应生成的。
  25. 根据权利要求18-22任一项所述的控制终端，其特征在于，所述无人机的控制终端为所述无人机的主控制终端，所述处理器在执行所述计算机程序时，实现如下步骤：
    控制所述通信电路接收所述服务器发送的所述目标无人机的目标控制操作的控制权限的申请信息，其中，所述申请信息是由无人机的辅控制终端生成并向所述服务器发送的，所述无人机的辅控制终端的身份信息与所述多个无人机的身份信息已经在服务器中绑定；
    响应于所述申请信息生成目标无人机的目标控制操作的控制权限的授权信息或者拒绝信息；
    控制所述通信电路将生成的所述授权信息或者拒绝信息发送给所述服务器以使所述服务器向所述辅控制终端转发所述授权信息或者拒绝信息。
  26. 根据权利要求25所述的控制终端，其特征在于，所述处理器在执行 所述计算机程序时，实现如下步骤：
    响应于所述申请信息生成目标无人机的目标控制操作的控制权限的授权控制指令；
    控制所述通信电路将生成的所述授权控制指令和所述目标无人机的身份信息发送给所述服务器以使所述服务器根据所述目标无人机的身份信息向所述目标无人机转发所述授权控制指令。
  27. 根据权利要求18-22任一项所述的控制终端，其特征在于，所述通信电路包括4G或5G模块。
  28. 一种服务器，其特征在于，所述服务器包括：存储器、处理器以及通信电路，所述存储器和所述通信电路分别与所述处理器连接；
    所述存储器用于存储计算机程序；
    所述处理器用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：
    控制所述通信电路接收无人机的控制终端发送的目标无人机的控制指令和目标无人机的身份信息；
    根据所述目标无人机的身份信息和预先存储的与所述控制终端的身份信息绑定的多个无人机的身份信息，判断所述目标无人机是否与所述无人机的控制终端绑定；
    若确定绑定，根据所述目标无人机的身份信息，控制所述通信电路将所述控制指令向所述目标无人机转发。
  29. 根据权利要求28所述的服务器，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：
    控制所述通信电路接收所述无人机的控制终端发送的所述控制终端的身份信息和所述多个无人机的身份信息；
    将所述控制终端的身份信息和所述多个无人机的身份信息绑定。
  30. 根据权利要求28所述的服务器，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：
    控制所述通信电路接收远程终端发送的所述控制终端的身份信息和所述 多个无人机的身份信息；
    将所述控制终端的身份信息和所述多个无人机的身份信息绑定。
  31. 根据权利要求28所述的服务器，其特征在于，所述无人机的控制终端包括所述无人机的主控制终端和/或所述无人机的辅控制终端。
  32. 根据权利要求28-31任一项所述的服务器，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：
    控制所述通信电路接收所述无人机的辅控制终端发送的所述目标无人机的目标控制操作的控制权限的申请信息；
    控制所述通信电路向与多个无人机的身份信息绑定的无人机的主控制终端转发所述申请信息；
    控制所述通信电路接收所述无人机的主控制终端发送的目标无人机的目标控制操作的控制权限的授权信息，所述授权信息是所述主控制终端对所述申请信息进行响应生成的；
    控制所述通信电路将所述授权信息转发给所述无人机的辅控制终端；
    控制所述通信电路接收无人机的辅控制终端发送的目标无人机的目标控制操作的授权控制指令；
    当确定接收到所述授权信息时，控制所述通信电路将所述授权控制指令向所述目标无人机转发。
  33. 根据权利要求32所述的服务器，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：
    控制所述通信电路接收所述无人机的主控制终端发送的目标无人机的目标控制操作的控制权限的拒绝信息，所述拒接信息是所述主控制终端对所述申请信息进行响应生成的；
    控制所述通信电路向所述无人机的辅控制终端发送所述目标无人机的目标控制操作的控制权限的拒绝信息以使所述辅控制终端显示拒绝通知。
  34. 根据权利要求28-31任一项所述的服务器，其特征在于，所述通信电路包括4G或5G模块。
  35. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存 储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现如权利要求1-10任一项所述的无人机的控制方法。
  36. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现如权利要求11-17任一项所述的无人机的控制方法。
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