WO2018170734A1 - Unmanned aerial vehicle detection method and detection device, server control method, and server - Google Patents

Abstract

An unmanned aerial vehicle detection method and a detection device, a server control method, and a server, used for implementing unmanned aerial vehicle security supervision. The unmanned aerial vehicle detection method comprises: using a detector to acquire data packets comprising supervision information of an unmanned aerial vehicle, the data packets being transmitted in a working channel of a communication network between the unmanned aerial vehicle and a control terminal of the unmanned aerial vehicle; and using a processor to parse the data packets to acquire the supervision information of the unmanned aerial vehicle.

Description

UAV detection method and detection device, server control method and server Technical field

The embodiments of the present invention relate to the field of drones, and in particular, to a method and a device for detecting a drone, a method for controlling the server, and a server.

Background technique

Unmanned Aerial Vehicle is a non-manned aircraft based on radio remote control or controlled by its own program. It has the advantages of low cost, high efficiency, high flexibility, high adaptability and safety stability. , got a lot of attention and research fever.

With the reduction in price thresholds and increased operational flexibility, drones are becoming more frequent, and the crowds controlling drones are no longer limited to professional players. However, as an aviation aircraft, drones bring new experiences to consumers, and because their management in related fields is not perfect, it also brings some potential risks to the society, especially in the use of airspace by drones. In the process, there are problems such as unclear flight areas, invasion of privacy, and potential safety hazards. In order to ensure the safety of the public, it is subject to a certain level of supervision.

At present, in the supervision technology for drones, it is mainly used to detect the interception and discovery of drones, that is, to obtain the position information of the location of the drone, generally through phased array radar, electronic imaging, and acoustic wave detection. And the technology of RF signal detection and other technologies to realize the acquisition of the position information of the UAV, and also the acquisition of the position information of the UAV by the cooperation of the ADS-B equipment carried on the UAV and the radar equipment on the ground, so as to achieve The supervision of drones, but these techniques are difficult to accurately locate the location of the drone, and it is not conducive to tracking the position of the controller and obtaining more detailed information on the invading drone.

Summary of the invention

Embodiments of the present invention provide a UAV detection method, a detection device, a server control method, and a server, which are used to implement supervision of a drone.

In view of this, the first aspect of the present invention provides a method for detecting a drone, which may include:

Obtaining, by the detector, a data packet including the supervisory information of the drone, wherein the data packet is transmitted in a working channel of the communication network between the drone and the control terminal of the drone;

The processor is used to parse the data packet to obtain the supervisory information of the drone.

A second aspect of the present invention provides a server control method, which may include:

Receiving, by using a communication interface, supervisory information of the drone sent by the detecting device of the drone;

Use the processor to assess the hazard level of the drone based on regulatory information.

A third aspect of the present invention provides a detecting apparatus, which may include:

a detector for acquiring a data packet including supervisory information of the drone, wherein the data packet is transmitted in a working channel of a communication network between the drone and the control terminal of the drone;

A processor that parses the packet to obtain supervisory information about the drone.

A fourth aspect of the present invention provides a server, which may include:

a communication interface, configured to receive the supervisory information of the drone sent by the detecting device of the drone;

And a processor, configured to evaluate a hazard level of the drone based on the regulatory information.

It can be seen from the above technical solutions that the embodiments of the present invention have the following advantages:

Different from the prior art, the detection method and the detecting device of the UAV in the embodiment of the present invention can scan the working channel of the communication network between the UAV and its control terminal to intercept the data sent by the UAV. The packet and the detecting device can obtain the supervision information of the drone by analyzing the data packet, realize the supervision of the drone, do not need to change the hardware structure of the drone, have low supervision cost, and have high recognition rate for the drone. The detection distance is long. At the same time, through the detection method and server of the server in the embodiment of the invention, the risk level of the drone can be evaluated according to the supervision information of the drone, and the hierarchical monitoring and unified management of the drone can be realized.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in light of the inventive work.

1 is a schematic diagram of data transmission of a drone according to an embodiment of the present invention;

2 is a schematic diagram of an embodiment of a method for detecting a drone according to an embodiment of the present invention;

3 is a schematic diagram of another embodiment of a method for detecting a drone according to an embodiment of the present invention;

4 is a schematic diagram of another embodiment of a method for detecting a drone according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of another embodiment of a method for detecting a drone according to an embodiment of the present invention; FIG.

6 is a schematic diagram of another embodiment of a method for detecting a drone according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of another embodiment of a method for detecting a drone according to an embodiment of the present invention; FIG.

FIG. 8 is a schematic diagram of another embodiment of a method for detecting a drone according to an embodiment of the present invention; FIG.

FIG. 9 is a schematic diagram of another embodiment of a method for detecting a drone according to an embodiment of the present invention; FIG.

FIG. 10 is a schematic diagram of another embodiment of a method for detecting a drone according to an embodiment of the present invention; FIG.

11 is a schematic diagram of another embodiment of a method for detecting a drone according to an embodiment of the present invention;

FIG. 12 is a schematic diagram of another embodiment of a method for detecting a drone according to an embodiment of the present invention; FIG.

FIG. 13 is a schematic diagram of application of a method for detecting a drone according to an embodiment of the present invention; FIG.

FIG. 14 is a schematic diagram of an embodiment of a method for controlling a server according to an embodiment of the present invention; FIG.

15 is a schematic diagram of another embodiment of a method for controlling a server according to an embodiment of the present invention;

16 is a schematic diagram of another embodiment of a method for controlling a server according to an embodiment of the present invention;

17 is a schematic diagram of another embodiment of a method for controlling a server according to an embodiment of the present invention;

FIG. 18 is a schematic diagram of another embodiment of a method for controlling a server according to an embodiment of the present invention;

FIG. 19 is a schematic diagram of another embodiment of a method for controlling a server according to an embodiment of the present invention;

20 is a schematic diagram of an embodiment of a detecting device according to an embodiment of the present invention;

FIG. 21 is a schematic diagram of another embodiment of a detecting device according to an embodiment of the present invention; FIG.

FIG. 22 is a schematic diagram of another embodiment of a detecting device according to an embodiment of the present invention; FIG.

FIG. 23 is a schematic diagram of an embodiment of a server according to an embodiment of the present invention.

detailed description

The embodiment of the invention provides a detection method of a drone, a detection device, a server control method and a server, which are used for realizing supervision of the drone.

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is an embodiment of the invention, but not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of the present invention.

The terms "first", "second", "third", "fourth", etc. (if present) in the specification and claims of the present invention and the above figures are used to distinguish similar objects without having to use To describe a specific order or order. It is to be understood that the data so used may be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than what is illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive packages. Including, for example, a process, method, system, product, or device that comprises a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include those that are not clearly listed or Other steps or units inherent to the product or equipment.

In the embodiment of the present invention, it is assumed that there is a drone, as shown in FIG. 1 , the drone can be communicatively connected with the control terminal to realize the flight control of the control terminal to the drone, and the drone can collect the collected The image data is transmitted to the control terminal. The drone can also be safely supervised by the detecting device, that is, the detecting device can acquire the communication data between the drone and its control terminal, and at the same time, the detecting device can communicate with the server, and can obtain the obtained drone and control. The communication data between the terminals is reported to the server, so that the server can assist the detecting device to perform security supervision on the drone.

In the safety supervision of drones, many research institutes and companies are developing intrusion detection methods for drones. At present, the prior art is mainly concentrated in the following: 1. Radar, through the use of advanced phased array radar to find the target; 2, sound detection, because each model of the drone has a characteristic sound fingerprint, the detection device passes The characteristic audio can finally determine the model of the drone clearly, and then determine how big the load of the drone is, and how much damage is caused; 3. The control circuit between the radio scanning drone and the control terminal; 4. The camera uses A visible light camera or an infrared camera identifies the drone. However, the above techniques have the following disadvantages: 1. The accuracy of the radar technology is limited, and the optical probe is required to locate the accurate position of the drone; 2. The sound detection technology needs to record the voiceprint of each drone in advance, and the workload is huge. 3, radio scanning technology needs to crack the communication protocol between the drone and the control terminal. With the emphasis on the safety of the drone, the difficulty of cracking the communication protocol is increasing; 4, the recognition distance of the camera technology is limited, It is easy to mistake the birds in the air into drones. Therefore, in general, the detecting device in the prior art is difficult to accurately locate the position of the drone, and is not conducive to tracking and positioning of the control terminal and obtaining more detailed information of the invading drone.

In the embodiment of the present invention, a UAV detection method and a detection device, a UAV detection method and a server are provided, wherein the UAV detection device can work in a communication network between the UAV and its control terminal. The channel is scanned to intercept the data packets sent by the drone, and the detecting device can obtain the supervisory information of the drone by parsing the data packet, thereby realizing the positioning of the drone and tracking the terminal, without the need to crack the unmanned The communication protocol between the machine and the control terminal acquires the supervisory information of the drone by accessing the communication system of the drone, and overcomes technical defects such as low precision, short working distance, limited identification, and the server side can be detected according to the detection. The supervisory information reported by the equipment evaluates the current hazard level of the drone, which can effectively determine whether the drone has invaded and other dangerous behaviors, and assists the detecting equipment to Safety supervision of man-machine.

It can be understood that, in the embodiment of the present invention, the unmanned aerial vehicle, that is, the unmanned aerial vehicle, may be a rotorcraft, a fixed-wing aircraft, or an aircraft in which a fixed wing and a rotor are mixed. The rotorcraft may include, but is not limited to, a single rotor, a double rotor, a three-rotor, a quadrotor, a six-rotor, and the like, and is not limited herein. In practical applications, the drone can realize multi-dimensional motion, such as vertical motion, pitch motion, roll motion, back and forth motion, etc., and an auxiliary device for the carrier can be mounted on the fuselage to enable the fixing of the carrier. Arbitrarily adjusting the posture of the carrier (for example, changing the height, inclination and/or direction of the carrier) and maintaining the carrier stably in a determined posture, etc., and the carrier on the auxiliary device may include a camera, a camera or a sensor, etc. In order to be able to achieve the execution of different tasks and the versatility of the drone, it is not limited here.

Further, in the embodiment of the present invention, the control terminal may include, but is not limited to, one of a remote controller, a smart phone, a tablet, a smart wearable device (watch, a wristband), a ground control station, a PC, a laptop, and the like. A variety.

For ease of understanding, the specific process in the embodiment of the present invention is described below. Referring to FIG. 2, an embodiment of the unmanned aerial vehicle detecting method in the embodiment of the present invention includes:

201. Using a probe to acquire a data packet including the supervisory information of the drone;

In this embodiment, the detecting device realizes the supervision of the drone in order to obtain the supervision information of the drone, and can use the detector to scan the working channel of the communication network between the drone and the control terminal, if the UAV is scanned The data packet sent by the supervisor including the drone's supervisory information can be obtained by using the probe. Wherein, the data packet can be transmitted in the working channel of the communication network between the control terminal of the drone and the drone.

Specifically, during the flight of the drone, the drone can encapsulate its own regulatory information into a data packet, such as an OSD data packet, and can be continuously pushed to the control terminal at a frequency such as 1HZ, then, correspondingly, The detecting device may be provided with a detector, and the detector may cyclically scan on the working channel of the communication network between the drone and the control terminal to detect whether the drone transmits the supervisory information including the drone in the working channel. data pack. Based on the control of the flight control of the drone by the control terminal and the flight characteristics of the drone, the communication network between the drone and the control terminal may be a wireless communication network. In practical applications, in order to facilitate the supervision of the drone by the detecting device, the communication network between the drone and the control terminal can be known to the detecting device. Therefore, the detecting device can scan the working channel of the known communication network by using the detector to acquire the data transmitted by the drone in the working channel.

It can be understood that the communication connection between the UAV and the control terminal in this embodiment may be based on software radio (SDR) technology, WI-FI technology, etc. In practical applications, the UAV and the control terminal may also be based on other The communication technology establishes a connection, such as Bluetooth, a custom modulation mode, or a communication protocol, which is not limited herein.

It should be noted that, in the embodiment, when the detecting device scans the working channel of the communication network between the UAV and the control terminal by using the detector, the detecting device may perform scanning in real time, or may perform periodic scanning according to a specified period. It can be determined according to the way the UAV sends data packets, which is not limited here.

202. The processor is used to parse the data packet to obtain the supervision information of the drone.

In this embodiment, based on the communication connection mode between the UAV and the control terminal, the detection device can know or specify the technical specification of the UAV to send the data packet, and then the detection device uses the detector to obtain the supervision including the UAV. After the data packet of the information, the processor can be used to parse the data packet according to known or specified technical specifications, and the supervision information of the drone is obtained from the data packet to implement supervision of the drone.

In this embodiment, the detecting device can intercept the working channel of the communication between the drone and the control terminal by using the detector to monitor the working channel of the communication network between the drone and the control terminal, and can acquire the data by using the processor. The supervision information of the UAV in the package can realize the supervision of the UAV. It does not need to change the hardware structure of the UAV, and the supervision cost is low. At the same time, the recognition rate of the UAV is high and the detection distance is long.

It can be understood that, in practical applications, a detecting device may be configured with one detector, multiple detecting devices are located in different regions, or one detecting device may be configured with multiple detectors, at least one detector. Located in different areas, the detection device can perform different operations according to the danger level of the drone, or use different methods to evaluate the hazard level of the drone in different ways. :

First, the detector is a

Referring to FIG. 3, another embodiment of the unmanned aerial vehicle detecting method in the embodiment of the present invention includes:

301. Using a detector, acquiring, by each of the plurality of drones, a data packet including the supervisory information of the corresponding drone;

In this embodiment, the detecting device can implement supervision on a plurality of drones. When only one detector is disposed on the detecting device, between each of the plurality of drones and the corresponding control terminal In a communication network, different drones can use different working channels to transmit data packets or pass frequency hopping. Sending a data packet, then you can use this detector to perform a cyclic cycle scan in different working channels (such as the working channel in the 2.4 GHz or 5 GHz communication band), and perform data monitoring for each working channel. When the data packet of the machine communication flows, the probe can be used to acquire the data packet sent by each of the plurality of drones including the supervision information of the corresponding drone. Wherein, the data packet of each drone is transmitted in the working channel of the communication network between the drone and the corresponding control terminal.

It can be understood that the communication connection between the different drones and the corresponding control terminal can be based on different manners, so that when the detecting device uses the detector to acquire data packets of different drones, based on the corresponding communication connection, In different ways, there is no limit here.

In this embodiment, the communication connection between each of the plurality of drones and the corresponding control terminal may refer to the content described in step 201 in the embodiment shown in FIG. 2, and details are not described herein again.

302. The processor is used to parse the data packet to obtain the supervision information of each of the plurality of drones;

In this embodiment, after the detecting device acquires the data packet including the supervision information of the corresponding drone sent by each of the plurality of drones, the processor may parse the data packet by using the processor to obtain multiple Regulatory information for each of the human machines.

Specifically, after acquiring the data packet of each of the plurality of drones, the detecting device may follow the technical specification of the data packet transmission between each of the drones and the control terminal to the corresponding unmanned person. The data packets of the machine are parsed accordingly, so that the supervision information of each drone can be obtained, and the supervision of the corresponding drone can be realized according to the supervision information.

In this embodiment, the supervisory information of the drone acquired by the detecting device may include, but is not limited to, identity information of the drone, location information, flight parameter information, flight attitude information, owner information, purchase time information, purchase location information, One or more of historical flight path information, hardware configuration information, check bit information, and position information of the control terminal. Through the acquisition of regulatory information, the detection device can understand the relevant parameters of the drone and better supervise the UAV. For example, by obtaining the location information of the UAV in the regulatory information, the UAV can be realized. Positioning.

The identity information may include, but is not limited to, a vendor identifier and a model of the drone; the location information of the drone may include, but is not limited to, current location information of the drone, and at least location information of the drone when it takes off. A flight parameter information may include, but is not limited to, at least one of a maximum flight speed, a maximum flight altitude, and a current flight speed; the flight attitude information may include, but is not limited to, a roll angle, a pitch At least one of an angle and a yaw angle; the hardware configuration information may include at least but not limited to configuration information of a payload of the drone; the check bit information may be a cyclic redundancy CRC check code; and the location information of the control terminal may be At least one of, but not limited to, location information when the drone takes off, and location information output by the positioning device on the control terminal.

303. Using a processor to evaluate a risk level of each of the plurality of drones according to the regulatory information;

In this embodiment, after the detecting device uses the processor to parse the data packet to obtain the supervision information of each of the plurality of drones, the processor may use the processor to evaluate the danger level of each of the plurality of drones according to the regulatory information.

Specifically, after acquiring the monitoring information, the detecting device may further determine the dangerous level of the drone according to the regulatory information, so as to be able to formulate or start different emergency measures according to the dangerous level of the drone, and realize different dangerous levels. The distinction between drones and safety supervision. Among them, the hazard level can be used to describe the current safety level of the drone. The higher the hazard level, the greater the security threat that the drone may cause. Among them, the detection equipment can set the danger level of the drone to different levels, such as level I (low security threat level), level II (security threat level), level III (high security threat level), the level here. The settings are merely illustrative and those skilled in the art can use other different level settings.

In this embodiment, after the detecting device acquires the supervision information of each of the plurality of drones by using the processor, the monitoring information of each of the unmanned aerial vehicles can be used to evaluate the dangerous level of the corresponding drone. To implement appropriate supervision of each drone based on the level of danger.

304. Using a processor to determine a first drone having the highest dangerous level among the plurality of drones;

In this embodiment, after the detecting device evaluates the hazard level of each of the plurality of drones according to the regulatory information, the detecting device may determine, by using the processor, the first drone with the highest dangerous level among the plurality of drones.

For example, suppose the detecting device acquires the data packets of the three drones of the drone 1, the drone 2, and the drone 3, and according to the supervision information of the drone 1, the drone 2, and the drone 3 It is determined that the corresponding dangerous level is level I, level II, and level I, then it can be determined that the danger level of the drone 2 is the highest, that is, the drone 2 can be the first drone.

It can be understood that, in practical applications, the first drone is not limited to one of the unmanned aerial vehicles described above, for example, when the dangerous level of the above-mentioned drone 3 is also level II, then the drone 2 can be determined. The drone 3 is the first drone, which is not limited herein.

305. After determining the first drone, continuously use the detector to continuously scan the working channel of the communication network between the first drone and the control terminal of the first drone.

In this embodiment, after the detecting device determines the first drone with the highest dangerous level, it can be considered that the first drone is currently the most vulnerable to the security threat relative to other drones, and the intruder is likely to be invaded. If an event such as a flight-defining zone is unfavorable for public safety, the detecting device can continuously scan the working channel of the communication network between the first drone and the control terminal of the first drone by using the detector, and temporarily no other Human-machine detection.

Specifically, the detecting device continuously scans the working channel of the communication network between the first drone and the control terminal of the first drone, and may formulate or start a corresponding emergency according to the dangerous level of the first drone. Measures such as limiting the flight distance, flight altitude, flight time, flight speed, flight direction, etc. of the drone, and implementing a corresponding restriction strategy: controlling the drone to fly to a preset position or a preset area or to an unmanned person The machine sends a warning signal to reduce the danger level of the first drone, and can determine whether the danger level of the drone is lowered by further obtaining the supervision information of the first drone.

It can be understood that, in this embodiment, since the danger level of the unmanned aerial vehicle other than the first drone is relatively low, the drone other than the first drone can be relatively safe by default, and the detecting device can be The working channel of the communication network between the drone other than the first drone and the corresponding control terminal is not continuously scanned. In practical applications, after continuously scanning the channel of the highest-risk drone for a preset time, the working channels of other drones can be intermittently scanned to prevent the detecting device from detecting other dangerous levels. Drone.

Referring to FIG. 4, another embodiment of the unmanned aerial vehicle detecting method in the embodiment of the present invention includes:

Steps 401 to 402 in this embodiment are the same as steps 301 to 302 in the embodiment shown in FIG. 3, and details are not described herein again.

403. Determine, by using a processor, a second drone that is closest to the distance detector among the plurality of drones according to the regulatory information;

In this embodiment, after the detecting device uses the processor to parse the data packet to obtain the supervision information of each of the plurality of drones, the processor may determine, according to the regulatory information, the nearest one of the plurality of unmanned aerial vehicles. Two drones.

Specifically, the detectors configured by the detecting device may be disposed in different areas. Among them, in order to ensure the flight safety of drones, air traffic control in each country has different regulations for airspace close to the airport or other areas, that is, a flight limited zone can be provided. For example, within a certain distance of the airport, regardless of the drone The height or range of all drones is prohibited from flying. Therefore, when the detector is disposed inside the edge of the fly-limited zone or inside the fly-limited zone, the distance between the drone and the fly-limited zone can be determined by determining the distance between the probe and the drone, and the drone and the fly-limited zone are determined. The closer the distance, the greater the probability that the drone will invade the flight zone, and the default is that the hazard level of the drone is higher.

Further, in this embodiment, the concept of a supervision area may also be provided, and the supervision area is a concept of supervising the drone. In the supervision area, the flight of the drone may be allowed but subject to a certain degree of supervision. For example, when a drone cannot send a packet containing regulatory information, it can limit the flight of the drone, control the area or location where the drone returns to take off, and the emergency landing of the drone to reduce the safety of the drone. Threat. Outside the regulatory area, drones can be unregulated because they have no security threats. In some areas, there are both regulatory areas and limited flying areas. The limited flying area may be located in the supervision area, or may partially overlap with the supervision area, or the area where the flight limited area does not overlap with the supervision area. The detector can be placed in the surveillance zone or in the restricted zone. At this time, the distance of the drone from the detector is strongly related to the possibility of a public safety event caused by the drone. When the detector receives the data packet containing the supervisory information sent by the drone, the processor of the detecting device can determine the distance of the drone to the detector according to the position of the drone in the regulatory information and the position of the detector. This distance can determine the current location of the drone and the relationship between the supervised area or the restricted area. The smaller the distance, the deeper or closer the drone is to or near the supervision area or the restricted area. The greater the likelihood of a security incident.

For other descriptions of the flight-limited zone and the supervision zone, refer to the existing specification, and no further details are provided here.

404. After determining the second drone, continuously use the detector to continuously scan the working channel of the communication network between the control terminals of the second drone and the second drone.

In this embodiment, after the second drone is determined, since the second drone is deepest or close to the supervision area or the fly-limited area, the public safety event is most likely to be caused, and the detecting device can utilize the detector pair second. The working channel of the communication network between the drone and the control terminal of the second drone is continuously scanned, that is, the detector only detects the drone closest to it, and can temporarily not detect other drones. In practical applications, after continuously scanning the channel of the most dangerous UAV for a preset time, the working channels of other UAVs can be intermittently scanned to prevent the detecting device from detecting other fast approaching detectors. Drone.

For the content of the second embodiment, the content of the embodiment can be described with reference to step 305 in the embodiment shown in FIG. 3, and details are not described herein again.

Referring to FIG. 5, another embodiment of the unmanned aerial vehicle detecting method in the embodiment of the present invention includes:

Steps 501 to 502 in this embodiment are the same as steps 301 to 302 in the embodiment shown in FIG. 3, and details are not described herein again.

503. The processor determines, according to the regulatory information, a distance between each of the plurality of drones to the detector, and determines a third drone whose distance is less than or equal to a preset distance threshold.

In this embodiment, after the detecting device uses the processor to parse the data packet to obtain the supervision information of each of the plurality of drones, the processor may determine, by using the processor, each of the plurality of drones to the detector according to the regulatory information. Distance, a third drone that determines a distance less than or equal to a preset distance threshold.

Specifically, part of the content explained based on step 303 in the embodiment shown in FIG. 3 and part of the content explained in step 403 in the embodiment shown in FIG. 4, in the present embodiment, as described above, since the detector can be disposed at Different areas (limited flight zone and/or supervision zone), the distance of the drone from the detector is related to the possibility of the UAV causing a public safety event, and the detection device can preset the distance threshold as the UAV to the detector. For safety distance, the detector only detects the drone that is less than or equal to the safe distance from the detector, and does not detect other drones other than the distance threshold. For example, if the preset distance threshold is 100 meters, the detecting device uses the processor to determine the distances of the drone 1, the drone 2, the drone 3 to the detector according to the regulatory information, respectively, 300 meters, 500 meters, 80 meters. Then, it can be determined that the danger level of the drone 3 relative to the drone 1 and the drone 2 is higher, that is, the drone 3 can be the third drone.

It can be understood that, in practical applications, the third drone is not limited to one of the drones described above, for example, when the distance from the drone 1 to the detector is 50 meters, then the drone 1 can be determined. And the drone 3 is a third drone, which is not limited herein.

504. After determining the third drone, continuously use the detector to continuously scan the working channel of the communication network between the control terminals of the third drone and the third drone.

In this embodiment, after determining the third drone, the detecting device can continuously scan the working channel of the communication network between the control terminals of the third drone and the third drone by using the detector. At this time, the detecting device detects only the drone that is less than or equal to the preset distance threshold from the detector, and does not detect other drones temporarily. In practical applications, after continuously scanning the channel of the most dangerous UAV for a preset time, the working channels of other UAVs can be intermittently scanned to prevent the detecting device from detecting other fast approaching detectors. Drone.

The content in this embodiment can refer to the figure except that the determination of the third drone is different from that of the first drone. The content explained in step 305 in the embodiment shown in FIG. 3 is not described here.

Second, the detector is multiple

Referring to FIG. 6, another embodiment of the unmanned aerial vehicle detecting method in the embodiment of the present invention includes:

601. Acquire, by using multiple detectors, a data packet including supervisory information of the drone, separately or in cooperation;

In this embodiment, the detecting device may be configured with multiple detectors. After the detecting device is turned on, the detecting device may separately or cooperatively acquire data packets including the supervisory information of the drone.

Specifically, after the UAV establishes a communication connection with the control terminal, the corresponding communication network may have multiple working channels for the UAV and the control terminal to transmit data. Since the UAV mostly uses point-to-point communication, each UAV The working channels used will be different, and it is not clear that the drone specifically uses a certain working channel. In the case where the number of working channels is large, the detecting device can use the detector to scan multiple working channels to adopt multiple The receiving channel is divided into frequency bands, that is, the processor of the detecting device allocates multiple working channels to multiple detectors, and each of the plurality of detectors scans a preset number of working channels, thereby ensuring that the capturing time satisfies the supervision. The requirement to achieve supervision of one or more drones.

In practical applications, when the detecting device is provided with multiple detectors, the detecting device may allocate multiple working channels to multiple detectors, and each of the plurality of detectors may scan a preset number of working channels to The scanning of multiple working channels is realized, so that when the detector monitors the data packet conforming to the drone, the plurality of detectors can be used to acquire the data packet including the supervisory information of the drone separately or in cooperation. For example, suppose that based on the communication network between the UAV and the control terminal, the plurality of working channels that the UAV can use are 10 working channels, and the detecting device has 5 detectors, and each detector can be scanned in turn. 2 working channels. It should be noted that, when there are multiple detectors in this embodiment, the preset number of working channels scanned by each detector may be inconsistent. For example, one detector may scan two working channels in turn, and another detector may The three working channels are scanned in turn, and the working channels that are scanned between the different detectors may be overlapped. This embodiment is for illustrative purposes only and is not limited herein.

Further, in this embodiment, the plurality of detectors may be disposed in different areas, and the plurality of detectors and the processor of the detecting device may be connected by wire or wireless, so that the detecting device can go through different geographical locations. The UAV's data packets are acquired so that the drone can be supervised in one area and the continuous supervision of the drone can be realized. For example, the detector can be located in the flight limited area. It can also be located in a non-limited flight zone, which is not limited here.

In addition, by sub-band coverage of multiple detectors, not only can the capture time of the data packets received by the detection device to the drone be reduced, but also the redundancy backup function can be realized. In the case where the receiving channel of one of the detectors is damaged, The full-band coverage is achieved by the receiving channels of the remaining detectors, thereby improving the reliability of the detection device.

It can be understood that, in practical applications, multiple detectors can be used to acquire data packets of more than one drone. For convenience of description, in this embodiment, an unmanned aerial vehicle is taken as an example. Hereinafter, the description will not be repeated later.

602. Using a processor to parse the data packet to obtain supervisory information of the drone;

In this embodiment, after the detecting device acquires the data packet including the supervisory information of the drone by using the plurality of detectors individually or in cooperation, the data packet may be parsed by the processor to obtain the supervisory information of the drone.

For the content of this embodiment, the content of the embodiment may refer to the content described in step 302 in the embodiment shown in FIG. 3, and details are not described herein again.

603. When the number of the detectors that obtain the data packet is greater than or equal to the preset first number threshold, the processor is used to evaluate the danger level of the drone according to the regulatory information.

In this embodiment, after the probe device uses the processor to parse the data packet and obtain the supervision information of the drone, when the number of the probes that obtain the data packet is greater than or equal to the preset first threshold, The detection device can utilize the processor to evaluate the hazard level of the drone based on regulatory information.

Specifically, the detecting device may preset the first number threshold, and may use the preset first number threshold as a criterion for determining whether the drone may cause a public safety event, so as to acquire the detector of the data packet. When the number is greater than or equal to the preset first threshold, it can be estimated that the drone may cause public safety events, and the danger level of the drone can be evaluated based on the supervision information of the drone obtained from the parsing of the data packet. If the number of detectors that obtain the data packet is less than the preset first threshold, it can be considered that the drone will not cause a public safety event. In this case, the security level of the drone may not be evaluated. Based on the part of the description in step 403 of the embodiment shown in FIG. 4, since a plurality of detectors can be disposed in different regions, for example, a plurality of detectors are respectively disposed at different positions of the edges of the fly-limited area, for example, in the supervision area. There are multiple detectors in the interval of the edge. If the detectors in the plurality of detectors that are greater than or equal to the preset first threshold value acquire the data packets of the drone, the drone may be considered to be Fly around the restricted flight zone and may attempt to enter the flight zone or have entered the flight zone. At this time, The hazard level of the drone is evaluated based on the supervisory information of the drone acquired by multiple detectors.

In addition, when the number of detectors that acquire the data packet is less than the preset first threshold, the detector may be detected by mistake, and the detecting device does not detect the drone, only when the probe of the data packet is acquired. If the number of the number is greater than or equal to the preset first threshold, it is considered that the detecting device detects the drone, and then it is necessary to evaluate the dangerous level of the drone.

It can be understood that, in this embodiment, the configuration positions of the plurality of detectors are not limited to the above description, and in actual applications, other configuration positions may also be used, for example, when there is a concept of a supervision area, multiple detectors It can be partially disposed on the edge of the supervision area, and partially disposed on the edge of the flight restriction area, which is not limited herein.

Further, in this embodiment, in order to achieve continuous detection of the unmanned aerial vehicle, among the plurality of detectors, the detector that acquires the data packet in the detecting device may broadcast its own location information and/or data packet to other detectors. To instruct other probes to probe the drone corresponding to the packet. For example, suppose the detecting device is configured with a detector 1, a detector 2, and a detector 3. If the detector 1 acquires a data packet of the drone, the detector 1 can broadcast its own position information to the detector 2 and the detector 3. / or the data packet of the drone, in the detector 2, the detector 3 receives the position information of the detector 1 and / or the data packet of the drone, the detector 2, the detector 3 can be activated, can analyze the unmanned The data packet of the machine obtains the supervisory information of the drone, and can use the supervisory information of the drone to perform directional detection on the drone.

It can be understood that, in the foregoing embodiment, the method for detecting the UAV corresponding to the data packet by other detectors is only an example. In practical applications, other methods may be used separately or in combination, as long as other The detector can perform directional detection on the unmanned aerial vehicle corresponding to the data packet, which is not limited herein.

Further, in this embodiment, the detecting device may use a one or more of a flight direction, a position information, and a flight speed of the unmanned aircraft determined by the processor according to the supervisory information to instruct the specific detector to detect the drone. In practical applications, the processor of the detecting device may acquire one or more of a flight direction, a position information, and a flight speed of the drone according to the supervisory information of the drone, and the processor of the detecting device may be according to the unmanned aerial vehicle. In the direction of flight, the detector disposed in the direction is activated to enable the detector in the direction to detect the drone, and according to the current position of the drone, the position of the detector, and the flying speed of the drone, The time during which the drone enters the detection range of the detector disposed in the flight direction can be further estimated such that the processor of the detection device can determine when to instruct or activate the detector to detect the drone based on the time. By combining the flight speed of the drone, the drone can be accurately The time at a certain position is convenient for the detection device to indicate a more suitable specific detector to detect the drone, which is not limited herein.

Referring to FIG. 7, another embodiment of the unmanned aerial vehicle detecting method in the embodiment of the present invention includes:

Steps 701 to 702 in this embodiment are the same as steps 601 to 602 in the embodiment shown in FIG. 6, and details are not described herein again.

703. The processor is used to evaluate the danger level of the drone according to the number of detectors that obtain the data packet.

In this embodiment, the detecting device may further utilize the processor to evaluate the dangerous level of the drone according to the number of detectors that acquire the data packet.

Specifically, based on part of the description in step 403 in the embodiment shown in FIG. 4, since a plurality of detectors can be disposed in different regions, such as an edge of a flight-limited area or an inner portion of a flight-defining area or an edge of a regulatory area, The location of the drone (the drone is located outside the supervised or supervised area) can provide an example of the assessment of the hazard level of the drone:

For example, multiple detectors are respectively arranged at different positions on the edge of the flight limited area, wherein if the number of detectors that acquire the data packets of the drone is more, it may indicate that the drone may fly around the restricted flight area. Or the closer the UAV is to the flight-limited zone or the distance to the flight-limited zone, the higher the dangerous level of the drone. Conversely, if the number of detectors that acquire the data packet of the drone is less, then It can be stated that the drone may only fly at a safe distance outside the restricted area or only after passing through the restricted area and not stay in the restricted area, and the danger level of the drone is lower. Therefore, the detecting device can use the processor to evaluate the dangerous level of the drone according to the number of detectors that acquire the data packet.

It can be understood that, in this embodiment, the configuration positions of the plurality of detectors are not limited to the above description, and in actual applications, other configuration positions may also be used, for example, when there is a concept of a supervision area, multiple detectors It can be partially disposed on the edge of the supervision area, and partially disposed on the edge of the flight restriction area. The number of detectors that acquire the data packets of the drone is also used to assess the danger level of the drone, which is not limited herein.

It should be noted that, in actual applications, other situations may exist, which may be determined according to the configuration of the detector and the actual setting of the restricted area and the supervision area, which are not limited herein.

Further, in this embodiment, the detecting device may preset a second threshold, and may use a preset second threshold as a criterion for determining whether a drone may occur a security event, so as to obtain a data packet. When the number of detectors is greater than or equal to the preset second threshold, the drone can be estimated If a security event occurs, the processor can be used to evaluate the hazard level of the UAV based on the number of probes that have obtained the data packet. For details, refer to the above description, and details are not described here.

It can be understood that the step 703 in this embodiment may be performed before step 702, or may be performed simultaneously with step 702, which is not limited herein.

Referring to FIG. 8, another embodiment of the unmanned aerial vehicle detecting method in the embodiment of the present invention includes:

Steps 801 to 802 in this embodiment are the same as steps 601 to 602 in the embodiment shown in FIG. 6, and details are not described herein again.

803. Determine, by using a processor, a second flight path of the drone according to an acquiring order of the probes that obtain the data packet.

In this embodiment, the detecting device may further utilize the processor to determine the second flight path of the drone according to the acquiring order of the probes that acquire the data packet.

Specifically, after the detecting device acquires the data packet of the drone by using the probe, the data packet of the drone can be recorded, and at the same time, the probe that acquires the data packet can also be recorded. In general, the detector has a limited scanning range. When the drone is not within the scanning range of the detector, the detecting device will not be able to use the detector to acquire the data packet of the drone. Therefore, in this embodiment, since the plurality of detectors of the detecting device can be configured in different regions, after the detectors that acquire the data packets in the plurality of detectors are recorded, according to the detector that acquires the data packet The acquisition sequence determines the second flight path of the drone.

For example, suppose the detecting device is configured with a detector 1, a detector 2, a detector 3, a detector 4, and a detector 5, which are respectively arranged at an A coordinate point, a B coordinate point, a C coordinate point, a D coordinate point, and an E coordinate point, Then, if the five detectors have acquired the data packets of the drone, and the acquisition order is the detector 3, the detector 2, the detector 5, the detector 1, and the detector 4, the drone can be roughly determined. The second flight path is a path in which C coordinate points, B coordinate points, E coordinate points, A coordinate points, and D coordinate points are sequentially connected.

It can be understood that, in practical applications, if a detector can acquire data packets of multiple drones, the supervisory information of the drone obtained from the parsed data packet can be determined to determine the identity information of the drone, and according to The identity information of the drone is determined from the plurality of detectors to obtain the probes of the data packets of the same drone, and then the corresponding drones are determined according to the acquisition order of the probes that acquire the data packets of the same drone Second flight path.

804. The processor is used to evaluate a hazard level of the drone according to the second flight path of the drone.

In this embodiment, after the detecting device determines the second flight path of the drone according to the acquisition order of the probes that acquire the data packet, the processor may use the processor to evaluate the drone according to the second flight path of the drone. Danger level.

Specifically, based on part of the description in step 403 in the embodiment shown in FIG. 4, since a plurality of detectors can be disposed in different regions, such as an edge of a flight-limited area or an inner portion of a flight-defining area or an edge of a regulatory area, The location of the drone (the drone is located outside the supervised or supervised area) and the second flight path of the drone can be used to give an example of the assessment of the hazard level of the drone:

1. A plurality of detectors are respectively disposed at different positions inside the edge of the flight limited zone and/or the flight limited zone, wherein if the detecting device uses the processor to determine the second flight path of the drone is the winding-limited flight zone If there are multiple rounds of flight around, it can be estimated that the drone may attempt to invade the restricted area, and the danger level of the drone will be higher. If the second flight path of the drone determined by the detecting device is in the restricted area. Internal flight, it can be confirmed that the drone has invaded the restricted flight zone, then the danger level of the drone will be relatively higher, if the second flight path of the drone determined by the detection device is the flight-limited zone Outside, it can be considered that the drone is only passing outside the restricted area, so the danger level of the drone will be relatively low.

2. Multiple detectors are respectively arranged at the edge of the supervision area or at different positions inside (the flight restriction area is located inside the supervision area), when the second flight path of the drone is located in the supervision area and the drone is within the supervision area. When the distance of the flight-limited zone is relatively close, the probability that the drone may enter the flight-limited zone is higher, and the danger level of the drone is higher; the second flight path of the drone is located in the supervision zone and the drone distance The restricted flight area is far away, and the drone is only active in the supervised area, and there is the possibility of entering the restricted area, and the dangerous level of the drone is lower. If the second flight path of the drone is on the outer edge of the supervision zone, the danger level of the drone is lower than the first two cases.

It can be understood that, in this embodiment, the configuration positions of the plurality of detectors are not limited to the above description, and in actual applications, other configuration positions may also be used, for example, when there is only the concept of the supervision area, multiple detectors It can be partially disposed in the edge of the supervision area or inside the supervision area, which is not limited here.

It should be noted that, in the embodiment, only the above two examples are used to describe the situation in which the risk level of the drone is evaluated by the processor according to the second flight path of the drone. In actual applications, other situations may exist. It can be determined according to the configuration of the detector and the actual setting of the flight-defining area and the supervision area, which is not limited here.

It can be understood that the steps 803 to 804 in this embodiment may be performed before the step 802, or may be performed simultaneously with the step 802, which is not limited herein.

Referring to FIG. 9, another embodiment of the unmanned aerial vehicle detecting method in the embodiment of the present invention includes:

Steps 901 to 902 in this embodiment are the same as steps 601 to 602 in the embodiment shown in FIG. 6, and details are not described herein again.

903. The processor is used to evaluate the danger level of the drone according to the location of the detector that obtains the data packet.

In this embodiment, after the detecting device uses the processor to parse the data packet and obtain the supervisory information of the drone, the processor may use the processor to evaluate the dangerous level of the drone according to the location of the probe that obtains the data packet.

Different from the embodiment shown in FIG. 8 , it is required to evaluate the danger level of the drone by using the second flight path of the drone determined by the processor according to the acquisition order of the probes that acquire the data packet. In this embodiment, when After the detector acquires the data packet of the drone, the detecting device can record the detector, and can simply and efficiently utilize the processor to evaluate the dangerous level of the drone according to the location of the detector.

For example, based on the portion of the content illustrated in step 803 of the embodiment shown in FIG. 8 and the portion of the description based on step 403 in the embodiment shown in FIG. 4, since the scanning range of the detector is limited and the plurality of detectors of the detecting device can be configured In different areas, if the detector located at the edge of the flight limited area acquires the data packet of the drone, then according to the position of the detector of the edge of the limited flight area, it can be estimated that the drone appears in the flight limited area. Around the edge, the drone may invade the restricted area, and the danger level of the drone is higher. If the detector inside the restricted area acquires the data packet of the drone, then according to the inside of the restricted area The position of the detector can be estimated that the drone appears inside the flight-limited zone, and the drone has invaded the flight-limited zone. Relatively speaking, the danger level of the drone is higher, but if it is outside the restricted zone Obtaining the data packet of the drone, according to the position of the detector, it can be estimated that the drone has not approached or entered the flight limited zone, and the drone has a relatively low level of danger.

It can be understood that, in this embodiment, the configuration positions of the plurality of detectors are not limited to the above description, and in actual applications, other configuration positions may also be used, for example, when there is a concept of a supervision area, multiple detectors It can be partially disposed on the edge of the supervision area, and partially disposed on the edge of the flight restriction area, which is not limited herein.

It should be noted that, in the embodiment, only the above two examples are used to describe the situation that the processor is used to evaluate the dangerous level of the drone according to the position of the detector that acquires the data packet. In actual applications, other situations may exist. The specific configuration may be determined according to the configuration of the detector and the actual setting of the restricted area and the supervision area, which is not limited herein.

It can be understood that the step 903 in this embodiment may be performed before step 902, or may be performed simultaneously with step 902, which is not limited herein.

Further, in this embodiment, regardless of whether the detectors are multiple or one, the detecting device can evaluate the dangerous level of the drone according to the supervisory information after obtaining the supervisory information of the drone, and can also monitor the information. Sent to the server, so that the server can evaluate the hazard level of the drone. At the same time, the detecting device can also evaluate the hazard level of the drone based on the regulatory information and the additional information of the drone delivered by the server. Description:

Referring to FIG. 10, another embodiment of the unmanned aerial vehicle detecting method in the embodiment of the present invention includes:

Step 1001 in this embodiment is the same as step 201 in the embodiment shown in FIG. 2, and details are not described herein again.

1002. Using a processor to parse the data packet to obtain supervisory information of the drone;

In this embodiment, after the detecting device acquires the data packet including the supervisory information of the drone by using the probe, the processor may use the processor to parse the data packet to obtain the supervisory information of the drone.

For the content of this embodiment, the content of the embodiment may refer to the content described in step 302 in the embodiment shown in FIG. 3, and details are not described herein again.

1003. Using a processor to evaluate the danger level of the drone based on the regulatory information.

In this embodiment, after the detecting device uses the processor to parse the data packet to obtain the supervisory information of the drone, the processor may use the processor to evaluate the dangerous level of the drone according to the regulatory information.

Based on the content described in step 303 in the embodiment shown in FIG. 3, since the supervisory information acquired by the detecting device involves different related parameters of the drone, the detecting device may use the processor to evaluate the drone according to the supervisory information. The level of danger is as follows:

1. The processor is used to evaluate the danger level of the drone according to the position information of the drone in the supervisory information: the supervisory information of the drone may include the location information of the drone, and the location information may include latitude, longitude, altitude Height, according to the position information of the drone, the position of the drone can be determined more accurately. Then, by comparing the position of the drone with the position of the flight limited area, or when the supervision area is provided, the drone is compared. The location and location of the regulatory area can be used to assess the hazard level of the drone.

For example, the closer the location of the drone is to the fly-limited zone, the greater the probability that the UAV will invade the flight-limited zone by default, and the higher the hazard level of the drone.

2. Further, using the processor to evaluate the hazard level of the drone based on the location information of the drone in the regulatory information may further comprise using the processor to determine the location information of the drone based on the regulatory information. Determining the first flight path of the drone, and evaluating the hazard level of the drone according to the first flight path: different from the embodiment shown in FIG. 8, the processor needs to be determined according to the acquisition order of the probes that acquire the data packet. The second flight path of the drone is used to evaluate the danger level of the drone. In this embodiment, the first flight path of the drone can be more accurately determined according to the position information of the drone in the supervisory information. In practical applications, each time the detecting device acquires the supervisory information of the drone, the supervisory information of the drone acquired at that time can be recorded as historical supervision information, and then the detecting device acquires the current drone. After the supervision information, the current location information of the drone can be obtained from the current regulatory information, and the historical location information of the drone obtained from the historical supervision information can be used to determine the first flight path of the drone.

For example, during the current flight of the drone, the detecting device records the historical supervision information of the drone three times. According to the recorded time sequence, according to the historical supervision information of the drone, it can be determined that the drone passes through the A1 coordinate point in turn. B1 coordinate point and C1 coordinate point, then combined with the current position D1 coordinate point of the drone determined from the current supervisory information of the drone, it can be determined that the first flight path of the drone is A1 coordinate point, B1 coordinate point, The C1 coordinate point and the D1 coordinate point are sequentially connected to the obtained path.

In this embodiment, except that the manner of determining the first flight path is different from the second flight path, the manner of evaluating the danger level of the drone according to the first flight path is the same as the method according to step 804 in the embodiment shown in FIG. The second flight path evaluates the hazard level of the drone in the same way, and will not be repeated here.

It can be understood that, in a practical application, a method for evaluating a dangerous level of a drone according to a first flight path or a second flight path, in addition to the above description, in a practical application, the first flight path or the second may also be used. The flight path is compared with a preset flight path to determine the danger level of the drone according to the degree of deviation when the first flight path or the second flight path deviates from the preset flight path, so that the drone deviates from the preset In the flight path, it is possible to predict that a drone may cause a hardware failure and other problems, resulting in a dangerous accident, so that the detection device can establish or activate corresponding emergency measures according to the corresponding risk level to prevent the occurrence of a dangerous accident.

It should be noted that, in the foregoing embodiment, the specific content of the risk level of the drone is evaluated according to the regulatory information, and the content described in step 1003 in this embodiment may be referred to.

Referring to FIG. 11, another embodiment of the unmanned aerial vehicle detecting method in the embodiment of the present invention includes:

Steps 1101 to 1102 in the embodiment of the present invention are the same as steps 1001 to 1002 in the embodiment shown in FIG. 10, and details are not described herein again.

1103. Sending supervisory information to the server periodically or aperiodically;

In this embodiment, after the probe device uses the processor to parse the data packet to obtain the supervisory information of the drone, the probe device may periodically or aperiodically send the supervisory information to the server, so that the server may, according to the received supervisory information, Further assess the hazard level of the drone and enable intrusion detection of one or more areas.

1104. Receive additional information of a drone corresponding to the supervisory information sent from the server;

In this embodiment, after the monitoring device periodically or non-periodically sends the supervisory information to the server, the probe device may receive the additional information of the drone corresponding to the supervisory information sent from the server.

Specifically, after receiving the monitoring information sent by the detecting device, the server may obtain, from the local storage, additional information of the drone corresponding to the supervisory information according to the identity information of the drone in the supervisory information, where the additional information may include at least It is not limited to at least one of the activation account of the drone, the purchase time, the purchase location, the owner information, and the number of flights.

After the drone is purchased, the drone seller or the purchaser can report the additional information of the drone to the server and store it for backup.

1105. The processor is used to evaluate the danger level of the drone based on the regulatory information and the additional information.

In this embodiment, after the detecting device receives the additional information of the drone corresponding to the supervisory information sent from the server, the processor may use the processor to evaluate the risk level of the drone based on the supervisory information and the additional information.

Specifically, after the detecting device obtains the supervision information of the drone and the additional information, the monitoring information and the additional information may be compared to evaluate the dangerous level of the drone. For example, the location information in the supervisory information of the drone indicates that the current location of the drone is China, but the additional information indicates that the location of the drone is purchased in the United States, because the location and location of the drone are inconsistent, It is believed that drones may be at risk of being unfamiliar with the flight environment, prone to flight accidents, stealing national military secrets or other detectives. The hazard level may be based on the sensitivity of the UAV's current location in a certain region of China. The higher the sensitivity, the higher the danger level of the drone.

It can be understood that the present embodiment only illustrates the manner in which the detecting device uses the processor to evaluate the dangerous level of the drone according to the regulatory information and the additional information by using the above two examples. In practical applications, other methods may be combined or separately. As long as it can evaluate the danger level of the drone, it is not limited here.

Further, in this embodiment, the detecting device may also use the processor to evaluate the dangerous level of the drone according to the additional information, for example, according to the identity serial number of the drone in the regulatory information from the server. Obtain additional information about the drone, such as the number of flights of the drone, where the number of flights of the drone is small. In some cases, it may be considered that there may be insufficient flight experience of the flying hand to risk the flight accident, then It can be considered that the danger level of the drone is high at this time.

It should be noted that, based on the description of evaluating the danger level of the drone in the above embodiment, in practical applications, at least one of the above embodiments may be combined to comprehensively evaluate the danger of the drone. Level, specifically, the weighting method for each type of risk assessment of the drone can be set, so that the evaluation result corresponding to each hazard level of the evaluation drone can be weighted, and the weighting calculation can be finally obtained. The value is the danger level of the drone. The setting of the hazard level of the UAV can be specifically set according to the evaluation standard of the hazard level of the UAV in each embodiment, which is not limited herein.

It can be understood that, in order to facilitate the detection device to more accurately understand the location information of the drone, the detecting device may be provided with an interaction device, by which the related information of the drone may be displayed, which is specifically described below:

Referring to FIG. 12, another embodiment of the unmanned aerial vehicle detecting method in the embodiment of the present invention includes:

Steps 1201 to 1202 in this embodiment are the same as steps 1001 to 1002 in the embodiment shown in FIG. 10, and details are not described herein again.

1203. The processor obtains location information of the drone and/or the control terminal in the supervisory information, and displays the drone and/or the control terminal on the map of the interaction interface of the interaction device according to the location information.

In this embodiment, after the detecting device uses the processor to parse the data packet to obtain the supervisory information of the drone, the processor may obtain the location information of the drone and/or the control terminal in the supervisory letter, and may be based on the location information. The human machine and/or control terminal is displayed on a map of the interactive interface of the interactive device.

Specifically, in order to facilitate the supervision of the unmanned person, the detecting device may further be provided with an interaction device in which an interactive interface for display is provided, and in order to further visually display the position of the drone and/or the control terminal After obtaining the supervision information of the drone, the detecting device may determine the location information of the drone and/or the control terminal from the supervisory information of the drone, and may select the drone and/or control according to the location information. The terminal is displayed on a map of the interactive interface of the interactive device. Wherein, the drone and/or the control terminal may be provided with corresponding display icons to facilitate distinguishing between the drone and the control terminal, and at the same time, may play an obvious visual prompt role, corresponding to the drone and/or the control terminal. The shape, color, and size of the display icons can be set according to actual needs, which is not limited here.

Further, based on the evaluation of the danger level of the drone in the above embodiment and based on the supervision letter The additional information obtained from the server, the detecting device may also use the interactive device to display the supervisory information of the drone, the additional information of the drone obtained from the server according to the regulatory information, one or more of the danger levels, to detect This side of the device provides more information about the drone.

For example, as shown in FIG. 13, assuming that the control terminal of the drone is a remote controller, the drone operator can control the flight of the drone through the remote controller, and during the communication 1 between the drone and the remote controller, the detecting device The detector in the interception can intercept the data packet broadcast by the drone through the communication 3. After the probe acquires the data packet of the drone, the detecting device can use the processor to parse the data packet to obtain the supervision information, and at the same time, the detection device including the detector Communication 2 can be established with the server, and the detecting device can receive additional information of the drone transmitted by the server according to the supervisory information through the communication 2. In practical applications, in order to facilitate supervision of the drone, the detecting device may be provided with an APP, and the APP may be configured on the mobile device (the mobile device is part of the detecting device, and the interactive device may be a mobile device or a mobile device) Part of the mobile device's display screen, after launching the app on the mobile device, you can display the map for supervising the drone on the interactive interface, then the location of the drone can be displayed on the map (unmanned The machine icon) and the position of the control terminal (human figure), and at the position of the drone, the supervisory information and additional information of the drone can be displayed in the form of a display frame.

Further, based on the description of the foregoing embodiment, in a practical application, the detecting device may also periodically or aperiodically upload the working state information of the probe to the server, so that the server knows whether the detector works normally, so that In the normal working condition, the detector can be repaired accordingly. At the same time, when the detecting device is configured with multiple detectors, the server can take another corresponding measure to adjust other conditions when the detector fails to work normally. The working mode of the working detector is to compensate for the malfunction of the detector. Based on this, the detecting device can receive the control instruction command sent from the server, and can use the processor to turn off or start the detector according to the control instruction to meet different detection requirements of the detecting device for the detector.

Optionally, in this embodiment, the processor and the interaction device may be configured on a mobile device, where the mobile device may be a mobile phone, a tablet, or the like having a display screen.

The method for detecting the unmanned aerial vehicle in the embodiment of the present invention is described above from the perspective of the side of the detecting device. The control method of the server in the embodiment of the present invention is described from the perspective of the server side. Referring to FIG. 14, the present invention is described. One embodiment of the control method of the server in the embodiment includes:

1401. The communication interface is used to receive the supervisory information of the drone sent by the detecting device of the drone;

In this embodiment, the detecting device of the drone can establish a communication connection with the server, in order to implement the service. The server can receive the monitoring information of the UAV sent by the detecting device by using the communication interface for the unified management of the detecting device and the intrusion detection of the UAV in the corresponding area.

1402. The processor is used to evaluate the danger level of the drone based on the regulatory information.

In this embodiment, after the server receives the supervisory information of the drone sent by the detecting device of the drone by using the communication interface, the processor may use the processor to evaluate the dangerous level of the drone according to the regulatory information.

Specifically, after obtaining the supervision information, the server can automatically compare the supervision information with the data in the database to determine the danger level of the drone corresponding to the supervision information, so as to be able to formulate or start different according to the danger level of the drone. Emergency measures, such as limiting the flight distance, flight altitude, flight time, flight speed, flight direction, etc. of the drone, or controlling the drone to fly to a preset position or preset area to achieve unmanned different levels of danger The division of the machine should respond.

With reference to the content described in step 303 in the embodiment shown in FIG. 3, the server may also set the level of danger of the drone to different levels, and the same portions are not described herein again.

It can be understood that, according to the regulatory information reported by the detecting device, the server can evaluate the dangerous level of the drone based on different methods, which are respectively described below:

Referring to FIG. 15, another embodiment of a method for controlling a server in an embodiment of the present invention includes:

1501: receiving, by using a communication interface, supervisory information of the drone sent by the detecting device of the drone;

In this embodiment, the server can obtain the supervisory information of the drone sent by the detecting device of the drone through the communication interface, the supervisory information can indicate the relevant parameters of the drone, and the server can learn more about the drone through the supervisory information. It is beneficial to realize the intrusion detection of drones.

In this embodiment, the supervisory information of the drone acquired by the detecting device may include, but is not limited to, identity information of the drone, location information, flight parameter information, flight attitude information, owner information, purchase time information, purchase location information, One or more of historical flight path information, hardware configuration information, check bit information, and position information of the control terminal. Through the acquisition of regulatory information, the detection device can understand the relevant parameters of the drone and better supervise the UAV. For example, by obtaining the location information of the UAV in the regulatory information, the UAV can be realized. Positioning.

The identity information may include, but is not limited to, a vendor identifier and a model of the drone; the location information of the drone may include, but is not limited to, current location information of the drone, and at least location information of the drone when it takes off. The flight parameter information may include, but is not limited to, at least one of a maximum flight speed, a maximum flight altitude, and a current flight speed; the flight attitude information may include, but is not limited to, at least one of a roll angle, a pitch angle, and a yaw angle. Hardware configuration information may include at least but not limited to the effectiveness of the drone The configuration information of the load; the check bit information may be a cyclic redundancy CRC check code; the location information of the control terminal may include, but is not limited to, location information when the drone takes off, and location information output by the positioning device on the control terminal. At least one.

1502. The processor is used to evaluate the danger level of the drone based on the location information of the drone in the regulatory information.

In this embodiment, after the server receives the supervisory information of the drone sent by the detecting device of the drone by using the communication interface, the processor may use the processor to evaluate the dangerous level of the drone according to the location information of the drone in the supervisory information.

In this embodiment, in addition to the execution subject being a server, the method for evaluating the danger level of the drone according to the position information of the drone in the supervisory information may refer to the content described in step 1003 in the embodiment shown in FIG. 10, further, The method for evaluating the risk level of the drone by using the first flight path of the drone determined by the processor according to the position information of the drone in the regulatory information may also be described with reference to step 1003 in the embodiment shown in FIG. The content of this, will not repeat them here.

Further, in this embodiment, after obtaining the supervision information sent by the detecting device, the server may determine the identity information of the drone from the regulatory information, and may search for and supervise information from the local storage according to the identity information of the drone. The additional information of the corresponding drone, and in order to assist the detecting device to evaluate the dangerous level of the drone by using the additional information, the server may also send the additional information of the drone to the detecting device by using the communication interface.

Further, in the working process of the detecting device, after the detecting device establishes a communication connection with the server, in order to facilitate the unified management of the detecting device by the server, the server may use the communication interface to receive the working state information of the probe sent by the detecting device, and may The working status information determines whether the corresponding detector is working normally. When it is determined that the corresponding detector cannot work normally, the server may take corresponding maintenance measures on the detector, such as assigning a worker to repair or replace the corresponding detector. At the same time, when the detecting device is configured with multiple detectors, when it is determined that the detector is unable to work normally, the server may issue an instruction to the detecting device to adjust the working mode of other normally working detectors to compensate for the malfunctioning detector. work. Based on this, the server can send a control command to the detecting device by using the communication interface, wherein the control command can be used to turn off or turn on the detector of the detecting device, such as turning off the detector that is not working properly, and turning on the standby detector.

Referring to FIG. 16, another embodiment of a method for controlling a server in an embodiment of the present invention includes:

Step 1601 in the embodiment of the present invention is the same as step 1501 in the embodiment shown in FIG. I won't go into details here.

1602. The processor is used to evaluate the danger level of the drone based on the regulatory information and additional information of the drone obtained from the local storage according to the regulatory information.

In this embodiment, after the server receives the supervisory information of the drone sent by the detecting device of the drone by using the communication interface, the processor may use the processor to evaluate the additional information of the drone obtained from the local storage according to the regulatory information and the regulatory information. The danger level of man and machine.

Specifically, after obtaining the supervision information of the drone, the server may determine the identity information of the drone from the regulatory information, and may search for the unrelated corresponding to the supervisory information from the local storage according to the identity information of the drone. The additional information of the machine may include at least one of, but not limited to, an activation account of the drone, a purchase time, a purchase location, owner information, and a number of flights.

In practical applications, after obtaining the supervisory information and additional information of the drone, the server can further evaluate the danger level of the drone based on the regulatory information and additional information. The method may refer to the description in step 1105 in the embodiment shown in FIG. 11 , and the details are not described herein again.

Referring to FIG. 17, another embodiment of a method for controlling a server in an embodiment of the present invention includes:

1701. Receive, by using a communication interface, supervisory information of the drone sent by each of the plurality of detecting devices disposed in different areas;

In this embodiment, the server can establish a communication connection with multiple detecting devices to implement unified management of multiple detecting devices. Each of the multiple detecting devices can be configured in different areas, multiple detecting devices and servers. After the communication connection is established, the server can receive the supervisory information of the drone sent by each of the plurality of detecting devices set in different areas by using the communication interface.

It can be understood that, in this embodiment, each of the plurality of detecting devices may be configured with one detector, which will not be described later.

In this embodiment, the working condition of multiple detecting devices may be the same as that when one detecting device is configured with multiple detectors (that is, one detecting device in this embodiment is equivalent to one detector in one detecting device), For details, refer to the part of the description of the embodiment shown in FIG. 6 , and details are not described herein again.

1702. The processor determines, according to the regulatory information, the number of detecting devices that send the supervisory information, and estimates the risk level of the drone according to the number of the detecting devices that send the supervisory information.

In this embodiment, after the server receives the supervision information of the UAV sent by each of the plurality of detection devices set in different areas by using the communication interface, the processor may determine, according to the regulatory information, the processor The number of detection devices that send supervisory information, and the risk level of the drone can be evaluated based on the number of detection devices that send supervisory information.

In this embodiment, the number of the detecting devices that send the supervisory information is equivalent to the number of the probes that acquire the data packets of the drone, and the method for evaluating the risk level of the drone may be other than the execution subject being the server. The content described in step 703 in the embodiment shown in FIG. 7 is not described here.

Further, in this embodiment, the server may also set a first number threshold as a criterion for evaluating the dangerous level of the drone according to the number of detecting devices that send the supervisory information, that is, only the detecting device that transmits the supervisory information. When the number is greater than or equal to the first threshold, the server evaluates the danger level of the drone based on the number of detection devices that send supervisory information.

Referring to FIG. 18, another embodiment of a method for controlling a server in an embodiment of the present invention includes:

Step 1801 in the embodiment of the present invention is the same as step 1701 in the embodiment shown in FIG. 17, and details are not described herein again.

1802. The processor determines, according to the regulatory information, a sending sequence of the detecting device that sends the supervisory information, and determines a second flight path of the drone according to a sending sequence of the detecting device that sends the supervisory information.

In this embodiment, after the server receives the supervision information of the UAV sent by each of the plurality of detection devices set in different areas by using the communication interface, the processor may determine, by using the processor, the sending of the detection device that sends the supervision information according to the regulatory information. The order and the second flight path of the drone can be determined according to the transmission order of the detecting device that transmits the supervisory information.

In this embodiment, the sending order of the detecting device that transmits the supervisory information is equivalent to the acquiring order of the probes of the data packets of the unmanned aerial vehicle, and the evaluation of the second flight path of the drone is performed except that the executing body is the server. For the method, reference may be made to the content described in step 803 in the embodiment shown in FIG. 8, and details are not described herein again.

The server obtains the supervised information of the UAV reported by the multiple detecting devices, and after the cross comparison, the inter-ship tracking of the multiple detecting devices can be realized, and the second flight trajectory of the UAV can be more accurately described, thereby effectively solving the problem. A problem with a limited range of detection devices.

1803. The processor is used to evaluate a hazard level of the drone according to a second flight path of the drone determined by the supervisory information.

In this embodiment, after the server determines the second flight path of the drone by using the sending sequence of the detecting device that sends the monitoring information determined by the processor according to the regulatory information, the server may use the processor according to the second of the drone determined by the regulatory information. The flight path evaluates the hazard level of the drone.

In the embodiment, the method for evaluating the risk level of the drone according to the second flight path of the drone in this embodiment may refer to the content described in step 804 in the embodiment shown in FIG. Let me repeat.

Referring to FIG. 19, another embodiment of a method for controlling a server in an embodiment of the present invention includes:

Step 1901 in the embodiment of the present invention is the same as step 1701 in the embodiment shown in FIG. 17, and details are not described herein again.

1902. The processor determines, according to the regulatory information, a location of the detecting device that sends the supervisory information, and determines a risk level of the drone according to the location of the detecting device that sends the supervisory information.

In this embodiment, after the server receives the supervision information of the UAV sent by each of the plurality of detection devices in different areas by using the communication interface, the processor may determine, by using the processor, the location of the detection device that sends the supervision information according to the regulatory information. And the hazard level of the drone can be assessed based on the location of the detection device that sent the regulatory information.

In this embodiment, the location of the detecting device that transmits the supervisory information is equivalent to the location of the probe that acquires the data packet of the drone, and the location of the detecting device that transmits the supervisory information is evaluated, except that the executing body is the server. For the method of the danger level of the machine, reference may be made to the content described in step 903 in the embodiment shown in FIG. 9, and details are not described herein again.

It can be understood that, when the embodiment shown in FIG. 17 to the embodiment shown in FIG. 19 configures one detector for each of the plurality of detecting devices, the situation of evaluating the dangerous level of the drone is explained. In the actual application, the case where one detecting device is configured with multiple detectors is also applicable to the above embodiment. Except that the executing body is a server, the details of the embodiment shown in FIG. 7 , FIG. 8 and FIG. 9 can be specifically referred to herein. No longer.

Similarly, it should be noted that, on the server side, based on the description of evaluating the danger level of the drone in the above embodiment, in practical applications, at least one of the above embodiments may also be used in combination. To comprehensively evaluate the hazard level of the drone, the weighting method of each hazard level for evaluating the drone can be set to weight, so that the evaluation result corresponding to each hazard level of the drone can be weighted. And the last weighted calculation value can be used as the danger level of the drone. The setting of the hazard level of the UAV can be specifically set according to the evaluation standard of the hazard level of the UAV in each embodiment, which is not limited herein.

It can be understood that based on the evaluation of the danger level of the UAV on the side of the detection device and the evaluation of the danger level of the UAV on the server side, both parties can send their respective evaluation results to each other to If the re-evaluation results are inconsistent, it may be further determined whether a fault occurs on the detecting device or the server side.

The UAV control method and the UAV detection method in the embodiment of the present invention are described above. The detection device and the server in the embodiment of the present invention are separately described from the perspective of hardware processing. Referring to FIG. 20, the present invention is implemented. An embodiment of the detecting device in the example includes:

The detector 2001 and the processor 2002 (wherein the number of the processors 2002 may be one or more, and one processor 2002 is taken as an example).

The detector 2001 is configured to acquire a data packet including the supervisory information of the drone, wherein the data packet is transmitted in a working channel of the communication network between the control terminal of the drone and the drone;

The processor 2002 is configured to parse the data packet to obtain the supervisory information of the drone.

Optionally, in some embodiments of the present invention, the processor 2002 is further configured to:

The regulatory information is sent to the server periodically or non-periodically.

Optionally, in some embodiments of the present invention, the processor 2002 is further configured to:

Receiving additional information of the drone corresponding to the supervisory information sent from the server.

Optionally, in some embodiments of the present invention, the processor 2002 is further configured to:

Evaluate the danger level of the drone based on regulatory information.

Optionally, in some embodiments of the present invention, the processor 2002 is further configured to:

The hazard level of the drone is evaluated based on the location information of the drone in the regulatory information.

Optionally, in some embodiments of the present invention, the processor 2002 is further configured to:

The first flight path of the drone is determined according to the position information of the drone in the supervisory information, and the danger level of the drone is evaluated according to the first flight path.

Optionally, in some embodiments of the present invention, the processor 2002 is further configured to:

Evaluate the danger level of drones based on regulatory information and additional information.

Optionally, in some embodiments of the present invention, the detector 2001 is one;

The detector 2001 can further be used for:

Obtaining a data packet sent by each of the plurality of drones including the supervision information of the corresponding drone;

The processor 2002 can further be used to:

Parsing the data packet to obtain regulatory information for each of the plurality of drones;

Evaluate the hazard level of each of the multiple drones based on regulatory information;

Identify the first drone with the highest risk level among multiple drones;

The detector 2001 can further be used for:

After the first drone is determined, the working channel of the communication network between the first drone and the control terminal of the first drone is continuously scanned.

Optionally, in some embodiments of the present invention, the detector 2001 is one;

The detector 2001 can further be used for:

Obtaining a data packet sent by each of the plurality of drones including the supervision information of the corresponding drone;

The processor 2002 can further be used to:

Parsing the data packet to obtain regulatory information for each of the plurality of drones;

Determining the second drone closest to the distance detector among the plurality of drones based on the regulatory information;

The detector 2001 can further be used for:

After the second drone is determined, the working channel of the communication network between the control terminals of the second drone and the second drone is continuously scanned.

Optionally, in some embodiments of the present invention, the detector 2001 is one;

The detector 2001 can further be used for:

Obtaining a data packet sent by each of the plurality of drones including the supervision information of the corresponding drone;

The processor 2002 can further be used to:

Parsing the data packet to obtain regulatory information for each of the plurality of drones;

Determining a distance from each of the plurality of drones to the detector according to the regulatory information, and determining a third drone whose distance is less than or equal to a preset distance threshold;

The detector 2001 can further be used for:

After the third drone is determined, the working channel of the communication network between the control terminals of the third drone and the third drone is continuously scanned.

Optionally, in some embodiments of the present invention, the detector 2001 includes a plurality, and each of the plurality of detectors 2001 is disposed in a different area;

The detector 2001 can further be used for:

A data packet including supervisory information of the drone is acquired separately or in cooperation.

Optionally, in some embodiments of the present invention, the processor 2002 is further configured to:

When the number of detectors that acquire the data packet is greater than or equal to the preset first number threshold, the danger level of the drone is evaluated based on the regulatory information.

Optionally, in some embodiments of the present invention, the processor 2002 is further configured to:

The hazard level of the drone is evaluated based on the number of detectors that have acquired the packet.

Optionally, in some embodiments of the present invention, the processor 2002 is further configured to:

When the number of detectors that acquire the data packet is greater than or equal to the preset second number threshold, the risk level of the drone is evaluated according to the number of detectors that have acquired the data packet.

Optionally, in some embodiments of the present invention, the processor 2002 may further be configured to:

The second flight path of the drone is determined according to the acquisition order of the probes that acquire the data packets.

Optionally, in some embodiments of the present invention, the processor 2002 is further configured to:

The hazard level of the drone is evaluated based on the second flight path of the drone.

Optionally, in some embodiments of the present invention, the detector 2001 may further be used to:

The probe that gets the packet broadcasts its own location information and/or packets to other probes to instruct other probes to probe the drone corresponding to the packet.

Optionally, in some embodiments of the present invention, the processor 2002 is further configured to:

The one or more of the flight direction, position information, and flight speed of the drone determined according to the regulatory information is used to instruct a specific detector to detect the drone.

Optionally, in some embodiments of the present invention, the processor 2002 is further configured to:

The hazard level of the drone is evaluated based on the location of the probe that acquired the packet.

Optionally, in some embodiments of the present invention, the processor 2002 is further configured to:

The working status information of the probe is uploaded to the server periodically or non-periodically.

Optionally, in some embodiments of the present invention, as shown in FIG. 21, the detecting device further includes a receiver 2003, and a receiver 2003, configured to:

Receiving a control instruction instruction sent from a server;

The processor 2002 can further be used to:

Turn off or start the detector according to the control command.

Optionally, in some embodiments of the present invention, as shown in FIG. 22, the detecting device further includes an interaction device 2004, and an interaction device 2004, configured to:

Displays one or more of the supervisory information of the drone, the additional information of the drone acquired from the server based on the supervisory information, and the danger level.

Optionally, in some embodiments of the present invention, the processor 2002 is further configured to:

Obtaining location information of the drone and/or the control terminal in the supervisory information, and displaying the drone and/or the control terminal on the map of the interactive interface of the interaction device according to the location information.

In this embodiment, the detecting device scans the working channel of the communication network between the drone and the control terminal by using the detector 2001, and after obtaining the data packet sent from the drone, the processor 2002 can be used to analyze the data to obtain the unmanned person. Compared with the prior art, the detection device does not need to use the processor 2002 to crack the communication protocol between the drone and the control terminal, and access the communication system of the drone to obtain the supervision information of the drone. It is also not limited to technical defects such as low precision, short working distance and limited identification, which is conducive to the supervision of drones.

Referring to FIG. 23, an embodiment of the server in the embodiment of the present invention includes:

The processor 2301 and the communication interface 2302 (wherein the number of processors may be one or more, and one processor is taken as an example);

a communication interface 2302, configured to receive supervisory information of the drone sent by the detecting device of the drone;

The processor 2301 is configured to evaluate a hazard level of the drone based on the regulatory information.

Optionally, in some embodiments of the present invention, the processor 2301 may be further configured to:

Obtaining additional information of the drone corresponding to the regulatory information from the local storage according to the regulatory information;

The communication interface 2302 can further be used for:

Send additional information to the detection device of the drone.

Optionally, in some embodiments of the present invention, the communication interface 2302 is further configured to:

Receiving the working status information of the probe sent by the detecting device.

Optionally, in some embodiments of the present invention, the communication interface 2302 is further configured to: send a control instruction to the detecting device, where the control command is used to turn off or turn on the detector of the detecting device.

Optionally, in some embodiments of the present invention, the processor 2301 may be further configured to:

The hazard level of the drone is evaluated based on the location information of the drone in the regulatory information.

Optionally, in some embodiments of the present invention, the processor 2301 may be further configured to:

The first flight path of the drone is determined according to the position information of the drone in the supervisory information, and the danger level of the drone is evaluated according to the first flight path.

Optionally, in some embodiments of the present invention, the processor 2301 may be further configured to:

The hazard level of the drone is evaluated based on regulatory information and additional information on the drone acquired from the local storage based on the regulatory information.

Optionally, in some embodiments of the present invention, the detecting device is multiple, and the multiple detecting devices are Each one is set in a different area;

The communication interface 2302 can further be used for:

The supervisory information of the drone transmitted by each of the plurality of detecting devices set in different areas is received.

Optionally, in some embodiments of the present invention, the processor 2301 may be further configured to:

The number of detecting devices that send the supervisory information is determined according to the regulatory information, and the risk level of the drone is evaluated according to the number of detecting devices that send the supervisory information.

Optionally, in some embodiments of the present invention, the processor 2301 may be further configured to:

The sending order of the detecting devices that transmit the supervisory information is determined according to the supervisory information, and the second flight path of the drone is determined according to the sending order of the detecting devices that transmit the supervisory information.

Optionally, in some embodiments of the present invention, the processor 2301 may be further configured to:

The hazard level of the drone is evaluated based on the second flight path of the drone determined by the regulatory information.

Optionally, in some embodiments of the present invention, the processor 2301 may be further configured to:

The location of the detecting device that sends the supervisory information is determined according to the supervisory information, and the risk level of the drone is evaluated according to the location of the detecting device that transmits the supervisory information.

In this embodiment, the processor 2301 in the server can estimate the danger level of the drone by using the supervisory information of the drone sent by the detecting device of the drone, and can implement, for example, intrusion detection on a certain area of the drone. According to the evaluation results, the corresponding emergency measures can be implemented to distinguish the drones of different dangerous levels, which is conducive to the safety supervision of the auxiliary equipment to the drone.

It will be appreciated that the invention may also relate to a supervisory system comprising a drone, a control terminal in communication with the drone, a detection device supervising the drone, and a server in communication with the probe device. The control terminal can be used to send a control command to the drone, and the drone can control the flight according to the received control command, and the detecting device can be used to acquire communication data between the drone and the control terminal to achieve The supervision of the human machine, the server can be used to manage one or more detection devices, and can assess the danger level of one or more drones, and remotely implement safety supervision of one or more drones.

A person skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the system, the device and the unit described above can refer to the corresponding process in the foregoing method embodiment, and details are not described herein again.

In the several embodiments provided by the present application, it should be understood that the disclosed system, apparatus, and method may be implemented in other manners. For example, the device embodiments described above are merely illustrative For example, the division of the unit is only a logical function division, and the actual implementation may have another division manner, for example, multiple units or components may be combined or may be integrated into another system, or some features may be ignored. Or not. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium. A number of instructions are included to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like. .

The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the embodiments are modified, or the equivalents of the technical features are replaced by the equivalents of the technical solutions of the embodiments of the present invention.

Claims (84)

A method for detecting a drone, characterized in that it comprises: Acquiring, by the detector, a data packet including supervisory information of the drone, wherein the data packet is transmitted in a working channel of a communication network between the drone and the control terminal of the drone; The data packet is parsed by a processor to obtain the supervision information of the drone. The method of claim 1 further comprising: The regulatory information is sent to the server periodically or non-periodically. The method according to claim 2, wherein after the periodically or aperiodically transmitting the regulatory information to the server, the method further comprises: Receiving additional information of the drone corresponding to the regulatory information transmitted from the server. The method according to any one of claims 1 to 3, further comprising: Utilizing the processor to evaluate a hazard level of the drone based on the regulatory information. The method according to claim 4, wherein the evaluating, by the processor, the risk level of the drone according to the regulatory information comprises: Using the processor to evaluate a hazard level of the drone based on location information of the drone in the regulatory information. The method according to claim 5, wherein the evaluating, by the processor, the risk level of the drone according to the location information of the drone in the regulatory information comprises: Determining, by the processor, a first flight path of the drone according to location information of the drone in the regulatory information, and determining, according to the first flight path, a risk level of the drone. The method of claim 3, wherein the method further comprises: Utilizing the processor to evaluate a hazard level of the drone based on the regulatory information and/or the additional information. The method according to claim 3 or 7, wherein the additional information includes at least one of an activation account number, a purchase time, a purchase location, owner information, and a number of flights of the drone. A method according to any one of claims 4 to 8, wherein The detector is one; The data packet for acquiring the supervisory information including the drone by using the probe includes: Obtaining, by the detector, a data packet sent by each of the plurality of drones including the supervision information of the corresponding drone; The utilizing the processor to parse the data packet to obtain the regulatory information of the drone includes: Parsing the data packet with a processor to obtain supervisory information of each of the plurality of drones; The evaluating, by the processor, the danger level of the drone according to the regulatory information includes: Using a processor to evaluate a risk level of each of the plurality of drones based on the regulatory information; The method further includes: Determining, by the processor, a first drone having the highest dangerous level among the plurality of the drones; After the first drone is determined, the working channel of the communication network between the first drone and the control terminal of the first drone is continuously scanned by the detector. A method according to any one of claims 4 to 8, wherein The detector is one; The data packet for acquiring the supervisory information including the drone by using the probe includes: Obtaining, by the detector, a data packet sent by each of the plurality of drones including the supervision information of the corresponding drone; The utilizing the processor to parse the data packet to obtain the regulatory information of the drone includes: Parsing the data packet with a processor to obtain supervisory information of each of the plurality of drones; The method further includes: Determining, by the processor, the second drone of the plurality of the drones that is closest to the detector according to the regulatory information; After the second drone is determined, the working channel of the communication network between the control terminals of the second drone and the second drone is continuously scanned by the detector. A method according to any one of claims 4 to 8, wherein The detector is one; The data packet for acquiring the supervisory information including the drone by using the probe includes: Obtaining, by the detector, a data packet sent by each of the plurality of drones including the supervision information of the corresponding drone; The utilizing the processor to parse the data packet to obtain the regulatory information of the drone includes: Parsing the data packet with a processor to obtain supervisory information of each of the plurality of drones; The method further includes: Determining, by the processor, the distance from each of the plurality of the drones to the detector according to the regulatory information, and determining the third drone whose distance is less than or equal to a preset distance threshold; After the third drone is determined, the working channel of the communication network between the third drone and the control terminal of the third drone is continuously scanned by the detector. A method according to any one of claims 4 to 8, wherein The detector includes a plurality, and each of the plurality of detectors is disposed in a different area; The data packet for acquiring the supervisory information including the drone by using the probe includes: A data packet including supervisory information of the drone is acquired separately or in cooperation using a plurality of said detectors. The method according to claim 12, wherein the determining, by the processor, the danger level of the drone according to the regulatory information comprises: When the number of the probes that obtain the data packet is greater than or equal to a preset first number threshold, the processor is used to evaluate the danger level of the drone according to the regulatory information. The method of claim 12, wherein the method further comprises: Using the processor, the risk level of the drone is evaluated according to the number of detectors that have acquired the data packet. The method according to claim 14, wherein the evaluating, by the processor, the risk level of the drone according to the number of detectors that acquire the data packet comprises: When the number of detectors that obtain the data packet is greater than or equal to a preset second number threshold, the processor is used to evaluate the drone according to the number of detectors that obtain the data packet. The level of danger. The method of claim 12, wherein the method further comprises: Determining, by the processor, a second flight path of the drone according to an acquisition order of a probe that acquires the data packet. The method of claim 16 wherein the method further comprises: Using the processor to evaluate a hazard level of the drone based on a second flight path of the drone. The method according to any one of claims 12 to 17, wherein the method further comprises: A probe that obtains the data packet broadcasts its own location information and/or the data packet to other probes to instruct other probes to probe the drone corresponding to the data packet. The method according to any one of claims 12 to 18, wherein the method further comprises: Dedicating a specific detector to detect the drone by using one or more of the flight direction and/or position information of the UAV determined by the processor according to the supervisory information and the flight speed. The method according to any one of claims 1 to 19, further comprising: Using the processor to determine a hazard level of the drone based on a location of a probe that acquired the data packet. The method of any one of claims 1 to 20, the method further comprising: The operational status information of the probe is uploaded to the server periodically or non-periodically. The method according to any one of claims 1 to 21, wherein the method further comprises: Receiving a control instruction command sent from the server, and the processor turns off or starts the detector according to the control instruction. The method according to any one of claims 1 to 22, wherein the method further comprises: Displaying, by the processor, one or more of the supervisory information of the drone, the additional information of the drone obtained from the server according to the supervisory information, and the danger level on the interaction device. The method according to any one of claims 23 to 23, wherein displaying the supervisory information of the drone on the interactive device by using a processor comprises: Acquiring, by the processor, location information of the drone and/or the control terminal in the supervision information, and displaying the drone and/or the control terminal in an interaction device according to the location information The interactive interface on the map. The method of claim 23 or 24, wherein the processor and the interaction device are configured on a mobile device. The method according to any one of claims 1 to 25, wherein the supervision information includes identity information, location information, flight parameter information, flight attitude information, owner information, and purchase time of the drone One or more of information, purchase location information, historical flight path information, hardware configuration information, check digit information, and location information with the control terminal. [Correct according to Rule 91 03.05.2017]
The method according to claim 26, wherein said identity information comprises a vendor identifier and a model of said drone; The location information of the drone includes at least one of current location information of the drone and location information when the drone takes off; The flight parameter information includes at least one of a maximum flight speed, a maximum flight altitude, and a current flight speed; The flight attitude information includes at least one of a roll angle, a pitch angle, and a yaw angle; The hardware configuration information includes at least configuration information of a payload of the drone; The check bit information is a cyclic redundancy CRC check code; The location information of the control terminal includes at least one of location information when the UAV takes off and location information output by the positioning device on the control terminal. A server control method, comprising: Receiving, by using a communication interface, the supervisory information of the drone sent by the detecting device of the drone; The processor is used to evaluate the risk level of the drone based on the regulatory information. [Correct according to Rule 91 03.05.2017]
The method of claim 28, wherein after the receiving, by the communication interface, the supervisory information of the drone sent by the detecting device of the drone, the method further comprises: Acquiring, by the processor, the additional information of the drone corresponding to the regulatory information from a local storage according to the regulatory information; The additional information is transmitted to the detecting device of the drone using the communication interface. [Correct according to Rule 91 03.05.2017]
The method of claim 28 or 29, wherein the method further comprises: Receiving the working state information sent by the detecting device by using the communication interface. [Correct according to Rule 91 03.05.2017]
The method according to any one of claims 28 to 30, wherein the method further comprises: And transmitting, by the communication interface, a control instruction to the detecting device, wherein the control instruction is used to turn off or turn on the detecting device. [Correct according to Rule 91 03.05.2017]
The method according to any one of claims 28 to 31, wherein the evaluating, by the processor, the danger level of the drone according to the regulatory information comprises: Using the processor to evaluate a hazard level of the drone based on location information of the drone in the regulatory information. [Correct according to Rule 91 03.05.2017]
The method according to claim 32, wherein the evaluating, by the processor, the risk level of the drone according to the location information of the drone in the regulatory information comprises: Determining, by the processor, the first flight path of the drone according to the location information of the drone in the regulatory information, and evaluating a hazard level of the drone according to the first flight path. [Correct according to Rule 91 03.05.2017]
The method according to any one of claims 28 to 33, wherein the evaluating, by the processor, the danger level of the drone according to the regulatory information comprises: Using a processor to evaluate a hazard level of the drone based on the regulatory information and/or additional information of the drone acquired from a local memory based on the regulatory information. [Correct according to Rule 91 03.05.2017]
The method according to claim 29 or 34, wherein the additional information includes at least one of an activation account number, a purchase time, a purchase location, and owner information of the drone. [Correct according to Rule 91 03.05.2017]
A method according to any one of claims 28 to 35, wherein The detecting device is plural, and each of the plurality of detecting devices is disposed in a different area; The supervisory information of the drone sent by the detecting device that receives the drone by using the communication interface includes: The supervisory information of the drone transmitted by each of the plurality of detecting devices disposed in different areas is received by the communication interface. [Correct according to Rule 91 03.05.2017]
The method according to claim 36, wherein the evaluating, by the processor, the risk level of the drone according to the regulatory information comprises: The processor determines, according to the regulatory information, the number of detecting devices that send the supervisory information, and evaluates a risk level of the drone according to the number of detecting devices that send the supervisory information. [Correct according to Rule 91 03.05.2017]
The method according to any one of claims 28 to 37, wherein the method further comprises: Determining, by the processor, a sending sequence of the detecting device that sends the monitoring information according to the regulatory information, and determining a second flight path of the drone according to a sending sequence of the detecting device that sends the monitoring information. [Correct according to Rule 91 03.05.2017]
The method according to claim 38, wherein the evaluating, by the processor, the risk level of the drone according to the regulatory information comprises: Using the processor to evaluate a hazard level of the drone based on a second flight path of the drone determined by the regulatory information. [Correct according to Rule 91 03.05.2017]
The method according to any one of claims 28 to 39, wherein the utilization processor evaluates the danger level of the drone based on the regulatory information: The processor determines, according to the regulatory information, a location of the detecting device that sends the supervisory information, and evaluates a risk level of the drone according to a location of the detecting device that sends the supervisory information. [Correct according to Rule 91 03.05.2017]
The method according to any one of claims 28 to 40, wherein the supervisory information includes identity information, location information, flight parameter information, flight attitude information, owner information, and purchase time of the drone One or more of information, purchase location information, historical flight path information, hardware configuration information, check digit information, and location information of a control terminal connected to the drone. [Correct according to Rule 91 03.05.2017]
The method according to claim 41, wherein said identity information comprises a vendor identifier and a model of said drone; The location information of the drone includes at least one of current location information of the drone and location information when the drone takes off; The flight parameter information includes at least one of a maximum flight speed, a maximum flight altitude, and a current flight speed; The flight attitude information includes at least one of a roll angle, a pitch angle, and a yaw angle; The hardware configuration information includes at least configuration information of a payload of the drone; The check bit information is a cyclic redundancy CRC check code; The location information of the control terminal includes at least one of location information when the UAV takes off and location information output by the positioning device on the control terminal. A detecting device, comprising: a detector for acquiring a data packet including supervisory information of the drone, wherein the data packet is transmitted in a working channel of a communication network between the drone and the control terminal of the drone; And a processor, configured to parse the data packet to obtain the regulatory information of the drone. [Correct according to Rule 91 03.05.2017]
The detecting device according to claim 43, wherein the processor is further configured to: The regulatory information is sent to the server periodically or non-periodically. [Correct according to Rule 91 03.05.2017]
The detecting device according to claim 44, wherein the processor is further configured to: Receiving additional information of the drone corresponding to the regulatory information transmitted from the server. [Correct according to Rule 91 03.05.2017]
The detecting device according to any one of claims 43 to 45, wherein the processor is further configured to: The risk level of the drone is evaluated based on the regulatory information. [Correct according to Rule 91 03.05.2017]
The detecting device according to claim 46, wherein the processor is further configured to: The risk level of the drone is evaluated according to the location information of the drone in the regulatory information. [Correct according to Rule 91 03.05.2017]
The detecting device according to claim 47, wherein the processor is further configured to: Determining, according to the location information of the drone in the regulatory information, a first flight path of the drone, and evaluating a hazard level of the drone according to the first flight path. [Correct according to Rule 91 03.05.2017]
The detecting device according to claim 45, wherein the processor is further configured to: The risk level of the drone is evaluated based on the regulatory information and the additional information. [Correct according to Rule 91 03.05.2017]
The detecting apparatus according to claim 45 or 49, wherein the additional information includes at least one of an activation account number, a purchase time, a purchase place, owner information, and a number of flights of the drone. [Correct according to Rule 91 03.05.2017]
A detecting device according to any one of claims 46 to 50, characterized in that The detector is one; The detector is also used to: Obtaining a data packet sent by each of the plurality of drones including the supervision information of the corresponding drone; The processor is further configured to: Parsing the data packet to obtain supervisory information of each of the plurality of drones; Evaluating a hazard level of each of the plurality of drones based on the regulatory information; Determining the first drone with the highest dangerous level among the plurality of drones; The detector is also used to: After determining the first drone, the working channel of the communication network between the first drone and the control terminal of the first drone is continuously scanned. [Correct according to Rule 91 03.05.2017]
A detecting device according to any one of claims 46 to 50, characterized in that The detector is one; The detector is also used to: Obtaining a data packet sent by each of the plurality of drones including the supervision information of the corresponding drone; The processor is further configured to: Parsing the data packet to obtain supervisory information of each of the plurality of drones; Determining, according to the regulatory information, a second drone of the plurality of drones that is closest to the detector; The detector is also used to: After the second drone is determined, the working channel of the communication network between the control terminals of the second drone and the second drone is continuously scanned. [Correct according to Rule 91 03.05.2017]
A detecting device according to any one of claims 46 to 50, characterized in that The detector is one; The detector is also used to: Obtaining a data packet sent by each of the plurality of drones including the supervision information of the corresponding drone; The processor is further configured to: Parsing the data packet to obtain supervisory information of each of the plurality of drones; Determining, according to the regulatory information, a distance between each of the plurality of the drones to the detector, and determining a third drone whose distance is less than or equal to a preset distance threshold; The detector is also used to: After the third drone is determined, the working channel of the communication network between the third drone and the control terminal of the third drone is continuously scanned. [Correct according to Rule 91 03.05.2017]
A detecting device according to any one of claims 46 to 50, characterized in that The detector includes a plurality, and each of the plurality of detectors is disposed in a different area; The detector is also used to: A data packet including supervisory information of the drone is acquired separately or in cooperation. [Correct according to Rule 91 03.05.2017]
The detecting device according to claim 54, wherein the processor is further configured to: When the number of detectors that obtain the data packet is greater than or equal to a preset first number threshold, the risk level of the drone is evaluated according to the regulatory information. [Correct according to Rule 91 03.05.2017]
The detecting device according to claim 54, wherein the processor is further configured to: The risk level of the drone is evaluated based on the number of detectors that have acquired the data packet. [Correct according to Rule 91 03.05.2017]
The detecting device according to claim 56, wherein the processor is further configured to: When the number of detectors that obtain the data packet is greater than or equal to a preset second number threshold, the risk level of the drone is evaluated according to the number of detectors that obtain the data packet. [Correct according to Rule 91 03.05.2017]
The detecting device according to claim 54, wherein the processor is further configured to: Determining a second flight path of the drone according to an acquisition order of the probes that acquired the data packet. [Correct according to Rule 91 03.05.2017]
The detecting device according to claim 58, wherein the processor is further configured to: A hazard level of the drone is evaluated based on a second flight path of the drone. [Correct according to Rule 91 03.05.2017]
The detecting device according to any one of claims 54 to 59, wherein the detector is further configured to: The location information and/or the data packet is broadcast to other detectors to instruct other detectors to detect the drone corresponding to the data packet. [Correct according to Rule 91 03.05.2017]
The detecting device according to any one of claims 54 to 60, wherein the processor is further configured to: Determining a specific detector to detect the drone according to one or more of a flight direction, a position information, and a flight speed of the drone determined according to the regulatory information. [Correct according to Rule 91 03.05.2017]
The detecting device according to any one of claims 43 to 61, wherein the processor is further configured to: The hazard level of the drone is evaluated based on the location of the probe that acquired the data packet. [Correct according to Rule 91 03.05.2017]
The detecting device according to any one of claims 43 to 62, wherein the processor is further configured to: The operational status information of the probe is uploaded to the server periodically or non-periodically. [Correct according to Rule 91 03.05.2017]
The detecting device according to any one of claims 43 to 63, wherein the detecting device further comprises a receiver, the receiver, configured to: Receiving a control command sent from the server; The processor is further configured to: The detector is turned off or activated in accordance with the control command. [Correct according to Rule 91 03.05.2017]
The detecting device according to any one of claims 43 to 64, wherein the detecting device further comprises an interaction device, the processor is configured to: Displaying, on the interactive device, one or more of the supervisory information of the drone, the additional information of the drone acquired from the server according to the supervisory information, and the danger level. [Correct according to Rule 91 03.05.2017]
The detecting device according to claim 65, wherein the processor is further configured to: Obtaining location information of the drone and/or the control terminal in the regulatory information, and displaying the drone and/or the control terminal on a map of an interaction interface of the interaction device according to the location information on. [Correct according to Rule 91 03.05.2017]
A detecting device according to claim 65 or claim 66, wherein said processor and said interaction device are arranged on a mobile device. [Correct according to Rule 91 03.05.2017]
The detecting apparatus according to any one of claims 43 to 67, wherein the supervisory information includes identity information, location information, flight parameter information, flight attitude information, owner information, and purchase of the drone One or more of time information, purchase location information, historical flight path information, hardware configuration information, check digit information, and location information with the control terminal. [Correct according to Rule 91 03.05.2017]
The detecting device according to claim 68, wherein said identity information comprises a vendor identifier and a model of said drone; The location information of the drone includes at least one of current location information of the drone and location information when the drone takes off; The flight parameter information includes at least one of a maximum flight speed, a maximum flight altitude, and a current flight speed; The flight attitude information includes at least one of a roll angle, a pitch angle, and a yaw angle; The hardware configuration information includes at least configuration information of a payload of the drone; The check bit information is a cyclic redundancy CRC check code; The location information of the control terminal includes at least one of location information when the UAV takes off and location information output by the positioning device on the control terminal. A server, comprising: a communication interface, configured to receive the supervisory information of the drone sent by the detecting device of the drone; And a processor, configured to evaluate a hazard level of the drone based on the regulatory information. [Correct according to Rule 91 03.05.2017]
The server according to claim 70, wherein the processor is further configured to: Obtaining additional information of the drone corresponding to the regulatory information from a local storage according to the regulatory information; The communication interface is further configured to: Sending the additional information to the detecting device of the drone. [Correct according to Rule 91 03.05.2017]
The server according to claim 70 or 71, wherein the communication interface is further configured to: Receiving working state information of the probe sent by the detecting device. [Correct according to Rule 91 03.05.2017]
The server according to any one of claims 70 to 72, wherein the communication interface is further configured to: Sending a control command to the detecting device, wherein the control command is for turning off or turning on the detector of the detecting device. [Correct according to Rule 91 03.05.2017]
The server according to any one of claims 70 to 73, wherein the processor is further configured to: Using the processor to evaluate a hazard level of the drone based on location information of the drone in the regulatory information. [Correct according to Rule 91 03.05.2017]
The server according to claim 74, wherein the processor is further configured to: Determining, according to the location information of the drone in the regulatory information, a first flight path of the drone, and evaluating a hazard level of the drone according to the first flight path. [Correct according to Rule 91 03.05.2017]
The server according to any one of claims 70 to 75, wherein the processor is further configured to: The risk level of the drone is evaluated based on the regulatory information and additional information of the drone acquired from a local storage based on the regulatory information. [Correct according to Rule 91 03.05.2017]
The server according to claim 71 or 76, wherein the additional information includes at least one of an activation account number, a purchase time, a purchase location, and owner information of the drone. [Correct according to Rule 91 03.05.2017]
A server according to any one of claims 70 to 77, characterized in that The detecting device is plural, and each of the plurality of detecting devices is disposed in a different area; The communication interface is further configured to: Receiving supervisory information of the drone transmitted by each of the plurality of detecting devices disposed in different areas. [Correct according to Rule 91 03.05.2017]
The server according to claim 78, wherein the processor is further configured to: Determining, according to the regulatory information, a number of detecting devices that send the supervisory information, and evaluating a risk level of the drone according to the number of detecting devices that send the supervisory information. [Correct according to Rule 91 03.05.2017]
The server according to any one of claims 70 to 79, wherein the processor is further configured to: Determining, according to the regulatory information, a sending sequence of the detecting device that sends the monitoring information, and determining a second flight path of the drone according to a sending sequence of the detecting device that sends the monitoring information. [Correct according to Rule 91 03.05.2017]
The server according to claim 80, wherein the processor is further configured to: Using the processor to evaluate a hazard level of the drone based on a second flight path of the drone determined by the regulatory information. [Correct according to Rule 91 03.05.2017]
The server according to any one of claims 70 to 81, wherein the processor is further configured to: Determining, according to the regulatory information, a location of the detecting device that sends the supervisory information, and evaluating a risk level of the drone according to a location of the detecting device that sends the supervisory information. [Correct according to Rule 91 03.05.2017]
The server according to any one of claims 70 to 82, wherein the supervision information includes identity information, location information, flight parameter information, flight attitude information, owner information, and purchase time of the drone One or more of information, purchase location information, historical flight path information, hardware configuration information, check digit information, and location information of a control terminal connected to the drone. [Correct according to Rule 91 03.05.2017]
The server according to claim 83, wherein said identity information comprises a vendor identifier and a model of said drone; The location information of the drone includes at least one of current location information of the drone and location information when the drone takes off; The flight parameter information includes at least one of a maximum flight speed, a maximum flight altitude, and a current flight speed; The flight attitude information includes at least one of a roll angle, a pitch angle, and a yaw angle; The hardware configuration information includes at least configuration information of a payload of the drone; The check bit information is a cyclic redundancy CRC check code; The location information of the control terminal includes at least one of location information when the UAV takes off and location information output by the positioning device on the control terminal.

Images