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WO2018170734A1 - Procédé de détection et dispositif de détection de véhicule aérien sans pilote, procédé de commande de serveur et serveur - Google Patents

Procédé de détection et dispositif de détection de véhicule aérien sans pilote, procédé de commande de serveur et serveur Download PDF

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Publication number
WO2018170734A1
WO2018170734A1 PCT/CN2017/077515 CN2017077515W WO2018170734A1 WO 2018170734 A1 WO2018170734 A1 WO 2018170734A1 CN 2017077515 W CN2017077515 W CN 2017077515W WO 2018170734 A1 WO2018170734 A1 WO 2018170734A1
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WIPO (PCT)
Prior art keywords
drone
information
processor
detecting device
data packet
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PCT/CN2017/077515
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English (en)
Chinese (zh)
Inventor
詹国豪
谢鹏
钟晓航
杨秉臻
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Publication date
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Priority to PCT/CN2017/077515 priority Critical patent/WO2018170734A1/fr
Priority to CN201780007988.6A priority patent/CN109477891B/zh
Publication of WO2018170734A1 publication Critical patent/WO2018170734A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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  • 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.
  • 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.
  • 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.
  • 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.
  • the first aspect of the present invention provides a method for detecting a drone, which may include:
  • 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:
  • 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;
  • a processor configured to evaluate a hazard level of the drone based on the regulatory information.
  • 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.
  • 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.
  • FIG. 1 is a schematic diagram of data transmission of a drone according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of an embodiment of a method for detecting a drone according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of another embodiment of a method for detecting a drone according to an embodiment of the present invention.
  • FIG. 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. 8 is a schematic diagram of another embodiment of a method for detecting a drone according to an embodiment of the present invention.
  • 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. 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. 13 is a schematic diagram of application of a method for detecting a drone according to an embodiment of the present invention.
  • FIG. 14 is a schematic diagram of an embodiment of a method for controlling a server according to an embodiment of the present invention.
  • 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.
  • FIG. 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.
  • FIG. 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. 22 is a schematic diagram of another embodiment of a detecting device according to an embodiment of the present invention.
  • FIG. 23 is a schematic diagram of an embodiment of a server according to an embodiment of the present invention.
  • 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 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.
  • the sound detection technology needs to record the voiceprint of each drone in advance, and the workload is huge.
  • radio scanning technology needs to crack the communication protocol between the drone and the control terminal.
  • 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.
  • a UAV detection method and a 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.
  • 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.
  • 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.
  • the carrier on the auxiliary device may include a camera, a camera or a sensor, etc.
  • the posture of the carrier for example, changing the height, inclination and/or direction of the carrier
  • the carrier on the auxiliary device may include a camera, a camera or a sensor, etc.
  • 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 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.
  • an embodiment of the unmanned aerial vehicle detecting method in the embodiment of the present invention includes:
  • 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.
  • the data packet can be transmitted in the working channel of the communication network between the control terminal of the drone and 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.
  • the communication network between the drone and the control terminal may be a wireless communication network.
  • 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.
  • 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.
  • SDR software radio
  • 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.
  • the detecting device 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.
  • the processor is used to parse the data packet to obtain the supervision information of the drone.
  • 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.
  • 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.
  • 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.
  • 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.
  • the detector is a
  • another embodiment of the unmanned aerial vehicle detecting method in the embodiment of the present invention includes:
  • a detector Using a detector, acquiring, by each of the plurality of drones, a data packet including the supervisory information of the corresponding drone;
  • the detecting device can implement supervision on a plurality of drones.
  • 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.
  • 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.
  • the data packet of each drone is transmitted in the working channel of the communication network between the drone and the corresponding control terminal.
  • 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.
  • 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.
  • the processor is used to parse the data packet to obtain the supervision information of 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.
  • 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.
  • 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.
  • identity information of the drone 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.
  • 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.
  • the processor may use the processor to evaluate the danger level of each of the plurality of drones according to the regulatory 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 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.
  • 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.
  • 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.
  • the detecting device may determine, by using the processor, the first drone with the highest dangerous level among the plurality of drones.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the working channels of other drones can be intermittently scanned to prevent the detecting device from detecting other dangerous levels. Drone.
  • 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.
  • the processor may determine, according to the regulatory information, the nearest one of the plurality of unmanned aerial vehicles. Two drones.
  • the detectors configured by the detecting device may be disposed in different areas.
  • a flight limited zone can be provided.
  • 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.
  • the concept of a supervision area may also be provided, and the supervision area is a concept of supervising the drone.
  • 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.
  • 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.
  • 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.
  • the working channels of other UAVs can be intermittently scanned to prevent the detecting device from detecting other fast approaching detectors. Drone.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the drone 3 is a third drone, which is not limited herein.
  • 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.
  • the detector is multiple
  • another embodiment of the unmanned aerial vehicle detecting method in the embodiment of the present invention includes:
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • multiple detectors can be used to acquire data packets of more than one drone.
  • an unmanned aerial vehicle is taken as an example. Hereinafter, the description will not be repeated later.
  • the data packet may be parsed by the processor to obtain the supervisory information of the drone.
  • 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.
  • the processor is used to evaluate the danger level of the drone according to the regulatory information.
  • the detection device can utilize the processor to evaluate the hazard level of the drone based on regulatory information.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the processor is used to evaluate the danger level of the drone according to the number of detectors that obtain the data packet.
  • 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.
  • 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:
  • 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.
  • 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.
  • 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.
  • 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.
  • step 703 in this embodiment may be performed before step 702, or may be performed simultaneously with step 702, which is not limited herein.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • the processor is used to evaluate a hazard level of the drone according to the second flight path of the drone.
  • the processor may use the processor to evaluate the drone according to the second flight path of the drone. Danger level.
  • 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:
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the processor is used to evaluate the danger level of the drone according to the location of the detector that obtains the data packet.
  • 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.
  • 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.
  • step 803 of the embodiment shown in FIG. 8 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.
  • 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
  • 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.
  • step 903 in this embodiment may be performed before step 902, or may be performed simultaneously with step 902, which is not limited herein.
  • 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:
  • 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.
  • the processor may use the processor to parse the data packet to obtain the supervisory information of the drone.
  • 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.
  • the processor may use the processor to evaluate the dangerous level of the drone according to the regulatory information.
  • the detecting device may use the processor to evaluate the drone according to the supervisory information.
  • the level of danger is as follows:
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the probe device may receive the additional information of the drone corresponding to the supervisory information sent from the server.
  • 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.
  • the drone seller or the purchaser can report the additional information of the drone to the server and store it for backup.
  • the processor is used to evaluate the danger level of the drone based on the regulatory information and the additional information.
  • the processor may use the processor to evaluate the risk level of the drone based on the supervisory information and the additional information.
  • the monitoring information and the additional information may be compared to evaluate the dangerous level of the drone.
  • 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.
  • 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.
  • 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.
  • additional information 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.
  • 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.
  • 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:
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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:
  • the communication interface is used to receive the supervisory information of the drone sent by the detecting device of the drone;
  • 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.
  • the processor is used to evaluate the danger level of the drone based on the regulatory information.
  • the processor may use the processor to evaluate the dangerous level of the drone according to the regulatory 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.
  • the server may also set the level of danger of the drone to different levels, and the same portions are not described herein again.
  • the server can evaluate the dangerous level of the drone based on different methods, which are respectively described below:
  • another embodiment of a method for controlling a server in an embodiment of the present invention includes:
  • 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.
  • 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.
  • identity information of the drone 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.
  • 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 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.
  • the processor is used to evaluate the danger level of the drone based on the location information of the drone in the regulatory information.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 17 another embodiment of a method for controlling a server in an embodiment of the present invention includes:
  • 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.
  • 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.
  • each of the plurality of detecting devices may be configured with one detector, which will not be described later.
  • 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),
  • one detecting device in this embodiment is equivalent to one detector in one detecting device
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the location of the detecting device that transmits the supervisory information is evaluated, except that the executing body is the server.
  • 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.
  • 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.
  • the processor 2002 is further configured to:
  • the regulatory information is sent to the server periodically or non-periodically.
  • the processor 2002 is further configured to:
  • the processor 2002 is further configured to:
  • 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.
  • 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.
  • the processor 2002 is further configured to:
  • the detector 2001 is one;
  • the detector 2001 can further be used for:
  • the processor 2002 can further be used to:
  • the detector 2001 can further be used for:
  • the working channel of the communication network between the first drone and the control terminal of the first drone is continuously scanned.
  • the detector 2001 is one;
  • the detector 2001 can further be used for:
  • the processor 2002 can further be used to:
  • the detector 2001 can further be used for:
  • the working channel of the communication network between the control terminals of the second drone and the second drone is continuously scanned.
  • the detector 2001 is one;
  • the detector 2001 can further be used for:
  • the processor 2002 can further be used to:
  • the detector 2001 can further be used for:
  • the working channel of the communication network between the control terminals of the third drone and the third drone is continuously scanned.
  • 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.
  • the processor 2002 is further configured to:
  • the danger level of the drone is evaluated based on the regulatory information.
  • 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.
  • the processor 2002 is further configured to:
  • the risk level of the drone is evaluated according to the number of detectors that have acquired the data packet.
  • 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.
  • the processor 2002 is further configured to:
  • the hazard level of the drone is evaluated based on the second flight path of the drone.
  • 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.
  • 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.
  • 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.
  • the processor 2002 is further configured to:
  • the working status information of the probe is uploaded to the server periodically or non-periodically.
  • the detecting device further includes a receiver 2003, and a receiver 2003, configured to:
  • the processor 2002 can further be used to:
  • the detecting device further includes an interaction device 2004, and an interaction device 2004, configured to:
  • the processor 2002 is further configured to:
  • 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.
  • 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.
  • 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.
  • the processor 2301 may be further configured to:
  • the communication interface 2302 can further be used for:
  • the communication interface 2302 is further configured to:
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • the disclosed system, apparatus, and method may be implemented in other manners.
  • the device embodiments described above are merely illustrative
  • 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.
  • 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.
  • 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.
  • 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. .

Landscapes

  • Telephonic Communication Services (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Selective Calling Equipment (AREA)
  • Traffic Control Systems (AREA)

Abstract

La présente invention concerne un procédé de détection et un dispositif de détection de véhicule aérien sans pilote, un procédé de commande de serveur et un serveur, utilisés pour mettre en œuvre une supervision de sécurité de véhicule aérien sans pilote. Le procédé de détection de véhicule aérien sans pilote comprend : l'utilisation d'un détecteur pour acquérir des paquets de données comprenant des informations de supervision d'un véhicule aérien sans pilote, les paquets de données étant transmis dans un canal de travail d'un réseau de communication entre le véhicule aérien sans pilote et un terminal de commande du véhicule aérien sans pilote ; et l'utilisation d'un processeur pour analyser les paquets de données pour acquérir les informations de supervision du véhicule aérien sans pilote.
PCT/CN2017/077515 2017-03-21 2017-03-21 Procédé de détection et dispositif de détection de véhicule aérien sans pilote, procédé de commande de serveur et serveur Ceased WO2018170734A1 (fr)

Priority Applications (2)

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PCT/CN2017/077515 WO2018170734A1 (fr) 2017-03-21 2017-03-21 Procédé de détection et dispositif de détection de véhicule aérien sans pilote, procédé de commande de serveur et serveur
CN201780007988.6A CN109477891B (zh) 2017-03-21 2017-03-21 无人机探测方法及探测设备、服务器的控制方法及服务器

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PCT/CN2017/077515 WO2018170734A1 (fr) 2017-03-21 2017-03-21 Procédé de détection et dispositif de détection de véhicule aérien sans pilote, procédé de commande de serveur et serveur

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