FIG. 4 is a schematic diagram of a connection relationship between a mission position, a relay location and a reference relay base station according to an embodiment of the present disclosure, and as shown in FIG. 4, the relay location can be determined on a connection line between the mission position and its corresponding reference relay base station. A relay flight route can be obtained by connecting the relay positions corresponding to each mission position in turn.

In the technical solution provided in the above-mentioned step S206, a first flight device can be controlled to perform a data acquisition mission according to a flight route of the mission by means of a mobile terminal, a computer, a control handle and the like and a second flight device performs a data acquisition mission according to a relay flight route.

Alternatively, in this embodiment, a communication connection is made between the first flight device and the second flight device and between the second flight device and a target relay base station device in the relay base station distribution during the data acquisition mission, thereby enabling the content, such as data information, of the first flight device to be transmitted to the relay base station via the second flight device and then to a device requiring such content via the relay base station.

Alternatively, in this embodiment, the data acquisition missions may include, but are not limited to: data acquisition missions in the fields of aerial photography, reconnaissance, transportation, sea surveillance, real-time relay/on-site monitoring, power line patrol, pipeline patrol, animal and plant protection and the like.

Alternatively, in this embodiment, the data acquired in the data acquisition mission may include, but is not limited to: video data, voice data, picture data, and the like.

Alternatively, in this embodiment, the manner of communication connection between the flight devices or between the flight devices and the relay base station may include, but is not limited to, the following: Bluetooth, Wireless Communication Technology (WIFI), a wireless network protocol for low-speed short-range transmission (ZIGBEE), 5th Generation Mobile Communication Technology (5G) and other wireless transmission technologies.

In one embodiment, the first flight device may be controlled to perform data acquisition missions according to the mission flight route and the second flight device may perform data acquisition missions according to the relay flight route in the following manner, but is not limited to: controlling the first flight device and the second flight device to take off simultaneously at the same place; and acquiring mission data transmitted by the target relay base station during execution of the data acquisition mission by the first flight device according to the mission flight route, where the mission data acquired by the first flight device is transmitted to the target relay base station via the second flight device.

Alternatively, in this embodiment, it may be, but is not limited to controlling the first flight device and the second flight device via a mobile terminal (e.g., a mobile phone, a handle and the like), and viewing data information returned by the first flight device.

Alternatively, in this embodiment, by controlling the first flight device and the second flight device to take off simultaneously at the same place, it is possible to ensure that the first flight device and the second flight device use the battery simultaneously, ensuring that both maintain a consistent battery endurance, and thus operate efficiently.

Alternatively, in this embodiment, it is also possible, but not limited to, controlling the first flight device and the second flight device to land simultaneously at the same place, or land at different places simultaneously, so that it can be ensured that the first flight device and the second flight device change the battery simultaneously to reduce the waiting time, thereby operating efficiently.

Alternatively, in this embodiment, FIG. 5 is a schematic diagram of a process of executing a data acquisition mission according to an embodiment of the present disclosure; as shown in FIG. 5, taking a first flight device as a mission unmanned aerial vehicle and a second flight device as a relay unmanned aerial vehicle as an example, a relay flight route can be generated for the relay unmanned aerial vehicle after acquiring a mission flight route of the mission unmanned aerial vehicle, and the aerial flight devices flying by the two flight routes can take off or land simultaneously at the same place; the first flight device transmits data to the second flight device by communicating with the second flight device; and the second flight device transmits the data transmitted by the first flight device to a relay base station A connected thereto at this time, and the relay base station A continues to transmit data to a data receiving device on the ground to complete a data acquisition mission.

In one embodiment, during execution of the data acquisition mission by the first flight device according to the mission flight route, the flight range of the first flight device can be detected, but is not limited to: identifying a base station identifier of the target relay base station; and detecting a flight range where the first flight device is located according to the base station identifier.

Alternatively, in this embodiment, the deployment position of each relay base station is known, the base station identification of the target relay base station currently providing data relay service for the flight device can be identified to obtain the deployed position of the target relay base station, and the flight range in which the first flight device is located can be determined according to the position.

Alternatively, in this embodiment, FIG. 6 is a schematic diagram for acquiring the flight range of the first flight device according to the embodiment of the present disclosure, and as shown in FIG. 6, according to the unique identifier of the target relay base station to which the relay unmanned aerial vehicle is currently connected, the flight range in which the mission unmanned aerial vehicle is located can be detected, so that the position information such as the coordinate value (or coordinate range) and distance of the mission unmanned aerial vehicle can be displayed on the control handle of the flight device.

In one embodiment, during execution of the data acquisition mission by the first flight device according to the mission flight route, the flight routes of the two flight devices may be re-planned in a way not limited to: acquiring data state information transmitted by the target relay base station, where the data state information is used for indicating a transmission state of data between the first flight device, the second flight device and the target relay base station during the execution of the data acquisition mission; re-planning the first alternative flight route and the second alternative flight route based on the data state information; controlling the first flight device and the second flight device to continue to perform the data acquisition mission following the first alternative flight route and the second alternative flight route respectively.

Alternatively, in this embodiment, the data state information is used for indicating the status of data transmission between the first flight device, the second flight device, and the target relay base station during performance of the data acquisition mission. Automatic adjustment of the flight route of the flight device can be achieved according to the transmission state, for example: and if a signal instability occurs on a transmission link formed by the first flight device, the second flight device and the target relay base station, a first alternative flight route can be planned for the first flight device again, and a second alternative flight route can be planned for the second flight device according to the first alternative flight route, and the first flight device and the second flight device are controlled to continue executing the data acquisition mission according to the first alternative flight route and the second alternative flight route respectively to ensure smooth execution of the data acquisition mission.

Alternatively, in this embodiment, the data state information may include, but is not limited to, the operational status of the flight device, the operational status of the relay base station and the like. The data transmission status of the communication link can be detected by monitoring the data state information to determine whether a new flight route needs to be planned based on the data transmission status.

Alternatively, in this embodiment, FIG. 7 is a schematic diagram for planning a flight route of an alternative flight device according to an embodiment of the present disclosure; as shown in FIG. 7, a working state of a mission unmanned aerial vehicle can be displayed on a control handle as the above-mentioned data state information, i.e., working abnormally or working normally; when it is displayed as working abnormally, a first alternative flight route can be re-planned for the mission unmanned aerial vehicle on a display area on the control handle, and a second alternative flight route can be regenerated; and according to the re-planned route, two flight devices can be controlled to continue to perform a data acquisition mission.

In one embodiment, the first flight device and the second flight device may be controlled to take off simultaneously at the same place in a way not limited to: acquiring, from the relay base station distribution, a to-be-tested relay base station which is farthest away from the take-off position of the data acquisition mission; transmitting a test signal to the to-be-tested relay base station; controlling the first flight device and the second flight device to take off simultaneously from the take-off position upon receiving feedback information returned by the to-be-tested relay base station in response to the test signal.

Alternatively, in this embodiment, prior to controlling the two flight devices to perform the data acquisition mission, a self-test of the link of the relay base station may be achieved by, but not limited to, signal detection of the to-be-tested relay base station as described above, thereby ensuring that the link is clear and improving the success rate of mission execution.

Alternatively, in this embodiment, the test signal may be, but is not limited to, a signal that the relay base station can recognize and return a particular instruction. The relay base station which is farthest away from the take-off position of the data acquisition mission can return feedback information according to the test signal, i.e. can indicate that the communication links distributed throughout the relay base station are smooth, and can support the execution of the data acquisition mission.

Alternatively, in this embodiment, FIG. 8 is a schematic diagram of detecting the link operating state of a base station according to an embodiment of the present disclosure, and as shown in FIG. 8, before an unmanned aerial vehicle performs a data acquisition mission, a link self-detection of a relay base station can be performed by transmitting a test signal to a to-be-tested relay base station which is farthest away from the take-off position of the data acquisition mission in the relay base station distribution to ensure that the link is clear.

Through the above embodiments, the problem can be solved that the mission unmanned aerial vehicle and the wireless transmission link are blocked by the surrounding objects of the ground relay base station, the lateral flight distance cannot be extended, and the mission can only be performed towards a single straight line route where the relay base station has been arranged. It not only achieves a good wireless environment in the air without obstruction, greatly increases the cruising range, and is flexible in networking, so it is very convenient to choose the best relay base station to work, and achieve regional coverage.

From the description of the embodiments given above, it will be clear to a person skilled in the art that the method according to the embodiments described above can be implemented by means of software plus a necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a better embodiment. Based on such an understanding, the technical solution of the present disclosure, either substantively or in any way contributing to the prior art, can be embodied in the form of a software product, wherein the computer software product is stored in a storage medium (such as a ROM/RAM, a magnetic diskette, an optical disk), and includes instructions for causing a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the method of various embodiments of the present disclosure.

A system for controlling a flight device is further provided in this embodiment, and FIG. 9 is a schematic diagram of a system for controlling a flight device according to an embodiment of the present disclosure, as shown in FIG. 9, the system includes: a control device, a first flight device, a second flight device and relay base station distribution, the first flight device is communicatively connected to the second flight device during the execution of the data acquisition mission, and the second flight device is communicatively connected to a target relay base station device in the relay base station distribution.

Furthermore, the control device is used for acquiring a mission flight route of a first flight device, where the mission flight route is used for indicating a flight route of a data acquisition mission to be performed by the first flight device; generating a relay flight route of the second flight device according to the mission flight route and relay base station distribution on the mission flight route, where the relay flight route is used for indicating a flight route of the second flight device during execution of the data acquisition mission by the first flight device; and controlling the first flight device to perform the data acquisition mission according to the mission flight route and controlling the second flight device to perform the data acquisition mission according to the relay flight route.

Moreover, the first flight device is used for acquiring mission data during execution of the data acquisition mission; the second flight device is used for transmitting the mission data acquired by the first flight device; and the target relay base station is used for transmitting the mission data transmitted by the second flight device.

Alternatively, in this embodiment, the flight device described above may be, but is not limited to, any type of aircraft that allows data transmission capabilities. For example: unmanned aerial vehicles, conventional aircraft and the like.

Alternatively, in this embodiment, the relay base stations may be, but are not limited to, ground-deployed communication equipment for transmitting signals for flight device, and the relay base station distribution on the mission flight route may include, but is not limited to, one or more relay base stations.

Alternatively, in this embodiment, the above-mentioned control device may include, but is not limited to: equipment with remote control function such as a mobile terminal, a control handle and a computer.

In one embodiment, FIG. 10 is a schematic diagram of a system for controlling a flight device according to an embodiment of the present disclosure. As shown in FIG. 10, the system further includes: a relay base station network, where the relay base station distribution includes relay base stations in the relay base station network which fall within a range where the mission flight route is located,

- the control device is used for acquiring the relay base station distribution from the relay base station network; and planning the relay flight route according to the mission flight route within a range covered by the relay base station distribution.

In an embodiment, the control device is used for determining a reference relay base station corresponding to each mission position on the mission flight route in the relay base station distribution; determining an optimal relay position corresponding to each mission position within a range covered by the reference relay base station, and obtaining the relay flight route.

In an embodiment, the control device is used for controlling the first flight device and the second flight device to take off simultaneously at the same place; and acquiring mission data transmitted by the target relay base station during execution of the data acquisition mission by the first flight device according to the mission flight route, where the mission data acquired by the first flight device is transmitted to the target relay base station via the second flight device.

In an embodiment, the control device is further used for identifying a base station identifier of the target relay base station during execution of the data acquisition mission by the first flight device according to the mission flight route; and detecting a flight range where the first flight device is located according to the base station identifier.

In an embodiment, the control device is further used for acquiring data state information transmitted by the target relay base station, where the data state information is used for indicating a transmission state of data between the first flight device, the second flight device and the target relay base station during the execution of the data acquisition mission; re-planning the first alternative flight route and the second alternative flight route based on the data state information; controlling the first flight device and the second flight device to continue to perform the data acquisition mission following the first alternative flight route and the second alternative flight route respectively.

In an embodiment, the control device is used for acquiring, from the relay base station distribution, a to-be-tested relay base station which is farthest away from the take-off position of the data acquisition mission; transmitting a test signal to the to-be-tested relay base station; controlling the first flight device and the second flight device to take off simultaneously from the take-off position upon receiving feedback information returned by the to-be-tested relay base station in response to the test signal.

There is also provided in this embodiment an apparatus for controlling a flight device for carrying out the embodiments and preferred embodiments described above, which will not be described in detail. As used below, the term “module” may implement a combination of software and/or hardware for a predetermined function. Although the device described in the following embodiments is preferably implemented in software, implementations in hardware, or a combination of software and hardware, are possible and contemplated.

FIG. 11 is a block diagram of an apparatus for controlling a flight device according to an embodiment of the present disclosure, as shown in FIG. 11, including:

- a first acquisition module 1102 configured to acquire a mission flight route of a first flight device, where the mission flight route is used for indicating a flight route of a data acquisition mission to be performed by the first flight device;
- a generation module 1104 configured to generate a relay flight route of the second flight device according to the mission flight route and relay base station distribution on the mission flight route, where the relay flight route is used for indicating a flight route of the second flight device during execution of the data acquisition mission by the first flight device; and
- a control module 1106 configured to control the first flight device to perform the data acquisition mission according to the mission flight route and controlling the second flight device to perform the data acquisition mission according to the relay flight route, where the first flight device is communicatively connected to the second flight device during the execution of the data acquisition mission, and the second flight device is communicatively connected to a target relay base station device in the relay base station distribution.

In an embodiment, the generation module includes:

- a first acquisition unit for acquiring a relay base station falling within a range where the mission flight route is located from a relay base station network to obtain the relay base station distribution; and
- a first planning unit for planning the relay flight route according to the mission flight route within a range covered by the relay base station distribution.

In an embodiment, the first planning unit is used for

- determining a reference relay base station corresponding to each mission position on the mission flight route in the relay base station distribution; and
- determining an optimal relay position corresponding to each mission position within a range covered by the reference relay base station, and obtaining the relay flight route.

In one embodiment, the first control module includes:

- a first control unit for controlling the first flight device and the second flight device to take off simultaneously at the same place; and
- a second acquisition unit for acquiring mission data transmitted by the target relay base station during execution of the data acquisition mission by the first flight device according to the mission flight route, where the mission data acquired by the first flight device is transmitted to the target relay base station via the second flight device.

In an embodiment, the device further includes:

- an identification module configured to identify a base station identifier of the target relay base station in the process of the first flight device executing the data acquisition mission according to the mission flight route;