WO2020093496A1 - Security control system and method for unmanned aerial vehicle, and computer readable storage medium - Google Patents

Abstract

A security control system and method for an unmanned aerial vehicle, and a computer readable storage medium. The control system comprises a security management module (10), a cloud server (20), a ground control terminal (30), and at least one unmanned aerial vehicle body (40) which are communicatingly connected in sequence; the unmanned aerial vehicle body (40) is provided with a flight control assembly (41); the flight control assembly (41) comprises a route control module (411); the cloud server (20) is used for receiving a security control instruction sent by the security management module (10) and sending the security control instruction to the ground control terminal (30) on the basis of a preset condition; the ground control terminal (30) is used for sending the received security control instruction to the route control module (411) corresponding to the security control instruction; the flight control assembly (41) is used for controlling, according to the security control instruction received by the route control module (411), the unmanned aerial vehicle body (40) to respond to the security control instruction. The system can reduce the occurrence of operation accidents of unmanned aerial vehicles and reduce hidden security hazards in operation of unmanned aerial vehicles.

Description

UAV safety control system, method and computer readable storage medium The

Technical field

This application relates to the technical field of unmanned aerial vehicles, in particular to unmanned aerial vehicle safety control systems, methods, and computer-readable storage media.

Background technique

With the rapid development of the drone industry, more and more drones have been applied to agriculture, forestry, power, surveying, telemetry and other industries. The existing drones are all carried by drone pilots or operators Control the drone through the ground station to perform flight missions. However, under normal circumstances, the owner of the drone is not a drone pilot or operator. Taking plant protection drones as an example, several plant protection drones under the name of the enterprise owner are generally used in plant protection operations. The pilot or farm worker controls the drone through the ground station to perform plant protection operations; because the ground station has all control rights for the drone, when the plant protection drone in its own name is operated by the pilot or farm worker When there are hidden safety hazards or illegal flights, business owners cannot interrupt their improper operations. The resulting flight accidents will not only cause great losses to the business owners, but some will also endanger the safety of the people.

Application content

The main purpose of this application is to propose a drone safety control system, method and computer-readable storage medium, aiming to realize that the owner of the drone can realize the safety management and control of all or part of the drone under his own name The occurrence of man-machine operation accidents reduces the hidden safety hazards that exist during drone operations.

In order to achieve the above object, the present application provides a drone safety control system, which includes a safety management module, a cloud server, a ground control terminal, and at least one drone body, which are sequentially connected in communication. The drone body is provided with a flight control Component, the flight control component includes a route control module;

The cloud server is configured to receive a security control instruction sent by the security management module based on preset conditions and send the security control instruction to the ground control terminal;

The ground control terminal is configured to send the received safety control instruction to the airline control module corresponding to the safety control instruction;

The flight control component is configured to control the UAV body to respond to the safety control instruction according to the safety control instruction received by the route control module.

Optionally, the ground control terminal is preset with route information, and the route control module includes an acquisition unit;

The acquisition unit is configured to receive the route information sent by the ground control terminal, so that the flight control component controls the flight status of the UAV body according to the route information received by the acquisition unit.

Optionally, the ground control terminal includes a detection unit, and the detection unit is used to periodically detect whether the cloud server and the route control module both maintain a communication connection with the ground control terminal.

Optionally, the ground control terminal is further configured to receive a response instruction corresponding to the security control instruction sent by the route control module, and send the response instruction to the cloud server;

The cloud server is also used to send the received response instruction to the security management module.

Optionally, the ground control terminal is further configured to receive flight status data of the UAV body periodically sent by the route control module, and send the flight status data to the cloud server;

The cloud server is also used to send the received flight status data to the safety management module.

The present application also provides a UAV safety control method using the system described above, the method including the following steps:

Based on preset conditions, the cloud server receives the security control instruction sent by the security management module and sends the security control instruction to the ground control terminal;

The ground control terminal sends the safety control instruction to the airline control module corresponding to the safety control instruction;

The flight control component controls the UAV body to respond to the safety control instruction according to the safety control instruction received by the route control module.

Optionally, the ground control terminal is preset with route information, and based on the preset condition, the cloud server receives the security control instruction sent by the security management module and sends the security control instruction to the ground control The steps before the terminal also include:

The ground control terminal sends preset route information to the route control module;

The flight control component controls the flight status of the UAV body according to the route information received by the route control module.

Optionally, after the step of controlling the flight status of the UAV body according to the route information received by the route control module, the flight control component further includes:

The ground control terminal periodically detects whether the cloud server and the route control module both maintain a communication connection with the ground control terminal;

If both the cloud server and the route control module maintain a communication connection with the ground control terminal, then proceed to the step: based on preset conditions, the cloud server receives the security control instruction sent by the security management module and sends the The safety control instruction is sent to the ground control terminal.

Optionally, the step of controlling the drone body to respond to the safety control instruction according to the safety control instruction received by the route control module further includes:

The ground control terminal receives a response instruction corresponding to the security control instruction sent by the route control module, and sends the response instruction to the cloud server;

The cloud server sends the received response instruction to the security management module.

Optionally, based on the preset condition, the step of the cloud server receiving the security control instruction sent by the security management module and sending the security control instruction to the ground control terminal further includes:

The ground control terminal receives the flight status data of the UAV body periodically sent by the route control module, and sends the flight status data to the cloud server;

The cloud server sends the received flight status data to the safety management module.

The one or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

The drone safety control system of the present application includes a safety management module, a cloud server, a ground control terminal, and at least one drone body that are sequentially connected to a communication, the drone body is provided with a flight control component, and the flight control component includes a flight line Control module, when the drone owner or safety manager finds that the drone has dangerous actions or illegal flights, it can send safety control instructions to the cloud server through the safety management module, and the cloud server sends the safety control instructions to The ground control terminal, after receiving the safety control command, the ground control terminal sends the safety control command to the drone corresponding to the command, specifically to the route control module in the drone flight control, when the flight control detects After the airline control module receives the security control command, it controls the UAV body to respond to the security control command, thereby realizing that the owner of the drone can implement security management and control of the drone in its own name, reducing unmanned The occurrence of machine accidents reduces the potential safety hazards during drone operations.

BRIEF DESCRIPTION

In order to more clearly explain the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, so they are not It should be regarded as a limitation on the scope. For those of ordinary skill in the art, without paying any creative work, other related drawings can be obtained based on these drawings.

FIG. 1 is a schematic structural diagram of a preferred embodiment of an application drone safety control system;

FIG. 2 is a schematic flowchart of the first embodiment of a method for controlling drone safety application;

FIG. 3 is a schematic flowchart of a second embodiment of a method for controlling a drone safety application;

FIG. 4 is a schematic flowchart of a third embodiment of a method for controlling a drone safety application.

Icons: 10, security management module; 20, cloud server; 30, ground control terminal; 40, drone body; 41, flight control component; 411, route control module.

The implementation, functional characteristics and advantages of the present application will be further described in conjunction with the embodiments and with reference to the drawings.

detailed description

To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of this application, but not all the embodiments. The components of the embodiments of the present application that are generally described and illustrated in the drawings herein can be arranged and designed in various configurations.

Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

It should be noted that similar reference numerals and letters indicate similar items in the following drawings, therefore, once an item is defined in one drawing, there is no need to further define and explain it in subsequent drawings.

The terms "first", "second", "third", "fourth", etc. are only used to distinguish descriptions, and cannot be understood as indicating or implying relative importance.

In addition, the terms "parallel", "vertical", etc. do not mean that the components are required to be absolutely parallel or vertical, but may be slightly inclined. For example, "parallel" only means that the direction is more parallel than "vertical", it does not mean that the structure must be completely parallel, but can be slightly inclined.

In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms “setup”, “installation”, “connection”, and “connection” should be broadly understood, for example, it can be a fixed connection, It can also be a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium, or it can be the communication between the two components. For those of ordinary skill in the art, the specific meaning of the above terms in this application can be understood in specific situations.

This application proposes a UAV safety control system.

Referring to FIG. 1, FIG. 1 is a schematic structural diagram of a preferred embodiment of a drone safety control system proposed in this application.

The drone safety control system proposed in this application includes a safety management module 10, a cloud server 20, a ground control terminal 30 and at least one drone body 40 that are sequentially connected in communication. The drone body 40 is provided with a flight control component 41. The flight control component 41 includes a route control module 411;

The cloud server 20 is configured to receive the security control instruction sent by the security management module 10 based on preset conditions and send the security control instruction to the ground control terminal 30;

The ground control terminal 30 is configured to send the received safety control instruction to the airline control module 411 corresponding to the safety control instruction;

The flight control component 41 is configured to control the drone body 40 to respond to the safety control instruction according to the safety control instruction received by the route control module 411.

In the prior art, the drone is controlled by the drone pilot or operator through the ground station to perform the flight mission, but under normal circumstances, the owner of the drone is not the drone pilot or operator Personnel, taking plant protection drones as an example, during plant protection operations of several plant protection drones under the owner ’s own name, pilots or farm staff generally control the drones through the ground station to perform plant protection operations; The ground station has all the control rights of the drone. When the plant protection drone in its own name has potential safety hazards or flight violations due to improper operation of the pilot or farm staff, the business owner cannot interrupt its improper operation. The flight accidents caused by this will not only cause great losses to business owners, but some will also endanger the safety of the masses.

In this embodiment, the drone safety control system includes a safety management module 10, a cloud server 20, a ground control terminal 30, and at least one drone body 40 that are sequentially connected in communication. The drone body 40 is provided with a flight control Component 41, the flight control component 41 includes a route control module 411; specifically, the safety management module 10 may be a management application installed on a mobile terminal such as a mobile phone or tablet or a management software installed on a computer side, which is not done in this embodiment For specific restrictions, the user can send commands to the cloud server 20 through the security management module 10 according to actual needs; the ground control terminal 30 can be a ground station or a control application installed on a ground terminal. This embodiment does not make specific restrictions. The drone connected to the drone safety control system of this embodiment may be all or part of the drone under the name of the current owner, which can be specifically set according to the owner's safety control requirements and connected to this embodiment Each UAV body 40 of the UAV safety control system is provided with a flight control component 41, which includes a route control module 411, a route control The module 411 can exchange information with the ground control terminal 30.

The cloud server 20 is configured to receive the security control instruction sent by the security management module 10 based on preset conditions and send the security control instruction to the ground control terminal 30; as an embodiment, this embodiment When the drone owner or safety management personnel discovers that the drone has dangerous actions or illegal flights, it can send safety control instructions to the above-mentioned problematic drone through the safety management module 10, specifically, no one The machine owner or the security manager sends the security control instruction to the cloud server 20 through the security management module 10, and the cloud server 20 sends the received security control instruction to the ground control terminal 30. The security control instruction may be to control the corresponding unmanned person Commands such as returning to the aircraft, hovering, landing on the spot.

The ground control terminal 30 is configured to send the received security control instruction to the airline control module 411 corresponding to the security control instruction; specifically, the ground control terminal 30 receives the security control sent by the cloud server 20 After the instruction, it is determined to which specific drone the safety control instruction is directed, and the safety control instruction is sent to the route control module 411 of the drone flight control component 41 corresponding to the safety control instruction.

The flight control component 41 is configured to control the UAV body 40 to respond to the safety control instruction according to the safety control instruction received by the route control module 411; in this embodiment, the route control module 411 is When the safety control command from the safety management module 10 is not received, the flight control component 41 controls the flight status of the UAV body 40 according to the control command from the ground control terminal 30 received by the route control module 411. When the module 411 receives the safety control command issued by the safety management module 10, the flight control component 41 controls the drone body 40 to respond to the safety control command. The control authority of the safety management module 10 for the drone takes precedence over the ground control terminal 30. Human-machine control authority, therefore, the drone owner can independently or entrust security management personnel to perform security control on all or part of his drone through the security management module 10, which largely avoids the drone ’s Flight accidents have solved the current black and private flight safety problems of drones, and have maintained the safety of people's production and life.

Preferably, the ground control terminal 30 is preset with route information, and the route control module 411 includes an acquisition unit;

The acquiring unit is configured to receive the route information sent by the ground control terminal 30, so that the flight control component 41 controls the UAV body 40 according to the route information received by the acquiring unit Flight status.

The ground control terminal 30 is a device or application that controls the drone to complete a series of specifications such as takeoff, operation, and landing. In this embodiment, the ground control terminal 30 can interact with the cloud server 20 by the unmanned person obtained by interacting with the airline control module 411 The height of the aircraft, the current latitude and longitude of the drone, the power of the drone, the speed of the drone, the spraying information, the spraying area and other information. After the ground control terminal 30 and the UAV body 40 are activated, the ground control terminal 30 operates according to the actual operation. The route information is preset in the demand. The ground control terminal 30 sends the corresponding route information to the route control module 411 of the corresponding UAV body 40. When the flight control detects that its corresponding route control module 411 receives the route information, it controls no The human-machine body 40 flies according to the route information, that is, before receiving the safety control command issued by the safety management module 10, the flight control operates according to the flight command of the ground control terminal 30. The flight command may also be a manual control command.

Preferably, the ground control terminal 30 includes a detection unit for periodically detecting whether the cloud server 20 and the route control module 411 both maintain a communication connection with the ground control terminal 30.

As a preferred embodiment, in this embodiment, the ground control terminal 30 periodically sends detection information to the cloud server 20 and the route control module 411. The detection information sent by the local control terminal 30 can be received from the cloud server 20 and the route. When the control module 411 replies, it is determined that the cloud server 20 and the route control module 411 both maintain a communication connection with the ground control terminal 30. If the cloud server 20 or the route control module 411 does not reply more than a preset standard, such as five times, then It is determined that the communication between the ground control terminal 30 and the cloud server 20 or the route control module 411 is interrupted.

Based on the premise that the route control module 411 maintains a communication connection with the ground control terminal 30 and the cloud server 20 maintains a communication connection with the ground control terminal 30, if the information exchanged between the cloud server 20 and the ground control terminal 30 is conventional information, it does not include security control Command, the ground control terminal 30 will send status data (a byte status packet) to the UAV route control module 411, the drone is based on the current ground control terminal 30 control flight; when the drone encounters an emergency, the drone The owner or security personnel can send a remote security control command to the cloud server 20 in the security management module 10, the normal interaction information between the cloud server 20 and the ground control terminal 30 will change, and the status data sent from the ground control terminal 30 to the route control module 411 It will also change accordingly. After the route control module 411 receives the safety control command from the safety management module 10 sent by the ground control terminal 30, based on the safety control command, the flight control controls the UAV body 40 to return home, hover, and land in place Wait.

Preferably, the ground control terminal 30 is further configured to receive a response instruction corresponding to the security control instruction sent by the route control module 411, and send the response instruction to the cloud server 20;

The cloud server 20 is also used to send the received response instruction to the security management module 10.

After the route control module 411 receives the safety control instruction from the safety management module 10 sent by the ground control terminal 30, the flight control component 41 controls the UAV body 40 to respond to the safety control instruction, and returns the response instruction to the safety management module 10 After receiving the response instruction, the user at the 10 end of the security management module can know that the security control is successful this time.

Preferably, the ground control terminal 30 is further configured to receive flight status data of the UAV body 40 periodically sent by the route control module 411, and send the flight status data to the cloud server 20;

The cloud server 20 is also used to send the received flight status data to the safety management module 10.

The safety management module 10 displays the flight status of all the UAV bodies 40 currently connected to the drone safety control system of this embodiment in real time, so that the flight status of the drone can be grasped in real time and an emergency can be judged based on the judged emergency , The security management module 10 sends the security control instruction to the cloud server 20.

The UAV safety control system of the present application includes a safety management module 10, a cloud server 20, a ground control terminal 30, and at least one UAV body 40 that are sequentially connected in communication. The UAV body 40 is provided with a flight control component 41. The flight control component 41 includes a route control module 411. When the drone owner or safety management personnel finds that the drone has dangerous actions or illegal flights, it can send safety control instructions to the cloud server 20 through the safety management module 10. The cloud server 20 sends the safety control instruction to the ground control terminal 30. After receiving the safety control instruction, the ground control terminal 30 sends the safety control instruction to the drone corresponding to the instruction, specifically to the drone The flight control module 411 in flight control, when the flight control detects that the flight control module 411 receives the safety control instruction, it controls the drone body 40 to respond to the safety control instruction, thereby realizing the drone owner It can realize the safety management and control of all drones under its own name, reduce the occurrence of accidents of drone operations, and reduce the security hidden during the operation of drones. .

This application also proposes a UAV safety control method that utilizes the system in the above-mentioned embodiments. Since all the technical solutions of all the above-mentioned embodiments are adopted, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments , I will not repeat them one by one here.

Referring to FIG. 2, FIG. 2 is a schematic flowchart of a first embodiment of a drone safety control method proposed in this application.

Specifically, the UAV safety control method includes the following steps:

Step S100, based on preset conditions, the cloud server receives the security control instruction sent by the security management module and sends the security control instruction to the ground control terminal;

When the owner or safety manager of the drone connected to the system in the above embodiment finds that any drone in the current system has dangerous actions or illegal flights, it sends a safety control instruction to the cloud server through the safety management module. The server sends the security control instruction to the ground control terminal.

Step S200, the ground control terminal sends the safety control instruction to the airline control module corresponding to the safety control instruction;

After receiving the safety control instruction, the ground control terminal sends the safety control instruction to the drone corresponding to the instruction, specifically to the route control module in the drone flight control.

Step S300, the flight control component controls the drone body to respond to the safety control instruction according to the safety control instruction received by the route control module.

When the flight control component detects that the route control module receives the safety control command, it controls the UAV body to respond to the safety control command, thereby realizing that the drone owner can control all drones under his own name. Realize safety management and control, reduce the occurrence of accidents during drone operations, and reduce hidden safety hazards during drone operations.

For the detailed solution in the UAV safety control method, please refer to the description of the above embodiment, and no more details will be given here.

Referring to FIG. 3, FIG. 3 is a schematic flowchart of a second embodiment of the drone safety control method proposed in this application. Based on the embodiment shown in FIG. 2 above, further, the ground control terminal is preset with route information, steps S100. Based on preset conditions, the step of the cloud server receiving the security control instruction sent by the security management module and sending the security control instruction to the ground control terminal further includes:

Step S101, the ground control terminal sends preset route information to the route control module;

Step S102, the flight control component controls the flight status of the UAV body according to the route information received by the route control module.

After the ground control terminal and the UAV body are started, the ground control terminal presets the route information according to the actual operational requirements. The ground control terminal sends the corresponding route information to the route control module corresponding to the UAV body. When the flight control detects After receiving the route information, the corresponding route control module controls the UAV body to fly according to the route information, that is, before receiving the safety control instruction issued by the safety management module, the flight control operates according to the flight instructions of the ground control terminal. The flight command may also be a manual control command.

Further, in step S102, the step of the flight control component controlling the flight state of the UAV body according to the route information received by the route control module further includes:

Step S103, the ground control terminal periodically detects whether the cloud server and the route control module both maintain a communication connection with the ground control terminal;

If both the cloud server and the route control module maintain a communication connection with the ground control terminal, proceed to step: step S100, based on preset conditions, the cloud server receives the security control instruction sent by the security management module and Sending the security control instruction to the ground control terminal.

The ground control terminal periodically sends detection information to the cloud server and the route control module. When the detection information sent by the local control terminal can receive replies from the cloud server and the route control module, the cloud server and the route control module are both judged. Maintain a communication connection with the ground control terminal. If the number of times the cloud server or route control module has not responded is greater than a preset standard, for example, five times, it is determined that the ground control terminal has lost communication with the cloud server or route control module.

This embodiment is based on the premise that the route control module maintains a communication connection with the ground control terminal and the cloud server maintains a communication connection with the ground control terminal. If the information exchanged between the cloud server and the ground control terminal is conventional information, that is, it does not include the safety control instructions. The control terminal will send the normal status data to the UAV route control module. The drone is based on the control flight of the current ground control terminal; when the drone encounters an emergency, the drone owner or security personnel will send a remote Safety control command, after the route control module receives the safety control command from the safety management module sent by the ground control terminal, based on the safety control command, the flight control controls the drone body to return home, hover, and land on the ground, etc. Owners can implement safety management and control of all drones under their own names, reduce the occurrence of accidents in drone operations, and reduce potential safety hazards during drone operations.

Referring to FIG. 4, FIG. 4 is a schematic flowchart of a third embodiment of the drone safety control method proposed in this application. Based on the embodiment shown in FIG. 3, further, step S300, the flight control component is based on the route The step of controlling the security control instruction received by the control module to control the UAV body to respond to the security control instruction further includes:

S301, the ground control terminal receives a response instruction corresponding to the security control instruction sent by the route control module, and sends the response instruction to the cloud server;

S302. The cloud server sends the received response instruction to the security management module.

After the route control module receives the safety control instruction from the safety management module sent by the ground control terminal, the flight control component controls the UAV body to respond to the safety control instruction, and returns the response instruction to the safety management module, the user of the safety management module end After receiving the response instruction, you can know that the security control is successful this time.

In other embodiments, step S100, based on a preset condition, the step of the cloud server receiving the security control instruction sent by the security management module and sending the security control instruction to the ground control terminal further includes :

The ground control terminal receives the flight status data of the UAV body periodically sent by the route control module, and sends the flight status data to the cloud server;

The cloud server sends the received flight status data to the safety management module.

The safety management module displays the flight status of all UAV bodies currently connected to the drone safety control system of this embodiment in real time, so that the flight status of the drone can be grasped in real time and an emergency can be judged. Based on the judged emergency, the safety The management module sends security control instructions to the cloud server.

Further, the present application also provides a drone safety control device. In the embodiment of the present application, the drone safety control device may include a processor (for example, a central processor), a communication bus, an input port, an output port, and a memory. Among them, the communication bus is used to realize the connection and communication between these components; the input port is used for data input; the output port is used for data output, the memory can be a high-speed RAM memory, or a stable memory, such as a disk memory, the memory is optional It may also be a storage device independent of the aforementioned processor.

The memory as a computer-readable storage medium may include an operating system, a network communication module, an application program module, and computer-readable instructions. The network communication module is mainly used to connect to the server and perform data communication with the server; and the processor can call computer-readable instructions stored in the memory and execute the steps of the drone safety control method provided by the embodiments of the present application:

Based on preset conditions, the cloud server receives the security control instruction sent by the security management module and sends the security control instruction to the ground control terminal;

The ground control terminal sends the safety control instruction to the airline control module corresponding to the safety control instruction;

The flight control component controls the UAV body to respond to the safety control instruction according to the safety control instruction received by the route control module.

In addition, embodiments of the present application also provide a computer-readable storage medium that stores computer-readable instructions that are implemented by a processor to implement the above-described drone safety control method Step, the computer-readable storage medium may be a non-volatile readable storage medium.

The method for implementing the computer readable instructions can be referred to various embodiments of the unmanned aerial vehicle safety control method of the present application, which will not be repeated here.

When the drone owner or safety manager finds that the drone has dangerous actions or illegal flights, he can send safety control instructions to the cloud server through the safety management module. The safety control instruction is sent to the ground control terminal, and after receiving the safety control instruction, the ground control terminal sends the safety control instruction to the drone corresponding to the instruction, specifically to the route control module in the drone flight control, When the flight control detects that the route control module receives the safety control instruction, it controls the UAV body to respond to the safety control instruction, thereby realizing that the drone owner can implement Safety management and control, reduce the occurrence of accidents during drone operations, and reduce hidden safety hazards during drone operations.

Although the preferred embodiments of the present application have been described, those skilled in the art can make additional changes and modifications to these embodiments once they learn the basic inventive concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. In this way, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these modifications and variations. The

Claims (15)

A drone safety control system, characterized in that it includes a safety management module, a cloud server, a ground control terminal and at least one drone body that are sequentially connected in communication, and the drone body is provided with a flight control component. Flight control components include route control modules; The cloud server is configured to receive a security control instruction sent by the security management module based on preset conditions and send the security control instruction to the ground control terminal; The ground control terminal is configured to send the received safety control instruction to the airline control module corresponding to the safety control instruction; The flight control component is configured to control the UAV body to respond to the safety control instruction according to the safety control instruction received by the route control module. The drone safety control system according to claim 1, wherein the ground control terminal is preset with route information, and the route control module includes an acquisition unit; The acquisition unit is configured to receive the route information sent by the ground control terminal, so that the flight control component controls the flight status of the UAV body according to the route information received by the acquisition unit. The unmanned aerial vehicle safety control system according to claim 2, wherein the ground control terminal includes a detection unit, the detection unit is used to periodically detect whether the cloud server and the route control module are all The ground control terminal maintains a communication connection. The unmanned aerial vehicle safety control system according to claim 2, wherein the ground control terminal is further configured to receive a response instruction corresponding to the safety control instruction sent by the route control module, and send the response The instruction is sent to the cloud server; The cloud server is also used to send the received response instruction to the security management module. The UAV safety control system according to claim 1, wherein the ground control terminal is further configured to receive flight status data of the UAV body periodically sent by the route control module, and Sending the flight status data to the cloud server; The cloud server is also used to send the received flight status data to the safety management module. A UAV safety control method using the system of claim 5, wherein the method includes the following steps: Based on preset conditions, the cloud server receives the security control instruction sent by the security management module and sends the security control instruction to the ground control terminal; The ground control terminal sends the safety control instruction to the airline control module corresponding to the safety control instruction; The flight control component controls the UAV body to respond to the safety control instruction according to the safety control instruction received by the route control module. The UAV safety control method according to claim 6, wherein the ground control terminal is preset with route information, and based on preset conditions, the cloud server receives the safety control sent by the safety management module The step of sending the instruction and sending the safety control instruction to the ground control terminal further includes: The ground control terminal sends preset route information to the route control module; The flight control component controls the flight status of the UAV body according to the route information received by the route control module. The UAV safety control method according to claim 7, wherein the flight control component controls the flight status of the UAV body after the step of controlling the flight status of the UAV body according to the route information received by the route control module Also includes: The ground control terminal periodically detects whether the cloud server and the route control module both maintain a communication connection with the ground control terminal; If both the cloud server and the route control module maintain a communication connection with the ground control terminal, then proceed to the step: based on preset conditions, the cloud server receives the security control instruction sent by the security management module and sends the The safety control instruction is sent to the ground control terminal. The UAV safety control method according to claim 6, wherein the flight control component controls the UAV body to respond to the safety control according to the safety control instruction received by the route control module The steps after the instruction also include: The ground control terminal receives a response instruction corresponding to the security control instruction sent by the route control module, and sends the response instruction to the cloud server; The cloud server sends the received response instruction to the security management module. The UAV safety control method according to claim 6, characterized in that, based on the preset condition, the cloud server receives the safety control instruction sent by the safety management module and sends the safety control instruction to all Before describing the steps of the ground control terminal, it also includes: The ground control terminal receives the flight status data of the UAV body periodically sent by the route control module, and sends the flight status data to the cloud server; The cloud server sends the received flight status data to the safety management module. A computer-readable storage medium, characterized in that computer-readable instructions are stored on the computer-readable storage medium, and when the computer-readable instructions are executed by a processor, the following steps are implemented: Based on preset conditions, the cloud server receives the security control instruction sent by the security management module and sends the security control instruction to the ground control terminal; The ground control terminal sends the safety control instruction to the airline control module corresponding to the safety control instruction; The flight control component controls the UAV body to respond to the safety control instruction according to the safety control instruction received by the route control module. The computer-readable storage medium according to claim 11, wherein the ground control terminal is preset with route information, and based on preset conditions, the cloud server receives the security management module to send Before the step of sending the security control instruction to the ground control terminal, the method further includes: The ground control terminal sends preset route information to the route control module; The flight control component controls the flight status of the UAV body according to the route information received by the route control module. The computer-readable storage medium of claim 12, wherein the flight control component further controls the flight status of the UAV body after the step of controlling the flight status of the UAV body according to the route information received by the route control module include: The ground control terminal periodically detects whether the cloud server and the route control module both maintain a communication connection with the ground control terminal; If both the cloud server and the route control module maintain a communication connection with the ground control terminal, then proceed to the step: based on preset conditions, the cloud server receives the security control instruction sent by the security management module and sends the The safety control instruction is sent to the ground control terminal. The computer-readable storage medium of claim 11, wherein the flight control component controls the drone body to respond to the safety control instruction according to the safety control instruction received by the route control module After the steps include: The ground control terminal receives a response instruction corresponding to the security control instruction sent by the route control module, and sends the response instruction to the cloud server; The cloud server sends the received response instruction to the security management module. The computer-readable storage medium of claim 11, wherein the cloud server receives a security control instruction sent by the security management module based on a preset condition and sends the security control instruction to the The steps of the ground control terminal also include: The ground control terminal receives the flight status data of the UAV body periodically sent by the route control module, and sends the flight status data to the cloud server; The cloud server sends the received flight status data to the safety management module.