CN104932525A - Drone control method and device, ground control system and drone - Google Patents
Drone control method and device, ground control system and drone Download PDFInfo
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- CN104932525A CN104932525A CN201510283658.2A CN201510283658A CN104932525A CN 104932525 A CN104932525 A CN 104932525A CN 201510283658 A CN201510283658 A CN 201510283658A CN 104932525 A CN104932525 A CN 104932525A
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Abstract
The invention discloses a drone control method comprising the steps that the current position and attitude of a drone are acquired; whether the drone enters a restricted area or a no-fly area is judged according to the current position and attitude of the drone; and when the drone enters the restricted area or the no-fly area, flight of the drone is controlled according to a flight control strategy corresponding to the area. The invention also discloses drone control device, the drone with the control device and a ground control system. The drone is enabled to automatically avoid the no-fly area so that flight efficiency and flight safety can be enhanced.
Description
Technical field
The present invention relates to unmanned plane field, particularly relate to a kind of control method of unmanned plane, device, ground control system and unmanned plane.
Background technology
Unmanned plane refers to and utilizes wireless remote control device and the control device of self to carry out the not manned vehicle controlled, such as depopulated helicopter, unmanned fixed-wing aircraft, unmanned parasol etc.This unmanned plane may be used for carry filming apparatus, for taking photo by plane, surveying and drawing, scout etc.This unmanned plane at work, is all generally automatically fly according to pre-configured course line, and when automatically flying, cannot identifies no-fly region in advance and dodge, thus cause the work efficiency of unmanned plane to reduce, there is potential safety hazard simultaneously.
Summary of the invention
Fundamental purpose of the present invention is to provide a kind of control method of unmanned plane, device, unmanned plane and ground control system, is intended to solve when unmanned plane flies automatically and cannot predicts no-fly regional issue.
In order to achieve the above object, the invention provides a kind of unmanned aerial vehicle (UAV) control method, comprise the following steps:
Obtain current location and the attitude of unmanned plane;
According to current location and the attitude of described unmanned plane, judge whether this unmanned plane is about to enter restricted area territory or no-fly region;
When unmanned plane is about to enter restricted area territory or no-fly region, the flight control strategy corresponding according to this region, controls unmanned plane during flying.
In addition, for achieving the above object, present invention also offers a kind of control device of unmanned plane, comprising:
Unmanned plane state acquisition module, for obtaining current location and the attitude of unmanned plane;
Flight anticipation module, for according to the current location of described unmanned plane and attitude, determines whether described unmanned plane is about to enter restricted area territory or no-fly region;
Flight control modules, during for being about to when unmanned plane enter restricted area territory or no-fly region, the flight control strategy corresponding according to this region, controls unmanned plane and runs.
In addition, for achieving the above object, present invention also offers a kind of unmanned plane, described unmanned plane comprise fuselage, slurry assembly, the control device be arranged on fuselage, the control device of described control device said structure.
In addition, for achieving the above object, present invention also offers a kind of ground control system, described ground control system comprises wireless communication apparatus, to carry out wireless telecommunications with unmanned plane; Described ground control system comprises the control device of said structure, according to current location and the attitude of the unmanned plane of ground control system reception, controls unmanned plane during flying.
The embodiment of the present invention is by obtaining current location and the flight attitude of unmanned plane, and when determining that this unmanned plane is about to enter restricted area territory or no-fly region according to this current location and flight attitude, according to the flight control strategy that this region is corresponding, control unmanned plane during flying.By the embodiment of the present invention, unmanned plane not only can be judged no-fly region and restricted area territory in advance, and automatically can avoid no-fly region or fly according to the requirement in restricted area territory, improve flight efficiency and flight safety.
Accompanying drawing explanation
Fig. 1 is the interactive structure schematic diagram of unmanned flight's system of the present invention;
Fig. 2 is the high-level schematic functional block diagram of the ground control system of unmanned flight's system of the present invention;
Fig. 3 is the high-level schematic functional block diagram of control device one embodiment of unmanned plane of the present invention;
Fig. 4 be the present invention according to the current location of unmanned plane and attitude, determine the exemplary plot of the area information that unmanned plane is about to enter;
Fig. 5 is the exemplary plot of each area information corresponding to administrative region that the present invention delimit in advance;
Fig. 6 a-6d is the exemplary plot in the target flight region that the present invention pre-sets;
Fig. 7 is the schematic flow sheet of control method one embodiment of unmanned plane of the present invention;
Fig. 8 is the schematic flow sheet of another embodiment of control method of unmanned plane of the present invention.
In order to make technical scheme of the present invention clearly, understand, be described in further detail below in conjunction with accompanying drawing.
Embodiment
Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
As shown in Figure 1, a kind of unmanned flight's system is provided.This unmanned flight's system comprises ground control system 100 and unmanned plane 200.
Unmanned plane 200 mainly refers to unmanned aerial vehicle, can comprise fuselage, wing, is provided with drive unit, wireless communication apparatus, control device, power supply etc. in fuselage.Wireless communication apparatus is used for unmanned plane 200 and carries out communication with ground control system 100.Wireless communication apparatus is used for the current flight state of unmanned plane 200, such as heading, flying height, flying speed, power supply status etc. are sent to ground control system 100, ground control system 100 is for being sent to unmanned plane 200 by steering order or the course line of planning in advance, control unmanned plane 200 to make the control device of unmanned plane 200 according to steering order to fly, or unmanned plane 200 can be controlled fly according to the course line that ground control system sends.In addition, this unmanned plane also can arrange memory storage, before taking off at unmanned plane, store the course line of planning in advance.After unmanned plane 200 electrifying startup, control device will call the course line stored in memory storage, and fly according to this flight course control unmanned plane 200.
Be understandable that, all right other equipment of carry on this unmanned plane 200, such as filming apparatus, takes with the region of flying to unmanned plane 200.This unmanned plane 200 can also be connected by The Cloud Terrace with filming apparatus, and this The Cloud Terrace can comprise an axle, diaxon or three axle The Cloud Terraces.The Cloud Terrace carry is on described unmanned plane 200, and filming apparatus is arranged on The Cloud Terrace.The Cloud Terrace can be controlled by control device and carry out divertical motion, thus can shooting area be expanded.In addition, the image captured by this filming apparatus can be stored in filming apparatus, also can be transmitted back to ground control system 100 by wireless communication apparatus.
As shown in Figure 2, ground control system 100 comprises operational module 101, processing module 102, memory module 103, display module 104 and communication module 105.Wherein operational module 101 can comprise the assembly for user operation, and such as physical button, virtual key etc., can also comprise rocking bar, Fingerprint Identification Unit, voice recognition unit, recognition of face device etc. certainly.After this operational module 101 detects the operational order of user, send it to processing module 102.This memory module 103 can comprise internal storage and external memory storage, such as memory card or external connection of storage card etc.Processing module 102, as the processing enter of ground control system 100, for data processing, is transferred other assemblies and is carried out work etc.Such as, this processing module 102 is according to the request of user, and corresponding program in memory module 103 of transferring performs, to realize the function that user asks.Result after display module 104 processes for Graphics Processing module 102.Communication module 105 is for communicating with unmanned plane 200 and other equipment.Be understandable that, above-mentioned ground control system comprises but does not limit the parts shown in Fig. 2, and such as this ground control system 100 can also comprise data-interface, power supply etc.This ground control system 100 can be land station, computing machine, mobile terminal, telepilot etc.
Based on above-mentioned unmanned flight's system, the present invention proposes a kind of control device of unmanned plane, this control device can independently be arranged, and can also be arranged on unmanned plane or in ground control system.If when this control device is arranged on unmanned plane, this unmanned plane can the current location of Real-time Obtaining self and flight attitude, and according to the current location of unmanned plane and flight attitude, when determining that unmanned plane is about to enter restricted area territory or no-fly region, control unmanned plane and avoid no-fly region or fly according to the requirement in restricted area territory.This unmanned plane can independently realize, also can with external unit, such as server, ground control system realize jointly.If when this control device is arranged in ground control system, can the current location of Real-time Obtaining self and flight attitude by unmanned plane, and receive the current location and flight attitude that unmanned plane obtains, when being then about to enter restricted area territory or no-fly region according to this current location and flight attitude determination unmanned plane, sending controling instruction, to unmanned plane, is avoided no-fly region to control unmanned plane or flies according to the requirement in restricted area territory.This ground control system can independently realize, also can with external unit, such as server realizes jointly.It should be noted that, above-mentioned restricted area territory and no-fly region refer to three-dimensional spatial area.
As shown in Figure 3, this control device can comprise:
Unmanned plane state acquisition module 110, for obtaining current location and the flight attitude of unmanned plane;
Flight anticipation module 120, for according to the current location of described unmanned plane and flight attitude, determines whether described unmanned plane is about to enter restricted area territory or no-fly region;
Flight control modules 130, during for being about to when unmanned plane enter restricted area territory or no-fly region, the flight control strategy corresponding according to this region, controls unmanned plane and runs.
The embodiment of the present invention is by obtaining current location and the flight attitude of unmanned plane, and when determining that this unmanned plane is about to enter restricted area territory or no-fly region according to this current location and flight attitude, according to the flight control strategy that this region is corresponding, control unmanned plane during flying.By the embodiment of the present invention, unmanned plane not only can be judged no-fly region and restricted area territory in advance, and automatically can avoid no-fly region or fly according to the requirement in restricted area territory, improve flight efficiency and flight safety.
Particularly, in the present embodiment, unmanned plane 200 has GPS unit, this GPS unit and satellite system carry out communication, and unmanned plane state acquisition module 110 calls GPS unit, and utilize satellite system to position this unmanned plane, obtain current location.In addition, this unmanned plane is provided with attitude measurement module, certainly this attitude measurement module is not limited to be arranged on this unmanned plane, can also be mounted on this unmanned plane, be mounted on the The Cloud Terrace on this unmanned plane as being located at, for detecting flight attitude information in real time, such as flight course pitching roll angle, flying height, flying speed etc.Unmanned plane state acquisition module 110 transfers current flight attitude information in unmanned plane.If this control device is independently arranged, or when being arranged on ground control system, unmanned plane is after acquisition current location and flight attitude, by the wireless communication apparatus of unmanned plane, obtained current location is sent to ground control system or control device, and described unmanned plane state acquisition module 110 receives the current location that unmanned plane sends.Be understandable that, unmanned plane state acquisition module 110 can in the flight course of unmanned plane in real time, timing or periodically obtain, can when after this control device powers on, aircraft take off yet, in real time, timing or periodically obtain.
In above-mentioned flight anticipation module 120, according to flight position and flight attitude, can determine whether this unmanned plane is about to enter restricted area territory or no-fly region.Particularly:
In one embodiment, first, this flight anticipation module 120, by utilizing the administrative division information prestored, in conjunction with current location and the flight attitude of this unmanned plane, determines whether this unmanned plane is about to enter another administrative region.As shown in Figure 4, the current location of current unmanned plane is position A, and flight course is arrow S, and according to this position A and flight course, this unmanned plane is about to enter administrative region A.In the present embodiment, if the current location of unmanned plane arrives the scheduled time of administrative region B in the time threshold preset, or the distance between the current location of unmanned plane and administrative region B is in predeterminable range threshold value, then determine that this unmanned plane is about to enter this administrative region B.Certainly, if do not meet this condition, then determine that this unmanned plane flies in the administrative region at current location place, then based on the area information in the B of administrative region, control unmanned plane during flying.In addition, the region that this unmanned plane is about to enter if determine is in the handing-over location of multiple administrative region, then determine that the plurality of administrative information region is the administrative region that unmanned plane is about to enter.
Then, this flight anticipation module 120, according to the no-fly database preset, determines whether unmanned plane is about to enter restricted area territory or no-fly region.Be specially: this flight anticipation module 120 can according to determined administrative region, inquire about pre-configured no-fly database, obtain the no-fly data corresponding with this administrative region, whether to be about to enter restricted area territory or no-fly region according to this no-fly data determination unmanned plane.This no-fly database purchase is in this locality.In another embodiment, this no-fly database also can store in the server, the administrative region determined can also be sent to server by flight anticipation module 120, to make server, described administrative region is mated with no-fly database pre-configured in server, obtain the no-fly data that this administrative region is corresponding, whether to be about to enter restricted area territory or no-fly region according to this no-fly data determination unmanned plane.
Above-mentioned no-fly database is set up respectively in units of the administrative region of pre-set level, and arranges by the initial of the title of described administrative region to facilitate follow-up searching.This administrative region can be the administrative region of multiple grade, such as province, city, county, township, town etc.The region of wherein recording in this no-fly database mainly comprises the sensitizing range such as airport, military base, secret unit of each administrative region.This no-fly database comprises multiple no-fly subdata base, the corresponding administrative region of each no-fly subdata base is arranged, each no-fly subdata base comprises the multiple restricted area territory and multiple no-fly region delimited in advance, and the region of each delimitation is made up of multiple geographical location information.As shown in Figure 5, comprise three administrative regions: administrative region A, administrative region B, administrative region C, these three administrative regions are configured with corresponding area information respectively.For administrative region A, this administrative region A comprises restricted area territory, no-fly region and normal flight region, only illustrates in certain Fig. 5, and administrative region will specifically divide corresponding subregion according to actual conditions.If according to current location and the flight attitude of unmanned plane, determine that this unmanned plane is about to the administrative region entered, and obtain no-fly subdata base corresponding to this administrative region, the restricted area territory namely divided in this administrative region, no-fly region and normal flight area information.And then according to this no-fly subdata base, determine whether this unmanned plane is about to enter the restricted area territory in this administrative region or no-fly region further.Particularly: according to current location and the attitude of unmanned plane, in conjunction with the no-fly data that this administrative region is corresponding, determine whether unmanned plane is about to enter restricted area territory or no-fly region.Such as, as shown in Figure 4, suppose that the current location of current unmanned plane is position A, flight course is arrow S, according to this position A and flight course, if the current location of unmanned plane arrives the scheduled time in restricted area territory in the A of administrative region in the time threshold preset, or the distance in the current location of unmanned plane and administrative region A between restricted area territory (zone boundary) is in predeterminable range threshold value, then determine that this unmanned plane is about to enter this restricted area territory.
In another embodiment, this flight anticipation module 120, for according to the current location of described unmanned plane and attitude, is inquired about the no-fly data prestored, is determined whether unmanned plane is about to enter restricted area territory or no-fly region.These no-fly data comprise flight control strategy corresponding to geographical location information corresponding to geographical location information corresponding to restricted area territory, no-fly region and restricted area territory, no-fly region.These no-fly data set area information and area type according to user configured flight parameter, and are stored in control device before can being taken off by unmanned plane.
Example one, as shown in Figure 6 a, the 2 dimensional region that this user arranges the target flight region of unmanned plane is for centered by takeoff point, and radius is the circle of R, is no-fly region beyond circle.Therefore, obtaining current location and the flight attitude of this unmanned plane, if find, this unmanned plane is about to enter no-fly region, then control unmanned plane hovering, homeward or adjustment course.
Example two, as shown in Figure 6 b, the 2 dimensional region that this user arranges the target flight region of unmanned plane is that large radius of circle is R by central point O, and little radius of circle is the annulus of r composition.Region beyond this ring edges is no-fly region.Therefore, obtaining current location and the flight attitude of this unmanned plane, if find, this unmanned plane is about to enter no-fly region, then control unmanned plane hovering, homeward or adjustment course.
Example three, as fig. 6 c, the 2 dimensional region that this user arranges the target flight region of unmanned plane is irregular region, and the region outside this target flight region is no-fly region.Therefore obtaining current location and the flight attitude of this unmanned plane, if find, this unmanned plane is about to enter no-fly region, then control unmanned plane hovering, homeward or adjustment course.
Example four, as shown in fig 6d, the 2 dimensional region that this user arranges the target flight region of unmanned plane is that quadrilateral S forms, and there are 3 no-fly regions in this target flight region, and remaining is normal flight region.Therefore, obtaining current location and the flight attitude of this unmanned plane, if find, this unmanned plane is about to enter no-fly region, then control unmanned plane hovering, homeward or adjustment course.
It should be noted that, the region represented in above-mentioned Fig. 6 a ~ Fig. 6 d only illustrates the region of two dimension, and the region in not shown vertical dimensions, the region in the embodiment of the present invention all represents three-dimensional spatial area.
To sum up, before unmanned plane takes off, requirement according to user generates target flight region and area information, and be stored in control device, so that this flight anticipation module 120 can be about to the area information that enters and this target flight region and area information according to unmanned plane, when determining that unmanned plane is about to enter no-fly region or restricted area territory, control unmanned plane hovering, homeward or adjustment course.
Further, in above-mentioned flight control modules 130, when determine region that unmanned plane is about to enter be limited fly region or no-fly region time, the flight control strategy corresponding according to this region, controls unmanned plane during flying.Flight control strategy corresponding to restricted area territory can comprise height and/or the speed of restriction flight; Flight control strategy corresponding to no-fly region can comprise adjustment course (, to the right or turn around) such as left, produce early warning etc.This flight control strategy and area information corresponding stored, flight control strategy corresponding to each restricted area territory can be identical, also can not be identical; Flight control strategy corresponding to each no-fly region can be identical, also can not be identical.
Further, above-mentioned unmanned plane state acquisition module 110 also for: when unmanned plane takes off, obtain the current location of this unmanned plane;
Flight control modules 130 also for: when the current location of this unmanned plane is positioned at restricted area territory, the control strategy corresponding according to this region, control unmanned plane during flying.
Particularly, unmanned plane state acquisition module 110 obtains current location when this unmanned plane takes off, and determines the area information at this current location place, then determines the area type that area information is corresponding.When this current location region is normal flight region, flight control modules 130 flies according to normal condition; Fly region when this current location region is limited, flight control modules 130, according to flight control strategy corresponding to this restricted area territory, controls the flying speed, flying height etc. of unmanned plane.
Further, above-mentioned flight anticipation module 120 also for: when according to the current location of unmanned plane and flight attitude, judge this unmanned plane still when current administrative region, according to this current line administrative division domain information, obtain the no-fly data corresponding with this territory, current line administrative division.
Particularly, if according to current location and the flight attitude of unmanned plane, determine that this unmanned plane still flies in current administrative region, when not being about to enter another administrative region, then according to current administrative information region, obtain the no-fly data corresponding with this territory, current line administrative division.Be understandable that, no-fly data corresponding to this territory, current line administrative division can be stored in local no-fly database, also can be stored in the no-fly database of server.If obtain the no-fly data that this territory, current line administrative division is corresponding from server, then this locality can be stored in, to use next time.No-fly data, current location and the flight attitude corresponding according to this territory, current line administrative division, determine whether this unmanned plane is about to enter the restricted area territory in current administrative region or no-fly region.When determining that unmanned plane is about to enter restricted area territory, the flight control strategy corresponding according to this restricted area territory, controls unmanned plane during flying; When determining that unmanned plane is about to enter no-fly region, the flight control strategy corresponding according to this no-fly region, controls unmanned plane during flying.
Further, above-mentioned flight control modules 130 also for: when the current location of unmanned plane is positioned at restricted area territory, controls unmanned plane according to flight control strategy corresponding to this restricted area territory, control unmanned plane during flying; When the current location of unmanned plane is positioned at no-fly region, controls unmanned plane and automatically decline, hover or make a return voyage.
If unmanned plane is in flight course, may because obtaining the current location reason such as unsuccessfully, so that when unmanned plane gets current location again, this unmanned plane has entered restricted area territory or no-fly region.Now, when the current location of unmanned plane is positioned at restricted area territory, controls unmanned plane according to flight control strategy corresponding to this restricted area territory, control unmanned plane during flying; When the current location of unmanned plane is positioned at no-fly region, controls unmanned plane and automatically decline, hover or make a return voyage.
Accordingly, the present invention proposes a kind of control method of unmanned plane.As shown in Figure 3, the control method of the unmanned plane of this embodiment comprises the following steps:
Step S110, the current location obtaining unmanned plane and attitude;
Particularly, in the present embodiment, unmanned plane 200 has GPS unit, this GPS unit and satellite system carry out communication, and unmanned plane state acquisition module 110 calls GPS unit, and utilize satellite system to position this unmanned plane, obtain current location.This unmanned plane is provided with attitude measurement module, certainly this attitude measurement module is not limited to be arranged on this unmanned plane, can also be mounted on this unmanned plane, be mounted on the The Cloud Terrace on this unmanned plane as being located at, for detecting flight attitude information in real time, such as flight course pitching roll angle, flying height, flying speed etc.Therefore, current flight attitude information in unmanned plane can be transferred.Obtained current location, after acquisition current location and flight attitude, by the wireless communication apparatus of unmanned plane, is sent to ground control system or the independent control device arranged by unmanned plane.Be understandable that, can in the flight course of unmanned plane in real time, timing or periodically obtain, can when after this control device powers on, aircraft take off yet, in real time, timing or periodically obtain.
Step S120, according to the current location of described unmanned plane and attitude, judge whether this unmanned plane is about to enter restricted area territory or no-fly region;
In one embodiment, first, this flight anticipation module 120, by utilizing the administrative division information prestored, in conjunction with current location and the flight attitude of this unmanned plane, determines whether this unmanned plane is about to enter another administrative region.As shown in Figure 4, the current location of current unmanned plane is position A, and flight course is arrow S, and according to this position A and flight course, this unmanned plane is about to enter administrative region A.In the present embodiment, if the current location of unmanned plane arrives the scheduled time of administrative region B in the time threshold preset, or the distance between the current location of unmanned plane and administrative region B is in predeterminable range threshold value, then determine that this unmanned plane is about to enter this administrative region B.If in conjunction with current location and the flight attitude of unmanned plane, do not meet above-mentioned Rule of judgment, then determine that this unmanned plane is not about to enter another administrative region, namely still fly in the administrative region at current location place, then based on the area information in the B of administrative region, control unmanned plane during flying.In addition, the region that this unmanned plane is about to enter if determine is in the handing-over location of multiple administrative region, then determine that the plurality of administrative information region is the administrative region that unmanned plane is about to enter.
Then, obtain no-fly data, and whether be about to enter restricted area territory or no-fly region in conjunction with no-fly data determination unmanned plane.Be specially: this unmanned plane still flies in the administrative region at current location place if determine, then obtain the no-fly data corresponding with current administrative region; If determine, this unmanned plane is about to enter another administrative region, then obtain the no-fly data corresponding with another administrative region.Whether the no-fly data determination unmanned plane according to getting is about to enter restricted area territory or no-fly region.These no-fly data can be stored in local no-fly database.In another embodiment, these no-fly data also can be stored in the no-fly database of server, therefore, when determining that unmanned plane is about to enter another administrative region or still fly in current administrative region, another administrative information region determined or current administrative information region can also be sent to server, to make server, another administrative information region described or current administrative information region are mated with no-fly database pre-configured in server, obtain no-fly data corresponding to this another administrative region or current administrative region, whether to be about to enter restricted area territory or no-fly region according to this no-fly data determination unmanned plane.
Again in an embodiment, after obtaining the current location of unmanned plane and flight attitude, according to current location and the attitude of described unmanned plane, inquire about the no-fly data prestored, determine whether unmanned plane is about to enter restricted area territory or no-fly region.These no-fly data comprise flight control strategy corresponding to geographical location information corresponding to geographical location information corresponding to restricted area territory, no-fly region and restricted area territory, no-fly region.These no-fly data set area information and area type according to user configured flight parameter, and are stored in control device before can being taken off by unmanned plane.
Step S130, when the region that unmanned plane is about to enter be limited fly region or no-fly region time, the flight control strategy corresponding according to this region, control unmanned plane during flying.
Flight control strategy corresponding to restricted area territory can comprise height and/or the speed of restriction flight; Flight control strategy corresponding to no-fly region can comprise adjustment course (, to the right or turn around) such as left, produce early warning etc.This flight control strategy and area information corresponding stored, flight control strategy corresponding to each restricted area territory can be identical, also can not be identical; Flight control strategy corresponding to each no-fly region can be identical, also can not be identical.
The embodiment of the present invention is by obtaining current location and the flight attitude of unmanned plane, and when determining that this unmanned plane is about to enter restricted area territory or no-fly region according to this current location and flight attitude, according to the flight control strategy that this region is corresponding, control unmanned plane during flying.By the embodiment of the present invention, unmanned plane not only can be judged no-fly region and restricted area territory in advance, and automatically can avoid no-fly region or fly according to the requirement in restricted area territory, improve flight efficiency and flight safety.
Further, as shown in Figure 7, also comprise before above-mentioned steps S110:
Step S140, when unmanned plane takes off, obtain the current location of this unmanned plane;
Step S150, when the current location of this unmanned plane is positioned at restricted area territory, the control strategy corresponding according to this region, control unmanned plane during flying.
Particularly, obtain current location when this unmanned plane takes off, and determine the area information at this current location place, then determine the area type that area information is corresponding.When this current location region is normal flight region, then fly according to normal condition; Fly region when this current location region is limited, then according to the flight control strategy that this restricted area territory is corresponding, control the flying speed, flying height etc. of unmanned plane.
Further, the control method of above-mentioned unmanned plane also comprises:
When according to described no-fly data, current location and attitude, when determining that the current location of unmanned plane is positioned at restricted area territory, control unmanned plane according to flight control strategy corresponding to this restricted area territory, control unmanned plane during flying; When according to described no-fly data, current location and attitude, when determining that the current location of unmanned plane is positioned at no-fly region, control unmanned plane and automatically decline, hover or make a return voyage.
Particularly, if unmanned plane is in flight course, may because obtaining the current location reason such as unsuccessfully, so that when unmanned plane gets current location again, this unmanned plane has entered restricted area territory or no-fly region.Now, when the current location of unmanned plane is positioned at restricted area territory, controls unmanned plane according to flight control strategy corresponding to this restricted area territory, control unmanned plane during flying; When the current location of unmanned plane is positioned at no-fly region, controls unmanned plane and automatically decline, hover or make a return voyage.
The foregoing is only the preferred embodiments of the present invention; not thereby the scope of the claims of the present invention is limited; every utilize instructions of the present invention and accompanying drawing content to do equivalent structure or flow process conversion; or be directly or indirectly used in other relevant technical field, be all in like manner included in scope of patent protection of the present invention.
Claims (14)
1. a control method for unmanned plane, is characterized in that, the control method of described unmanned plane comprises the following steps:
Obtain current location and the attitude of unmanned plane;
According to current location and the attitude of described unmanned plane, judge whether this unmanned plane is about to enter restricted area territory or no-fly region;
When unmanned plane is about to enter restricted area territory or no-fly region, the flight control strategy corresponding according to this region, controls unmanned plane during flying.
2. the control method of unmanned plane as claimed in claim 1, is characterized in that, the described current location according to described unmanned plane and attitude, judges whether this unmanned plane is about to enter restricted area territory or no-fly region and comprises:
According to current location and the attitude of described unmanned plane, judge whether this unmanned plane is about to enter another administrative region;
When judging that this unmanned plane is about to enter another administrative region, and according to another administrative information region described, obtain the no-fly data corresponding with this another administrative region;
According to described no-fly data, current location and attitude, determine whether unmanned plane is about to enter restricted area territory or no-fly region.
3. the control method of unmanned plane as claimed in claim 2, is characterized in that, the described current location according to described unmanned plane and attitude, judges this unmanned plane also comprises after whether being about to enter another administrative region:
When judging this unmanned plane still in current administrative region, according to this current line administrative division domain information, obtain the no-fly data corresponding with this territory, current line administrative division.
4. the control method of as claimed in claim 2 or claim 3 unmanned plane, is characterized in that, no-fly data corresponding to described administrative region are stored in local pre-configured no-fly database, or are stored in the pre-configured no-fly database of server.
5. the control method of unmanned plane as claimed in claim 1, is characterized in that, the described current location according to described unmanned plane and attitude, judges that this unmanned plane is about to enter restricted area territory or no-fly region and comprises:
According to current location and the attitude of described unmanned plane, inquire about the no-fly data prestored, determine whether unmanned plane is about to enter restricted area territory or no-fly region.
6. the control method of unmanned plane as claimed in claim 1, it is characterized in that, the control method of described unmanned plane also comprises:
When according to described no-fly data, current location and attitude, when determining that the current location of unmanned plane is positioned at restricted area territory, control unmanned plane according to flight control strategy corresponding to this restricted area territory, control unmanned plane during flying;
When according to described no-fly data, current location and attitude, when determining that the current location of unmanned plane is positioned at no-fly region, control unmanned plane and automatically decline, hover or make a return voyage.
7. a control device for unmanned plane, is characterized in that, the control device of described unmanned plane comprises:
Unmanned plane state acquisition module, for obtaining current location and the attitude of unmanned plane;
Flight anticipation module, for according to the current location of described unmanned plane and attitude, determines whether described unmanned plane is about to enter restricted area territory or no-fly region;
Flight control modules, during for being about to when unmanned plane enter restricted area territory or no-fly region, the flight control strategy corresponding according to this region, controls unmanned plane and runs.
8. the control device of unmanned plane as claimed in claim 7, it is characterized in that, described flight anticipation module is used for:
According to current location and the attitude of described unmanned plane, judge whether this unmanned plane is about to enter another administrative region;
When judging that this unmanned plane is about to enter another administrative region, and according to another administrative information region described, obtain the no-fly data corresponding with this another administrative region;
According to described no-fly data, current location and attitude, determine whether unmanned plane is about to enter restricted area territory or no-fly region.
9. the control device of unmanned plane as claimed in claim 8, is characterized in that, described flight anticipation module also for:
When judging this unmanned plane still in current administrative region, according to this current line administrative division domain information, obtain the no-fly data corresponding with this territory, current line administrative division.
10. the control device of as claimed in claim 8 or 9 unmanned plane, is characterized in that, no-fly data corresponding to described administrative region are stored in local pre-configured no-fly database, or are stored in the pre-configured no-fly database of server.
The control device of 11. unmanned planes as claimed in claim 7, is characterized in that, described flight anticipation module is used for:
According to current location and the attitude of described unmanned plane, inquire about the no-fly data prestored, determine whether unmanned plane is about to enter restricted area territory or no-fly region.
The control device of 12. unmanned planes as claimed in claim 7, is characterized in that, institute's flight control modules also for:
When according to described no-fly data, current location and attitude, when determining that the current location of unmanned plane is positioned at restricted area territory, control unmanned plane according to flight control strategy corresponding to this restricted area territory, control unmanned plane during flying;
When according to described no-fly data, current location and attitude, when determining that the current location of unmanned plane is positioned at no-fly region, control unmanned plane and automatically decline, hover or make a return voyage.
13. 1 kinds of unmanned planes, described unmanned plane comprises fuselage, slurry assembly, the control device be arranged on fuselage, it is characterized in that, described control device is the control device described in any one of claim 7-12.
14. 1 kinds of ground control systems, described ground control system comprises wireless communication apparatus, to carry out wireless telecommunications with unmanned plane; It is characterized in that, described ground control system comprises the control device as described in any one of claim 7-12, according to current location and the attitude of the unmanned plane of ground control system reception, controls unmanned plane during flying.
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