CN105357220A - Unmanned aerial vehicle control method and system - Google Patents
Unmanned aerial vehicle control method and system Download PDFInfo
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- CN105357220A CN105357220A CN201510884840.3A CN201510884840A CN105357220A CN 105357220 A CN105357220 A CN 105357220A CN 201510884840 A CN201510884840 A CN 201510884840A CN 105357220 A CN105357220 A CN 105357220A
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- 238000004891 communication Methods 0.000 description 8
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- 238000003384 imaging method Methods 0.000 description 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L65/00—Network arrangements, protocols or services for supporting real-time applications in data packet communication
- H04L65/10—Architectures or entities
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/10—Protocols in which an application is distributed across nodes in the network
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses an unmanned aerial vehicle control method. The method comprises the following steps: a forwarding apparatus receiving state information of at least one unmanned aerial vehicle, and forwarding the state information of the at least one unmanned aerial vehicle to a control center; the control center receiving the state information of the at least one unmanned aerial vehicle; and the control center, according to the state information, generating a control instruction and sending the control instruction to the corresponding unmanned aerial vehicle. The invention further discloses an unmanned aerial vehicle control system. By using the method and system provided by the invention, the unmanned aerial vehicle in the sky can be controlled in a concentrated mode, and safe flight of the unmanned aerial vehicle is guaranteed.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, particularly relate to a kind of unmanned plane management-control method and system.
Background technology
Unmanned plane enjoyed various countries to favor in the last few years, and the military field such as it not only may be used for battlefield surveillance, give warning in advance, more has broad application prospects at civil area.It can carry high definition visible ray or ir imaging system, can easily enter the area that the mankind cannot arrive at and carry out aerial reconnaissance and aerophotography, can be used for carrying out mapping, disaster surveillance etc.Further, unmanned plane has the advantages such as volume is little, cost is low, lightweight, flight is flexible, handled easily control, and can adapt to many manned immalleable adverse circumstances, and therefore, the application of unmanned plane is more and more extensive.But, along with the application of unmanned plane gets more and more, the skyborne unmanned plane that flies also gets more and more, in the prior art, lack the centralized management (e.g., people can only control a corresponding unmanned plane by remote controller) to aerial unmanned plane, unmanned plane safe flight cannot be ensured, there is potential safety hazard, easily occur accidents such as colliding.
Foregoing, only for auxiliary understanding technical scheme of the present invention, does not represent and admits that foregoing is prior art.
Summary of the invention
Main purpose of the present invention is to provide a kind of unmanned plane management-control method and system, be intended to solve in prior art, lack the centralized management to aerial unmanned plane, unmanned plane safe flight cannot be ensured, there is potential safety hazard, easily occur the technical problem of accidents such as colliding.
For achieving the above object, the invention provides a kind of unmanned plane management-control method, the method comprises:
Retransmission unit receives the state information of at least one frame unmanned plane, and the state information of described at least one frame unmanned plane is forwarded to control centre;
Described control centre receives the state information of described at least one frame unmanned plane;
Described control centre generates control command according to described state information, and described control command is sent to corresponding unmanned plane.
Preferably, the step that described retransmission unit receives the state information of at least one frame unmanned plane comprises:
Described retransmission unit detects the unmanned plane in the compass of competency of described retransmission unit, and sends state information acquisition request to the unmanned plane in compass of competency;
Described retransmission unit receives the state information that the unmanned plane in described compass of competency returns according to described state information acquisition request.
Preferably, described control centre generates control command according to described state information, and sends to the step of corresponding unmanned plane to comprise described control command:
According to described state information, described control centre has judged whether whether unmanned plane flies no-fly region;
If there is unmanned plane during flying to arrive no-fly region, then generates the instruction of change heading, and the instruction of described change heading sent to flight to the unmanned plane in no-fly region.
Preferably, the step that described retransmission unit receives the state information of at least one frame unmanned plane comprises:
Described retransmission unit receives the state information of at least one frame unmanned plane by mobile terminal.
Preferably, described retransmission unit is base station or ground station.
Preferably, described state information comprises the identify label of unmanned plane, the line of flight, flying height, flying speed and course.
In addition, for achieving the above object, the present invention also provides a kind of unmanned plane managing and control system, this system comprises retransmission unit and control centre, described retransmission unit, for receiving the state information of at least one frame unmanned plane, and is forwarded to control centre by the state information of described at least one frame unmanned plane;
Described control centre comprises:
Receiver module, for receiving the state information of described at least one frame unmanned plane that described retransmission unit sends;
Generation module, for generating control command according to described state information;
Sending module, for sending to corresponding unmanned plane by described control command.
Preferably, described retransmission unit, also for detecting the unmanned plane in the compass of competency of described retransmission unit, and sends state information acquisition request to the unmanned plane in compass of competency; And the state information that the unmanned plane for receiving in described compass of competency returns according to described state information acquisition request.
Preferably, described generation module, also for having judged whether according to described state information whether unmanned plane flies no-fly region, if there is unmanned plane during flying to arrive no-fly region, then generates the instruction of change heading;
Described sending module, also for the instruction of described change heading being sent to flight to the unmanned plane in no-fly region.
Preferably, described retransmission unit, also for being received the state information of at least one frame unmanned plane by mobile terminal.
Preferably, described retransmission unit is base station or ground station.
Preferably, described state information comprises the identify label of unmanned plane, the line of flight, flying height, flying speed and course.
Unmanned plane management-control method of the present invention and system, the method comprises: retransmission unit receives the state information of at least one frame unmanned plane, and the state information of described at least one frame unmanned plane is forwarded to control centre; Described control centre receives the state information of described at least one frame unmanned plane; Described control centre generates control command according to described state information, and described control command is sent to corresponding unmanned plane; Centralized management can be carried out to aerial unmanned plane, ensure unmanned plane safe flight.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of the first embodiment of unmanned plane management-control method of the present invention;
Fig. 2 is the schematic flow sheet of the second embodiment of unmanned plane management-control method of the present invention;
Fig. 3 is the schematic flow sheet of the 3rd embodiment of unmanned plane management-control method of the present invention;
Fig. 4 is the structural representation of an embodiment of unmanned plane managing and control system of the present invention.
The realization of the object of the invention, functional characteristics and advantage will in conjunction with the embodiments, are described further with reference to 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.
With reference to the schematic flow sheet that Fig. 1, Fig. 1 are the first embodiment of unmanned plane management-control method of the present invention, the method comprises:
S10, retransmission unit receive the state information of at least one frame unmanned plane, and the state information of this at least one frame unmanned plane is forwarded to control centre.
Retransmission unit establishes a communications link with unmanned plane in advance, concrete, and this retransmission unit can set up TCP/IP connected mode or PPP (PointToPointProtrol, point-to-point) connected mode with unmanned plane.
In one embodiment, as shown in Figure 2, the step that this retransmission unit receives the state information of at least one frame unmanned plane comprises: S11, this retransmission unit detect the unmanned plane in the compass of competency of this retransmission unit, and sends state information acquisition request to the unmanned plane in compass of competency; S12, this retransmission unit receive the state information that the unmanned plane in this compass of competency returns according to this state information acquisition request.This retransmission unit detects the unmanned plane in the compass of competency of this retransmission unit according to the first preset time period timing, this first preset time period can be arranged as required, if this first preset time period is a second; The compass of competency of this retransmission unit can pre-set as required, common, and the compass of competency of this retransmission unit is with this retransmission unit position for the center of circle, the region that the circle that radius is pre-set radius surrounds; Whether this retransmission unit detects in this compass of competency to have in unmanned plane and this compass of competency how many frame unmanned plane, and when there being unmanned plane in this compass of competency, this retransmission unit sends state information acquisition request to the unmanned plane in this administrative area; Unmanned plane obtains the state information of self after receiving this state information acquisition request, and the state information of acquisition is returned to the retransmission unit sending state information acquisition request, and accordingly, retransmission unit receives the state information that this unmanned plane returns.
In another embodiment, the step that this retransmission unit receives the state information of at least one frame unmanned plane comprises: this retransmission unit is received in the state information that at least one frame unmanned plane in this retransmission unit compass of competency sends to this retransmission unit according to the second preset time period timing automatic.This second preset time period can be arranged as required, and this second preset time period can be identical with the first preset time period.Unmanned plane in this retransmission unit compass of competency, initiatively sends the state information of this unmanned plane to this retransmission unit at interval of the second preset time period, namely automatically report the state information of this unmanned plane to this retransmission unit.
This state information comprises the identify label of unmanned plane, the line of flight, flying height, flying speed and course, can also comprise the longitude and latitude of unmanned plane, flight duration etc.The identify label unique identification unmanned plane of this unmanned plane, the identify label of this unmanned plane before this unmanned plane dispatches from the factory by factory settings.Flying height in this state information can be measured by the height sensor that unmanned plane is built-in, and concrete, this height sensor can be ultrasonic sensor, laser sensor, sonar sensor, infrared sensor etc.Flight duration in this state information refers to that unmanned plane is at this in-flight, from flight to duration of current time.
In this step, the state information of at least one frame unmanned plane received is forwarded to control centre by this retransmission unit, and concrete, the state information of at least one frame unmanned plane of this reception can be sent to control centre with voice mode or short message mode by this retransmission unit.The form of this note is PDU (ProtocolDataUnit, protocol Data Unit) form.
This control centre can use existing air traffic control station to set up.This retransmission unit is base station or ground station.This base station can be served as by the base station of existing movement, UNICOM, telecommunications.
S20, this control centre receive the state information of this at least one frame unmanned plane.
This control centre receives the state information of at least one frame unmanned plane that this retransmission unit forwards.
S30, this control centre generate control command according to this state information, and this control command are sent to corresponding unmanned plane.
This control centre analyzes this state information, determine that each frame unmanned plane continues flight according to current flight state and whether there is potential safety hazard, if have unmanned plane to continue flight according to current flight state there is potential safety hazard, the state information that then there is the unmanned plane of potential safety hazard according to this generates control command, and control command is sent to corresponding unmanned plane (there is the unmanned plane of potential safety hazard).Current flight state comprises flying height, flying speed and course etc.
In one embodiment, as shown in Figure 3, this control centre generates control command according to this state information, and sends to the step of corresponding unmanned plane to comprise this control command: according to this state information, S31, this control centre have judged whether that unmanned plane during flying arrives no-fly region; If S32 has unmanned plane during flying to arrive no-fly region, then generate the instruction of change heading, and this change heading instruction sent to flight to the unmanned plane in no-fly region.The state information of this control centre to this reception is analyzed, according to the flight rank of the identify label determination unmanned plane in this state information, corresponding no-fly region is determined again according to the flight rank of this unmanned plane, judge flying height in this state information and longitude and latitude whether in this no-fly region, if the flying height in this state information and longitude and latitude in this no-fly region, then define unmanned plane during flying to no-fly region.In this control centre, the corresponding relation in the identify label having prestored each unmanned plane and the corresponding relation of flight rank, rank of flying and no-fly region.This change heading instruction can be reverse flight directive or deflection one predetermined angle instruction, and this predetermined angle can be 90 ゜.Flight adjusts state of flight according to this change heading instruction, flies away from no-fly region after receiving the instruction of change heading to the unmanned plane in no-fly region.
In another embodiment, this control centre generates control command according to this state information, and sending to the step of corresponding unmanned plane to comprise this control command: this control centre judges whether there is the hidden danger that collides between unmanned plane according to this state information, if there is the hidden danger that collides between unmanned plane, then according to the flight rank of unmanned plane that there is the hidden danger that collides, the unmanned plane low to flight rank generates the instruction of change flight parameter, and this change flight parameter instruction is sent to the unmanned plane that flight rank is low; The unmanned plane change flight parameter making this flight rank low, the flight parameter of the unmanned plane that flight rank is high remains unchanged; Namely to collide hidden danger and the low unmanned plane of flight rank sends the instruction of change flight parameter to existence, make this unmanned plane change flight parameter, according to the flight of new flight parameter, keep a safe distance with other unmanned plane.This flight parameter comprises one or two or three in flying speed, heading, flying height.In this control centre, the identify label of each unmanned plane and the corresponding relation of flight rank are prestored, this control centre is according to the corresponding relation of the identify label of each unmanned plane stored with flight rank, obtain the flight rank of the unmanned plane that there is the hidden danger that collides, determine to exist collide hidden danger and the low unmanned plane of flight rank, and this existence is collided hidden danger and the low unmanned plane of flight rank generates the instruction of change flight parameter, this change flight parameter instruction comprises one or two or three in change flying speed, change heading, change flying height.
Adopt above-described embodiment, retransmission unit receives the state information of at least one frame unmanned plane, and the state information of this at least one frame unmanned plane is forwarded to control centre; This control centre receives the state information of this at least one frame unmanned plane; This control centre generates control command according to this state information, and this control command is sent to corresponding unmanned plane; Centralized management can be carried out to aerial unmanned plane, ensure the safe flight of unmanned plane.
Further, the step that this retransmission unit receives the state information of at least one frame unmanned plane comprises: this retransmission unit receives the state information of at least one frame unmanned plane by mobile terminal.
This mobile terminal can be the terminal that smart mobile phone etc. has communication function.This retransmission unit is established a communications link by mobile terminal and at least one frame unmanned plane.This mobile terminal receives the state information that unmanned plane sends, and the state information of reception is sent to retransmission unit.In one embodiment, this mobile terminal is smart mobile phone, this retransmission unit receives the state information of at least one frame unmanned plane by smart mobile phone, concrete, communicated by the data feedback channel of mobile phone communication channel between this retransmission unit with smart mobile phone, namely the state information of unmanned plane is sent to retransmission unit by up channel by this smart mobile phone.
With reference to Fig. 4, Fig. 4 is the structural representation of an embodiment of unmanned plane managing and control system of the present invention, this system comprises retransmission unit 10 and control centre 20, this retransmission unit 10, for receiving the state information of at least one frame unmanned plane, and the state information of this at least one frame unmanned plane is forwarded to control centre 20;
This control centre 20 comprises:
Receiver module 21, for receiving the state information of this at least one frame unmanned plane that this retransmission unit 10 sends;
Generation module 22, for generating control command according to this state information;
Sending module 23, for sending to corresponding unmanned plane by this control command.
Retransmission unit 10 establishes a communications link with unmanned plane in advance, concrete, and this retransmission unit 10 can set up TCP/IP connected mode or PPP (PointToPointProtrol, point-to-point) connected mode with unmanned plane.
In one embodiment, this retransmission unit 10, also for detecting the unmanned plane in the compass of competency of this retransmission unit 10, and sends state information acquisition request to the unmanned plane in compass of competency; And the state information that the unmanned plane for receiving in this compass of competency returns according to this state information acquisition request.This retransmission unit 10 detects the unmanned plane in the compass of competency of this retransmission unit 10 according to the first preset time period timing, this first preset time period can be arranged as required, if this first preset time period is a second; The compass of competency of this retransmission unit 10 can pre-set as required, common, and the compass of competency of this retransmission unit 10 is with this retransmission unit 10 position for the center of circle, the region that the circle that radius is pre-set radius surrounds; Whether this retransmission unit 10 detects in this compass of competency to have in unmanned plane and this compass of competency how many frame unmanned plane, and when there being unmanned plane in this compass of competency, this retransmission unit 10 sends state information acquisition request to the unmanned plane in this administrative area; Unmanned plane obtains the state information of self after receiving this state information acquisition request, and the state information of acquisition is returned to the retransmission unit 10 sending state information acquisition request, and accordingly, retransmission unit 10 receives the state information that this unmanned plane returns.
In another embodiment, this retransmission unit 10, also for state information that at least one frame unmanned plane be received in this retransmission unit 10 compass of competency sends to this retransmission unit 10 according to the second preset time period timing automatic.This second preset time period can be arranged as required, and this second preset time period can be identical with the first preset time period.Unmanned plane in this retransmission unit 10 compass of competency, initiatively sends the state information of this unmanned plane to this retransmission unit 10 at interval of the second preset time period, namely automatically report the state information of this unmanned plane to this retransmission unit 10.
This state information comprises the identify label of unmanned plane, the line of flight, flying height, flying speed and course, can also comprise the longitude and latitude of unmanned plane, flight duration etc.The identify label unique identification unmanned plane of this unmanned plane, the identify label of this unmanned plane before this unmanned plane dispatches from the factory by factory settings.Flying height in this state information can be measured by the height sensor that unmanned plane is built-in, and concrete, this height sensor can be ultrasonic sensor, laser sensor, sonar sensor, infrared sensor etc.Flight duration in this state information refers to that unmanned plane is at this in-flight, from flight to duration of current time.
The state information of at least one frame unmanned plane received is forwarded to control centre 20 by this retransmission unit 10, and concrete, the state information of at least one frame unmanned plane of this reception can be sent to control centre 20 with voice mode or short message mode by this retransmission unit 10.The form of this note is PDU (ProtocolDataUnit, protocol Data Unit) form.
This control centre 20 can use existing air traffic control station to set up.This retransmission unit 10 is base station or ground station.This base station can be served as by the base station of existing movement, UNICOM, telecommunications.
The receiver module 21 of this control centre 20 receives the state information of at least one frame unmanned plane that this retransmission unit 10 forwards.
The generation module 22 of this control centre 20 is analyzed the state information that this receiver module 21 receives, determine that each frame unmanned plane continues flight according to current flight state and whether there is potential safety hazard, if have unmanned plane to continue flight according to current flight state there is potential safety hazard, then the state information that there is the unmanned plane of potential safety hazard according to this generates control command; Control command is sent to corresponding unmanned plane (there is the unmanned plane of potential safety hazard) by the sending module 23 of this control centre 20.Current flight state comprises flying height, flying speed and course etc.
Further, in one embodiment, this generation module 22, also for having judged whether according to this state information whether unmanned plane flies no-fly region, if there is unmanned plane during flying to arrive no-fly region, then generates the instruction of change heading;
This sending module 23, also for this change heading instruction being sent to flight to the unmanned plane in no-fly region.
The state information of this generation module 22 to this reception is analyzed, according to the flight rank of the identify label determination unmanned plane in this state information, corresponding no-fly region is determined again according to the flight rank of this unmanned plane, judge flying height in this state information and longitude and latitude whether in this no-fly region, if the flying height in this state information and longitude and latitude in this no-fly region, then define unmanned plane during flying to no-fly region.In this control centre 20, the corresponding relation in the identify label having prestored each unmanned plane and the corresponding relation of flight rank, rank of flying and no-fly region.This change heading instruction can be reverse flight directive or deflection one predetermined angle instruction, and this predetermined angle can be 90 ゜.Flight adjusts state of flight according to this change heading instruction, flies away from no-fly region after receiving the instruction of change heading to the unmanned plane in no-fly region.
Further, in another embodiment, this generation module 22, also for judging whether there is the hidden danger that collides between unmanned plane according to this state information, if there is the hidden danger that collides between unmanned plane, then according to the flight rank of unmanned plane that there is the hidden danger that collides, the unmanned plane low to flight rank generates the instruction of change flight parameter;
This sending module 23, also for this change flight parameter instruction being sent to the unmanned plane that flight rank is low; The unmanned plane change flight parameter making this flight rank low, the flight parameter of the unmanned plane that flight rank is high remains unchanged; Namely to collide hidden danger and the low unmanned plane of flight rank sends the instruction of change flight parameter to existence, make this unmanned plane change flight parameter, according to the flight of new flight parameter, keep a safe distance with other unmanned plane.This flight parameter comprises one or two or three in flying speed, heading, flying height.In this control centre 20, the identify label of each unmanned plane and the corresponding relation of flight rank are prestored, this control centre 20 is according to the corresponding relation of the identify label of each unmanned plane stored with flight rank, obtain the flight rank of the unmanned plane that there is the hidden danger that collides, determine to exist collide hidden danger and the low unmanned plane of flight rank, and this existence is collided hidden danger and the low unmanned plane of flight rank generates the instruction of change flight parameter, this change flight parameter instruction comprises one or two or three in change flying speed, change heading, change flying height.
Further, this retransmission unit 10, also for being received the state information of at least one frame unmanned plane by mobile terminal.
This mobile terminal can be the terminal that smart mobile phone etc. has communication function.This retransmission unit 10 is established a communications link by mobile terminal and at least one frame unmanned plane.This mobile terminal receives the state information that unmanned plane sends, and the state information of reception is sent to retransmission unit 10.In one embodiment, this mobile terminal is smart mobile phone, this retransmission unit 10 receives the state information of at least one frame unmanned plane by smart mobile phone, concrete, this retransmission unit 10 is communicated by the data feedback channel of mobile phone communication channel with between smart mobile phone, and namely the state information of unmanned plane is sent to retransmission unit 10 by up channel by this smart mobile phone.
These are only the preferred embodiments of the present invention; not thereby the scope of the claims of the present invention is limited; every utilize specification of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (10)
1. a unmanned plane management-control method, is characterized in that, the method comprises:
Retransmission unit receives the state information of at least one frame unmanned plane, and the state information of described at least one frame unmanned plane is forwarded to control centre;
Described control centre receives the state information of described at least one frame unmanned plane;
Described control centre generates control command according to described state information, and described control command is sent to corresponding unmanned plane.
2. unmanned plane management-control method as claimed in claim 1, it is characterized in that, the step that described retransmission unit receives the state information of at least one frame unmanned plane comprises:
Described retransmission unit detects the unmanned plane in the compass of competency of described retransmission unit, and sends state information acquisition request to the unmanned plane in compass of competency;
Described retransmission unit receives the state information that the unmanned plane in described compass of competency returns according to described state information acquisition request.
3. unmanned plane management-control method as claimed in claim 1, is characterized in that, described control centre generates control command according to described state information, and sends to the step of corresponding unmanned plane to comprise described control command:
According to described state information, described control centre has judged whether whether unmanned plane flies no-fly region;
If there is unmanned plane during flying to arrive no-fly region, then generates the instruction of change heading, and the instruction of described change heading sent to flight to the unmanned plane in no-fly region.
4. unmanned plane management-control method as claimed in claim 1, it is characterized in that, the step that described retransmission unit receives the state information of at least one frame unmanned plane comprises:
Described retransmission unit receives the state information of at least one frame unmanned plane by mobile terminal.
5. the unmanned plane management-control method as described in any one of Claims 1-4, is characterized in that, described retransmission unit is base station or ground station.
6. a unmanned plane managing and control system, is characterized in that, this system comprises retransmission unit and control centre, described retransmission unit, for receiving the state information of at least one frame unmanned plane, and the state information of described at least one frame unmanned plane is forwarded to control centre;
Described control centre comprises:
Receiver module, for receiving the state information of described at least one frame unmanned plane that described retransmission unit sends;
Generation module, for generating control command according to described state information;
Sending module, for sending to corresponding unmanned plane by described control command.
7. unmanned plane managing and control system as claimed in claim 6, is characterized in that, described retransmission unit, also for detecting the unmanned plane in the compass of competency of described retransmission unit, and sends state information acquisition request to the unmanned plane in compass of competency; And the state information that the unmanned plane for receiving in described compass of competency returns according to described state information acquisition request.
8. unmanned plane managing and control system as claimed in claim 6, it is characterized in that, described generation module, also for having judged whether according to described state information whether unmanned plane flies no-fly region, if there is unmanned plane during flying to arrive no-fly region, then generate the instruction of change heading;
Described sending module, also for the instruction of described change heading being sent to flight to the unmanned plane in no-fly region.
9. unmanned plane managing and control system as claimed in claim 6, be is characterized in that, described retransmission unit, also for being received the state information of at least one frame unmanned plane by mobile terminal.
10. the unmanned plane managing and control system as described in any one of claim 6 to 9, is characterized in that, described retransmission unit is base station or ground station.
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| CN105608931A (en) * | 2016-02-26 | 2016-05-25 | 陈昊 | Method and device for managing unmanned aerial aircraft |
| CN105722031A (en) * | 2016-03-30 | 2016-06-29 | 冯基洲 | Unmanned aerial vehicle |
| CN106357324A (en) * | 2016-11-15 | 2017-01-25 | 广州亿航智能技术有限公司 | Unmanned aerial vehicle system as well as communication connection method and communication connection apparatus thereof |
| CN106716973A (en) * | 2016-11-22 | 2017-05-24 | 深圳市大疆创新科技有限公司 | Control method and ground control terminal of unmanned aerial vehicle |
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| WO2020093496A1 (en) * | 2018-11-05 | 2020-05-14 | 深圳市翔农创新科技有限公司 | Security control system and method for unmanned aerial vehicle, and computer readable storage medium |
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| CN111640272A (en) * | 2020-05-28 | 2020-09-08 | 暨南大学 | Unmanned aerial vehicle monitoring and early warning method and system based on block chain |
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