CN106249753A

CN106249753A - Method, control device and the unmanned plane that unmanned plane is controlled

Info

Publication number: CN106249753A
Application number: CN201610805343.4A
Authority: CN
Inventors: 曾令文
Original assignee: Guangzhou Xaircraft Technology Co Ltd
Current assignee: Guangzhou Xaircraft Technology Co Ltd
Priority date: 2016-09-05
Filing date: 2016-09-05
Publication date: 2016-12-21

Abstract

The present embodiments relate to method, control device and the unmanned plane that unmanned plane is controlled, the method comprise the steps that the positional information receiving the described unmanned plane that unmanned plane sends；No-fly region whether is there is in the range of the predeterminable range of the positional information of unmanned plane described in judging distance；If there is no-fly region in the range of the predeterminable range of the positional information of described unmanned plane, then judge that described unmanned plane is whether in described no-fly region；If it is determined that described unmanned plane is in described no-fly region, then generates and forbid flight directive；Forbid that flight directive sends to described unmanned plane by described so that described in the execution of described unmanned plane, forbid the operation indicated by flight directive.The embodiment of the present invention can be with the flight operation of specification unmanned plane, to avoid unmanned plane to swarm into the security impairments that no-fly region is caused.

Description

Method, control device and the unmanned plane that unmanned plane is controlled

Technical field

The present invention relates to technical field of data processing, the method that particularly relates to unmanned plane is controlled, a kind of to nothing The man-machine control device being controlled and a kind of unmanned plane.

Background technology

UAV is called for short unmanned plane (Unmanned Aerial Vehicle is called for short UAV), is that one utilizes nothing The most manned aircraft that line electrical remote control equipment and the presetting apparatus provided for oneself are handled.Unmanned plane of many uses, is often employed In industries such as city management, agricultural, geology, meteorology, electric power, rescue and relief work, video captures.

Along with the development of unmanned plane, its application is increasingly extensive, and increasing individual consumer has the unmanned plane of oneself. But, current national is the most sound about the flight standard of unmanned plane, and nonstandard flight is likely to result in public security (example As, fly crowded), public safety (such as, hindering aerodrome flight), national security (military base of such as, taking on the sly) Impairment of benefit in field.

Summary of the invention

In view of the above problems, it is proposed that the embodiment of the present invention is to provide one to overcome the problems referred to above or at least in part Solve the method that unmanned plane is controlled of the problems referred to above and a kind of control device that unmanned plane is controlled with And one unmanned plane.

In order to solve the problems referred to above, the embodiment of the invention discloses a kind of method that unmanned plane is controlled, described side Method includes:

Receive the positional information of the described unmanned plane that unmanned plane sends；

No-fly region whether is there is in the range of the predeterminable range of the positional information of unmanned plane described in judging distance；If distance institute There is no-fly region in the range of the predeterminable range of the positional information stating unmanned plane, then judge that whether described unmanned plane is described no-fly In region；

If it is determined that described unmanned plane is in described no-fly region, then generates and forbid flight directive；

Forbid that flight directive sends to described unmanned plane by described so that described in the execution of described unmanned plane, forbid that flight refers to Operation indicated by order.

Preferably, described judge described unmanned plane step whether in described no-fly region before, also include:

Determining the reference zone that described no-fly region is corresponding, wherein, the area of described reference zone is more than described no-fly zone The area in territory, and described no-fly region is in described reference zone；

Judge that the positional information of described unmanned plane is whether in described reference zone；

If the positional information of described unmanned plane is in described reference zone, then perform described to judge that whether described unmanned plane exists Step in described no-fly region.

Preferably, described method also includes:

Determining alarm region from described reference zone, described alarm region is that described reference zone is interior except described no-fly zone Other overseas regions；

If the positional information of described unmanned plane is positioned at described alarm region, then generate navigational calibration instruction；

The instruction of described navigational calibration is sent to described unmanned plane so that described unmanned plane performs described navigational calibration and refers to Operation indicated by order.

Preferably, also include:

If there is alarm region in the range of the predeterminable range of the positional information of described unmanned plane but there is not no-fly zone Territory, then generate the first flight directive, and described first flight directive includes described predeterminable range scope；

Described first flight directive is sent to described unmanned plane so that described unmanned plane performs described first flight and refers to Operation indicated by order.

Preferably, described method also includes:

If there is not alarm region in the range of the predeterminable range of the positional information of described unmanned plane, then generate second and fly Row instruction；

Described second flight directive is sent to described unmanned plane so that described unmanned plane performs described second flight and refers to Operation indicated by order.

Preferably, the positional information of described unmanned plane includes startup positional information when described unmanned plane starts；

Described forbid flight directive for indicate described unmanned plane perform quenching operations；

The instruction of described navigational calibration is used for indicating described unmanned plane to perform takeoff operational and navigational calibration operation；

Described first flight directive is used for indicating described unmanned plane perform takeoff operational and cache described predeterminable range scope；

Described second flight directive is used for indicating described unmanned plane to perform takeoff operational.

Preferably, the real-time position information during the positional information of described unmanned plane includes described unmanned plane during flying；

Described forbid flight directive for indicate described unmanned plane perform landing operation；

The instruction of described navigational calibration is used for indicating described unmanned plane to perform navigational calibration operation；

Described first flight directive is used for indicating described unmanned plane to perform continue flight operation and cache described predeterminable range Scope；

Described second flight directive is used for indicating described unmanned plane to perform to continue flight operation.

The embodiment of the invention also discloses a kind of method being controlled unmanned plane, described method includes:

Obtain the positional information of unmanned plane, and send described positional information to controlling device so that described control device energy Whether there is no-fly region in the range of the predeterminable range of the positional information of unmanned plane described in enough judging distances, and judge distance institute When there is no-fly region in the range of the predeterminable range of the positional information stating unmanned plane, it is judged that whether described unmanned plane is described no-fly In region, if it is determined that described unmanned plane is in described no-fly region, then generates and forbid flight directive；

What receiving control device returned forbids flight directive, and forbids the operation indicated by flight directive described in execution.

Preferably, described method also includes:

The navigational calibration instruction that receiving control device sends, the instruction of described navigational calibration determines described for described control device After the reference zone that no-fly region is corresponding, from described reference zone, determine alarm region, and judge the position of described unmanned plane The instruction that confidence breath generates when being positioned at described alarm region, wherein, the area of described reference zone is more than described no-fly region Area, and described no-fly region is in described reference zone, and described alarm region is except described no-fly in described reference zone Other regions outside region；

Perform the operation indicated by the instruction of described navigational calibration.

Preferably, described method also includes:

The first flight directive that receiving control device sends, described first flight directive is that described control device judges distance The instruction generated when there is alarm region but there is not no-fly region in the range of the predeterminable range of the positional information of described unmanned plane, Described first flight directive includes described predeterminable range scope；

Perform the operation indicated by described first flight directive.

Preferably, described method also includes:

The second flight directive that receiving control device sends, described second flight directive is that described control device judges distance The instruction generated when there is not alarm region in the range of the predeterminable range of the positional information of described unmanned plane；

Perform the operation indicated by described second flight directive.

The step forbidding the operation indicated by flight directive described in described execution is: perform quenching operations；

The step of the operation indicated by the instruction of described execution described navigational calibration is: perform takeoff operational and navigational calibration Operation；

The step of the operation indicated by described first flight directive of described execution is: performs takeoff operational and caches described pre- If distance range；

The step of the operation indicated by described second flight directive of described execution is: perform takeoff operational.

The step forbidding the operation indicated by flight directive described in described execution is: perform landing operation；

The step of the operation indicated by the instruction of described execution described navigational calibration is: perform navigational calibration operation；

The step of the operation indicated by described first flight directive of described execution is: perform continue flight operation and cache institute State predeterminable range scope；

The step of the operation indicated by described second flight directive of described execution is: perform to continue flight operation.

Preferably, the step of described execution landing operation includes:

Pausing operation instruction is sent so that described user terminal suspends the operation to described unmanned plane to user terminal；

Call the camera collection terrain information of described unmanned plane；

From described terrain information, decision-making goes out optimum landform；

Step-down operation is performed in the position of described optimum landform.

Preferably, described method also includes:

In the flight course of unmanned plane, when unmanned plane detects and controls the signal interruption of device, obtain nearest one The described predeterminable range scope that the secondary timed unit that communicates with control device returns；

Obtain flight speed and the course of unmanned plane；

Based on described flight speed and course, calculate the actual range of described unmanned plane and described no-fly region；

When described actual range arrives the prompting distance preset, generate route correction signal, and by described route correction Signal sends to user terminal so that described user terminal correction flight path.

The embodiment of the invention also discloses a kind of control device being controlled unmanned plane, described control device includes:

Positional information receiver module, for receiving the positional information of the described unmanned plane that unmanned plane sends；

Whether the first judge module, exist in the range of the predeterminable range of the positional information of unmanned plane described in judging distance No-fly region；

, for there is no-fly zone in the range of the predeterminable range apart from the positional information of described unmanned plane in the second judge module During territory, it is judged that whether described unmanned plane is in described no-fly region；

No-fly directive generation module, for when judging that described unmanned plane is in described no-fly region, generating and forbid flight Instruction；

By described, no-fly instruction sending module, for forbidding that flight directive sends to described unmanned plane so that described nothing The operation indicated by flight directive is forbidden described in man-machine execution.

Preferably, described control device also includes:

Reference zone determines module, for determining the reference zone that described no-fly region is corresponding, wherein, described reference zone Area more than the area in described no-fly region, and described no-fly region is in described reference zone；

3rd judge module, for judging that the positional information of described unmanned plane is whether in described reference zone；If it is described The positional information of unmanned plane in described reference zone, then calls described second judge module.

Preferably, described control device also includes:

Alarm area determination module, for determining alarm region from described reference zone, described alarm region is described Except other regions that described no-fly zone is overseas in reference zone；

Revision directive generation module, for when the positional information of described unmanned plane is positioned at described alarm region, generates Navigational calibration instructs；

Revision instruction sending module, for sending the instruction of described navigational calibration to described unmanned plane so that described nothing Operation indicated by the instruction of man-machine execution described navigational calibration.

Preferably, described control device also includes:

First flight directive generation module, for the predeterminable range scope internal memory at the positional information apart from described unmanned plane Alerting region but when there is not no-fly region, generate the first flight directive, described first flight directive include described preset away from From scope；

First flight directive sending module, for sending described first flight directive to described unmanned plane so that institute State unmanned plane and perform the operation indicated by described first flight directive.

Preferably, described control device also includes:

Second flight directive generation module, in the range of the predeterminable range apart from the positional information of described unmanned plane not When there is alarm region, generate the second flight directive；

Second flight directive sending module, for sending described second flight directive to described unmanned plane so that institute State unmanned plane and perform the operation indicated by described second flight directive.

The embodiment of the invention also discloses a kind of unmanned plane, including:

Position information acquisition module, for obtaining the positional information of unmanned plane, and sends described position letter to controlling device Breath so that described control device can interpolate that whether there is taboo in the range of the predeterminable range of the positional information of described unmanned plane Fly region, and when judging to there is no-fly region in the range of the predeterminable range of the positional information of described unmanned plane, it is judged that institute State unmanned plane whether in described no-fly region, if it is determined that described unmanned plane is in described no-fly region, then generates and forbid flight Instruction；

No-fly command reception module, forbids flight directive for what receiving control device returned, and forbids flying described in execution Operation indicated by row instruction.

Preferably, described unmanned plane also includes:

Revision directive receiver module, the navigational calibration instruction sent for receiving control device, described navigational calibration instructs After determining, for described control device, the reference zone that described no-fly region is corresponding, from described reference zone, determine alarm district Territory, and judge the instruction that the positional information of described unmanned plane generates when being positioned at described alarm region, wherein, described reference zone Area more than the area in described no-fly region, and described no-fly region is in described reference zone, and described alarm region is institute Remove, in stating reference zone, other regions that described no-fly zone is overseas；

Correcting module, for performing the operation indicated by the instruction of described navigational calibration.

Preferably, described unmanned plane also includes:

First flight directive receiver module, the first flight directive sent for receiving control device, described first flight Instruction for described control device judge in the range of the predeterminable range of the positional information of described unmanned plane exist alarm region but The instruction generated when there is not no-fly region, described first flight directive includes described predeterminable range scope；

First flight directive performs module, for performing the operation indicated by described first flight directive.

Preferably, described unmanned plane also includes:

Second flight directive receiver module, the second flight directive sent for receiving control device, described second flight Instruction judges to there is not alarm region in the range of the predeterminable range of the positional information of described unmanned plane for described control device The instruction of Shi Shengcheng；

Second flight directive performs module, for performing the operation indicated by described second flight directive.

Described no-fly command reception module is additionally operable to: perform quenching operations；

Described correcting module is additionally operable to: perform takeoff operational and navigational calibration operation；

Described first flight directive performs module and is additionally operable to: performs takeoff operational and caches described predeterminable range scope；

Described second flight directive performs module and is additionally operable to: perform takeoff operational.

Described no-fly command reception module is additionally operable to: perform landing operation；

Described correcting module is additionally operable to: perform navigational calibration operation；

Described first flight directive performs module and is additionally operable to: perform continue flight operation and cache described predeterminable range model Enclose；

Described second flight directive performs module and is additionally operable to: perform to continue flight operation.

Preferably, described no-fly command reception module is additionally operable to:

Call the camera collection terrain information of described unmanned plane；

Step-down operation is performed in the position of described optimum landform.

Preferably, described unmanned plane also includes:

Distance acquisition module, in the flight course of unmanned plane, when unmanned plane detects and the signal controlling device During interruption, obtain the described predeterminable range scope that the last timed unit that communicates with control device returns；

Flight information acquisition module, for obtaining flight speed and the course of unmanned plane；

Actual distance calculation module, for based on described flight speed and course, calculates described unmanned plane no-fly with described The actual range in region；

Signal correction module, for when described actual range arrives the prompting distance preset, generating route correction signal, And described route correction signal is sent to user terminal so that described user terminal correction flight path.

The embodiment of the present invention includes advantages below:

In embodiments of the present invention, control device and can obtain the positional information of unmanned plane, and sentence according to this positional information Whether disconnected unmanned plane is in no-fly region, if it is determined that unmanned plane is in described no-fly region, then generates and forbids that flight directive sends To unmanned plane so that unmanned plane performs the operation forbidding indicated by flight directive, thus the flight operation of specification unmanned plane, with Unmanned plane is avoided to swarm into the security impairments that no-fly region is caused.

Accompanying drawing explanation

Fig. 1 is the flow chart of steps of a kind of embodiment of the method one being controlled unmanned plane of the present invention；

Fig. 2 is the flow chart of steps of a kind of embodiment of the method two being controlled unmanned plane of the present invention；

Fig. 3 is the flow chart of steps of a kind of embodiment of the method three being controlled unmanned plane of the present invention；

Fig. 4 is the flow chart of steps of a kind of embodiment of the method four being controlled unmanned plane of the present invention；

Fig. 5 is a kind of structured flowchart controlling device embodiment being controlled unmanned plane of the present invention；

Fig. 6 is the structured flowchart of the embodiment of a kind of unmanned plane of the present invention.

Detailed description of the invention

Understandable for enabling the above-mentioned purpose of the present invention, feature and advantage to become apparent from, real with concrete below in conjunction with the accompanying drawings The present invention is further detailed explanation to execute mode.

One of core idea of the embodiment of the present invention is, arranges no-fly region in advance, when detecting that unmanned plane is no-fly In regional extent, then forbid that unmanned plane takes off or controls unmanned plane landing, it is to avoid unmanned plane swarms into the infringement that no-fly region is caused.

With reference to Fig. 1, it is shown that the flow chart of steps of a kind of embodiment of the method one that unmanned plane is controlled of the present invention, May include steps of:

Step 101, receives the positional information of the described unmanned plane that unmanned plane sends；

Step 102, it is judged that whether there is no-fly region in the range of the predeterminable range of the positional information of described unmanned plane；

Step 103, if there is no-fly region in the range of the predeterminable range of the positional information of described unmanned plane, then judges Whether described unmanned plane is in described no-fly region；

Step 104, if it is determined that described unmanned plane is in described no-fly region, then generates and forbids flight directive；

By described, step 105, forbids that flight directive sends to described unmanned plane so that described unmanned plane performs described taboo The only operation indicated by flight directive.

With reference to Fig. 2, it is shown that the flow chart of steps of a kind of embodiment of the method two that unmanned plane is controlled of the present invention, The embodiment of the present invention can apply to scene when unmanned plane starts, and illustrates from controlling device side, and described control device can To include server, remote controller etc., this is not construed as limiting by the embodiment of the present invention.

The embodiment of the present invention specifically may include steps of:

Step 201, receives startup positional information during the described unmanned plane startup of unmanned plane transmission；

In implementing, unmanned plane can send positional information by the control centre of unmanned plane to controlling device.Tool Body, when the control centre of unmanned plane detects the enabling signal of unmanned plane, record in the black box of unmanned plane can be read Startup positional information, wherein, this startup positional information can include longitude and latitude value.

When the control centre of unmanned plane obtains the startup positional information of unmanned plane, this startup positional information can be sent To controlling device.

In practice, when control centre is in time controlling device transmission startup positional information, the mark of unmanned plane can be carried (such as, the numbering of unmanned plane self), concrete, the mark starting positional information and unmanned plane can be assembled by control centre Come, generate assembling information, and the employing of assembling information is sent extremely control after controlling the encryption rule encryption that device consults in advance In device processed.

Step 202, it is judged that whether exist no-fly in the range of the predeterminable range starting positional information of described unmanned plane Region；

In embodiments of the present invention, the flight with specification unmanned plane of the no-fly region can be set, reduce unmanned plane to the public Interests are caused in the fields such as safety (crowdedly), public safety (obstruction aerodrome flight), national security (military base of taking on the sly) Infringement.

This no-fly region is the region closed.The setting in no-fly region can include arranging the coordinate in no-fly region, no-fly District's volume (generation) number, no-fly zone title, no-fly time period (supporting certain sky, special time etc. of one week), figure number etc..

The figure number in no-fly region is the numbering of the graphics shape in no-fly region, such as, 1,2,3 etc..Graphics shape can To include but not limited to polygon and circle, wherein, polygon can include rectangle, square, triangle, rhombus, ladder The shapes such as shape, it is also possible to include the polygon of other shapes, circle can include positive round, ellipse etc., and the embodiment of the present invention is to this Do not limit.

If no-fly region is polygonal region (graphics shape is polygonal region), the coordinate in the most no-fly region is permissible Coordinate including each summit of this polygon；If no-fly region is border circular areas (graphics shape is circular region), the most no-fly The coordinate in region can include central coordinate of circle and radius.

In practice, the setting in no-fly region can be by (such as, the unit mechanism such as military administrative organization or have of regulator The mapping company of qualification) by its client typing, it is also possible to by developer's typing after the data collecting no-fly region, This is not construed as limiting by the embodiment of the present invention.

In embodiments of the present invention, after control device receives the assembling information of control centre's transmission of unmanned plane, The deciphering rule corresponding with this encryption rule is used to be decrypted this assembling information, if successful decryption, then it represents that authenticate successfully, At this point it is possible to whether there is no-fly region in the range of determining whether the predeterminable range starting positional information of distance unmanned plane.

In embodiments of the present invention, the information that client is passed over by control device authenticates, and is possible to prevent malice The access (as distributed denial of service (ddos) is attacked) of client, alleviates control device pressure, and effectively provides interface clothes Business.

In one embodiment, can be with the startup positional information of unmanned plane as the center of circle, predeterminable range threshold value is radius Make circular scope, if this circular scope comprises no-fly region (include no-fly region entirely fall in circular scope situation and No-fly region part falls into the situation of circular scope), then can be determined that the predeterminable range starting positional information of distance unmanned plane In the range of there is no-fly region, exist in the range of this predeterminable range no-fly region can have one or more than；If this circular scope Do not comprise no-fly region, then there is not no-fly region in the range of judging the predeterminable range starting positional information of distance unmanned plane.

It should be noted that whether exist in the range of the predeterminable range starting positional information of above-mentioned judging distance unmanned plane The mode in no-fly region is only a kind of example of the embodiment of the present invention, and those skilled in the art adopt and judge in other ways All it is possible, such as, to start positional information as starting point, expands N number of expansion point to surrounding, if there being expansion point to fall into no-fly In region, then there is no-fly region, the present invention in the range of can be determined that the predeterminable range starting positional information of distance unmanned plane This is not construed as limiting by embodiment.

It addition, also, it should be noted this predeterminable range can be empirical value, for example, it is possible to be a km, 500 meters etc., This is not construed as limiting by the embodiment of the present invention.

, if there is no-fly region, then in the range of the predeterminable range starting positional information of described unmanned plane in step 203 Determine the reference zone that described no-fly region is corresponding；

In embodiments of the present invention, in the range of the predeterminable range starting positional information determining distance unmanned plane, there is taboo When flying region, can draw the reference zone in this no-fly region, the area of this reference zone is more than the area in no-fly region, and prohibits Fly region in reference zone.

In one embodiment, in order to reduce algorithm complex, improving matching efficiency, this reference zone can be preferably Square area, such as, reference zone is the circumscribed square region in no-fly region.

In implementing, if no-fly region is generally circular in shape, then using the diameter of this circle as circumscribed square The length of side, makes the circumscribed square of this circle using the center of circle of this circle as the cornerwise intersection point of circumscribed square.

If the polygon being shaped as in addition to square in no-fly region, then can firstly generate this polygonal circumscribed circle, Then the circumscribed square of this circumscribed circle is generated according to the above-mentioned circular method making circumscribed square.

In one implementation, polygonal circumscribed circle can be generated in the following way: calculate in this polygon many Bar diagonal angle axis, and determine the longest axis, using the midpoint of this longest axis as the center of circle, this long axis is that diameter is justified Shape.

If polygon is square, then can be using this foursquare cornerwise intersection point as the diagonal of circumscribed square Intersection point, the length of side obtained after the length of side of this square area is extended preset length is the circumscribed square length of side, draw circumscribed just Square.

It should be noted that the above-mentioned mode determining circumscribed square is only the example of the embodiment of the present invention, this area Technical staff adopts and draws square area in other ways and be all possible, such as, according to the long-diagonal in no-fly region Drawing square for the length of side, this is not restricted by the embodiment of the present invention.

Certainly, the reference zone of the embodiment of the present invention is also not limited to square area, and it can be that other modes determine Region, such as, the region obtained after no-fly region is outwards widened certain length is reference zone, and the embodiment of the present invention is to this It is not restricted.

Step 204, it is judged that whether the positional information of described unmanned plane is in described reference zone；

In implementing, if reference zone is square area, this square area can include maximum longitude, Little longitude, maximum latitude value, minimum latitude value, if the longitude of this startup positional information is at this minimum longitude and maximum warp Between angle value, and its latitude value is between minimum latitude value and maximum latitude, then can be determined that this unmanned plane is in reference zone.

If the longitude of this startup positional information is between this minimum longitude and maximum longitude, but its latitude value does not exists Between minimum latitude value and maximum latitude value, or, if the latitude value of this startup positional information is in this minimum latitude value and maximum Between latitude value, but its longitude is not between minimum longitude and maximum longitude, or, if the latitude of this startup positional information Angle value is not between this minimum latitude value and maximum latitude value, and its longitude is not the most in minimum longitude and maximum longitude Between, then can be determined that this unmanned plane is not in reference zone.

If the positional information of unmanned plane is outside reference zone, then can illustrate that the current position of this unmanned plane is safety , be allowed for, unmanned plane can perform normal flight flow process, if the positional information of unmanned plane is in reference zone, then enters One step performs step 205.

Step 205, if the positional information of described unmanned plane is in described reference zone, then judges that whether described unmanned plane exists In described no-fly region；

If unmanned plane falls into the scope of reference zone, then determine whether whether unmanned plane falls in this reference zone The scope in no-fly region.

In implementing, the difformity in no-fly region has different decision methods.Therefore, it can first obtain this The figure number in the no-fly region that reference zone is comprised, determines the graphics shape in no-fly region, such as, figure according to figure number Shape numbered 1 represents the polygon that is shaped as in this no-fly region, and figure number is the circle of 2 shapes representing this no-fly region.

In one embodiment, if no-fly region is polygonal region, then PNPoly algorithm can be used, with unmanned plane The point starting positional information place to one line of horizontal extension, if the limit number that this line and polygonal region intersect is even number, Then can be determined that this unmanned plane, outside polygon, whereas if the limit number that this line and polygon intersect is odd number, then can be determined that This unmanned plane is in polygon.

In another embodiment, if no-fly region is border circular areas, then can use the earth (oval object) Distance between two points computing formula calculates, and first calculates the home position starting positional information and this border circular areas of unmanned plane Between distance, if this distance is less than or equal to the radius of this border circular areas, then can be determined that unmanned plane is in border circular areas；If This distance more than the radius of border circular areas, then can be determined that unmanned plane is outside border circular areas.

It should be noted that the embodiment of the present invention is not limited to above-mentioned judge unmanned plane side whether in no-fly region Formula, those skilled in the art adopt and determine whether unmanned plane is all possible in no-fly region in other ways.

Step 206, if it is determined that described unmanned plane is in described no-fly region, then generates and forbids flight directive；

By described, step 207, forbids that flight directive sends to described unmanned plane so that described unmanned plane performs flame-out behaviour Make.

In implementing, if controlling device to judge that unmanned plane in no-fly region, then can record this unmanned plane Relevant information, and generate and forbid that flight directive sends to the control centre of unmanned plane.

As a kind of example, the relevant information of this unmanned plane controlling device record can include but not limited to: unmanned plane Mark, real-time temporal information, unmanned plane start positional information, the figure number in no-fly region at unmanned plane place, taboo Fly district's numbering etc..

This forbids that flight directive is for indicating unmanned plane to perform quenching operations.

In a kind of preferred embodiment of the embodiment of the present invention, it is also possible to comprise the steps:

Determining alarm region from described reference zone, described alarm region is that described reference zone is interior except described no-fly zone Other overseas regions；If the positional information of described unmanned plane is positioned at described alarm region, then generate navigational calibration instruction；Will The instruction of described navigational calibration sends to described unmanned plane so that described unmanned plane performs takeoff operational and navigational calibration behaviour Make.

Specifically, owing to the scope of reference zone is bigger than the scope in no-fly region, removing in reference zone can be prohibited Fly other regions beyond region as alarm region, if in the startup positional information of i.e. unmanned plane falls into reference zone but do not have Fall with in no-fly region, then can be determined that this unmanned plane in the alarm region in no-fly region, if illustrating that unmanned plane is at this Start if position carries out continuing flight and may fly into no-fly region, unmanned plane now can be allowed to take off but need it to revise Course, therefore, control device, after have recorded the relevant information of unmanned plane, can generate navigational calibration instruction, and this course is repaiied Positive order is used for indicating unmanned plane to perform takeoff operational and navigational calibration operation, with away from no-fly region.

If there is alarm region in the range of the predeterminable range starting positional information of described unmanned plane but there is not taboo Flying region, then generate the first flight directive, described first flight directive includes described predeterminable range scope；By described flight directive Send to described unmanned plane so that described unmanned plane performs takeoff operational, and caches described predeterminable range scope.

Concrete, if there is not no-fly region in the range of the predeterminable range starting positional information of distance unmanned plane but depositing In alarm region, illustrate that unmanned plane can enter alarm scope after continuing flight predeterminable range according to existing state of flight, this Time, unmanned plane can be allowed to take off, but need this predeterminable range scope is informed unmanned plane, with remind enter alarm region away from From, therefore, control device can generate the first flight directive based on predeterminable range scope, this first flight directive include preset away from From scope.

This first flight directive is used for indicating unmanned plane to perform takeoff operational, and caches this predeterminable range scope, with notice Possibly into alarm region after unmanned plane during flying predeterminable range.

In a kind of preferred embodiment of the embodiment of the present invention, also comprise the steps:

If there is not alarm region in the range of the predeterminable range starting positional information of described unmanned plane, then generate the Two flight directives；Described second flight directive is sent to described unmanned plane so that described unmanned plane performs takeoff operational.

Concrete, if there is not alarm region in the range of the predeterminable range starting positional information of distance unmanned plane, say Bright unmanned plane is enough remote apart from no-fly region, at this point it is possible to generate the second flight directive, to allow unmanned plane to take off.

In embodiments of the present invention, control device and can obtain startup positional information when unmanned plane takes off, and according to this Start positional information and judge that unmanned plane is whether in no-fly region, if it is decided that unmanned plane in no-fly region, is then forbidden unmanned Machine takes off, if it is decided that unmanned plane not in no-fly region, then allows unmanned plane to take off, it is to avoid unmanned plane is swarmed into no-fly region and made The safety problem become.

With reference to Fig. 3, it is shown that the flow chart of steps of a kind of embodiment of the method three that unmanned plane is controlled of the present invention, The embodiment of the present invention can apply to the scene during unmanned plane during flying, illustrates from controlling device side, specifically can wrap Include following steps:

Step 301, receives the real-time position information that unmanned plane sends；

Wherein, the positional information sent during real-time position information is unmanned plane during flying；In implementing, unmanned In the flight course of machine, unmanned plane periodically can obtain real-time position by the control centre of unmanned plane from the black box of unmanned plane Confidence ceases, and sends this real-time position information to controlling device.Wherein, this real-time position information can include longitude and latitude Value.

In practice, when control centre is in time controlling device transmission real-time position information, the mark of unmanned plane can be carried (such as, the numbering of unmanned plane self), concrete, the mark starting positional information and unmanned plane can be assembled by control centre Come, generate assembling information, and the employing of assembling information is sent extremely control after controlling the encryption rule encryption that device consults in advance In device processed.

Step 302, it is judged that whether exist no-fly in the range of the predeterminable range of the real-time position information of described unmanned plane Region；

In embodiments of the present invention, can arrange the flight with specification unmanned plane of the no-fly region, the setting in no-fly region can To include arranging the coordinate in no-fly region, no-fly zone compile (generation) number, no-fly zone title, the no-fly time period (support one week certain sky, Special time etc.), figure number etc..

In embodiments of the present invention, after control device receives the assembling information of control centre's transmission of unmanned plane, The deciphering rule corresponding with this encryption rule is used to be decrypted this assembling information, if successful decryption, then it represents that authenticate successfully, At this point it is possible to whether there is no-fly region in the range of determining whether the predeterminable range of the real-time position information of distance unmanned plane, This determination methods is identical with the determination methods of above-mentioned startup positional information, is specifically referred to appropriate section in Fig. 2 embodiment Describing, here is omitted.

, if there is no-fly region in the range of the predeterminable range of the real-time position information of described unmanned plane, then in step 303 Determine the reference zone that described no-fly region is corresponding；

Step 304, it is judged that whether the positional information of described unmanned plane is in described reference zone；

Step 305, if the positional information of described unmanned plane is in described reference zone, then judges that whether described unmanned plane exists In described no-fly region；

Step 306, if it is determined that described unmanned plane is in described no-fly region, then generates and forbids flight directive；

By described, step 307, forbids that flight directive sends to described unmanned plane so that described unmanned plane performs landing behaviour Make.

In embodiments of the present invention, this forbids that flight directive is for indicating unmanned plane to perform landing operation.

Determining alarm region from described reference zone, described alarm region is that described reference zone is interior except described no-fly zone Other overseas regions；If the positional information of described unmanned plane is positioned at described alarm region, then generate navigational calibration instruction；Will The instruction of described navigational calibration sends to described unmanned plane so that described unmanned plane performs navigational calibration operation.

If there is alarm region in the range of the predeterminable range starting positional information of described unmanned plane but there is not taboo Flying region, then generate the first flight directive, described first flight directive includes described predeterminable range scope；By described flight directive Send to described unmanned plane so that described unmanned plane performs continue flight operation and cache described predeterminable range scope.

If there is not alarm region in the range of the predeterminable range starting positional information of described unmanned plane, then generate the Two flight directives；Described second flight directive is sent to described unmanned plane so that described unmanned plane performs to continue flight behaviour Make.

In embodiments of the present invention, the real-time position information during device can obtain unmanned plane during flying, and root are controlled Judge that unmanned plane is whether in no-fly region according to this real-time position information, if it is decided that unmanned plane is in no-fly region, it indicates that Unmanned plane lands, it is to avoid unmanned plane swarms into the safety problem that no-fly region is caused.

With reference to Fig. 4, it is shown that the flow chart of steps of a kind of embodiment of the method four that unmanned plane is controlled of the present invention, The embodiment of the present invention illustrates from unmanned pusher side, specifically may include steps of:

Step 401, obtains the positional information of unmanned plane, and sends described positional information to controlling device；

In embodiments of the present invention, unmanned plane sends the positional information of unmanned plane to controlling device, so that described control Device processed can interpolate that whether there is no-fly region in the range of the predeterminable range of the positional information of described unmanned plane, and is sentencing When there is no-fly region in the range of the predeterminable range of the positional information of unmanned plane described in set a distance, determine whether described unmanned plane Whether in described no-fly region, if it is determined that described unmanned plane is in described no-fly region, then generates and forbid flight directive.

Step 402, what receiving control device returned forbids flight directive, and forbids indicated by flight directive described in execution Operation.

In implementing, control device to what unmanned plane sent and forbid that flight directive is the encryption rule through consulting in advance The then instruction after encryption, unmanned plane can be sent by control centre's receiving control device of unmanned plane forbids flight directive, with Afterwards this being forbidden, flight directive is decrypted according to corresponding deciphering rule, if successful decryption, then unmanned plane is to controlling device Authenticating successfully, now, unmanned plane can perform the operation forbidden indicated by flight directive.

The first flight directive that receiving control device sends, described first flight directive is that described control device judges distance The instruction generated when there is alarm region but there is not no-fly region in the range of the predeterminable range of the positional information of described unmanned plane, Described flight directive includes described predeterminable range scope；

Perform the operation indicated by described first flight directive.

Perform the operation indicated by described second flight directive.

In a kind of preferred embodiment of the embodiment of the present invention, the positional information of described unmanned plane includes that described unmanned plane opens Startup positional information time dynamic；

Concrete, if the positional information of unmanned plane is startup positional information during unmanned plane startup, unmanned plane receives control After the instruction that device processed sends, instruction is analyzed, to determine the type of instruction, and performs the operation of correspondence.

When the instruction that unmanned plane receives is for forbidding flight directive, the control centre of unmanned plane performs quenching operations, and Generate information to send to user terminal terminals such as (such as) remote controllers of unmanned plane, to notify that this unmanned plane of user rises Fly unsuccessfully, and inform failure cause (this unmanned plane is in no-fly region).

If the instruction that unmanned plane receives is navigational calibration instruction, then the control centre of unmanned plane performs takeoff operational, and Navigational calibration instruction is sent to user terminal, in the range of notifying that this unmanned plane of user terminal is in alarm, points out user Carry out navigational calibration.

If the instruction that unmanned plane receives is the first flight directive, then unmanned plane perform takeoff operational and cache this preset away from From scope, and this predeterminable range scope is sent to user terminal, to notify this unmanned plane distance alarm district of user terminal Territory estimate scope.

If the instruction that unmanned plane receives is the second flight directive, then unmanned plane performs takeoff operational.

In a kind of preferred embodiment of the embodiment of the present invention, the positional information of described unmanned plane includes that described unmanned plane flies Real-time position information during row；

In a kind of preferred embodiment of the embodiment of the present invention, the step of described execution landing operation includes:

Call the camera collection terrain information of described unmanned plane；

Step-down operation is performed in the position of described optimum landform.

Specifically, if it is landing operation that unmanned plane parsing obtains the operation controlled indicated by device, unmanned plane passes through The control centre of unmanned plane can send pausing operation instruction to user terminal, to suspend the user terminal operation to unmanned plane, And inform that this unmanned plane of user terminal will perform Autonomous landing operation because entering no-fly region.

Subsequently, control centre sends shooting instruction to the photographic head of unmanned plane, to indicate the camera collection ground of unmanned plane The terrain information in face.After photographic head is according to shooting instruction acquisition to terrain information, terrain information is returned control centre, control Terrain information is used the technology such as form and aspect colour system, equal pitch contour to be analyzed by center, and decision-making goes out optimum landform.

As a kind of example, this optimum landform can meet following condition: landform is smooth, without dense population.

After decision-making goes out optimum landform, unmanned plane starts to perform step-down operation, the slowest in the position of optimum landform Landing.

Obtain flight speed and the course of unmanned plane；

Specifically, in unmanned plane and control device interaction, if controlling device to return predeterminable range scope, then Unmanned plane caches this predeterminable range scope.

During unmanned plane during flying, may the bad place of arriving signal, the communication letter causing with controlling device Number interrupt, when unmanned plane to control device ask certain number of times all failure after, the control centre of unmanned plane start read caching The last time with control device and communicate the predeterminable range scope of timed unit return, and according to current flight speed and boat To the actual range calculating unmanned plane and no-fly region.

Such as, the flight speed of unmanned plane is 60KM/H, then 1 minute flying distance is 1Km, and predeterminable range is 10km, when Unmanned plane with control after device terminal signaling, flown 5 minutes, then flying distance is 5km, now unmanned plane and no-fly region Actual range be 10km-5km=5km.

After obtaining actual range, unmanned plane judges whether actual range arrives default prompting distance and (such as, preset Prompting distance be 6km) time, if actual range less than remind distance, then unmanned plane generate route correction signal, Bing Jianggai road Line update information sends to user terminal, to remind user terminal correction flight path, it is to avoid swarm into no-fly region.

In embodiments of the present invention, after unmanned plane obtains the positional information of self, this positional information is sent to controlling In device, and receive from controlling the control instruction of return device, thus perform the operation corresponding with control instruction, in order to avoid swarming into Unnecessary loss is caused in no-fly region, the specification flight of unmanned plane.

It should be noted that for embodiment of the method, in order to be briefly described, therefore it is all expressed as a series of action group Closing, but those skilled in the art should know, the embodiment of the present invention is not limited by described sequence of movement, because depending on According to the embodiment of the present invention, some step can use other orders or carry out simultaneously.Secondly, those skilled in the art also should Knowing, embodiment described in this description belongs to preferred embodiment, and the involved action not necessarily present invention implements Necessary to example.

With reference to Fig. 5, it is shown that a kind of structured flowchart controlling device embodiment that unmanned plane is controlled of the present invention, Can include such as lower module:

Positional information receiver module 501, for receiving the positional information of the described unmanned plane that unmanned plane sends；

First judge module 502, in the range of the predeterminable range of the positional information of unmanned plane described in judging distance whether There is no-fly region；

Second judge module 503, prohibits for existing in the range of the predeterminable range apart from the positional information of described unmanned plane When flying region, it is judged that whether described unmanned plane is in described no-fly region；

No-fly directive generation module 504, for when judging that described unmanned plane is in described no-fly region, generating and forbid flying Row instruction；

By described, no-fly instruction sending module 505, for forbidding that flight directive sends to described unmanned plane so that described Unmanned plane forbids the operation indicated by flight directive described in performing.

In a kind of preferred embodiment of the embodiment of the present invention, described control device also includes:

3rd judge module, for judging that the positional information of described unmanned plane is whether in described reference zone；If it is described The positional information of unmanned plane in described reference zone, then calls described second judge module 503.

With reference to Fig. 6, it is shown that the structured flowchart of a kind of unmanned aerial vehicle example of the present invention, can include such as lower module:

Position information acquisition module 601, for obtaining the positional information of unmanned plane, and sends described position to controlling device Information so that described control device can interpolate that whether exist in the range of the predeterminable range of the positional information of described unmanned plane No-fly region, and when judging to there is no-fly region in the range of the predeterminable range of the positional information of described unmanned plane, it is judged that Whether described unmanned plane is in described no-fly region, if it is determined that described unmanned plane is in described no-fly region, then generates and forbids flying Row instruction；

No-fly command reception module 602, forbids flight directive for what receiving control device returned, and forbids described in execution Operation indicated by flight directive.

In a kind of preferred embodiment of the embodiment of the present invention, described unmanned plane also includes:

In a kind of preferred embodiment of the embodiment of the present invention, described no-fly command reception module is additionally operable to:

Call the camera collection terrain information of described unmanned plane；

Step-down operation is performed in the position of described optimum landform.

In a kind of preferred embodiment of the embodiment of the present invention, also include:

Each embodiment in this specification all uses the mode gone forward one by one to describe, what each embodiment stressed is with The difference of other embodiments, between each embodiment, identical similar part sees mutually.

Those skilled in the art are it should be appreciated that the embodiment of the embodiment of the present invention can be provided as method, device or calculate Machine program product.Therefore, the embodiment of the present invention can use complete hardware embodiment, complete software implementation or combine software and The form of the embodiment of hardware aspect.And, the embodiment of the present invention can use one or more wherein include computer can With in the computer-usable storage medium (including but not limited to disk memory, CD-ROM, optical memory etc.) of program code The form of the computer program implemented.

The embodiment of the present invention is with reference to method, terminal unit (system) and computer program according to embodiments of the present invention The flow chart of product and/or block diagram describe.It should be understood that can be by computer program instructions flowchart and/or block diagram In each flow process and/or the flow process in square frame and flow chart and/or block diagram and/or the combination of square frame.These can be provided Computer program instructions sets to general purpose computer, special-purpose computer, Embedded Processor or other programmable data processing terminals Standby processor is to produce a machine so that held by the processor of computer or other programmable data processing terminal equipment The instruction of row produces for realizing in one flow process of flow chart or multiple flow process and/or one square frame of block diagram or multiple square frame The device of the function specified.

These computer program instructions may be alternatively stored in and can guide computer or other programmable data processing terminal equipment In the computer-readable memory worked in a specific way so that the instruction being stored in this computer-readable memory produces bag Including the manufacture of command device, this command device realizes in one flow process of flow chart or multiple flow process and/or one side of block diagram The function specified in frame or multiple square frame.

These computer program instructions also can be loaded on computer or other programmable data processing terminal equipment so that On computer or other programmable terminal equipment, execution sequence of operations step is to produce computer implemented process, thus The instruction performed on computer or other programmable terminal equipment provides for realizing in one flow process of flow chart or multiple flow process And/or the step of the function specified in one square frame of block diagram or multiple square frame.

Although having been described for the preferred embodiment of the embodiment of the present invention, but those skilled in the art once knowing base This creativeness concept, then can make other change and amendment to these embodiments.So, claims are intended to be construed to The all changes including preferred embodiment and falling into range of embodiment of the invention and amendment.

Finally, in addition it is also necessary to explanation, in this article, the relational terms of such as first and second or the like be used merely to by One entity or operation separate with another entity or operating space, and not necessarily require or imply these entities or operation Between exist any this reality relation or order.And, term " includes ", " comprising " or its any other variant meaning Containing comprising of nonexcludability, so that include that the process of a series of key element, method, article or terminal unit not only wrap Include those key elements, but also include other key elements being not expressly set out, or also include for this process, method, article Or the key element that terminal unit is intrinsic.In the case of there is no more restriction, by wanting that statement " including ... " limits Element, it is not excluded that there is also other identical element in including the process of described key element, method, article or terminal unit.

Above a kind of method, control device and unmanned plane being controlled unmanned plane provided by the present invention is carried out Being discussed in detail, principle and the embodiment of the present invention are set forth by specific case used herein, above example Method and the core concept thereof being only intended to help to understand the present invention is described；Simultaneously for one of ordinary skill in the art, depend on According to the thought of the present invention, the most all will change, in sum, this specification content Should not be construed as limitation of the present invention.

Claims

1. the method that unmanned plane is controlled, it is characterised in that described method includes:

No-fly region whether is there is in the range of the predeterminable range of the positional information of unmanned plane described in judging distance；If apart from described nothing There is no-fly region in the range of the predeterminable range of man-machine positional information, then judge that whether described unmanned plane is in described no-fly region In；

Forbid that flight directive sends to described unmanned plane by described so that described in the execution of described unmanned plane, forbid flight directive institute The operation of instruction.

Method the most according to claim 1, it is characterised in that judge that whether described unmanned plane is in described no-fly zone described Before step in territory, also include:

Determining the reference zone that described no-fly region is corresponding, wherein, the area of described reference zone is more than described no-fly region Area, and described no-fly region is in described reference zone；

If the positional information of described unmanned plane is in described reference zone, then perform described to judge that whether described unmanned plane is described Step in no-fly region.

Method the most according to claim 2, it is characterised in that described method also includes:

Determining alarm region from described reference zone, described alarm region is except described no-fly zone is overseas in described reference zone Other regions；

The instruction of described navigational calibration is sent to described unmanned plane so that described unmanned plane performs described navigational calibration and instructs institute The operation of instruction.

Method the most according to claim 3, it is characterised in that also include:

If there is alarm region in the range of the predeterminable range of the positional information of described unmanned plane but there is not no-fly region, then Generating the first flight directive, described first flight directive includes described predeterminable range scope；

Described first flight directive is sent to described unmanned plane so that described unmanned plane performs described first flight directive institute The operation of instruction.

Method the most according to claim 4, it is characterised in that also include:

If there is not alarm region in the range of the predeterminable range of the positional information of described unmanned plane, then generate the second flight and refer to Order；

Described second flight directive is sent to described unmanned plane so that described unmanned plane performs described second flight directive institute The operation of instruction.

Method the most according to claim 5, it is characterised in that the positional information of described unmanned plane includes that described unmanned plane opens Startup positional information time dynamic；

Method the most according to claim 5, it is characterised in that the positional information of described unmanned plane includes that described unmanned plane flies Real-time position information during row；

8. the method that unmanned plane is controlled, it is characterised in that described method includes:

Obtain the positional information of unmanned plane, and send described positional information to controlling device so that described control device can be sentenced Whether turn-off exists no-fly region in the range of the predeterminable range of the positional information of described unmanned plane, and is judging apart from described nothing When there is no-fly region in the range of the predeterminable range of man-machine positional information, it is judged that whether described unmanned plane is in described no-fly region In, if it is determined that described unmanned plane is in described no-fly region, then generates and forbid flight directive；

Method the most according to claim 8, it is characterised in that also include:

The navigational calibration instruction that receiving control device sends, the instruction of described navigational calibration determines described no-fly for described control device After the reference zone that region is corresponding, from described reference zone, determine alarm region, and judge the position letter of described unmanned plane The instruction that breath generates when being positioned at described alarm region, wherein, the area of described reference zone is more than the face in described no-fly region Long-pending, and described no-fly region is in described reference zone, described alarm region is that described reference zone is interior except described no-fly region Other outer regions；

Method the most according to claim 9, it is characterised in that also include:

The first flight directive that receiving control device sends, described first flight directive is that described control device judges apart from described The instruction generated when there is alarm region but there is not no-fly region in the range of the predeterminable range of the positional information of unmanned plane, described First flight directive includes described predeterminable range scope；

Perform the operation indicated by described first flight directive.

11. methods according to claim 10, it is characterised in that also include:

The second flight directive that receiving control device sends, described second flight directive is that described control device judges apart from described The instruction generated when there is not alarm region in the range of the predeterminable range of the positional information of unmanned plane；

Perform the operation indicated by described second flight directive.

12. methods according to claim 11, it is characterised in that the positional information of described unmanned plane includes described unmanned plane Startup positional information during startup；

The step of the operation indicated by the instruction of described execution described navigational calibration is: perform takeoff operational and navigational calibration behaviour Make；

The step of the operation indicated by described first flight directive of described execution is: perform takeoff operational and cache described preset away from From scope；

13. methods according to claim 11, it is characterised in that the positional information of described unmanned plane includes described unmanned plane Real-time position information in flight course；

The step of the operation indicated by described first flight directive of described execution is: perform continue flight operation and cache described pre- If distance range；

14. methods according to claim 13, it is characterised in that the step of described execution landing operation includes:

Call the camera collection terrain information of described unmanned plane；

Step-down operation is performed in the position of described optimum landform.

15. according to the method described in claim 12 or 13, it is characterised in that also include:

In the flight course of unmanned plane, when unmanned plane detect with when controlling the signal interruption of device, obtain the last with Control the described predeterminable range scope that device communication timed unit returns；

Obtain flight speed and the course of unmanned plane；

When described actual range arrives the prompting distance preset, generate route correction signal, and by described route correction signal Send to user terminal so that described user terminal correction flight path.

The control device that unmanned plane is controlled by 16. 1 kinds, it is characterised in that described control device includes:

Whether the first judge module, exist no-fly in the range of the predeterminable range of the positional information of unmanned plane described in judging distance Region；

, for there is no-fly region in the range of the predeterminable range apart from the positional information of described unmanned plane in the second judge module Time, it is judged that whether described unmanned plane is in described no-fly region；

No-fly directive generation module, for when judging that described unmanned plane is in described no-fly region, generating and forbid flight directive；

By described, no-fly instruction sending module, for forbidding that flight directive sends to described unmanned plane so that described unmanned plane The operation indicated by flight directive is forbidden described in execution.

17. control devices according to claim 16, it is characterised in that also include:

Reference zone determines module, for determining the reference zone that described no-fly region is corresponding, wherein, the face of described reference zone The long-pending area more than described no-fly region, and described no-fly region is in described reference zone；

3rd judge module, for judging that the positional information of described unmanned plane is whether in described reference zone；If it is described unmanned The positional information of machine in described reference zone, then calls described second judge module.

18. control devices according to claim 17, it is characterised in that described control device also includes:

Alarm area determination module, for determining alarm region from described reference zone, described alarm region is described reference Except other regions that described no-fly zone is overseas in region；

Revision directive generation module, for when the positional information of described unmanned plane is positioned at described alarm region, generates course Revision directive；

Revision instruction sending module, for sending the instruction of described navigational calibration to described unmanned plane so that described unmanned plane Perform the operation indicated by the instruction of described navigational calibration.

19. control devices according to claim 18, it is characterised in that also include:

First flight directive generation module, accuses for existing in the range of the predeterminable range apart from the positional information of described unmanned plane Police region territory but when there is not no-fly region, generate the first flight directive, described first flight directive includes described predeterminable range model Enclose；

First flight directive sending module, for sending described first flight directive to described unmanned plane so that described nothing Operation indicated by described first flight directive of man-machine execution.

20. control devices according to claim 19, it is characterised in that also include:

Second flight directive generation module, for not existing in the range of the predeterminable range apart from the positional information of described unmanned plane During alarm region, generate the second flight directive；

Second flight directive sending module, for sending described second flight directive to described unmanned plane so that described nothing Operation indicated by described second flight directive of man-machine execution.

21. control devices according to claim 20, it is characterised in that the positional information of described unmanned plane includes described nothing Startup positional information during man-machine startup；

22. control devices according to claim 21, it is characterised in that the positional information of described unmanned plane includes described nothing Real-time position information in man-machine flight course；

23. 1 kinds of unmanned planes, it is characterised in that including:

Position information acquisition module, for obtaining the positional information of unmanned plane, and sends described positional information to controlling device, makes Obtain described control device can interpolate that whether there is no-fly zone in the range of the predeterminable range of the positional information of described unmanned plane Territory, and when judging to there is no-fly region in the range of the predeterminable range of the positional information of described unmanned plane, it is judged that described nothing Man-machine whether in described no-fly region, if it is determined that described unmanned plane is in described no-fly region, then generates and forbid flight directive；

No-fly command reception module, forbids flight directive for what receiving control device returned, and forbids that flight refers to described in execution Operation indicated by order.

24. unmanned planes according to claim 23, it is characterised in that also include:

Revision directive receiver module, the navigational calibration instruction sent for receiving control device, the instruction of described navigational calibration is institute After stating control device determining the reference zone that described no-fly region is corresponding, from described reference zone, determine alarm region, and Judge the instruction that the positional information of described unmanned plane generates when being positioned at described alarm region, wherein, the face of described reference zone The long-pending area more than described no-fly region, and described no-fly region is in described reference zone, described alarm region is described ginseng Except other regions that described no-fly zone is overseas in territory, examination district；

25. unmanned planes according to claim 24, it is characterised in that also include:

First flight directive receiver module, the first flight directive sent for receiving control device, described first flight directive Judge to there is alarm region in the range of the predeterminable range of the positional information of described unmanned plane for described control device but do not deposit The instruction generated when no-fly region, described first flight directive includes described predeterminable range scope；

26. unmanned planes according to claim 25, it is characterised in that also include:

Second flight directive receiver module, the second flight directive sent for receiving control device, described second flight directive Life when judging to there is not alarm region in the range of the predeterminable range of the positional information of described unmanned plane for described control device The instruction become；

27. unmanned planes according to claim 26, it is characterised in that the positional information of described unmanned plane includes described unmanned Startup positional information when machine starts；

28. unmanned planes according to claim 26, it is characterised in that the positional information of described unmanned plane includes described unmanned Real-time position information in machine flight course；

Described first flight directive performs module and is additionally operable to: perform continue flight operation and cache described predeterminable range scope；

29. unmanned planes according to claim 28, it is characterised in that described no-fly command reception module is additionally operable to:

Call the camera collection terrain information of described unmanned plane；

Step-down operation is performed in the position of described optimum landform.

30. according to the unmanned plane described in claim 27 or 28, it is characterised in that also include:

Distance acquisition module, in the flight course of unmanned plane, when unmanned plane detects and the signal interruption controlling device Time, obtain the described predeterminable range scope that the last timed unit that communicates with control device returns；

Actual distance calculation module, for based on described flight speed and course, calculates described unmanned plane and described no-fly region Actual range；

Signal correction module, for when described actual range arrives the prompting distance preset, generates route correction signal, and will Described route correction signal sends to user terminal so that described user terminal correction flight path.