CN106933250A - Headroom spatial domain unmanned plane management method - Google Patents
Headroom spatial domain unmanned plane management method Download PDFInfo
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- CN106933250A CN106933250A CN201710307851.4A CN201710307851A CN106933250A CN 106933250 A CN106933250 A CN 106933250A CN 201710307851 A CN201710307851 A CN 201710307851A CN 106933250 A CN106933250 A CN 106933250A
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- unmanned plane
- spatial domain
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention is on a kind of headroom spatial domain unmanned plane management method.The method includes：Detect the unmanned plane take off after positional information；Wherein, the positional information includes altitude info ination, longitude information and the latitude information that the unmanned plane is currently located；Whether default headroom spatial domain is entered according to the presently described unmanned plane of positional information real-time judge, if then controlling the unmanned plane to leave the default headroom spatial domain.The present invention can reduce security implication of the unmanned plane to air station flight landing for even eliminating appearance near obstacle free airspace spatial domain, it is ensured that the normal operation on airport, and technical scheme realizes simple, low cost.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly to a kind of headroom spatial domain unmanned plane management method.
Background technology
Current unmanned plane has been become more and more popular, and the flight of unmanned plane is manipulated by unmanned plane driver, but current drivers
Manipulation be but any without specification.
Recently occur some improper or black winged unmanned plane during flying activities near obstacle free airspace spatial domain, cause a large amount of
Air station flight takeoff and landing are delayed or other airports of making preparation for dropping, and badly influence the safe flight of air station flight, and harmfulness is very big.
The content of the invention
Simple, the headroom spatial domain unmanned plane management method of low cost is realized it is an object of the invention to provide one kind, with to the greatest extent
Security implication of the unmanned plane to air station flight landing for even eliminating appearance near obstacle free airspace spatial domain may be reduced, so that it is guaranteed that
The normal operation on airport.
A kind of first aspect according to embodiments of the present invention, there is provided headroom spatial domain unmanned plane management method, is applied to a nothing
Man-machine, the unmanned plane includes position detecting module and the first control module；The method includes：
Positional information after being taken off by the position detecting module detection unmanned plane；Wherein, the positional information includes
Altitude info ination, longitude information and latitude information that the unmanned plane is currently located；
It is empty whether first control module enters default headroom according to the presently described unmanned plane of positional information real-time judge
Domain, if then controlling the unmanned plane to leave the default headroom spatial domain.
In a kind of exemplary embodiment, the unmanned plane also includes the second control module；The method also includes：
Second control module when judging that presently described unmanned plane is introduced into the default headroom spatial domain, obtain it is described nobody
The course information and flying speed of machine；
The safe distance between the unmanned plane and the default headroom spatial domain is calculated according to the course information and flying speed；
When the safe distance is less than the first preset value, the unmanned plane during flying is controlled away from the default headroom spatial domain.
In a kind of exemplary embodiment, the unmanned plane also includes power supply and main control unit, the power supply and master control list
Switch element is electrically connected between unit；The method also includes：
Second control module detects the electricity of the power supply, when the electricity is more than or equal to the second preset value, controls institute
Unmanned plane during flying is stated away from the default headroom spatial domain；
When the electricity is less than second preset value, the switch element is controlled to cut off the power supply of the main control unit so that institute
Unmanned plane is stated directly to drop.
In a kind of exemplary embodiment, the unmanned plane also includes the 3rd control module；The method also includes：
3rd control module receives what airfield control central sent after the unmanned plane enters the default headroom spatial domain
Control instruction simultaneously controls the flight path of the unmanned plane according to the control instruction.
In a kind of exemplary embodiment, the method also includes：
3rd control module actively sends default communication letter when the unmanned plane enters the default headroom spatial domain immediately
Number with set up and the airfield control central between communication connection.
In a kind of exemplary embodiment, the method also includes：
After communication connection of 3rd control module between foundation and the airfield control central, the main control unit is controlled
Forbid receiving the operational order of the controller associated with the unmanned plane.
In a kind of exemplary embodiment, the unmanned plane also includes communication module；The method also includes：
The communication module receives and forwards the control instruction that the airfield control central sends to the described 3rd control mould
Block.
In a kind of exemplary embodiment, the method also includes：
The communication module sends default identification information to the airfield control central to carry out safety verification, after being verified
Receive and forward the control instruction.
In a kind of exemplary embodiment, the method also includes：
First control module was sent out before the unmanned plane enters the default headroom spatial domain to the airfield control central
Spatial domain is sent to recognize request；
Receive the spatial domain letter in the described default headroom spatial domain that the airfield control central recognizes request and returns according to the spatial domain
Breath.
In a kind of exemplary embodiment, height above sea level scope of the spatial information (si) including the default headroom spatial domain,
Longitude range and latitude scope.
The technical scheme that embodiments of the invention are provided can include the following benefits：
In the embodiment of the present invention, by the set location detection module on unmanned plane and the first control module, the position detection
Module detect the unmanned plane take off after positional information, first control module works as according to the positional information real-time judge
Whether the preceding unmanned plane enters default headroom spatial domain, if then controlling the unmanned plane to leave the default headroom spatial domain.This
Sample, by the simple modifications to unmanned plane itself, unmanned plane can actively avoid itself entering such as obstacle free airspace spatial domain, if into
Can immediately away from reduction even eliminates the safe shadow of the unmanned plane to air station flight landing of appearance near obstacle free airspace spatial domain
Ring, so that it is guaranteed that the normal operation on airport；In addition, set up special unmanned plane with special research and development intercepting or tracing system phase
Than the present invention program realizes that simply, manpower and financial cost needed for exploitation is lower.
Brief description of the drawings
Fig. 1 goes out unmanned plane management method flow chart in headroom spatial domain in exemplary embodiment of the present；
Fig. 2 shows another headroom spatial domain unmanned plane management method flow chart in exemplary embodiment of the present；
Fig. 3 shows another headroom spatial domain unmanned plane management method flow chart in exemplary embodiment of the present.
Specific embodiment
Example embodiment is described more fully with referring now to accompanying drawing.However, example embodiment can be with various shapes
Formula is implemented, and is not understood as limited to example set forth herein；Conversely, thesing embodiments are provided so that the present invention will more
Fully and completely, and by the design of example embodiment those skilled in the art is comprehensively conveyed to.Described feature, knot
Structure or characteristic can be combined in one or more implementation methods in any suitable manner.
Additionally, accompanying drawing is only schematic illustrations of the invention, it is not necessarily drawn to scale.Identical accompanying drawing mark in figure
Note represents same or similar part, thus will omit repetition thereof.Some block diagrams shown in accompanying drawing are work(
Energy entity, not necessarily must be corresponding with physically or logically independent entity.These work(can be realized using software form
Energy entity, or these functional entitys are realized in one or more hardware modules or integrated circuit, or at heterogeneous networks and/or place
These functional entitys are realized in reason device method and/or microcontroller methods.
A kind of headroom spatial domain unmanned plane management method is provided in this example embodiment, a unmanned plane is applied to, the nothing
It is man-machine to include position detecting module and the first control module（It is not shown）.With reference to shown in Fig. 1, the method can include with
Lower step：
Step S101：Positional information after being taken off by the position detecting module detection unmanned plane；Wherein, the position
Information includes altitude info ination, longitude information and the latitude information that the unmanned plane is currently located.
Exemplary, the altitude info ination can be determined by the barometertic altimeter being arranged on the unmanned plane, institute
Stating longitude information and latitude information can be determined by such as GPS module, and these belong to mature technology, repeat no more.
Step S102：Whether first control module is entered according to the presently described unmanned plane of positional information real-time judge
Enter default headroom spatial domain, if then controlling the unmanned plane to leave the default headroom spatial domain.
Exemplary, the determination mode in the default headroom spatial domain can be：First control module it is described nobody
Before machine enters the default headroom spatial domain, spatial domain identification request is sent to the airfield control central, and receive the airport
The spatial information (si) in the described default headroom spatial domain that control centre recognizes request and returns according to the spatial domain.Exemplary, it is described
Spatial information (si) can be including the height above sea level scope in the default headroom spatial domain, longitude range and latitude scope etc..Certainly also may be used
To be the spatial information (si) that default headroom spatial domain is pre-set on the unmanned plane, this is not restricted.
Specifically, whether first control module enters according to the presently described unmanned plane of positional information real-time judge
Default headroom spatial domain, namely judge the height above sea level letter that the unmanned plane that the position detecting module is detected is currently located
Whether corresponding height above sea level scope, the longitude range for respectively falling in the default headroom spatial domain of breath, longitude information and latitude information
In latitude scope, default headroom spatial domain is entered if falling into.The default headroom spatial domain can be delimited by airport blank pipe department.
In the present embodiment, by the simple modifications to unmanned plane itself, unmanned plane can actively judge according to self-position
Whether obstacle free airspace spatial domain is entered, such that it is able to avoid itself actively entering obstacle free airspace spatial domain, if into can immediately away from this
Sample can reduce security implication of the unmanned plane to air station flight landing for even eliminating appearance near obstacle free airspace spatial domain, such that it is able to
Ensure the normal operation on airport, it is ensured that passenger safety is gone on a journey in time.In addition, with special research and development set up special unmanned plane intercept or
Person's tracing system is compared, and the present invention program realizes that simply, manpower and financial cost needed for exploitation is lower.
As shown in Fig. 2 in a kind of exemplary embodiment, the unmanned plane also includes the second control module；The method is also wrapped
Include following steps：
Step S103：Second control module is obtained when judging that presently described unmanned plane is introduced into the default headroom spatial domain
Take the course information and flying speed of the unmanned plane.The course information for example can be heading, the angle of pitch etc..
Step S104：According to the course information and flying speed calculate the unmanned plane and the default headroom spatial domain it
Between safe distance.
Step S105：When the safe distance is less than the first preset value, the unmanned plane during flying is controlled away from described pre-
If headroom spatial domain.In this manner it is achieved that controlling in advance, before unmanned plane soon enters such as obstacle free airspace spatial domain, make unmanned plane remote
From thereby may be ensured that the safe landing of flight.
As shown in figure 3, during realizing controlling in advance, at some in emergency circumstances, in order to be further ensured that flight
Safe landing.In a kind of exemplary embodiment, the unmanned plane can also include power supply and main control unit, the power supply and master
Switch element is electrically connected between control unit（Such as transistor switching circuit）.The main control unit can include the unmanned plane itself
Master control system.Accordingly, the method is further comprising the steps of：
Step S201：Second control module detects the electricity of the power supply, when the electricity is more than or equal to the second preset value
When, the unmanned plane during flying is controlled away from the default headroom spatial domain.
Exemplary, that is to say, that when in case of emergency controlling unmanned plane away from default headroom spatial domain, detection power supply
Electricity, may determine that whether unmanned plane can meet the electricity needed at the position for reaching other flights of safe avoidance accordingly, if can
Then control the unmanned plane during flying away from the default headroom spatial domain to meet, do not damage unmanned plane.
Step S202：When the electricity is less than second preset value, the switch element is controlled to cut off the master control list
The power supply of unit is so that the unmanned plane directly drops.
Exemplary, the electricity needed for it can not meet at the position for reaching other flights of safe avoidance, it is necessary to make immediately
Unmanned plane cannot fly and drop, and may damage unmanned plane but can improve the security of flight landing.
In a kind of exemplary embodiment, the unmanned plane can also include the 3rd control module；The method also includes：Institute
The 3rd control module is stated after the unmanned plane enters the default headroom spatial domain, the control for receiving airfield control central transmission refers to
Make and according to the flight path of the control instruction control unmanned plane.For example, just in case unmanned plane comes into obstacle free airspace sky
Domain and now just have flight landing, then airfield control central can in time control the flight path of unmanned plane with avoid so as to
Avoid conflicting with flight landing, it is also possible to ensure schedule flight safety to the full extent.
Exemplary, the 3rd control module is actively sent out immediately when the unmanned plane enters the default headroom spatial domain
The communication connection that default signal of communication is sent to set up and between the airfield control central.Namely enter obstacle free airspace in unmanned plane
Set up at once and the communication between airfield control central during spatial domain, it is to avoid security incident occurs.
In order to further ensure that flight landing security, the 3rd control module is being set up and the airfield control central
Between communication connection after, control the main control unit to forbid receiving the operational order of the controller associated with the unmanned plane.
That is, after unmanned plane enters obstacle free airspace spatial domain and the at once communication between foundation and airfield control central, by nobody
The control authority of machine transfers to airfield control central completely, with the operational order pair for avoiding unmanned operators from being sent by controller
The influence of UAV Flight Control, the purpose of flight landing security is ensured such that it is able to reach.
Specifically, the unmanned plane also includes communication module, such as 3G or 4G communication modules, or airborne private communication mould
Block.The communication module receives and forwards the control instruction that the airfield control central sends to the described 3rd control mould
Block.In a kind of exemplary embodiment, the method also includes：The communication module sends default identification information to the airport and controls
Center processed receives after being verified and forwards the control instruction to carry out safety verification.So, instruction is ensured by checking
The reliability of transmission, it is to avoid illegal operation, and then the security of unmanned aerial vehicle (UAV) control is improved, also further improve flight landing safety
Property.
It should be noted that although each step of method in the present invention is described with particular order in the accompanying drawings,
This does not require that or implies must perform these steps according to the particular order, or have to carry out the step shown in whole
Desired result could be realized.It is additional or alternative, it is convenient to omit some steps, multiple steps are merged into a step and is held
OK, and/or by a step execution of multiple steps etc. are decomposed into.In addition, being also easy to understand, these steps can be
For example either synchronously or asynchronously performed in multiple module/process/threads.
Through the above description of the embodiments, those skilled in the art is it can be readily appreciated that example described herein is implemented
Mode can be realized by software, it is also possible to be realized by way of software is with reference to necessary hardware.Therefore, according to the present invention
The technical scheme of implementation method can be embodied in the form of software product, and the software product can store non-volatile at one
Property storage medium（Can be CD-ROM, USB flash disk, mobile hard disk etc.）In or network on, including some instructions with cause one calculating
Equipment（Such as unmanned plane）Perform the above method according to embodiment of the present invention.
Those skilled in the art after specification and the invention invented here of practice is considered, will readily occur to it is of the invention its
Its embodiment.The application is intended to any modification of the invention, purposes or adaptations, these modifications, purposes or
Person's adaptations follow general principle of the invention and the common knowledge in the art do not invented including the present invention
Or conventional techniques.Description and embodiments are considered only as exemplary, and true scope and spirit of the invention are by appended
Claim is pointed out.
Claims (10)
1. a kind of headroom spatial domain unmanned plane management method, is applied to a unmanned plane, it is characterised in that the unmanned plane is examined including position
Survey module and the first control module；The method includes：
Positional information after being taken off by the position detecting module detection unmanned plane；Wherein, the positional information includes
Altitude info ination, longitude information and latitude information that the unmanned plane is currently located；
It is empty whether first control module enters default headroom according to the presently described unmanned plane of positional information real-time judge
Domain, if then controlling the unmanned plane to leave the default headroom spatial domain.
2. headroom spatial domain unmanned plane management method according to claim 1, it is characterised in that the unmanned plane also includes the second control
Molding block；The method also includes：
Second control module when judging that presently described unmanned plane is introduced into the default headroom spatial domain, obtain it is described nobody
The course information and flying speed of machine；
The safe distance between the unmanned plane and the default headroom spatial domain is calculated according to the course information and flying speed；
When the safe distance is less than the first preset value, the unmanned plane during flying is controlled away from the default headroom spatial domain.
3. headroom spatial domain unmanned plane management method according to claim 2, it is characterised in that the unmanned plane also includes power supply
And main control unit, electrically connect switch element between the power supply and main control unit；The method also includes：
Second control module detects the electricity of the power supply, when the electricity is more than or equal to the second preset value, controls institute
Unmanned plane during flying is stated away from the default headroom spatial domain；
When the electricity is less than second preset value, the switch element is controlled to cut off the power supply of the main control unit so that institute
Unmanned plane is stated directly to drop.
4. headroom spatial domain unmanned plane management method according to claim 3, it is characterised in that the unmanned plane also includes the 3rd
Control module；The method also includes：
3rd control module receives what airfield control central sent after the unmanned plane enters the default headroom spatial domain
Control instruction simultaneously controls the flight path of the unmanned plane according to the control instruction.
5. headroom spatial domain unmanned plane management method according to claim 4, it is characterised in that the method also includes：
3rd control module actively sends default communication letter when the unmanned plane enters the default headroom spatial domain immediately
Number with set up and the airfield control central between communication connection.
6. headroom spatial domain unmanned plane management method according to claim 5, it is characterised in that the method also includes：
After communication connection of 3rd control module between foundation and the airfield control central, the main control unit is controlled
Forbid receiving the operational order of the controller associated with the unmanned plane.
7. headroom spatial domain unmanned plane management method according to claim 6, it is characterised in that the unmanned plane also includes communication
Module；The method also includes：
The communication module receives and forwards the control instruction that the airfield control central sends to the described 3rd control mould
Block.
8. headroom spatial domain unmanned plane management method according to claim 7, it is characterised in that the method also includes：
The communication module sends default identification information to the airfield control central to carry out safety verification, after being verified
Receive and forward the control instruction.
9. headroom spatial domain unmanned plane management method according to claim 4, it is characterised in that the method also includes：
First control module was sent out before the unmanned plane enters the default headroom spatial domain to the airfield control central
Spatial domain is sent to recognize request；
Receive the spatial domain letter in the described default headroom spatial domain that the airfield control central recognizes request and returns according to the spatial domain
Breath.
10. headroom spatial domain unmanned plane management method according to claim 9, it is characterised in that the spatial information (si) includes institute
State height above sea level scope, longitude range and the latitude scope in default headroom spatial domain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710307851.4A CN106933250A (en) | 2017-05-04 | 2017-05-04 | Headroom spatial domain unmanned plane management method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710307851.4A CN106933250A (en) | 2017-05-04 | 2017-05-04 | Headroom spatial domain unmanned plane management method |
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| CN106933250A true CN106933250A (en) | 2017-07-07 |
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| CN201710307851.4A Pending CN106933250A (en) | 2017-05-04 | 2017-05-04 | Headroom spatial domain unmanned plane management method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113589849A (en) * | 2021-09-29 | 2021-11-02 | 普宙科技(深圳)有限公司 | Unmanned aerial vehicle dynamic control method, system, equipment and storage medium |
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Application publication date: 20170707 |