CN110908391A - Airport limiting method and device and unmanned aerial vehicle - Google Patents
Airport limiting method and device and unmanned aerial vehicle Download PDFInfo
- Publication number
- CN110908391A CN110908391A CN201911415915.8A CN201911415915A CN110908391A CN 110908391 A CN110908391 A CN 110908391A CN 201911415915 A CN201911415915 A CN 201911415915A CN 110908391 A CN110908391 A CN 110908391A
- Authority
- CN
- China
- Prior art keywords
- flight
- unmanned aerial
- aerial vehicle
- area
- speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The embodiment of the invention relates to an airport limiting method and device and an unmanned aerial vehicle. The method comprises the following steps: the surrounding area of the airport is divided into a plurality of different flight areas, and the flight areas comprise a high-speed warning area, a mode conversion area, a low-speed limited flight area and a no-flight area; firstly, the flight area where the unmanned aerial vehicle is located is obtained, and then the flight state of the unmanned aerial vehicle is adjusted according to the flight area. By the method, the unmanned aerial vehicle can be prevented from entering the no-fly area, accidents are reduced, and the flying safety is improved.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of unmanned aerial vehicles, in particular to an airport limiting method and device and an unmanned aerial vehicle.
[ background of the invention ]
With the continuous development of the unmanned aerial vehicle aerial photography technology, more and more consumer-grade unmanned aerial vehicles are also being produced and developed. Unmanned aerial vehicles are also becoming increasingly popular. The unmanned aerial vehicle can be controlled in many ways, for example, through a remote controller, a mobile phone, a computer and other mobile terminals.
Due to the particularity of the no-fly areas such as airports, the unmanned aerial vehicles fly near the areas, which can seriously affect the safety of the unmanned aerial vehicles and airplanes in the airports, and therefore some restrictions need to be made on the flying of the unmanned aerial vehicles near the airports. However, since the hybrid wing unmanned aerial vehicle can fly at a high speed, the hybrid wing unmanned aerial vehicle can perform deceleration action when approaching a no-fly zone, and the deceleration distance can change greatly under different environmental conditions, so that the hybrid wing unmanned aerial vehicle can enter the no-fly zone, and accidents are caused.
[ summary of the invention ]
In order to solve the technical problem, embodiments of the present invention provide an airport restriction method and apparatus, and an unmanned aerial vehicle, which prevent the unmanned aerial vehicle from entering a no-fly zone and improve flight safety.
In order to solve the above technical problems, embodiments of the present invention provide the following technical solutions: an airport restriction method is applied to an unmanned aerial vehicle, and is characterized by comprising the following steps: the surrounding area of the airport is divided into a plurality of different flight areas, and the flight areas comprise a high-speed warning area, a mode conversion area, a low-speed limited flight area and a no-flight area;
acquiring the flight area where the unmanned aerial vehicle is located currently;
and adjusting the flight state of the unmanned aerial vehicle according to the flight area.
Optionally, the adjusting the flight state of the drone according to the flight area includes:
when the unmanned aerial vehicle is located in the low-speed limited flight area, controlling the flight height of the unmanned aerial vehicle to be lower than a preset limited height range; and/or to shield control commands for flight in a direction approaching an airport.
Optionally, the adjusting the flight state of the drone according to the flight area includes:
when unmanned aerial vehicle is located when the mode switching region, will be current unmanned aerial vehicle's fixed wing mode conversion to rotor mode, just rotor flight speed that corresponds under the rotor mode is less than fixed wing flight speed that corresponds under the fixed wing mode.
Optionally, the adjusting the flight state of the drone according to the flight area includes:
when the unmanned aerial vehicle is located in the high-speed warning area, generating a far prompt message;
and sending the remote prompt information to a ground station of the unmanned aerial vehicle, so that the ground station controls the unmanned aerial vehicle to be far away from an airport according to the remote prompt information.
Optionally, the adjusting the flight state of the drone according to the flight area includes:
when the unmanned aerial vehicle is located in the no-fly zone, the unmanned aerial vehicle is controlled to land.
Optionally, the high-speed warning area, the mode conversion area, the low-speed flight-limiting area, and the no-fly area are concentric circle areas with an airport as a center, and the radii of the high-speed warning area, the mode conversion area, the low-speed flight-limiting area, and the no-fly area decrease sequentially.
In order to solve the above technical problems, embodiments of the present invention further provide the following technical solutions: an airport restriction device. The airport restraining device includes: the surrounding area of the airport is divided into a plurality of different flight areas, and the flight areas comprise a high-speed warning area, a mode conversion area, a low-speed limited flight area and a no-flight area;
the flight area acquisition module is used for acquiring the flight area where the unmanned aerial vehicle is located;
and the flight state adjusting module is used for adjusting the flight state of the unmanned aerial vehicle according to the flight area.
Optionally, the flight state adjustment module includes a low-speed limit flight area adjustment unit, a mode conversion area adjustment unit, a high-speed warning area adjustment unit, and a no-flight area adjustment unit;
the low-speed limited flight area adjusting unit is used for controlling the flight height of the unmanned aerial vehicle to be lower than a preset limited height range when the unmanned aerial vehicle is positioned in the low-speed limited flight area; and/or shielding control instructions for flying in the direction close to the airport;
the mode conversion area adjusting unit is used for converting a current fixed wing mode of the unmanned aerial vehicle into a rotor wing mode when the unmanned aerial vehicle is located in the mode conversion area, and the corresponding rotor wing flying speed in the rotor wing mode is smaller than the corresponding fixed wing flying speed in the fixed wing mode;
the high-speed warning area adjusting unit is used for generating far-away prompt information when the unmanned aerial vehicle is located in the high-speed warning area;
sending the distance prompt information to a ground station of the unmanned aerial vehicle so that the ground station controls the unmanned aerial vehicle to move away from an airport according to the distance prompt information;
the no-fly zone adjusting unit is used for controlling the unmanned aerial vehicle to land when the unmanned aerial vehicle is positioned in the no-fly zone.
Optionally, the high-speed warning area, the mode conversion area, the low-speed flight-limiting area, and the no-fly area are concentric circle areas with an airport as a center, and the radii of the high-speed warning area, the mode conversion area, the low-speed flight-limiting area, and the no-fly area decrease sequentially.
In order to solve the above technical problems, embodiments of the present invention further provide the following technical solutions: an unmanned aerial vehicle.
The unmanned aerial vehicle includes: a body;
the machine arm is connected with the machine body;
the power device is arranged on the horn and used for providing flying power for the unmanned aerial vehicle; and
the flight controller is arranged on the machine body;
wherein the flight controller includes:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the airport restriction method as described above.
Compared with the prior art, the airport limiting method provided by the embodiment of the invention comprises the steps that the area around the airport is divided into a plurality of different flight areas, and the flight areas comprise a high-speed warning area, a mode conversion area, a low-speed limiting flight area and a no-flight area; firstly, the flight area where the unmanned aerial vehicle is located is obtained, and then the flight state of the unmanned aerial vehicle is adjusted according to the flight area. By the method, the unmanned aerial vehicle can be prevented from entering the no-fly area, accidents are reduced, and the flying safety is improved.
[ description of the drawings ]
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
FIG. 1 is a schematic diagram of an application environment of an embodiment of the present invention;
FIG. 2 is a flow chart of an airport restriction method according to an embodiment of the present invention;
FIG. 3 is a schematic view of the division of the flight area of the area around the airport according to the embodiment of the present invention;
FIG. 4 is a schematic flow chart of S20 in FIG. 2;
FIG. 5 is a block diagram of an airport restriction device according to an embodiment of the present invention;
fig. 6 is a block diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
[ detailed description ] embodiments
In order to facilitate an understanding of the invention, the invention is described in more detail below with reference to the accompanying drawings and specific examples. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. As used in this specification, the terms "upper," "lower," "inner," "outer," "bottom," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
The following illustrates an application environment of the airport restriction method and apparatus.
FIG. 1 is a schematic illustration of an environment in which an airport restriction system is implemented, in accordance with an embodiment of the present invention; as shown in fig. 1, the application scenario includes a drone 10, a wireless network 20, a smart terminal 30, and a user 40. The user 40 may operate the smart terminal 30 to operate the drone 10 over the wireless network 20.
Unmanned aerial vehicle 10 is mixed wing unmanned aerial vehicle, and unmanned aerial vehicle on the present market mainly has many rotor unmanned aerial vehicle, fixed wing unmanned aerial vehicle, unmanned helicopter and mixed wing unmanned aerial vehicle etc.. In the types of the unmanned aerial vehicles, except for the fixed-wing unmanned aerial vehicle, the other unmanned aerial vehicles can hover in the air and fly by air lines. And under the same energy consumption, the multi-rotor unmanned aerial vehicle has the shortest slowest flight path. Because the propellers of the multi-rotor wings are transversely arranged and horizontally rotated relative to the stander, the aim of improving the speed of the ship to a higher level is almost impossible. The increase of the range will inevitably lead to the increase of energy consumption, which is not paid. It is in this case that hybrid wing drones are produced. So-called mixed wing unmanned aerial vehicle just combines together many rotor unmanned aerial vehicle and fixed wing unmanned aerial vehicle, increases the tail of stationary vane in many rotor unmanned aerial vehicle's the frame promptly and pushes away the mechanism, makes it have great horizontal thrust to obtain higher navigational speed and range far away.
Further, this unmanned aerial vehicle 10 can possess corresponding volume or power according to actual conditions's needs to provide load capacity, flying speed and flight continuation of the journey mileage that can satisfy the operation needs etc.. One or more sensors may be added to the drone 10 to enable the drone 10 to collect corresponding data.
For example, in the present embodiment, the drone 10 is provided with at least one sensor of an accelerometer, a gyroscope, a magnetometer, a GPS navigator, and a visual sensor.
The drone 10 also includes a flight controller, which is a control core for the flight of the drone and the transmission of data, etc., and integrates one or more modules to execute corresponding logic control programs. For example, the flight controller may be used to implement the airport restriction method described above.
The smart terminal 30 may be any type of smart device, such as a mobile phone, a tablet computer, or a smart remote controller, for establishing a communication connection with the drone 10. The intelligent terminal 30 may be equipped with one or more different user 40 interaction means for collecting user 40 instructions or presenting and feeding back information to the user 40.
These interaction means include, but are not limited to: button, display screen, touch-sensitive screen, speaker and remote control action pole. For example, the smart terminal 30 may be equipped with a touch display screen, and receive a remote control instruction from the user 40 to the drone 10 through the touch display screen and display the image information obtained by aerial photography to the user 40 through the touch display screen, and the user 40 may also switch the image information currently displayed on the display screen through the remote control touch screen.
In some embodiments, the unmanned aerial vehicle 10 and the smart terminal 30 may also merge with the existing image visual processing technology to further provide more intelligent services. For example, the unmanned aerial vehicle 10 may analyze the image by the intelligent terminal 30 in a manner of acquiring the image by using the dual optical cameras, so as to realize gesture control of the user 40 on the unmanned aerial vehicle 10.
The wireless network 20 may be a wireless communication network for establishing a data transmission channel between two nodes based on any type of data transmission principle, such as a bluetooth network, a WiFi network, a wireless cellular network or a combination thereof located in different signal frequency bands.
Fig. 2 is an embodiment of an airport restriction method according to an embodiment of the present invention. As shown in fig. 2, the airport restriction method may be performed by a flight controller of a drone, including the steps of:
s10, acquiring the flight area where the unmanned aerial vehicle is located currently.
The area around the airport is divided into a plurality of different flight areas, and the flight areas comprise a high-speed warning area 101, a mode conversion area 102, a low-speed limited flight area 103 and a no-flight area 104. Above-mentioned a plurality of different flight areas can guarantee that unmanned aerial vehicle no matter be under high-speed state or low-speed state, can be safe and stable stop in the forbidden district outside of flying. The high-speed warning area, the mode conversion area, the low-speed flight limiting area and the no-fly area are concentric circle areas with an airport as a circle center, and the radiuses of the high-speed warning area, the mode conversion area, the low-speed flight limiting area and the no-fly area are sequentially reduced.
For example, as shown in fig. 3, no-fly zone 104: taking an airport as a center, d1 is a circular area with a radius, and the area is a no-fly area. In the no-fly zone, no-man may be prohibited from taking off. The unmanned aerial vehicle flies into the no-fly zone in an attitude mode, and lands immediately after acquiring the GPS.
Low speed limited flight zone 103: d1< d < d2 ═ d1+ Δ d1, this region is the low speed limited flight region. In the low speed limited flight zone, only the drone wing rotor mode of flight is permitted. The unmanned aerial vehicle is not allowed to approach the airport, and the unmanned aerial vehicle is only allowed to move away from the airport. The height can receive the restriction in this region, predetermines the restriction altitude scope, when unmanned aerial vehicle was higher than predetermineeing the restriction altitude scope, unmanned aerial vehicle chance automatic landing was below predetermineeing the restriction altitude scope.
Mode conversion zone 102: d2< d < d2+ Δ d2, which is the mode transition region. When the drone enters the mode transition zone in the high speed mode, the program will automatically switch the drone to rotor mode. Wherein, Δ d2 confirms that the deceleration distance of different hybrid wing uavs is different according to the deceleration distance of the uavs.
High-speed warning area 101: d3 ═ d2+ Δ d2< d < d3+ Δ d3, and this region is a high-speed warning region. When unmanned aerial vehicle enters into this region, flight control system can send the suggestion to unmanned aerial vehicle's ground satellite station, and the suggestion is kept away from the airport scope with unmanned aerial vehicle.
Specifically, the positioning sensor of the unmanned aerial vehicle can acquire the current flight area where the unmanned aerial vehicle is located by means of a GPS, binocular vision and the like.
S20, adjusting the flight state of the unmanned aerial vehicle according to the flight area.
Specifically, when the unmanned aerial vehicle is located in the low-speed limited flight area, controlling the flight height of the unmanned aerial vehicle to be lower than a preset limited height range; and/or shielding control instructions for flying in the direction close to the airport; when the unmanned aerial vehicle is located in the mode switching area, switching the current fixed wing mode of the unmanned aerial vehicle to a rotor wing mode, wherein the corresponding rotor wing flying speed in the rotor wing mode is smaller than the corresponding fixed wing flying speed in the fixed wing mode; when the unmanned aerial vehicle is located in the high-speed warning area, generating away prompt information, and sending the away prompt information to a ground station of the unmanned aerial vehicle, so that the ground station controls the unmanned aerial vehicle to be away from an airport according to the away prompt information; when the unmanned aerial vehicle is located in the no-fly zone, the unmanned aerial vehicle is controlled to land.
Wherein, in this embodiment, many rotor unmanned aerial vehicle has detachable tail and pushes away the structure, detachable tail pushes away the structure and includes female connecting seat and son connecting seat, and female connecting seat is the plug-in type electricity with son connecting seat and is connected, and female connecting seat is used for linking to each other with many rotor unmanned aerial vehicle frame. And a tail pushing force mechanism is arranged on the sub-connecting seat. Wherein, the lower surface of female connecting seat rear end has the spout of falling mountain shape ridge shape, and the inner end of spout has electrically conductive slot, and this electrically conductive slot is used for linking to each other with many rotor unmanned aerial vehicle's power control system. The upper part of the sub connecting seat is provided with a reverse ridge-shaped sliding block which is matched with the sliding groove of the main connecting seat. And one end of the sliding block is provided with a conductive inserting tongue which is matched with a conductive inserting groove in the sliding groove of the female connecting seat. The sub-connecting seat is connected with a mounting seat on the lower portion, a horizontal mounting hole is formed in the mounting seat, and a tail pushing support rod is fixed in the mounting hole. One end of the tail pushing support rod, which is far away from the female connecting seat, extends out, and a brushless motor is fixed at the end. The output shaft of the brushless motor is horizontally arranged, a propeller is fixed at the outer end of the output shaft, and the brushless motor is connected with the conductive inserting tongue on the sub-connecting seat through a lead. In this embodiment, the lower portion of the mounting seat is in a hoop shape corresponding to the mounting hole, and the tail push rod is fixed in the mounting hole through a bolt. In order to reduce the weight of the machine body, the tail pushing support rod is usually made of carbon steel materials, and the anchor ear structure is adopted, so that the tail pushing support rod is not easily damaged while the fixing strength of the tail pushing support rod is increased. The front and the back of the upper surface of the mounting seat are respectively provided with a pin lug, the lower surface of the sub-connecting seat is provided with a longitudinal through groove, the two pin lugs on the mounting seat are both positioned in the barrel groove of the sub-connecting seat, and one pin lug of the mounting seat is hinged at one end of the barrel groove of the sub-connecting seat through a pin. And the other pin lug on the mounting seat is provided with an arc-shaped strip hole, the two side groove walls at the other end of the barrel groove of the sub-connecting seat are respectively provided with a screw hole, and the pin lug on the mounting seat passes through the strip hole of the pin lug through a bolt to be fixed on the screw hole of the through groove of the sub-connecting seat. In this structure, the relative position of the round pin ear that the mount pad accessible hinged end corresponds and subconnector seat is adjusted to the rotation of the round pin ear that the mount pad accessible hinged end corresponds on it, and angular adjustment between mount pad and subconnector seat promptly to realized the fine setting of tail driving force direction, guaranteed that many rotor unmanned aerial vehicle obtain the best horizontal thrust. When the detachable tail pushing structure of the multi-rotor unmanned aerial vehicle is used, the female connecting seat in the detachable tail pushing structure of the multi-rotor unmanned aerial vehicle is fixed at the bottom of the frame of the multi-rotor unmanned aerial vehicle, and the conductive slot in the chute of the female connecting seat is connected with a power supply control system of the unmanned aerial vehicle, so that whether a tail pushing power mechanism is additionally arranged or not can be selected by self according to the needs of use occasions. When only need use traditional mode to carry out the low-speed flight of minizone, can will push away the tail driving force mechanism that branch, brushless motor and screw are constituteed by subconnecting seat, mount pad, tail and demolish from the unmanned aerial vehicle frame, can effectively alleviate the unmanned aerial vehicle load, the extension stays the empty time. When the flight of bigger journey scope is carried out with higher flight speed to needs, can insert the spout of falling mountain ridge shape on the female connecting seat with the slider of the son connecting seat upper portion ridge line of pushing power mechanism, the electrically conductive inserting tongue of son connecting seat inserts simultaneously in the electrically conductive slot on the female connecting seat, make brushless motor in the tail pushing power mechanism be the electricity with unmanned aerial vehicle's power control system and be connected, alright when many rotor unmanned aerial vehicle fly, provide horizontal thrust for unmanned aerial vehicle through the screw on the brushless motor output shaft, increase its speed of a ship, enlarge the journey. Compare with the mixed wing unmanned aerial vehicle of background art or traditional many rotor unmanned aerial vehicle, have this detachable tail and push away many rotor unmanned aerial vehicle of structure and can select according to the needs flexibility of different occasions, and application range is more extensive. Simultaneously, this structure is when dismantling the state, can not increase many rotor unmanned aerial vehicle's volume and weight almost, and it is also more convenient to carry and transport.
Therefore, in this embodiment, through at first when unmanned aerial vehicle's positioning system is inefficacy the back, will unmanned aerial vehicle switches to the gesture mode, then control unmanned aerial vehicle is in under the gesture mode, reduce unmanned aerial vehicle's height, and then when the ground environment information that obtains satisfies preset landing condition, control unmanned aerial vehicle lands safely. According to the method, after the positioning sensor of the unmanned aerial vehicle fails, the unmanned aerial vehicle can land on the ground safely and stably, the probability of explosion of the unmanned aerial vehicle is reduced, and the flight safety of the unmanned aerial vehicle is improved.
In order to better adjust the flight status of the drone according to the flight area, in some embodiments, referring to fig. 4, S20 includes the following steps:
s21, when the unmanned aerial vehicle is located in the low-speed limited flight area, controlling the flight height of the unmanned aerial vehicle to be lower than a preset limited height range; and/or to shield control commands for flight in a direction approaching an airport.
Specifically, for example, if the preset limited height range is 20-25m, if the flying height of the unmanned aerial vehicle is 30m at this time, the unmanned aerial vehicle is controlled to descend until the flying height is lower than the preset limited height range by 20-25 m.
Specifically, when the unmanned aerial vehicle is in a low-speed flight-limiting area and the unmanned aerial vehicle receives a control instruction which is sent by a remote control device and flies in a direction close to an airport, the control instruction is shielded or not responded, and the unmanned aerial vehicle can not fly continuously in the airport direction.
The remote control device can be any type of intelligent terminal used for establishing communication connection with the unmanned aerial vehicle, such as a mobile phone, a tablet computer or an intelligent remote controller. The remote control device may be equipped with one or more different user interaction devices for collecting user instructions or presenting and feeding back information to the user.
S22, when the unmanned aerial vehicle is located when the mode switching region, will be present unmanned aerial vehicle' S fixed wing mode switches to rotor mode, just rotor mode down the rotor flight speed that corresponds is less than the fixed wing flight speed that corresponds under the fixed wing mode.
Specifically, for example, according to the division of the flight speed, 0-8 m/s is a rotor mode, 8-18 m/s is a conversion mode from the rotor to the fixed wing, more than 18m/s is a fixed wing mode, and the normal operation mode is a fixed wing mode. Different types of unmanned aerial vehicles, the flight speed range can have the difference, does not limit here.
Simultaneously, when unmanned aerial vehicle is located when the mode switching zone is distinguished, will be present unmanned aerial vehicle's fixed wing mode conversion to rotor mode, corresponding change the airspeed that the fixed wing mode corresponds (being greater than 18m/s) into the airspeed that the rotor mode corresponds (0 ~ 8 m/s). And the corresponding flight speed in the conversion process from the fixed wing mode to the rotor wing mode is (8-18 m/s).
S23, when the unmanned aerial vehicle is located in the high-speed warning area, generating a far prompt message; and sending the remote prompt information to a ground station of the unmanned aerial vehicle, so that the ground station controls the unmanned aerial vehicle to be far away from an airport according to the remote prompt information.
Specifically, when the unmanned aerial vehicle is located in the high-speed warning area, a departure prompt message is generated, and the departure prompt message is prestored in the storage device, for example, the departure prompt message may be "the unmanned aerial vehicle is approaching an airport area, please control the unmanned aerial vehicle to depart from the airport area", and the like. And sending the away prompt information to a ground station of the unmanned aerial vehicle, so that the ground station controls the unmanned aerial vehicle to be away from the airport according to the away prompt information. The ground station can be a remote control device, a cloud server and the like.
Further, the unmanned aerial vehicle is further provided with the storage device, and the storage device stores the distance prompt information.
Among them, the storage device may be a flash memory type memory, a hard disk type memory, a micro multimedia card type memory, a card type memory (e.g., SD or XD memory), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Programmable Read Only Memory (PROM), a magnetic memory, a magnetic disk, and an optical disk.
S24, when the unmanned aerial vehicle is located in the no-fly zone, controlling the unmanned aerial vehicle to land.
It should be noted that, in the foregoing embodiments, a certain order does not necessarily exist between the foregoing steps, and it can be understood by those skilled in the art from the description of the embodiments of the present application that, in different embodiments, the foregoing steps may have different execution orders, that is, may be executed in parallel, may also be executed in an exchange manner, and the like.
As another aspect of the embodiments of the present application, the embodiments of the present application provide an airport restriction device 50. Referring to fig. 5, the airport restraining device 50 includes: a flight area acquisition module 51 and a flight state adjustment module 52.
The flight area obtaining module 51 is configured to obtain the flight area where the unmanned aerial vehicle is currently located.
The flight state adjusting module 52 is configured to adjust the flight state of the unmanned aerial vehicle according to the flight area.
Therefore, in the present embodiment, the area around the airport is divided into a plurality of different flight areas, and the plurality of flight areas include a high-speed warning area, a mode switching area, a low-speed flight-limiting area and a no-flight area; the device firstly acquires the flight area where the unmanned aerial vehicle is located currently, and then adjusts the flight state of the unmanned aerial vehicle according to the flight area. By the method, the unmanned aerial vehicle can be prevented from entering the no-fly area, accidents are reduced, and the flying safety is improved.
In some embodiments, the flight state adjustment module includes a low-speed flight-limiting area adjustment unit, a mode conversion area adjustment unit, a high-speed warning area adjustment unit, and a no-flight area adjustment unit;
the low-speed limited flight area adjusting unit is used for controlling the flight height of the unmanned aerial vehicle to be lower than a preset limited height range when the unmanned aerial vehicle is positioned in the low-speed limited flight area; and/or shielding control instructions for flying in the direction close to the airport;
the mode conversion area adjusting unit is used for converting a current fixed wing mode of the unmanned aerial vehicle into a rotor wing mode when the unmanned aerial vehicle is located in the mode conversion area, and the corresponding rotor wing flying speed in the rotor wing mode is smaller than the corresponding fixed wing flying speed in the fixed wing mode;
the high-speed warning area adjusting unit is used for generating far-away prompt information when the unmanned aerial vehicle is located in the high-speed warning area;
sending the distance prompt information to a ground station of the unmanned aerial vehicle so that the ground station controls the unmanned aerial vehicle to move away from an airport according to the distance prompt information;
the no-fly zone adjusting unit is used for controlling the unmanned aerial vehicle to land when the unmanned aerial vehicle is positioned in the no-fly zone.
It should be noted that the airport restriction device can execute the airport restriction method provided by the embodiment of the present invention, and has corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in the embodiments of the airport restraining device, reference may be made to the airport restraining method provided in the embodiments of the present invention.
Fig. 6 is a block diagram of the structure of the unmanned aerial vehicle 10 according to the embodiment of the present invention. As shown in fig. 6, the drone 10 may include: fuselage, horn, power plant, magnetometer, various sensors, flight controller ground detection sensors, and communications module 130. The flight controller includes, among other things, a processor 110 and a memory 120.
The machine arm is connected with the machine body; the power device is arranged on the horn and used for providing the power for the unmanned aerial vehicle to fly.
The multiple sensors are used for respectively acquiring corresponding flight data, and the multiple sensors can be multiple sensors in an accelerometer, a gyroscope, a magnetometer, a GPS navigator and a vision sensor. The ground detection sensor is used for acquiring ground environment information.
The processor 110, the memory 120 and the communication module 130 establish a communication connection therebetween by means of a bus.
The processor 110 may be of any type, including a processor 110 having one or more processing cores. The system can execute single-thread or multi-thread operation and is used for analyzing instructions to execute operations of acquiring data, executing logic operation functions, issuing operation processing results and the like.
The memory 120 is a non-transitory computer readable storage medium, and can be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules (e.g., the flight area acquisition module 51, the flight status adjustment module 52 shown in fig. 5) corresponding to the airport restriction method in the embodiment of the present invention. The processor 110 executes various functional applications and data processing of the airport restriction device 50 by executing non-transitory software programs, instructions and modules stored in the memory 120, i.e., implementing the airport restriction method in any of the above-described method embodiments.
The memory 120 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the airport restriction device 50, and the like. Further, the memory 120 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 120 optionally includes memory located remotely from the processor 110, which may be connected to the drone 10 through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The memory 120 stores instructions executable by the at least one processor 110; the at least one processor 110 is configured to execute the instructions to implement the airport restriction method in any of the above-described method embodiments, e.g., to perform the above-described method steps 10, 20, etc., to implement the functionality of the modules 51-52 in fig. 5.
The communication module 130 is a functional module for establishing a communication connection and providing a physical channel. The communication module 130 may be any type of wireless or wired communication module 130 including, but not limited to, a WiFi module or a bluetooth module, etc.
Further, embodiments of the present invention also provide a non-transitory computer-readable storage medium storing computer-executable instructions for execution by one or more processors 110, for example, by one of processors 110 in fig. 6, to cause the one or more processors 110 to perform the airport restriction method in any of the above-described method embodiments, for example, to perform method steps 10, 20, etc. described above, to implement the functions of modules 51-52 in fig. 5.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by associated hardware as a computer program in a computer program product, the computer program being stored in a non-transitory computer-readable storage medium, the computer program comprising program instructions that, when executed by an associated apparatus, cause the associated apparatus to perform the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The product can execute the airport limiting method provided by the embodiment of the invention, and has corresponding functional modules and beneficial effects for executing the airport limiting method. For technical details that are not described in detail in this embodiment, reference may be made to the airport restriction method provided by the embodiment of the present invention.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. An airport restriction method is applied to an unmanned aerial vehicle, and is characterized by comprising the following steps: the surrounding area of the airport is divided into a plurality of different flight areas, and the flight areas comprise a high-speed warning area, a mode conversion area, a low-speed limited flight area and a no-flight area;
acquiring the flight area where the unmanned aerial vehicle is located currently;
and adjusting the flight state of the unmanned aerial vehicle according to the flight area.
2. The method of claim 1, wherein said adjusting the flight status of said drone according to said flight area comprises:
when the unmanned aerial vehicle is located in the low-speed limited flight area, controlling the flight height of the unmanned aerial vehicle to be lower than a preset limited height range; and/or to shield control commands for flight in a direction approaching an airport.
3. The method of claim 1, wherein said adjusting the flight status of said drone according to said flight area comprises:
when unmanned aerial vehicle is located when the mode switching region, will be current unmanned aerial vehicle's fixed wing mode conversion to rotor mode, just rotor flight speed that corresponds under the rotor mode is less than fixed wing flight speed that corresponds under the fixed wing mode.
4. The method of claim 1, wherein said adjusting the flight status of said drone according to said flight area comprises:
when the unmanned aerial vehicle is located in the high-speed warning area, generating a far prompt message;
and sending the remote prompt information to a ground station of the unmanned aerial vehicle, so that the ground station controls the unmanned aerial vehicle to be far away from an airport according to the remote prompt information.
5. The method of claim 1, wherein said adjusting the flight status of said drone according to said flight area comprises:
when the unmanned aerial vehicle is located in the no-fly zone, the unmanned aerial vehicle is controlled to land.
6. The method according to any one of claims 1 to 5, wherein the high speed warning area, the mode switching area, the low speed restricted flight area and the no-fly area are concentric circular areas centered on an airport, and the radii of the high speed warning area, the mode switching area, the low speed restricted flight area and the no-fly area decrease in this order.
7. The utility model provides an airport limiting device is applied to unmanned aerial vehicle, its characterized in that includes: the surrounding area of the airport is divided into a plurality of different flight areas, and the flight areas comprise a high-speed warning area, a mode conversion area, a low-speed limited flight area and a no-flight area;
the flight area acquisition module is used for acquiring the flight area where the unmanned aerial vehicle is located;
and the flight state adjusting module is used for adjusting the flight state of the unmanned aerial vehicle according to the flight area.
8. The apparatus of claim 7, wherein the flight status adjustment module comprises a low speed limit flight area adjustment unit, a mode conversion area adjustment unit, a high speed warning area adjustment unit, and a no-flight area adjustment unit;
the low-speed limited flight area adjusting unit is used for controlling the flight height of the unmanned aerial vehicle to be lower than a preset limited height range when the unmanned aerial vehicle is positioned in the low-speed limited flight area; and/or shielding control instructions for flying in the direction close to the airport;
the mode conversion area adjusting unit is used for converting a current fixed wing mode of the unmanned aerial vehicle into a rotor wing mode when the unmanned aerial vehicle is located in the mode conversion area, and the corresponding rotor wing flying speed in the rotor wing mode is smaller than the corresponding fixed wing flying speed in the fixed wing mode;
the high-speed warning area adjusting unit is used for generating far-away prompt information when the unmanned aerial vehicle is located in the high-speed warning area;
sending the distance prompt information to a ground station of the unmanned aerial vehicle so that the ground station controls the unmanned aerial vehicle to move away from an airport according to the distance prompt information;
the no-fly zone adjusting unit is used for controlling the unmanned aerial vehicle to land when the unmanned aerial vehicle is positioned in the no-fly zone.
9. The apparatus according to claim 8, wherein the high-speed warning region, the mode switching region, the low-speed restricted flight region, and the no-flight region are concentric circular regions centered on an airport, and radii of the high-speed warning region, the mode switching region, the low-speed restricted flight region, and the no-flight region decrease in order.
10. An unmanned aerial vehicle, comprising:
a body;
the machine arm is connected with the machine body;
the power device is arranged on the horn and used for providing flying power for the unmanned aerial vehicle; and
the flight controller is arranged on the machine body;
wherein the flight controller includes:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the airport restriction method of any one of claims 1-6.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911415915.8A CN110908391A (en) | 2019-12-31 | 2019-12-31 | Airport limiting method and device and unmanned aerial vehicle |
| PCT/CN2020/133960 WO2021135822A1 (en) | 2019-12-31 | 2020-12-04 | Airport restriction method and device and unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911415915.8A CN110908391A (en) | 2019-12-31 | 2019-12-31 | Airport limiting method and device and unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110908391A true CN110908391A (en) | 2020-03-24 |
Family
ID=69813977
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911415915.8A Pending CN110908391A (en) | 2019-12-31 | 2019-12-31 | Airport limiting method and device and unmanned aerial vehicle |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110908391A (en) |
| WO (1) | WO2021135822A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021135822A1 (en) * | 2019-12-31 | 2021-07-08 | 深圳市道通智能航空技术股份有限公司 | Airport restriction method and device and unmanned aerial vehicle |
| CN116820139A (en) * | 2023-08-29 | 2023-09-29 | 陕西德鑫智能科技有限公司 | Navigation control method and device based on electronic fence, unmanned aerial vehicle and storage medium |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104834307A (en) * | 2015-04-23 | 2015-08-12 | 杨珊珊 | Control method and control device of unmanned aerial vehicle |
| CN105235892A (en) * | 2015-10-21 | 2016-01-13 | 北京航空航天大学 | Multimodal flight conversion control method for hybrid layout rotary-wing unmanned aerial vehicle |
| CN107168377A (en) * | 2017-07-19 | 2017-09-15 | 过成康 | A kind of unmanned plane with no-fly region warning function |
| CN107757914A (en) * | 2016-08-15 | 2018-03-06 | 南京福尔摩斯智能科技有限公司 | Double dynamical VTOL fixed-wing unmanned plane |
| US20180114447A1 (en) * | 2016-10-23 | 2018-04-26 | Gopro, Inc. | Virtual Wall Mapping for Aerial Vehicle Navigation |
| CN109814455A (en) * | 2019-01-31 | 2019-05-28 | 拓攻（南京）机器人有限公司 | A kind of no-fly control method, device, equipment and the storage medium of unmanned plane |
| CN110088818A (en) * | 2017-03-10 | 2019-08-02 | 深圳市大疆创新科技有限公司 | For supporting the method and system of the flight restriction of unmanned vehicle |
| CN110444049A (en) * | 2019-07-05 | 2019-11-12 | 视联动力信息技术股份有限公司 | A kind of winged method and device of unmanned plane limit based on view networking |
| CN209852575U (en) * | 2019-01-30 | 2019-12-27 | 中科院成都信息技术股份有限公司 | Composite wing unmanned aerial vehicle |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9905134B2 (en) * | 2015-02-12 | 2018-02-27 | Aerobotic Innovations, LLC | System and method of preventing and remedying restricted area intrusions by unmanned aerial vehicles |
| CN104932525B (en) * | 2015-05-28 | 2019-03-01 | 深圳一电航空技术有限公司 | Control method, device, ground control system and the unmanned plane of unmanned plane |
| CN106656307B (en) * | 2016-12-09 | 2020-01-21 | 清华大学 | Unmanned aerial vehicle flight limitation management method based on frequency modulation data broadcasting, unmanned aerial vehicle and management center |
| CN114326811A (en) * | 2017-04-09 | 2022-04-12 | 深圳市大疆创新科技有限公司 | Flight processing method and control equipment |
| CN107256031A (en) * | 2017-07-06 | 2017-10-17 | 杨顺伟 | A kind of flight restriction method and device of unmanned plane |
| CN110908391A (en) * | 2019-12-31 | 2020-03-24 | 深圳市道通智能航空技术有限公司 | Airport limiting method and device and unmanned aerial vehicle |
-
2019
- 2019-12-31 CN CN201911415915.8A patent/CN110908391A/en active Pending
-
2020
- 2020-12-04 WO PCT/CN2020/133960 patent/WO2021135822A1/en active Application Filing
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104834307A (en) * | 2015-04-23 | 2015-08-12 | 杨珊珊 | Control method and control device of unmanned aerial vehicle |
| CN105235892A (en) * | 2015-10-21 | 2016-01-13 | 北京航空航天大学 | Multimodal flight conversion control method for hybrid layout rotary-wing unmanned aerial vehicle |
| CN107757914A (en) * | 2016-08-15 | 2018-03-06 | 南京福尔摩斯智能科技有限公司 | Double dynamical VTOL fixed-wing unmanned plane |
| US20180114447A1 (en) * | 2016-10-23 | 2018-04-26 | Gopro, Inc. | Virtual Wall Mapping for Aerial Vehicle Navigation |
| CN110088818A (en) * | 2017-03-10 | 2019-08-02 | 深圳市大疆创新科技有限公司 | For supporting the method and system of the flight restriction of unmanned vehicle |
| CN107168377A (en) * | 2017-07-19 | 2017-09-15 | 过成康 | A kind of unmanned plane with no-fly region warning function |
| CN209852575U (en) * | 2019-01-30 | 2019-12-27 | 中科院成都信息技术股份有限公司 | Composite wing unmanned aerial vehicle |
| CN109814455A (en) * | 2019-01-31 | 2019-05-28 | 拓攻（南京）机器人有限公司 | A kind of no-fly control method, device, equipment and the storage medium of unmanned plane |
| CN110444049A (en) * | 2019-07-05 | 2019-11-12 | 视联动力信息技术股份有限公司 | A kind of winged method and device of unmanned plane limit based on view networking |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021135822A1 (en) * | 2019-12-31 | 2021-07-08 | 深圳市道通智能航空技术股份有限公司 | Airport restriction method and device and unmanned aerial vehicle |
| CN116820139A (en) * | 2023-08-29 | 2023-09-29 | 陕西德鑫智能科技有限公司 | Navigation control method and device based on electronic fence, unmanned aerial vehicle and storage medium |
| CN116820139B (en) * | 2023-08-29 | 2023-12-12 | 陕西德鑫智能科技有限公司 | Navigation control method and device based on electronic fence, unmanned aerial vehicle and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021135822A1 (en) | 2021-07-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20240029573A1 (en) | Aerial vehicle flight control method and device thereof | |
| US10938471B2 (en) | Method, apparatus and system of providing communication coverage to an unmanned aerial vehicle | |
| US11295624B2 (en) | Decentralized air traffic management system for unmanned aerial vehicles | |
| US9857791B2 (en) | Unmanned aerial vehicle charging station management | |
| CN111552320B (en) | Return method, controller, unmanned aerial vehicle and storage medium | |
| CN111240354B (en) | Unmanned aerial vehicle severe low-power protection method and unmanned aerial vehicle | |
| US20230280763A1 (en) | Method for protection unmanned aerial vehicle and unmanned aerial vehicle | |
| US11086313B2 (en) | Gesture-based unmanned aerial vehicle (UAV) control | |
| CN110908391A (en) | Airport limiting method and device and unmanned aerial vehicle | |
| US20210116942A1 (en) | Enhanced drone vehicle integration and controls | |
| US20230368680A1 (en) | Generating dynamic checklists for aircraft operations | |
| CN110411458B (en) | Air route planning method and unmanned aerial vehicle | |
| CN113625743A (en) | Intelligent control method for unmanned aerial vehicle, related device and storage medium | |
| EP3868662B1 (en) | Flying body and system | |
| CN111684384B (en) | Unmanned aerial vehicle flight control method and device and unmanned aerial vehicle | |
| CN202120126U (en) | Unmanned aerial vehicle and remote controller | |
| CN111061298A (en) | Flight control method and device and unmanned aerial vehicle | |
| CN115328178A (en) | Method and system for accurately landing unmanned aerial vehicle in complex environment | |
| CN209921624U (en) | Reconnaissance system based on vertical take-off and landing fixed wing unmanned aerial vehicle | |
| CN112389651A (en) | Non-contact unmanned aerial vehicle battery replacement method and system | |
| CN211827025U (en) | Obstacle avoidance system for unmanned platform | |
| CN117742353A (en) | Control method of unmanned aerial vehicle in approaching stage, computer equipment and storage medium | |
| CN116627172A (en) | Indoor automatic power grid inspection system based on unmanned aerial vehicle | |
| CN112673330A (en) | Unmanned aerial vehicle descending control method and device and unmanned aerial vehicle | |
| CN117647999A (en) | Unmanned aerial vehicle control method, unmanned aerial vehicle and readable medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 518055 Guangdong city of Shenzhen province Nanshan District Xili Street Xueyuan Road No. 1001 Chi Yuen Building 9 layer B1 Applicant after: Shenzhen daotong intelligent Aviation Technology Co.,Ltd. Address before: 518055 Guangdong city of Shenzhen province Nanshan District Xili Street Xueyuan Road No. 1001 Chi Yuen Building 9 layer B1 Applicant before: AUTEL ROBOTICS Co.,Ltd. |
|
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200324 |