WO2019090512A1

WO2019090512A1 - Flight control method for unmanned aerial vehicle, apparatus and unmanned aerial vehicle

Info

Publication number: WO2019090512A1
Application number: PCT/CN2017/109926
Authority: WO
Inventors: 王庶; 朱锐意; 邓任钦; 王乃博
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-11-08
Filing date: 2017-11-08
Publication date: 2019-05-16
Also published as: CN110024013A

Abstract

A flight control method for an unmanned aerial vehicle, an apparatus and an unmanned aerial vehicle. The method comprises: generating flight control information; and sending the flight control information, such that an unmanned aerial vehicle receiving the flight control information executes a flight control operation. A flight control apparatus sends the flight control information, and the unmanned aerial vehicle executes the flight control operation upon receiving the flight control information. The method achieves flight control of the unmanned aerial vehicle without exposing position information of a classified location. In addition, the method realizes flight control of the unmanned aerial vehicle even if a user of the unmanned aerial vehicle has not updated flight restriction data.

Description

Flight control method, equipment and unmanned aerial vehicle for unmanned aerial vehicles

Technical field

Embodiments of the present invention relate to the field of unmanned aerial vehicles, and in particular, to a flight control method, device, and an unmanned aerial vehicle of an unmanned aerial vehicle.

Background technique

The rapid development of the unmanned aircraft industry has led more and more users to inadvertently or intentionally operate UAVs into or near restricted airports such as airports, military administrative areas or crowded areas. In order to prevent such dangerous situations from occurring, the traditional method is to use the geofence (also known as electronic fence) technology to set the restricted flight area for the unmanned aerial vehicle. The method relies on the satellite positioning system of the unmanned aerial vehicle and the inertial measurement unit to determine whether the position of the unmanned aerial vehicle is close to or enters the restricted flight area, and corresponding flight restrictions are imposed on the unmanned aerial vehicle by the flight controller to prevent the unmanned aerial vehicle from being restricted. Flight area.

Normally, the restricted flight area is displayed and prompted on the interactive interface of the control terminal used by the user. However, since the restricted flight area information usually needs to be published online and displayed on the map publicly, the geographical coordinates of the corresponding area are exposed. If the restricted flight area contains a classified location, it is easy for an ulterior person to traverse the query on the network to map the location of the classified location, which may cause a risk of leaking. In addition, the update of the restricted flight area often relies on the user's upgrade operation of the flight data of the unmanned aerial vehicle (such as limiting the location information of the flight area, limiting the time of flight, etc.), so there is a restriction on the flight area management to perform the flight limited data. Adjustments have been made, and the user has not upgraded the flight data of the UAV for various reasons, which may cause the UAV to approach or enter the restricted flight area. In this way, in the case that the geographical location information of the classified location cannot be disclosed or the limited flight data of the unmanned aerial vehicle is not upgraded in time, the existing technical solution cannot prevent the UAV from approaching or flying into the restricted flight area.

Summary of the invention

Embodiments of the present invention provide a flight control method, device, and an unmanned aerial vehicle of an unmanned aerial vehicle to achieve effective control of an unmanned aerial vehicle.

A first aspect of the present invention provides a flight control method for an unmanned aerial vehicle, which is applied to the flight control device of the unmanned aerial vehicle, and includes:

Generate flight control information;

The flight control information is transmitted such that the unmanned aerial vehicle receiving the regulatory information performs a flight control operation.

A second aspect of the present invention provides a method for controlling an unmanned aerial vehicle, which is applied to the unmanned aerial vehicle, and includes:

Receiving flight control information sent by unmanned flight control equipment;

After receiving the flight control information, a flight control operation is performed.

A third aspect of the present invention provides a flight control method for an unmanned aerial vehicle, which is applied to the flight control device of the unmanned aerial vehicle, and includes:

Obtaining planned installation location information of the flight control device;

Generating flight control information according to the planned installation location information;

The flight control information is transmitted such that the unmanned aerial vehicle receiving the flight control information performs a flight control operation when determining that its own location information is within the first predetermined area indicated by the planned installation location information.

A fourth aspect of the present invention provides a method for controlling an unmanned aerial vehicle, which is applied to the unmanned aerial vehicle, and includes:

Receiving regulatory information sent by the control device of the UAV;

Parsing the regulatory information to obtain planned installation location information of the regulatory device;

Obtaining the location information of the unmanned aerial vehicle;

The flight control operation is performed when the location information is within the first preset area indicated by the planned installation location information.

A fifth aspect of the embodiments of the present invention provides a flight control device for an unmanned aerial vehicle, including: a memory and a processor,

The memory is configured to store program code;

The processor calls the program code to perform the following operations when the program code is executed:

Generate flight control information;

A sixth aspect of an embodiment of the present invention provides an unmanned aerial vehicle comprising: a memory and a processor,

The memory is configured to store program code;

Receiving flight control information sent by the flight control device;

A seventh aspect of the embodiments of the present invention provides a flight control device for an unmanned aerial vehicle, including: a memory and a processor,

The memory is configured to store program code;

An eighth aspect of the embodiments of the present invention provides an unmanned aerial vehicle, including: a memory and a processor,

The memory is configured to store program code;

Receiving regulatory information sent by the control device of the UAV;

Obtaining the location information of the unmanned aerial vehicle;

A ninth aspect of the present invention provides a flight control system for an unmanned aerial vehicle, comprising the flight control device of the unmanned aerial vehicle of the fifth aspect, and the unmanned aerial vehicle of the sixth aspect.

A tenth aspect of the embodiments of the present invention provides a flight control system for an unmanned aerial vehicle, comprising the flight control device of the unmanned aerial vehicle of the seventh aspect, and the unmanned aerial vehicle of the eighth aspect.

In the embodiment of the present invention, the flight control device transmits the generated flight control information, and the unmanned aerial vehicle performs the flight control operation when receiving the flight control information, so that the geographic location information of the classified location may not be published. Under the realization of flight control of unmanned aerial vehicles, at the same time, regardless of whether the user upgrades the flight data of the unmanned aerial vehicle, the flight control equipment can control the flight of the unmanned aerial vehicle, improving the effectiveness and convenience of flight control. .

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in view of the drawings.

1 is a flowchart of a flight control method according to an embodiment of the present invention;

2 is a schematic diagram of an application scenario of a flight control method according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of another application scenario of a flight control method according to an embodiment of the present disclosure;

4 is a schematic diagram of another application scenario of a flight control method according to an embodiment of the present invention;

FIG. 5 is a flowchart of a flight control method according to another embodiment of the present invention; FIG.

6 is a flowchart of a flight control method according to another embodiment of the present invention;

FIG. 7 is a schematic diagram of another application scenario of a flight control method according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of another application scenario of a flight control method according to an embodiment of the present disclosure;

FIG. 9 is a flowchart of a flight control method according to another embodiment of the present invention; FIG.

FIG. 10 is a structural diagram of a flight control device or an unmanned aerial vehicle according to an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly described with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

It should be noted that when a component is referred to as being "fixed" to another component, it can be directly on the other component or the component can be present. When a component is considered to "connect" another component, it can be directly connected to another component or possibly a central component.

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, unless otherwise defined. The terminology used in the description of the present invention is for the purpose of describing particular embodiments and is not intended to limit the invention. The term "and/or" as used herein includes any of one or more of the associated listed items. And all combinations.

Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below can be combined with each other without conflict.

Embodiments of the present invention provide a flight control method for an unmanned aerial vehicle. FIG. 1 is a flowchart of a flight control method of an unmanned aerial vehicle according to an embodiment of the present invention. As shown in FIG. 1, the method in this embodiment may include:

Step S101: Generate flight control information.

Specifically, as shown in FIG. 2, the execution body of the method of the embodiment may be a flight control device 201 of the unmanned aerial vehicle. Further, the execution body may be a processor of the flight control device, and the flight control device 201 may be installed. On the ground, it can also be erected on the ground support. The flight control device 201 can generate flight control information.

Step S102: Send the flight regulation information to enable the unmanned aerial vehicle that receives the regulation information to perform a flight control operation.

Specifically, after generating the flight control information, the flight control device 201 may transmit the flight control information, and further, the processor of the flight control device may control the communication interface to send the flight control information, When the aircraft 202 receives the flight control information, it can perform a corresponding flight control operation. In this way, the flight control device can achieve flight control of the unmanned aerial vehicle of the received flight control information by transmitting flight control information.

In some embodiments, the transmitting the flight control information to cause the unmanned aerial vehicle receiving the regulatory information to perform a flight control operation comprises: broadcasting the flight control information such that the regulatory information is received The aircraft performs flight control operations. Specifically, the flight control device may periodically or non-periodically broadcast the flight control information, and when the UAV approaches the flight control device, the UAV may receive flight control information broadcast by the flight control device, The aircraft performs a flight control operation upon receiving flight control information.

In some embodiments, the UAV detection information is broadcast; the transmitting the flight control information to cause the tube to be received Performing the flight control operation by the unmanned aerial vehicle of the information includes: transmitting the flight control information to the unmanned aerial vehicle transmitting the probe response information after receiving the unmanned aerial vehicle probe response information sent by the unmanned aerial vehicle to make the none The human aircraft performs flight control operations. Specifically, as shown in FIG. 3, the flight control device may periodically or non-periodically broadcast the unmanned aerial vehicle detection information to detect whether there is an unmanned aerial vehicle in flight around the flight control device, when the unmanned aerial vehicle approaches When the UAV receives the detection information broadcast by the flight control device, the UAV may send the probe response information to the flight control device, and the flight control device may, after receiving the probe response information, The UAV transmits flight control information, and the UAV performs flight control operations upon receiving flight control information. Further, the probe response information may include identity information or operation information of the UAV, wherein the identity information may include one or more of a manufacturer, a model, a use, and a serial number of the UAV. The operational information may include one or more of position information, flight altitude, flight speed, and flight direction of the UAV.

In some embodiments, the transmitting the flight control information to cause an unmanned aerial vehicle receiving the regulatory information to perform a flight control operation comprises transmitting the flight control information such that the flight control information is received The human aircraft performs a return flight operation, a landing operation, or a hovering operation. Specifically, the unmanned aerial vehicle may perform the return flight operation upon receiving the flight control information, that is, return to the takeoff position of the unmanned aerial vehicle, or return to the position of the control terminal of the unmanned aerial vehicle, or return to the user to pass The control terminal specifies a location point; optionally, the unmanned aerial vehicle may perform a hovering operation upon receiving the flight control information, and send a notification to the control terminal of the unmanned aerial vehicle that the unmanned aerial vehicle is currently in a hovering state. Instructing information; optionally, the UAV may perform a landing operation upon receiving the flight control information, wherein the landing position of the UAV may be specified by flight control information. In this way, the user's operation of the UAV can be restricted, preventing the user from controlling the UAV to approach or enter the restricted flight area.

Further, the transmitting the flight control information to cause the unmanned aerial vehicle receiving the regulatory information to perform a returning operation, a landing operation or a hovering operation comprises: transmitting the flight control information to enable the receiving of the regulatory information The UAV performs a returning operation, a landing operation, or a hovering operation when determining that its own position information and the restricted flight area indicated by the flight control information satisfy a preset positional relationship. Specifically, as shown in FIG. 4, after receiving the flight control information, the UAV can determine its own location information 401 according to an onboard positioning sensor (eg, a satellite positioning receiver). The flight control information is parsed, and after the analysis, the restricted flight area 402 for restricting the flight of the unmanned aerial vehicle can be determined, and then, determining whether the position information 401 of the self and the restricted flight area 402 satisfy the preset positional relationship, when determining Place When the own location information 401 and the restricted flight area 402 satisfy a preset positional relationship, the UAV performs a returning operation, a landing operation, or a hovering operation; when determining the own position information 401 and the restricted flight When the area 402 does not satisfy the preset positional relationship, the UAV may not perform the flight control operation, that is, the return flight operation, the landing operation or the hovering operation may not be performed, and the user may continue to use the control terminal to freely operate the UAV. For example, determining whether the distance between the location information 401 of the self and the restricted flight zone 402 is less than or equal to a preset distance threshold, when determining between the location information 401 of the self and the restricted flight zone 402 When the distance is less than or equal to the preset distance threshold, the UAV performs a returning operation, a landing operation, or a hovering operation; when it is determined that the distance between the position information 401 and the restricted flight area 402 is greater than a preset The distance of the UAV may not perform the flight control operation, that is, the return flight operation, the landing operation, or the hovering operation may not be performed.

In some embodiments, the transmitting the flight control information to cause the unmanned aerial vehicle receiving the regulatory information to perform a flight control operation comprises: transmitting the flight control information such that the regulatory information is received The aircraft flies away from the restricted flight area indicated by the flight control information. Specifically, after receiving the flight control information, the UAV may analyze the flight control information, and after analysis, determine an area that restricts the flight of the UAV, and the UAV may move away from the restricted flight area. Directional flight, which can prevent the UAV from approaching and entering the restricted flight area indicated by the flight control information, and the UAV can also send the control terminal a prompt message that the UAV is flying in a direction away from the restricted flight area.

Further, the transmitting the flight control information to cause the unmanned aerial vehicle receiving the regulatory information to perform a returning operation, a landing operation or a hovering operation comprises: transmitting the flight control information to enable the receiving of the regulatory information The unmanned aerial vehicle flies to a restricted flight area indicated away from the flight control information when it determines that its own position information and the restricted flight area indicated by the flight control information satisfy a preset positional relationship. Specifically, the unmanned aerial vehicle may determine its own position information according to an on-board positioning sensor (for example, a satellite positioning receiver), and then determine whether the position information of the self and the restricted flight area satisfy a preset positional relationship. Determining whether the position information of the self and the restricted flight area satisfy a preset positional relationship, the UAV flying to the restricted flight area indicated by the flight control information; when determining the position information of the self When the restricted flight area does not satisfy the preset positional relationship, the UAV may not perform the flight control operation, that is, the flight area may not be moved away from the restricted flight area indicated by the flight control information, and the user may continue to use the control terminal to freely operate the unmanned aerial vehicle. operating. For example, determining, based on the position information of the self, whether the distance between the UAV and the restricted flight area is less than Or equal to a preset distance threshold, when it is determined whether the distance between the position information of the self and the restricted flight area is less than or equal to a preset distance threshold, the UAV limits to the indication of the flight control information Flying area flight; when it is determined that the distance between the position information of the self and the restricted flight area is greater than a preset distance threshold, the UAV may not perform the flight control operation, that is, may not move away from the flight control information Instructed to limit flight area flight.

In some embodiments, location information for indicating the restricted flight area is obtained; the generating flight control information includes generating flight regulation information based on the location information. Specifically, the restricted flight area may be indicated by location information of the restricted flight area, that is, the restricted flight area may be set by location information, and the flight control device may acquire location information for indicating the restricted flight area, and then according to Acquiring the obtained location information to generate flight control information, for example, the location information may be inserted into a preset field in the flight control information, and the flight control information may indicate the restricted flight area, and further, the preset field in the flight control information The stored location information indicates that the flight area is restricted. When receiving the flight control information, the UAV may parse the position information indicating the restricted flight area from the flight control information, that is, the flight control information may be analyzed to determine the restricted flight area indicated by the flight control information.

In some embodiments, the location information for indicating the restricted flight area includes any one of flight limited position information, planned installation location information of the flight control device, or location information of the regulatory device. The flight limit position information may be position information of a restricted flight area that is set by the management party that arranges the flight control device. By setting the flight limit position information, the management party that arranges the flight control device may set flight control. The limited flight area indicated by the information; or the limited flight position information may be location information corresponding to the restricted flight area issued by a regulatory agency such as the government or the military. The location information indicating the restricted flight area may be location information of the flight control device, that is, a location where the flight control device is located, and the flight control device may determine the current location by the configured positioning sensor, and the flight control device may The location information generates flight control information, that is, the restricted flight area indicated by the flight control information is determined by the location information of the flight control device. The location information indicating the restricted flight area may be planned installation location information of the flight control device, wherein the planned installation location information is installation location information expected by the flight control device, and in actual application, the planning The installation location information may be different from the location information of the flight control device. In some cases, when the flight control device is moved, the planned installation location information may be significantly different from the location information of the flight control device, and the flight may be The control device may generate flight control information according to the planned installation location information, that is, the restricted flight area indicated by the flight control information is determined by the planned installation location information of the flight control device.

Further, the acquiring the location information for indicating the restricted flight area comprises: receiving the location information sent by the terminal device for indicating the restricted flight area. Specifically, the management party that arranges the flight control device may set a corresponding indication limit flight area in a manner of setting the position information indicating the restriction flight area, and the management party may set the position information of the restricted flight area at the terminal, and the terminal device may The location information is sent to the flight control device, and the flight control device can generate flight control information based on the location information.

Further, the acquiring the location information for indicating the restricted flight area comprises: acquiring location information for indicating the restricted flight area from the preset storage device. Specifically, the location information of the restricted flight area may be stored on a storage device configured by the flight control device, and the processor of the flight control device may read the location information from the storage device, and then the processor may generate the location information according to the location information. Flight control information.

Corresponding to the flight control method of the unmanned aerial vehicle provided in FIG. 1, another embodiment of the present invention provides a flight control method for an unmanned aerial vehicle. FIG. 5 is a flowchart of a flight control method of an unmanned aerial vehicle according to an embodiment of the present invention. As shown in FIG. 5, the method in this embodiment may include:

Step S501: Receive flight control information sent by the flight control device.

Step S502, after receiving the flight control information, performing a flight control operation.

Specifically, the execution body of the method of the embodiment may be an unmanned aerial vehicle. Further, the execution body may be a processor of the unmanned aerial vehicle.

In some embodiments, the method further includes: receiving unmanned aerial vehicle detection information transmitted by the regulatory device, and transmitting the unmanned aerial vehicle detection response information to the regulatory device after receiving the detection information; Receiving the flight control information sent by the unmanned flight control device includes: receiving the flight control information sent by the unmanned flight control device after transmitting the probe response information.

In some embodiments, the performing the flight control operation comprises performing a return flight operation, a landing operation, or a hovering operation.

In some embodiments, the performing the returning operation, the landing operation, or the hovering operation comprises: performing a returning operation, a landing operation when the position information of the unmanned aerial vehicle and the restricted flight area indicated by the flight control information satisfy a preset positional relationship Or hovering.

In some embodiments, the performing flight control operations comprises:

Flying to a restricted flight area indicated away from the flight control information.

In some embodiments, the performing a return flight operation, a landing operation, or a hovering operation includes:

When the position information of the unmanned aerial vehicle and the restricted flight area indicated by the flight control information satisfy a preset positional relationship, the flight is restricted to the restricted flight area indicated by the flight control information.

In some embodiments, the method further comprises parsing location information from the flight control information for indicating a restricted flight zone.

For details of the specific principles and explanations of the method in this embodiment, refer to the foregoing section, and details are not described herein again.

The embodiment provides that the flight control device transmits the generated flight control information, and the unmanned aircraft performs the flight control operation when receiving the flight control information, so that the navigation information can be realized without publishing the classified geographical location information. For the flight control of unmanned aerial vehicles, at the same time, regardless of whether the user upgrades the flight data of the UAV, the flight control equipment can control the flight of the unmanned aerial vehicle, which improves the effectiveness and convenience of flight control.

Embodiments of the present invention provide a flight control method for an unmanned aerial vehicle. FIG. 6 is a flowchart of a flight control method of an unmanned aerial vehicle according to an embodiment of the present invention. As shown in FIG. 6, the method in this embodiment may include:

Step S601: Obtain planned installation location information of the flight control device.

Specifically, the execution body of the method of the embodiment may be a flight control device of the unmanned aerial vehicle. Further, the execution body may be a processor of the flight control device, and the processor may acquire planned installation location information of the flight control device, where The planned installation location information is a location where the management party that arranges the flight control device desires that the flight control device is installed, as described in the foregoing section.

In some embodiments, the obtaining the planned installation location information of the flight control device comprises: receiving planned installation location information of the flight control device sent by the terminal device. Specifically, the management party that arranges the flight control device may set the planned installation location information of the flight control. For example, the management party may set the planned installation location information of the flight control at the terminal, and the terminal device may set the planned installation location of the flight control. The information is sent to the flight control device, and the flight control device can obtain the planned installation location information sent by the terminal device.

In some embodiments, the obtaining the planned installation location information of the flight control device comprises: obtaining planned installation location information information of the flight control device from the preset storage device. Specifically, the planned installation location information of the flight control device may Stored on a storage device configured by the flight control device, the processor of the flight control device can read the location information from the storage device.

Step S602: Generate flight control information according to the planned installation location information.

Specifically, after acquiring the planned installation location information, generating flight control information according to the planned installation location information, and further, inserting the planned installation location information into a preset field in the flight control information, that is, The flight control information sent by the flight control device is bound to its planned installation location information. When receiving the flight control information, the unmanned aerial vehicle may parse the planned installation location information of the flight control device from the flight control information, and further, obtain the planned installation location information from the preset field of the flight control information, where The planned installation location information is used to indicate a planned installation location of the flight control device, and when the UAV accesses the flight control information, the planned installation location of the flight control device may be determined by analyzing the flight control information.

Step S603: Send the flight control information to enable the unmanned aerial vehicle that receives the flight control information to perform a flight control operation when determining that the location information of itself is within the first preset area indicated by the planned installation location information.

Specifically, the flight control device transmits the flight control information, and further, the processor of the flight control device controls the communication interface to transmit the flight control information. As shown in FIG. 7, when the UAV receives the flight control information, the flight control information can be analyzed to obtain the planned installation location information 701 of the flight control device, and the positioning sensor of the UAV can determine the current location. The location information 702 at which the UAV is currently located is compared with the planned installation location information 701 in the flight control information, for example, determining whether the location information 702 in which the current location is located is indicated by the planned installation location information. The first preset area 703 is bound to the installation location information 701 of the flight control device, and is the flight control range of the flight control device, and does not change. When the UAV determines that its own location information 702 is within the first predetermined area indicated by the planned installation location information, the UAV may perform a flight control operation. In practical applications, the flight control device may be maliciously moved to other locations 704, or the flight control device may be incorrectly installed to other locations 704, when the UAV is near the flight control device and receives flight control information, through the airborne The location sensor determines the currently described location information 705, and the UAV compares the location information 705 in which it is located with the planned installation location 701 in the flight control information, and further determines whether the location information 705 in which the current location is located is In the first preset area 703 indicated by the planned installation location information, it may be determined that the current position information 705 of the UAV is not in the first preset area 703, that is, the UAV is not in the flight control device at this time. Flight Scope of control, UAVs may not perform flight control operations. It can be seen that the flight control area of the flight control equipment has been bound to the planned installation location information. When the flight control equipment is moved to other locations, even if the UAV is close to the flight control equipment and receives flight control information, the UAV remains It is determined that the flight control area is not currently in the flight control area, and the flight control operation may not be performed, that is, when the flight control equipment is moved, the flight control equipment cannot perform flight control on the unmanned aerial vehicle, thus ensuring that the flight control equipment is fixed. The area’s unmanned aerial vehicles implement flight control and lose their flight control over unmanned aerial vehicles when moving to other locations.

In the embodiment of the present invention, the flight control information is generated according to the planned installation location information of the flight control device, and the unmanned aerial vehicle that receives the flight control information determines that the location information of the mobile device is in the first pre-instruction indicated by the planned installation location information. The flight control operation is performed when the area is within the area, so that the flight control area of the flight control equipment is bound to the planned installation position information, and the flight control equipment can control the flight of the unmanned aerial vehicle only when the flight control equipment is installed to the planned installation position. In this way, the flight control device is prevented from being erroneously or maliciously installed to other locations, causing confusion in flight control or interfering with the normal operation of the UAV.

In some embodiments, the transmitting the flight control information to cause the unmanned aerial vehicle receiving the flight control information to determine that its own location information is within a first predetermined area indicated by the planned installation location information Performing the flight control operation includes: transmitting the flight control information such that the unmanned aerial vehicle receiving the flight control information performs when determining that the location information of the self is within the first preset area indicated by the planned installation location information Return flight operation, landing operation or hovering operation. Specifically, when the UAV receives the flight control information, the UAV can parse the planned installation location information in the flight control information, and when the UAV determines that the current location information is in the planned installation location information When the first preset area is within, the returning operation may be performed, that is, returning to the takeoff position of the unmanned aerial vehicle, or returning to the position of the control terminal of the unmanned aerial vehicle, or returning to the user designated by the control terminal. a location point; optionally, when the UAV determines that the UAV’s current location information is within the first preset area indicated by the planned installation location information, a hovering operation may be performed and directed to the UAV The control terminal sends the indication information indicating that the UAV is currently in a hovering state; optionally, when the UAV determines that the current location information of the UAV is within the first preset area indicated by the planned installation location information, the Landing operation in which the landing position of the UAV may be determined by flight control information Given. In this way, the user can be restricted from operating the UAV, preventing the user from controlling the UAV to approach or enter the restricted flight. Line area.

Further, the transmitting the flight control information to cause the unmanned aerial vehicle receiving the flight control information to perform a returning operation when determining that the position information of the own is within the first preset area indicated by the planned installation position information The landing operation or the hovering operation includes: transmitting the flight control information such that the unmanned aerial vehicle receiving the flight control information determines that the position information of the self is within the first preset area indicated by the planned installation position information And performing a returning operation, a landing operation or a hovering operation when the position information of the self and the restricted flight area indicated by the flight control information satisfy a preset positional relationship, wherein the first preset area includes the limitation Flight area. Specifically, as shown in FIG. 8 , after receiving the flight control information, the UAV may parse the flight control information, parse the planned installation location information in the flight control information, and determine the flight control. The information indicates a restricted flight area 804, the unmanned aerial vehicle may determine the location information 802 in which it is located based on the onboard positioning sensor (eg, a satellite positioning receiver), and then determine that the location information 802 in which the location is located is located in the plan. When the first preset area 803 indicated by the location information 801 is installed, it may be further determined whether the location 802 information that the self is located and whether the restricted flight area 804 satisfies a preset positional relationship, wherein the A preset area 803 includes a restricted flight area 804. When it is determined whether the location information 802 in which the self is located and the restricted flight area 804 satisfy a preset positional relationship, for example, the location information 802 and the location where the self is located When the distance between the restricted flight areas 804 is less than or equal to a preset distance threshold, the UAV performs a return flight operation and landing When the location information 802 in which the self is located and the restricted flight area 804 do not satisfy the preset positional relationship, the UAV may not perform the flight control operation, that is, may not perform the return flight operation, landing Operation or hovering operation, the user can continue to use the control terminal to operate the UAV freely. For example, when it is determined that the distance between the position information 802 in which the UAV itself is located and the restricted flight area 804 is greater than a preset distance threshold, the UAV may not perform the flight control operation, that is, the return flight operation may not be performed, Landing operation or hovering operation.

In some embodiments, the transmitting the flight control information to cause the unmanned aerial vehicle receiving the flight control information to perform when determining that the location information of itself is located within the first region indicated by the planned installation location information The flight control operation includes: transmitting the flight control information such that the unmanned aerial vehicle receiving the flight control information moves away from the first predetermined area indicated by the planned installation position information when determining that the position information of the flight control information is within the first preset area indicated by the planned installation position information The restricted flight area flight indicated by the regulatory information, wherein the first predetermined area includes the restricted flight area. Specifically, the UAV receives the flight control information, and the UAV can parse the planned installation location information in the flight control information and the restricted fly indicated by the flight control information. a line area, when the UAV determines that the current position information of the UAV is within the first preset area indicated by the planned installation position information, the UAV may fly away from the restricted flight area, thereby preventing no The human aircraft approaches and enters the restricted flight area indicated by the flight control information, and the unmanned aerial vehicle may also transmit to the control terminal a prompt message that the unmanned aerial vehicle is flying in a direction away from the restricted flight area.

Further, the transmitting the flight control information to cause the unmanned aerial vehicle receiving the flight control information to move away from the first preset area indicated by the planned installation position information when determining that the position information of the flight control information is within the first preset area indicated by the planned installation position information The restricted flight area flight indicated by the regulation information includes: transmitting the flight control information such that the unmanned aerial vehicle receiving the flight control information determines that its own location information is in the first preset area indicated by the planned installation location information And flying within the restricted flight area when the position information of the self and the restricted flight area indicated by the regulation information satisfy a preset positional relationship. Specifically, after receiving the flight control information, the UAV may parse the flight control information, parse the planned installation location information in the flight control information, and further analyze the restricted flight indicated by the flight control information. a region, the UAV may determine its own location information according to an onboard positioning sensor (eg, a satellite positioning receiver), and then determine that the location information of the location is located in the first preset region of the indication of the planned installation location information. And determining whether the location information of the self and the restricted flight area satisfy a preset positional relationship, wherein the first preset area includes a restricted flight area, and when determining the location information of the self When the restricted flight area satisfies a preset positional relationship, for example, when the distance between the position information of the self and the restricted flight area is less than or equal to a preset distance threshold, the unmanned aerial vehicle is away from the regulation information. Indicating restricted flight area flight; when determining the location information of the self When the system does not satisfy the predetermined flight region positional relationship, unmanned aircraft flight control operation may not be performed, i.e., may not be restricted flight direction away from the flight control area indicated by the information, the user can continue to use the control terminal of the operation consisting of an unmanned aerial vehicle. For example, when it is determined that the distance between the position information of the UAV itself and the restricted flight area is greater than a preset distance threshold, the UAV may not perform the flight control operation, that is, may not be directed away from the regulatory information. Limit flight area flight.

In some embodiments, acquiring planned installation location information of the regulatory device and location information for indicating a restricted flight zone; generating the flight regulation information according to the planned installation location information includes: installing location information according to the plan And generating flight control information for indicating location information of the restricted flight area. Specifically, the restricted flight area may be indicated by location information of the restricted flight area, that is, the restricted flight area may be set by location information, and the first preset area may be set by planning installation location information of the flight control device. The flight control device can obtain location information indicating the restricted flight area. And planning installation location information, and then determining flight location information and planning installation location information according to the obtained indication to generate flight control information, for example, location information indicating the restricted flight area and planned installation location information may be inserted into the flight control information. In the preset field, the flight control information may indicate the first preset area and the restricted flight area. Further, the location information stored in the preset field in the flight control information and the planned installation location information may respectively indicate the restriction. The flight area and the first preset area. When the UAV receives the flight control information, the flight control information may be analyzed to determine a restricted flight area and a first preset area indicated by the flight control information.

In some embodiments, the location information for indicating a restricted flight zone includes flight limited location information or location information of the flight control device. Wherein, the flight limit position information may be position information of the restricted flight area that the user desires to set, and by setting the flight limit position information, the management party may set a limited flight area indicated by the flight control information; or the limit The flying position information may be position information corresponding to a restricted flight area issued by a regulatory agency such as a government or a military. The location information indicating the restricted flight area may be location information of the flight control device, that is, a location where the flight control device is located, and the flight control device may determine the current location by the configured positioning sensor, and the flight control device may The location information generates flight control information, that is, the restricted flight area indicated by the flight control information is determined by the location information of the flight control device.

In some embodiments, the obtaining the planned installation location information of the regulatory device comprises: receiving planned installation location information sent by the terminal device. Specifically, the management party may set the first preset area in a manner of setting the planned installation location information, and the management party may set the planned installation location information of the flight control device in the terminal, and the terminal device may send the planned installation location information to the location. The flight control device, the flight control device, can generate flight control information according to the planned installation location information.

Further, the obtaining the planned installation location information of the control device comprises: acquiring planned installation location information from a preset storage device. Specifically, the planned installation location information may be stored on a storage device configured by the flight control device, the processor of the flight control device may read the location information from the storage device, and then the processor may generate flight control according to the location information. information.

Corresponding to the flight control method of the unmanned aerial vehicle provided in FIG. 6, another embodiment of the present invention provides a flight control method for an unmanned aerial vehicle. FIG. 9 is a flowchart of a flight control method of an unmanned aerial vehicle according to an embodiment of the present invention. As shown in FIG. 9, the method in this embodiment may include:

Step S901: Receive control information sent by a control device of the unmanned aerial vehicle;

Step S902, parsing the control information to obtain planned installation location information of the control device;

Step S903, acquiring location information of the unmanned aerial vehicle;

Step S904: Perform a flight control operation when the location information is within the first preset area indicated by the planned installation location information.

Specifically, the execution body of the method of the embodiment may be an unmanned aerial vehicle. Further, the execution body may be a processor of the unmanned aerial vehicle. The execution order of step S901 and step S903 may be performed sequentially, and the order is not limited, and may be performed simultaneously.

In some embodiments, the performing the flight control operation when the location information is within the first preset area indicated by the planned installation location information comprises:

An operation returning operation, a landing operation, or a hovering operation is performed when the location information is within the first preset area indicated by the planned installation location information.

In some embodiments, the performing an operation backhaul operation, a drop operation, or a hovering operation when the location information is within the first preset area indicated by the planned installation location information includes:

Performing an operation returning operation when the location information is within the first preset area indicated by the planned installation location information and the preset location relationship is satisfied between the location information and the restricted flight area indicated by the regulation information, a landing operation or a hovering operation, wherein the first predetermined area includes the restricted flight area.

When the location information is within the first preset area indicated by the planned installation location information, flying toward a restricted flight area indicated by the flight control information, wherein the first preset area includes the restricted flight area .

In some embodiments, the flying over the restricted flight area indicated by the flight control information when the location information is within the first preset area indicated by the planned installation location information includes:

Moving away from the flight when the location information is within the first preset area indicated by the planned installation location information and the preset location relationship is satisfied between the location information and the restricted flight zone indicated by the regulation information The restricted flight area indicated by the regulatory information.

In some embodiments, location information indicative of a restricted flight zone is parsed from the flight control information.

Embodiments of the present invention provide a flight control device for an unmanned aerial vehicle. FIG. 10 is a structural diagram of a flight control device according to an embodiment of the present invention. As shown in FIG. 10, the flight control device in this embodiment may include: a memory 1001 and a processor 1002.

The memory 1001 is configured to store a program code;

The processor 1002, the program code is invoked, and when the program code is executed, is used to perform the following operations:

Generate flight control information;

In some embodiments, the processor 1002 transmits the flight control information to enable an unmanned aerial vehicle that receives the regulatory information to perform a flight control operation, specifically for:

The flight control information is broadcasted such that the unmanned aerial vehicle receiving the regulatory information performs a flight control operation.

In some embodiments, the processor 1002 is further configured to:

Broadcast unmanned aerial vehicle detection information;

The processor 1002 sends the flight control information to enable the unmanned aerial vehicle that receives the regulatory information to perform a flight control operation, specifically for:

After receiving the UAV detection response information transmitted by the UAV, the flight control information is transmitted to the UAV that transmits the probe response information to cause the UAV to perform a flight control operation.

The flight control information is transmitted such that the unmanned aerial vehicle receiving the regulatory information performs a return flight operation, a landing operation, or a hovering operation.

In some embodiments, the processor 1002 sends the flight control information to enable the unmanned aerial vehicle that receives the regulatory information to perform a returning operation, a landing operation, or a hovering operation, specifically for:

Transmitting the flight control information to cause the unmanned aerial vehicle receiving the regulatory information to perform a returning operation, a landing operation, or a hovering operation when determining that the position information of the self-determination flight area and the restricted flight area indicated by the flight control information satisfy a preset positional relationship .

The flight control information is transmitted such that the unmanned aerial vehicle receiving the regulatory information flies to a restricted flight area indicated away from the flight control information.

In some embodiments, the processor 1002 transmits the flight control information to enable the unmanned aerial vehicle that receives the regulatory information to fly to a restricted flight area indicated by the flight control information, specifically for:

Transmitting the flight control information such that the unmanned aerial vehicle receiving the regulatory information limits to the flight control information indication when determining that the location information of the self-determination flight area and the restricted flight area indicated by the flight control information satisfy a preset positional relationship Flight area flight.

In some embodiments, the processor 1002 is further configured to:

Obtaining location information for indicating the restricted flight area;

When the processor 1002 generates flight control information, it is specifically used to:

The flight regulation information is generated based on the location information.

In some embodiments, the location information for indicating the restricted flight area includes any one of flight limited position information, planned installation location information of the flight control device, or location information of the regulatory device.

In some embodiments, when the processor 1002 acquires location information for indicating a restricted flight area, specifically for:

Receiving location information sent by the terminal device for indicating the restricted flight area.

Position information for indicating a restricted flight area is acquired from a preset storage device.

The flight control device of the embodiment of the present invention can perform the flight control method as shown in FIG. 1. For specific principles and explanations, please refer to The aforementioned part.

Embodiments of the present invention provide an unmanned aerial vehicle. FIG. 10 is a structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention. As shown in FIG. 10, the unmanned aerial vehicle in this embodiment may include: a memory 1001 and a processor 1002.

The memory 1001 is configured to store a program code;

Receiving flight control information sent by the flight control device;

In some embodiments, the processor 1002 is further configured to:

Receiving unmanned aerial vehicle detection information sent by the control device;

After receiving the probe information, transmitting unmanned aerial vehicle probe response information to the flight control device;

When the processor 1002 receives the flight control information sent by the unmanned flight control device, the processor 1002 is specifically configured to:

After transmitting the probe response information, receiving flight control information sent by the unmanned flight control device.

In some embodiments, when the processor 1002 performs a flight control operation, specifically for:

Perform a return flight operation, a landing operation, or a hover operation.

In some embodiments, when the processor 1002 performs a returning operation, a landing operation, or a hovering operation, specifically for:

The returning operation, the landing operation, or the hovering operation is performed when the position information of the unmanned aerial vehicle and the limited flight area indicated by the flight control information satisfy the preset positional relationship.

When the position information of the unmanned aerial vehicle and the restricted flight area indicated by the flight control information satisfy a preset positional relationship

In some embodiments, the processor 1002 is further configured to:

Position information for indicating a restricted flight area is parsed from the flight control information.

The unmanned aerial vehicle of the embodiment of the present invention can perform the flight control method as shown in FIG. 5, and the specific principle and explanation can be seen before. Said part.

Embodiments of the present invention provide a flight control system for an unmanned aerial vehicle, including the flight control device of the unmanned aerial vehicle as described above and the unmanned aerial vehicle as described above.

The memory 1001 is configured to store a program code;

In some embodiments, the processor 1002 transmits the flight control information such that the unmanned aerial vehicle receiving the flight control information determines that its own location information is at the first preset indicated by the planned installation location information. When performing flight control operations within the area, specifically for:

Transmitting the flight control information to cause the unmanned aerial vehicle receiving the flight control information to perform a return flight operation, a landing operation, or a suspension when determining that the location information of the mobile device is within the first preset region indicated by the planned installation location information Stop operation.

In some embodiments, the processor 1002 transmits the flight control information such that the unmanned aerial vehicle receiving the flight control information determines that its own location information is at the first preset indicated by the planned installation location information. When performing a return flight operation, a landing operation, or a hover operation within a zone, it is specifically used to:

Transmitting the flight control information such that the unmanned aerial vehicle receiving the flight control information determines that its own location information is within the first preset area indicated by the planned installation location information and the location information of the location The returning operation, the landing operation, or the hovering operation is performed when the predetermined flight relationship between the restricted flight areas indicated by the regulation information is performed, wherein the first preset area includes the restricted flight area.

In some embodiments, the processor 1002 transmits the flight control information such that the unmanned aerial vehicle receiving the flight control information determines that its own location information is located in the first region indicated by the planned installation location information. Internal flight control When operating, it is specifically used to:

Transmitting the flight control information such that the unmanned aerial vehicle receiving the flight control information is directed away from the regulatory information when determining that its own location information is within the first predetermined area indicated by the planned installation location information Restricting flight area flight, wherein the first predetermined area includes the restricted flight area.

In some embodiments, the processor 1002 transmits the flight control information such that the unmanned aerial vehicle receiving the flight control information determines that its own location information is at the first preset indicated by the planned installation location information. When flying within a zone away from a restricted flight area indicated by the regulatory information, specifically for:

Transmitting the flight control information such that the unmanned aerial vehicle receiving the flight control information determines that its own location information is within the first preset area indicated by the planned installation location information and the location information of the location When the restricted flight areas indicated by the regulation information satisfy a preset positional relationship, the flight is moved away from the restricted flight area.

In some embodiments, the processor 1002 is further configured to:

Obtaining planned installation location information of the control device and location information for indicating a restricted flight zone;

When the processor generates flight control information according to the planned installation location information, it is specifically used to:

The flight regulation information is generated based on the planned installation location information and location information indicating the restricted flight zone.

In some embodiments, the location information for indicating a restricted flight zone includes flight limited location information or location information of the flight control device.

In some embodiments, when the processor 1002 obtains planned installation location information of the regulatory device, specifically, the processor is configured to:

Receive planning installation location information sent by the terminal device.

Obtain planned installation location information from a preset storage device.

The flight control device of the embodiment of the present invention can perform the flight control method as shown in FIG. 6. For the specific principle and explanation, please refer to the foregoing section.

The memory 1001 is configured to store a program code;

Receiving regulatory information sent by the control device of the UAV;

Obtaining the location information of the unmanned aerial vehicle;

In some embodiments, when the location information is in the first preset area indicated by the planned installation location information, the processor 1002 is specifically configured to:

In some embodiments, the processor 1002 performs an operation returning operation, a landing operation, or a hovering operation when the location information is within the first preset area indicated by the planned installation location information, specifically to:

In some embodiments, the processor 1002, when the location information is within the first preset area indicated by the planned installation location information, flies away from the restricted flight area indicated by the flight control information, Used for:

In some embodiments, the processor 1002 is further configured to:

The unmanned aerial vehicle of the embodiment of the present invention can perform the flight control method as shown in FIG. 9. For the specific principle and explanation, please refer to the previous Said part.

In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of the unit is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.

The above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium. The above software functional unit is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the methods of the various embodiments of the present invention. Part of the steps. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. .

A person skilled in the art can clearly understand that for the convenience and brevity of the description, only the division of each functional module described above is exemplified. In practical applications, the above function assignment can be completed by different functional modules as needed, that is, the device is installed. The internal structure is divided into different functional modules to perform all or part of the functions described above. For the specific working process of the device described above, refer to the corresponding process in the foregoing method embodiment, and details are not described herein again.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, and are not limited thereto; The embodiments of the present invention have been described in detail, and those skilled in the art should understand that the technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced. These modifications and substitutions do not depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

A flight control method for an unmanned aerial vehicle, which is applied to the flight control device of the unmanned aerial vehicle, and includes:

Generate flight control information;

The flight control information is transmitted such that the unmanned aerial vehicle receiving the regulatory information performs a flight control operation.
The method of claim 1 wherein

The transmitting the flight control information to cause the unmanned aerial vehicle receiving the regulatory information to perform a flight control operation comprises:

The flight control information is broadcasted such that the unmanned aerial vehicle receiving the regulatory information performs a flight control operation.
The method of claim 1 further comprising:

Broadcast unmanned aerial vehicle detection information;

The transmitting the flight control information to cause the unmanned aerial vehicle receiving the regulatory information to perform a flight control operation comprises:

After receiving the UAV detection response information transmitted by the UAV, the flight control information is transmitted to the UAV that transmits the probe response information to cause the UAV to perform a flight control operation.
The method of claim 1 wherein

The transmitting the flight control information to cause the unmanned aerial vehicle receiving the regulatory information to perform a flight control operation comprises:

The flight control information is transmitted such that the unmanned aerial vehicle receiving the regulatory information performs a return flight operation, a landing operation, or a hovering operation.
The method of claim 4 wherein:

The transmitting the flight control information to cause the unmanned aerial vehicle that receives the regulatory information to perform a returning operation, a landing operation, or a hovering operation includes:

Transmitting the flight control information to cause the unmanned aerial vehicle receiving the regulatory information to perform a returning operation, a landing operation, or a hovering operation when determining that the position information of the self-determination flight area and the restricted flight area indicated by the flight control information satisfy a preset positional relationship .
The method of claim 1 wherein

The transmitting the flight control information to cause the unmanned aerial vehicle receiving the regulatory information to perform a flight control operation comprises:

The flight control information is transmitted such that the unmanned aerial vehicle receiving the regulatory information flies to a restricted flight area indicated away from the flight control information.
The method of claim 6 wherein:

The transmitting the flight control information to cause the unmanned aerial vehicle receiving the regulatory information to fly to a restricted flight area indicated away from the flight control information includes:

Transmitting the flight control information such that the unmanned aerial vehicle receiving the regulatory information limits to the flight control information indication when determining that the location information of the self-determination flight area and the restricted flight area indicated by the flight control information satisfy a preset positional relationship Flight area flight.
The method of any of claims 5-7, wherein the method further comprises:

Obtaining location information for indicating the restricted flight area;

The generating flight control information includes:

The flight regulation information is generated based on the location information.
The method of claim 8 wherein:

The position information for indicating the restricted flight area includes any one of flight limited position information, planned installation position information of the flight control device, or position information of the control device.
The method of claim 8 wherein:

The obtaining the location information for indicating the restricted flight area includes:

Receiving location information sent by the terminal device for indicating the restricted flight area.
The method of claim 8 wherein:

The obtaining the location information for indicating the restricted flight area includes:

Position information for indicating a restricted flight area is acquired from a preset storage device.
A method for controlling an unmanned aerial vehicle, which is applied to the unmanned aerial vehicle, and includes:

Receiving flight control information sent by unmanned flight control equipment;

After receiving the flight control information, a flight control operation is performed.
The method of claim 12, wherein the method further comprises:

Receiving unmanned aerial vehicle detection information sent by the control device;

After receiving the probe information, transmitting unmanned aerial vehicle probe response information to the flight control device;

The receiving flight control information sent by the unmanned flight control device includes:

After transmitting the probe response information, receiving flight control information sent by the unmanned flight control device.
The method of claim 12 wherein:

The performing flight control operations include:

Perform a return flight operation, a landing operation, or a hover operation.
The method of claim 14 wherein:

The performing a return flight operation, a landing operation, or a hovering operation includes:

The returning operation, the landing operation, or the hovering operation is performed when the position information of the unmanned aerial vehicle and the limited flight area indicated by the flight control information satisfy the preset positional relationship.
The method of claim 12 wherein:

The performing flight control operations include:

Flying to a restricted flight area indicated away from the flight control information.
The method of claim 16 wherein:

The performing a return flight operation, a landing operation, or a hovering operation includes:

When the position information of the unmanned aerial vehicle and the restricted flight area indicated by the flight control information satisfy a preset positional relationship

Flying to a restricted flight area indicated away from the flight control information.
The method according to any one of claims 15-17, wherein the method further comprises:

Position information for indicating a restricted flight area is parsed from the flight control information.
An unmanned aerial vehicle control method for a flight control device with an unmanned aerial vehicle, characterized in that it comprises:

Obtaining planned installation location information of the flight control device;

Generating flight control information according to the planned installation location information;

The flight control information is transmitted such that the unmanned aerial vehicle receiving the flight control information performs a flight control operation when determining that its own location information is within the first predetermined area indicated by the planned installation location information.
The method of claim 19 wherein:

The transmitting the flight control information to cause the unmanned aerial vehicle receiving the flight control information to perform the flight control operation when determining that the location information of the self is within the first preset area indicated by the planned installation location information comprises:

Transmitting the flight control information to cause the unmanned aerial vehicle receiving the flight control information to perform a return flight operation, a landing operation, or a suspension when determining that the location information of the mobile device is within the first preset region indicated by the planned installation location information Stop operation.
The method of claim 20 wherein:

Transmitting the flight control information such that the unmanned aerial vehicle receiving the flight control information performs a returning operation and a landing operation when determining that the position information of the own is within the first preset area indicated by the planned installation position information Or hovering include:

Transmitting the flight control information such that the unmanned aerial vehicle receiving the flight control information determines that its own location information is within the first preset area indicated by the planned installation location information and the location information of the location The returning operation, the landing operation, or the hovering operation is performed when the predetermined flight relationship between the restricted flight areas indicated by the regulation information is performed, wherein the first preset area includes the restricted flight area.
The method of claim 19 wherein:

The transmitting the flight control information to cause the unmanned aerial vehicle receiving the flight control information to perform the flight control operation when determining that the location information of the own is located in the first region indicated by the planned installation location information comprises:

Transmitting the flight control information such that the unmanned aerial vehicle receiving the flight control information is directed away from the regulatory information when determining that its own location information is within the first predetermined area indicated by the planned installation location information Restricting flight area flight, wherein the first predetermined area includes the restricted flight area.
The method of claim 22, wherein

Transmitting the flight control information such that the unmanned aerial vehicle receiving the flight control information moves away from the regulatory information when determining that its own location information is within the first preset area indicated by the planned installation location information The indicated restricted flight area flights include:

Transmitting the flight control information such that the unmanned aerial vehicle receiving the flight control information determines that its own location information is within the first preset area indicated by the planned installation location information and the location information of the location When the restricted flight areas indicated by the regulation information satisfy a preset positional relationship, the flight is moved away from the restricted flight area.
The method according to any one of claims 21 to 23, wherein the method further comprises:

Obtaining planned installation location information of the control device and location information for indicating a restricted flight zone;

The generating flight control information according to the planned installation location information includes:

The flight regulation information is generated based on the planned installation location information and location information indicating the restricted flight zone.
The method according to any one of claims 21 to 23, wherein the position information for indicating the restricted flight area comprises flight limited position information or position information of the flight control device.
A method according to any one of claims 19-25, wherein

The obtaining the planned installation location information of the control device includes: receiving planned installation location information sent by the terminal device.
A method according to any one of claims 19-25, wherein

The obtaining the planned installation location information of the control device includes: acquiring planned installation location information from a preset storage device.
An unmanned aerial vehicle control method for use with an unmanned aerial vehicle, characterized in that it comprises:

Receiving regulatory information sent by the control device of the UAV;

Parsing the regulatory information to obtain planned installation location information of the regulatory device;

Obtaining the location information of the unmanned aerial vehicle;

The flight control operation is performed when the location information is within the first preset area indicated by the planned installation location information.
The method of claim 28 wherein:

The performing the flight control operation when the location information is within the first preset area indicated by the planned installation location information includes:

An operation returning operation, a landing operation, or a hovering operation is performed when the location information is within the first preset area indicated by the planned installation location information.
The method of claim 29, wherein

The performing an operation returning operation, a landing operation, or a hovering operation when the location information is within the first preset area indicated by the planned installation location information includes:

When the location information is within the first preset area indicated by the planned installation location information and the location information is Performing an operation returning operation, a landing operation, or a hovering operation when the restricted flight areas indicated by the regulation information satisfy a preset positional relationship, wherein the first preset area includes the restricted flight area.
The method of claim 28 wherein:

The performing the flight control operation when the location information is within the first preset area indicated by the planned installation location information includes:

When the location information is within the first preset area indicated by the planned installation location information, flying toward a restricted flight area indicated by the flight control information, wherein the first preset area includes the restricted flight area .
The method of claim 31, wherein

The flying in the restricted flight area indicated by the flight control information when the location information is within the first preset area indicated by the planned installation location information includes:

Moving away from the flight when the location information is within the first preset area indicated by the planned installation location information and the preset location relationship is satisfied between the location information and the restricted flight zone indicated by the regulation information The restricted flight area indicated by the regulatory information.
The method of any of claims 30-32, wherein the method further comprises:

Position information for indicating a restricted flight area is parsed from the flight control information.
A flight control device for an unmanned aerial vehicle, comprising: a memory and a processor,

The memory is configured to store program code;

The processor calls the program code to perform the following operations when the program code is executed:

Generate flight control information;

The flight control information is transmitted such that the unmanned aerial vehicle receiving the regulatory information performs a flight control operation.
The device according to claim 34, wherein

The processor sends the flight control information to enable an unmanned aerial vehicle that receives the regulatory information to perform a flight control operation, specifically for:

The flight control information is broadcasted such that the unmanned aerial vehicle receiving the regulatory information performs a flight control operation.
The device according to claim 34, wherein the processor is further configured to:

Broadcast unmanned aerial vehicle detection information;

The processor sends the flight control information to enable an unmanned aerial vehicle that receives the regulatory information to perform a flight control operation, specifically for:

After receiving the UAV detection response information transmitted by the UAV, the flight control information is transmitted to the UAV that transmits the probe response information to cause the UAV to perform a flight control operation.
The device according to claim 34, wherein

The processor sends the flight control information to enable an unmanned aerial vehicle that receives the regulatory information to perform a flight control operation, specifically for:

The flight control information is transmitted such that the unmanned aerial vehicle receiving the regulatory information performs a return flight operation, a landing operation, or a hovering operation.
The device according to claim 37, wherein

The processor sends the flight control information to enable the unmanned aerial vehicle that receives the regulatory information to perform a returning operation, a landing operation, or a hovering operation, specifically for:

Transmitting the flight control information to cause the unmanned aerial vehicle receiving the regulatory information to perform a returning operation, a landing operation, or a hovering operation when determining that the position information of the self-determination flight area and the restricted flight area indicated by the flight control information satisfy a preset positional relationship .
The device according to claim 34, wherein

The processor sends the flight control information to enable an unmanned aerial vehicle that receives the regulatory information to perform a flight control operation, specifically for:

The flight control information is transmitted such that the unmanned aerial vehicle receiving the regulatory information flies to a restricted flight area indicated away from the flight control information.
The device according to claim 39, wherein

The processor sends the flight control information to enable an unmanned aerial vehicle that receives the regulatory information to fly to a restricted flight area indicated by the flight control information, specifically for:

Transmitting the flight control information such that the unmanned aerial vehicle receiving the regulatory information limits to the flight control information indication when determining that the location information of the self-determination flight area and the restricted flight area indicated by the flight control information satisfy a preset positional relationship Flight area flight.
The device according to any one of claims 38 to 40, wherein the processor is further configured to:

Obtaining location information for indicating the restricted flight area;

When the processor generates flight control information, it is specifically used to:

The flight regulation information is generated based on the location information.
The device according to claim 41, wherein

The position information for indicating the restricted flight area includes any one of flight limited position information, planned installation position information of the flight control device, or position information of the control device.
The device according to claim 41, wherein

When the processor acquires location information for indicating a restricted flight area, specifically for:

Receiving location information sent by the terminal device for indicating the restricted flight area.
The device according to claim 41, wherein

When the processor acquires location information for indicating a restricted flight area, specifically for:

Position information for indicating a restricted flight area is acquired from a preset storage device.
An unmanned aerial vehicle, comprising: a memory and a processor,

The memory is configured to store program code;

The processor calls the program code to perform the following operations when the program code is executed:

Receiving flight control information sent by the flight control device;

After receiving the flight control information, a flight control operation is performed.
The UAV according to claim 45, wherein said processor is further configured to:

Receiving unmanned aerial vehicle detection information sent by the control device;

After receiving the probe information, transmitting unmanned aerial vehicle probe response information to the flight control device;

When the processor receives the flight control information sent by the unmanned flight control device, it is specifically used to:

After transmitting the probe response information, receiving flight control information sent by the unmanned flight control device.
An unmanned aerial vehicle according to claim 45, wherein

When the processor performs a flight control operation, it is specifically used to:

Perform a return flight operation, a landing operation, or a hover operation.
An unmanned aerial vehicle according to claim 47, wherein

When the processor performs a returning operation, a landing operation, or a hovering operation, specifically for:

The returning operation, the landing operation, or the hovering operation is performed when the position information of the unmanned aerial vehicle and the limited flight area indicated by the flight control information satisfy the preset positional relationship.
An unmanned aerial vehicle according to claim 45, wherein

When the processor performs a flight control operation, it is specifically used to:

Flying to a restricted flight area indicated away from the flight control information.
An unmanned aerial vehicle according to claim 49, wherein

When the processor performs a returning operation, a landing operation, or a hovering operation, specifically for:

When the position information of the unmanned aerial vehicle and the restricted flight area indicated by the flight control information satisfy a preset positional relationship

Flying to a restricted flight area indicated away from the flight control information.
The UAV according to any one of claims 48 to 50, wherein the processor is further configured to:

Position information for indicating a restricted flight area is parsed from the flight control information.
A flight control device for an unmanned aerial vehicle, comprising: a memory and a processor,

The memory is configured to store program code;

The processor calls the program code to perform the following operations when the program code is executed:

Obtaining planned installation location information of the flight control device;

Generating flight control information according to the planned installation location information;

The flight control information is transmitted such that the unmanned aerial vehicle receiving the flight control information performs a flight control operation when determining that its own location information is within the first predetermined area indicated by the planned installation location information.
The device according to claim 52, characterized in that

The processor transmits the flight control information to cause an unmanned aerial vehicle that receives the flight control information to perform a flight control operation when determining that its own location information is within a first predetermined area indicated by the planned installation location information When specifically used to:

Transmitting the flight control information to cause the unmanned aerial vehicle receiving the flight control information to perform a return flight operation, a landing operation, or a suspension when determining that the location information of the mobile device is within the first preset region indicated by the planned installation location information Stop operation.
The device according to claim 53, wherein

The processor transmits the flight control information to cause an unmanned aerial vehicle that receives the flight control information to perform a returning operation when determining that its own location information is within a first preset area indicated by the planned installation location information, When landing or hovering, it is used to:

Transmitting the flight control information such that the unmanned aerial vehicle receiving the flight control information determines that its own location information is within the first preset area indicated by the planned installation location information and the location information of the location The returning operation, the landing operation, or the hovering operation is performed when the predetermined flight relationship between the restricted flight areas indicated by the regulation information is performed, wherein the first preset area includes the restricted flight area.
The device according to claim 52, characterized in that

The processor transmits the flight control information to cause an unmanned aerial vehicle that receives the flight control information to perform a flight control operation when determining that its own location information is located within a first region indicated by the planned installation location information Specifically used for:

Transmitting the flight control information such that the unmanned aerial vehicle receiving the flight control information is directed away from the regulatory information when determining that its own location information is within the first predetermined area indicated by the planned installation location information Restricting flight area flight, wherein the first predetermined area includes the restricted flight area.
The device according to claim 55, characterized in that

Transmitting, by the processor, the flight control information such that the unmanned aerial vehicle receiving the flight control information faces away from the first preset area indicated by the planned installation position information when determining that the position information of the flight control information is within the first preset area indicated by the planned installation position information When the control information indicates the restricted flight area, it is specifically used to:

Transmitting the flight control information such that the unmanned aerial vehicle receiving the flight control information determines that its own location information is within the first preset area indicated by the planned installation location information and the location information of the location When the restricted flight areas indicated by the regulation information satisfy a preset positional relationship, the flight is moved away from the restricted flight area.
The device according to any one of claims 54-56, wherein the processor is further configured to:

Obtaining planned installation location information of the control device and location information for indicating a restricted flight zone;

When the processor generates flight control information according to the planned installation location information, it is specifically used to:

The flight regulation information is generated based on the planned installation location information and location information indicating the restricted flight zone.
Apparatus according to any of claims 54-56, wherein said means for indicating a restricted flight zone The location information of the domain includes flight limited location information or location information of the flight control device.
Apparatus according to any of claims 52-58, wherein

When the processor acquires the planned installation location information of the control device, the processor is specifically configured to:

Receive planning installation location information sent by the terminal device.
Apparatus according to any of claims 52-58, wherein

When the processor acquires the planned installation location information of the control device, the processor is specifically configured to:

Obtain planned installation location information from a preset storage device.
An unmanned aerial vehicle, comprising: a memory and a processor,

The memory is configured to store program code;

The processor calls the program code to perform the following operations when the program code is executed:

Receiving regulatory information sent by the control device of the UAV;

Parsing the regulatory information to obtain planned installation location information of the regulatory device;

Obtaining the location information of the unmanned aerial vehicle;

The flight control operation is performed when the location information is within the first preset area indicated by the planned installation location information.
An unmanned aerial vehicle according to claim 61, wherein

The processor is specifically configured to: when the location information is within the first preset area indicated by the planned installation location information,

An operation returning operation, a landing operation, or a hovering operation is performed when the location information is within the first preset area indicated by the planned installation location information.
The UAV according to claim 29, wherein

The processor performs an operation when the location information is within a first preset area indicated by the planned installation location information When used for returning, landing or hovering operations, it is used to:

Performing an operation returning operation when the location information is within the first preset area indicated by the planned installation location information and the preset location relationship is satisfied between the location information and the restricted flight area indicated by the regulation information, a landing operation or a hovering operation, wherein the first predetermined area includes the restricted flight area.
An unmanned aerial vehicle according to claim 61, wherein

The processor is specifically configured to: when the location information is within the first preset area indicated by the planned installation location information,

When the location information is within the first preset area indicated by the planned installation location information, flying toward a restricted flight area indicated by the flight control information, wherein the first preset area includes the restricted flight area .
An unmanned aerial vehicle according to claim 64, wherein

The processor is specifically configured to: when the location information is within a first preset area indicated by the planned installation location information, and to fly away from the restricted flight area indicated by the flight control information, specifically:

Moving away from the flight when the location information is within the first preset area indicated by the planned installation location information and the preset location relationship is satisfied between the location information and the restricted flight zone indicated by the regulation information The restricted flight area indicated by the regulatory information.
The UAV according to any one of claims 63 to 65, wherein the processor is further configured to:

Position information for indicating a restricted flight area is parsed from the flight control information.
A flight control system for an unmanned aerial vehicle comprising the flight control device of the unmanned aerial vehicle of any of claims 34-44 and the unmanned aerial vehicle of any of claims 45-51.
A flight control system for an unmanned aerial vehicle comprising the flight control device of the unmanned aerial vehicle of any one of claims 52-60 and the unmanned aerial vehicle of any of claims 61-66.