CN105357220B - Unmanned plane management-control method and system - Google Patents
Unmanned plane management-control method and system Download PDFInfo
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- CN105357220B CN105357220B CN201510884840.3A CN201510884840A CN105357220B CN 105357220 B CN105357220 B CN 105357220B CN 201510884840 A CN201510884840 A CN 201510884840A CN 105357220 B CN105357220 B CN 105357220B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L65/00—Network arrangements, protocols or services for supporting real-time applications in data packet communication
- H04L65/10—Architectures or entities
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/10—Protocols in which an application is distributed across nodes in the network
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Computer Networks & Wireless Communication (AREA)
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Abstract
The invention discloses a kind of unmanned plane managing and control system methods, this method comprises: retransmission unit receives the status information of an at least frame unmanned plane, and the status information of an at least frame unmanned plane are forwarded to control centre；The control centre receives the status information of an at least frame unmanned plane；The control centre generates control instruction according to the state information, and the control instruction is sent to corresponding unmanned plane.The invention also discloses a kind of unmanned plane managing and control systems.Using the present invention, centralized management can be carried out to aerial unmanned plane, ensure unmanned plane safe flight.
Description
Technical field
The present invention relates to air vehicle technique field more particularly to a kind of unmanned plane management-control method and systems.
Background technique
The military fields such as unmanned plane was favored by various countries in recent years, it can be not only used for battlefield surveillance, gives warning in advance,
More have broad application prospects in civil field.It can carry high-resolution visible light or ir imaging system, can easily be into
The area that entering the mankind can not arrive at carries out aerial reconnaissance and aerophotography, can be used to carry out mapping, disaster surveillance etc..And
And unmanned plane has many advantages, such as that small in size, at low cost, light-weight, flight is flexible, operation is facilitated to control, and adapts to many
Carry people to fly immalleable adverse circumstances, therefore, unmanned plane using more and more extensive.But with the application of unmanned plane
More and more, the skyborne unmanned plane that flies is also more and more, in the prior art, lacks the concentrate tube to aerial unmanned plane
It controls (e.g., people can only pass through the corresponding unmanned plane of remote control control), can not ensure unmanned plane safe flight, there are safety
Hidden danger is easy to appear the accidents such as collide.
Above content is only used to facilitate the understanding of the technical scheme, and is not represented and is recognized that above content is existing skill
Art.
Summary of the invention
The main purpose of the present invention is to provide a kind of unmanned plane management-control method and systems, it is intended to it solves in the prior art,
Lack the centralized management to aerial unmanned plane, can not ensure unmanned plane safe flight, there are security risks, are easy to appear and collide
Etc. accidents the technical issues of.
To achieve the above object, the present invention provides a kind of unmanned plane management-control method, this method comprises:
Retransmission unit receives the status information of an at least frame unmanned plane, and by the status information of an at least frame unmanned plane
It is forwarded to control centre；
The control centre receives the status information of an at least frame unmanned plane；
The control centre generates control instruction according to the state information, and the control instruction is sent to accordingly
Unmanned plane.
Preferably, the retransmission unit receives the step of at least status information of a frame unmanned plane and includes:
The retransmission unit detects the unmanned plane in the compass of competency of the retransmission unit, and nobody into compass of competency
Machine sends state information acquisition request；
The retransmission unit receive the unmanned plane in the compass of competency according to the state information acquisition request return
Status information.
Preferably, the control centre generates control instruction according to the state information, and the control instruction is sent
Include: to the step of corresponding unmanned plane
The control centre judges whether there is whether unmanned plane flies to no-fly region according to the state information；
If having unmanned plane during flying to no-fly region, change heading instruction is generated, and by the change heading
Instruction is sent to the unmanned plane that no-fly region is arrived in flight.
Preferably, the retransmission unit receives the step of at least status information of a frame unmanned plane and includes:
The retransmission unit receives the status information of an at least frame unmanned plane by mobile terminal.
Preferably, the retransmission unit is base station or earth station.
Preferably, the status information include the identity of unmanned plane, the line of flight, flying height, flying speed and
Course.
In addition, to achieve the above object, the present invention also provides a kind of unmanned plane managing and control system, which includes retransmission unit
And control centre, the retransmission unit, for receiving the status information of an at least frame unmanned plane, and will an at least frame nobody
The status information of machine is forwarded to control centre；
The control centre includes:
Receiving module, for receiving the status information of an at least frame unmanned plane described in the retransmission unit transmission；
Generation module, for generating control instruction according to the state information；
Sending module, for the control instruction to be sent to corresponding unmanned plane.
Preferably, the retransmission unit, is also used to detect the unmanned plane in the compass of competency of the retransmission unit, and to pipe
Unmanned plane in the domain of area under one's jurisdiction sends state information acquisition request；And for receiving the unmanned plane in the compass of competency according to
The status information that state information acquisition request returns.
Preferably, the generation module, be also used to judge whether there is according to the state information unmanned plane whether fly to
No-fly region generates change heading instruction if there is unmanned plane during flying to no-fly region；
The sending module is also used to for the change heading instruction to be sent to nobody for arriving no-fly region that fly
Machine.
Preferably, the retransmission unit is also used to receive the status information of an at least frame unmanned plane by mobile terminal.
Preferably, the retransmission unit is base station or earth station.
Preferably, the status information include the identity of unmanned plane, the line of flight, flying height, flying speed and
Course.
Unmanned plane management-control method of the invention and system, this method comprises: retransmission unit receives an at least frame unmanned plane
Status information, and the status information of an at least frame unmanned plane is forwarded to control centre；Described in the control centre receives
At least status information of a frame unmanned plane；The control centre generates control instruction according to the state information, and by the control
System instruction is sent to corresponding unmanned plane；Centralized management can be carried out to aerial unmanned plane, ensure unmanned plane safe flight.
Detailed description of the invention
Fig. 1 is the flow diagram of the first embodiment of unmanned plane management-control method of the present invention；
Fig. 2 is the flow diagram of the second embodiment of unmanned plane management-control method of the present invention；
Fig. 3 is the flow diagram of the 3rd embodiment of unmanned plane management-control method of the present invention；
Fig. 4 is the structural schematic diagram of an embodiment of unmanned plane managing and control system of the present invention.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
Referring to Fig.1, Fig. 1 is the flow diagram of the first embodiment of unmanned plane management-control method of the present invention, this method comprises:
S10, retransmission unit receive the status information of an at least frame unmanned plane, and the state of an at least frame unmanned plane is believed
Breath is forwarded to control centre.
Retransmission unit is established with unmanned plane communicate to connect in advance, specifically, the retransmission unit can establish TCP/ with unmanned plane
IP connected mode or PPP (Point To Point Protrol, point-to-point) connection type.
In one embodiment, as shown in Fig. 2, the retransmission unit wraps the step of receiving at least status information of a frame unmanned plane
Include: S11, the retransmission unit detect the unmanned plane in the compass of competency of the retransmission unit, and the unmanned plane hair into compass of competency
State information acquisition is sent to request；S12, the retransmission unit receive the unmanned plane in the compass of competency and are asked according to the state information acquisition
Seek the status information of return.The retransmission unit detects in the compass of competency of the retransmission unit according to the timing of the first preset period of time
Unmanned plane, which can be set as needed, if first preset period of time is one second；The forwarding
The compass of competency of device can be preset as needed, common, and the compass of competency of the retransmission unit is with the retransmission unit institute
It is set to the center of circle in place, radius is the circle area encompassed of pre-set radius；Whether the retransmission unit detects in the compass of competency has
How many frame unmanned plane in unmanned plane and the compass of competency, when having unmanned plane in the compass of competency, the retransmission unit is to the pipe
Local unmanned plane sends state information acquisition request；After unmanned plane receives state information acquisition request, itself is obtained
Status information, and the status information that will acquire return to send state information acquisition request retransmission unit, correspondingly, forwarding
Device receives the status information of unmanned plane return.
In another embodiment, the retransmission unit receive at least the status information of a frame unmanned plane the step of include: this turn
It is automatic according to the timing of the second preset period of time that transmitting apparatus receives at least frame unmanned plane in the retransmission unit compass of competency
The status information sent to the retransmission unit.Second preset period of time can be set as needed, second preset time week
Phase can be identical as the first preset period of time.Unmanned plane in the retransmission unit compass of competency, at interval of the second preset time
Period to the status information of the retransmission unit active transmission unmanned plane, i.e., reports the shape of the unmanned plane automatically to the retransmission unit
State information.
The status information includes identity, the line of flight, flying height, flying speed and the course of unmanned plane, may be used also
To include longitude and latitude, the flight duration etc. of unmanned plane.The identity unique identification unmanned plane of the unmanned plane, the body of the unmanned plane
Part mark is set before unmanned plane factory by manufacturer.Flying height in the status information can be passed as the height built in unmanned plane
Sensor measurement, specifically, the height sensor can be ultrasonic sensor, laser sensor, sonar sensor, infrared sensing
Device etc..Flight duration in the status information refer to unmanned plane this in-flight, continue from starting to fly to current time
Time.
In this step, which is forwarded to control centre for the status information of a received at least frame unmanned plane,
Specifically, the retransmission unit can be sent the status information of a received at least frame unmanned plane with voice mode or short message mode
To control centre.The format of the short message is PDU (Protocol Data Unit, protocol Data Unit) format.
Existing air traffic control station can be used to set up for the control centre.The retransmission unit is base station or earth station.It should
Base station can be served as by the base station of existing movement, connection, telecommunications.
S20, the control centre receive the status information of an at least frame unmanned plane.
The control centre receives the status information of an at least frame unmanned plane for retransmission unit forwarding.
S30, the control centre generate control instruction according to the status information, and the control instruction is sent to corresponding nothing
It is man-machine.
The control centre analyzes the status information, determines that each frame unmanned plane continues to fly according to current flight state
With the presence or absence of security risk, if continuing security risk of flying according to current flight state with the presence of unmanned plane, according to the presence
The status information of the unmanned plane of security risk generates control instruction, and control instruction is sent to corresponding unmanned plane and (there is peace
The unmanned plane of full hidden danger).Current flight state includes flying height, flying speed and course etc..
In one embodiment, as shown in figure 3, the control centre generates control instruction according to the status information, and by the control
System instruction the step of being sent to corresponding unmanned plane includes: that S31, the control centre according to the status information judge whether there is nobody
Machine flies to no-fly region；If S32, having unmanned plane during flying to no-fly region, change heading instruction is generated, and more by this
Change heading instruction and is sent to the unmanned plane that no-fly region is arrived in flight.The control centre divides the received status information
Analysis, the flight rank of unmanned plane is determined according to the identity in the status information, true further according to the flight rank of the unmanned plane
Fixed corresponding no-fly region judges flying height in the status information and longitude and latitude whether in the no-fly region, if the shape
Flying height and longitude and latitude in state information is in the no-fly region, it is determined that has unmanned plane during flying to no-fly region.In the control
In center processed, the identity of each unmanned plane and the corresponding relationship of flight rank, flight rank and no-fly region has been stored in advance
Corresponding relationship.Change heading instruction can be reversed flight directive or deflection one predetermined angle instruction, the preset angle
Degree can be 90 ゜.After the unmanned plane to fly to no-fly region receives change heading instruction, according to the change heading
Instruction adjustment state of flight, flies away from no-fly region.
In another embodiment, which generates control instruction according to the status information, and the control instruction is sent out
The step of giving corresponding unmanned plane, which includes: the control centre, to be judged between unmanned plane according to the status information with the presence or absence of colliding
Hidden danger, if there is the hidden danger that collides between unmanned plane, according to the flight rank for the unmanned plane that there is the hidden danger that collides, to flight rank
Low unmanned plane generates change flight parameter instruction, and change flight parameter instruction is sent to low nobody of flight rank
Machine；So that the unmanned plane change flight parameter that the flight rank is low, the flight parameter of the high unmanned plane of flight rank remain unchanged；
Hidden danger is collided to presence and the low unmanned plane of flight rank sends change flight parameter instruction, so that unmanned plane change flight
Parameter is flown according to new flight parameter, keeps safe distance with other unmanned planes.The flight parameter includes flying speed, flies
One or two or three in line direction, flying height.In the minds of in this control, the identity mark of each unmanned plane has been stored in advance
Know the corresponding relationship with flight rank, the control centre is corresponding with flight rank according to the identity of each unmanned plane of storage
Relationship obtains the flight rank that there is the unmanned plane for the hidden danger that collides, and determines there is collide hidden danger and the low unmanned plane of flight rank,
And hidden danger is collided to the presence and the low unmanned plane of flight rank generates change flight parameter instruction, change flight parameter instruction
Including one or two or three in change flying speed, change heading, change flying height.
Using above-described embodiment, retransmission unit receives the status information of an at least frame unmanned plane, and by an at least frame without
Man-machine status information is forwarded to control centre；The control centre receives the status information of an at least frame unmanned plane；The control
Center generates control instruction according to the status information, and the control instruction is sent to corresponding unmanned plane；It can be to aerial nothing
Man-machine carry out centralized management, ensures the safe flight of unmanned plane.
Further, the retransmission unit receive at least the status information of a frame unmanned plane the step of include: the retransmission unit
The status information of an at least frame unmanned plane is received by mobile terminal.
The mobile terminal can have the terminal of communication function for smart phone etc..The retransmission unit by mobile terminal with
An at least frame unmanned plane establishes communication connection.The mobile terminal receives the status information that unmanned plane is sent, and by received state
Information is sent to retransmission unit.In one embodiment, which is smart phone, which is connect by smart phone
The status information of an at least frame unmanned plane is received, specifically, passing through mobile phone communication channel between the retransmission unit and smart phone
Data feedback channel is communicated, i.e., the status information of unmanned plane is sent to retransmission unit by up channel by the smart phone.
It is the structural schematic diagram of an embodiment of unmanned plane managing and control system of the present invention referring to Fig. 4, Fig. 4, which includes turning
Transmitting apparatus 10 and control centre 20, the retransmission unit 10, for receiving the status information of an at least frame unmanned plane, and at least by this
The status information of one frame unmanned plane is forwarded to control centre 20；
The control centre 20 includes:
Receiving module 21, the status information of at least frame unmanned plane for receiving the retransmission unit 10 transmission；
Generation module 22, for generating control instruction according to the status information；
Sending module 23, for the control instruction to be sent to corresponding unmanned plane.
Retransmission unit 10 is established with unmanned plane communicate to connect in advance, specifically, the retransmission unit 10 can be established with unmanned plane
TCP/IP connection type or PPP (Point To Point Protrol, point-to-point) connection type.
In one embodiment, the retransmission unit 10, is also used to detect the unmanned plane in the compass of competency of the retransmission unit 10,
And the unmanned plane into compass of competency sends state information acquisition request；And for receive the unmanned plane in the compass of competency according to
The status information that state information acquisition request returns.The retransmission unit 10 detects this turn according to the timing of the first preset period of time
Unmanned plane in the compass of competency of transmitting apparatus 10, first preset period of time can be set as needed, as this first it is default when
Between the period be one second；The compass of competency of the retransmission unit 10 can be preset as needed, common, the retransmission unit 10
Compass of competency is using 10 position of retransmission unit as the center of circle, and radius is the circle area encompassed of pre-set radius；The forwarding
Device 10 detects in the compass of competency whether have how many frame unmanned plane in unmanned plane and the compass of competency, when in the compass of competency
When having unmanned plane, unmanned plane of the retransmission unit 10 into the administrative area sends state information acquisition request；Unmanned plane receives
After state information acquisition request, the status information that obtains the status information of itself, and will acquire returns to transmission status information
The retransmission unit 10 of acquisition request, correspondingly, retransmission unit 10 receives the status information that the unmanned plane returns.
In another embodiment, the retransmission unit 10 is also used to receive in 10 compass of competency of retransmission unit at least
The status information that one frame unmanned plane is sent according to the timing of the second preset period of time from the trend retransmission unit 10.This is second default
Time cycle can be set as needed, which can be identical as the first preset period of time.It is filled in the forwarding
The unmanned plane in 10 compasses of competency is set, at interval of the second preset period of time to the 10 active transmission unmanned plane of the retransmission unit
Status information reports the status information of the unmanned plane automatically to the retransmission unit 10.
The status information includes identity, the line of flight, flying height, flying speed and the course of unmanned plane, may be used also
To include longitude and latitude, the flight duration etc. of unmanned plane.The identity unique identification unmanned plane of the unmanned plane, the body of the unmanned plane
Part mark is set before unmanned plane factory by manufacturer.Flying height in the status information can be passed as the height built in unmanned plane
Sensor measurement, specifically, the height sensor can be ultrasonic sensor, laser sensor, sonar sensor, infrared sensing
Device etc..Flight duration in the status information refer to unmanned plane this in-flight, continue from starting to fly to current time
Time.
The status information of a received at least frame unmanned plane is forwarded to control centre 20 by the retransmission unit 10, specifically,
The status information of a received at least frame unmanned plane can be sent to control with voice mode or short message mode by the retransmission unit 10
Center 20 processed.The format of the short message is PDU (Protocol Data Unit, protocol Data Unit) format.
Existing air traffic control station can be used to set up for the control centre 20.The retransmission unit 10 is base station or ground
It stands.The base station can be served as by the base station of existing movement, connection, telecommunications.
The receiving module 21 of the control centre 20 receives the state letter of an at least frame unmanned plane for the retransmission unit 10 forwarding
Breath.
The generation module 22 of the control centre 20 analyzes the received status information of receiving module 21, determines each frame
Unmanned plane continues flight with the presence or absence of security risk according to current flight state, if there is unmanned plane to continue according to current flight state
There are security risks for flight, then the status information of the unmanned plane according to this there are security risk generates control instruction；In the control
Control instruction is sent to corresponding unmanned plane (there are the unmanned planes of security risk) by the sending module 23 of the heart 20.Current flight shape
State includes flying height, flying speed and course etc..
Further, in one embodiment, the generation module 22 is also used to judge whether there is nobody according to the status information
Whether machine flies to no-fly region, if there is unmanned plane during flying to no-fly region, generates change heading instruction；
The sending module 23 is also used to instructing the change heading into the unmanned plane for being sent to flight and arriving no-fly region.
The generation module 22 analyzes the received status information, is determined according to the identity in the status information
The flight rank of unmanned plane determines corresponding no-fly region further according to the flight rank of the unmanned plane, judges in the status information
Flying height and longitude and latitude whether in the no-fly region, if the flying height and longitude and latitude in the status information are no-fly at this
In region, it is determined that have unmanned plane during flying to no-fly region.In this control in the heart 20, the identity of each unmanned plane has been stored in advance
Mark and the corresponding relationship of flight rank, the corresponding relationship of flight rank and no-fly region.Change heading instruction can be with
For reversed flight directive or deflection one predetermined angle instruction, which can be 90 ゜.It flies to the unmanned plane in no-fly region
After receiving change heading instruction, adjustment state of flight is instructed according to the change heading, flies away from no-fly region.
Further, in another embodiment, the generation module 22, be also used to be judged according to the status information unmanned plane it
Between with the presence or absence of colliding hidden danger, if there is the hidden danger that collides between unmanned plane, according to the flight for the unmanned plane that there is the hidden danger that collides
Rank, the unmanned plane low to flight rank generate change flight parameter instruction；
The sending module 23 is also used to change flight parameter instruction being sent to the low unmanned plane of flight rank；So that
The low unmanned plane of the flight rank changes flight parameter, and the flight parameter of the high unmanned plane of flight rank remains unchanged；I.e. to depositing
Colliding hidden danger and the low unmanned plane of flight rank sends change flight parameter instruction, so that the unmanned plane changes flight parameter,
It flies according to new flight parameter, keeps safe distance with other unmanned planes.The flight parameter includes flying speed, flight side
To one or two or three in, flying height.In this control in the heart 20, the identity of each unmanned plane has been stored in advance
With the corresponding relationship of flight rank, the control centre 20 is corresponding with flight rank according to the identity of each unmanned plane of storage
Relationship obtains the flight rank that there is the unmanned plane for the hidden danger that collides, and determines there is collide hidden danger and the low unmanned plane of flight rank,
And hidden danger is collided to the presence and the low unmanned plane of flight rank generates change flight parameter instruction, change flight parameter instruction
Including one or two or three in change flying speed, change heading, change flying height.
Further, the retransmission unit 10 is also used to receive the status information of an at least frame unmanned plane by mobile terminal.
The mobile terminal can have the terminal of communication function for smart phone etc..The retransmission unit 10 passes through mobile terminal
It establishes and communicates to connect with an at least frame unmanned plane.The mobile terminal receives the status information that unmanned plane is sent, and by received shape
State information is sent to retransmission unit 10.In one embodiment, which is smart phone, which passes through intelligence
Mobile phone receives the status information of an at least frame unmanned plane, specifically, logical by mobile phone between the retransmission unit 10 and smart phone
The data feedback channel of words channel is communicated, i.e., the status information of unmanned plane is sent to forwarding by up channel by the smart phone
Device 10.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of unmanned plane management-control method, which is characterized in that this method comprises:
Retransmission unit receives the status information of an at least frame unmanned plane, and the status information of an at least frame unmanned plane is forwarded
To control centre；
The control centre receives the status information of an at least frame unmanned plane；
The control centre generates control instruction according to the state information, and by the control instruction be sent to it is corresponding nobody
Machine；
Wherein, the flight rank of each unmanned plane has been stored in advance in the control centre；The control centre believes according to the state
Breath generates control instruction, and the step of control instruction is sent to corresponding unmanned plane includes:
The control centre is judged according to the state information with the presence or absence of the hidden danger that collides between unmanned plane, if depositing between unmanned plane
In the hidden danger that collides, then according to the flight rank for the unmanned plane that there is the hidden danger that collides, the unmanned plane low to flight rank generates change
Flight parameter instruction, and change flight parameter instruction is sent to the low unmanned plane of flight rank, so that the nothing that flight rank is low
The flight parameter of man-machine change flight parameter, the high unmanned plane of flight rank remains unchanged.
2. unmanned plane management-control method as described in claim 1, which is characterized in that the retransmission unit receive an at least frame nobody
The step of status information of machine includes:
The retransmission unit detects the unmanned plane in the compass of competency of the retransmission unit, and the unmanned plane hair into compass of competency
State information acquisition is sent to request；
The retransmission unit receives the state that acquisition request returns according to the state information of the unmanned plane in the compass of competency
Information.
3. unmanned plane management-control method as described in claim 1, which is characterized in that the control centre is according to the state information
Control instruction is generated, and the step of control instruction is sent to corresponding unmanned plane includes:
The control centre judges whether there is whether unmanned plane flies to no-fly region according to the state information；
If there is unmanned plane during flying to no-fly region, change heading instruction is generated, and the change heading is instructed
It is sent to the unmanned plane that no-fly region is arrived in flight.
4. unmanned plane management-control method as described in claim 1, which is characterized in that the retransmission unit receive an at least frame nobody
The step of status information of machine includes:
The retransmission unit receives the status information of an at least frame unmanned plane by mobile terminal.
5. such as the described in any item unmanned plane management-control methods of Claims 1-4, which is characterized in that the retransmission unit is base station
Or earth station.
6. a kind of unmanned plane managing and control system, which is characterized in that the system includes retransmission unit and control centre, the forwarding dress
It sets, is forwarded to control for receiving the status information of an at least frame unmanned plane, and by the status information of an at least frame unmanned plane
Center processed；
The control centre includes:
Receiving module, for receiving the status information of an at least frame unmanned plane described in the retransmission unit transmission；
Generation module, for generating control instruction according to the state information；
Sending module, for the control instruction to be sent to corresponding unmanned plane；
Wherein, the flight rank of each unmanned plane has been stored in advance in the control centre；
The generation module is also used to: judged according to the state information with the presence or absence of the hidden danger that collides between unmanned plane, if nobody
There is the hidden danger that collides between machine, then according to the flight rank for the unmanned plane that there is the hidden danger that collides, the unmanned plane low to flight rank
Generate change flight parameter instruction；
The sending module is also used to: change flight parameter instruction being sent to the low unmanned plane of flight rank, so that flight grade
Not low unmanned plane changes flight parameter, and the flight parameter of the high unmanned plane of flight rank remains unchanged.
7. unmanned plane managing and control system as claimed in claim 6, which is characterized in that the retransmission unit is also used to detect described
Unmanned plane in the compass of competency of retransmission unit, and the unmanned plane into compass of competency sends state information acquisition request；And it uses
In the unmanned plane status information that acquisition request returns according to the state information in the reception compass of competency.
8. unmanned plane managing and control system as claimed in claim 6, which is characterized in that the generation module is also used to according to
Status information judges whether there is whether unmanned plane flies to no-fly region, if there is unmanned plane during flying to no-fly region, generates more
Change heading instruction；
The sending module is also used to the change heading instruction being sent to the unmanned plane that no-fly region is arrived in flight.
9. unmanned plane managing and control system as claimed in claim 6, which is characterized in that the retransmission unit is also used to pass through movement
The status information of a terminal reception at least frame unmanned plane.
10. such as the described in any item unmanned plane managing and control systems of claim 6 to 9, which is characterized in that the retransmission unit is base station
Or earth station.
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| CN105722031A (en) * | 2016-03-30 | 2016-06-29 | 冯基洲 | Unmanned aerial vehicle |
| EP3511758A4 (en) * | 2016-09-26 | 2019-08-28 | SZ DJI Technology Co., Ltd. | Unmanned aerial vehicle control method, head-mounted display glasses, and system |
| CN108073181A (en) * | 2016-11-10 | 2018-05-25 | 中国移动通信集团公司 | A kind of unmanned plane monitoring and managing method, apparatus and system |
| CN106357324B (en) * | 2016-11-15 | 2022-08-02 | 广州亿航智能技术有限公司 | Unmanned aerial vehicle system and communication connection method and device thereof |
| CN108076433B (en) * | 2016-11-16 | 2020-05-12 | 中国电信股份有限公司 | Unmanned aerial vehicle no-fly zone auxiliary setting method, device and system and unmanned aerial vehicle |
| CN106716973A (en) * | 2016-11-22 | 2017-05-24 | 深圳市大疆创新科技有限公司 | Control method and ground control terminal of unmanned aerial vehicle |
| KR20190113986A (en) | 2017-03-21 | 2019-10-08 | 에스지 디제이아이 테크놀러지 코., 엘티디 | Monitoring method and system |
| CN106843255A (en) * | 2017-03-21 | 2017-06-13 | 苏州光之翼智能科技有限公司 | A kind of flight management system of unmanned plane certification |
| CN106950993A (en) * | 2017-05-04 | 2017-07-14 | 陕西舜洋电子科技有限公司 | The controllable unmanned plane of headroom spatial domain flight path |
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| CN108700668A (en) * | 2017-06-29 | 2018-10-23 | 深圳市大疆创新科技有限公司 | Detect method, the unmanned plane of the positioning device of unmanned plane |
| CN108713222B (en) | 2017-08-28 | 2021-06-04 | 北京小米移动软件有限公司 | Flight control method, device and system |
| WO2019061224A1 (en) * | 2017-09-29 | 2019-04-04 | 深圳市大疆创新科技有限公司 | Control method of control terminal, and control terminal |
| CN107490992B (en) * | 2017-09-29 | 2020-09-22 | 中航天元防务技术（北京）有限公司 | Short-range low-altitude defense control method and system |
| CN109062260A (en) * | 2018-11-05 | 2018-12-21 | 深圳市翔农创新科技有限公司 | Unmanned plane safety control system and method for controlling security |
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