CN105472558A - Unmanned aerial vehicle and control method - Google Patents
Unmanned aerial vehicle and control method Download PDFInfo
- Publication number
- CN105472558A CN105472558A CN201510954775.7A CN201510954775A CN105472558A CN 105472558 A CN105472558 A CN 105472558A CN 201510954775 A CN201510954775 A CN 201510954775A CN 105472558 A CN105472558 A CN 105472558A
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- unmanned plane
- fly
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- module
- aerial vehicle
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- 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
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
Abstract
The invention provides an unmanned aerial vehicle, comprising a communication module, wherein the unmanned aerial vehicle communicates with a control terminal through the communication module; a positioning module for detecting the position information of the unmanned aerial vehicle; a storage module for storing pre-warning zone information and no-fly zone information; a control module which is used for judging whether the unmanned aerial vehicle enters into a pre-warning zone or a no-fly zone according to the position information of the unmanned aerial vehicle, sending a warning signal to the control terminal if the unmanned aerial vehicle is judged to enter into the pre-warning zone, and controlling the unmanned aerial vehicle to return to base or land if the unmanned aerial vehicle is judged to enter into the no-fly zone. Correspondingly, the invention also provides a control method of the unmanned aerial vehicle. The pre-warning zone information and the no-fly zone information are pre-stored in the unmanned aerial vehicle of the invention, whether the unmanned aerial vehicle enters into the pre-warning zone or the no-fly zone can be judged according to the position information of the unmanned aerial vehicle, targeted warning, returning or landing strategies are sent out, and the problem in the prior art that the unmanned aerial vehicle bursting into the no-fly zone is incapable of being effectively monitored and managed is solved.
Description
Technical field
The present invention relates to unmanned plane field, specifically a kind of unmanned plane and control method thereof.
Background technology
Unmanned plane refers to and utilizes wireless remote control device and the control device of self to carry out the not manned vehicle controlled, such as depopulated helicopter, unmanned fixed-wing aircraft, unmanned parasol etc.In recent ten years, unmanned plane has been widely used in the field such as photography, electric inspection process, environmental monitoring, forest fire protection, the condition of a disaster inspection, anti-probably lifesaving, military surveillance, battle assessment of taking photo by plane, effectively can overcome the deficiency that manned aircraft carries out aerial work, reduce and buy and maintenance cost, improve the fail safe of delivery vehicle.Unmanned aerial vehicle (UAV) control technical research is one of focus of research institution's concern both at home and abroad at present.
During unmanned plane aerial work, be faced with the security threat of the tangible barriers such as mountain range, building, trees, transmission line, and the constraint of the invisible obstacle such as no-fly zone, hazardous area.If hidden not as good as aviation accident occurring, produce potential safety hazard, even operator or other people are damaged; Also can cause certain economic loss simultaneously.For tangible barrier, there is more perfect solution in prior art, unmanned plane can be dodged automatically.But for the invisible obstacle such as no-fly zone, hazardous area, existing unmanned plane also cannot identify these regions in advance and dodge, thus causes the operating efficiency of unmanned plane to reduce; And unmanned plane can not dodge the worry that no-fly region also induces people automatically, bad personage may be had handle unmanned plane to implement and take on the sly, there is individual privacy by the risk invaded, and for emphasis security protection region, then more do not allow unmanned plane wantonly to fly, need defensive measure be taked.Existing regulation is in supervision or a blank of the unmanned plane in sighting distance for, scope of activities not high for flying height.
Summary of the invention
In order to overcome the deficiencies in the prior art, the invention provides a kind of unmanned plane, comprising communication module, described unmanned plane is by described communication module and operation control terminal communication, and described unmanned plane also comprises:
Locating module, it is for detecting the positional information of unmanned plane;
Memory module, it is previously stored with prewarning area information and no-fly zone domain information;
Control module, it is for judging according to the positional information of described unmanned plane whether unmanned plane enters described prewarning area or no-fly region, if judge that unmanned plane enters described prewarning area, then send alarm signal to operation control terminal, if judge that unmanned plane enters described no-fly region, then control unmanned plane and make a return voyage or land.
Further, described control module comprises:
First judging unit, according to the positional information of described unmanned plane, it is for judging whether unmanned plane enters prewarning area;
Prewarning unit, it, for after judging that unmanned plane enters described prewarning area, sends alarm signal by described communication module to operation control terminal;
Second judging unit, according to the positional information of described unmanned plane, it is for judging whether unmanned plane enters no-fly region;
Enforce unit, it, for after judging that unmanned plane enters no-fly region, exports no-fly instruction, controls unmanned plane make a return voyage or land according to described no-fly instruction.
Preferably, described unmanned plane also comprises data update module, and described data update module is used for upgrading the prewarning area information stored in described memory module and no-fly zone domain information.
Preferably, described locating module is GPS module, and described positional information is three-dimensional coordinate, comprises latitude and longitude coordinates and height.
Correspondingly, present invention also offers a kind of control method of unmanned plane, said method comprising the steps of:
S1, in unmanned plane, prestore prewarning area information and no-fly zone domain information,
The positional information of S2, acquisition unmanned plane;
S3, judge whether unmanned plane enters described prewarning area or no-fly region according to the positional information of described unmanned plane, if judge that unmanned plane enters described prewarning area, then send alarm signal to operation control terminal, if judge that unmanned plane enters described no-fly region, then control unmanned plane and make a return voyage or land.
Further, described method also comprises and upgrading described prewarning area information and no-fly zone domain information.
Further, in described step S2, obtained the positional information of unmanned plane by GPS module, described positional information is the three-dimensional coordinate of unmanned plane, comprises latitude and longitude information and height.
The present invention has following beneficial effect:
The present invention prestores prewarning area information and no-fly zone domain information in unmanned plane, by present position information under acquisition unmanned plane during flying state, judge whether unmanned plane enters prewarning area or no-fly region, and take corresponding treatment Countermeasures when unmanned plane enters in prewarning area or no-fly region, comprise: the operation control terminal to unmanned plane sends information warning, and prompt terminal manipulator controls unmanned plane away from no-fly region; And after unmanned plane enters no-fly region, automatically export command adapted thereto by unmanned plane, force unmanned plane make a return voyage or land.The invention solves the technical problem effectively cannot supervised the unmanned aerial vehicle swarming into no-fly zone in prior art, the supervision that compensate for unmanned plane is blank.
Accompanying drawing explanation
In order to be illustrated more clearly in technical scheme of the present invention, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the structured flowchart of unmanned plane of the present invention;
Fig. 2 is the control method flow chart of unmanned plane of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under the prerequisite of not making creative work, all belongs to the scope of protection of the invention.
The invention provides a kind of unmanned plane.Described unmanned plane is one not manned vehicle, includes but not limited to the unmanned plane that operation control terminal controls.
See Fig. 1, unmanned plane 100 of the present invention has manipulation offline mode and compulsory execution pattern, under manipulation offline mode, unmanned plane is controlled by operation control terminal, under compulsory execution pattern, unmanned plane does not perform the instruction that operation control terminal sends, but according to the automatic sending controling instruction of interior program of establishing, completes corresponding actions by performing described control command.Unmanned plane 100 of the present invention has communication module 130, locating module 120, memory module 140, data update module 110 and control module 150, certainly, this unmanned plane also can install other functional modules such as photographing module additional.This unmanned plane 100 passes through communication module 130 and operation control terminal communication, mutual data transmission.Locating module 120 is for detecting the positional information of unmanned plane, and this locating module 120 can be GPS (GlobalPositioningSystem, i.e. global positioning system) module, and wherein positional information represents three-dimensional coordinate, comprises latitude and longitude coordinates and height; The positional information that locating module 120 detects can send to operation control terminal by communication module 130.Memory module 140 is previously stored with no-fly zone domain information and prewarning area information, and no-fly region is the region of the restriction unmanned plane during flying of delimiting in advance, and prewarning area can be the region apart from no-fly area periphery one segment distance.Data update module 110 is for upgrading the prewarning area information stored in described memory module 140 and no-fly zone domain information.Control module 150 can call the positional information of locating module 120 detection, the no-fly zone domain information of memory module 140 storage and prewarning area information; Control module 150 is for judging according to the positional information of unmanned plane 100 whether unmanned plane enters described prewarning area or no-fly region, if judge that unmanned plane enters described prewarning area, then send alarm signal to operation control terminal, if judge that unmanned plane enters described no-fly region, then control unmanned plane landing.
Control module 150 comprises the first judging unit 151, second judging unit 152, prewarning unit 153, enforces unit 154 and manipulation performance element (not shown), wherein, under manipulation offline mode, manipulation performance element receives the manipulation instruction of operation control terminal, controls the respective element work of unmanned plane according to described manipulation instruction.According to the positional information of described unmanned plane 100, described first judging unit 151 is for judging whether unmanned plane enters prewarning area, if judge that unmanned plane enters described prewarning area, then prewarning unit 153 sends alarm signal by described communication module 130 to operation control terminal, operation control terminal receives alarm signal, and prompting manipulation personnel manipulate unmanned plane away from prewarning area; If judge that unmanned plane does not enter described prewarning area, then unmanned plane need not to described operation control terminal feedback alarm signal.Described second judging unit 152 is for judging according to the positional information of described unmanned plane whether unmanned plane 100 enters no-fly region, after judging that unmanned plane enters no-fly region, then manipulate the manipulation instruction that performance element does not perform operation control terminal transmission, but export no-fly instruction by compulsory execution unit 154, described no-fly instruction is that pressure is when making a return voyage, control unmanned plane 100 according to described no-fly instruction and fly to described operation control terminal position, when described no-fly instruction is for forcing to land, controls unmanned plane 100 according to described no-fly instruction and landing.
Correspondingly, present invention also offers a kind of control method of above-mentioned unmanned plane, see Fig. 2, the method comprises:
S1, in unmanned plane, prestore prewarning area information and no-fly zone domain information,
The positional information of S2, acquisition unmanned plane;
Particularly, detected the positional information of unmanned plane by GPS module, described positional information is three-dimensional coordinate, comprises latitude and longitude coordinates and height.
S3, judge whether unmanned plane enters described prewarning area or no-fly region according to the positional information of described unmanned plane, if judge that unmanned plane enters described prewarning area, then send alarm signal to operation control terminal, if judge that unmanned plane enters described no-fly region, then control unmanned plane and make a return voyage or land.
Specifically comprise: by the positional information of unmanned plane and the comparison of described prewarning area information, judge whether unmanned plane is positioned at described prewarning area, after judging that unmanned plane enters described prewarning area, send alarm signal by described communication module to operation control terminal.
By the positional information of unmanned plane and the domain information comparison of described no-fly zone, judge whether unmanned plane enters described no-fly region, if judge that unmanned plane enters described no-fly region, then export no-fly instruction, control unmanned plane according to described no-fly instruction and make a return voyage or land; Described no-fly instruction is pressure when making a return voyage, and controls unmanned plane fly to described operation control terminal position according to described no-fly instruction, when described no-fly instruction is for forcing landing, controls unmanned plane landing according to described no-fly instruction.
Above disclosedly be only preferred embodiment of the present invention, certainly can not limit interest field of the present invention with this, the equivalent variations done according to the claims in the present invention still belongs to the scope that the present invention is contained.
Claims (7)
1. a unmanned plane, comprises communication module, and described unmanned plane, by described communication module and operation control terminal communication, is characterized in that, described unmanned plane also comprises:
Locating module, it is for detecting the positional information of unmanned plane;
Memory module, it is previously stored with prewarning area information and no-fly zone domain information;
Control module, it is for judging according to the positional information of described unmanned plane whether unmanned plane enters described prewarning area or no-fly region, if judge that unmanned plane enters described prewarning area, then send alarm signal to operation control terminal, if judge that unmanned plane enters described no-fly region, then control unmanned plane and make a return voyage or land.
2. unmanned plane according to claim 1, is characterized in that, described control module comprises:
First judging unit, according to the positional information of described unmanned plane, it is for judging whether unmanned plane enters prewarning area;
Prewarning unit, it, for after judging that unmanned plane enters described prewarning area, sends alarm signal by described communication module to operation control terminal;
Second judging unit, according to the positional information of described unmanned plane, it is for judging whether unmanned plane enters no-fly region;
Enforce unit, it, for after judging that unmanned plane enters no-fly region, exports no-fly instruction, controls unmanned plane make a return voyage or land according to described no-fly instruction.
3. unmanned plane according to claim 1, is characterized in that, described unmanned plane also comprises data update module, and described data update module is used for upgrading the prewarning area information stored in described memory module and no-fly zone domain information.
4. according to the unmanned plane in claim 1-3 described in any one, it is characterized in that, described locating module is GPS module, and described positional information is three-dimensional coordinate, comprises latitude and longitude coordinates and height.
5. a control method for unmanned plane, is characterized in that, said method comprising the steps of:
S1, in unmanned plane, prestore prewarning area information and no-fly zone domain information,
The positional information of S2, acquisition unmanned plane;
S3, judge whether unmanned plane enters described prewarning area or no-fly region according to the positional information of described unmanned plane, if judge that unmanned plane enters described prewarning area, then send alarm signal to operation control terminal, if judge that unmanned plane enters described no-fly region, then control unmanned plane and make a return voyage or land.
6. method according to claim 5, is characterized in that, described method also comprises and upgrading described prewarning area information and no-fly zone domain information.
7. the method according to claim 5 or 6, is characterized in that, in described step S2, obtained the positional information of unmanned plane by GPS module, described positional information is the three-dimensional coordinate of unmanned plane, comprises latitude and longitude information and height.
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| CN106297237A (en) * | 2016-08-17 | 2017-01-04 | 联想(北京)有限公司 | A kind of control method and electronic equipment |
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| CN106950994A (en) * | 2017-05-04 | 2017-07-14 | 陕西舜洋电子科技有限公司 | Headroom spatial domain unmanned plane managing device |
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| CN107357299A (en) * | 2017-06-06 | 2017-11-17 | 易瓦特科技股份公司 | For the method and apparatus that no-fly zone is identified |
| CN107356253A (en) * | 2017-06-06 | 2017-11-17 | 易瓦特科技股份公司 | For the method and system that no-fly zone is identified |
| CN107291091A (en) * | 2017-06-06 | 2017-10-24 | 易瓦特科技股份公司 | The method and device of sensitizing range is sailed out of for destination object |
| CN107168353A (en) * | 2017-06-06 | 2017-09-15 | 易瓦特科技股份公司 | Unmanned plane is sailed out of to the method and system of sensitizing range |
| CN107123316A (en) * | 2017-06-06 | 2017-09-01 | 易瓦特科技股份公司 | The method and system of sensitizing range are sailed out of for unmanned plane |
| CN107284666A (en) * | 2017-07-17 | 2017-10-24 | 朱海燕 | It is a kind of to be suitable to avoid the unmanned plane and its method of work that influence aviation safety |
| WO2019028862A1 (en) * | 2017-08-11 | 2019-02-14 | 北京小米移动软件有限公司 | Drone control method and device, drone and core network device |
| CN107483098A (en) * | 2017-08-11 | 2017-12-15 | 翔升（上海）电子技术有限公司 | Unmanned aerial vehicle (UAV) control method and device |
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