CN106292708A - Unmanned plane avoidance obstacle method and device - Google Patents
Unmanned plane avoidance obstacle method and device Download PDFInfo
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- CN106292708A CN106292708A CN201610881403.0A CN201610881403A CN106292708A CN 106292708 A CN106292708 A CN 106292708A CN 201610881403 A CN201610881403 A CN 201610881403A CN 106292708 A CN106292708 A CN 106292708A
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- unmanned plane
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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
Abstract
The present invention relates to unmanned air vehicle technique field, particularly relate to unmanned plane avoidance obstacle method and device, including: obtain the spatial positional information for characterizing unmanned plane space flight position；Judge that whether there is the flight to unmanned plane in the range of the pre-set space corresponding with spatial positional information causes the barrier of obstruction；If existing, then, send alarm information to user, and/or, send to unmanned plane and adjust instruction for the first course line adjusting current flight course line.The present invention is after obtaining the spatial positional information of unmanned plane, judge that whether there is the flight to unmanned plane in the range of the pre-set space corresponding with spatial positional information causes the barrier of obstruction, if there is, then send alarm information to user, and/or, sending the first course line adjustment instruction user to unmanned plane and can control unmanned plane change current flight course line in time according to alarm information, meanwhile, unmanned plane adjusts instruction according to the first course line and also is able to be adjusted current flight course line in time.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, particularly relate to unmanned plane avoidance obstacle method and device.
Background technology
Unmanned plane is a kind of unpiloted aircraft, and it utilizes radio robot and the presetting apparatus provided for oneself
Handle.At present, unmanned plane is widely used to various field, such as, the field such as Aerial photography, monitoring, geological exploration and remote sensing.
The most in the art, the flight environment of vehicle of usual unmanned plane is sufficiently complex, there is barrier in flight range, unmanned
The operator of machine need manually to find barrier and control unmanned plane to hide, therefore, and often cannot be accurately with timely to nothing
Man-machine making controls accordingly.
Summary of the invention
In view of the above problems, it is proposed that the present invention in case provide one overcome the problems referred to above or at least in part solve on
State the unmanned plane avoidance obstacle method and device of problem.
Embodiments provide a kind of unmanned plane avoidance obstacle method, including:
Obtain the spatial positional information for characterizing unmanned plane space flight position；
Judge whether to exist in the range of the pre-set space corresponding with described spatial positional information described unmanned plane is flown
Row causes the barrier of obstruction；
If there is described barrier in the range of described pre-set space, then, send alarm information to user, and/or, to institute
State unmanned plane and send the first course line adjustment instruction for adjusting current flight course line.
Optionally, whether described judgement exists described in the range of the pre-set space corresponding with described spatial positional information
The flight of unmanned plane causes the barrier of obstruction, including:
Judge the institute that whether there is height in the range of described pre-set space higher than the current flight height of described unmanned plane
State barrier；And/or
Judge whether to exist on the current flight course line of described unmanned plane in the range of described pre-set space described barrier.
Optionally, described send alarm information to user, including:
Alarm message is sent to described user based on common carrier；And/or
Alarm notification is pushed to described user based on the unmanned plane application program associated with described unmanned plane.
Optionally, described after user sends alarm information, described method also includes:
Receiving the second course line adjustment instruction that user side unmanned aerial vehicle (UAV) control device sends, it is institute that described second course line adjusts instruction
State user in the unmanned aerial vehicle (UAV) control device of described user side, to carry out course line based on described alarm information and adjust operation and the instruction that generates.
Optionally, described first course line adjustment instruction includes forced landing instruction and/or instruction of making a return voyage.
Based on same inventive concept, the embodiment of the present invention also provides for a kind of unmanned plane avoidance obstacle device, including:
Locus acquisition module, for obtaining the spatial positional information for characterizing unmanned plane space flight position；
Judge module, for judging whether exist institute in the range of the pre-set space corresponding with described spatial positional information
The flight stating unmanned plane causes the barrier of obstruction；
Sending module, if for there is described barrier in the range of described pre-set space, then, sending alarm to user and disappear
Breath, and/or, send to described unmanned plane and adjust instruction for the first course line adjusting current flight course line.
Optionally, described judge module, including:
First judging unit, for judging whether there is height in the range of described pre-set space higher than described unmanned plane
The described barrier of current flight height；And/or
Second judging unit, for judging on the current flight course line of described unmanned plane in the range of described pre-set space be
No there is described barrier.
Optionally, described sending module, including:
First transmitting element, for sending alarm message based on common carrier to described user；And/or
Second transmitting element, for pushing announcement based on the unmanned plane application program associated with described unmanned plane to described user
Alert notice.
Optionally, described device also includes:
Receiver module, the second course line sent for receiving user side unmanned aerial vehicle (UAV) control device adjusts instruction, described second boat
Line adjusts instruction and carries out adjustment behaviour in course line for described user in the unmanned aerial vehicle (UAV) control device of described user side based on described alarm information
The instruction made and generate.
Optionally, described first course line adjustment instruction includes forced landing instruction and/or instruction of making a return voyage.
One or more technical schemes in the embodiment of the present invention, at least have the following technical effect that or advantage:
The present invention is after obtaining the spatial positional information of unmanned plane, it is judged that at the default sky corresponding with spatial positional information
Whether there is the flight to unmanned plane in the range of between and cause the barrier of obstruction, if it is present send alarm information to user,
Or send the first course line adjustment instruction to unmanned plane, or send the first boat to unmanned plane while sending alarm information to user
Line adjust instruction, user according to alarm information can control in time unmanned plane change current flight course line, meanwhile, unmanned plane according to
First course line adjusts instruction and also is able to be adjusted current flight course line in time.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to
The accompanying drawing provided obtains other accompanying drawing.
Fig. 1 is the flow chart of a kind of unmanned plane avoidance obstacle method in the embodiment of the present invention；
Fig. 2 is the structural representation of a kind of unmanned plane avoidance obstacle device in the embodiment of the present invention.
Detailed description of the invention
It is more fully described the exemplary embodiment of the disclosure below with reference to accompanying drawings.Although accompanying drawing shows the disclosure
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure and should be by embodiments set forth here
Limited.On the contrary, it is provided that these embodiments are able to be best understood from the disclosure, and can be by the scope of the present disclosure
Complete conveys to those skilled in the art.
The embodiment of the present invention provides a kind of unmanned plane avoidance obstacle method, and the method can apply to UAV Flight Control
In system, wherein, unmanned aerial vehicle control system comprises unmanned plane, unmanned aerial vehicle (UAV) control device and unmanned plane server, specifically real in one
Executing in mode, user is by operating on unmanned aerial vehicle (UAV) control device, and unmanned aerial vehicle (UAV) control device will send control instruction to unmanned plane
Server, unmanned plane can be controlled by unmanned plane server according to the control instruction received, and unmanned plane server is permissible
For being arranged on the cloud server in high in the clouds.Below in conjunction with the UAV Flight Control System unmanned plane avoidance obstacle to the application
Method describes in detail, and the executive agent of the unmanned plane avoidance obstacle method of the application can be unmanned plane server, such as Fig. 1
Shown in, described method includes:
Step 101: obtain the spatial positional information for characterizing unmanned plane space flight position.
Specifically, the spatial positional information being used for characterizing space flight position is sent out in flight course by unmanned plane in real time
Giving unmanned plane server, the locus of unmanned plane includes the flying height of unmanned plane plan-position and unmanned plane, unmanned
Machine server understand that the current plan-position of unmanned plane and current flying height according to spatial positional information.Wherein,
A kind of concrete manifestation form of spatial positional information is flight coordinate, thus, unmanned plane server can obtain flying of unmanned plane
Row-coordinate is as the spatial positional information of unmanned plane.Further, unmanned plane uploads the frequency of spatial positional information can be 1-2
Second/time, the frequency uploading spatial positional information is the fastest, then the control to unmanned plane will be the most timely.
Step 102: judge whether exist described nothing in the range of the pre-set space corresponding with described spatial positional information
Man-machine flight causes the barrier of obstruction.
Wherein, the pre-set space scope corresponding with spatial positional information can be set according to actual needs, such as, and will
The circular planer area of 50 meters around unmanned plane current plane flight position, and in the vertical direction of this circular planer area
Higher than the height area below of unmanned plane current flight height 50 meters, as pre-set space scope.And then, it is judged that this presets sky
Whether there is the flight to unmanned plane in the range of between and cause the barrier of stop, concrete, the application can first obtain and preset sky
Between the three-dimensional map of scope, the three-dimensional map of pre-set space scope is marked with the vertical of all map label objects in the range of this
Body size, the three-dimensional size of map label object includes length, width and height, and map label object can be building, public affairs
Facility and natural feature altogether.Three-dimensional map then according to pre-set space scope judges whether exist in the range of this pre-set space
Barrier.
Specifically, in the first scenario, the flight to unmanned plane causes the barrier of obstruction can be highly to be higher than
The object of unmanned plane current flight height, thus, in this application, step 102 can be: judge in the range of pre-set space be
The no height barrier higher than the current flight height of unmanned plane that exists, specifically, can be according to the three of pre-set space scope
Dimension map judges the map label object that whether there is height in the range of pre-set space higher than the current flight height of unmanned plane,
If there is the height map label object higher than unmanned plane current flight height in the range of pre-set space, then show to there is this type of barrier
Hinder thing.In the latter case, the flight to unmanned plane causes the barrier of obstruction can be in the current flight of unmanned plane
Object on course line, thus, in this application, step 102 can be: judges currently flying of in the range of pre-set space unmanned plane
Whether there is barrier on row course line, specifically, the application can judge in advance according to the three-dimensional map of pre-set space scope
If whether there is map label object on the current flight course line of unmanned plane in spatial dimension, if there is ground on current flight course line
Figure tagged object, then show to there is this type of barrier.
Certainly, when judging, it is also possible to aforementioned two kinds of situations are combined, i.e. in the range of judging pre-set space be
While the no barrier that there is the current flight height that height is higher than unmanned plane, it is judged that unmanned plane in the range of pre-set space
Whether barrier is there is, if there is the height current flight higher than unmanned plane in the range of pre-set space on current flight course line
The barrier of height, and there is barrier on the current flight course line of unmanned plane in the range of pre-set space, then perform correspondence
Subsequent step.
The UAV Flight Control method of the application is only illustrated as a example by aforementioned two kinds of situations by the application, this area
Other map label objects in the range of pre-set space can also be set as barrier according to practical situation by technical staff, this Shen
Do not limit.
Step 103: if there is described barrier in the range of described pre-set space, then, send alarm information to user,
And/or, send to described unmanned plane and adjust instruction for the first course line adjusting current flight course line.
If there is barrier in the range of pre-set space, alarm information can be sent to user.Specifically, unmanned plane clothes
Business device can send alarm message based on common carrier to user, and unmanned plane server is also based on associating with unmanned plane
Unmanned plane application program pushes alarm notification to user, it addition, unmanned plane server can also based on common carrier to
Family sends while alerting short breath and pushes alarm notification based on unmanned plane application program to user.It addition, send alarm to user
Message can be that the unmanned aerial vehicle (UAV) control device to user side sends alarm information, it is also possible to for sending to the mobile communication terminal of user
Alarm information.
If there is barrier in the range of pre-set space, it is also possible to send the first course line to unmanned plane and adjust instruction, unmanned
Machine is after receiving the first course line and adjusting instruction, and performing the first course line adjustment instruction can adjust current flight course line
Whole, with avoiding barrier.Wherein, the first course line adjusts instruction and includes forced landing instruction and/or instruction of making a return voyage, thus, if preset
There is barrier in spatial dimension, then, forced landing instruction can be sent to control unmanned plane forced landing to unmanned plane, it is also possible to unmanned
Machine sends instruction of making a return voyage and makes a return voyage to control unmanned plane.
If it addition, there is barrier in the range of pre-set space, it is also possible to while sending alarm information to user to
Unmanned plane sends the first course line and adjusts instruction, it is achieved thereby that carry out the line of flight of unmanned plane while notifying user
Adjust.
Further, in this application, when unmanned plane server is after user sends alarm information, and user disappears according to alarm
Breath can carry out course line in unmanned aerial vehicle (UAV) control device and adjust operation, thus unmanned aerial vehicle (UAV) control device generates the second course line and adjusts instruction,
Second course line adjusts instruction and is similarly the instruction for adjusting current flight course line.And then, unmanned aerial vehicle (UAV) control device is by the second course line
Adjust instruction and be sent to unmanned plane server.Unmanned plane server receives the second course line adjustment of unmanned aerial vehicle (UAV) control device transmission and refers to
Order, and the second course line adjustment instruction is transmitted to unmanned plane, unmanned plane is after receiving and performing the second course line adjustment instruction, right
Current flight course line is adjusted
It should be noted that adjust instruction and the adjustment of the second course line when unmanned plane server sends the first course line to unmanned plane
During instruction, unmanned plane can be determined from the first course line adjusts instruction and the adjustment of the second course line instructs according to preset rules and wait to hold
The course line of row adjusts instruction, and preset rules can be to determine that pending course line adjusts based on time order and function order to instruct, such as,
The course line first received by unmanned plane adjusts instruction and adjusts instruction as pending course line.It addition, preset rules can also be
Acquiescence receives the first course line adjustment instruction at the same time and the second course line adjustment instruction is defined as when adjusting instruction by the second course line
Pending course line adjusts instruction.
In this application, if there is not barrier in the range of pre-set space, then control unmanned plane and keep current flight boat
Line is constant.
Based on same inventive concept, the embodiment of the present invention also provides for a kind of unmanned plane avoidance obstacle device, as in figure 2 it is shown,
Including:
Locus acquisition module 201, for obtaining the spatial positional information for characterizing unmanned plane space flight position；
Judge module 202, for judging whether exist in the range of the pre-set space corresponding with described spatial positional information
Flight to described unmanned plane causes the barrier of obstruction；
Sending module 203, if for there is described barrier in the range of described pre-set space, then, sending announcement to user
Alarm message, and/or, send to described unmanned plane and adjust instruction for the first course line adjusting current flight course line.
Judge module 202, including:
First judging unit, for judging whether there is height in the range of described pre-set space higher than described unmanned plane
The described barrier of current flight height；And/or
Second judging unit, for judging on the current flight course line of described unmanned plane in the range of described pre-set space be
No there is described barrier.
Sending module 203, including:
First transmitting element, for sending alarm message based on common carrier to described user；And/or
Second transmitting element, for pushing announcement based on the unmanned plane application program associated with described unmanned plane to described user
Alert notice.
In this application, described device also includes:
Receiver module, the second course line sent for receiving user side unmanned aerial vehicle (UAV) control device adjusts instruction, described second boat
Line adjusts instruction and carries out adjustment behaviour in course line for described user in the unmanned aerial vehicle (UAV) control device of described user side based on described alarm information
The instruction made and generate.
Described first course line adjusts instruction and includes forced landing instruction and/or instruction of making a return voyage.
Technical scheme in above-mentioned the embodiment of the present application, at least has the following technical effect that or advantage:
The present invention is after obtaining the spatial positional information of unmanned plane, it is judged that at the default sky corresponding with spatial positional information
Whether there is the flight to unmanned plane in the range of between and cause the barrier of obstruction, if it is present send alarm information to user,
Or send the first course line adjustment instruction to unmanned plane, or send the first boat to unmanned plane while sending alarm information to user
Line adjust instruction, user according to alarm information can control in time unmanned plane change current flight course line, meanwhile, unmanned plane according to
First course line adjusts instruction and also is able to be adjusted current flight course line in time.
Algorithm and display are not intrinsic to any certain computer, virtual system or miscellaneous equipment relevant provided herein.
Various general-purpose systems can also be used together with based on teaching in this.As described above, construct required by this kind of system
Structure be apparent from.Additionally, the present invention is also not for any certain programmed language.It is understood that, it is possible to use various
Programming language realizes the content of invention described herein, and the description done language-specific above is to disclose this
Bright preferred forms.
In description mentioned herein, illustrate a large amount of detail.It is to be appreciated, however, that the enforcement of the present invention
Example can be put into practice in the case of not having these details.In some instances, it is not shown specifically known method, structure
And technology, in order to do not obscure the understanding of this description.
Similarly, it will be appreciated that one or more in order to simplify that the disclosure helping understands in each inventive aspect, exist
Above in the description of the exemplary embodiment of the present invention, each feature of the present invention is grouped together into single enforcement sometimes
In example, figure or descriptions thereof.But, the method for the disclosure should not be construed to reflect an intention that i.e. required guarantor
The application claims feature more more than the feature being expressly recited in each claim protected.More precisely, as following
Claims reflected as, inventive aspect is all features less than single embodiment disclosed above.Therefore,
The claims following detailed description of the invention are thus expressly incorporated in this detailed description of the invention, the most each claim itself
All as the independent embodiment of the present invention.
Those skilled in the art are appreciated that and can carry out the module in the equipment in embodiment adaptively
Change and they are arranged in one or more equipment different from this embodiment.Can be the module in embodiment or list
Unit or assembly are combined into a module or unit or assembly, and can put them in addition multiple submodule or subelement or
Sub-component.In addition at least some in such feature and/or process or unit excludes each other, can use any
Combine all features disclosed in this specification (including adjoint claim, summary and accompanying drawing) and so disclosed appoint
Where method or all processes of equipment or unit are combined.Unless expressly stated otherwise, this specification (includes adjoint power
Profit requires, summary and accompanying drawing) disclosed in each feature can be carried out generation by providing identical, equivalent or the alternative features of similar purpose
Replace.
Although additionally, it will be appreciated by those of skill in the art that embodiments more described herein include other embodiments
Some feature included by rather than further feature, but the combination of the feature of different embodiment means to be in the present invention's
Within the scope of and form different embodiments.Such as, in the following claims, embodiment required for protection appoint
One of meaning can mode use in any combination.
The all parts embodiment of the present invention can realize with hardware, or to run on one or more processor
Software module realize, or with combinations thereof realize.It will be understood by those of skill in the art that and can use in practice
Microprocessor or digital signal processor (DSP) realize in unmanned plane avoidance obstacle device according to embodiments of the present invention
The some or all functions of some or all parts.The present invention is also implemented as performing method as described herein
Part or all equipment or device program (such as, computer program and computer program).Such reality
The program of the existing present invention can store on a computer-readable medium, or can be to have the form of one or more signal.
Such signal can be downloaded from internet website and obtain, or provides on carrier signal, or with any other form
There is provided.
The present invention will be described rather than limits the invention to it should be noted above-described embodiment, and ability
Field technique personnel can design alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference marks that should not will be located between bracket is configured to limitations on claims.Word " comprises " and does not excludes the presence of not
Arrange element in the claims or step.Word "a" or "an" before being positioned at element does not excludes the presence of multiple such
Element.The present invention and can come real by means of including the hardware of some different elements by means of properly programmed computer
Existing.If in the unit claim listing equipment for drying, several in these devices can be by same hardware branch
Specifically embody.Word first, second and third use do not indicate that any order.These word explanations can be run after fame
Claim.
Claims (10)
1. a unmanned plane avoidance obstacle method, it is characterised in that including:
Obtain the spatial positional information for characterizing unmanned plane space flight position；
Judge that whether there is the flight to described unmanned plane in the range of the pre-set space corresponding with described spatial positional information makes
Become the barrier hindered；
If there is described barrier in the range of described pre-set space, then, send alarm information to user, and/or, to described nothing
Man-machine transmission adjusts instruction for the first course line adjusting current flight course line.
2. unmanned plane avoidance obstacle method as claimed in claim 1, it is characterised in that described judgement with described locus
Whether there is the flight to described unmanned plane in the range of the pre-set space that information is corresponding and cause the barrier of obstruction, including:
Judge the described barrier that whether there is height in the range of described pre-set space higher than the current flight height of described unmanned plane
Hinder thing；And/or
Judge whether to exist on the current flight course line of described unmanned plane in the range of described pre-set space described barrier.
3. unmanned plane avoidance obstacle method as claimed in claim 1, it is characterised in that described send alarm information to user,
Including:
Alarm message is sent to described user based on common carrier；And/or
Alarm notification is pushed to described user based on the unmanned plane application program associated with described unmanned plane.
4. unmanned plane avoidance obstacle method as claimed in claim 1, it is characterised in that send alarm information to user described
Afterwards, described method also includes:
Receiving the second course line adjustment instruction that user side unmanned aerial vehicle (UAV) control device sends, described second course line adjusts instruction for described use
Family carries out course line in the unmanned aerial vehicle (UAV) control device of described user side based on described alarm information and adjusts the instruction operated and generate.
5. UAV Flight Control method as claimed in claim 1, it is characterised in that described first course line adjusts instruction and includes
Forced landing instruction and/or instruction of making a return voyage.
6. a unmanned plane avoidance obstacle device, it is characterised in that including:
Locus acquisition module, for obtaining the spatial positional information for characterizing unmanned plane space flight position；
Judge module, for judging whether exist described nothing in the range of the pre-set space corresponding with described spatial positional information
Man-machine flight causes the barrier of obstruction；
Sending module, if for there is described barrier in the range of described pre-set space, then, sending alarm information to user,
And/or, send to described unmanned plane and adjust instruction for the first course line adjusting current flight course line.
7. unmanned plane avoidance obstacle device as claimed in claim 1, it is characterised in that described judge module, including:
First judging unit, for judging that whether there is height in the range of described pre-set space is higher than the current of described unmanned plane
The described barrier of flying height；And/or
Second judging unit, for judging whether deposit on the current flight course line of described unmanned plane in the range of described pre-set space
At described barrier.
8. unmanned plane avoidance obstacle device as claimed in claim 1, it is characterised in that described sending module, including:
First transmitting element, for sending alarm message based on common carrier to described user；And/or
Second transmitting element is logical for pushing alarm based on the unmanned plane application program associated with described unmanned plane to described user
Know.
9. unmanned plane avoidance obstacle device as claimed in claim 1, it is characterised in that described device also includes:
Receiver module, the second course line sent for receiving user side unmanned aerial vehicle (UAV) control device adjusts instruction, and described second course line is adjusted
Whole instruction for described user based on described alarm information carry out in the unmanned aerial vehicle (UAV) control device of described user side course line adjust operation and
The instruction generated.
10. unmanned plane avoidance obstacle device as claimed in claim 1, it is characterised in that described first course line adjusts instruction bag
Include forced landing instruction and/or instruction of making a return voyage.
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| CN201610881403.0A CN106292708A (en) | 2016-10-09 | 2016-10-09 | Unmanned plane avoidance obstacle method and device |
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| CN108351652A (en) * | 2017-12-26 | 2018-07-31 | 深圳市道通智能航空技术有限公司 | Unmanned vehicle paths planning method, device and flight management method, apparatus |
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| CN111552318A (en) * | 2020-05-15 | 2020-08-18 | 航迅信息技术有限公司 | Control method for minimum safe altitude flight of unmanned aerial vehicle |
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