CN106339003A - Barrier-avoiding method, airspace management system and unmanned aerial vehicle - Google Patents
Barrier-avoiding method, airspace management system and unmanned aerial vehicle Download PDFInfo
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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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Abstract
The invention relates to the technical field of electronics, and especially relates to a barrier-avoiding method, an airspace management system and an unmanned aerial vehicle. The method comprises the following steps: receiving a first flight position and a first flight height which are sent by an unmanned aerial vehicle; receiving a second flight position and a second flight height which are sent by a flight device; based on the first flight position, the first flight height, the second flight position and the second flight height, determining whether the unmanned aerial vehicle and the flight device are in danger of bumping into each other; and when the unmanned aerial vehicle and the flight device are in danger of bumping into each other, sending barrier-avoiding prompt information to UE associated with the unmanned aerial vehicle and/or the flight device. According to the invention, barrier avoidance between the flight device and the unmanned aerial vehicle is realized.
Description
Technical field
The present invention relates to electronic technology field, more particularly, to a kind of barrier-avoiding method, airspace management system and unmanned plane.
Background technology
The manipulation of driver is depended in the flight of unmanned plane at present completely.But, because manipulation unmanned plane driver is unclear
When and where can manned machine, such as aircarrier aircraft or personal aircraft etc. occur, so unmanned plane is possible to meeting near even
Collide manned machine, cause severe safety accident.
So, there is the technical problem of how avoidance between manned machine and unmanned plane in prior art.
Content of the invention
Embodiments provide a kind of barrier-avoiding method, airspace management system and unmanned plane, for realizing setting in flight
Standby carry out avoidance and unmanned plane between.
In a first aspect, the invention provides a kind of barrier-avoiding method, comprising:
Receive the first flight position and the first flying height that unmanned plane sends；
Receive the second flight position and the second flying height that flight equipment sends；
Based on described first flight position, described first flying height, described second flight position and described second flight
Highly, judge that described unmanned plane and described flight equipment whether there is risk of collision；
When described unmanned plane and described flight equipment have risk of collision, to the user equipment ue of described unmanned plane association
And/or described flight equipment sends avoidance information.
Optionally, described first flight position and described first flying height are specially the current flight position of described unmanned plane
Put and current flying height, described second flight position and described second flying height specially described flight equipment are current
Flight position and current flying height, judge that described unmanned plane and described flight equipment whether there is risk of collision, comprising:
Judge whether described unmanned plane is currently located in the preset range of described flight equipment；
When described unmanned plane is currently located in described preset range, there is collision in described unmanned plane and described flight equipment
Dangerous.
Optionally, the project flight position of described first flight position and described first flying height specially described unmanned plane
Put and project flight height, the plan of described second flight position and described second flying height specially described flight equipment flies
Line position is put and project flight height, judges that described unmanned plane and described flight equipment whether there is risk of collision, comprising:
Judge whether described unmanned plane can enter institute according to the project flight position of described unmanned plane and project flight height
State in the preset range of flight equipment；
When described unmanned plane can enter described flight according to the project flight position of described unmanned plane and project flight height
When in the preset range of equipment, there is risk of collision in described unmanned plane and described flight equipment.
Optionally, methods described also includes:
After sending described avoidance information preset duration to described unmanned plane, judge described unmanned plane whether still position
In described preset range；
When described unmanned plane is still located in described preset range, sends to described unmanned plane and force control instruction, with
Described unmanned plane is made to sail out of described preset range.
Second aspect, the invention provides a kind of barrier-avoiding method, comprising:
Receive the current flight position of flight equipment and the current flying height that airspace management system sends；
Obtain the current flight position of unmanned plane and current flying height；
Based on the current flight position of described flight equipment and current flying height, and current the flying of described unmanned plane
Line position is put and current flying height, judges that described unmanned plane and described flight equipment whether there is risk of collision；
When there is risk of collision in described unmanned plane and described flight equipment, execution avoidance instruction.
Optionally, methods described also includes:
Send the current flight position of described unmanned plane and current flying height to described airspace management system.
The third aspect, the invention provides a kind of barrier-avoiding method, comprising:
Receive the current flight position of described flight equipment and the current flying height that flight equipment sends；
Obtain the current flight position of unmanned plane and current flying height；
Based on the current flight position of described flight equipment and current flying height, and current the flying of described unmanned plane
Line position is put and current flying height, judges that described unmanned plane and described flight equipment whether there is risk of collision；
When there is risk of collision in described unmanned plane and described flight equipment, execution avoidance instruction.
Optionally, methods described also includes:
Broadcast the current flight position of described unmanned plane and current flying height.
Fourth aspect, the invention provides a kind of airspace management system, comprising:
Unmanned plane during flying data reception module, the first flight position and the first flight for receiving unmanned plane transmission are high
Degree；
Flight equipment flying quality receiver module, for receiving the second flight position and second flight of flight equipment transmission
Highly；
First judge module, for based on described first flight position, described first flying height, described second flight position
Put and described second flying height, judge that described unmanned plane and described flight equipment whether there is risk of collision；
Reminding module, for when described unmanned plane and described flight equipment have risk of collision, to described unmanned office
The user equipment ue of connection and/or described flight equipment send avoidance information.
Optionally, described first flight position and described first flying height are specially the current flight position of described unmanned plane
Put and current flying height, described second flight position and described second flying height specially described flight equipment are current
Flight position and current flying height, described first judge module is used for judging whether described unmanned plane is currently located at described flying
In the preset range of row equipment；When described unmanned plane is currently located in described preset range, described unmanned plane and described flight
There is risk of collision in equipment.
Optionally, the project flight position of described first flight position and described first flying height specially described unmanned plane
Put and project flight height, the plan of described second flight position and described second flying height specially described flight equipment flies
Line position is put and project flight height, and described first judge module is used for judging that described unmanned plane flies according to the plan of described unmanned plane
Line position is put with whether project flight height can enter in the preset range of described flight equipment；When described unmanned plane is according to described nothing
When man-machine project flight position and project flight height can enter in the preset range of described flight equipment, described unmanned plane and
There is risk of collision in described flight equipment.
Optionally, described second judge module is additionally operable to when presetting to the described unmanned plane described avoidance information of transmission
After length, judge whether described unmanned plane is still located in described preset range；
Described system also includes instruction sending module, for when described unmanned plane is still located in described preset range,
Send to described unmanned plane and force control instruction, so that described unmanned plane sails out of described preset range.
5th aspect, the invention provides a kind of unmanned plane, comprising:
First receiver module, for receiving the current flight position of flight equipment of airspace management system transmission and current
Flying height；
First acquisition module, for obtaining the current flight position of unmanned plane and current flying height；
Second judge module, for the flight position current based on described flight equipment and current flying height, and
The current flight position of described unmanned plane and current flying height, judge that described unmanned plane and described flight equipment whether there is
Risk of collision；
First performing module, for when described unmanned plane and described flight equipment have risk of collision, execution avoidance refers to
Order.
Optionally, described unmanned plane also includes the first sending module, for sending described nothing to described airspace management system
Man-machine current flight position and current flying height.
6th aspect, the invention provides a kind of unmanned plane, comprising:
Second receiver module, for receiving the current flight position of described flight equipment of flight equipment transmission and current
Flying height；
Second acquisition module, for obtaining the current flight position of unmanned plane and current flying height；
3rd judge module, for the flight position current based on described flight equipment and current flying height, and
The current flight position of described unmanned plane and current flying height, judge that described unmanned plane and described flight equipment whether there is
Risk of collision；
Second performing module, for when described unmanned plane and described flight equipment have risk of collision, execution avoidance refers to
Order.
Optionally, described unmanned plane also includes broadcast module, for broadcasting the current flight position of described unmanned plane and working as
Front flying height.
Said one in the embodiment of the present application or multiple technical scheme, at least have following one or more technology effect
Really:
1st, in technical scheme in embodiments of the present invention, receive the first flight position and the first flight that unmanned plane sends
Highly, and receive the second flight position and the second flying height that flight equipment sends, be then based on the first flight position, the
One flying height, the second flight position and the second flying height, judge that unmanned plane and flight equipment whether there is risk of collision, when
When unmanned plane and flight equipment have risk of collision, send avoidance information to the ue of unmanned plane association and/or flight equipment.
So, judge exist between unmanned plane and flight equipment in the flight position according to unmanned plane and flight equipment and flying height
When risk of collision, send avoidance information to ue and/or flight equipment, so reminded unmanned plane driver and/or
Flight equipment driver adjusts flight in time, it is to avoid the two collision.So it is achieved that between flight equipment and unmanned plane, example
As between unmanned plane and unmanned plane, and/or the technique effect carrying out avoidance between unmanned plane and manned machine.
2nd, in the technical scheme of the embodiment of the present invention, the flight equipment that unmanned plane receives the transmission of airspace management system is current
Flight position and current flying height, and obtain itself current flight position and current flying height, be then based on
The current flight position of flight equipment and current flying height, and the current flight position of unmanned plane and current flight high
Degree, judges that unmanned plane and flight equipment whether there is risk of collision, when dangerous, then execution avoidance instruction.So, unmanned
When discovery itself enters in flight equipment preset range, execution avoidance instructs machine automatically, and then rolls preset range away from, away from winged
Row equipment, thus avoid collide with flight equipment.So it is achieved that between flight equipment and unmanned plane, for example no
Man-machine and unmanned plane between, and/or the technique effect carrying out avoidance between unmanned plane and manned machine.
3rd, in the technical scheme of the embodiment of the present invention, unmanned plane accept flight equipment transmission current flight position and
Current flying height, and obtain itself current flight position and current flying height, it is then based on flight equipment current
Flight position and current flying height, and the current flight position of unmanned plane and current flying height, judge unmanned
Machine and flight equipment whether there is risk of collision, when dangerous, then execution avoidance instruction.So, unmanned plane is finding certainly
When body enters in flight equipment preset range, automatically execution avoidance instruction, and then roll preset range away from, away from flight equipment, from
And avoid and collide with flight equipment.So it is achieved that between flight equipment and unmanned plane, such as unmanned plane with unmanned
Between machine, and/or the technique effect carrying out avoidance between unmanned plane and manned machine.
Specific embodiment
Embodiments provide a kind of barrier-avoiding method, airspace management system and unmanned plane, for realizing setting in flight
Standby carry out avoidance and unmanned plane between.
In order to solve above-mentioned technical problem, the technical scheme general thought that the present invention provides is as follows:
Flying quality according to unmanned plane and the flying quality of flight equipment, judge whether unmanned plane and flight equipment are deposited
In risk of collision, when unmanned plane and flight equipment have risk of collision, unmanned plane and/or flight equipment carry out avoidance.
Below by specific embodiment, technical solution of the present invention is described in detail it should be understood that the embodiment of the present application with
And the specific features in embodiment are the detailed description to technical scheme, rather than the limit to technical scheme
Fixed, in the case of not conflicting, the technical characteristic in the embodiment of the present application and embodiment can be mutually combined.
The terms "and/or", only a kind of incidence relation of description affiliated partner, represents there may be three kinds of passes
System, for example, a and/or b, can represent: individualism a, there are a and b, these three situations of individualism b simultaneously.In addition, herein
Middle character "/", typically represent forward-backward correlation to as if a kind of relation of "or".
First aspect present invention provides a kind of barrier-avoiding method, is applied to airspace management system.The method includes:
S101: receive the first flight position and the first flying height that unmanned plane sends；
S102: receive the second flight position and the second flying height that flight equipment sends；
S103: based on described first flight position, described first flying height, described second flight position and described second
Flying height, judges that described unmanned plane and described flight equipment whether there is risk of collision；
S104: when described unmanned plane and described flight equipment have risk of collision, to the user of described unmanned plane association
Equipment ue and/or described flight equipment send avoidance information.
Specifically, the flight equipment in the embodiment of the present invention can be unmanned plane, and/or manned machine, or acceptable
For other flight equipments.Airspace management system in the embodiment of the present invention is capable of the flight number of real-time reception multiple unmanned plane transmission
According to, and the flying quality that manned machine sends.Flying quality includes but is not limited to the flight position of unmanned plane, flying height, flies
Scanning frequency degree, the angle of pitch and driver etc., the present invention is not particularly limited.
In s101, receive the first flight position and the first flying height that unmanned plane sends, and receive in s102
The second flight position and the second flying height that flight equipment sends.During implementing, the execution of s101 and s102 is suitable
Sequence can be configured according to being actually needed, and the present invention is not particularly limited.
Then, in s103, high based on the first flight position, the first flying height, the second flight position and the second flight
Degree, judges that unmanned plane and flight equipment whether there is risk of collision.That is, the current flight data based on two unmanned planes, sentence
Disconnected two unmanned planes whether there is risk of collision, and/or the current flight data based on unmanned plane and manned machine, judges unmanned plane
Whether there is risk of collision with manned machine.If unmanned plane and flight equipment have risk of collision, in s104, airspace management
The ue (user equipment, user equipment) that system manages to unmanned plane and/or flight equipment send avoidance information.
Specifically, airspace management system can send avoidance information to the ue of unmanned plane association.Specifically, no
Man-machine to airspace management system send identity, then, airspace management system, according to identity, finds out pre-recorded
The ue associating with identity, and then send avoidance information to the ue of association.Wherein, the ue associating with identity is for example
For the possessory ue of unmanned plane, or the ue of unmanned plane driver.So, the unmanned plane owner or unmanned plane driver are based on
After avoidance information it becomes possible to know unmanned plane currently may the upper flight equipment of collision, and then by unmanned controller to
Unmanned plane sends the flight of avoidance instruction adjustment unmanned plane, it is to avoid collision.
Or, airspace management system can also send avoidance information to flight equipment, and then points out flight equipment
Driver makes avoidance measure in time, for example, change course, or adjustment the second flying height etc., and then increase unmanned plane and fly
The distance between row equipment, it is to avoid collision.
Or, airspace management system can also all occur avoidance information to ue and flight equipment simultaneously.Institute of the present invention
The those of ordinary skill in genus field can be configured according to actual, and the present invention is not particularly limited.
During implementing, in the embodiment of the present invention, flying quality can be real-time flight data, that is, represent unmanned
The data of machine and flight equipment current flight situation or project flight data, that is, represent that unmanned plane and flight equipment will
The data of flight progress to be entered.For different flying qualities, the embodiment of s103 is different.Below, will be in detail
It is introduced.
The first:
In the first embodiment, flying quality is specially real-time flight data.Unmanned plane in the embodiment of the present invention
Under power-up state, the flying quality of meeting Real-time Collection unmanned plane, and the flying quality collecting is sent to airspace management system
System.Wherein, the first flight position is specially the current flight position of unmanned plane, and it is current that the first flying height is specially unmanned plane
Flying height, the second flight position is specially the current flight position of flight equipment, and the second flying height is that flight equipment is current
Flying height.And then, judge to whether there is risk of collision between unmanned plane and flight equipment, particularly as follows:
Judge whether described unmanned plane is currently located in the preset range of described flight equipment.
Specifically, airspace management system arranges a preset range for flight equipment in advance.Preset range is, for example, to fly
500 meters of spatial dimension around equipment, or 1000 meters spatial dimension etc. around flight equipment, skill of the art
Art personnel can be configured according to actual, and the present invention is not particularly limited.
First, according to the current flight position of flight equipment and flying height, calculate the preset range of flight equipment.So
Afterwards, according to the current flight position of unmanned plane and current flying height, judge whether the current spatial location of unmanned plane is located at
Whether flight equipment is located in preset range.
During due to unmanned plane in flight equipment preset range, unmanned plane is nearer apart from flight equipment, then unmanned plane with
Just ratio is larger for the possibility of flight equipment collision, or the air-flow around unmanned plane and flight equipment may influence each other and cause
Danger, so when unmanned plane is currently located in preset range, determine that unmanned plane and flight equipment have risk of collision.Conversely,
If unmanned plane is not located in preset range, unmanned plane is distant with flight equipment, and the possibility of collision is less, so can
To determine that now unmanned plane and flight equipment do not have risk of collision.
Seen from the above description, by the current flight position of acquisition unmanned plane and current flying height, and flight
The current flight position of equipment and current flying height, find to enter the unmanned plane in flight equipment preset range in time, and
And point out this unmanned plane and/or the timely avoidance of flight equipment, it is achieved that in real time risk of collision is monitored and prevents
Technique effect.
Second:
In second embodiment, flying quality is specially project flight data, and wherein, the first flight position is specially
Unmanned plane project flight position, the first flying height is specially unmanned plane project flight height, and the second flight position is specially and flies
Row facilities plan flight position, the second flying height is flight equipment project flight height.And then, judge that unmanned plane and flight set
Whether there is risk of collision between standby, particularly as follows:
Judge whether described unmanned plane can enter institute according to the project flight position of described unmanned plane and project flight height
State in the preset range of flight equipment.
Specifically, in second embodiment, it is winged that unmanned plane needs the forward direction airspace management system in flight to submit to
Row plan.And, airspace management system also needs to obtain flight equipment from the systems such as Civil Aviation System, Air Force Flight planning system
Flight plan.Wherein, flight plan at least includes flight time, project flight position and project flight height, further also
Project flight distance, takeoff setting and landing place etc. can be included.Wherein, the flight time refer to fly start to execute when
Carve, project flight position refers in flight course that plan will be through position sequence, or course line.
Airspace management system is according to flight time of unmanned plane, project flight position and project flight height, and flight
The flight time of equipment, project flight position and project flight height, calculate unmanned plane and flight equipment in same time shaft
The locus in each moment.Then, judge whether the locus in each moment of unmanned plane is located at the default model of flight equipment
In enclosing.If unmanned plane all moment all not in the preset range of flight equipment then it represents that unmanned plane flies according to schedule
Position and project flight height will not enter the preset range of flight equipment, so being safe.Whereas if unmanned plane is one
Individual or multiple moment enter the preset range of flight equipment then it represents that unmanned plane flight position and project flight height according to schedule
The preset range of flight equipment can be entered, so unmanned plane and flight equipment have risk of collision.
Seen from the above description, by acquisition unmanned plane project flight position and project flight height, and flight equipment
Project flight position and project flight height, thus just it can be found that unmanned plane sets possibly into flight before unmanned plane during flying
In standby preset range, and point out driver and/or the flight equipment avoidance of this unmanned plane, it is achieved that in advance to collision danger
The technique effect that danger is monitored and prevents.
Further, in conjunction with the first embodiment above-mentioned, can also include further:
After sending described avoidance information preset duration to described ue, judge whether described unmanned plane is still located on institute
State in preset range；
When described unmanned plane is still located in described preset range, sends to described unmanned plane and force control instruction, with
Described unmanned plane is made to sail out of described preset range.
Specifically, in embodiments of the present invention, preset duration for example, 10 minutes, 30 minutes etc., neck belonging to the present invention
The those of ordinary skill in domain can be configured according to actual, and the present invention is not particularly limited.If specifically to ue in s104
Send avoidance information, or all send avoidance information to ue and flight equipment simultaneously, then carrying to ue transmission avoidance
After showing the preset duration of information, judge whether unmanned plane is located in the preset range of flight equipment again.
When unmanned plane is still located in preset range, in order to ensure the safety of flight equipment, now, airspace management system will
Send to unmanned plane and force control instruction, force to make unmanned plane sail out of preset range.
Specifically, in embodiments of the present invention, force control instruction can for control unmanned plane return takeoff setting or
The pressure of specified location is maked a return voyage instruction.Unmanned plane reception pressure is maked a return voyage after instruction, returns takeoff setting landing, or goes to specified
The management base landing of position, such as unmanned plane, thus roll away from from the preset range of flight equipment, increase with flight equipment away from
From, reduction collision probability, ensure safety.
Or, force control instruction can be the forced landing instruction controlling unmanned plane to land immediately.Unmanned plane receives forced landing and refers to
After order, land immediately, thus rolling away from from the preset range of flight equipment, increasing the distance with flight equipment, reducing collision several
Rate, ensures safety.
From foregoing description as can be seen that to unmanned plane send avoidance information preset duration after, if unmanned plane is still
When being so located in preset range, then send to unmanned plane and force control instruction, so that unmanned plane sails out of preset range.On the one hand,
Judge again after preset duration, can be to the unmanned plane sufficient avoidance time；On the other hand, if after preset duration unmanned plane according to
So it is located in preset range, then force to control unmanned plane to sail out of preset range, thus having ensured the peace of flight equipment and unmanned plane
Entirely.
During implementing, in the case of not conflicting, each scheme in the embodiment of the present invention and embodiment
Can in any combination, the present invention is not particularly limited, and the present invention is also intended to comprise these combinations.
Second aspect present invention provides another kind of barrier-avoiding method, is applied to unmanned plane.The method includes:
S201: receive the current flight position of flight equipment and the current flying height that airspace management system sends；
S202: obtain the current flight position of unmanned plane and current flying height；
S203: based on the current flight position of described flight equipment and current flying height, and described unmanned plane is worked as
Front flight position and current flying height, judge that described unmanned plane and described flight equipment whether there is risk of collision；
S204: when there is risk of collision in described unmanned plane and described flight equipment, execution avoidance instruction.
Specifically, in embodiments of the present invention, airspace management system still can obtain the real-time flight of flight equipment
Data, then, flight position current for flight equipment and current flying height are sent to unmanned plane by airspace management system again.
And then, in s201, unmanned plane receives the current flight position of flight equipment of airspace management system transmission and current flight
Highly.
In addition, in s202, unmanned plane also needs to obtain itself current flight position and current flying height.
During implementing, the execution sequence of s201 and s202 does not limit, ordinary skill of the art
Personnel can be configured according to being actually needed.
Then, unmanned plane is based on the current flight position of the flight equipment receiving from airspace management system and current flying
Line height, and itself current flight position and current flying height, judge that unmanned plane and flight equipment whether there is and touch
Hit danger.Specifically, the real-time flight data of the real-time flight data based on itself for the unmanned plane and flight equipment, judges itself
Currently whether it is located in the preset range of unmanned plane.If being currently located in preset range then it represents that unmanned plane and flight equipment
There is risk of collision, automatically the instruction of execution avoidance, or send avoidance information to ue, so that driver is sent by remote control
Avoidance instructs to unmanned plane.
Further, can also include:
Send the current flight position of described unmanned plane and current flying height to described airspace management system.
Specifically, unmanned plane is except obtaining the real-time flight data of flight equipment from airspace management system, can also be by
The real-time flight data of itself is sent to airspace management system, and then is put forward itself real-time flight data by airspace management system
Supply flight equipment is so that flight equipment can also carry out avoidance.
In aforementioned first aspect embodiment, barrier-avoiding method and the something in common of barrier-avoiding method in second aspect embodiment please be joined
Literary composition before examination, succinct for specification, will not be described in detail herein.
During implementing, in the case of not conflicting, each scheme in the embodiment of the present invention and embodiment
Can in any combination, the present invention is not particularly limited, and the present invention is also intended to comprise these combinations.
Third aspect present invention provides another kind of barrier-avoiding method, is applied to unmanned plane.The method includes:
S301: receive the current flight position of described flight equipment and the current flying height that flight equipment sends；
S302: obtain the current flight position of unmanned plane and current flying height；
S303: based on the current flight position of described flight equipment and current flying height, and described unmanned plane is worked as
Front flight position and current flying height, judge that described unmanned plane and described flight equipment whether there is risk of collision；
S304: when there is risk of collision in described unmanned plane and described flight equipment, execution avoidance instruction.
Specifically, the unmanned plane in the embodiment of the present invention is provided with signal receiver, is flying for receiving flight equipment
The real-time flight data of overseas broadcast during row.In s301, unmanned plane receives flight equipment broadcast by signal receiver
The current flight position of flight equipment and current flying height.And, in s302, obtain itself current flight position
With current flying height.
During implementing, the execution sequence of s301 and s302 does not limit, ordinary skill of the art
Personnel can be configured according to being actually needed.
Then, unmanned plane is based on the current flight position of the flight equipment receiving from airspace management system and current flying
Line height, and itself current flight position and current flying height, judge that unmanned plane and flight equipment whether there is and touch
Hit danger.Specifically, the real-time flight data of the real-time flight data based on itself for the unmanned plane and flight equipment, judges itself
Currently whether it is located in the preset range of unmanned plane.If being currently located in preset range then it represents that unmanned plane and flight equipment
There is risk of collision, automatically the instruction of execution avoidance, or send avoidance information to ue, so that driver is sent by remote control
Avoidance instructs to unmanned plane.
Further, can also include:
Broadcast the current flight position of described unmanned plane and current flying height.
Specifically, unmanned plane, can also be real-time by itself except receiving the real-time flight data of flight equipment broadcast
Flying quality be also broadcast in surrounding environment so that the flight equipment in surrounding environment is obtained itself real-time flight data is supplied to
Flight equipment is so that flight equipment can also carry out avoidance.
In aforementioned first aspect embodiment, barrier-avoiding method and the something in common of barrier-avoiding method in third aspect embodiment please be joined
Literary composition before examination, succinct for specification, will not be described in detail herein.
During implementing, in the case of not conflicting, each scheme in the embodiment of the present invention and embodiment
Can in any combination, the present invention is not particularly limited, and the present invention is also intended to comprise these combinations.
Based on the same inventive concept of barrier-avoiding method in aforementioned first aspect embodiment, fourth aspect present invention also provides
A kind of airspace management system, comprising:
Unmanned plane during flying data reception module, the first flight position and the first flight for receiving unmanned plane transmission are high
Degree；
Flight equipment flying quality receiver module, for receiving the second flight position and second flight of flight equipment transmission
Highly；
First judge module, for based on described first flight position, described first flying height, described second flight position
Put and described second flying height, judge that described unmanned plane and described flight equipment whether there is risk of collision；
Reminding module, for when described unmanned plane and described flight equipment have risk of collision, to described unmanned office
The user equipment ue of connection and/or described flight equipment send avoidance information.
Optionally, described first flight position and described first flying height are specially the current flight position of described unmanned plane
Put and current flying height, described second flight position and described second flying height specially described flight equipment are current
Flight position and current flying height, described first judge module is used for judging whether described unmanned plane is currently located at described flying
In the preset range of row equipment；When described unmanned plane is currently located in described preset range, described unmanned plane and described flight
There is risk of collision in equipment.
Optionally, the project flight position of described first flight position and described first flying height specially described unmanned plane
Put and project flight height, the plan of described second flight position and described second flying height specially described flight equipment flies
Line position is put and project flight height, and described first judge module is used for judging that described unmanned plane flies according to the plan of described unmanned plane
Line position is put with whether project flight height can enter in the preset range of described flight equipment；When described unmanned plane is according to described nothing
When man-machine project flight position and project flight height can enter in the preset range of described flight equipment, described unmanned plane and
There is risk of collision in described flight equipment.
Optionally, described second judge module is additionally operable to when presetting to the described unmanned plane described avoidance information of transmission
After length, judge whether described unmanned plane is still located in described preset range；
Described system also includes instruction sending module, for when described unmanned plane is still located in described preset range,
Send to described unmanned plane and force control instruction, so that described unmanned plane sails out of described preset range.
The various change mode of the barrier-avoiding method in previous embodiment and instantiation are equally applicable to the sky of the present embodiment
Domain management system, by the aforementioned detailed description to barrier-avoiding method, those skilled in the art are clear that the present embodiment
The implementation of hollow domain management system, thus succinct for specification, will not be described in detail herein.
Based on the same inventive concept of barrier-avoiding method in aforementioned second aspect embodiment, fifth aspect present invention also provides
A kind of unmanned plane, comprising:
First receiver module, for receiving the current flight position of flight equipment of airspace management system transmission and current
Flying height；
First acquisition module, for obtaining the current flight position of unmanned plane and current flying height；
Second judge module, for the flight position current based on described flight equipment and current flying height, and
The current flight position of described unmanned plane and current flying height, judge that described unmanned plane and described flight equipment whether there is
Risk of collision；
First performing module, for when described unmanned plane and described flight equipment have risk of collision, execution avoidance refers to
Order.
Optionally, described unmanned plane also includes the first sending module, for sending described nothing to described airspace management system
Man-machine current flight position and current flying height.
The various change mode of the barrier-avoiding method in previous embodiment and instantiation are equally applicable to the nothing of the present embodiment
Man-machine, by the aforementioned detailed description to barrier-avoiding method, those skilled in the art are clear that in the present embodiment unmanned
The implementation of machine, thus succinct for specification, will not be described in detail herein.
Based on the same inventive concept of barrier-avoiding method in aforementioned third aspect embodiment, sixth aspect present invention also provides
A kind of unmanned plane, comprising:
Second receiver module, for receiving the current flight position of described flight equipment of flight equipment transmission and current
Flying height；
Second acquisition module, for obtaining the current flight position of unmanned plane and current flying height；
3rd judge module, for the flight position current based on described flight equipment and current flying height, and
The current flight position of described unmanned plane and current flying height, judge that described unmanned plane and described flight equipment whether there is
Risk of collision；
Second performing module, for when described unmanned plane and described flight equipment have risk of collision, execution avoidance refers to
Order.
Optionally, described unmanned plane also includes broadcast module, for broadcasting the current flight position of described unmanned plane and working as
Front flying height.
The various change mode of the barrier-avoiding method in previous embodiment and instantiation are equally applicable to the nothing of the present embodiment
Man-machine, by the aforementioned detailed description to barrier-avoiding method, those skilled in the art are clear that in the present embodiment unmanned
The implementation of machine, thus succinct for specification, will not be described in detail herein.
Said one in the embodiment of the present application or multiple technical scheme, at least have following one or more technology effect
Really:
1st, in technical scheme in embodiments of the present invention, receive the first flight position and the first flight that unmanned plane sends
Highly, and receive the second flight position and the second flying height that flight equipment sends, be then based on the first flight position, the
One flying height, the second flight position and the second flying height, judge that unmanned plane and flight equipment whether there is risk of collision, when
When unmanned plane and flight equipment have risk of collision, send avoidance information to the ue of unmanned plane association and/or flight equipment.
So, judge exist between unmanned plane and flight equipment in the flight position according to unmanned plane and flight equipment and flying height
When risk of collision, send avoidance information to ue and/or flight equipment, so reminded unmanned plane driver and/or
Flight equipment driver adjusts flight in time, it is to avoid the two collision.So it is achieved that between flight equipment and unmanned plane, example
As between unmanned plane and unmanned plane, and/or the technique effect carrying out avoidance between unmanned plane and manned machine.
2nd, in the technical scheme of the embodiment of the present invention, the flight equipment that unmanned plane receives the transmission of airspace management system is current
Flight position and current flying height, and obtain itself current flight position and current flying height, be then based on
The current flight position of flight equipment and current flying height, and the current flight position of unmanned plane and current flight high
Degree, judges that unmanned plane and flight equipment whether there is risk of collision, when dangerous, then execution avoidance instruction.So, unmanned
When discovery itself enters in flight equipment preset range, execution avoidance instructs machine automatically, and then rolls preset range away from, away from winged
Row equipment, thus avoid collide with flight equipment.So it is achieved that between flight equipment and unmanned plane, for example no
Man-machine and unmanned plane between, and/or the technique effect carrying out avoidance between unmanned plane and manned machine.
3rd, in the technical scheme of the embodiment of the present invention, unmanned plane accept flight equipment transmission current flight position and
Current flying height, and obtain itself current flight position and current flying height, it is then based on flight equipment current
Flight position and current flying height, and the current flight position of unmanned plane and current flying height, judge unmanned
Machine and flight equipment whether there is risk of collision, when dangerous, then execution avoidance instruction.So, unmanned plane is finding certainly
When body enters in flight equipment preset range, automatically execution avoidance instruction, and then roll preset range away from, away from flight equipment, from
And avoid and collide with flight equipment.So it is achieved that between flight equipment and unmanned plane, such as unmanned plane with unmanned
Between machine, and/or the technique effect carrying out avoidance between unmanned plane and manned machine.
Those skilled in the art are it should be appreciated that embodiments of the invention can be provided as method, system or computer program
Product.Therefore, the present invention can be using complete hardware embodiment, complete software embodiment or the reality combining software and hardware aspect
Apply the form of example.And, the present invention can be using in one or more computers wherein including computer usable program code
The upper computer program implemented of usable storage medium (including but not limited to magnetic disc store, cd-rom, optical memory etc.) produces
The form of product.
The present invention is the flow process with reference to method according to embodiments of the present invention, equipment (system) and computer program
Figure and/or block diagram are describing.It should be understood that can be by each stream in computer program instructions flowchart and/or block diagram
Flow process in journey and/or square frame and flow chart and/or block diagram and/or the combination of square frame.These computer programs can be provided
The processor instructing all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing device is to produce
A raw machine is so that produced for reality by the instruction of computer or the computing device of other programmable data processing device
The device of the function of specifying in present one flow process of flow chart or multiple flow process and/or one square frame of block diagram or multiple square frame.
These computer program instructions may be alternatively stored in and can guide computer or other programmable data processing device with spy
Determine in the computer-readable memory that mode works so that the instruction generation inclusion being stored in this computer-readable memory refers to
Make the manufacture of device, this command device realize in one flow process of flow chart or multiple flow process and/or one square frame of block diagram or
The function of specifying in multiple square frames.
These computer program instructions also can be loaded in computer or other programmable data processing device so that counting
On calculation machine or other programmable devices, execution series of operation steps to be to produce computer implemented process, thus in computer or
On other programmable devices, the instruction of execution is provided for realizing in one flow process of flow chart or multiple flow process and/or block diagram one
The step of the function of specifying in individual square frame or multiple square frame.
Obviously, those skilled in the art can carry out the various changes and modification essence without deviating from the present invention to the present invention
God and scope.So, if these modifications of the present invention and modification belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprise these changes and modification.
Claims (10)
1. a kind of barrier-avoiding method is it is characterised in that include:
Receive the first flight position and the first flying height that unmanned plane sends；
Receive the second flight position and the second flying height that flight equipment sends；
Based on described first flight position, described first flying height, described second flight position and described second flying height,
Judge that described unmanned plane and described flight equipment whether there is risk of collision；
When there is risk of collision in described unmanned plane and described flight equipment, to described unmanned plane association user equipment ue and/
Or described flight equipment sends avoidance information.
2. the method for claim 1 is it is characterised in that described first flight position and described first flying height are concrete
For the current flight position of described unmanned plane and current flying height, described second flight position and described second flying height
It is specially the current flight position of described flight equipment and current flying height, judge described unmanned plane and described flight equipment
With the presence or absence of risk of collision, comprising:
Judge whether described unmanned plane is currently located in the preset range of described flight equipment；
When described unmanned plane is currently located in described preset range, there is collision danger in described unmanned plane and described flight equipment
Danger.
3. the method for claim 1 is it is characterised in that described first flight position and described first flying height are concrete
Project flight position for described unmanned plane and project flight height, described second flight position and described second flying height tool
Body is the project flight position of described flight equipment and project flight height, judges whether are described unmanned plane and described flight equipment
There is risk of collision, comprising:
Judge whether described unmanned plane can enter described flying according to the project flight position of described unmanned plane and project flight height
In the preset range of row equipment；
When described unmanned plane can enter described flight equipment according to the project flight position of described unmanned plane and project flight height
Preset range in when, there is risk of collision in described unmanned plane and described flight equipment.
4. method as claimed in claim 2 is it is characterised in that methods described also includes:
After sending described avoidance information preset duration to described ue, judge whether described unmanned plane is still located on described pre-
If in scope；
When described unmanned plane is still located in described preset range, sends to described unmanned plane and force control instruction, so that institute
State unmanned plane and sail out of described preset range.
5. a kind of barrier-avoiding method is it is characterised in that include:
Receive the current flight position of flight equipment and the current flying height that airspace management system sends；
Obtain the current flight position of unmanned plane and current flying height；
Based on the current flight position of described flight equipment and current flying height, and the flight position that described unmanned plane is current
Put and current flying height, judge that described unmanned plane and described flight equipment whether there is risk of collision；
When there is risk of collision in described unmanned plane and described flight equipment, execution avoidance instruction.
6. method as claimed in claim 5 is it is characterised in that methods described also includes:
Send the current flight position of described unmanned plane and current flying height to described airspace management system.
7. a kind of barrier-avoiding method is it is characterised in that include:
Receive the current flight position of described flight equipment and the current flying height that flight equipment sends；
Obtain the current flight position of unmanned plane and current flying height；
Based on the current flight position of described flight equipment and current flying height, and the flight position that described unmanned plane is current
Put and current flying height, judge that described unmanned plane and described flight equipment whether there is risk of collision；
When there is risk of collision in described unmanned plane and described flight equipment, execution avoidance instruction.
8. a kind of airspace management system is it is characterised in that include:
Unmanned plane during flying data reception module, for receiving the first flight position and first flying height of unmanned plane transmission；
Flight equipment flying quality receiver module, the second flight position and the second flight for receiving flight equipment transmission are high
Degree；
First judge module, for based on described first flight position, described first flying height, described second flight position and
Described second flying height, judges that described unmanned plane and described flight equipment whether there is risk of collision；
Reminding module, for when described unmanned plane and described flight equipment have risk of collision, to the association of described unmanned plane
User equipment ue and/or described flight equipment send avoidance information.
9. a kind of unmanned plane is it is characterised in that include:
First receiver module, the current flight position of the flight equipment for receiving the transmission of airspace management system and current flight
Highly；
First acquisition module, for obtaining the current flight position of unmanned plane and current flying height；
Second judge module, for the flight position current based on described flight equipment and current flying height and described
The current flight position of unmanned plane and current flying height, judge that described unmanned plane and described flight equipment whether there is collision
Dangerous；
First performing module, for when described unmanned plane and described flight equipment have risk of collision, execution avoidance instructs.
10. a kind of unmanned plane is it is characterised in that include:
Second receiver module, for receiving the current flight position of the described flight equipment that flight equipment sends and current flying
Line height；
Second acquisition module, for obtaining the current flight position of unmanned plane and current flying height；
3rd judge module, for the flight position current based on described flight equipment and current flying height and described
The current flight position of unmanned plane and current flying height, judge that described unmanned plane and described flight equipment whether there is collision
Dangerous；
Second performing module, for when described unmanned plane and described flight equipment have risk of collision, execution avoidance instructs.
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