CN106444831A - Unmanned aerial vehicle (UAV) forbidden in graded manner and graded forbidding method of UAV - Google Patents
Unmanned aerial vehicle (UAV) forbidden in graded manner and graded forbidding method of UAV Download PDFInfo
- Publication number
- CN106444831A CN106444831A CN201610861971.4A CN201610861971A CN106444831A CN 106444831 A CN106444831 A CN 106444831A CN 201610861971 A CN201610861971 A CN 201610861971A CN 106444831 A CN106444831 A CN 106444831A
- Authority
- CN
- China
- Prior art keywords
- unmanned vehicle
- application apparatus
- restriction
- control module
- unmanned
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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 invention relates to a UAV forbidden in a graded manner and a graded forbidding method of the UAV. The UAV comprises at least one application device (1), a measurement module (2) for measuring state data of the UAV and a control module (3); the measurement module (2) sends the state data to the control module (3), and on the basis of the state data, the control module (3) determines the forbidding grade of the UAV, and sends a forbidding command corresponding to the forbidding grade to the UAV and/or the at least one application device (1).
Description
Technical field
The invention belongs to unmanned vehicle control field, unmanned vehicle and its divide that more particularly to a kind of classification is disabled
Level prohibited method.
Background technology
With the progress of technology, the maturation of industry, the application of unmanned vehicle is constantly expanded, either industry
Unmanned vehicle is still consumed unmanned vehicle and all obtains significant progress, and especially many rotary wind types unmanned vehicle is representative
Little miniature unmanned vehicle, its various ingredient starts modularity, and industry reaches its maturity.
Although saying from industry angle, there are a lot of application spaces in unmanned vehicle, and presently most ripe application is led
Domain still carries some optional equipments on unmanned vehicle to implement application specific functionality, and space mainly realized by unmanned vehicle
In the range of flexible movement, and if many rotary wind types unmanned vehicle, moreover it is possible to guarantee to keep outstanding on some air positions
Stop；And specifically apply, it is to be realized by the optional equipment being equipped with unmanned vehicle.
What this working method was most commonly seen is exactly aerial photography unmanned aerial vehicle, carries a shooting on unmanned vehicle
Equipment, carries out shooting action using picture pick-up device, and unmanned vehicle is moved to complete to fly and hovered, and is guaranteed to clap with head
Take the photograph effect.The application of aerial photography unmanned aerial vehicle has tended to ripe, while also caused a lot of problems, for some security sensitives
Or the region of information sensing, it is to dislike very much swarming into for unauthorized aerial photography unmanned aerial vehicle.
Even above-mentioned contradiction has also caused it has been proposed that the mechanism of antagonism aerial photography unmanned aerial vehicle, such as radar class will be set up
Monitoring mechanism, even more serious defense mechanism for shooting down unmanned vehicle etc..
As above-mentioned contradiction also result in the attention of aerial photography unmanned aerial vehicle production firm, so the unmanned flight that currently takes photo by plane
The main flow production firm of device, all increased the concept of no-fly zone in aerial photography unmanned aerial vehicle system design.So-called no-fly zone is general
Thought is exactly, in the environment of some high probabilities cause airspace management dispute, directly to forbid taking off for aerial photography unmanned aerial vehicle.This
Mechanism, for the such territorial sky secured area in airport, for the such information control zone of government organs, has well
Effect.
But the foundation of this mechanism also shows slightly simple and crude.Due to production firm be by NAVSTAR come
Implement no-fly zone set and monitor.So, no-fly zone is typically with reference to electronic map data and is mounted in unmanned vehicle
On NAVSTAR, judge whether the current location of unmanned vehicle and the current location of unmanned vehicle are located
In the no-fly zone of systemic presupposition, when judging then directly to forbid the flight control of unmanned vehicle in no-fly zone, so as to keep away
Exempt from unmanned vehicle to take off.
Why say that this mechanism is simple and crude, actually because this no-fly zone mechanism does not consider that no-fly zone is no-fly
Principle, and employ single way to manage.Some no-fly zones are prohibited from what aircraft was flown in the air, typically than like flying
Airport；And some no-fly zones are prohibited from fact aircraft and complete particular flight action in the air, such as some individual Factory Buildings,
Venue overhead is prohibited from aerial photography unmanned aerial vehicle shooting, but and is not prohibited by aerial photography unmanned aerial vehicle and leaps.
The simplification of current no-fly zone administrative mechanism, the consequence for causing is so that the application of unmanned vehicle is restricted.
For example, it is unmanned vehicle generally all by numerous factory settings in the range of Beijing Today five rings or six rings
No-fly zone.In fact in some radiation area of squares, some users need to complete to be similar to little miniature unmanned vehicle and send ring to ask
Wed such movement when, be also not related to any action of taking photo by plane, but in the currently this no-fly zone management strategy that directly forbids and flying
Under, no matter how user is thought using unmanned vehicle, is all impossible.
Patent documentation CN105722031A discloses a kind of unmanned plane, unmanned plane (100) with communication module (130),
Locating module (120), memory module (140) and control module (150), described unmanned plane (100) by communication module (130) with
Operation control terminal is communicated, and described locating module (120) are used for detecting the positional information of unmanned plane, the position that locating module (120) is detected
Confidence breath is sent to operation control terminal by communication module (130), and memory module (140) are previously stored with no-fly region and pre-
Police region domain, described control module (150) are used for positional information, memory module (140) storage for calling locating module (120) to detect
No-fly region and prewarning area information, the positional information according to unmanned plane (100) judges whether unmanned plane enters the early warning
Region or no-fly region, if it is judged that unmanned plane enters the prewarning area, then send alarm signal to operation control terminal, if
Judge that unmanned plane enters the no-fly region, then the landing of control unmanned plane.Patent prompt terminal manipulator controls unmanned plane
Away from no-fly region；And after unmanned plane enters no-fly region, command adapted thereto is exported automatically by unmanned plane, force unmanned plane
Landing, avoids no-fly region automatically.But the patent cannot be classified the application apparatus on disabling unmanned vehicle so that it cannot thin
Change no-fly unmanned vehicle and certain or multiple application apparatus is limited, reduce range of application and the suitability of unmanned vehicle.
Disclosed in patent documentation CN104932525 A, a kind of control method of unmanned plane is comprised the following steps：Obtain nobody
The current location of machine and attitude；According to current location and the attitude of the unmanned plane, judge whether the unmanned plane will enter limit
Winged region or no-fly region；When unmanned plane will enter restricted area domain or no-fly region, according to the corresponding flight control in the region
System strategy, controls unmanned plane during flying.The patent causes unmanned plane not only can judge no-fly region and restricted area domain in advance, and
And no-fly region can be avoided automatically or flown according to the requirement in restricted area domain, flight efficiency and flight safety is improved, but should
The application apparatus that patent cannot be classified on disabling unmanned vehicle is so that it cannot refine no-fly unmanned vehicle and limit certain
Or multiple application apparatus, reduce range of application and the suitability of unmanned vehicle.
Disclosed in patent documentation CN104950907 A, a kind of monitoring method of unmanned plane includes：Obtain the state of unmanned plane
Information；Judge whether the unmanned plane enters default sensitivity spatial domain based on the status information, wherein, the default sensitivity spatial domain
Region for the advance restriction unmanned plane during flying that delimit；If it is judged that the unmanned plane enters into the default sensitivity spatial domain,
Early warning information is then exported.The patent realizes the monitoring of the unmanned plane to flight to sensitizing range, but the patent cannot be classified disabling
Application apparatus on unmanned vehicle so that it cannot the no-fly unmanned vehicle of refinement and limit certain or multiple application apparatus, drop
The low range of application of unmanned vehicle and the suitability.
Therefore, urgency technical issues that need to address in this area are, need to be refined the management of no-fly zone, at least carefully
It is divided into flare maneuver to forbid forbidding with the action of aircraft applications equipment.More directly for example, exactly to take photo by plane no
As a example by man-machine, respectively unmanned vehicle can be flown and unmanned vehicle on capture apparatus allow work to carry out point
Other bans policy management.For the application of other unmanned vehicles, be equally applicable this flight forbid and
The no-fly management strategy of separate management is forbidden in action.
Disclosed above- mentioned information is used only for strengthening the understanding to background of the present invention in the background section, it is thus possible to
Information comprising prior art known to a person of ordinary skill in the art in not constituting home.
Content of the invention
The purpose of the present invention is to be achieved by the following technical programs.
According to an aspect of the present invention, a kind of classification disabling unmanned vehicle include at least one application apparatus, for
The measurement module of measurement unmanned vehicle status data and control module, the measurement module status data is to the control
Module, the control module judges that based on status data the restriction rank residing for unmanned vehicle is concurrently sent corresponding to the restriction
The restriction order of rank is to the unmanned vehicle and/or at least one application apparatus.
" the restriction rank " of the present invention is referred to be classified unmanned vehicle and at least one application apparatus and is not disabled,
For example, may be selected only to disable the restriction rank of an application apparatus or limit the restriction rank of several application apparatus or limit institute
The restriction rank for having application apparatus and the restriction rank for limiting unmanned vehicle flight.
Preferably, the measurement module is that locating module, described locating module sends real time position data to the control
Module, the control module judged based on the position data restriction rank residing for the unmanned vehicle concurrently send corresponding to
The limiter stage is other to limit order to the unmanned vehicle and/or at least one application apparatus.
Preferably, the unmanned vehicle includes electric map module, and the electric map module is included with multiple limits
The geodata of rank processed, the control module position data and geodata are to judge the unmanned vehicle institute
The restriction rank at place is concurrently sent and orders the unmanned vehicle and/or at least one to be answered corresponding to other restriction of the limiter stage
Use equipment.
Preferably, the other geodata of multiple limiter stages can pre-set, real-time edition and/or regularly update.
Preferably, the control module includes to store the memorizer with the other status data of multiple limiter stages, the control
Molding block judges that based on status data the restriction rank residing for unmanned vehicle concurrently send restriction other corresponding to the limiter stage
Order the unmanned vehicle and/or at least one application apparatus.
Preferably, the control module receives concurrent from outside multiple restriction class information via Wireless Telecom Equipment
Sending order is limited to the unmanned vehicle and/or at least one application apparatus corresponding to the limiter stage is other.
Preferably, described limit rank include to forbid one or more application apparatus using first level, forbid owning
The second level of application apparatus and no-fly third level, mutually should be corresponding to the other restriction order of the limiter stage and forbid one
Or multiple application apparatus using, forbid all application apparatus use and forbid flight.
Preferably, the application apparatus includes capture apparatus, remote sensing equipment and vehicle equipment, and the measurement module includes meter
When device, altimeter and/or gyroscope, the status data includes time data, altitude information and/or position data, the limit
Rank processed includes the first level that no photo equipment is used, and forbids first level, taboo that remote sensing equipment and capture apparatus use
Second level and no-fly third level that only all application apparatus are used, when the control module based on the time data,
Altitude information and/or position data judge the first level that unmanned vehicle is used in no photo equipment, and control module is sent out
The restriction order for sending no photo equipment to use is to the capture apparatus；When the control module is based on the time data, height
Degrees of data and/or position data judge first level of the unmanned vehicle in forbidding that remote sensing equipment and capture apparatus are used, control
Molding block sends forbids restriction order that remote sensing equipment and capture apparatus use to the remote sensing equipment and capture apparatus；When described
Based on the time data, altitude information and/or position data, control module judges that unmanned vehicle is in and forbids all applications
The second level that equipment is used, control module sends forbids restriction order that all application apparatus use to all application apparatus；
When the control module judges unmanned vehicle in the third level based on the time data, altitude information and/or position data
Not, control module sends the restriction order for forbidding aircraft flight to the unmanned vehicle.
Preferably, the unmanned vehicle of the classification disabling includes alert device, when the unmanned vehicle and/or at least
When one application apparatus is limited, the alert device sends the mark institute confined unmanned vehicle and/or at least
The warning information of individual application apparatus is to point out unmanned vehicle user and/or third party.
According to a further aspect in the invention, a kind of aircraft prohibited method of the unmanned vehicle using described classification disabling
Comprise the following steps.
In first step, receive or prestore multiple restriction ranks.
In second step, the status data of unmanned vehicle is measured.
In third step, judge that based on the status data restriction rank residing for unmanned vehicle is concurrently sent corresponding to institute
State other restriction of limiter stage and order the unmanned vehicle and/or at least one application apparatus.
Preferably, in first step, the restriction rank at least includes the first level that no photo equipment is used, and forbids
Remote sensing equipment and capture apparatus using first level, forbid second level and the no-fly third level that all application apparatus use
Not.
In second step, the status data of unmanned vehicle is measured, and the status data at least includes position data.
It is further preferred that in third step, when the control module judges unmanned vehicle based on the position data
In the first level that no photo equipment is used, the restriction order that control module transmission no photo equipment is used is to the bat
Take the photograph equipment.
Forbid that remote sensing equipment and shooting set when based on the position data, the control module judges that unmanned vehicle is in
The standby first level for using, control module send forbid remote sensing equipment and capture apparatus using restriction order set to the remote sensing
Standby and capture apparatus.
Forbid that all application apparatus are used when based on the position data, the control module judges that unmanned vehicle is in
Second level, control module sends forbids restriction order that all application apparatus use to all application apparatus.
When the control module judges unmanned vehicle in third level based on the position data, control module sends
Forbid the restriction order of aircraft flight to the unmanned vehicle.
The present invention is different from the no-fly zone management based on flare maneuver of prior art while implementing the dynamic of application apparatus
Make to forbid management, current no-fly zone management only monitors current unmanned vehicle coordinate and the taboo that sets up on the basis of electronic chart
Contrast between winged area's data, is judged based on this contrast, specifically to manage the control authority of unmanned vehicle.The present invention is direct
Implement no-fly management, the individually designed region that forbids for the action for being mounted in carry-on applying unit for flare maneuver
Management strategy, according to preset data in different regions, is monitored to the device action authority of applying unit and is controlled, this
Bright with not only independent but also associated comprehensive bans policy management, the present invention is except the rights management of individually designed application apparatus
Outside, manage herein in connection with traditional no-fly zone for flare maneuver.Still as a example by taking photo by plane, in some no-fly zones, although can not
Implement flare maneuver, but the shooting action of the picture pick-up device as its applying unit can also be allowed, now such as can be by
Unmanned vehicle is implemented to shoot as hand-held head；And in other no-fly zone, although aircraft flight is now allowed,
The shooting action of the picture pick-up device being prohibited from as its applying unit.
Described above is only the general introduction of technical solution of the present invention, and the technological means in order to cause the present invention are clearer
Understand, reach the degree that those skilled in the art can be practiced according to the content of description, and in order to allow the present invention
Above and other objects, features and advantages can become apparent, illustrated with the specific embodiment of the present invention below
Explanation.
Description of the drawings
By reading the detailed description in hereafter preferred embodiment, the various other advantage of the present invention and benefit
Those of ordinary skill in the art will be clear from understanding.Figure of description is only used for illustrating the purpose of preferred implementation,
And it is not considered as limitation of the present invention.It should be evident that drawings discussed below is only some embodiments of the present invention,
For those of ordinary skill in the art, on the premise of not paying creative work, can also obtain according to these accompanying drawings
Other accompanying drawings.And in whole accompanying drawing, it is presented with like reference characters identical part.
In the accompanying drawings：
Fig. 1 is the structural representation of the unmanned vehicle of classification disabling according to an embodiment of the invention；
Fig. 2 is the structural representation of the unmanned vehicle of classification disabling in accordance with another embodiment of the present invention；
Fig. 3 is the structural representation of the unmanned vehicle of the classification disabling according to another embodiment of the present invention；
Fig. 4 is the classification prohibited method of the unmanned vehicle using the classification disabling according to an embodiment of the invention
The step of schematic diagram.
Below in conjunction with drawings and Examples, the present invention is further explained.
Specific embodiment
The specific embodiment of the present invention is more fully described below with reference to accompanying drawings.Although show the present invention's in accompanying drawing
Specific embodiment, it being understood, however, that may be realized in various forms the present invention and should not be limited by embodiments set forth here
System.Conversely, provide these embodiments to be able to be best understood from the present invention, and can be complete by the scope of the present invention
Convey to those skilled in the art.
It should be noted that employing some vocabulary in the middle of description and claim to censure specific components.Ability
Field technique personnel it would be appreciated that, technical staff may call same component with different nouns.This specification and right
Require not in the way of the difference of noun is used as distinguishing component, but the difference with component functionally is used as differentiation
Criterion."comprising" or " including " as mentioned in work as in description in the whole text and claim is an open language, therefore should solve
Be interpreted into " comprising but be not limited to ".Description subsequent descriptions be implement the present invention better embodiment, so described description be with
For the purpose of the rule of description, the scope of the present invention is not limited to.Protection scope of the present invention is when regarding appended right
It is required that defined person is defined.
For ease of the understanding to the embodiment of the present invention, do by taking several specific embodiments as an example further below in conjunction with accompanying drawing
Explanation, and each accompanying drawing does not constitute the restriction to the embodiment of the present invention.
Fig. 1 is implemented for the structural representation of the unmanned vehicle of the classification disabling of one embodiment of the present of invention, the present invention
Example will be specifically described in conjunction with Fig. 1.
As shown in figure 1, An embodiment provides a kind of unmanned vehicle of classification disabling, described nobody flies
Row device includes at least one application apparatus 1, for measuring measurement module 2 and the control module 3 of unmanned vehicle status data, institute
2 status data of measurement module is stated to the control module 3, the control module 3 judges unmanned flight based on status data
Restriction rank residing for device is concurrently sent and limits order to the unmanned vehicle and/or at least corresponding to the limiter stage is other
Individual application apparatus 1.
" the restriction rank " of the present invention refers to unmanned vehicle and at least one application apparatus 1 are classified and do not prohibit
With, for example, may be selected only to disable the restrictions rank of an application apparatus 1 or the several applications of restriction set 1 standby restriction rank or
The restriction rank for limiting all application apparatus 1 and the restriction rank for limiting unmanned vehicle flight.
In embodiment, referred to as " unmanned plane ", english abbreviation is " UAV " (unmanned aerial to unmanned vehicle
Vehicle), it is the not manned aircraft that manipulates using radio robot and the presetting apparatus provided for oneself.From technical standpoint
Definition can be divided into：Depopulated helicopter, unmanned fixed-wing aircraft, unmanned multi-rotor aerocraft, unmanned airship, unmanned parasol etc..
The conventional func framework of unmanned vehicle will not be described here, and necessarily include power, the energy, control several major.Above-mentioned power
Part includes the component such as motor, electron speed regulator, rotor, by Motor drive rotor wing rotation, is that unmanned vehicle provides power,
And control the speed of rotor wing rotation by electron speed regulator；Above-mentioned Ministry of Energy divides including power supply module, typically can also be equipped with
There is the module of electricity monitoring and management；Above-mentioned control section includes the electronics unit device based on flight controller, various kinds of sensors
Part, mainly completes the flight control to unmanned vehicle and various intelligent managements, and the brain of unmanned vehicle.
In the embodiment of the present invention, preferred unmanned vehicle is that many rotor unmanned aircrafts, many rotor unmanned aircrafts are permissible
It is the unmanned vehicle of four rotors, six rotors and rotor quantity more than six.The unmanned vehicle that technical solution of the present invention is adopted can
To refer to little, miniature many rotor unmanned aircrafts, this unmanned vehicle small volume, low cost, flight stability are preferable, flight
Cost is low.The unmanned vehicle that the present invention is used can be typically with four axle multi-rotor aerocrafts as representative.
In one embodiment, according to the purposes difference of unmanned vehicle, application difference, being accompanied with least one should
With equipment 1, such as aerial photography unmanned aerial vehicle, capture apparatus will be carried, if not just electronic stability augmentation, also pursues and preferably clap
Take the photograph effect, then can also be equipped with electronic platform.For another example remote sensing unmanned vehicle, remote sensing equipment will be carried and/or just penetrating or
Video camera of person's combined type etc..
In one embodiment, the measurement module 2 for measuring unmanned vehicle status data includes that timer, positioning are single
Unit, altimeter, gyroscope, accelerometer, Magnetic Sensor, one or more in angular transducer, the status data includes
Time data, position data, altitude information, acceleration information and/or angle-data.
In one embodiment, the gyroscope be MEMS gyroscope, the accelerometer be mems accelerometer, its
In, it is possible to use MEMS (Micro Electro Mechanical System) MEMS gyroscope sensor is tracked simultaneously
Catch unmanned vehicle motion in three dimensions.The gyroscope is made up of the chip of one piece of encapsulation, works as drive signal
When loading on driving capacitance sheet, sheet metal will produce vibration, when control terminal 1 deflects, inclines, due to Coriolis force
Effect, sheet metal X, Y, Z axis produce skew, special circuit can perceive these small rotational angular velocities, and be converted
Become digital signal, so that the measurement to the action such as rotating, deflecting is completed, such gyroscope is referred to as three-axis gyroscope sensor, and
Coordinate mems accelerometer to reach the more accurate purpose for catching unmanned vehicle attitude.MEMS gyroscope and accelerometer collection
Become together and be referred to as six axle combination sensors.And further, gyroscope+accelerometer+Magnetic Sensor is combined as nine axles
Sensor.Such gyroscope combination is for more accurately obtaining unmanned vehicle attitude.
In one embodiment, for example, when 21 points to 22 points be the no photo time, 22 points to 23 points for forbid remote sensing when
Between or 23 points to 24 points be that the no-fly time, the control module 3 judges the limiter stage residing for unmanned vehicle based on time data
Not, if 2 time of measuring of measurement module be 21 points 30 minutes, control module 3 judge unmanned vehicle be in no photo rank simultaneously
The restriction order that uses of no photo equipment is sent to capture apparatus, if 2 time of measuring of measurement module be 22 points 30 minutes, control
Module 3 judge unmanned vehicle in forbid remote sensing rank sending forbid remote sensing equipment using restriction order set to remote sensing
Standby, if 2 time of measuring of measurement module be 23 points 30 minutes, control module 3 judge unmanned vehicle be in forbid flight rank simultaneously
The restriction order for forbidding flying is sent to unmanned vehicle.Again for example, for remote sensing class demand, generally will not be in relative flight height
Degree occurs less than in the case of 40 meters of height；For another example for transport class demand, it will not be higher than generally 5 meters in relative flying height
In the case of, it is allowed to its tote is unloaded.For another example for transport class demand, generally will not allow to execute in the takeoff and landing stage
Tote unloading command.These limit rank and can all be included in the classification disabling of the present invention.
The embodiment of the present invention is preferably, and the measurement module 2 is that locating module, described locating module sends real time position
Data are to the control module 3, and the control module 3 judges the restriction residing for the unmanned vehicle based on the position data
Rank is simultaneously sent corresponding to the other restriction order of the limiter stage to the unmanned vehicle and/or at least one application apparatus 1.
Fig. 2 is the structural representation of the unmanned vehicle of the classification disabling of an alternative embodiment of the invention, reality of the present invention
Apply example to be specifically described in conjunction with Fig. 2.
As shown in Fig. 2 An embodiment provides a kind of unmanned vehicle of classification disabling, described nobody flies
Row device includes at least one application apparatus 1, for measuring measurement module 2, control module 3 and the electricity of unmanned vehicle status data
Sub- mapping module 4,2 status data of the measurement module to the control module 3, the electric map module 4 includes band
There is the other geodata of multiple limiter stages, the comparison of the control module 3 position data and geodata are to judge the nothing
Restriction rank residing for people's aircraft concurrently send corresponding to the limiter stage other limit order to the unmanned vehicle and/or
At least one application apparatus 1.
Illustrate by taking aerial photography unmanned aerial vehicle as an example below.Electric map module is provided with aerial photography unmanned aerial vehicle
4, in the electronic chart in addition to including geo-spatial data, also include the multiple restriction class information based on geodata.
Locating module is additionally provided with aerial photography unmanned aerial vehicle, is capable of the current location data of implementing monitoring unmanned vehicle.Enter one
Step ground, the locating module can be GPS location navigation module.Aerial photography unmanned aerial vehicle in running order under, monitoring
The position data of unmanned vehicle, and by its with electric map module in compared with the other geodata of multiple limiter stages
To and judge.When being judged as not disabling region, on normal permission unmanned vehicle, attendant applications equipment is set as shot
Standby work；When the first restriction rank for being judged as using as no photo equipment, the control module 3 sends no photo equipment
When working as, the restriction order for using is judged as that, as forbidden the N for flying restriction rank, the control module 3 sends to capture apparatus
Forbid the restriction order that flies to unmanned vehicle.
In one embodiment, the other geodata of multiple limiter stages can pre-set, real-time edition and/or periodically
Update.
Fig. 3 is the structural representation of the unmanned vehicle of the classification disabling of another embodiment of the present invention, reality of the present invention
Apply example to be specifically described in conjunction with Fig. 3.
As shown in figure 3, An embodiment provides a kind of unmanned vehicle of classification disabling, described nobody flies
Row device includes at least one application apparatus 1, for measuring measurement module 2 and the control module 3 of unmanned vehicle status data, institute
2 status data of measurement module is stated to the control module 3, the control module 3 includes storage with multiple restriction ranks
Status data memorizer 5, the control module 3 judges that based on status data the restriction rank residing for unmanned vehicle is concurrent
Sending order is limited to the unmanned vehicle and/or at least one application apparatus 1 corresponding to the limiter stage is other.
In one embodiment, control module 3 can be general processor, digital signal processor, special IC
ASIC, on-site programmable gate array FPGA, analog circuit, digital circuit and combinations thereof.The processor is born as processing module
Duty multi-task scheduling, including accessing measurement module, accessing Wireless Telecom Equipment and multilevel iudge etc..Memorizer 5 can be volatile
Property memorizer or nonvolatile memory.Memorizer can include one or more read only memory ROMs, random access memory
RAM, flash memory, Electrical Erasable programmable read only memory EEPROM or other types of memorizer.
In one embodiment, the control module 3 is received from outside multiple limiter stages via Wireless Telecom Equipment
Other information is simultaneously sent corresponding to the other restriction order of the limiter stage to the unmanned vehicle and/or at least one application apparatus
1.Further, the Wireless Telecom Equipment is by the wireless LAN communication equipment with different priorities, Stratosphere Communication net
One or more compositions in network equipment and satellite network communications equipment.Wireless LAN communication equipment can be bluetooth,
One in ZigBee or Wi-Fi device, wireless local equipment can set up short haul connection by 2.4GHz communication frequency, indoors
Or the outdoor environment of low speed movement can communication connection that preferably equipment is set up between outside and unmanned vehicle.Stratosphere Communication
Equipment is typically with helium-airship, balloon as the platform for disposing repeater station, and podium level is away from ground 17km～22km, unmanned flight
Device is in field flight on a large scale, it may be preferred to the communication connection that Stratosphere Communication is set up between outside and unmanned vehicle.Defend
The communication connection that star communication equipment is set up between outside and unmanned vehicle using satellite communication channel, usually in nothing, other can
In the case of cordless communication network, satellite communicator can be used, as emergency communication.In one embodiment, according to wireless
Network cost or wireless network access speed, select wireless-transmission network, and it is precedence scheme that present invention design is following, Wi-Fi
Network：Priority is 0；Stratosphere Communication network：Priority is 1；Satellite communication network：Priority is 2；Priority level 0-2, institute
Select wireless network priority from high to low, if that is, while there are multiple wireless signals, and when signal intensity is effective, outside and
Radio communication between unmanned vehicle can select Wi-Fi network first as Radio Access Network, the like.Preferably,
Wireless Telecom Equipment is to 2G, 3G and 4G movement networking communication setting priority, wherein, priority of the 4G priority more than 3G, 3G
More than 2G.
The embodiment of the present invention is preferably, and the restriction rank includes to forbid first that one or more application apparatus are used
Rank, the second level for forbidding all application apparatus and no-fly third level, limit order corresponding to the limiter stage is other
Mutually should be forbid one or more application apparatus using, forbid all application apparatus use and forbid flight enter.
The embodiment of the present invention is preferably, and the application apparatus 1 includes capture apparatus, remote sensing equipment and vehicle equipment, institute
Stating measurement module 2 includes timer, altimeter and/or gyroscope, the status data include time data, altitude information and/
Or position data, the restriction rank includes the first level that no photo equipment is used, forbids remote sensing equipment and capture apparatus
The first level that uses, forbid second level and no-fly third level that all application apparatus use, when the control module 3
Judge that unmanned vehicle is used in no photo equipment based on the time data, altitude information and/or position data
One rank, the restriction order that the transmission no photo equipment of control module 3 is used is to the capture apparatus；When the control module 3
Judge that unmanned vehicle is in based on the time data, altitude information and/or position data and forbid that remote sensing equipment and shooting set
The standby first level for using, control module 3 sends forbids restriction order that remote sensing equipment and capture apparatus use to the remote sensing
Equipment and capture apparatus；When the control module 3 judges nobody based on the time data, altitude information and/or position data
Second level of the aircraft in forbidding that all application apparatus are used, control module 3 sends forbids what all application apparatus were used
Limit order and arrive all application apparatus；When the control module 3 is based on the time data, altitude information and/or position data
Unmanned vehicle is judged in third level, control module 3 sends forbids the restriction order of aircraft flight nobody is winged to described
Row device.
The embodiment of the present invention is preferably, described classification disabling unmanned vehicle include alert device 6, when described nobody
When aircraft and/or at least one application apparatus 1 are limited, the alert device 6 send mark institute confined described nobody
The warning information of aircraft and/or at least one application apparatus is to point out unmanned vehicle user and/or third party.The present invention's
Alert device 6 points out the work rights state of the attendant equipment on unmanned vehicle in a suitable manner to operator and/or observation
Person.For the user of unmanned vehicle, always might not judge what area unmanned vehicle is currently in advance
Domain, application apparatus whether should be able to normal work, so user always to have unmanned vehicle normally can practice dynamic
The expection of work, in the present embodiment, is exactly user in the case of extra prompting, is always thought and can implement as shot
The application of action.When because limitation management cause as the application of shooting action unsuccessful when, if do not pointed out, may
User is allowed to think that equipment there occurs fault.So, it should when application apparatus is in the state for not allowing work, alert device 6
By way of appropriate, such as the mode such as display information, acoustic information, vibration information is prompted to the user of lever piece.Additionally, except
Outside the mode of instant alerts, can also also record when region is disabled, the execute instruction that user is given.So, with this reality
As a example by applying scheme, although the instruction is not taken performed by equipment, but flight control process is concluded in user's last phase tidying up
In all behaviors when, when will appreciate that, give shooting instruction, but shooting instruction is because disabling plan
Slightly manage, and be not performed.
Above-mentioned prompting mode is all prompted to user, but in fact, also can also by the disabled status be prompted to as
The third party of the observer around unmanned vehicle.One typical example is exactly, when unmanned vehicle flight in the air, ground
Whether the passerby in face is due to being not aware that the state of unmanned vehicle, it is possible that can query the aircraft taking on the sly row in execution
For so as to cause contradiction.The now appropriate location on unmanned vehicle, or the appropriate location on capture apparatus, by bright
Aobvious acousto-optic mark is in inoperable state come the capture apparatus for showing current unmanned vehicle, it will help reduce periphery
The hostility of passerby.Now, this acousto-optic hint mode, can both be obvious optical signal, such as red LED light；Can also
Be by appropriate word, " in disabling " textual representation of such as yellow；Can also be specific music or voice broadcast etc..
The step of Fig. 4 is the classification prohibited method of one embodiment of the present of invention schematic diagram, the embodiment of the present invention will be combined
Fig. 4 is specifically described.
A kind of classification prohibited method of the unmanned vehicle using described classification disabling is comprised the following steps.
In first step S1, receive or prestore multiple restriction ranks.
In second step S2, the status data of unmanned vehicle is measured.
In third step S3, judged based on the status data restriction rank residing for unmanned vehicle concurrently send corresponding to
The limiter stage is other to limit order to the unmanned vehicle and/or at least one application apparatus 1.
In one embodiment, in first step S1, described limit that rank at least includes that no photo equipment uses the
One rank, forbid remote sensing equipment and capture apparatus using first level, forbid second level that all application apparatus use and
No-fly third level.
In second step S2, the status data of unmanned vehicle is measured, and the status data at least includes position data.
Further, in third step S3, when the control module 3 is judged at unmanned vehicle based on the position data
In the first level that no photo equipment is used, the restriction order that the transmission no photo equipment of control module 3 is used is to the bat
Take the photograph equipment.
Forbid that remote sensing equipment and shooting set when based on the position data, the control module 3 judges that unmanned vehicle is in
The standby first level for using, control module 3 sends forbids restriction order that remote sensing equipment and capture apparatus use to the remote sensing
Equipment and capture apparatus.
Forbid that all application apparatus are used when based on the position data, the control module 3 judges that unmanned vehicle is in
Second level, control module 3 sends forbids restriction order that all application apparatus use to all application apparatus.
When the control module 3 judges unmanned vehicle in third level, control module 3 based on the position data
The restriction order for forbidding aircraft flight is sent to the unmanned vehicle.Can be in difference by the classification prohibited method of the present invention
In the case of be neatly classified other the unmanned vehicle and/or at least one application apparatus 1 are limited, so as to improve
The range of application of unmanned vehicle.
Although above in association with accompanying drawing, embodiment of the present invention is described, but the invention is not limited in above-mentioned
Specific embodiments and applications field, above-mentioned specific embodiment is only schematic, guiding, rather than restricted
's.One of ordinary skill in the art is under the enlightenment of this specification and in the scope that is protected without departing from the claims in the present invention
In the case of, the form of many kinds can also be made, these belong to the row of present invention protection.
Claims (10)
1. the unmanned vehicle that a kind of classification is disabled, the unmanned vehicle includes at least one application apparatus (1), is used for measuring
The measurement module (2) of unmanned vehicle status data and control module (3), measurement module (2) status data is to institute
State control module (3), it is characterised in that：Control module (3) judge the restriction residing for unmanned vehicle based on status data
Rank is simultaneously sent corresponding to the other restriction order of the limiter stage to the unmanned vehicle and/or at least one application apparatus
(1).
2. the unmanned vehicle that classification according to claim 1 is disabled, it is characterised in that：Measurement module (2) are fixed
Position module, the locating module sends real time position data to the control module (3), and described control module (3) are based on described
Position data judges that the restriction rank residing for the unmanned vehicle is concurrently sent and arrives corresponding to the other restriction order of the limiter stage
The unmanned vehicle and/or at least one application apparatus (1).
3. the unmanned vehicle that classification according to claim 2 is disabled, it is characterised in that：The unmanned vehicle includes electricity
Sub- mapping module (4), electric map module (4) are included with the other geodata of multiple limiter stages, the control module
(3) the comparison position data and geodata are concurrently sent corresponding to institute with judging the restriction rank residing for the unmanned vehicle
State other restriction of limiter stage and order the unmanned vehicle and/or at least one application apparatus (1).
4. the unmanned vehicle that classification according to claim 3 is disabled, it is characterised in that：Multiple limiter stages are otherly
Reason data can pre-set, real-time edition and/or regularly update.
5. the unmanned vehicle that classification according to claim 1 is disabled, it is characterised in that：Control module (3) include
Memorizer (5) of the storage with the other status data of multiple limiter stages, control module (3) judge nobody based on status data
Restriction rank residing for aircraft is concurrently sent and limits order to the unmanned vehicle and/or extremely corresponding to the limiter stage is other
A few application apparatus (1).
6. the unmanned vehicle that classification according to claim 1 is disabled, it is characterised in that：Control module (3) via
Wireless Telecom Equipment is received from outside multiple restriction class information and is sent and limits order corresponding to the limiter stage is other
To the unmanned vehicle and/or at least one application apparatus (1).
7. the unmanned vehicle that classification according to claim 1 is disabled, it is characterised in that：The restriction rank includes to forbid
One or more application apparatus using first level, the second level for forbidding all application apparatus and no-fly third level,
Corresponding to the limiter stage other limit order mutually should be forbid one or more application apparatus using, forbid all applications
Equipment is used and forbids flight.
8. the unmanned vehicle that classification according to claim 1 is disabled, it is characterised in that：Described classification disabling nobody fly
Row device includes alert device (6), when the unmanned vehicle and/or at least one application apparatus (1) are limited, the alarm
Equipment (6) send mark the confined unmanned vehicle and/or at least one application apparatus warning information to point out
Unmanned vehicle user and/or third party.
9. a kind of using according to any one of claim 1-8 classification disabling unmanned vehicle aircraft disabling side
Method, which comprises the following steps：
In first step (S1), receive or prestore multiple restriction ranks；
In second step (S2), the status data of unmanned vehicle is measured；
In third step (S3), judge that based on the status data restriction rank residing for unmanned vehicle is concurrently sent corresponding to institute
State other restriction of limiter stage and order the unmanned vehicle and/or at least one application apparatus (1).
10. classification prohibited method according to claim 9, it is characterised in that：
In first step (S1), the restriction rank at least includes the first level that no photo equipment is used, and forbids that remote sensing sets
Standby and capture apparatus using first level, forbid second level and no-fly third level that all application apparatus use；
In second step (S2), the status data of unmanned vehicle is measured, and the status data at least includes position data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610861971.4A CN106444831A (en) | 2016-09-28 | 2016-09-28 | Unmanned aerial vehicle (UAV) forbidden in graded manner and graded forbidding method of UAV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610861971.4A CN106444831A (en) | 2016-09-28 | 2016-09-28 | Unmanned aerial vehicle (UAV) forbidden in graded manner and graded forbidding method of UAV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106444831A true CN106444831A (en) | 2017-02-22 |
Family
ID=58170037
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610861971.4A Pending CN106444831A (en) | 2016-09-28 | 2016-09-28 | Unmanned aerial vehicle (UAV) forbidden in graded manner and graded forbidding method of UAV |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106444831A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107256031A (en) * | 2017-07-06 | 2017-10-17 | 杨顺伟 | A kind of flight restriction method and device of unmanned plane |
| CN108696332A (en) * | 2018-04-27 | 2018-10-23 | 杭州捍鹰科技有限公司 | Unmanned plane interference method, device and electronic equipment |
| CN109429003A (en) * | 2017-08-29 | 2019-03-05 | 杭州海康机器人技术有限公司 | A kind of image-pickup method, device, unmanned plane and computer readable storage medium |
| CN109741637A (en) * | 2019-01-08 | 2019-05-10 | 沈阳无距科技有限公司 | Unmanned plane monitoring and managing method, device, storage medium and electronic equipment |
| CN110770728A (en) * | 2018-10-29 | 2020-02-07 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method, unmanned aerial vehicle and terminal for controlling unmanned aerial vehicle |
| CN111935403A (en) * | 2020-08-14 | 2020-11-13 | 昆山同日工业自动化有限公司 | Confidential area violation photographing monitoring system based on 5G network |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105225540A (en) * | 2015-10-21 | 2016-01-06 | 杨珊珊 | The flight range supervising device of unmanned vehicle and method for supervising thereof |
| US9412278B1 (en) * | 2015-03-31 | 2016-08-09 | SZ DJI Technology Co., Ltd | Authentication systems and methods for generating flight regulations |
-
2016
- 2016-09-28 CN CN201610861971.4A patent/CN106444831A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9412278B1 (en) * | 2015-03-31 | 2016-08-09 | SZ DJI Technology Co., Ltd | Authentication systems and methods for generating flight regulations |
| CN105225540A (en) * | 2015-10-21 | 2016-01-06 | 杨珊珊 | The flight range supervising device of unmanned vehicle and method for supervising thereof |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107256031A (en) * | 2017-07-06 | 2017-10-17 | 杨顺伟 | A kind of flight restriction method and device of unmanned plane |
| CN109429003A (en) * | 2017-08-29 | 2019-03-05 | 杭州海康机器人技术有限公司 | A kind of image-pickup method, device, unmanned plane and computer readable storage medium |
| CN109429003B (en) * | 2017-08-29 | 2021-04-30 | 杭州海康机器人技术有限公司 | Image acquisition method and device, unmanned aerial vehicle and computer readable storage medium |
| CN108696332A (en) * | 2018-04-27 | 2018-10-23 | 杭州捍鹰科技有限公司 | Unmanned plane interference method, device and electronic equipment |
| CN110770728A (en) * | 2018-10-29 | 2020-02-07 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method, unmanned aerial vehicle and terminal for controlling unmanned aerial vehicle |
| CN110770728B (en) * | 2018-10-29 | 2024-04-16 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method, unmanned aerial vehicle and terminal for controlling unmanned aerial vehicle |
| CN109741637A (en) * | 2019-01-08 | 2019-05-10 | 沈阳无距科技有限公司 | Unmanned plane monitoring and managing method, device, storage medium and electronic equipment |
| CN109741637B (en) * | 2019-01-08 | 2021-12-14 | 沈阳无距科技有限公司 | Unmanned aerial vehicle supervision method and device, storage medium and electronic equipment |
| CN111935403A (en) * | 2020-08-14 | 2020-11-13 | 昆山同日工业自动化有限公司 | Confidential area violation photographing monitoring system based on 5G network |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106444831A (en) | Unmanned aerial vehicle (UAV) forbidden in graded manner and graded forbidding method of UAV | |
| US11205311B2 (en) | System and method for data recording and analysis | |
| JP7314239B2 (en) | Flight airspace setting device and flight airspace setting method | |
| US11482121B2 (en) | Open platform for vehicle restricted region | |
| US9311820B2 (en) | Configurability options for information, airspace, and property utilized by an unmanned aerial vehicle platform | |
| US10283000B2 (en) | Unmanned aerial vehicle deployment system | |
| US9412279B2 (en) | Unmanned aerial vehicle network-based recharging | |
| US9646283B2 (en) | Secure payload deliveries via unmanned aerial vehicles | |
| US9542850B2 (en) | Secure communications with unmanned aerial vehicles | |
| US9454151B2 (en) | User interfaces for selecting unmanned aerial vehicles and mission plans for unmanned aerial vehicles | |
| US9881021B2 (en) | Utilization of third party networks and third party unmanned aerial vehicle platforms | |
| CN105247593B (en) | Flight control for flight-restricted regions | |
| CN108369782B (en) | Targeted restricted flight areas | |
| WO2018157310A1 (en) | Method and device for controlling flight of unmanned aerial vehicle, and method and device for generating no-fly zone | |
| KR101863101B1 (en) | Unmanned Aerial Vehicle anti-collision method by sharing routes and flight scheduling via Ground Control Station software | |
| CN106444833A (en) | User control terminal for reminding control right area and reminding method of user control terminal | |
| CN112005175A (en) | Tracking stolen robot vehicle | |
| CN206057976U (en) | The unmanned vehicle of classification disabling | |
| CN205945971U (en) | Unmanned vehicles time -lapse shooting device | |
| US20210160662A1 (en) | Method, device and system for supervision control of movable platform | |
| CN206057977U (en) | The user's control end in prompting unmanned vehicle control authority region | |
| Fontanella et al. | A standardized approach to derive system specifications for drones operating in the future UTM scenario | |
| Carlier et al. | Deployment of unmanned aircraft systems as part of precision agriculture in Finland |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170222 |
|
| WD01 | Invention patent application deemed withdrawn after publication |