CN106483976A - For the Flight safety control method of unmanned plane, system and electronic equipment - Google Patents
For the Flight safety control method of unmanned plane, system and electronic equipment Download PDFInfo
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- CN106483976A CN106483976A CN201611050652.1A CN201611050652A CN106483976A CN 106483976 A CN106483976 A CN 106483976A CN 201611050652 A CN201611050652 A CN 201611050652A CN 106483976 A CN106483976 A CN 106483976A
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- unmanned plane
- control
- safe distance
- distinguishingly
- distance
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention discloses a kind of Flight safety control method for unmanned plane, system and electronic equipment, the method includes：Obtain the positional information of unmanned plane；Obtain labeled distinguishingly target positional information；According to the positional information of unmanned plane and distinguishingly target positional information, the current distance between unmanned plane and special terrestrial reference is calculated；Judge whether current distance is less than the warning safe distance for setting, in this way, then：The instruction of switching control power is sent, to stop currently controlling the standard control device of unmanned plane during flying to continue control unmanned plane；According to the instruction, control the unmanned plane landing.
Description
Technical field
A kind of the present invention relates to unmanned aerial vehicle (UAV) control technical field, more particularly it relates to flight for unmanned plane
Method of controlling security, a kind of flight safety control system and a kind of electronic equipment for unmanned plane.
Background technology
The full name of unmanned plane is UAV, and english abbreviation is " UAV ", is using radio robot and to provide for oneself
Presetting apparatus manipulate not manned aircraft.Due to the unmanned plane risk that has that low cost, efficiency-cost ratio are high, no one was injured,
The advantages of survival ability is strong, mobility are good, therefore, the utilization of unmanned plane and using gradually popularizing, at the same time, with regard to no
Also the slowly emersion table top such as safety problem in man-machine flight, for example, terrorist is engaged in action of terror using unmanned plane to rush
Important building or military installations etc. are hit, and or causes femto-ampere accident etc. because manual operation is bad.
Therefore, offer one kind is provided and ensure that unmanned plane will not invade e.g. important building, military mesh
The distinguishingly target Flight safety control methods such as mark, to ensure the safety in utilization of unmanned plane.
Content of the invention
One purpose of the embodiment of the present invention is to provide a kind of new technical scheme of the safety in utilization for improving unmanned plane.
According to the first aspect of the invention, there is provided a kind of Flight safety control method for unmanned plane, which includes：
Obtain the positional information of unmanned plane；
Obtain labeled distinguishingly target positional information；
According to positional information and the distinguishingly target positional information of the unmanned plane, calculate the unmanned plane with described
Current distance between special terrestrial reference；
Judge whether the current distance is less than the warning safe distance for setting, in this way, then：
The instruction of switching control power is sent, to stop currently controlling the standard control device of unmanned plane during flying to continue control institute
State unmanned plane；
According to the instruction, control the unmanned plane landing.
Optionally, the Flight safety control method also includes：
According to the instruction, first control the unmanned plane to slow down, then control the unmanned plane to land.
Optionally, described first control the unmanned plane slow down, then control the unmanned plane landing be specially：
During controlling the unmanned plane to slow down, judge the current distance whether less than the minimum safe distance for setting
From, in this way, then control the unmanned plane to land, wherein, the minimum safe distance is less than the warning safe distance.
Optionally, the distinguishingly target positional information being labeled that obtains is specially：
Wireless communication connection is set up with the radio communication device that distinguishingly puts on；
Distinguishingly target is obtained described in the positioner offer that distinguishingly puts on by the wireless communication connection
Positional information.
Optionally, the Flight safety control method also includes：
Before judging the current distance whether less than the warning safe distance for setting, whether the current distance is judged
The warning safe distance for setting is less than, in this way, then：
Export, to the standard control device, the control instruction that relatively described special terrestrial reference expels the unmanned plane；
Wherein, the warning safe distance is more than the warning safe distance.
According to the second aspect of the invention, there is provided a kind of flight safety control system for unmanned plane, which includes：
Positioner, for obtaining the positional information of unmanned plane；
Information acquisition device, for obtaining labeled distinguishingly target positional information；
Apart from computing device, for positional information and the distinguishingly target positional information according to the unmanned plane, count
Calculate the current distance between the unmanned plane and the special terrestrial reference；
Whether safety detection device, judge the current distance less than the warning safe distance for setting；
Control switching device, for according to the current distance less than the judged result of first safe distance, sending out
Go out the instruction of switching control power, to stop currently controlling the standard control device of unmanned plane during flying to continue the control unmanned plane；
And,
Safety protection control device, for according to the instruction, controlling the unmanned plane landing.
Optionally, the Safety protection control device is specifically for according to the instruction, first controlling the unmanned plane to subtract
Speed, then control the unmanned plane to land.
Optionally, the safety detection device is additionally operable to, during controlling the unmanned plane to slow down, judge described
Whether current distance is less than the minimum safe distance for setting, so that the Safety protection control device is little according to the current distance
Control the unmanned plane landing in the judged result of the minimum safe distance, wherein, the minimum safe distance is less than described
Warning safe distance.
Optionally, described information acquisition device be radio communication device, described information acquisition device specifically for institute
State the radio communication device that distinguishingly puts on and wireless communication connection is set up, and described special by wireless communication connection acquisition
The distinguishingly target positional information that provides of the positioner put on.
Optionally, whether the safety detection device is additionally operable to judging the current distance less than the warning peace for setting
Before full distance, whether the current distance is judged less than the warning safe distance for setting, in this way, then to standard control dress
The control instruction that the relatively described special terrestrial reference of output expels the unmanned plane is put, wherein, the warning safe distance is more than described
Warning safe distance.
According to the third aspect of the invention we, there is provided a kind of electronic equipment, which includes described according to a second aspect of the present invention
Flight safety control system.
One beneficial effect of the present invention is that Flight safety control method of the present invention, device and electronic equipment are to for example
It is that the special terrestrial reference such as important building, military target is marked, and then according between unmanned plane and labeled special terrestrial reference
Current distance carry out flight control, and force to carry out cutting for flight control after current distance is less than warning safe distance
Change, the standard control device of the current control unmanned plane during flying of stopping continues control unmanned plane, and breaking makes unmanned plane land, Jin Erneng
Enough safety in utilization for ensureing labeled distinguishingly target safety, improving unmanned plane.
By detailed description referring to the drawings to the exemplary embodiment of the present invention, the further feature of the present invention and its
Advantage will be made apparent from.
Description of the drawings
Combined in the description and the accompanying drawing of the part that constitutes specification shows embodiments of the invention, and even
It is used for together explaining the principle of the present invention with its explanation.
Fig. 1 is a kind of schematic flow sheet of the embodiment according to Flight safety control method of the present invention；
Fig. 2 is the schematic flow sheet of another kind of embodiment according to Flight safety control method of the present invention；
Fig. 3 is the schematic flow sheet of the third embodiment according to Flight safety control method of the present invention；
Fig. 4 is a kind of frame principle figure of the embodiment according to flight safety control system of the present invention；
Fig. 5 is a kind of configuration structure schematic diagram of the unmanned plane according to system shown in Figure 4；
Fig. 6 is the frame principle figure of the hardware configuration according to electronic equipment of the present invention.
Specific embodiment
Describe the various exemplary embodiments of the present invention now with reference to accompanying drawing in detail.It should be noted that：Unless in addition had
Body illustrates that the part for otherwise illustrating in these embodiments and the positioned opposite, numerical expression of step and numerical value do not limit this
The scope of invention.
It is illustrative below to the description only actually of at least one exemplary embodiment, never as to the present invention
And its application or any restriction for using.
May be not discussed in detail for technology, method and apparatus known to person of ordinary skill in the relevant, but suitable
When in the case of, the technology, method and apparatus should be considered a part for specification.
In shown here and all examples of discussion, any occurrence should be construed as merely exemplary, and not
Be as restriction.Therefore, other examples of exemplary embodiment can be with different values.
It should be noted that：Similar label and letter represent similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then which need not be further discussed in subsequent accompanying drawing.
Fig. 1 is a kind of schematic flow sheet of the embodiment according to Flight safety control method of the present invention, and in figure is to be directed to one
Individual labeled the step of be distinguishingly designated as example and illustrate the inventive method, for labeled multiple special terrestrial reference, can be according to
Identical method and step carries out security control.
According to Fig. 1, the inventive method comprises the steps：
Step S101, obtains the positional information of unmanned plane.
This can obtain the positional information of unmanned plane by arranging GPS positioning device on unmanned plane.
Step S102, obtains labeled distinguishingly target positional information.
This can be realized by installing GPS positioning device and radio communication device in labeled distinguishingly putting on, tool
Body comprises the steps：
Step S1021, sets up wireless communication connection with the radio communication device that distinguishingly puts on.
Step S1022, obtains the distinguishingly target position that the positioner that distinguishingly puts on is provided by wireless communication connection
Confidence ceases.
This can also store labeled distinguishingly target positional information in database in advance, with from the database
Search and obtain the distinguishingly target positional information.
Step S103, according to the positional information of unmanned plane and distinguishingly target positional information, calculates unmanned plane with distinguishingly
Current distance between mark.
Now so that positional information is for latitude and longitude coordinates information as an example, current distance between unmanned plane and special terrestrial reference is described
Computational methods.
<Example>：The latitude and longitude coordinates of known unmanned plane be A (Aw, Aj), distinguishingly target latitude and longitude coordinates be B (Bw,
Bj), calculate current distance d between unmanned plane and the special terrestrial reference.
Wd_c=| (Aw-Bw) | formula (1)；
Jd_c=| (Aj-Bj) | formula (2)；
B=wd_c × j1_wd formula (3)；
A=jd_c × j1_jd formula (4)；
d2=a2+b2Formula (5)；
Wherein, wd_c is the absolute value of dimension difference therebetween, and jd_c is the absolute value of difference of longitude therebetween, j1_wd
For the corresponding distance of unit dimension, j1_jd is the corresponding distance of unit longitude, and a is distance therebetween in longitudinal,
B is distance therebetween on dimension direction.
According to above formula (1)-formula (5), the current distance that just can be calculated between unmanned plane and the special terrestrial reference
d.
Step S104, judges current distance whether less than the warning safe distance for setting, in this way, then execution step S105,
If not, according to the current distance of real-time update, proceeding the judgement whether current distance is less than the warning safe distance.
The warning safe distance can be set according to security protection demand, for example, set in the range of 100 meters to 300 meters
Fixed.
Here, unified warning safe distance can be set for different special terrestrial references.Can also be different special
Terrestrial reference arranges different class of safety protection, and sets different warning safe distances, peace according to different class of safety protection
Full protection higher grade, and warning safe distance is more remote.
Step S105, sends the instruction of switching control power, to stop currently controlling the standard control device of unmanned plane during flying
Continue the control unmanned plane.
The standard control device is the flight control assemblies that unmanned plane is usually used.
Step S106, according to the instruction, carries out the pressure switching of flight control, and controls unmanned plane to land.
As can be seen here, the method according to the invention will cause unmanned plane be close to special terrestrial reference within the specific limits, enter
And special terrestrial reference can be protected not damaged by unmanned plane, improve the safety in utilization of unmanned plane.
In order to improve the stability of control unmanned plane landing in above-mentioned steps S106, in this step, can be further
According to the instruction, first control unmanned plane deceleration, then unmanned plane is controlled to land.
Fig. 2 shows that first control unmanned plane slows down, then controls a kind of schematic flow sheet of embodiment of unmanned plane landing.
According to Fig. 2, above-mentioned first control unmanned plane slows down, then controls unmanned plane to include the step of landing：
Step S201, according to the instruction, controls unmanned plane decelerating flight.
Whether step S202, during control unmanned plane slows down, judge current distance less than the minimum safe for setting
Distance, in this way, then execution step S203, if not, proceed current distance whether less than the judgement of minimum safe distance.
The minimum safe distance is less than above-mentioned warning safe distance, also can as be close to the distinguishingly target most low coverage
From the minimum safe distance for example can require to set according to the maximum distance damaged using unmanned plane, the minimum safe
Distance can be required more than the maximum distance.
Step S203, control unmanned plane landing.
In a further embodiment, or first control unmanned plane slows down, and sets detecting present speed and being reduced to
When constant speed is spent, control unmanned plane landing.
Fig. 3 shows the schematic flow sheet of another kind of embodiment according to the inventive method.
According to Fig. 3, in this embodiment, Flight safety control method of the present invention step S104 in Fig. 1 is executed is sentenced
Before whether the current distance of breaking is less than the warning safe distance for setting, first carry out：
Step 301, judges current distance whether less than the warning safe distance for setting, in this way, then execution step S302, and such as
No, then proceed the judgement whether current distance is less than the warning safe distance.
Warning safe distance is more than above-mentioned warning safe distance, for example relatively above-mentioned warning safe distance remote 50 meters extremely
100 meters.
Step S302, exports, to standard control device, the control instruction that relatively special terrestrial reference expels unmanned plane.
So, if standard control device can expel unmanned plane according to the instruction, and current distance will not be less than
The warning safe distance of setting, then need not carry out the switching of flight control, and unmanned plane can continue in standard control device
The lower normal flight of control；If standard control device is not completed and expelled, when current distance is less than warning safe distance, directly
Carry out the switching of flight control.
According to a second aspect of the present invention, there is provided a kind of flight safety control system, Fig. 4 shows that the square frame of the device is former
Reason figure.
According to Fig. 4, the device include positioner 401, information acquisition device 402, apart from computing device 403, peace
Full detection means 404, control switching device 405, Safety protection control device 406.
The positioner 401 is used for obtaining the positional information of unmanned plane, for example, GPS positioning device.
The information acquisition device 402 is used for obtaining labeled distinguishingly target positional information.The information acquisition device 402
Can be radio communication device according to the different modes of distinguishingly target positional information are obtained, or reading device.
This is used for, according to the positional information of unmanned plane and distinguishingly target positional information, calculating nothing apart from computing device 403
The man-machine current distance between special terrestrial reference.
Whether the safety detection device 404 is used for judging the current distance less than the warning safe distance for setting.
The control switching device 405 is used for the judged result according to current distance less than the first safe distance, sends and cuts
The instruction of control is changed, to stop currently controlling the standard control device of unmanned plane during flying to continue the control unmanned plane.
The Safety protection control device 406 is used for controlling the unmanned plane landing according to the instruction.
The Safety protection control device 406 can specifically for according to the instruction, first control the unmanned plane slow down, then
The unmanned plane is controlled to land.
The safety detection device 404 can be also used for, during control unmanned plane slows down, whether judging current distance
Less than the minimum safe distance for setting, so that Safety protection control device 406 is according to current distance less than minimum safe distance
Judged result control unmanned plane landing, wherein, minimum safe distance is less than above-mentioned warning safe distance.
Above- mentioned information acquisition device 402 can be radio communication device further, the information acquisition device 402 specifically for
Wireless communication connection is set up with the radio communication device that distinguishingly puts on, and the special terrestrial reference is obtained by wireless communication connection
On positioner provide distinguishingly target positional information.
Whether above-mentioned safety detection device 404 can be also used for judging current distance less than the warning safe distance for setting
Before, whether current distance is judged less than the warning safe distance for setting, in this way, then it is relatively special to export to standard control device
Terrestrial reference expels the control instruction of unmanned plane, and wherein, warning safe distance is more than warning safe distance.
Fig. 5 shows the configuration figure according to an embodiment of the present invention on unmanned plane.
According to Fig. 5, the flight safety control system 400, standard control device according to Fig. 4 on unmanned plane, is configured
501 and motor drive 502.
The standard control device 501 is the flight control assemblies of its orthodox flight of control of configuration on unmanned plane.
Motor drive 502 is the driving means of the screw motor action for controlling unmanned plane.
Control switching device 405 is used for the flight control of switching standards control device 501 and Safety protection control device 406
System power.
Standard control device 501 and Safety protection control device 406 in the case of with flight control, by motor
Driving means 502 carry out the flight control of unmanned plane.
Present invention also offers a kind of electronic equipment, the electronic equipment includes the flight safety control system 400 in Fig. 5.
Fig. 6 is a kind of hardware configuration of embodiment of electronic equipment.
According to Fig. 6, the electronic equipment 600 includes positioner 601, radio communication device 602,603 and of memory
Processor 604, the memory 603 are used for store instruction, and the instruction is operated for control process device 604 to execute according to this
The Flight safety control method of invention.
In addition, according to Fig. 6, the electronic equipment 600 can also include interface arrangement 605, input unit 606 etc.
Deng.
Above-mentioned interface arrangement 605 for example includes USB interface, RS232 interface etc., to carry out data transmission.
Above-mentioned input unit 606 can for example include touch-screen, button etc..
Each embodiment in this specification is all described by the way of going forward one by one, identical similar portion between each embodiment
Divide cross-reference, what each embodiment was stressed is the difference with other embodiment, but people in the art
Member is it should be understood that the various embodiments described above can be used alone as needed or be combined with each other.In addition, for system
For embodiment, as which is corresponding with embodiment of the method, so describing fairly simple, related part is implemented referring to method
The explanation of the corresponding part of example.System embodiment described above is only schematic, wherein as separating component
The device of explanation can be or may not be physically separate.
The present invention can be device, method and/or computer program.Computer program can include computer
Readable storage medium storing program for executing, containing for making processor realize the computer-readable program instructions of various aspects of the invention.
Computer-readable recording medium can be kept and store by the tangible of the instruction instruction that uses of execution equipment
Equipment.Computer-readable recording medium for example may be-but not limited to-storage device electric, magnetic storage apparatus, optical storage
Equipment, electromagnetism storage device, semiconductor memory apparatus or above-mentioned any appropriate combination.Computer-readable recording medium
More specifically example (non exhaustive list) includes：Portable computer diskette, hard disk, random access memory (RAM), read-only deposit
Reservoir (ROM), erasable programmable read only memory (EPROM or flash memory), static RAM (SRAM), portable
Compact disk read-only storage (CD-ROM), digital versatile disc (DVD), memory stick, floppy disk, mechanical coding equipment, for example thereon
Be stored with the punch card of instruction or groove internal projection structure and above-mentioned any appropriate combination.Calculating used herein above
Machine readable storage medium storing program for executing is not construed as instantaneous signal itself, the electromagnetic wave of such as radio wave or other Free propagations, logical
Cross the electromagnetic wave (for example, by the light pulse of fiber optic cables) of waveguide or the propagation of other transmission mediums or pass through wire transfer
Electric signal.
Computer-readable program instructions as described herein can from computer-readable recording medium download to each calculate/
Processing equipment, or outer computer or outer is downloaded to by network, such as internet, LAN, wide area network and/or wireless network
Portion's storage device.Network can include copper transmission cable, Optical Fiber Transmission, be wirelessly transferred, router, fire wall, switch, gateway
Computer and/or Edge Server.Adapter or network interface in each calculating/processing equipment receives meter from network
Calculation machine readable program instructions, and the computer-readable program instructions are forwarded, for the meter being stored in each calculating/processing equipment
In calculation machine readable storage medium storing program for executing.
For execute the present invention operation computer program instructions can be assembly instruction, instruction set architecture (ISA) instruction,
Machine instruction, machine-dependent instructions, microcode, firmware instructions, condition setup data or with one or more programming language
Source code or object code that any combination is write, the programming language include OO programming language such as
Smalltalk, C++ etc., and the procedural programming languages of routine such as " C " language or similar programming language.Computer
Readable program instructions fully can be executed on the user computer, partly execute on the user computer, as one solely
Vertical software kit is executed, part executes on the remote computer or completely in remote computer on the user computer for part
Or execute on server.In the situation of remote computer is related to, remote computer can be by the network bag of any kind
Include LAN (LAN) or wide area network (WAN) is connected to subscriber computer, or, it may be connected to outer computer (such as profit
With ISP come by Internet connection).In certain embodiments, by using computer-readable program instructions
Status information carry out personalized customization electronic circuit, such as PLD, field programmable gate array (FPGA) can
Programmed logic array (PLA) (PLA), the electronic circuit can execute computer-readable program instructions, so as to realize each side of the present invention
Face.
Flow chart and/or block diagram referring herein to method according to embodiments of the present invention, device and computer program
Describe various aspects of the invention.It should be appreciated that each square frame of flow chart and/or block diagram and flow chart and/or block diagram
In each square frame combination, can be realized by computer-readable program instructions.
These computer-readable program instructions can be supplied to all-purpose computer, special-purpose computer or other programmable datas
The processor of processing meanss, so as to produce a kind of machine so that these instructions are by computer or other programmable datas
During the computing device of processing meanss, flowchart is generated and/or work(specified in the one or more square frames in block diagram
The device of energy/action.These computer-readable program instructions can also be stored in a computer-readable storage medium, these refer to
Order causes computer, programmable data processing unit and/or other equipment to work in a specific way, so as to be stored with instruction
Computer-readable medium then includes a manufacture, and which is included in flowchart and/or the one or more square frames in block diagram
The instruction of the various aspects of the function/action of regulation.
Can also computer-readable program instructions be loaded into computer, other programmable data processing units or other
On equipment so that execute series of operation steps on computer, other programmable data processing units or miscellaneous equipment, to produce
The computer implemented process of life, so that execute on computer, other programmable data processing units or miscellaneous equipment
Function/action specified in one or more square frames in instruction flowchart and/or block diagram.
Flow chart and block diagram in accompanying drawing shows device, method and the computer journey of the multiple embodiments according to the present invention
The architectural framework in the cards of sequence product, function and operation.At this point, each square frame in flow chart or block diagram can generation
A part for table one device, program segment or instruction, a part for described device, program segment or instruction include one or more use
Executable instruction in the logic function for realizing regulation.At some as the function of in the realization that replaces, being marked in square frame
Can occur to be different from the order that marked in accompanying drawing.For example, two continuous square frames can essentially be held substantially in parallel
OK, they can also be executed sometimes in the opposite order, and this is depending on involved function.It is also noted that block diagram and/or
The combination of each square frame and block diagram and/or the square frame in flow chart in flow chart, can be with the function of executing regulation or dynamic
The special hardware based system that makees, or can combining realizing with specialized hardware and computer instruction realizing.Right
For those skilled in the art it is well known that, realized by hardware mode, realized by software mode and by software and
The mode of combination of hardware is realized being all of equal value.
It is described above various embodiments of the present invention, described above is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.In the case of the scope and spirit without departing from illustrated each embodiment, for this skill
For the those of ordinary skill in art field, many modifications and changes will be apparent from.The selection of term used herein, purport
Best explaining principle, practical application or the technological improvement to the technology in market of each embodiment, or lead this technology
Other those of ordinary skill in domain are understood that each embodiment disclosed herein.The scope of the present invention is limited by claims
Fixed.
Claims (11)
1. a kind of Flight safety control method for unmanned plane, it is characterised in that include：
Obtain the positional information of unmanned plane；
Obtain labeled distinguishingly target positional information；
According to positional information and the distinguishingly target positional information of the unmanned plane, the unmanned plane is calculated special with described
Current distance between terrestrial reference；
Judge whether the current distance is less than the warning safe distance for setting, in this way, then：
The instruction of switching control power is sent, to stop currently controlling the standard control device of unmanned plane during flying to continue the control nothing
Man-machine；
According to the instruction, control the unmanned plane landing.
2. Flight safety control method according to claim 1, it is characterised in that the Flight safety control method is also wrapped
Include：
According to the instruction, first control the unmanned plane to slow down, then control the unmanned plane to land.
3. Flight safety control method according to claim 2, it is characterised in that described first control the unmanned plane to subtract
Speed, then control unmanned plane landing to be specially：
During controlling the unmanned plane to slow down, whether the current distance is judged less than the minimum safe distance for setting,
In this way, then the unmanned plane is controlled to land, wherein, the minimum safe distance is less than the warning safe distance.
4. the Flight safety control method described in 1 is wanted according to right, it is characterised in that the labeled distinguishingly target of the acquisition
Positional information is specially：
Wireless communication connection is set up with the radio communication device that distinguishingly puts on；
Distinguishingly target position is obtained described in the positioner offer that distinguishingly puts on by the wireless communication connection
Information.
5. Flight safety control method according to any one of claim 1 to 4, it is characterised in that the flight safety
Control method also includes：
Before judging the current distance whether less than the warning safe distance for setting, judge whether the current distance is less than
The warning safe distance of setting, in this way, then：
Export, to the standard control device, the control instruction that relatively described special terrestrial reference expels the unmanned plane；
Wherein, the warning safe distance is more than the warning safe distance.
6. a kind of flight safety control system for unmanned plane, it is characterised in that include：
Positioner, for obtaining the positional information of unmanned plane；
Information acquisition device, for obtaining labeled distinguishingly target positional information；
Apart from computing device, for positional information and the distinguishingly target positional information according to the unmanned plane, institute is calculated
State the current distance between unmanned plane and the special terrestrial reference；
Whether safety detection device, judge the current distance less than the warning safe distance for setting；
Control switching device, for according to the current distance less than the judged result of first safe distance, sending and cutting
The instruction of control is changed, to stop currently controlling the standard control device of unmanned plane during flying to continue the control unmanned plane；And,
Safety protection control device, for according to the instruction, controlling the unmanned plane landing.
7. flight safety control system according to claim 6, it is characterised in that the Safety protection control device is concrete
For according to the instruction, first controlling the unmanned plane to slow down, then the unmanned plane is controlled to land.
8. flight safety control system according to claim 7, it is characterised in that the safety detection device is additionally operable to
During controlling the unmanned plane to slow down, whether the current distance is judged less than the minimum safe distance for setting, so that institute
State Safety protection control device according to the current distance less than the minimum safe distance judged result control described nobody
Machine lands, and wherein, the minimum safe distance is less than the warning safe distance.
9. flight safety control system according to claim 6, it is characterised in that described information acquisition device is channel radio
T unit, described information acquisition device is specifically for setting up radio communication company with the radio communication device that distinguishingly puts on
Connect, and distinguishingly target position is obtained described in the positioner offer that distinguishingly puts on by the wireless communication connection
Information.
10. the flight safety control system according to any one of claim 6 to 9, it is characterised in that the safety detection
Whether device was additionally operable to before judging the current distance less than the warning safe distance for setting, and judged that the current distance is
The no warning safe distance less than setting, in this way, then exports relatively described special terrestrial reference to the standard control device and expels institute
The control instruction of unmanned plane is stated, wherein, the warning safe distance is more than the warning safe distance.
11. a kind of electronic equipments, it is characterised in that including the Flight safety control system any one of claim 6 to 10
System.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611050652.1A CN106483976A (en) | 2016-11-24 | 2016-11-24 | For the Flight safety control method of unmanned plane, system and electronic equipment |
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| CN201611050652.1A CN106483976A (en) | 2016-11-24 | 2016-11-24 | For the Flight safety control method of unmanned plane, system and electronic equipment |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112133073A (en) * | 2020-09-29 | 2020-12-25 | 广州极飞科技有限公司 | Unmanned aerial vehicle no-fly area determination method and device and unmanned aerial vehicle no-fly control method and device |
| CN112947568A (en) * | 2021-03-09 | 2021-06-11 | 四川腾盾科技有限公司 | Long-endurance large-scale unmanned aerial vehicle aerial dynamic access control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112133073A (en) * | 2020-09-29 | 2020-12-25 | 广州极飞科技有限公司 | Unmanned aerial vehicle no-fly area determination method and device and unmanned aerial vehicle no-fly control method and device |
| CN112947568A (en) * | 2021-03-09 | 2021-06-11 | 四川腾盾科技有限公司 | Long-endurance large-scale unmanned aerial vehicle aerial dynamic access control method |
| CN113064447A (en) * | 2021-03-19 | 2021-07-02 | 深圳市道通智能航空技术股份有限公司 | Safety detection method, device and system, unmanned aerial vehicle and control equipment thereof |
| CN113064447B (en) * | 2021-03-19 | 2023-02-28 | 深圳市道通智能航空技术股份有限公司 | Safety detection method, device and system, unmanned aerial vehicle and control equipment thereof |
| CN114495473A (en) * | 2021-12-28 | 2022-05-13 | 歌尔科技有限公司 | Distribution method and device based on unmanned aerial vehicle, unmanned aerial vehicle and electronic equipment |
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