CN106933245A - A kind of long-range hedging method of unmanned plane, device, cloud platform and system - Google Patents
A kind of long-range hedging method of unmanned plane, device, cloud platform and system Download PDFInfo
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- CN106933245A CN106933245A CN201511020600.5A CN201511020600A CN106933245A CN 106933245 A CN106933245 A CN 106933245A CN 201511020600 A CN201511020600 A CN 201511020600A CN 106933245 A CN106933245 A CN 106933245A
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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 provides a kind of long-range hedging method of unmanned plane, including：Obtain the positional information and elevation information of unmanned plane；Send the positional information and the elevation information to cloud platform side；The risk parameters of the cloud platform feedback are received, the prompting based on the risk parameters performs hedging treatment.Present invention also offers the long-range hedging method of another unmanned plane, two kinds of long-range avoiding devices of unmanned plane and a kind of long-range avoiding system of unmanned plane.
Description
Technical field
The present invention relates to unmanned plane management and control technology, more particularly to a kind of long-range hedging method of unmanned plane, device,
Cloud platform and system.
Background technology
At present, due to unmanned plane self character, cause unmanned plane in the task of execution with certain danger,
In addition to oneself factor, extraneous many factors will also result in the out of control of unmanned plane or fall, therefore for nobody
The long-range hedging management of machine is particularly important.
In existing unmanned aerial vehicle (UAV) control method, major part refers to SUAV remote control problem, and
Without reference to how hedging, when unmanned plane be in crowd, building population density compared with area of concentration, once lose
The problems such as controlling, fall can cause serious consequence, cause ground staff's injures and deaths, damage of building, property loss
Deng, therefore, the present invention proposes a kind of long-range hedging method and system of unmanned plane based on radio communication, solves
Blank problem of the certainly current unmanned plane in long-range hedging management aspect.
The content of the invention
In view of this, the embodiment of the present invention is expected to provide a kind of long-range hedging method of unmanned plane, device, Yun Ping
Platform and system, can realize the long-range hedging of unmanned plane.
To reach above-mentioned purpose, the technical proposal of the invention is realized in this way：
A kind of long-range hedging method of unmanned plane is the embodiment of the invention provides, methods described includes：
Obtain the positional information and elevation information of unmanned plane；
Send the positional information and the elevation information to cloud platform side；
The risk parameters of the cloud platform feedback are received, the prompting based on the risk parameters performs Refuge Point
Reason.
The embodiment of the present invention additionally provides a kind of long-range hedging method of unmanned plane, and methods described includes：
Receive positional information and elevation information that unmanned plane is sent；
Based on the positional information for receiving and elevation information, the corresponding dangerous ginseng of the unmanned plane is determined
Number；
The risk parameters are sent to unmanned plane.
The embodiment of the present invention additionally provides a kind of long-range avoiding device of unmanned plane, and described device includes：Information is obtained
Modulus block, information sending module, risk parameters receiver module, hedging module, wherein,
Described information acquisition module, positional information and elevation information for obtaining unmanned plane；
Described information sending module, for sending the positional information and the elevation information to cloud platform side；
The risk parameters receiver module, the risk parameters for receiving the cloud platform feedback；
The hedging module, hedging treatment is performed for the prompting based on the risk parameters.
The embodiment of the present invention additionally provides a kind of cloud platform, and the cloud platform includes：Information receiving module, danger
Dangerous parameter calculating module, risk parameters sending module, wherein,
Described information receiver module, for receiving positional information and the elevation information that unmanned plane is sent；
The risk parameters computing module, for based on the positional information for receiving and elevation information,
Determine the corresponding risk parameters of the unmanned plane；
The risk parameters sending module, for the risk parameters to be sent into unmanned plane.
The embodiment of the present invention additionally provides a kind of long-range avoiding system of unmanned plane, and the system includes：Unmanned plane,
Cloud platform, wherein,
The unmanned plane, positional information and elevation information for obtaining unmanned plane；Send the position letter
Breath and the elevation information are to cloud platform side；The risk parameters of the cloud platform feedback are received, based on institute
The prompting for stating risk parameters performs hedging treatment；
The cloud platform, for receiving positional information and the elevation information that unmanned plane is sent；Based on receiving
The positional information and elevation information, determine the corresponding risk parameters of the unmanned plane；By the danger
Parameter is sent to unmanned plane.
In the long-range hedging method of unmanned plane, device, cloud platform and system that the embodiment of the present invention is provided, nothing
The current positional information of itself of man-machine acquisition, and the positional information is sent to cloud platform；Cloud platform according to
The positional information for receiving, determines that unmanned plane is presently in the risk parameters of position, and by the risk parameters
It is sent to unmanned plane；Unmanned plane carries out hedging according to the risk parameters for receiving.So, it is possible so that
Unmanned plane can in real time obtain the risk parameters of itself present position, and then take effective measures and carry out hedging,
Unmanned plane is avoided to cause life and property loss when falling.
Brief description of the drawings
Fig. 1 is the long-range hedging method flow schematic diagram of the unmanned plane of the embodiment of the present invention one；
Fig. 2 is the long-range hedging method flow schematic diagram of the unmanned plane of the embodiment of the present invention two；
Fig. 3 is the long-range hedging method flow schematic diagram of the unmanned plane of the embodiment of the present invention three；
Fig. 4 is the long-range avoiding device structural representation of the unmanned plane of the embodiment of the present invention one；
Fig. 5 is the long-range avoiding device structural representation of the unmanned plane of the embodiment of the present invention two；
Fig. 6 is the long-range avoiding system structural representation of embodiment of the present invention unmanned plane.
Specific embodiment
In the embodiment of the present invention, unmanned plane obtains the current positional information of itself, and the positional information is sent out
It is sent to cloud platform；Cloud platform determines that unmanned plane is presently in the danger of position according to the positional information for receiving
Parameter, and the risk parameters are sent to unmanned plane；Unmanned plane enters according to the risk parameters for receiving
Row hedging.
Below in conjunction with the accompanying drawings and specific embodiment, the implementation to technical solution of the present invention is made further to retouch in detail
State.Fig. 1 is the long-range hedging method flow schematic diagram of the unmanned plane of the embodiment of the present invention one, and methods described is applied to
Unmanned pusher side, as shown in figure 1, the long-range hedging method of the present embodiment unmanned plane is comprised the following steps：
Step 101：Obtain the positional information and elevation information of unmanned plane；
Step 102：Send the positional information and the elevation information to cloud platform side；
Step 103：Receive the risk parameters of the cloud platform feedback, the prompting based on the risk parameters
Perform hedging treatment.
In the embodiment of the present invention, the positional information includes：The geographical location information of current unmanned plane and/
Or residing communication cell information；There is multiple SIM card in unmanned plane, correspond to different Virtual network operators, because
This, the communication cell residing for unmanned plane is likely to be multiple, and different operators are corresponded to respectively；
In the embodiment of the present invention, unmanned plane can obtain the geographical location information of itself from the GPS module of itself,
Oneself height information is obtained from flight control modules, the Cell ID of residing communication cell are obtained from SIM.
In the embodiment of the present invention, the risk parameters are included but is not limited to：Unmanned plane is presently in the people of position
Mouth density, and/or building density, and/or comprehensive danger classes, and/or alarm information etc..
Specifically, the density of population, and/or building density of position, and/or comprehensive danger etc. will be presently in
Level, and/or alarm information are transmitted to unmanned aerial vehicle remote control end so that unmanned aerial vehicle (UAV) control personnel can be comprehensive according to this
Closing danger classes, corresponding warning information carries out the hedging precautionary measures.
Fig. 2 is the long-range hedging method flow schematic diagram of the unmanned plane of the embodiment of the present invention two, and methods described is applied to
Cloud platform side, as shown in Fig. 2 the long-range hedging method of the present embodiment unmanned plane is comprised the following steps：
Step 201：Receive positional information and elevation information that unmanned plane is sent；
Step 202：Based on the positional information for receiving and elevation information, the unmanned plane pair is determined
The risk parameters answered；
Step 203：The risk parameters are sent to unmanned plane.
In the embodiment of the present invention, the positional information includes：The geographical location information of current unmanned plane and/
Or residing communication cell information；The risk parameters are included but is not limited to：Unmanned plane is presently in the people of position
Mouth density, and/or building density, and/or comprehensive danger classes, and/or alarm information；
Correspondingly, the positional information that the basis is received, determines that unmanned plane is presently in the dangerous ginseng of position
Number includes：The cell ID (Cell ID) of the communication cell according to where unmanned plane, determines the current institute of unmanned plane
Locate the density of population of position；According to the geographical location information that unmanned plane is presently in, the current institute of unmanned plane is determined
The building density in the geographical position at place；The density of population of position, building are presently according to unmanned plane close
Degree, determines that unmanned plane is presently in the comprehensive danger classes of position；Position is presently according to the unmanned plane
The density of population, building density and comprehensive danger classes, determine warning information；
Specifically, the cell ID (Cell ID) of the communication cell according to where unmanned plane, it is determined that nobody
The density of population that machine is presently in position includes：The Cell ID of the communication cell according to where unmanned plane, it is determined that
The SIM networking quantity of the communication cell base station coverage area；According to the communication cell base station overlay area
The SIM networking quantity in domain, determines that unmanned plane is presently in the density of population of position；
In the embodiment of the present invention, during for there is multiple SIMs in unmanned plane, the unmanned plane for receiving
The Cell ID of the communication cell at place are the Cell ID of multiple communication cells of different operators, therefore, can
With reference to the networking quantity information of Duo Jia operators, the density of population information of position is precisely calculated.
The geographical location information being presently according to unmanned plane, determines the geographical position that unmanned plane is presently in
The building density put includes：The geographical location information being presently according to unmanned plane and the geographical position
Satellite electron map, determine the building density in the geographical position that unmanned plane is presently in.
In the embodiment of the present invention, the other specification information such as the elevation information of unmanned plane transmission can also be received, used
More accurate calculating is carried out in auxiliary.For example, when building density calculating is carried out, can combine current
The location of unmanned plane information and elevation information are calculated, to obtain more accurate result of calculation.Tool
Body, by unmanned plane positional information, flying height information, corresponding three-dimensional stereoscopic full views satellite electron map
The building density information of measuring and calculating unmanned plane position height.By unmanned plane real-time geographical locations (as passed through
Latitude), flying height obtain unmanned plane space coordinates three-dimensional information, mark unmanned plane on 3 D stereo map
The coordinate at place, combines the existing information of map in coordinate corresponding height plane, calculates coordinate one in the plane
Determine the building density information in scope.
The density of population, the building density that position is presently according to unmanned plane, determines that unmanned plane is current
The comprehensive danger classes of present position can be carried out as follows：
First, parameter is configured：
D：Danger classes, wherein D ∈ [0, T], wherein T are self-defined limit dangerous values；
P：The density of population, P ∈ [0, T]
B：Building density, B ∈ [0, T]
X：Expansible X factor parameter, X ∈ [0, T]
α:Density of population weight coefficient, α ∈ [0,1]
β：Building density weight coefficient, β ∈ [0,1]
γ：Expansible X factor weight coefficient, γ ∈ [0,1]
D=α * P+ β * B+ γ * X
Wherein, alpha+beta+γ=1, when α, β, gamma coefficient are carried out according to actual each factor proportion situation
Verification；
From said process as can be seen that danger classes be density of population factor, building density factor and other
Expansible X factor fusion, wherein, expansible X factor can influence nobody for other
The hazards of machine flight, such as, wind speed of unmanned plane present position etc., expansible X factor can be many
It is individual.
Regulation density of population P, building density B and other expansible X factor parameter X are in 0 to T
In numerical intervals so that danger classes D is interval interior in certain planning, convenient correlation flight remote control manipulator reference.
The density of population, building density and the comprehensive danger that position is presently according to the unmanned plane
Dangerous grade, determines that warning information includes：When the density of population, building density, comprehensive danger classes are more than right
During the predetermined threshold value answered, corresponding alarm information is triggered.For example, when the density of population is more than predetermined threshold value, producing
Raw density of population alarm information；When building density is more than predetermined threshold value, building density alarm is produced to disappear
Breath, when comprehensive danger classes is more than predetermined threshold value, produces comprehensive danger classes alarm information.
Fig. 3 is the long-range hedging method flow schematic diagram of the unmanned plane of the embodiment of the present invention three, and methods described is applied to
Cloud platform side, as shown in figure 3, the long-range hedging method of the present embodiment unmanned plane is comprised the following steps：
Step 301：Unmanned plane obtains the current positional information of itself, and the positional information is sent into cloud
Platform；
In the embodiment of the present invention, the positional information includes：The geographical location information of current unmanned plane and/
Or residing communication cell information；There is multiple SIM card in unmanned plane, correspond to different Virtual network operators, because
This, the communication cell residing for unmanned plane is likely to be multiple, and different operators are corresponded to respectively；
In the embodiment of the present invention, unmanned plane can obtain the geographical location information of itself from the GPS module of itself,
Oneself height information is obtained from flight control modules, the Cell ID of residing communication cell are obtained from SIM.
Step 302：Cloud platform determines that unmanned plane is presently in the danger of position according to the positional information for receiving
Dangerous parameter, and the risk parameters are sent to unmanned plane；
In the embodiment of the present invention, the risk parameters are included but is not limited to：Unmanned plane is presently in the people of position
Mouth density, and/or building density, and/or comprehensive danger classes, and/or alarm information；
Correspondingly, the cloud platform works as positional information according to what is received, determines that unmanned plane is presently in position
Risk parameters include：The cell ID (Cell ID) of communication cell of the cloud platform according to where unmanned plane, really
Determine the density of population that unmanned plane is presently in position；According to the geographical location information that unmanned plane is presently in, really
Determine the building density in the geographical position that unmanned plane is presently in；The population of position is presently according to unmanned plane
Density, building density, determine that unmanned plane is presently in the comprehensive danger classes of position；According to it is described nobody
Machine is presently in the comprehensive danger classes of position, determines warning information type.
Specifically, the cell ID (Cell ID) of the communication cell according to where unmanned plane, it is determined that nobody
The density of population that machine is presently in position includes：Communication cell of the cloud platform according to where unmanned plane
Cell ID, determine the SIM networking quantity of the communication cell base station coverage area；It is small according to the communication
The SIM networking quantity of area's base station coverage area, determines that unmanned plane is presently in the density of population of position；
In the embodiment of the present invention, during for there is multiple SIMs in unmanned plane, the unmanned plane for receiving
The Cell ID of the communication cell at place are the Cell ID of multiple communication cells of different operators, therefore, can
With reference to the networking quantity information of Duo Jia operators, the density of population information of position is precisely calculated.
The geographical location information being presently according to unmanned plane, determines the geographical position that unmanned plane is presently in
The building density put includes：Geographical location information and institute that the cloud platform is presently according to unmanned plane
The satellite electron map in geographical position is stated, the building density in the geographical position that unmanned plane is presently in is determined.
In the embodiment of the present invention, the other specification information such as the elevation information of unmanned plane transmission can also be received, used
More accurate calculating is carried out in auxiliary.For example, when building density calculating is carried out, can combine current
The location of unmanned plane information and elevation information are calculated, to obtain more accurate result of calculation.Tool
Body, by unmanned plane positional information, flying height information, corresponding three-dimensional stereoscopic full views satellite electron map
The building density information of measuring and calculating unmanned plane position height.By unmanned plane real-time geographical locations (as passed through
Latitude), flying height obtain unmanned plane space coordinates three-dimensional information, mark unmanned plane on 3 D stereo map
The coordinate at place, combines the existing information of map in coordinate corresponding height plane, calculates coordinate one in the plane
Determine the building density information in scope.
The density of population, the building density that position is presently according to unmanned plane, determines that unmanned plane is current
The comprehensive danger classes of present position can be carried out as follows：
First, parameter is configured：
D：Danger classes, wherein D ∈ [0, T], wherein T are self-defined limit dangerous values；
P：The density of population, P ∈ [0, T]
B：Building density, B ∈ [0, T]
X：Expansible X factor parameter, X ∈ [0, T]
α:Density of population weight coefficient, α ∈ [0,1]
β：Building density weight coefficient, β ∈ [0,1]
γ：Expansible X factor weight coefficient, γ ∈ [0,1]
D=α * P+ β * B+ γ * X
Wherein, alpha+beta+γ=1, when α, β, gamma coefficient are carried out according to actual each factor proportion situation
Verification；
From said process as can be seen that danger classes be density of population factor, building density factor and other
Expansible X factor fusion, wherein, expansible X factor can influence nobody for other
The hazards of machine flight, such as, wind speed of unmanned plane present position etc., expansible X factor can be many
It is individual.
Regulation density of population P, building density B and other expansible X factor parameter X are in 0 to T
In numerical intervals so that danger classes D is interval interior in certain planning, convenient correlation flight remote control manipulator reference.
The density of population, building density and the comprehensive danger that position is presently according to the unmanned plane
Dangerous grade, determines that warning information includes：When the density of population, building density, comprehensive danger classes are more than right
During the predetermined threshold value answered, corresponding alarm information is triggered.For example, when the density of population is more than predetermined threshold value, producing
Raw density of population alarm information；When building density is more than predetermined threshold value, building density alarm is produced to disappear
Breath, when comprehensive danger classes is more than predetermined threshold value, produces comprehensive danger classes alarm information.
Step 303：Unmanned plane carries out hedging according to the risk parameters for receiving.
Specifically, the density of population, and/or building density of position, and/or comprehensive danger etc. will be presently in
Level, and/or alarm information are transmitted to unmanned aerial vehicle remote control end so that unmanned aerial vehicle (UAV) control personnel can be comprehensive according to this
Closing danger classes, corresponding warning information carries out the hedging precautionary measures.
The embodiment of the present invention additionally provides a kind of long-range avoiding device of unmanned plane, and described device is located at unmanned generator terminal,
Fig. 4 is the long-range avoiding device structural representation of the unmanned plane of the embodiment of the present invention one, as shown in figure 4, the dress
Put including：Data obtaining module 41, information sending module 42, risk parameters receiver module 43, hedging mould
Block 44, wherein,
Described information acquisition module 41, positional information and elevation information for obtaining unmanned plane；
In the embodiment of the present invention, in the embodiment of the present invention, the positional information includes：The ground of current unmanned plane
Reason positional information, and/or residing communication cell information；There is multiple SIM card in unmanned plane, correspondence is different
Virtual network operator, therefore, the communication cell residing for unmanned plane is likely to be multiple, and different fortune are corresponded to respectively
Battalion business；
In the embodiment of the present invention, described information acquisition module 41 can be obtained from from the GPS module 45 of itself
The geographical location information of body, oneself height information is obtained from flight control modules 46, is obtained from SIM
Residing communication cell Cell ID.
Described information sending module 42, for sending the positional information and the elevation information to cloud platform
Side；
The risk parameters receiver module 43, the risk parameters for receiving the cloud platform feedback；
In the embodiment of the present invention, the risk parameters are included but is not limited to：Unmanned plane is presently in the people of position
Mouth density, and/or building density, and/or comprehensive danger classes, and/or alarm information etc..
The hedging module 44, hedging treatment is performed for the prompting based on the risk parameters.
Specifically, the hedging module 44 will be presently in position the density of population, and/or building density,
And/or comprehensive danger classes, and/or alarm information are transmitted to unmanned aerial vehicle remote control end so that unmanned aerial vehicle (UAV) control
Personnel can carry out the hedging precautionary measures according to the comprehensive danger classes, corresponding warning information.
To sum up, the information of the long-range avoiding device input of unmanned plane described in the embodiment of the present invention includes：From itself
The geographical location information of the current unmanned plane that GPS module 45 is obtained, from the nothing that flight control modules 46 are obtained
Man-machine flying height information and the residing communication cell information obtained from SIM；And connect from cloud platform
The unmanned plane for receiving be presently in position the density of population, and/or building density, and/or comprehensive danger classes,
And/or the information such as alarm information；
The information of the long-range avoiding device output of unmanned plane includes：The current unmanned plane sent to cloud platform
Geographical location information, elevation information and residing communication cell information and to unmanned aerial vehicle remote control end
The density of population, and/or building density that to be presently in position that send, and/or comprehensive danger classes and
/ or alarm information.
The embodiment of the present invention additionally provides a kind of long-range avoiding device of unmanned plane, and described device is located at cloud platform,
Fig. 5 is the long-range avoiding device structural representation of the unmanned plane of the embodiment of the present invention two, as shown in figure 5, the dress
Put including：Information receiving module 51, risk parameters computing module 52, risk parameters sending module 53, its
In,
Described information receiver module 51, for receiving positional information and the elevation information that unmanned plane is sent；
The risk parameters computing module 52, for being believed based on the positional information and height that receive
Breath, determines the corresponding risk parameters of the unmanned plane；
In the embodiment of the present invention, the positional information includes：The geographical location information of current unmanned plane and/
Or residing communication cell information；The risk parameters are included but is not limited to：Unmanned plane is presently in the people of position
Mouth density, and/or building density, and/or comprehensive danger classes, and/or alarm information；
In the embodiment of the present invention, the risk parameters computing module include density of population calculating sub module 521,
Building density calculating sub module 522, danger classes calculating sub module 523, alarm submodule 524, wherein,
The density of population calculating sub module 521, for the cell ID of the communication cell according to where unmanned plane
(Cell ID), determines that unmanned plane is presently in the density of population of position；The building density calculating sub module
522, for the geographical location information being presently according to unmanned plane, determine the geographical position that unmanned plane is presently in
The building density put；The danger classes calculating sub module 523, for being presently in position according to unmanned plane
The density of population, the building density put, determine that unmanned plane is presently in the comprehensive danger classes of position；It is described
Alarm submodule 524, for be presently according to the unmanned plane density of population of position, building density,
And comprehensive danger classes, determine warning information.
Specifically, the density of population calculating sub module 521 specifically for：Communication according to where unmanned plane
The Cell ID of cell, determine the SIM networking quantity of the communication cell base station coverage area；According to described
The SIM networking quantity of communication cell base station coverage area, determine unmanned plane be presently in position population it is close
Degree；
In the embodiment of the present invention, during for there is multiple SIMs in unmanned plane, the unmanned plane for receiving
The Cell ID of the communication cell at place are the Cell ID of multiple communication cells of different operators, therefore, can
With reference to the networking quantity information of Duo Jia operators, the density of population information of position is precisely calculated.
The building density calculating sub module 522 specifically for：According to the geographical position that unmanned plane is presently in
Confidence breath and the satellite electron map in the geographical position, determine the geographical position that unmanned plane is presently in
Building density.
In the embodiment of the present invention, the other specification information such as the elevation information of unmanned plane transmission can also be received, used
More accurate calculating is carried out in auxiliary.For example, when building density calculating is carried out, can combine current
The location of unmanned plane information and elevation information are calculated, to obtain more accurate result of calculation.Tool
Body, by unmanned plane positional information, flying height information, corresponding three-dimensional stereoscopic full views satellite electron map
The building density information of measuring and calculating unmanned plane position height.By unmanned plane real-time geographical locations (as passed through
Latitude), flying height obtain unmanned plane space coordinates three-dimensional information, mark unmanned plane on 3 D stereo map
The coordinate at place, combines the existing information of map in coordinate corresponding height plane, calculates coordinate one in the plane
Determine the building density information in scope.
The danger classes calculating sub module 523 is presently in the density of population of position, building according to unmanned plane
Thing density, determines that unmanned plane is presently in the comprehensive danger classes of position and can carry out as follows：
First, parameter is configured：
D：Danger classes, wherein D ∈ [0, T], wherein T are self-defined limit dangerous values；
P：The density of population, P ∈ [0, T]
B：Building density, B ∈ [0, T]
X：Expansible X factor parameter, X ∈ [0, T]
α:Density of population weight coefficient, α ∈ [0,1]
β：Building density weight coefficient, β ∈ [0,1]
γ：Expansible X factor weight coefficient, γ ∈ [0,1]
D=α * P+ β * B+ γ * X
Wherein, alpha+beta+γ=1, when α, β, gamma coefficient are carried out according to actual each factor proportion situation
Verification；
From said process as can be seen that danger classes be density of population factor, building density factor and other
Expansible X factor fusion, wherein, expansible X factor can influence nobody for other
The hazards of machine flight, such as, wind speed of unmanned plane present position etc., expansible X factor can be many
It is individual.
Regulation density of population P, building density B and other expansible X factor parameter X are in 0 to T
In numerical intervals so that danger classes D is interval interior in certain planning, convenient correlation flight remote control manipulator reference.
The submodule 524 that alerts is specifically for when the density of population, building density, comprehensive danger classes are big
When corresponding predetermined threshold value, corresponding alarm information is triggered.
Such as when the density of population is more than predetermined threshold value, density of population alarm information is produced；When building density is big
When predetermined threshold value, building density alarm information is produced, when comprehensive danger classes is more than predetermined threshold value,
Produce comprehensive danger classes alarm information.
In the embodiment of the present invention, described device also includes that other factors extend submodule 525, for calculating it
The influence of his factor for unmanned plane hedging.
The risk parameters sending module 53, for the risk parameters to be sent into unmanned plane.
To sum up, the information of the input of embodiment of the present invention described information receiver module 51 includes：Receive nobody
Current geographic position information, elevation information and residing communication cell information that machine sends；The packet of output
Include：It is sent to current geographic position information, elevation information and the residing communication of risk parameters computing module 52
Cell information；
The information of the input of risk parameters sending module 53 includes：What risk parameters computing module 52 sent
It is presently in the density of population, building density, comprehensive danger classes and the alarm information of position；Output
Information include：It is sent to the density of population for being presently in position, building density, the comprehensive danger of unmanned plane
Dangerous grade and alarm information；
The information of the input of density of population calculating sub module 521 includes：Received from information receiving module 51
Unmanned plane residing for communication cell cell information (Cell ID)；The information of output includes：It is sent to danger etc.
Level calculating sub module 523 the SIM networking quantity information according to cell base station overlay area, with reference to many families
The SIM networking quantity information of Virtual network operator, the density of population for calculating；
The information of the input of building density calculating sub module 522 includes：Received from information receiving module 51
The current residing elevation information of unmanned plane institute and geographical location information for arriving；The information of output includes：It is sent to danger
Dangerous rating calculation submodule 523, the geographical location information according to unmanned plane, elevation information, can correspond to three
The building density of dimension stereoscopic full views satellite electron map calculation unmanned plane position height out；
The information of the input of danger classes calculating sub module 523 includes：Density of population calculating sub module 521
The density of population of the current location of output, the current location of the output of building density calculating sub module 522 are built
Build thing density；The information of output includes：Comprehensive danger being sent to alarm submodule 524, calculating etc.
Level, and the density of population, the building density for receiving.
The information of alarm submodule 524 input includes：The danger classes calculating sub module 523 for receiving
The comprehensive danger classes of transmission, the density of population, building density；The information of output includes：It is sent to danger
The density of population alarm information of parameter sending module 53, building density alarm information, comprehensive danger classes are accused
It is alert.
The embodiment of the present invention additionally provides a kind of long-range avoiding system of unmanned plane, Fig. 6 be the embodiment of the present invention without
Man-machine long-range avoiding system structural representation, as shown in fig. 6, the system includes：Unmanned plane 61, Yun Ping
Platform 62, wherein,
The unmanned plane 61, for obtaining the current positional information of itself, and the positional information is sent to
Cloud platform；
In the embodiment of the present invention, the positional information includes：The geographical location information of current unmanned plane and/
Or residing communication cell information；There is multiple SIM card in unmanned plane 61, correspond to different Virtual network operators,
Therefore, the communication cell residing for unmanned plane 61 is likely to be multiple, and different operators are corresponded to respectively；
In the embodiment of the present invention, unmanned plane 61 can obtain the geographical position of itself from the GPS module of itself
Information, oneself height information is obtained from flight control modules, and residing communication cell is obtained from SIM
Cell ID。
In the embodiment of the present invention, the unmanned plane 61 is additionally operable to：The risk parameters according to receiving are carried out
Hedging；
Specifically, the density of population, and/or building density of position, and/or comprehensive danger etc. will be presently in
Level, and/or alarm information are transmitted to unmanned aerial vehicle remote control end so that unmanned aerial vehicle (UAV) control personnel can be comprehensive according to this
Closing danger classes, corresponding warning information carries out the hedging precautionary measures.
The cloud platform 62, for according to the positional information for receiving, determining that unmanned plane is presently in position
Risk parameters, and the risk parameters are sent to unmanned plane.
In the embodiment of the present invention, the risk parameters are included but is not limited to：Unmanned plane is presently in the people of position
Mouth density, and/or building density, and/or comprehensive danger classes, and/or alarm information；
Correspondingly, the cloud platform 62 specifically for：The cell ID of the communication cell according to where unmanned plane
(Cell ID), determines that unmanned plane is presently in the density of population of position；According to the geography that unmanned plane is presently in
Positional information, determines the building density in the geographical position that unmanned plane is presently in；According to the current institute of unmanned plane
Locate the density of population, the building density of position, determine that unmanned plane is presently in the comprehensive danger classes of position；
The comprehensive danger classes of position is presently according to the unmanned plane, warning information type is determined.
Specifically, the cloud platform 62 specifically for：The Cell ID of the communication cell according to where unmanned plane,
Determine the SIM networking quantity of the communication cell base station coverage area；Covered according to the communication cell base station
The SIM networking quantity of cover area, determines that unmanned plane is presently in the density of population of position；
In the embodiment of the present invention, during for there is multiple SIMs in unmanned plane, the unmanned plane for receiving
The Cell ID of the communication cell at place are the Cell ID of multiple communication cells of different operators, therefore, can
With reference to the networking quantity information of Duo Jia operators, the density of population information of position is precisely calculated.
The cloud platform 62 specifically for：The geographical location information that is presently according to unmanned plane and described
The satellite electron map of position is managed, the building density in the geographical position that unmanned plane is presently in is determined.
In the embodiment of the present invention, the other specification information such as the elevation information of unmanned plane transmission can also be received, used
More accurate calculating is carried out in auxiliary.For example, when building density calculating is carried out, can combine current
The location of unmanned plane information and elevation information are calculated, to obtain more accurate result of calculation.Tool
Body, by unmanned plane positional information, flying height information, corresponding three-dimensional stereoscopic full views satellite electron map
The building density information of measuring and calculating unmanned plane position height.By unmanned plane real-time geographical locations (as passed through
Latitude), flying height obtain unmanned plane space coordinates three-dimensional information, mark unmanned plane on 3 D stereo map
The coordinate at place, combines the existing information of map in coordinate corresponding height plane, calculates coordinate one in the plane
Determine the building density information in scope.
The cloud platform 62 is presently in the density of population of position, building density according to unmanned plane, it is determined that nothing
The man-machine comprehensive danger classes for being presently in position can be carried out as follows：
First, parameter is configured：
D：Danger classes, wherein D ∈ [0, T], wherein T are self-defined limit dangerous values；
P：The density of population, P ∈ [0, T]
B：Building density, B ∈ [0, T]
X：Expansible X factor parameter, X ∈ [0, T]
α:Density of population weight coefficient, α ∈ [0,1]
β：Building density weight coefficient, β ∈ [0,1]
γ：Expansible X factor weight coefficient, γ ∈ [0,1]
D=α * P+ β * B+ γ * X
Wherein, alpha+beta+γ=1, when α, β, gamma coefficient are carried out according to actual each factor proportion situation
Verification；
From said process as can be seen that danger classes be density of population factor, building density factor and other
Expansible X factor fusion, wherein, expansible X factor can influence nobody for other
The hazards of machine flight, such as, wind speed of unmanned plane present position etc., expansible X factor can be many
It is individual.
Regulation density of population P, building density B and other expansible X factor parameter X are in 0 to T
In numerical intervals so that danger classes D is interval interior in certain planning, convenient correlation flight remote control manipulator reference.
Cloud platform 62 described in the embodiment of the present invention specifically for：When the density of population, building density, synthesis
When danger classes is more than corresponding predetermined threshold value, corresponding alarm information is triggered.For example, when the density of population is more than
During predetermined threshold value, density of population alarm information is produced；When building density is more than predetermined threshold value, generation is built
Thing density alarm information is built, when comprehensive danger classes is more than predetermined threshold value, comprehensive danger classes alarm is produced
Message.
The specific work process of the long-range avoiding system of unmanned plane described in the embodiment of the present invention is as follows：
A：The data obtaining module 41 of unmanned plane obtains unmanned plane real-time geographical locations letter from GPS module 45
Breath, the real-time elevation information of unmanned plane is obtained from flight control modules 46.
B：Data obtaining module 41 is by unmanned plane real-time geographical locations information, elevation information, residing logical at present
Letter cell Cell id informations etc. are sent to the information receiving module 51 of cloud platform；
C：Information receiving module 51 sends to the density of population meter Cell id informations of cell residing for unmanned plane
Operator module 521；By unmanned plane, height and geographical location information are sent to building density calculating submodule in real time
Block 522；The factor information of other influences unmanned plane during flying is transmitted to other factors and extends submodule 525；Population
Density calculating sub module 521 carries out the calculating of the density of population；Building density calculating sub module 522 is built
Build the calculating of thing density；Other factors calculate extension submodule 525 and carry out other expansible X factor ginsengs
Several calculating.
D：Density of population calculating sub module 521 will by the density of population, building density calculating sub module 522
Building density, other factors calculate extension submodule 525 by other expansible X factor parameter transmission
The calculating of danger classes is carried out to danger classes calculating sub module 523.
E：Real-time flight that danger classes calculating sub module 523 will be calculated synthesis danger classes, population are close
Degree, building density etc. are transferred to alert submodule 524, when the density of population, building density, comprehensive danger
When dangerous grade is more than certain threshold value, corresponding alarm information is triggered.
F：Real-time flight that danger classes calculating sub module 523 will be calculated synthesis danger classes, the density of population,
Building density is transmitted to risk parameters sending module 53；Alarm submodule 524 by density of population alarm information,
Building density alarm information, comprehensive danger classes alarm information are transmitted to risk parameters sending module 53.
G：Risk parameters sending module 53 is by the density of population, building density, comprehensive danger classes, various
Alarm information etc. is transmitted to risk parameters receiver module 43.
H：Risk parameters receiver module 43 is by the density of population, building density, comprehensive danger classes, various
The transmission hedging such as alarm information module 44.
I：Hedging module 44 is by the density of population, building density, comprehensive danger classes, various alarm informations
Etc. transmit to unmanned aerial vehicle remote control end；So that unmanned aerial vehicle (UAV) control personnel can according to the comprehensive danger classes,
Corresponding warning information carries out the hedging precautionary measures.
Each processing module in the long-range avoiding device of unmanned plane shown in Fig. 4 and Fig. 5 realizes function, can
Understand with reference to the associated description of the long-range hedging method of foregoing unmanned plane.It will be appreciated by those skilled in the art that
The function of each processing module can be by running on treatment in the long-range avoiding device of unmanned plane shown in Fig. 4 and Fig. 5
Program on device and realize, can also be realized by specific logic circuit, such as：Can be by central processing unit
(CPU), microprocessor (MPU), digital signal processor (DSP) or field programmable gate array
(FPGA) realize.
In several embodiments provided by the present invention, it should be understood that disclosed method and device, can be with
Realize in other way.Device embodiment described above is only schematical, for example, described
The division of module, only a kind of division of logic function, can there is other dividing mode when actually realizing,
Such as：Multiple module or components can be combined, or be desirably integrated into another system, or some features can be neglected
Slightly, or do not perform.In addition, the communication connection each other of shown or discussed each part can be
By some interfaces, the INDIRECT COUPLING or communication connection of equipment or module, can be it is electrical, machinery or
Other forms.
It is above-mentioned as separating component illustrate module can be or may not be it is physically separate, as
The part that module shows can be or may not be physical module, you can positioned at a place, also may be used
To be distributed on multiple mixed-media network modules mixed-medias；Part or all of module therein can be according to the actual needs selected
Realize the purpose of this embodiment scheme.
In addition, each functional module in various embodiments of the present invention can be fully integrated into a processing module,
Can also be each module individually as a module, it is also possible to which two or more modules are integrated in one
In individual module；Above-mentioned integrated module can both be realized in the form of hardware, it would however also be possible to employ hardware adds soft
The form of part functional module is realized.
One of ordinary skill in the art will appreciate that：Realize that all or part of step of above method embodiment can
To be completed by the related hardware of programmed instruction, foregoing program can be stored in embodied on computer readable storage
In medium, the program upon execution, performs the step of including above method embodiment；And foregoing storage is situated between
Matter includes：Movable storage device, read-only storage (ROM, Read-Only Memory), magnetic disc or
CD etc. is various can be with the medium of store program codes.
Or, if the above-mentioned integrated module of the embodiment of the present invention is realized and made in the form of software function module
For independent production marketing or when using, it is also possible to which storage is in a computer read/write memory medium.Base
In such understanding, what the technical scheme of the embodiment of the present invention substantially contributed to prior art in other words
Part can be embodied in the form of software product, and the computer software product is stored in a storage medium
In, including some instructions are used to so that computer equipment (can be personal computer, server or
Person's network equipment etc.) perform all or part of each embodiment methods described of the invention.And foregoing storage
Medium includes：Movable storage device, ROM, magnetic disc or CD etc. are various can be with Jie of store program codes
Matter.
The long-range hedging method of unmanned plane, device described in the embodiment of the present invention only by taking above-described embodiment as an example,
But this is not limited only to, it will be understood by those within the art that：It still can be to foregoing embodiments
Described technical scheme is modified, or carries out equivalent to which part or all technical characteristic；
And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technical side
The scope of case.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the scope of the present invention.
Claims (12)
1. a kind of long-range hedging method of unmanned plane, it is characterised in that be applied to unmanned plane, methods described includes：
Obtain the positional information and elevation information of unmanned plane；
Send the positional information and the elevation information to cloud platform side；
The risk parameters of the cloud platform feedback are received, the prompting based on the risk parameters performs Refuge Point
Reason.
2. method according to claim 1, it is characterised in that methods described also includes：
Residing communication cell information is sent to the cloud platform side.
3. method according to claim 1, it is characterised in that the risk parameters include it is following at least
One of：
Unmanned plane is presently in the density of population, building density, comprehensive danger classes, the alarm information of position.
4. a kind of long-range hedging method of unmanned plane, it is characterised in that be applied to cloud platform side, methods described bag
Include：
Receive positional information and elevation information that unmanned plane is sent；
Based on the positional information for receiving and elevation information, the corresponding dangerous ginseng of the unmanned plane is determined
Number；
The risk parameters are sent to unmanned plane.
5. method according to claim 4, it is characterised in that the positional information that the basis is received
And elevation information, determine that unmanned plane is presently in the risk parameters of position and includes：
The positional information and elevation information being presently according to unmanned plane, determine that unmanned plane is presently in position
Building density；
According to the residing communication cell information that the unmanned plane is sent, determine that the unmanned plane is presently in position
The density of population；
The density of population, the building density of position are presently according to unmanned plane, determine that unmanned plane is presently in
The comprehensive danger classes of position；
The density of population, building density and comprehensive danger of position etc. are presently according to the unmanned plane
Level, determines warning information；
Using in the building density, the density of population, comprehensive danger classes and the warning information extremely
A kind of few information, constitutes the risk parameters.
6. method according to claim 5, it is characterised in that the institute sent according to the unmanned plane
Place's communication cell information, determines that the unmanned plane is presently in the density of population of position, including：
The residing communication cell information that the unmanned plane is sent is received, wherein, the residing communication cell letter
At least include cell ID Cell ID in breath；
Determine the client identification module SIM networking quantity of the communication cell base station coverage area；
SIM networking quantity according to the communication cell base station coverage area, determines that unmanned plane is presently in
The density of population of position.
7. method according to claim 5, it is characterised in that described to be presently according to unmanned plane
Positional information and elevation information, determine that unmanned plane is presently in the building density of position, including：
The geographical location information and the satellite electron map in the geographical position being presently according to unmanned plane,
Determine the building density in the geographical position that unmanned plane is presently in.
8. the long-range avoiding device of a kind of unmanned plane, it is characterised in that described device includes：Data obtaining module,
Information sending module, risk parameters receiver module, hedging module, wherein,
Described information acquisition module, positional information and elevation information for obtaining unmanned plane；
Described information sending module, for sending the positional information and the elevation information to cloud platform side；
The risk parameters receiver module, the risk parameters for receiving the cloud platform feedback；
The hedging module, hedging treatment is performed for the prompting based on the risk parameters.
9. a kind of cloud platform, it is characterised in that the cloud platform includes：Information receiving module, risk parameters
Computing module, risk parameters sending module, wherein,
Described information receiver module, for receiving positional information and the elevation information that unmanned plane is sent；
The risk parameters computing module, for based on the positional information for receiving and elevation information,
Determine the corresponding risk parameters of the unmanned plane；
The risk parameters sending module, for the risk parameters to be sent into unmanned plane.
10. cloud platform according to claim 9, it is characterised in that the risk parameters computing module
Including density of population calculating sub module, building density calculating sub module, danger classes calculating sub module, announcement
Alert submodule, wherein,
The density of population calculating sub module, for the residing communication cell information sent according to the unmanned plane,
Determine that the unmanned plane is presently in the density of population of position；
The building density calculating sub module, for the positional information and height that are presently according to unmanned plane
Degree information, determines that unmanned plane is presently in the building density of position；
The danger classes calculating sub module, for being presently in the density of population of position according to unmanned plane, building
Thing density is built, determines that unmanned plane is presently in the comprehensive danger classes of position；
The alarm submodule, the density of population, building for being presently in position according to the unmanned plane
Density and comprehensive danger classes, determine warning information；Using the building density, the density of population,
At least one information in comprehensive danger classes and the warning information, constitutes the risk parameters.
11. cloud platforms according to claim 10, it is characterised in that
The density of population calculating sub module is small specifically for receiving the residing communication that the unmanned plane sends
Area's information, wherein, at least include cell ID Cell ID in the residing communication cell information；It is determined that described
The client identification module SIM networking quantity of communication cell base station coverage area；According to the communication cell base
Stand the SIM networking quantity of overlay area, determine that unmanned plane is presently in the density of population of position；
The building density calculating sub module, specifically for the geographical position letter being presently according to unmanned plane
Breath and the satellite electron map in the geographical position, determine the building in the geographical position that unmanned plane is presently in
Thing density.
12. a kind of long-range avoiding systems of unmanned plane, it is characterised in that the system includes：Unmanned plane, cloud
Platform, wherein,
The unmanned plane, positional information and elevation information for obtaining unmanned plane；Send the position letter
Breath and the elevation information are to cloud platform side；The risk parameters of the cloud platform feedback are received, based on institute
The prompting for stating risk parameters performs hedging treatment；
The cloud platform, for receiving positional information and the elevation information that unmanned plane is sent；Based on receiving
The positional information and elevation information, determine the corresponding risk parameters of the unmanned plane；By the danger
Parameter is sent to unmanned plane.
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