CN106970640B - Unmanned aerial vehicle flight control forbidding method and device - Google Patents

Unmanned aerial vehicle flight control forbidding method and device Download PDF

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CN106970640B
CN106970640B CN201710170873.0A CN201710170873A CN106970640B CN 106970640 B CN106970640 B CN 106970640B CN 201710170873 A CN201710170873 A CN 201710170873A CN 106970640 B CN106970640 B CN 106970640B
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fly
aerial vehicle
unmanned aerial
zone
target
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CN106970640A (en
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张国乾
蔡炜
黄玉宇
田景颐
王超
莫委洳
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Beijing Feimi Technology Co ltd
Beijing Xiaomi Mobile Software Co Ltd
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Beijing Feimi Technology Co ltd
Beijing Xiaomi Mobile Software Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/29—Geographical information databases
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/90—Details of database functions independent of the retrieved data types
    • G06F16/95—Retrieval from the web
    • G06F16/953—Querying, e.g. by the use of web search engines
    • G06F16/9537—Spatial or temporal dependent retrieval, e.g. spatiotemporal queries
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences

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  • Automation & Control Theory (AREA)
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  • Computer Networks & Wireless Communication (AREA)
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Abstract

The utility model relates to a no-fly control method and device of unmanned aerial vehicle, when detecting that unmanned aerial vehicle APP is opened, obtain the no-fly data set from the server end, send the no-fly data set to unmanned aerial vehicle, and the current position information of unmanned aerial vehicle that unmanned aerial vehicle sent is received, according to unmanned aerial vehicle's current position information, confirm unmanned aerial vehicle's flight range, according to flight range and no-fly data set, confirm the target no-fly zone in the flight range, send the sign in target no-fly zone to unmanned aerial vehicle, unmanned aerial vehicle carries out the no-fly operation according to the sign in target no-fly zone and no-fly data set. Because the user opens unmanned aerial vehicle APP at every turn, terminal equipment can both obtain latest forbidden data set to can respond to the state rapidly and to unmanned aerial vehicle's temporary control problem, and whole forbidden process is automatic to be accomplished, does not need the manual setting of user, brings better experience for the user.

Description

Unmanned aerial vehicle flight control forbidding method and device
Technical Field
The present disclosure relates to an unmanned aerial vehicle technology, and in particular, to a flight barring control method and apparatus for an unmanned aerial vehicle.
Background
The unmanned plane is called unmanned plane for short, and is an unmanned plane operated by radio remote control equipment and a self-contained program control device. Present unmanned aerial vehicle all has the automatic flight function, and after operating personnel planned the route, unmanned aerial vehicle can be according to the route automatic flight of planning, and forbidden scope of flying should be avoided to unmanned aerial vehicle's flight route.
The forbidden flight range of a general unmanned aerial vehicle has the following characteristics: country-specific, fixed site-wide, and permanently prohibited flying. For example, no flight is possible within a range of N kilometers around an airport. However, currently, it is not possible to perform real-time adjustment of the no-fly zone according to policy or other reasons.
Disclosure of Invention
In order to overcome the problems in the related art, the present disclosure provides a method and an apparatus for controlling no-fly of an unmanned aerial vehicle.
According to a first aspect of the embodiments of the present disclosure, there is provided a no-fly control method for an unmanned aerial vehicle, including:
when the unmanned aerial vehicle application APP is detected to be opened, acquiring a no-fly data set from a server side;
sending the no-fly data set to the unmanned aerial vehicle;
receiving current position information of the unmanned aerial vehicle sent by the unmanned aerial vehicle;
determining the flight range of the unmanned aerial vehicle according to the current position information of the unmanned aerial vehicle;
determining a target no-fly zone in the flight range according to the flight range and the no-fly data set;
and sending the identifier of the target no-fly zone to the unmanned aerial vehicle so that the unmanned aerial vehicle performs no-fly operation according to the identifier of the target no-fly zone and the no-fly data group.
Optionally, the no-fly data group includes no-fly data of a plurality of no-fly zones, and the no-fly data of each no-fly zone includes: the method comprises the steps of identifying, positioning, range, no-fly time and no-fly type of a no-fly zone, wherein the no-fly type is used for indicating that the no-fly zone is a temporary no-fly zone or a permanent no-fly zone.
Optionally, the acquiring, from the server side, the no-fly data set includes:
sending a data group downloading request to the server, wherein the data group downloading request comprises the version number of the no-fly data group stored on the terminal equipment;
and receiving a data group downloading response sent by the server, wherein when the version number of the no-fly data group stored on the terminal equipment is different from the version number of the no-fly data group stored on the server, the data group downloading response comprises the no-fly data group stored on the server.
Optionally, the determining the flight range of the unmanned aerial vehicle according to the current position information of the unmanned aerial vehicle includes:
the current position of the unmanned aerial vehicle is used as a circle center, a preset distance is used as a radius to determine a circular area, and the circular area is the flight range of the unmanned aerial vehicle.
Optionally, before sending the no-fly data set to the unmanned aerial vehicle, the method further includes:
and encrypting the no-fly data set.
Optionally, the method further includes:
and displaying the position and the range of the target no-fly zone on a map.
According to a second aspect of the embodiments of the present disclosure, there is provided a method for controlling a no-fly mode of an unmanned aerial vehicle, including:
receiving a no-fly data set sent by terminal equipment;
sending the current position information of the unmanned aerial vehicle to the terminal equipment;
receiving an identifier of a target no-fly zone in a flight range of the unmanned aerial vehicle, which is sent by the terminal device, wherein the flight range is determined according to current position information of the unmanned aerial vehicle;
determining the no-fly data of the target no-fly zone according to the identifier of the target no-fly zone and the no-fly data group;
and carrying out no-fly operation according to the no-fly data of the target no-fly zone.
Optionally, the no-fly data group includes no-fly data of a plurality of no-fly zones, and the no-fly data of each no-fly zone includes: the method comprises the steps of identifying, positioning, range, no-fly time and no-fly type of a no-fly zone, wherein the no-fly type is used for indicating that the no-fly zone is a temporary no-fly zone or a permanent no-fly zone.
Optionally, the no-fly data set is encrypted, and the method further includes:
and decrypting the no-fly data set.
According to a third aspect of the embodiments of the present disclosure, there is provided a no-fly control device for an unmanned aerial vehicle, including:
the acquisition module is configured to acquire a no-fly data set from the server side when detecting that the unmanned aerial vehicle application APP is opened;
a first sending module configured to send the no-fly data set to a drone;
a receiving module configured to receive current location information of the drone sent by the drone;
a first determination module configured to determine a flight range of the drone according to current location information of the drone;
a second determination module configured to determine a target no-fly zone within the flight range according to the flight range and the no-fly data set;
and the second sending module is configured to send the identifier of the target no-fly zone to the unmanned aerial vehicle so that the unmanned aerial vehicle performs no-fly operation according to the identifier of the target no-fly zone and the no-fly data group.
Optionally, the no-fly data group includes no-fly data of a plurality of no-fly zones, and the no-fly data of each no-fly zone includes: the method comprises the steps of identifying, positioning, range, no-fly time and no-fly type of a no-fly zone, wherein the no-fly type is used for indicating that the no-fly zone is a temporary no-fly zone or a permanent no-fly zone.
Optionally, the obtaining module includes:
the first sending submodule is configured to send a data group downloading request to the server, and the data group downloading request comprises a version number of a no-fly data group stored on the terminal equipment;
and the first receiving submodule is configured to receive a data group downloading response sent by the server, and when the version number of the no-fly data group stored on the terminal equipment is different from the version number of the no-fly data group stored on the server, the data group downloading response comprises the no-fly data group stored on the server.
Optionally, the second determining module includes:
the first determining submodule is configured to determine a circular area by taking the current position of the unmanned aerial vehicle as a circle center and taking a preset distance as a radius, and the circular area is the flight range of the unmanned aerial vehicle.
Optionally, the apparatus further comprises:
an encryption module configured to encrypt the no-fly data set.
Optionally, the apparatus further comprises:
a display module configured to display a location and a range of the target no-fly zone on a map.
According to a fourth aspect of the embodiments of the present disclosure, there is provided a no-fly control device for an unmanned aerial vehicle, including:
the first receiving module is configured to receive a no-fly data set sent by the terminal equipment;
a sending module configured to send current location information of the unmanned aerial vehicle to the terminal device;
a second receiving module, configured to receive an identifier of a target no-fly zone within a flight range of the unmanned aerial vehicle, where the flight range is determined according to current location information of the unmanned aerial vehicle, and the identifier is sent by the terminal device;
the determining module is configured to determine the no-fly data of the target no-fly zone according to the identifier of the target no-fly zone and the no-fly data group;
and the no-fly module is configured to perform no-fly operation according to the no-fly data of the target no-fly area.
Optionally, the no-fly data group includes no-fly data of a plurality of no-fly zones, and the no-fly data of each no-fly zone includes: the method comprises the steps of identifying, positioning, range, no-fly time and no-fly type of a no-fly zone, wherein the no-fly type is used for indicating that the no-fly zone is a temporary no-fly zone or a permanent no-fly zone.
Optionally, the no-fly data set is encrypted, and the apparatus further includes:
a decryption module configured to decrypt the no-fly data set.
According to a fifth aspect of the embodiments of the present disclosure, there is provided a no-fly control device for an unmanned aerial vehicle, including:
a memory;
a memory configured to store processor-executable instructions;
wherein the processor is configured to:
when the unmanned aerial vehicle application APP is detected to be opened, acquiring a no-fly data set from a server side;
sending the no-fly data set to the unmanned aerial vehicle;
receiving current position information of the unmanned aerial vehicle sent by the unmanned aerial vehicle;
determining the flight range of the unmanned aerial vehicle according to the current position information of the unmanned aerial vehicle;
determining a target no-fly zone in the flight range according to the flight range and the no-fly data set;
and sending the identifier of the target no-fly zone to the unmanned aerial vehicle so that the unmanned aerial vehicle performs no-fly operation according to the identifier of the target no-fly zone and the no-fly data group.
According to a sixth aspect of the embodiments of the present disclosure, there is provided a no-fly control device for an unmanned aerial vehicle, including:
a memory;
a memory configured to store processor-executable instructions;
wherein the processor is configured to:
receiving a no-fly data set sent by terminal equipment;
sending the current position information of the unmanned aerial vehicle to the terminal equipment;
receiving an identifier of a target no-fly zone in a flight range of the unmanned aerial vehicle, which is sent by the terminal device, wherein the flight range is determined according to current position information of the unmanned aerial vehicle;
determining the no-fly data of the target no-fly zone according to the identifier of the target no-fly zone and the no-fly data group;
and carrying out no-fly operation according to the no-fly data of the target no-fly zone.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects: when detecting that unmanned aerial vehicle APP is opened, obtain the no-fly data set from the server side, send the no-fly data set to unmanned aerial vehicle, and receive unmanned aerial vehicle's that unmanned aerial vehicle sent current position information, according to unmanned aerial vehicle's current position information, confirm unmanned aerial vehicle's flight range, according to flight range and no-fly data set, confirm the target no-fly zone in the flight range, send the sign in target no-fly zone to unmanned aerial vehicle, unmanned aerial vehicle carries out the no-fly operation according to the sign in target no-fly zone and no-fly data set. Because the user opens unmanned aerial vehicle APP at every turn, terminal equipment can both obtain latest forbidden data set to can respond to the state rapidly and to unmanned aerial vehicle's temporary control problem, and whole forbidden process is automatic to be accomplished, does not need the manual setting of user, brings better experience for the user.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
Fig. 1 is a flowchart illustrating a method for controlling a no-fly operation of a drone according to an exemplary embodiment.
Fig. 2 is a flowchart illustrating a method for controlling a no-fly operation of a drone according to an exemplary embodiment.
Fig. 3 is a schematic diagram of a no-fly zone.
Fig. 4 is a schematic diagram of a no-fly zone.
Fig. 5 is a flowchart illustrating a method for controlling a no-fly operation of a drone according to an exemplary embodiment.
Fig. 6 is a block diagram illustrating a no-fly control apparatus of a drone according to an exemplary embodiment.
Fig. 7 is a block diagram illustrating a no-fly control apparatus of a drone according to an exemplary embodiment.
Fig. 8 is a block diagram illustrating a no-fly control apparatus of a drone according to an exemplary embodiment.
Fig. 9 is a block diagram illustrating a no-fly control apparatus of a drone according to an exemplary embodiment.
Fig. 10 is a block diagram illustrating a no-fly control apparatus of a drone according to an exemplary embodiment.
Fig. 11 is a block diagram illustrating a no-fly control apparatus of a drone according to an exemplary embodiment.
Fig. 12 is a block diagram illustrating a no-fly control apparatus of a drone according to an exemplary embodiment.
Fig. 13 is a block diagram of a drone no-fly control apparatus according to an example embodiment.
Fig. 14 is a block diagram of a drone no-fly control apparatus according to an example embodiment.
Fig. 15 is a block diagram illustrating a no-fly control apparatus 800 of a drone according to an exemplary embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.
Fig. 1 is a flowchart illustrating a method for controlling no-fly of a drone, where the method is executed by a terminal device, specifically, by a drone APP on the terminal device, and as shown in fig. 1, the method for controlling no-fly of a drone includes the following steps.
In step S101, when it is detected that the drone APP is turned on, a no-fly data set is acquired from the server side.
After the user opens the unmanned aerial vehicle APP, if there is network connection, the unmanned aerial vehicle APP can establish connection with the server, request up-to-date no-fly data set, if no-fly data set is updated, the server can send up-to-date no-fly data set to the unmanned aerial vehicle APP, if no-fly data set is updated, then the no-fly data set before use. Because the user can both obtain latest no-fly data set when opening unmanned aerial vehicle APP at every turn to can respond to the interim control problem of country to unmanned aerial vehicle rapidly.
The no-fly data group includes no-fly data of a plurality of no-fly zones, and the plurality of no-fly zones may include all no-fly zones in the global range. The no-fly data of each no-fly zone includes: the method includes the steps of identifying, position, range, no-fly time and no-fly type of a no-fly zone, wherein the no-fly type is used for indicating that the no-fly zone is a temporary no-fly zone or a permanent no-fly zone, the position of the no-fly zone can be a coordinate point, if the no-fly zone is a circular zone, the range of the no-fly zone can be the radius of the circular zone, and the identification of the no-fly zone can uniquely identify one no-fly zone.
Optionally, the no-fly data set acquired by the terminal device from the server includes plaintext data and encrypted data, the encrypted data is obtained by encrypting the plaintext data, and the plaintext data is the no-fly data of the above-mentioned multiple no-fly zones. The terminal equipment can not decrypt the encrypted data, and the terminal equipment only forwards the encrypted data to the unmanned aerial vehicle. Optionally, the no-fly data set acquired by the terminal device from the server may also include only plaintext data, the terminal device encrypts the plaintext data to obtain encrypted data, and sends the encrypted data to the unmanned aerial vehicle.
In step S102, the no-fly data set is transmitted to the drone.
If the no-fly data group comprises plaintext data and encrypted data, the terminal device only sends the encrypted data to the unmanned aerial vehicle, and if the no-fly data group comprises the plaintext data only, the terminal device encrypts the plaintext data and sends the encrypted data to the unmanned aerial vehicle.
In step S103, current location information of the drone transmitted by the drone is received.
The unmanned aerial vehicle detects the current position of the unmanned aerial vehicle by using a GPS system of the unmanned aerial vehicle, and sends the current position information to the terminal equipment.
In step S104, the flight range of the drone is determined according to the current position information of the drone.
In one implementation, the current position of the unmanned aerial vehicle is used as the circle center, the preset distance is used as the radius to determine a circular area, and the circular area is the flight range of the unmanned aerial vehicle. The predetermined distance may be 1000 kilometers, 500 kilometers, 1500 kilometers, etc. Of course, the flight range of the drone may also be other than circular, but other shapes.
In step S105, a target no-fly zone in the flight range is determined according to the flight range and the no-fly data set.
And the terminal equipment determines that all the no-fly zones in the flight range are target no-fly zones according to the no-fly data set, and the number of the target no-fly zones may be one or more.
In step S106, the identifier of the target no-fly zone is sent to the unmanned aerial vehicle, so that the unmanned aerial vehicle performs no-fly operation according to the identifier of the target no-fly zone and the no-fly data set.
After receiving the identifier of the target no-fly zone, the unmanned aerial vehicle queries the no-fly data of the target no-fly zone from the no-fly data group according to the identifier of the target no-fly zone, and performs no-fly operation according to the no-fly data of the target no-fly zone.
In this embodiment, when detecting that unmanned aerial vehicle APP is opened, obtain the no-fly data set from the server, send the no-fly data set to unmanned aerial vehicle, and receive unmanned aerial vehicle's that unmanned aerial vehicle sent current position information, according to unmanned aerial vehicle's current position information, confirm unmanned aerial vehicle's flight range, according to flight range and no-fly data set, confirm the target no-fly zone in the flight range, send the sign in target no-fly zone to unmanned aerial vehicle, unmanned aerial vehicle carries out the no-fly operation according to the sign in target no-fly zone and no-fly data set. Because the user opens unmanned aerial vehicle APP at every turn, terminal equipment can both obtain latest forbidden data set to can respond to the state rapidly and to unmanned aerial vehicle's temporary control problem, and whole forbidden process is automatic to be accomplished, does not need the manual setting of user, brings better experience for the user.
On the basis of the embodiment shown in fig. 1, fig. 2 is a flowchart illustrating a method for controlling a no-fly operation of a drone according to an exemplary embodiment, and as shown in fig. 2, the method for controlling a no-fly operation of a drone includes the following steps.
In step S201, when it is detected that the unmanned aerial vehicle APP is opened, a data group download request is sent to the server, where the data group download request includes a version number of a no-fly data group stored on the terminal device.
In step S202, a data group download response sent by the server is received, and when the version number of the no-fly data group stored on the terminal device is different from the version number of the no-fly data group stored on the server, the data group download response includes the no-fly data group stored on the server.
And after receiving the data group downloading request, the server compares whether the version number of the no-fly data group stored on the terminal equipment is the same as the version number of the no-fly data group stored on the server. If the version number of the no-fly data group stored in the terminal device is the same as the version number of the no-fly data group stored in the server, it indicates that the no-fly data group stored in the server is not updated, and accordingly, the no-fly data group stored in the terminal device does not need to be updated. If the version number of the no-fly data group stored on the terminal device is different from the version number of the no-fly data group stored on the server, the no-fly data group stored on the server is updated, and therefore the server carries the updated no-fly data group in the data group downloading response and sends the data group downloading response to the terminal device.
The no-fly data group comprises no-fly data of a plurality of no-fly zones, and the no-fly data of each no-fly zone comprises: the method comprises the steps of identifying, positioning, range, no-fly time and no-fly type of a no-fly zone, wherein the no-fly type is used for indicating that the no-fly zone is a temporary no-fly zone or a permanent no-fly zone.
In step S203, the no-fly data set is transmitted to the drone.
In step S204, current location information of the drone transmitted by the drone is received.
In step S205, a circular area is determined with the current position of the drone as the center of a circle and a preset distance as the radius, where the circular area is the flight range of the drone.
In step S206, a target no-fly zone within the flight range is determined according to the flight range and the no-fly data set.
In step S207, the identifier of the target no-fly zone is sent to the drone, so that the drone performs no-fly operation according to the identifier of the target no-fly zone and the no-fly data set.
In step S208, the position and the range of the target no-fly zone are displayed on the map.
In order to facilitate the user to know the flight information of the unmanned aerial vehicle, the terminal device displays the position and the range of the target no-fly zone on the map, fig. 3 is a schematic diagram of the no-fly zone, and as shown in fig. 3, three temporary no-fly zones are provided in the flight range of the unmanned aerial vehicle. Optionally, a no-fly prompting message may be further displayed on the map, fig. 4 is a schematic diagram illustrating the no-fly area, and as shown in fig. 4, a warm prompting message "because of the G20 peak meeting, the no-fly area is in the three rings of the hangzhou, which cannot take off, and please forgive. "
In this embodiment, when detecting that unmanned aerial vehicle APP is opened, send a data set download request to the server, the data set download request includes the version number of the no-fly data set stored on the terminal device, when the version number of the no-fly data set stored on the terminal device is different from the version number of the no-fly data set stored on the server, receive a data set download response sent by the server, the data set download response includes the no-fly data set stored on the server, thereby can obtain the latest no-fly data set, and respond to the temporary control problem of the country to unmanned aerial vehicle in time. And the position and the range of the no-fly zone can be displayed on the map, so that the user can know the information of the no-fly zone conveniently.
Fig. 5 is a flowchart illustrating a method for controlling a no-fly operation of a drone, which is executed by the drone, according to an exemplary embodiment, and as shown in fig. 6, the method for controlling the no-fly operation of the drone includes the following steps.
In step S301, a no-fly data set transmitted by the terminal device is received.
Optionally, the no-fly data set is encrypted, and accordingly, the drone needs to decrypt the no-fly data. The no-fly data group includes no-fly data of a plurality of no-fly zones, and the no-fly data of each no-fly zone includes: the forbidden flight zone comprises an identifier, a position, a range, a forbidden flight time and a forbidden flight type, wherein the forbidden flight type is used for indicating that the forbidden flight zone is a temporary forbidden flight zone or a permanent forbidden flight zone.
In step S302, the current location information of the drone is sent to the terminal device.
The unmanned aerial vehicle detects the current position of the unmanned aerial vehicle through a GPS system and sends the current position information to the terminal equipment.
In step S303, an identifier of a target no-fly zone in a flight range of the unmanned aerial vehicle, which is sent by the terminal device, is received, and the flight range is determined according to current location information of the unmanned aerial vehicle.
After receiving the current position information of the unmanned aerial vehicle, the terminal equipment determines the flight range of the unmanned aerial vehicle according to the current position information of the unmanned aerial vehicle, determines a target no-fly zone in the flight range according to the no-fly data set, and sends the identification of the target no-fly zone to the unmanned aerial vehicle.
In step S304, the no-fly data of the target no-fly zone is determined according to the identifier of the target no-fly zone and the no-fly data set.
And the unmanned aerial vehicle searches the target no-fly zone from the no-fly zone data group according to the identifier of the target no-fly zone, so as to obtain the no-fly data of the target no-fly zone.
In step S305, a no-fly operation is performed based on no-fly data of the target no-fly zone.
The no-fly data of the target no-fly zone comprises the identification, the position, the range, the no-fly time and the no-fly type of the target no-fly zone. The no-fly time is a time period, when the current time is greater than or equal to the starting time of the no-fly time, the no-fly time is forbidden, and when the current time is greater than or equal to the ending time of the no-fly time, the no-fly time is forbidden automatically. Unmanned aerial vehicle real-time detection is oneself current position, and when unmanned aerial vehicle was close to the no-fly zone, no-fly zone was avoided to unmanned aerial vehicle chance.
In this embodiment, the unmanned aerial vehicle receives the no-fly data set sent by the terminal device, sends the current position information of the unmanned aerial vehicle to the terminal device, receives the identifier of the target no-fly area in the flight range of the unmanned aerial vehicle sent by the terminal device, the flight range is determined according to the current position information of the unmanned aerial vehicle, determines the no-fly data of the target no-fly area according to the identifier of the target no-fly area and the no-fly data set, and performs the no-fly operation according to the no-fly data of the target no-fly area.
Fig. 6 is a block diagram illustrating a no-fly control apparatus of a drone according to an exemplary embodiment, and as shown in fig. 6, the no-fly control apparatus of the drone of this embodiment includes:
the acquisition module 11 is configured to acquire a no-fly data set from the server side when detecting that the APP of the unmanned aerial vehicle is opened;
a first sending module 12 configured to send the no-fly data set acquired by the acquiring module 11 to the unmanned aerial vehicle;
a receiving module 13 configured to receive the current location information of the drone sent by the drone;
a first determining module 14 configured to determine a flight range of the drone according to the current location information of the drone received by the receiving module 13;
a second determining module 15, configured to determine a target no-fly zone within the flight range according to the flight range determined by the first determining module 14 and the no-fly data set acquired by the acquiring module 11;
a second sending module 16, configured to send the identifier of the target no-fly zone determined by the second determining module 15 to the unmanned aerial vehicle, so that the unmanned aerial vehicle performs a no-fly operation according to the identifier of the target no-fly zone and the no-fly data set.
Optionally, the no-fly data group includes no-fly data of a plurality of no-fly zones, and the no-fly data of each no-fly zone includes: the method comprises the steps of identifying, positioning, range, no-fly time and no-fly type of a no-fly zone, wherein the no-fly type is used for indicating that the no-fly zone is a temporary no-fly zone or a permanent no-fly zone.
Fig. 7 is a block diagram of a no-fly control device of a drone according to an exemplary embodiment, and as shown in fig. 7, the device of this embodiment is based on the device shown in fig. 6, and the obtaining module 11 includes:
the first sending submodule 111 is configured to send a data group downloading request to the server, where the data group downloading request includes a version number of a no-fly data group stored in the terminal device;
and a first receiving submodule 112 configured to receive a data group download response sent by the server, where when the version number of the no-fly data group stored in the terminal device is different from the version number of the no-fly data group stored in the server, the data group download response includes the no-fly data group stored in the server.
Fig. 8 is a block diagram of a flight-barring control apparatus for a drone according to an exemplary embodiment, and as shown in fig. 8, the apparatus of this embodiment is based on the apparatus shown in fig. 7, and the second determining module 15 includes:
a first determining submodule 151 configured to determine a circular area, which is a flight range of the drone, by using the current position of the drone as a center of a circle and a preset distance as a radius.
Fig. 9 is a block diagram of a no-fly control device of a drone according to an exemplary embodiment, and as shown in fig. 9, the device of this embodiment further includes, on the basis of the device shown in fig. 7:
an encryption module 17 configured to encrypt the no-fly data set.
Fig. 10 is a block diagram of a no-fly control apparatus for a drone according to an exemplary embodiment, and as shown in fig. 10, the apparatus of this embodiment further includes, on the basis of the apparatus shown in fig. 7:
a display module 18 configured to display the location and the range of the target no-fly zone on a map.
The no-fly control device of the unmanned aerial vehicle shown in fig. 6 to 10 may be configured to execute the methods shown in fig. 1 and fig. 2, and specific implementation and technical effects are similar and will not be described again here.
Fig. 11 is a block diagram illustrating a no-fly control apparatus of a drone according to an exemplary embodiment, and as shown in fig. 11, the no-fly control apparatus of a drone according to the present embodiment includes:
a first receiving module 21 configured to receive a no-fly data set sent by a terminal device;
a sending module 22 configured to send current location information of the drone to the terminal device;
a second receiving module 23, configured to receive, from the terminal device, an identifier of a target no-fly zone within a flight range of the unmanned aerial vehicle, where the flight range is determined according to current location information of the unmanned aerial vehicle;
a determining module 24 configured to determine the no-fly data of the target no-fly zone according to the identifier of the target no-fly zone received by the second receiving module 23 and the no-fly data group received by the first receiving module 21;
a no-fly module 25 configured to perform a no-fly operation according to the no-fly data of the target no-fly area determined by the determination module 24.
Optionally, the no-fly data group includes no-fly data of a plurality of no-fly zones, and the no-fly data of each no-fly zone includes: the method comprises the steps of identifying, positioning, range, no-fly time and no-fly type of a no-fly zone, wherein the no-fly type is used for indicating that the no-fly zone is a temporary no-fly zone or a permanent no-fly zone.
Fig. 12 is a block diagram of a no-fly control device of an unmanned aerial vehicle according to an exemplary embodiment, and as shown in fig. 12, the device of this embodiment further includes, on the basis of the device shown in fig. 11:
a decryption module 26 configured to decrypt the no-fly data set.
The no-fly control device of the unmanned aerial vehicle shown in fig. 11 and 12 may be configured to execute the method shown in fig. 3, and the specific implementation manner and the technical effect are similar and will not be described again here.
Fig. 13 is a block diagram of a no-fly control apparatus of a drone according to an exemplary embodiment, and as shown in fig. 13, the no-fly control apparatus 300 of the drone includes: a processor 31 and a memory 32 for storing instructions executable by the processor 31, the memory 32 being coupled to and in communication with the processor 31 via a system bus.
Wherein the processor 31 is configured to:
when the unmanned aerial vehicle application APP is detected to be opened, acquiring a no-fly data set from a server side;
sending the no-fly data set to the unmanned aerial vehicle;
receiving current position information of the unmanned aerial vehicle sent by the unmanned aerial vehicle;
determining the flight range of the unmanned aerial vehicle according to the current position information of the unmanned aerial vehicle;
determining a target no-fly zone in the flight range according to the flight range and the no-fly data set;
and sending the identifier of the target no-fly zone to the unmanned aerial vehicle so that the unmanned aerial vehicle performs no-fly operation according to the identifier of the target no-fly zone and the no-fly data group.
Fig. 14 is a block diagram of a no-fly control apparatus of a drone according to an exemplary embodiment, and as shown in fig. 14, the no-fly control apparatus 400 of the drone includes: a processor 41 and a memory 42 for storing instructions executable by the processor 41, the memory 42 being coupled to and communicating with the processor 41 via a system bus.
Wherein the processor 41 is configured to:
receiving a no-fly data set sent by terminal equipment;
sending the current position information of the unmanned aerial vehicle to the terminal equipment;
receiving an identifier of a target no-fly zone in a flight range of the unmanned aerial vehicle, which is sent by the terminal device, wherein the flight range is determined according to current position information of the unmanned aerial vehicle;
determining the no-fly data of the target no-fly zone according to the identifier of the target no-fly zone and the no-fly data group;
and carrying out no-fly operation according to the no-fly data of the target no-fly zone.
It should be understood that in the above embodiments, the processor may be a Central Processing Unit (CPU), other general-purpose processors, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. The general-purpose processor may be a microprocessor, or the processor may be any conventional processor, and the aforementioned memory may be a read-only memory (ROM), a Random Access Memory (RAM), a flash memory, a hard disk, or a solid state disk. The steps of a method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware processor, or may be implemented by a combination of hardware and software modules in the processor.
Fig. 15 is a block diagram illustrating a no-fly control apparatus 800 of a drone according to an exemplary embodiment. For example, the apparatus 800 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, an exercise device, a personal digital assistant, and the like.
Referring to fig. 15, the apparatus 800 may include one or more of the following components: processing component 802, memory 804, power component 806, multimedia component 808, audio component 810, input/output (I/O) interface 812, sensor component 814, and communication component 816.
The processing component 802 generally controls overall operation of the device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing components 802 may include one or more processors 820 to execute instructions to perform all or a portion of the steps of the methods described above. Further, the processing component 802 can include one or more modules that facilitate interaction between the processing component 802 and other components. For example, the processing component 802 can include a multimedia module to facilitate interaction between the multimedia component 808 and the processing component 802.
The memory 804 is configured to store various types of data to support operation at the device 800. Examples of such data include instructions for any application or method operating on device 800, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 804 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.
Power components 806 provide power to the various components of device 800. The power components 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the apparatus 800.
The multimedia component 808 includes a screen that provides an output interface between the device 800 and a user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front facing camera and/or a rear facing camera. The front-facing camera and/or the rear-facing camera may receive external multimedia data when the device 800 is in an operating mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.
The audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a Microphone (MIC) configured to receive external audio signals when the apparatus 800 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may further be stored in the memory 804 or transmitted via the communication component 816. In some embodiments, audio component 810 also includes a speaker for outputting audio signals.
The I/O interface 812 provides an interface between the processing component 802 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.
The sensor assembly 814 includes one or more sensors for providing various aspects of state assessment for the device 800. For example, the sensor assembly 814 may detect the open/closed state of the device 800, the relative positioning of the components, such as a display and keypad of the apparatus 800, the sensor assembly 814 may also detect a change in position of the apparatus 800 or a component of the apparatus 800, the presence or absence of user contact with the apparatus 800, orientation or acceleration/deceleration of the apparatus 800, and a change in temperature of the apparatus 800. Sensor assembly 814 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
The communication component 816 is configured to facilitate communications between the apparatus 800 and other devices in a wired or wireless manner. The device 800 may access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
In an exemplary embodiment, the apparatus 800 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the above-described method of controlling the disabling of the drone shown in fig. 1 and 2.
In an exemplary embodiment, a non-transitory computer-readable storage medium comprising instructions, such as the memory 804 comprising instructions, executable by the processor 820 of the apparatus 800 to perform the above-described method of flight-barring control of a drone shown in fig. 1 and 2 is also provided. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
A non-transitory computer-readable storage medium, wherein instructions of the storage medium, when executed by a processor of a no-fly control method of a drone, enable the no-fly control method of the drone to perform the no-fly control method of the drone shown in fig. 1 and 2 described above.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.

Claims (20)

1. A no-fly control method of an unmanned aerial vehicle is characterized by comprising the following steps:
when the unmanned aerial vehicle application APP is detected to be opened, acquiring a no-fly data set from a server side, wherein the no-fly data set comprises no-fly data of a plurality of no-fly zones;
sending the no-fly data set to the unmanned aerial vehicle;
receiving current position information of the unmanned aerial vehicle sent by the unmanned aerial vehicle;
determining the flight range of the unmanned aerial vehicle according to the current position information of the unmanned aerial vehicle;
determining a target no-fly zone in the flight range according to the flight range and the no-fly data set;
and sending the identifier of the target no-fly zone to the unmanned aerial vehicle so that the unmanned aerial vehicle performs no-fly operation according to the identifier of the target no-fly zone and the no-fly data group, wherein the identifier of the target no-fly zone can uniquely identify one target no-fly zone.
2. The method of claim 1, wherein the no-fly data set includes no-fly data for a plurality of no-fly zones, and wherein the no-fly data for each no-fly zone includes: the method comprises the steps of identifying, positioning, range, no-fly time and no-fly type of a no-fly zone, wherein the no-fly type is used for indicating that the no-fly zone is a temporary no-fly zone or a permanent no-fly zone.
3. The method according to claim 1 or 2, wherein the obtaining of the no-fly data set from the server side includes:
sending a data group downloading request to the server, wherein the data group downloading request comprises the version number of the no-fly data group stored on the terminal equipment;
and receiving a data group downloading response sent by the server, wherein when the version number of the no-fly data group stored on the terminal equipment is different from the version number of the no-fly data group stored on the server, the data group downloading response comprises the no-fly data group stored on the server.
4. The method of claim 3, wherein determining the range of flight of the drone according to the current location information of the drone comprises:
the current position of the unmanned aerial vehicle is used as a circle center, a preset distance is used as a radius to determine a circular area, and the circular area is the flight range of the unmanned aerial vehicle.
5. The method of claim 3, wherein prior to sending the no-fly data set to the drone, further comprising:
and encrypting the no-fly data set.
6. The method of claim 3, further comprising:
and displaying the position and the range of the target no-fly zone on a map.
7. A no-fly control method of an unmanned aerial vehicle is characterized by comprising the following steps:
receiving a no-fly data set sent by terminal equipment, wherein the no-fly data set comprises no-fly data of a plurality of no-fly areas;
sending the current position information of the unmanned aerial vehicle to the terminal equipment;
receiving an identifier of a target no-fly zone in a flight range of the unmanned aerial vehicle, which is sent by the terminal device, wherein the flight range is determined according to current position information of the unmanned aerial vehicle, and the identifier of the target no-fly zone can uniquely identify one target no-fly zone;
determining the no-fly data of the target no-fly zone according to the identifier of the target no-fly zone and the no-fly data group;
and carrying out no-fly operation according to the no-fly data of the target no-fly zone.
8. The method of claim 7, wherein the no-fly data set includes no-fly data for a plurality of no-fly zones, and wherein the no-fly data for each no-fly zone includes: the method comprises the steps of identifying, positioning, range, no-fly time and no-fly type of a no-fly zone, wherein the no-fly type is used for indicating that the no-fly zone is a temporary no-fly zone or a permanent no-fly zone.
9. The method of claim 7 or 8, wherein the no-fly data set is encrypted, the method further comprising:
and decrypting the no-fly data set.
10. The utility model provides an unmanned aerial vehicle's forbidden controlling means that flies which characterized in that includes:
the method comprises an acquisition module, a data acquisition module and a data acquisition module, wherein the acquisition module is configured to acquire a no-fly data set from a server side when detecting that an unmanned aerial vehicle Application (APP) is opened, and the no-fly data set comprises no-fly data of a plurality of no-fly zones;
a first sending module configured to send the no-fly data set to a drone;
a receiving module configured to receive current location information of the drone sent by the drone;
a first determination module configured to determine a flight range of the drone according to current location information of the drone;
a second determination module configured to determine a target no-fly zone within the flight range according to the flight range and the no-fly data set;
the second sending module is configured to send the identifier of the target no-fly zone to the unmanned aerial vehicle, so that the unmanned aerial vehicle performs no-fly operation according to the identifier of the target no-fly zone and the no-fly data group, and the identifier of the target no-fly zone can uniquely identify one target no-fly zone.
11. The apparatus of claim 10, wherein the no-fly data set includes no-fly data for a plurality of no-fly zones, and wherein the no-fly data for each no-fly zone includes: the method comprises the steps of identifying, positioning, range, no-fly time and no-fly type of a no-fly zone, wherein the no-fly type is used for indicating that the no-fly zone is a temporary no-fly zone or a permanent no-fly zone.
12. The apparatus of claim 10 or 11, wherein the obtaining module comprises:
the first sending submodule is configured to send a data group downloading request to the server, and the data group downloading request comprises a version number of a no-fly data group stored on the terminal equipment;
and the first receiving submodule is configured to receive a data group downloading response sent by the server, and when the version number of the no-fly data group stored on the terminal equipment is different from the version number of the no-fly data group stored on the server, the data group downloading response comprises the no-fly data group stored on the server.
13. The apparatus of claim 12, wherein the second determining module comprises:
the first determining submodule is configured to determine a circular area by taking the current position of the unmanned aerial vehicle as a circle center and taking a preset distance as a radius, and the circular area is the flight range of the unmanned aerial vehicle.
14. The apparatus of claim 12, further comprising:
an encryption module configured to encrypt the no-fly data set.
15. The apparatus of claim 12, further comprising:
a display module configured to display a location and a range of the target no-fly zone on a map.
16. The utility model provides an unmanned aerial vehicle's forbidden controlling means that flies which characterized in that includes:
the first receiving module is configured to receive a no-fly data set sent by a terminal device, wherein the no-fly data set comprises no-fly data of a plurality of no-fly areas;
a sending module configured to send current location information of the unmanned aerial vehicle to the terminal device;
a second receiving module, configured to receive an identifier of a target no-fly zone in a flight range of the unmanned aerial vehicle, where the flight range is determined according to current location information of the unmanned aerial vehicle, and the identifier of the target no-fly zone may uniquely identify one target no-fly zone;
the determining module is configured to determine the no-fly data of the target no-fly zone according to the identifier of the target no-fly zone and the no-fly data group;
and the no-fly module is configured to perform no-fly operation according to the no-fly data of the target no-fly area.
17. The apparatus of claim 16, wherein the no-fly data set includes no-fly data for a plurality of no-fly zones, and wherein the no-fly data for each no-fly zone includes: the method comprises the steps of identifying, positioning, range, no-fly time and no-fly type of a no-fly zone, wherein the no-fly type is used for indicating that the no-fly zone is a temporary no-fly zone or a permanent no-fly zone.
18. The apparatus of claim 16 or 17, wherein the no-fly data set is encrypted, the apparatus further comprising:
a decryption module configured to decrypt the no-fly data set.
19. The utility model provides an unmanned aerial vehicle's forbidden controlling means that flies which characterized in that includes:
a memory;
a memory configured to store processor-executable instructions;
wherein the processor is configured to:
when the unmanned aerial vehicle application APP is detected to be opened, acquiring a no-fly data set from a server side, wherein the no-fly data set comprises no-fly data of a plurality of no-fly zones;
sending the no-fly data set to the unmanned aerial vehicle;
receiving current position information of the unmanned aerial vehicle sent by the unmanned aerial vehicle;
determining the flight range of the unmanned aerial vehicle according to the current position information of the unmanned aerial vehicle;
determining a target no-fly zone in the flight range according to the flight range and the no-fly data set;
and sending the identifier of the target no-fly zone to the unmanned aerial vehicle so that the unmanned aerial vehicle performs no-fly operation according to the identifier of the target no-fly zone and the no-fly data group, wherein the identifier of the target no-fly zone can uniquely identify one target no-fly zone.
20. The utility model provides an unmanned aerial vehicle's forbidden controlling means that flies which characterized in that includes:
a memory;
a memory configured to store processor-executable instructions;
wherein the processor is configured to:
receiving a no-fly data set sent by terminal equipment, wherein the no-fly data set comprises no-fly data of a plurality of no-fly areas;
sending the current position information of the unmanned aerial vehicle to the terminal equipment;
receiving an identifier of a target no-fly zone in a flight range of the unmanned aerial vehicle, which is sent by the terminal device, wherein the flight range is determined according to current position information of the unmanned aerial vehicle, and the identifier of the target no-fly zone can uniquely identify one target no-fly zone;
determining the no-fly data of the target no-fly zone according to the identifier of the target no-fly zone and the no-fly data group;
and carrying out no-fly operation according to the no-fly data of the target no-fly zone.
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