CN107168377A - A kind of unmanned plane with no-fly region warning function - Google Patents
A kind of unmanned plane with no-fly region warning function Download PDFInfo
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- CN107168377A CN107168377A CN201710588503.9A CN201710588503A CN107168377A CN 107168377 A CN107168377 A CN 107168377A CN 201710588503 A CN201710588503 A CN 201710588503A CN 107168377 A CN107168377 A CN 107168377A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Position Fixing By Use Of Radio Waves (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of unmanned plane with no-fly region warning function, unmanned plane (100) has image module, communication module, locating module, memory module and control module, and the unmanned plane is communicated by communication module and operation control terminal；Described image module includes image picking-up apparatus, image relay equipment, the memory module is previously stored with no-fly region and prewarning area, the control module is used for positional information, the no-fly region of memory module storage and the prewarning area information for calling locating module to detect, judges whether unmanned plane enters the prewarning area or no-fly region according to the positional information of unmanned plane.The present invention is in prewarning area built in unmanned plane and no-fly region, by obtaining present position information under unmanned plane during flying state, judges whether unmanned plane enters prewarning area or no-fly region.
Description
Technical field
The invention belongs to unmanned plane field, and in particular to a kind of unmanned plane with no-fly region warning function.
Background technology
Unmanned plane refers to the not manned vehicle being controlled using wireless remote control device and the control device of itself, for example
Depopulated helicopter, unmanned fixed-wing aircraft, unmanned parasol etc..In recent ten years, unmanned plane has been widely used in taking photo by plane and taken the photograph
The fields such as shadow, electric inspection process, environmental monitoring, forest fire protection, disaster inspection, anti-terrorism lifesaving, military surveillance, battle assessment, can
Effectively overcome the shortcomings of that manned aircraft carries out aerial work, reduction purchase and maintenance cost, improve the safety of delivery vehicle
Property.Unmanned aerial vehicle (UAV) control technical research is one of focus that research institution pays close attention to both at home and abroad at present.
During unmanned plane aerial work, the safe prestige of the tangible barrier such as mountain range, building, trees, transmission line of electricity is faced with
The side of body, and the invisible obstacle such as no-fly zone, hazardous area constraint.If hide not as good as will occur aviation accident, produce safety it is hidden
Suffer from, in addition to operator or other people damage；It will also result in certain economic loss simultaneously.It is existing for tangible barrier
There is existing more perfect solution in technology, unmanned plane can be avoided automatically.But for nothings such as no-fly zone, hazardous areas
Shape obstacle, existing unmanned plane can not also recognize these regions in advance and be avoided, so as to cause the operating efficiency of unmanned plane
Reduction；And unmanned plane can not avoid the worry that no-fly region also induces people automatically, it might have bad personage and manipulate nobody
Machine is implemented to take on the sly, there is risk that individual privacy is invaded, and for emphasis security protection region, then less allows unmanned plane wantonly
Flight, need to take defensive measure.Existing regulation for for flying height is high, scope of activities be in unmanned plane in sighting distance
Supervision or a blank.
The content of the invention
Goal of the invention：The invention aims to solve deficiency of the prior art there is provided one kind with no-fly region
The unmanned plane of warning function.
Technical scheme：A kind of unmanned plane with no-fly region warning function of the present invention, the unmanned plane has
Image module, communication module, locating module, memory module and control module, the unmanned plane are whole with manipulation by communication module
End communication；
Described image module includes image picking-up apparatus, image relay equipment；
Image picking-up apparatus, it is used to shoot and obtains the realtime image data of power network, in addition to is electrically connected with image picking-up apparatus
The image transmitting equipment connect, it is used to transmit above-mentioned realtime image data；
Image relay equipment, it is used to receive realtime image data, while realtime image data is forwarded into ground control terminal；
Described image trunking includes relay reception device and relay forwarding device, and the relay reception device passes through the first communication
Frequency range is linked with image transmitting equipment communication, and the relay forwarding device is led to by the second communications band and ground control terminal
Letter link, first communication frequency band and the second communication frequency band are different；
Described image transmitting equipment sends realtime image data to relay reception device, the relaying by the first communications band
Reception device simultaneously transmits realtime image data to relay forwarding device, and the relay forwarding device is simultaneously by realtime graphic number
According to being forwarded to operation control terminal；
The locating module is used for the positional information for detecting unmanned plane, and the positional information of locating module detection is sent out by communication module
Give operation control terminal；
The memory module is previously stored with no-fly region and prewarning area, and the control module is used to call locating module to detect
Positional information, memory module storage no-fly region and prewarning area information, nobody is judged according to the positional information of unmanned plane
Whether machine enters the prewarning area or no-fly region, if it is judged that unmanned plane enters the prewarning area, then to manipulation eventually
End sends alarm signal, if it is judged that unmanned plane enters the no-fly region, then controls unmanned plane landing.
Further, the control module includes the first judging unit, the second judging unit, prewarning unit, compulsory execution
Unit and manipulation execution unit, wherein, manipulation execution unit is used for the manipulation instruction for receiving operation control terminal, is referred to according to the manipulation
The respective element work of order control unmanned plane；First judging unit is used to be judged according to the positional information of the unmanned plane
Whether unmanned plane enters prewarning area, if it is judged that unmanned plane enters the prewarning area, then prewarning unit passes through described logical
Believe that module sends alarm signal to operation control terminal, operation control terminal receives alarm signal, point out operator's manipulation unmanned plane remote
Prewarning area；Second judging unit is no-fly for judging whether unmanned plane enters according to the positional information of the unmanned plane
Region, after judging that unmanned plane enters no-fly region, exports no-fly instruction, according to the no-fly instruction by compulsory execution unit
Control unmanned plane landing.
Further, the locating module is GPS module.
Further, the positional information represents three-dimensional coordinate, including latitude and longitude coordinates and height.
Further, the no-fly region be delimit in advance limitation unmanned plane during flying region, prewarning area represent away from
From the region of the no-fly segment distance of area periphery one.
Further, the no-fly region of the memory module storage can update.
Further, described image trunking also includes relaying conversion equipment, and the relaying conversion equipment is electrically connected to
Between the relay reception device and relay forwarding device.
Further, realtime image data is compressed conversion process by the relaying conversion equipment.
Further, first communications band is 480- 520Hz, and the second communications band is 580-620MHz.
Beneficial effect：The present invention is in prewarning area built in unmanned plane and no-fly region, by obtaining unmanned plane during flying state
Lower present position information, judge unmanned plane whether enter prewarning area or no-fly region, and unmanned plane enter prewarning area or
Corresponding treatment Countermeasures are taken when in no-fly region, including：Information warning, prompt terminal are sent to the operation control terminal of unmanned plane
Manipulator controls unmanned plane away from no-fly region；And after unmanned plane enters no-fly region, phase is exported by unmanned plane automatically
It should instruct, force unmanned plane landing, no-fly region is avoided automatically.The present invention is solved in the prior art can not be no-fly to swarming into
The technical problem that the unmanned aerial vehicle in area is effectively supervised, compensate for the supervision blank of unmanned plane.It is provided simultaneously with long endurance, across mountain
Area, remote walking operation condition, simultaneously effective solve the electromagnetic interference problem of image wireless transmission.
Brief description of the drawings
Fig. 1 is unmanned aerial vehicle (UAV) control theory diagram of the invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art obtained on the premise of creative work is not made it is all its
His embodiment, belongs to the scope of protection of the invention.
The present invention provides a kind of unmanned plane with no-fly region warning function, and the unmanned plane does not carry people to fly to be a kind of
The unmanned plane of device, including but not limited to operation control terminal control.
Referring to Fig. 1, unmanned plane 100 of the invention has manipulation offline mode and enforces pattern, manipulates offline mode
Under, unmanned plane is under operation control terminal control, compulsory execution pattern, and unmanned plane does not perform the instruction of operation control terminal transmission, but root
Control instruction is sent automatically according to the interior program set, and corresponding actions are completed by performing the control instruction.
The unmanned plane 100 of the present invention has image module 110, communication module 130, locating module 120, memory module 140
With control module 150.
Described image module 110 includes image picking-up apparatus, image relay equipment：
Image picking-up apparatus, it is used to shoot and obtains the realtime image data of power network, in addition to is electrically connected with image picking-up apparatus
The image transmitting equipment connect, it is used to transmit above-mentioned realtime image data；
Image relay equipment, it is used to receive realtime image data, while realtime image data is forwarded into ground control terminal；
Described image trunking includes relay reception device and relay forwarding device, and the relay reception device passes through the first communication
Frequency range is linked with image transmitting equipment communication, and the relay forwarding device is led to by the second communications band and ground control terminal
Letter link, first communication frequency band and the second communication frequency band are different；
Described image transmitting equipment sends realtime image data to relay reception device, the relaying by the first communications band
Reception device simultaneously transmits realtime image data to relay forwarding device, and the relay forwarding device is simultaneously by realtime graphic number
According to being forwarded to operation control terminal.
Described image trunking also includes relaying conversion equipment, and the relaying conversion equipment is electrically connected to the relaying and connect
Between receiving apparatus and relay forwarding device；Realtime image data is compressed conversion process by the relaying conversion equipment.
First communications band is 480- 520Hz, and the second communications band is 580-620MHz.
The unmanned plane 100 is communicated by communication module 130 and operation control terminal, mutual data transmission.Locating module 120 is used for
The positional information of unmanned plane is detected, the locating module 120 can be GPS (Global Positioning System, the i.e. whole world
Alignment system) module, wherein positional information represents three-dimensional coordinate, including latitude and longitude coordinates and height；What locating module 120 was detected
Positional information can be sent to operation control terminal by communication module 130.Memory module 140 is previously stored with no-fly region and early warning
Region, no-fly region is the region for the limitation unmanned plane during flying delimited in advance, and prewarning area is represented apart from no-fly area periphery one
The region of segment distance, memory module 140 store no-fly region can update, correspondingly, prewarning area with no-fly region more
Newly update；The no-fly zone that positional information, the memory module 140 that control module 150 can call locating module 120 to detect are stored
Domain and prewarning area information；Whether control module 150 is used to be judged unmanned plane described according to the positional information of unmanned plane 100
Prewarning area or no-fly region, if it is judged that unmanned plane enters the prewarning area, then send alarm signal to operation control terminal,
If it is judged that unmanned plane enters the no-fly region, then unmanned plane landing is controlled.
Control module 150 includes the first judging unit 151, the second judging unit 152, prewarning unit 153, compulsory execution list
Member 156 and manipulation execution unit (not shown), wherein, under manipulation offline mode, manipulation execution unit receives operation control terminal
Manipulation instruction, according to the manipulation instruction control unmanned plane respective element work.First judging unit 151 is used for root
Judge whether unmanned plane enters prewarning area according to the positional information of the unmanned plane 100, if it is judged that unmanned plane enters described
Prewarning area, then prewarning unit 153 is by the communication module 130 to operation control terminal transmission alarm signal, and operation control terminal is received
Alarm signal, points out operator to manipulate unmanned plane away from prewarning area；If it is judged that unmanned plane is introduced into the precautionary areas
Domain, then unmanned plane need not be to operation control terminal feedback alarm signal.Second judging unit 152 be used for according to it is described nobody
The positional information of machine judges whether unmanned plane 100 enters no-fly region, after judging that unmanned plane enters no-fly region, then manipulates
Execution unit does not perform the manipulation instruction of operation control terminal transmission, but exports no-fly instruction by compulsory execution unit 156, according to institute
No-fly instruction control unmanned plane 100 is stated to land.
Correspondingly, the control method of above-mentioned unmanned plane includes：
Obtain the positional information of unmanned plane.
Specially：The positional information of unmanned plane is detected by GPS, the positional information is three-dimensional coordinate, including longitude and latitude
Coordinate and height.
Judge whether unmanned plane enters the prewarning area according to the positional information of the unmanned plane, if it is judged that nobody
Machine enters the prewarning area, then sends alarm signal to operation control terminal, determines whether whether unmanned plane enters described no-fly
Region, if it is judged that unmanned plane enters the no-fly region, then controls unmanned plane landing.
Specially：The positional information of unmanned plane is compared with the prewarning area that unmanned plane prestores, judges whether unmanned plane is located
In in the prewarning area, if it is judged that being yes, then the prewarning unit of unmanned plane is earthward manipulated by communication module 130
Terminal sends alarm signal, and operation control terminal receives alarm signal, points out operator's manipulation unmanned plane of control operation control terminal remote
From prewarning area；If it is judged that being no, then unmanned plane does not send pre-warning signal.Unmanned plane enters after prewarning area, again
The positional information of unmanned plane is obtained, according to acquired positional information, judges whether unmanned plane enters no-fly region, if it is determined that
As a result it is yes, then enforces unit 156 and export no-fly instruction, is landed according to the no-fly instruction control unmanned plane 100.
The above described is only a preferred embodiment of the present invention, any formal limitation not is made to the present invention, though
So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any to be familiar with this professional technology people
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, as long as being the content without departing from technical solution of the present invention, the technical spirit according to the present invention
Any simple modification, equivalent variations and the modification made to above example, in the range of still falling within technical solution of the present invention.
Claims (9)
1. a kind of unmanned plane with no-fly region warning function, it is characterised in that：The unmanned plane (100) has image module
（110）, communication module (130), locating module (120), memory module (140) and control module (150), the unmanned plane
(100) communicated by communication module (130) and operation control terminal；
Described image module（110）Including image picking-up apparatus, image relay equipment；
Image picking-up apparatus, it is used to shoot and obtains the realtime image data of power network, in addition to is electrically connected with image picking-up apparatus
The image transmitting equipment connect, it is used to transmit above-mentioned realtime image data；
Image relay equipment, it is used to receive realtime image data, while realtime image data is forwarded into ground control terminal；
Described image trunking includes relay reception device and relay forwarding device, and the relay reception device passes through the first communication
Frequency range is linked with image transmitting equipment communication, and the relay forwarding device is led to by the second communications band and ground control terminal
Letter link, first communication frequency band and the second communication frequency band are different；
Described image transmitting equipment sends realtime image data to relay reception device, the relaying by the first communications band
Reception device simultaneously transmits realtime image data to relay forwarding device, and the relay forwarding device is simultaneously by realtime graphic number
According to being forwarded to operation control terminal；
The locating module (120) is used for the positional information for detecting unmanned plane, and the positional information of locating module (120) detection passes through
Communication module (130) is sent to operation control terminal；
The memory module (140) is previously stored with no-fly region and prewarning area, and the control module (150), which is used to call, determines
Positional information, the no-fly region of memory module (140) storage and the prewarning area information of position module (120) detection, according to nobody
The positional information of machine (100) judges whether unmanned plane enters the prewarning area or no-fly region, if it is judged that unmanned plane enters
Enter the prewarning area, then send alarm signal to operation control terminal, if it is judged that unmanned plane enters the no-fly region, then control
Unmanned plane landing processed.
2. a kind of unmanned plane with no-fly region warning function according to claim 1, it is characterised in that：The control
Module (150) includes the first judging unit (151), the second judging unit (152), prewarning unit (153), compulsory execution unit
(156) and manipulation execution unit, wherein, manipulation execution unit is used to receive the manipulation instruction of operation control terminal, according to the manipulation
The respective element work of instruction control unmanned plane；First judging unit (151) is used for according to the unmanned plane (100)
Positional information judges whether unmanned plane enters prewarning area, if it is judged that unmanned plane enters the prewarning area, then early warning list
First (153) send alarm signal by the communication module (130) to operation control terminal, and operation control terminal receives alarm signal, carried
Show that operator manipulates unmanned plane away from prewarning area；Second judging unit (152) is used for the position according to the unmanned plane
Confidence breath judges whether unmanned plane (100) enters no-fly region, after judging that unmanned plane enters no-fly region, is held by pressure
Row unit (156) exports no-fly instruction, is landed according to the no-fly instruction control unmanned plane (100).
3. a kind of unmanned plane with no-fly region warning function according to claim 1, it is characterised in that：The positioning
Module (120) is GPS module.
4. a kind of unmanned plane with no-fly region warning function according to claim 1 or 2, it is characterised in that：It is described
Positional information represents three-dimensional coordinate, including latitude and longitude coordinates and height.
5. a kind of unmanned plane with no-fly region warning function according to claim 1, it is characterised in that：It is described no-fly
Region is the region for the limitation unmanned plane during flying delimited in advance, and prewarning area is represented apart from the no-fly segment distance of area periphery one
Region.
6. a kind of unmanned plane with no-fly region warning function according to claim 1, it is characterised in that：The storage
The no-fly region of module (140) storage can update.
7. a kind of unmanned plane with no-fly region warning function according to claim 1, it is characterised in that：Described image
Trunking also includes relaying conversion equipment, and the relaying conversion equipment is electrically connected to the relay reception device and relay forwarding
Between device.
8. a kind of unmanned plane with no-fly region warning function according to claim 7, it is characterised in that：The relaying
Realtime image data is compressed conversion process by conversion equipment.
9. a kind of unmanned plane with no-fly region warning function according to claim 1, it is characterised in that：Described first
Communications band is 480- 520Hz, and the second communications band is 580-620MHz.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710588503.9A CN107168377A (en) | 2017-07-19 | 2017-07-19 | A kind of unmanned plane with no-fly region warning function |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710588503.9A CN107168377A (en) | 2017-07-19 | 2017-07-19 | A kind of unmanned plane with no-fly region warning function |
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| Publication Number | Publication Date |
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| CN107168377A true CN107168377A (en) | 2017-09-15 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109753083A (en) * | 2019-01-08 | 2019-05-14 | 沈阳无距科技有限公司 | Unmanned plane monitoring and managing method, device, storage medium and electronic equipment |
| CN110908391A (en) * | 2019-12-31 | 2020-03-24 | 深圳市道通智能航空技术有限公司 | Airport limiting method and device and unmanned aerial vehicle |
| CN110968106A (en) * | 2018-09-30 | 2020-04-07 | 华为技术有限公司 | Aircraft control method and device |
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| CN105722031A (en) * | 2016-03-30 | 2016-06-29 | 冯基洲 | Unmanned aerial vehicle |
| CN106249753A (en) * | 2016-09-05 | 2016-12-21 | 广州极飞科技有限公司 | Method, control device and the unmanned plane that unmanned plane is controlled |
| CN106878688A (en) * | 2017-04-17 | 2017-06-20 | 浙江南瑞飞翼航空技术有限公司 | Unmanned plane image processing system |
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- 2017-07-19 CN CN201710588503.9A patent/CN107168377A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105722031A (en) * | 2016-03-30 | 2016-06-29 | 冯基洲 | Unmanned aerial vehicle |
| CN106249753A (en) * | 2016-09-05 | 2016-12-21 | 广州极飞科技有限公司 | Method, control device and the unmanned plane that unmanned plane is controlled |
| CN106878688A (en) * | 2017-04-17 | 2017-06-20 | 浙江南瑞飞翼航空技术有限公司 | Unmanned plane image processing system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110968106A (en) * | 2018-09-30 | 2020-04-07 | 华为技术有限公司 | Aircraft control method and device |
| CN109753083A (en) * | 2019-01-08 | 2019-05-14 | 沈阳无距科技有限公司 | Unmanned plane monitoring and managing method, device, storage medium and electronic equipment |
| CN110908391A (en) * | 2019-12-31 | 2020-03-24 | 深圳市道通智能航空技术有限公司 | Airport limiting method and device and unmanned aerial vehicle |
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Application publication date: 20170915 |