CN107256031A - A kind of flight restriction method and device of unmanned plane - Google Patents
A kind of flight restriction method and device of unmanned plane Download PDFInfo
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- CN107256031A CN107256031A CN201710544731.6A CN201710544731A CN107256031A CN 107256031 A CN107256031 A CN 107256031A CN 201710544731 A CN201710544731 A CN 201710544731A CN 107256031 A CN107256031 A CN 107256031A
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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
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
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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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Abstract
The embodiment of the invention discloses a kind of flight restriction method and device of unmanned plane, the flight safety hidden danger of unmanned plane can be effectively reduced, safer flight environment of vehicle is provided for unmanned plane.Present invention method includes：Judge whether unmanned plane enters sensitive movement area, wherein, the sensitive movement area sensitive movement area of the son including at least two class ranks, and the corresponding different sensitive rank in the sensitive movement area of son of different stage；If the unmanned plane enters the sensitive movement area, judge whether the unmanned plane enters the sensitive movement area of the other son of target level；If the unmanned plane enters the sensitive movement area of the other son of target level, according to the corresponding relation between the sensitive movement area of default small pins for the case at different levels and limitation flying method, it is determined that target limitation flying method corresponding with the sensitive movement area of the other son of the target level；The unmanned plane is controlled with target limitation flying method flight.
Description
Technical field
The present invention relates to the flight restriction method and device of unmanned plane flight control technique, more particularly to a kind of unmanned plane.
Background technology
Hot with unmanned plane market, the manufacturer of unmanned plane is also more and more and therefore generates one and new asks
Topic --- the safety problem of unmanned plane.A few days ago, it is domestic to recur the thing that a lot of unmanned planes threaten or disturb commercial airliner landing
Part, brings huge potential safety hazard.
The content of the invention
The embodiments of the invention provide a kind of flight restriction method and device of unmanned plane, flying for unmanned plane can be effectively reduced
Row potential safety hazard, safer flight environment of vehicle is provided for unmanned plane.
The first aspect of the embodiment of the present invention provides a kind of flight restriction method of unmanned plane, applied to remote terminal, bag
Include：
Judge whether unmanned plane enters sensitive movement area, wherein, the sensitive movement area includes the son of at least two class ranks
Sensitive movement area, and the corresponding different sensitive rank in the sensitive movement area of son of different stage；
If the unmanned plane enters the sensitive movement area, judge whether the unmanned plane enters the other son of target level sensitive
Movement area；
If the unmanned plane enters the sensitive movement area of the other son of target level, according to the sensitive movement area of default small pins for the case at different levels
With limiting the corresponding relation between flying method, it is determined that target limitation corresponding with the sensitive movement area of the other son of the target level flies
Line mode；
The unmanned plane is controlled with target limitation flying method flight.
Alternatively, the corresponding relation between the sensitive movement area of default small pins for the case at different levels and limitation flying method includes：
Wherein, the corresponding relation between the sensitive movement area of default small pins for the case at different levels and limitation flying method includes：
When unmanned plane enters first order small pin for the case sensitivity movement area, the limitation flying method is with less than pre-set velocity threshold
The flying speed of value is flown and/or with the altitude less than preset height threshold value；
When unmanned plane enters second level small pin for the case sensitivity movement area, the limitation flying method is hovering；
When unmanned plane enters third level small pin for the case sensitivity movement area, the limitation flying method is forced landing.
Alternatively, the remote terminal prestores the geographic position data of sensitive movement area；
It is described to judge whether unmanned plane enters sensitive movement area and include：
Obtain the positional information of the unmanned plane；
The geographic position data of the sensitive movement area prestored described in inquiry；
If the positional information of the unmanned plane is included in the geographic position data of the sensitive movement area prestored, really
The fixed unmanned plane enters sensitive movement area.
Alternatively, it is described to judge whether unmanned plane enters sensitive movement area and include：
Judge whether to receive the first control instruction of user, wherein, first control instruction is used to indicate unmanned plane
Current location be located at sensitive movement area；
If, it is determined that the unmanned plane enters sensitive movement area.
Alternatively, the remote terminal prestores the geographic position data of the sensitive movement area of son of at least two class ranks；
It is described to judge whether the unmanned plane enters the sensitive movement area of the other son of target level；
Obtain the positional information of the unmanned plane；
The geographic position data of the sensitive movement area of son of at least two class ranks prestored described in inquiry；
By the geographical position of the sensitive movement area of the son of the positional information of the unmanned plane and at least two class ranks prestored
Put data to be matched, obtain matching result；
Determine that the unmanned plane enters the sensitive movement area of the other son of target level according to the matching result.
Alternatively, it is described to judge whether the unmanned plane enters the sensitive movement area of the other son of target level and include：
Judge whether to receive the second control instruction of user, wherein, first control instruction is used to indicate unmanned plane
Current location be located at the other sensitive movement area of son of target level；
If, it is determined that the unmanned plane enters the sensitive movement area of the other son of target level.
Alternatively, methods described also includes：
If the unmanned plane enters the sensitive movement area, the unmanned plane is controlled to be warned with the first type of alarm
Show；
If the unmanned plane enters the sensitive movement area of son, the unmanned plane is controlled to be warned with the second type of alarm,
Wherein, the second different type of alarm of the sensitive movement area correspondence of the son of different stage.
Alternatively, the remote terminal prestores the geographic position data of sensitive movement area；
It is described to judge whether unmanned plane enters sensitive movement area and include：
Obtain the positional information of the unmanned plane；
The geographic position data of the sensitive movement area prestored described in inquiry；
If the positional information of the unmanned plane is included in the geographic position data of the sensitive movement area prestored, really
The fixed unmanned plane enters sensitive movement area.
Alternatively, it is described to judge whether unmanned plane enters sensitive movement area and include：
Judge whether to receive the first control instruction of user, wherein, first control instruction is used to indicate unmanned plane
Current location be located at sensitive movement area；
If, it is determined that the unmanned plane enters sensitive movement area.
Alternatively, the remote terminal prestores the geographic position data of the sensitive movement area of son of at least two class ranks；
It is described to judge whether the unmanned plane enters the sensitive movement area of the other son of target level and include：
Obtain the positional information of the unmanned plane；
The geographic position data of the sensitive movement area of son of at least two class ranks prestored described in inquiry；
By the geographical position of the sensitive movement area of the son of the positional information of the unmanned plane and at least two class ranks prestored
Put data to be matched, obtain matching result；
Determine that the unmanned plane enters the sensitive movement area of the other son of target level according to the matching result.
Alternatively, it is described to judge whether the unmanned plane enters the sensitive movement area of the other son of target level and include：
Judge whether to receive the second control instruction of user, wherein, first control instruction is used to indicate unmanned plane
Current location be located at the other sensitive movement area of son of target level；
If, it is determined that the unmanned plane enters the sensitive movement area of the other son of target level.
Alternatively, methods described also includes：
If the unmanned plane enters the sensitive movement area, the unmanned plane is controlled to be warned with the first type of alarm
Show；
If the unmanned plane enters the sensitive movement area of son, the unmanned plane is controlled to be warned with the second type of alarm,
Wherein, the second different type of alarm of the sensitive movement area correspondence of the son of different stage.
Second aspect of the embodiment of the present invention provides a kind of flight restriction device of unmanned plane, applied to remote terminal, bag
Include：
First judging unit, for judging whether unmanned plane enters sensitive movement area, wherein, the sensitive movement area includes
The sensitive movement area of son of at least two class ranks, and the corresponding different sensitive rank in the sensitive movement area of son of different stage；
Second judging unit, if entering the sensitive movement area for the unmanned plane, judges whether the unmanned plane enters
Enter the sensitive movement area of the other son of target level；
Determining unit, if entering the sensitive movement area of the other son of target level for the unmanned plane, according to default at different levels
Corresponding relation between small pin for the case sensitivity movement area and limitation flying method, it is determined that with the other sensitive movement area pair of son of the target level
The target limitation flying method answered；
First control unit, for controlling the unmanned plane with target limitation flying method flight.
Alternatively, the corresponding relation between the sensitive movement area of default small pins for the case at different levels and limitation flying method includes：
When unmanned plane enters first order small pin for the case sensitivity movement area, the limitation flying method is with less than pre-set velocity threshold
The flying speed of value is flown and/or with the altitude less than preset height threshold value；
When unmanned plane enters second level small pin for the case sensitivity movement area, the limitation flying method is hovering；
When unmanned plane enters third level small pin for the case sensitivity movement area, the limitation flying method is forced landing.
Alternatively, the remote terminal prestores the geographic position data of sensitive movement area；The first judging unit bag
Include：
First acquisition module, the positional information for obtaining the unmanned plane；
First enquiry module, the geographic position data for inquiring about the sensitive movement area prestored；
First determining module, if the positional information for the unmanned plane is included in the ground of the sensitive movement area prestored
Manage in position data, it is determined that the unmanned plane enters sensitive movement area.
Alternatively, first judging unit includes：
First judge module, the first control instruction for judging whether to receive user, wherein, first control refers to
The current location for indicating unmanned plane is made to be located at sensitive movement area；
Second determining module, if the first control instruction for receiving user, it is determined that the unmanned plane enters sensitive
Movement area.
Alternatively, the remote terminal prestores the geographic position data of the sensitive movement area of son of at least two class ranks；Institute
Stating the second judging unit includes：
Second acquisition module, if entering the sensitive movement area for the unmanned plane, obtains the position of the unmanned plane
Information；
Second enquiry module, the geographical position number of the sensitive movement area of son for inquiring about at least two class ranks prestored
According to；
Matching module, for the son of the positional information of the unmanned plane and at least two class ranks prestored is sensitive winged
The geographic position data in row area is matched, and obtains matching result；
3rd determining module, it is sensitive winged for determining that the unmanned plane enters the other son of target level according to the matching result
Row area.
Alternatively, second judging unit includes：
Second judge module, the second control instruction for judging whether to receive user, wherein, second control refers to
The current location for indicating unmanned plane is made to be located at the sensitive movement area of the other son of target level；
4th confirms module, for when receiving the second control instruction of user, determining that the unmanned plane enters target
The sensitive movement area of son of rank.
Alternatively, described device also includes：
First alarm unit, if entering the sensitive movement area for the unmanned plane, controls the unmanned plane with the
One type of alarm is warned；
Second alarm unit, if entering the sensitive movement area of son for the unmanned plane, control the unmanned plane with
Second type of alarm is warned, wherein, corresponding the second different type of alarm in the sensitive movement area of son of different stage.
The third aspect of the embodiment of the present invention provides a kind of flight restriction device of unmanned plane, including：
Processor；
For the memory for the executable instruction for storing the processor；
Wherein, the processor is configured as realizing the flight for the unmanned plane that embodiments of the present invention first aspect is provided
Method for limiting.
Fourth aspect of the embodiment of the present invention provides a kind of computer-readable recording medium, including：
Be stored with computer instruction on the storage medium, it is characterised in that the instruction is realized when being executed by processor
The step of flight restriction method for the unmanned plane that embodiments of the present invention first aspect is provided.
In technical scheme provided in an embodiment of the present invention, first determine whether whether unmanned plane enters sensitive movement area, wherein, it is quick
Feel the movement area sensitive movement area of the son including at least two class ranks, and the corresponding different sensitivity in the sensitive movement area of son of different stage
Rank, it is determined that after the sensitive movement area of unmanned plane entrance, further determining whether unmanned plane enters the other son of target level quick
Feel movement area, if so, according to the corresponding relation between the sensitive movement area of default small pins for the case at different levels and limitation flying method, it is determined that with
The corresponding target limitation flying method in the sensitive movement area of the other son of the target level, and control unmanned plane to limit flying method with target
Flight.Therefore relative to prior art, the embodiment of the present invention carries out many sensitive partition of the level to sensitive movement area, is that unmanned plane exists
The sensitive movement area of difference in sensitive movement area provides the limitation flying method of differentiation, can effectively reduce the flight of unmanned plane
Potential safety hazard, safer flight environment of vehicle is provided for unmanned plane.
Brief description of the drawings
Fig. 1 is flight restriction method one embodiment schematic diagram of unmanned plane in the embodiment of the present invention；
Fig. 2 is another embodiment schematic diagram of flight restriction method of unmanned plane in the embodiment of the present invention；
Fig. 3 is flight restriction device one embodiment schematic diagram of unmanned plane in the embodiment of the present invention；
Fig. 4 is another embodiment schematic diagram of flight restriction device of unmanned plane in the embodiment of the present invention；
Fig. 5 is another embodiment schematic diagram of flight restriction device of unmanned plane in the embodiment of the present invention.
Embodiment
The embodiments of the invention provide a kind of flight restriction method and device of unmanned plane, flying for unmanned plane can be effectively reduced
Row potential safety hazard, safer flight environment of vehicle is provided for unmanned plane, is described in detail individually below.
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, the every other implementation that those skilled in the art are obtained under the premise of creative work is not made
Example, belongs to the scope of protection of the invention.
Term " first ", " second ", " the 3rd " " in description and claims of this specification and above-mentioned accompanying drawing
The (if present)s such as four " are for distinguishing similar object, without for describing specific order or precedence.It should manage
The data that solution is so used can be exchanged in the appropriate case, so that the embodiments described herein can be with except illustrating herein
Or the order beyond the content of description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that
Covering is non-exclusive to be included, for example, containing process, method, system, product or the equipment of series of steps or unit need not limit
In those steps or unit for clearly listing, but may include not list clearly or for these processes, method, production
Product or the intrinsic other steps of equipment or unit.
It is understood that the flight restriction method of unmanned plane and the flight restriction of unmanned plane in the embodiment of the present invention are filled
Put and can apply to set up the operation terminal for having communication connection with unmanned plane, and the operation terminal is provided with the behaviour with user mutual
Make interface.
Referring to Fig. 1, flight restriction method one embodiment of unmanned plane includes in the embodiment of the present invention：
101st, judge whether unmanned plane enters sensitive movement area, if so, then performing step 102；
In the present embodiment, some zonules in sensitive movement area can be assigned previously according to actual demand different quick
Rank is felt, to set up the son sensitivity movement area of at least two class ranks, and the sensitive flight of son of different stage in sensitive movement area
The different sensitive rank of area's correspondence.
Such as, centered on target A in the range of 1 km it is sensitive movement area M, sensitive movement area can include two sons
Sensitive movement area (X, Y), wherein, sub- sensitivity movement area X can be the region in the range of 500 meters centered on target A, and son is quick
It can be the region in the range of 500 meters centered on target A to feel movement area Y, built and got over closer to the sensitive ranks of target A with this
The sensitive movement area of high son.
Again such as, centered on target A in the range of 1 km it is sensitive movement area M, sensitive movement area can include two
Sub- sensitivity movement area (X, Y), wherein, in the range of the sensitive movement area (X, Y) of two sons can be for 1 km centered on target A
It is any some specify zonule, and the areal extent of each sensitive movement area of son can be with identical, can also be different, specifically herein not
Limit.
102nd, judge whether unmanned plane enters the sensitive movement area of the other son of target level, if so, then performing step 103；
In the present embodiment, after unmanned plane enters sensitive movement area, unmanned plane can continue flight, now need further
Judge whether unmanned plane enters the sensitive movement area of the other son of target level, i.e., it needs to be determined which rank of other son unmanned plane is currently entering
Sensitive movement area.It is understood that after unmanned plane enters sensitive movement area, unmanned plane can keep original speed to fly,
Limitation offline mode can also be entered, such as, to be flown and/or with less than a certain height less than the flying speed of a certain threshold speed
Spend the altitude of threshold value.
103rd, according to the corresponding relation between the sensitive movement area of default small pins for the case at different levels and limitation flying method, it is determined that and mesh
Mark the corresponding target limitation flying method in the sensitive movement area of son of rank；
In the present embodiment, pre-saved on remote terminal between the sensitive movement area of small pins for the case at different levels and limitation flying method
Corresponding relation, i.e. the sensitive movement area of son of each rank has with corresponding limitation flying method.It is determined that unmanned plane is worked as
Which rank of advance into behind other sensitive movement area of son, it is possible to further determine that mesh corresponding with the sensitive movement area of the son of the rank
Mark limitation flying method.
104th, control unmanned plane is with target limitation flying method flight.
I.e. after it is determined that unmanned plane enters the sensitive movement area of son of which rank, just with the son sensitivity movement area of the rank
Corresponding limitation flying method flight.
In technical scheme provided in an embodiment of the present invention, first determine whether whether unmanned plane enters sensitive movement area, wherein, it is quick
Feel the movement area sensitive movement area of the son including at least two class ranks, and the corresponding different sensitivity in the sensitive movement area of son of different stage
Rank, it is determined that after the sensitive movement area of unmanned plane entrance, further determining whether unmanned plane enters the other son of target level quick
Feel movement area, if so, according to the corresponding relation between the sensitive movement area of default small pins for the case at different levels and limitation flying method, it is determined that with
The corresponding target limitation flying method in the sensitive movement area of the other son of the target level, and control unmanned plane to limit flying method with target
Flight.Therefore relative to prior art, the embodiment of the present invention carries out many sensitive partition of the level to sensitive movement area, is that unmanned plane exists
The sensitive movement area of difference in sensitive movement area provides the limitation flying method of differentiation, can effectively reduce the flight of unmanned plane
Potential safety hazard, safer flight environment of vehicle is provided for unmanned plane.
Referring to Fig. 2, another embodiment of flight restriction method of unmanned plane includes in the embodiment of the present invention：
201st, judge whether unmanned plane enters sensitive movement area, if so, then performing step 102；
In the present embodiment, some zonules in sensitive movement area can be assigned previously according to actual demand different quick
Rank is felt, to set up the son sensitivity movement area of at least two class ranks, and the sensitive flight of son of different stage in sensitive movement area
The different sensitive rank of area's correspondence.
Such as, centered on target A in the range of 1 km it is sensitive movement area M, sensitive movement area can include two sons
Sensitive movement area (X, Y), wherein, sub- sensitivity movement area X can be the region in the range of 500 meters centered on target A, and son is quick
It can be the region in the range of 500 meters centered on target A to feel movement area Y, built and got over closer to the sensitive ranks of target A with this
The sensitive movement area of high son.
Again such as, centered on target A in the range of 1 km it is sensitive movement area M, sensitive movement area can include two
Sub- sensitivity movement area (X, Y), wherein, in the range of the sensitive movement area (X, Y) of two sons can be for 1 km centered on target A
It is any some specify zonule, and the areal extent of each sensitive movement area of son can be with identical, can also be different, specifically herein not
Limit.
Alternatively, in the present embodiment, it can judge whether unmanned plane enters sensitive movement area in the following manner：
First, prestore the geographic position data of sensitive movement area
In this manner, remote terminal prestores the geographic position data of sensitive movement area, thus, judges that unmanned plane is
The no sensitivity movement area that enters can include：
Obtain the positional information of unmanned plane；
Inquire about the geographic position data of the sensitive movement area prestored；
If the positional information of unmanned plane is included in the geographic position data of the sensitive movement area prestored, it is determined that the nothing
It is man-machine to enter sensitive movement area.
I.e. can by the positional information of unmanned plane with prestore the geographic position data of sensitive movement area matched come
Determine whether unmanned plane enters sensitive movement area.Alternatively, in the present embodiment, it can be filled by the GPS location in unmanned plane
Put the positional information for obtaining unmanned plane.
2nd, instruction control
In this manner, judge whether unmanned plane enters sensitive movement area and include：
Judge whether to receive the first control instruction of user, wherein, the first control instruction is used to indicate working as unmanned plane
Front position is located at sensitive movement area；
If, it is determined that unmanned plane enters sensitive movement area.
It can determine whether unmanned plane enters sensitive movement area by using the control instruction at family.In actual application
In, user can watch unmanned plane by operating the user interface of terminal where flight environment of vehicle, the self-defined flight environment of vehicle is
No is sensitive movement area.
3rd, software is recognized
In this manner, the unmanned plane includes imaging device, judges whether unmanned plane enters sensitive movement area and include：
Obtain the image information that imaging device is shot；
Scene analysis is carried out to image information, judges whether to include default scene identity information；
If, it is determined that unmanned plane enters sensitive movement area.
Image information is analyzed and processed, judge the scene residing for unmanned plane, thus determine whether unmanned plane enters
Sensitive movement area is entered.For example, being in airport scene by the current unmanned plane of image information analysis, it is determined that unmanned plane carries out quick
Feel movement area.It is understood that some special screnes, such as airport etc. include some special scene identities, at this
In embodiment, these scene identities can be got by carrying out scene analysis to image information, then with the scene identity that prestores
Information is matched, to obtain matching result.
The above-mentioned determination mode for only carrying out sensitive movement area to unmanned plane by way of example is described, practical application mistake
Cheng Zhong, can choose one kind therein, aforesaid way can also be used in combination, do not limited herein specifically.
202nd, control unmanned plane is warned with the first type of alarm；
In the present embodiment, the first type of alarm can include the modes such as audio and/or light.
203rd, judge whether unmanned plane enters the sensitive movement area of the other son of target level, if so, then performing step 204；
In the present embodiment, after unmanned plane enters sensitive movement area, unmanned plane can continue flight, now need further
Judge whether unmanned plane enters the sensitive movement area of the other son of target level, i.e., it needs to be determined which rank of other son unmanned plane is currently entering
Sensitive movement area.It is understood that after unmanned plane enters sensitive movement area, unmanned plane can keep original speed to fly,
Limitation offline mode can also be entered, such as, to be flown and/or with less than a certain height less than the flying speed of a certain threshold speed
Spend the altitude of threshold value.
Correspondingly, in the present embodiment, it can judge whether unmanned plane enters the other son of target level in the following manner quick
Feel movement area：
First, the geographic position data of the sensitive movement area of son at least two class ranks that prestore
In this manner, remote terminal prestores the geographic position data of the sensitive movement area of son of at least two class ranks,
Thus, judge whether unmanned plane enters the sensitive movement area of the other son of target level and can include：
Obtain the positional information of unmanned plane；
Inquire about the geographic position data of the sensitive movement area of son of at least two class ranks prestored；
The geographic position data of the sensitive movement area of son of at least two class ranks by the positional information of unmanned plane with prestoring enters
Row matching, obtains matching result；
Determine that the unmanned plane enters the sensitive movement area of the other son of target level according to matching result.
The geographical position of the sensitive movement area of son of at least two class ranks that i.e. can be by the positional information of unmanned plane with prestoring
Data are put to be matched to determine whether unmanned plane enters the sensitive movement area of the other son of target level.Alternatively, in the present embodiment,
The positional information of unmanned plane can be obtained by the GPS positioning device in unmanned plane.
2nd, instruction control
In this manner, judge whether unmanned plane enters the sensitive movement area of the other son of target level and include：
Judge whether to receive the second control instruction of user, wherein, the second control instruction is used to indicate working as unmanned plane
Front position is located at the sensitive movement area of the other son of target level；
If, it is determined that unmanned plane enters the sensitive movement area of the other son of target level.
It can determine whether unmanned plane enters the sensitive movement area of the other son of target level by using the control instruction at family.
In actual application, user can by operate terminal user interface watch unmanned plane where flight environment of vehicle, it is self-defined
Which rank of other son sensitive movement area the flight environment of vehicle is.
3rd, software is recognized
In this manner, the unmanned plane includes imaging device, judges whether unmanned plane enters the other son of target level quick
Sense movement area includes：
Obtain the image information that imaging device is shot；
Scene analysis is carried out to image information, judges whether to include default scene identity information；
If, it is determined that unmanned plane enters the sensitive movement area of the other son of target level.
Image information is analyzed and processed, judge the scene residing for unmanned plane, thus determine whether unmanned plane enters
Sensitive movement area is entered.For example, being in airport scene by the current unmanned plane of image information analysis, it is determined that unmanned plane carries out quick
Feel movement area.It is understood that some special screnes, such as airport etc. include some special scene identities, at this
In embodiment, scene identity included in image can be obtained by carrying out scene analysis to image information, then with prestoring
Scene identity information is matched, to obtain matching result., can be to the sensitive movement area of son of different stage in embodiment
Comprising scene identity information prestored.
The above-mentioned determination mode for only carrying out the sensitive movement area of the other son of target level to unmanned plane by way of example is retouched
State, in actual application, one kind therein can be chosen, aforesaid way can also be used in combination, do not limited herein specifically
It is fixed.
204th, according to the corresponding relation between the sensitive movement area of default small pins for the case at different levels and limitation flying method, it is determined that and mesh
Mark the corresponding target limitation flying method in the sensitive movement area of son of rank；
In the present embodiment, pre-saved on remote terminal between the sensitive movement area of small pins for the case at different levels and limitation flying method
Corresponding relation, i.e. the sensitive movement area of son of each rank has with corresponding limitation flying method.It is determined that unmanned plane is worked as
Which rank of advance into behind other sensitive movement area of son, it is possible to further determine that mesh corresponding with the sensitive movement area of the son of the rank
Mark limitation flying method.
In the present embodiment, the corresponding relation between the sensitive movement area of default small pin for the case at different levels and limitation flying method can be with
Including：
When unmanned plane enters first order small pin for the case sensitivity movement area, limitation flying method is with less than pre-set velocity threshold value
Flying speed is flown and/or with the altitude less than preset height threshold value；
When unmanned plane enters second level small pin for the case sensitivity movement area, limitation flying method is hovering；
When unmanned plane enters third level small pin for the case sensitivity movement area, limitation flying method is forced landing.
In actual application, further the position of hovering, forced landing can also be defined.
205th, control unmanned plane is with target limitation flying method flight.
I.e. after it is determined that unmanned plane enters the sensitive movement area of son of which rank, just with the son sensitivity movement area of the rank
Corresponding limitation flying method flight.
Unmanned plane direction is automatically regulated to be the direction set when taking off when making a return voyage, and is easy to control
When reaching takeoff point after making a return voyage, unmanned plane is automatically regulated to be the position corresponding with the locality for manipulating people,
It is easy to it to control
The limitation flying method in one or more small no-fly regions is set in big no-fly region
The method accurately controlled in no-fly region is realized, it is not offset out no-fly region
206th, control unmanned plane is warned with the first type of alarm；
In the present embodiment, the second type of alarm can include the modes such as audio and/or light.
It should be noted that in the present embodiment, the first type of alarm difference and the second type of alarm, such as, and the first report
Police's formula be audio, the second type of alarm be light or, the first type of alarm be the first audible, second alarm
Mode is the second audible, is not limited herein specifically.
In technical scheme provided in an embodiment of the present invention, first determine whether whether unmanned plane enters sensitive movement area, wherein, it is quick
Feel the movement area sensitive movement area of the son including at least two class ranks, and the corresponding different sensitivity in the sensitive movement area of son of different stage
Rank, it is determined that after the sensitive movement area of unmanned plane entrance, further determining whether unmanned plane enters the other son of target level quick
Feel movement area, if so, according to the corresponding relation between the sensitive movement area of default small pins for the case at different levels and limitation flying method, it is determined that with
The corresponding target limitation flying method in the sensitive movement area of the other son of the target level, and control unmanned plane to limit flying method with target
Flight.Therefore relative to prior art, the embodiment of the present invention carries out many sensitive partition of the level to sensitive movement area, is that unmanned plane exists
The sensitive movement area of difference in sensitive movement area provides the limitation flying method of differentiation, can effectively reduce the flight of unmanned plane
Potential safety hazard, safer flight environment of vehicle is provided for unmanned plane.
The flight restriction method to the unmanned plane in the embodiment of the present invention is described above, below to present invention implementation
The flight restriction device of unmanned plane in example is described, referring to Fig. 3, the flight restriction of unmanned plane is filled in the embodiment of the present invention
Putting one embodiment includes：
First judging unit 301, for judging whether unmanned plane enters sensitive movement area, wherein, the sensitive movement area
The sensitive movement area of son including at least two class ranks, and the corresponding different sensitive rank in the sensitive movement area of son of different stage；
Whether second judging unit 302, if entering the sensitive movement area for the unmanned plane, judge the unmanned plane
Into the sensitive movement area of the other son of target level；
Determining unit 303, if entering the sensitive movement area of the other son of target level for the unmanned plane, according to default each
Corresponding relation between the sensitive movement area of level small pin for the case and limitation flying method, it is determined that with the sensitive movement area of the other son of the target level
Corresponding target limits flying method；
First control unit 304, for controlling the unmanned plane with target limitation flying method flight.
In technical scheme provided in an embodiment of the present invention, judge whether unmanned plane enters by the first judging unit 301 first
Sensitive movement area, wherein, sensitive movement area includes the sensitive movement area of son of at least two class ranks, and the son sensitivity of different stage flies
The different sensitive ranks of row area correspondence, after it is determined that unmanned plane enters sensitive movement area, further by the second judging unit
302 determine whether unmanned plane enters the sensitive movement area of the other son of target level, if so, by determining unit 303 according to default at different levels
Corresponding relation between small pin for the case sensitivity movement area and limitation flying method, it is determined that corresponding with the sensitive movement area of the other son of the target level
Target limitation flying method, and by the first control unit 304 control unmanned plane with target limitation flying method flight.Therefore phase
For prior art, sensitive partition of the level many to the progress of sensitive movement area of the embodiment of the present invention are unmanned plane in sensitive movement area
The interior sensitive movement area of difference provides the limitation flying method of differentiation, can effectively reduce the flight safety hidden danger of unmanned plane,
Safer flight environment of vehicle is provided for unmanned plane.
Another embodiment of flight restriction device of unmanned plane includes in the embodiment of the present invention：
First judging unit 401, for judging whether unmanned plane enters sensitive movement area, wherein, the sensitive movement area
The sensitive movement area of son including at least two class ranks, and the corresponding different sensitive rank in the sensitive movement area of son of different stage；
First alarm unit 402, if for the unmanned plane enter the sensitive movement area, control the unmanned plane with
First type of alarm is warned；
Whether second judging unit 403, if entering the sensitive movement area for the unmanned plane, judge the unmanned plane
Into the sensitive movement area of the other son of target level；
Determining unit 404, if entering the sensitive movement area of the other son of target level for the unmanned plane, according to default each
Corresponding relation between the sensitive movement area of level small pin for the case and limitation flying method, it is determined that with the sensitive movement area of the other son of the target level
Corresponding target limits flying method；
First control unit 405, for controlling the unmanned plane with target limitation flying method flight.
Second alarm unit 406, if entering the sensitive movement area of son for the unmanned plane, controls the unmanned plane with the
Two type of alarms are warned, wherein, corresponding the second different type of alarm in the sensitive movement area of son of different stage.
Alternatively, in the present embodiment, between the sensitive movement area of default small pins for the case at different levels and limitation flying method
Corresponding relation includes：
When unmanned plane enters first order small pin for the case sensitivity movement area, the limitation flying method is with less than pre-set velocity threshold
The flying speed of value is flown and/or with the altitude less than preset height threshold value；
When unmanned plane enters second level small pin for the case sensitivity movement area, the limitation flying method is hovering；
When unmanned plane enters third level small pin for the case sensitivity movement area, the limitation flying method is forced landing.
Alternatively, in the present embodiment, the remote terminal prestores the geographic position data of sensitive movement area；Described
One judging unit includes：
First acquisition module, the positional information for obtaining the unmanned plane；
First enquiry module, the geographic position data for inquiring about the sensitive movement area prestored；
First determining module, if the positional information for the unmanned plane is included in the ground of the sensitive movement area prestored
Manage in position data, it is determined that the unmanned plane enters sensitive movement area.
Alternatively, in the present embodiment, first judging unit includes：
First judge module, the first control instruction for judging whether to receive user, wherein, first control refers to
The current location for indicating unmanned plane is made to be located at sensitive movement area；
Second determining module, if the first control instruction for receiving user, it is determined that the unmanned plane enters sensitive
Movement area.
Alternatively, in the present embodiment, the remote terminal prestores the ground of the sensitive movement area of son of at least two class ranks
Manage position data；Second judging unit includes：
Second acquisition module, if entering the sensitive movement area for the unmanned plane, obtains the position of the unmanned plane
Information；
Second enquiry module, the geographical position number of the sensitive movement area of son for inquiring about at least two class ranks prestored
According to；
Matching module, for the son of the positional information of the unmanned plane and at least two class ranks prestored is sensitive winged
The geographic position data in row area is matched, and obtains matching result；
3rd determining module, it is sensitive winged for determining that the unmanned plane enters the other son of target level according to the matching result
Row area.
Alternatively, in the present embodiment, second judging unit includes：
Second judge module, the second control instruction for judging whether to receive user, wherein, second control refers to
The current location for indicating unmanned plane is made to be located at the sensitive movement area of the other son of target level；
4th confirms module, for when receiving the second control instruction of user, determining that the unmanned plane enters target
The sensitive movement area of son of rank.
Alternatively, in the present embodiment, described device also includes：
First alarm unit, if entering the sensitive movement area for the unmanned plane, controls the unmanned plane with the
One type of alarm is warned；
Second alarm unit, if entering the sensitive movement area of son for the unmanned plane, controls the unmanned plane with second
Type of alarm is warned, wherein, corresponding the second different type of alarm in the sensitive movement area of son of different stage.
In technical scheme provided in an embodiment of the present invention, judge whether unmanned plane enters by the first judging unit 301 first
Sensitive movement area, wherein, sensitive movement area includes the sensitive movement area of son of at least two class ranks, and the son sensitivity of different stage flies
The different sensitive ranks of row area correspondence, after it is determined that unmanned plane enters sensitive movement area, further by the second judging unit
302 determine whether unmanned plane enters the sensitive movement area of the other son of target level, if so, by determining unit 303 according to default at different levels
Corresponding relation between small pin for the case sensitivity movement area and limitation flying method, it is determined that corresponding with the sensitive movement area of the other son of the target level
Target limitation flying method, and by the first control unit 304 control unmanned plane with target limitation flying method flight.Therefore phase
For prior art, sensitive partition of the level many to the progress of sensitive movement area of the embodiment of the present invention are unmanned plane in sensitive movement area
The interior sensitive movement area of difference provides the limitation flying method of differentiation, can effectively reduce the flight safety hidden danger of unmanned plane,
Safer flight environment of vehicle is provided for unmanned plane.
Another embodiment of flight restriction device of unmanned plane includes in the embodiment of the present invention：
Processor；
For the memory for the executable instruction for storing the processor；
Wherein, the processor is configured as realizing the flight restriction side for the unmanned plane that the embodiments of the present invention are provided
Method.
Operation terminal 500 can be mobile phone, computer, digital broadcast terminal, messaging devices, game control
Platform, tablet device, personal digital assistant etc..
Referring to Fig. 5, another embodiment of flight restriction device of unmanned plane includes in the embodiment of the present invention：
As shown in figure 5, the flight restriction device 500 of unmanned plane can be mobile phone, and computer, digital broadcast terminal,
Messaging devices, game console, tablet device, personal digital assistant etc..
Reference picture 5, the flight restriction device 500 of unmanned plane can include following one or more assemblies：Processing assembly
502, memory 504, power supply module 506, multimedia groupware 508, audio-frequency assembly 510, the interface 512 of input/output (I/O),
Sensor cluster 514, and communication component 516.
The integrated operation of the generally flight restriction device 500 of control unmanned plane of processing assembly 502, such as with display, phone
Calling, data communication, the camera operation operation associated with record operation.Processing assembly 502 can include one or more places
Reason device 520 carrys out execute instruction.
In addition, processing assembly 502 can include one or more modules, it is easy between processing assembly 502 and other assemblies
Interaction.For example, processing assembly 502 can include multi-media module, with facilitate multimedia groupware 508 and processing assembly 502 it
Between interaction.
Memory 504 is configured as storing various types of data to support the flight restriction device 500 in unmanned plane
Operation.The example of these data includes any application program or the side for being used to operate on the flight restriction device 500 of unmanned plane
The instruction of method, contact data, telephone book data, message, picture, video etc..Memory 504 can be by any kind of volatile
Property or non-volatile memory device or combinations thereof realize that such as static RAM (SRAM), electric erasable can
Program read-only memory (EEPROM), Erasable Programmable Read Only Memory EPROM (EPROM), programmable read only memory (PROM),
Read-only storage (ROM), magnetic memory, flash memory, disk or CD.
Power supply module 506 provides electric power for the various assemblies of the flight restriction device 500 of unmanned plane.Power supply module 506 can
With including power-supply management system, one or more power supplys, and other generate with the flight restriction device 500 for unmanned plane, manage
The associated component with distribution electric power.
The offer one that multimedia groupware 508 is included between the flight restriction device 500 of the unmanned plane and user is defeated
The screen of outgoing interface.In certain embodiments, screen can include liquid crystal display (LCD) and touch panel (TP).If screen
Curtain includes touch panel, and screen may be implemented as touch-screen, to receive the input signal from user.Touch panel includes one
Individual or multiple touch sensors are with the gesture on sensing touch, slip and touch panel.The touch sensor can not only be felt
Survey the border of touch or sliding action, but also the detection duration related to the touch or slide and pressure.
In some embodiments, multimedia groupware 508 includes a front camera and/or rear camera.When the flight of unmanned plane is limited
Device 500 processed is in operator scheme, such as screening-mode or during video mode, and front camera and/or rear camera can connect
Multi-medium data outside receiving.Each front camera and rear camera can be a fixed optical lens systems or tool
There is focusing and optical zoom capabilities.
Audio-frequency assembly 510 is configured as output and/or input audio signal.For example, audio-frequency assembly 510 includes a Mike
Wind (MIC), when the flight restriction device 500 of unmanned plane is in operator scheme, such as call model, logging mode and speech recognition mould
During formula, microphone is configured as receiving external audio signal.The audio signal received can be further stored in memory
504 or sent via communication component 516.In certain embodiments, audio-frequency assembly 510 also includes a loudspeaker, for exporting
Audio signal.
I/O interfaces 512 is provide interface between processing assembly 502 and peripheral interface module, above-mentioned peripheral interface module can
To be keyboard, click wheel, button etc..These buttons may include but be not limited to：Home button, volume button, start button and lock
Determine button.
Sensor cluster 514 includes one or more sensors, for being provided respectively for the flight restriction device 500 of unmanned plane
The state estimation of individual aspect.For example, sensor cluster 514 can detect the flight restriction device 500 of unmanned plane beat ON/OFF
Closed state, the relative positioning of component, such as described component is the display and keypad of the flight restriction device 500 of unmanned plane,
Sensor cluster 514 can also detect the flight restriction device 500 of unmanned plane or 500 1 groups of flight restriction device of unmanned plane
The position of part changes, the existence or non-existence that user contacts with the flight restriction device 500 of unmanned plane, the flight restriction of unmanned plane
The temperature change of the flight restriction device 500 of the orientation of device 500 or acceleration/deceleration and unmanned plane.Sensor cluster 514 can be wrapped
Proximity transducer is included, the presence of the object near detection in not any physical contact is configured to.Sensor cluster 514
Optical sensor, such as CMOS or ccd image sensor, for being used in imaging applications can also be included.In certain embodiments,
The sensor cluster 514 can also include acceleration transducer, gyro sensor, Magnetic Sensor, pressure sensor or temperature
Sensor.
Communication component 516 is configured to facilitate wired between the flight restriction device 500 of unmanned plane and other equipment or nothing
The communication of line mode.The flight restriction device 500 of unmanned plane can access the wireless network based on communication standard, such as WiFi, 2G
Or 3G, or combinations thereof.In one exemplary embodiment, communication component 516 is received from outside wide via broadcast channel
The broadcast singal or broadcast related information of broadcast management system.In one exemplary embodiment, the communication component 516 also includes
Near-field communication (NFC) module, to promote junction service.For example, radio frequency identification (RFID) technology can be based in NFC module, it is infrared
Data association (IrDA) technology, ultra wide band (UWB) technology, bluetooth (BT) technology and other technologies are realized.
In the exemplary embodiment, the flight restriction device 500 of unmanned plane can be integrated by one or more application specifics
It is circuit (ASIC), digital signal processor (DSP), digital signal processing appts (DSPD), PLD (PLD), existing
Field programmable gate array (FPGA), controller, microcontroller, microprocessor or other electronic components are realized.
The embodiment of the present invention also provides a kind of computer-readable recording medium, on the computer-readable recording medium can be
State the computer-readable recording medium included in the memory in embodiment；Can also be individualism, without supplying terminal
In computer-readable recording medium.The computer-readable recording medium storage has one or more than one program, described
One or more than one program are used for performing what Fig. 1, embodiment illustrated in fig. 2 were provided by one or more than one processor
The flight restriction method of unmanned plane.
It is apparent to those skilled in the art that, for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, may be referred to the corresponding process in preceding method embodiment, will not be repeated here.
In several embodiments provided herein, it should be understood that disclosed system, apparatus and method can be with
Realize by another way.For example, device embodiment described above is only schematical, for example, the unit
Divide, only a kind of division of logic function there can be other dividing mode when actually realizing, such as multiple units or component
Another system can be combined or be desirably integrated into, or some features can be ignored, or do not perform.It is another, it is shown or
The coupling each other discussed or direct-coupling or communication connection can be the indirect couplings of device or unit by some interfaces
Close or communicate to connect, can be electrical, machinery or other forms.
The unit illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list
Member can both be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.
If the integrated unit is realized using in the form of SFU software functional unit and as independent production marketing or used
When, it can be stored in a computer read/write memory medium.Understood based on such, technical scheme is substantially
The part contributed in other words to prior art or all or part of the technical scheme can be in the form of software products
Embody, the computer software product is stored in a storage medium, including some instructions are to cause a computer
Equipment (can be personal computer, server, or network equipment etc.) performs the complete of each embodiment methods described of the invention
Portion or part steps.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
Described above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to before
Embodiment is stated the present invention is described in detail, it will be understood by those within the art that：It still can be to preceding
State the technical scheme described in each embodiment to modify, or equivalent substitution is carried out to which part technical characteristic；And these
Modification is replaced, and the essence of appropriate technical solution is departed from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (10)
1. a kind of flight restriction method of unmanned plane, applied to remote terminal, it is characterised in that including：
Judge whether unmanned plane enters sensitive movement area, wherein, the son that the sensitive movement area includes at least two class ranks is sensitive
Movement area, and the corresponding different sensitive rank in the sensitive movement area of son of different stage；
If the unmanned plane enters the sensitive movement area, judge whether the unmanned plane enters the sensitive flight of the other son of target level
Area；
If the unmanned plane enters the sensitive movement area of the other son of target level, according to the sensitive movement area of default small pins for the case at different levels and limit
Corresponding relation between flying method processed, it is determined that target limitation flight side corresponding with the sensitive movement area of the other son of the target level
Formula；
The unmanned plane is controlled with target limitation flying method flight.
2. the flight restriction method of unmanned plane as claimed in claim 1, it is characterised in that the default small pins for the case at different levels are sensitive
Corresponding relation between movement area and limitation flying method includes：
When unmanned plane enters first order small pin for the case sensitivity movement area, the limitation flying method is with less than pre-set velocity threshold value
Flying speed is flown and/or with the altitude less than preset height threshold value；
When unmanned plane enters second level small pin for the case sensitivity movement area, the limitation flying method is hovering；
When unmanned plane enters third level small pin for the case sensitivity movement area, the limitation flying method is forced landing.
3. the flight restriction method of unmanned plane as claimed in claim 1, it is characterised in that the remote terminal is prestored at least
The geographic position data of the sensitive movement area of son of two class ranks；
It is described to judge whether the unmanned plane enters the sensitive movement area of the other son of target level and include：
Obtain the positional information of the unmanned plane；
The geographic position data of the sensitive movement area of son of at least two class ranks prestored described in inquiry；
By the geographical position number of the sensitive movement area of the son of the positional information of the unmanned plane and at least two class ranks prestored
According to being matched, matching result is obtained；
Determine that the unmanned plane enters the sensitive movement area of the other son of target level according to the matching result.
4. the flight restriction method of unmanned plane as claimed in claim 1, it is characterised in that described whether to judge the unmanned plane
Include into the sensitive movement area of the other son of target level：
Judge whether to receive the second control instruction of user, wherein, second control instruction is used to indicate working as unmanned plane
Front position is located at the sensitive movement area of the other son of target level；
If, it is determined that the unmanned plane enters the sensitive movement area of the other son of target level.
5. the flight restriction method of the unmanned plane as described in any one in Claims 1-4, it is characterised in that methods described
Also include：
If the unmanned plane enters the sensitive movement area, the unmanned plane is controlled to be warned with the first type of alarm；
If the unmanned plane enters the sensitive movement area of son, the unmanned plane is controlled to be warned with the second type of alarm, wherein,
Corresponding the second different type of alarm in the sensitive movement area of son of different stage.
6. the flight restriction device of a kind of unmanned plane, applied to remote terminal, it is characterised in that including：
First judging unit, for judging whether unmanned plane enters sensitive movement area, wherein, the sensitive movement area is included at least
The sensitive movement area of son of two class ranks, and the corresponding different sensitive rank in the sensitive movement area of son of different stage；
Second judging unit, if entering the sensitive movement area for the unmanned plane, judges whether the unmanned plane enters mesh
Mark the sensitive movement area of son of rank；
Determining unit, if entering the sensitive movement area of the other son of target level for the unmanned plane, according to default small pins for the case at different levels
Corresponding relation between sensitive movement area and limitation flying method, it is determined that corresponding with the sensitive movement area of the other son of the target level
Target limits flying method；
First control unit, for controlling the unmanned plane with target limitation flying method flight.
7. the flight restriction device of unmanned plane as claimed in claim 6, it is characterised in that the default small pins for the case at different levels are sensitive
Corresponding relation between movement area and limitation flying method includes：
When unmanned plane enters first order small pin for the case sensitivity movement area, the limitation flying method is with less than pre-set velocity threshold value
Flying speed is flown and/or with the altitude less than preset height threshold value；
When unmanned plane enters second level small pin for the case sensitivity movement area, the limitation flying method is hovering；
When unmanned plane enters third level small pin for the case sensitivity movement area, the limitation flying method is forced landing.
8. the flight restriction device of unmanned plane as claimed in claim 6, it is characterised in that the remote terminal is prestored at least
The geographic position data of the sensitive movement area of son of two class ranks；Second judging unit includes：
Second acquisition module, if entering the sensitive movement area for the unmanned plane, obtains the positional information of the unmanned plane；
Second enquiry module, the geographic position data of the sensitive movement area of son for inquiring about at least two class ranks prestored；
Matching module, for by the sensitive movement area of the son of the positional information of the unmanned plane and at least two class ranks prestored
Geographic position data matched, obtain matching result；
3rd determining module, for determining that the unmanned plane enters the sensitive flight of the other son of target level according to the matching result
Area.
9. the flight restriction device of unmanned plane as claimed in claim 6, it is characterised in that second judging unit includes：
Second judge module, the second control instruction for judging whether to receive user, wherein, second control instruction is used
It is located at the sensitive movement area of the other son of target level in the current location for indicating unmanned plane；
4th confirms module, for when receiving the second control instruction of user, determining that the unmanned plane enters target rank
The sensitive movement area of son.
10. the flight restriction device of the unmanned plane as described in any one in claim 6 to 9, it is characterised in that described device
Also include：
First alarm unit, if entering the sensitive movement area for the unmanned plane, controls the unmanned plane with the first report
Police's formula is warned；
Second alarm unit, if entering the sensitive movement area of son for the unmanned plane, controls the unmanned plane with the second alarm
Mode is warned, wherein, corresponding the second different type of alarm in the sensitive movement area of son of different stage.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710544731.6A CN107256031A (en) | 2017-07-06 | 2017-07-06 | A kind of flight restriction method and device of unmanned plane |
| PCT/CN2017/092293 WO2019006766A1 (en) | 2017-07-06 | 2017-07-07 | Flight restriction method and device for unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710544731.6A CN107256031A (en) | 2017-07-06 | 2017-07-06 | A kind of flight restriction method and device of unmanned plane |
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| CN109785671A (en) * | 2019-02-03 | 2019-05-21 | 中睿通信规划设计有限公司 | Unmanned plane Identify Report area's alarm method and system |
| WO2021016894A1 (en) * | 2019-07-30 | 2021-02-04 | Oppo广东移动通信有限公司 | Cell reselection method and unmanned aerial vehicle terminal |
| CN113475117A (en) * | 2019-07-30 | 2021-10-01 | Oppo广东移动通信有限公司 | Cell reselection method and unmanned aerial vehicle terminal |
| WO2021135822A1 (en) * | 2019-12-31 | 2021-07-08 | 深圳市道通智能航空技术股份有限公司 | Airport restriction method and device and unmanned aerial vehicle |
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