CN107300926A - Unmanned plane is sailed out of to the method and device of sensitizing range - Google Patents
Unmanned plane is sailed out of to the method and device of sensitizing range Download PDFInfo
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- G—PHYSICS
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- 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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- 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
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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Abstract
The present invention discloses a kind of method that unmanned plane is sailed out of to sensitizing range, and methods described includes：Controller obtains the base coordinate information of unmanned plane Current location area；The controller judges whether the Current location area belongs to default sensitizing range according to the base coordinate information；If so, the controller controls the unmanned plane to sail out of the sensitizing range.The method and device that the present invention is provided can solve how to avoid unmanned plane in flight course often after swarming into unintentionally in the prior art, due to and be unaware of and continue the technical problem of flight, realize the technique effect of unmanned plane safe flight.
Description
Technical field
The invention belongs to technical field of aerospace, more particularly to a kind of method and device that unmanned plane is sailed out of to sensitizing range.
Background technology
UAV referred to as " unmanned plane ", is manipulated using radio robot and the presetting apparatus provided for oneself
Not manned aircraft.Without driving cabin on machine, but the equipment such as automatic pilot, presetting apparatus are installed.On ground, naval vessels or
Machine tool remote control station personnel by equipment such as radars, it is tracked, positioned, remote control, remote measurement and Digital Transmission.Can be in radio
Take off or launched with booster rocket as conventional airplane under remote control, can also take aerial deliver to by machine tool and fly.Reclaim
When, the mode automatic Landing as conventional airplane landing mission can be used, can also be reclaimed by remote control parachute or block.Can
It is reused several times.It is widely used in aerial reconnaissance, monitoring, communication, antisubmarine, electronic interferences etc..
However, all there is the sensitizing ranges such as some military bases, Civil Aviation Airport, government house both at home and abroad, these are sensitive
Unmanned plane is forbidden to enter interior flight due to some cause specifics in region.And existing unmanned plane, due to and be unaware of which area
The sensitizing range for flight that domain is that no admittance, therefore unmanned plane is often after swarming into unintentionally in flight course, due to not
Know and continue flight, and then bring some unnecessary troubles or even violate the law.
In consideration of it, how to avoid unmanned plane in flight course often after swarming into unintentionally, due to and be unaware of and after
The technical problem of continuous flight, is the technical barrier that this area is badly in need of solving.
The content of the invention
The present invention provides a kind of method and device that unmanned plane sails out of to sensitizing range, to solve in the prior art how
Avoid unmanned plane in flight course often after swarming into unintentionally, due to and be unaware of and continue the technical problem of flight.
In a first aspect, the embodiments of the invention provide a kind of method that unmanned plane is sailed out of to sensitizing range, methods described bag
Include：Controller obtains the base coordinate information of unmanned plane Current location area；The controller according to the base coordinate information,
Judge whether the Current location area belongs to default sensitizing range；If so, the controller controls the unmanned plane to sail out of
The sensitizing range.
Optionally, judge whether the Current location area belongs to according to the base coordinate information described in the controller
In default sensitizing range, including：The controller is pre-processed to the base coordinate information, obtains sitting with the basis
Mark the corresponding standard coordinate information of information；The controller judges the present position-region according to the standard coordinate information
Whether domain belongs to default sensitizing range.
Optionally, the controller is pre-processed to the base coordinate information, is obtained and the base coordinate information
Corresponding standard coordinate information includes：The controller obtains the first longitude and latitude number of degrees corresponding to the base coordinate information
Value；The controller removes last three digit after the decimal point of the first longitude and latitude numerical value, and numerical value after removal is used as the
Two longitude and latitude numerical value；The controller regard the second longitude and latitude numerical value as the standard corresponding with the base coordinate information
Coordinate information.
Optionally, the presetting method of the sensitizing range includes：At least three edges that the controller obtains forbidden zone are sat
Mark information；The controller is by least three edge coordinates information, in the way of adjacent coordinates are connected two-by-two, obtains an area
Domain figure；Wherein, the regional graphics are polygons；The controller is carried out the regional graphics as the sensitizing range
Storage.
Optionally, the controller judges whether the Current location area belongs to pre- according to the base coordinate information
If sensitizing range include：It is on the polygon or described many that the controller judges whether the base coordinate information falls into
The interior zone of side shape；If so, then the controller judges that the Current location area is sensitizing range.
Second aspect, the embodiments of the invention provide a kind of device that unmanned plane is sailed out of to sensitizing range, described device bag
Include：Base coordinate data obtaining module, the base coordinate information of unmanned plane Current location area is obtained for controller；Judge mould
Block, for the controller according to the base coordinate information, judges whether the Current location area belongs to default sensitivity
Region；Module is sailed out of, for if so, the controller controls the unmanned plane to sail out of the sensitizing range.
Optionally, the judge module includes：First judging submodule, believes the base coordinate for the controller
Breath is pre-processed, and obtains the standard coordinate information corresponding with the base coordinate information；Second judging submodule, for institute
Controller is stated according to the standard coordinate information, judges whether the Current location area belongs to default sensitizing range.
Optionally, first judging submodule includes：First longitude and latitude numerical value acquisition submodule, for the controller
Obtain the first longitude and latitude numerical value corresponding to the base coordinate information；Second longitude and latitude numerical value acquisition module, for the control
Device processed removes last three digit after the decimal point of the first longitude and latitude numerical value, and the numerical value after removal is used as the second longitude and latitude number of degrees
Value；Standard coordinate acquisition of information submodule, sits the second longitude and latitude numerical value as with the basis for the controller
Mark the corresponding standard coordinate information of information.
Optionally, the judge module also includes：3rd judging submodule, forbidden zone is obtained at least for the controller
Three edge coordinate information；4th judging submodule, for the controller by least three edge coordinates information, with phase
The mode that adjacent coordinate is connected two-by-two, obtains a regional graphics；Wherein, the regional graphics are polygons；5th judging submodule,
Stored for the controller using the regional graphics as the sensitizing range.
Optionally, the judge module also includes：6th judging submodule, judges that the basis is sat for the controller
Whether mark information is fallen on the polygon or the polygonal interior zone；7th judging submodule, for if so, then
The controller judges that the Current location area is sensitizing range.
The one or more technical schemes provided in the embodiment of the present invention, have at least the following technical effects or advantages：
The method and device that unmanned plane is sailed out of to sensitizing range that the application is provided, by obtaining unmanned plane present position-region
The coordinate information in domain, and by it to whether belonging to default sensitizing range and judging, if so, then unmanned plane sails out of present bit
Put, efficiently avoid unmanned plane in flight course often after swarming into unintentionally, due to and be unaware of and continue flight
Technical problem.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, and in order to allow above and other objects of the present invention, feature and advantage can
Become apparent, below especially exemplified by the embodiment of the present invention.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are this hairs
Some bright embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with root
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is used for the schematic diagram that destination object sails out of the method for sensitizing range to be provided in an embodiment of the present invention；And
Fig. 2 is the schematic diagram that GPS map provided in an embodiment of the present invention splits plate；
Fig. 3 is the stream provided in an embodiment of the present invention when obtaining the base coordinate information of Current location area for unmanned plane
Journey schematic diagram；
Fig. 4 is provided in an embodiment of the present invention when obtaining the base coordinate information of Current location area for a controller
Schematic flow sheet；
Fig. 5 is used for the schematic diagram that destination object sails out of the device of sensitizing range to be provided in an embodiment of the present invention.
Embodiment
A kind of method and device that sensitizing range is sailed out of for destination object of confession that the embodiment of the present invention is carried, by obtaining nothing
The coordinate information of man-machine Current location area, and by it to whether belonging to default sensitizing range and judging, if so, then nobody
Machine sails out of current location, efficiently avoid unmanned plane in flight course often after swarming into unintentionally, due to and be unaware of
And continue the technical problem of flight, reach effective identification sensitizing range and the technique effect that control unmanned plane is sailed out of in time.
Technical scheme in the embodiment of the present invention, general thought is as follows：
A kind of method that unmanned plane is sailed out of to sensitizing range, methods described includes：
Controller obtains the base coordinate information of unmanned plane Current location area；
The controller judges whether the Current location area belongs to default sensitivity according to the base coordinate information
Region；
If so, the controller controls the unmanned plane to sail out of the sensitizing range.
It is pointed out that in embodiments of the present invention, the destination object is unmanned plane, but those skilled in the art can
To understand, unmanned plane is only one kind in destination object, in the present invention the unmanned communication van of the destination object, unmanned commander
The electronic equipments such as ship.
By obtaining the coordinate information of unmanned plane Current location area in the above method, and by it to whether belonging to default
Sensitizing range is judged, if so, then unmanned plane sails out of current location, efficiently avoid unmanned plane in flight course often
After swarming into unintentionally, due to and be unaware of and continue flight technical problem.
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
The terms "and/or", only a kind of incidence relation for describing affiliated partner, represents there may be three kinds of passes
System, for example, A and/or B, can be represented：Individualism A, while there is A and B, these three situations of individualism B.In addition, herein
Middle character "/", it is a kind of relation of "or" to typically represent forward-backward correlation object.
Embodiment one
The embodiment of the present invention one provides a kind of method for sailing out of sensitizing range for destination object, refer to Fig. 1, described
Method includes：
Step S110；Obtain the base coordinate information of destination object Current location area；
Step S120；According to the base coordinate information, judge whether the Current location area belongs to default sensitivity
Region；
Step S130；If so, the destination object sails out of the sensitizing range.
For example, methods described can apply to unmanned plane field, and can also be applied to car, ship etc. has telecommunications
Other smart fields of function.
Specifically, studied according to inventor and find all there is some military bases, Civil Aviation Airport, government both at home and abroad
Unmanned plane is forbidden to enter interior flight, or forbid vehicle due to some cause specifics in the sensitizing ranges such as building, these sensitizing ranges
Drive into current, or forbid ship to navigate into current.And existing unmanned plane, car or ship, due to and be unaware of which area
Domain is sensitizing range out-of-bounds, thus in the process of moving unmanned plane, car or ship often after swarming into unintentionally, due to
And be unaware of and continue to move ahead, and then bring some unnecessary troubles or even violate the law.
Based on this, the embodiment of the present invention one, which is provided, is used for the method that destination object sails out of sensitizing range, for solution
State technical problem.It should be noted that
Below, it is used for the method progress that destination object sails out of sensitizing range with reference to what Fig. 1 was provided the embodiment of the present invention one
It is discussed in detail：
First, step S110 is performed, the base coordinate information of destination object Current location area is obtained；
In step S110, base coordinate information can be understood as the actual geographic position of destination object namely unmanned plane
Put coordinate information, the base coordinate information that unmanned plane Current location area is obtained in step S110 be in order to it is default quick
Sensillary area domain is compared.
Then, step S120 is performed, according to the base coordinate information, judges whether the Current location area belongs to pre-
If sensitizing range；
Specifically, in step S120, the presetting method of described sensitizing range can specifically include following process：
Obtain at least three edge coordinate information of sensitizing range；By at least three edge coordinates information, with adjacent coordinates two-by-two
Connected mode, obtains a regional graphics；Wherein, the regional graphics are polygons；Using the regional graphics as described quick
Sensillary area domain is stored.Here can be referring particularly to Fig. 2, in fig. 2, shown polygon, you can be interpreted as implementation of the present invention
Sensitizing range in example.
Further, default sensitizing range progress judgement whether is belonged to Current location area can include judging described
Whether base coordinate information is fallen on the polygon or the polygonal interior zone；If so, then judging described current
The band of position is sensitizing range.
Finally, step S130 is performed, if so, the destination object sails out of the sensitizing range.
Further instruction is needed, in the step s 120, is whether the base coordinate information for being directed to unmanned plane belongs to
Default sensitizing range is judged, and in actual mechanical process, is gone back to improve in matching accuracy, the embodiment of the present invention
It may include steps of：
The base coordinate information is pre-processed, the standard coordinate letter corresponding with the base coordinate information is obtained
Breath；
According to the standard coordinate information, judge whether the Current location area belongs to default sensitizing range.
And, for being pre-processed to the base coordinate information, obtain the mark corresponding with the base coordinate information
Quasi coordinates information may particularly include：
Obtain the first longitude and latitude numerical value corresponding to the base coordinate information；
Last three digit after the decimal point of the first longitude and latitude numerical value is removed, the numerical value after removal is used as the second longitude and latitude
Number of degrees value；
It regard the second longitude and latitude numerical value as the standard coordinate information corresponding with the base coordinate information.
Specifically, please continue to refer to Fig. 2, shown in Fig. 2 is in actual applications, map to be cut into N blocks, and each is
One GPS accuracy (such as 0.001 degree) namely：
A latitude and longitude coordinates (0.000,0.000), B latitude and longitude coordinates (0.001,0.000), C latitude and longitude coordinates (0.002,
0.000), J latitude and longitude coordinates (0.001,0.001), E latitude and longitude coordinates (0.000,0.001), F latitude and longitude coordinates (0.000,
0.002), G latitude and longitude coordinates (0.000,0.003), K latitude and longitude coordinates (0.002,0.002)
Further, module is set up into chained list or file, can be as follows：
File or chained list name or mark
1 0.000,0.000
2 0.001,0.000
3 0.002,0.000
4 0.000,0.001
5 0.001,0.001
6 0.002,0.002
N NX, NY
If the current band of position coordinate information of unmanned plane is (0.0023456,0.0023685), namely base coordinate
Information is (0.0023456,0.0023685), then get the current band of position coordinate information of unmanned plane by processor
Decimal point after 3 be X (0.002,0.002), X-coordinate is standard coordinate information, is then looked for by X-coordinate in file or chained list
File, that is, have found No. 6 files, illustrate the current band of position of unmanned plane in K modules.Divide after good module, the present invention is implemented
Example inputs the no-fly zone longitude and latitude in respective modules in corresponding file：
For example：2 in upper figure, and 7 modules, by no-fly zone, the embodiment of the present invention is just the longitude and latitude of polygonal corresponding points
Coordinate is inputted in the file or chained list of No. 2 modules, and 7 modules also do same operation.
If there is no-fly zone in this module, the embodiment of the present invention is by the way that base coordinate information or standard coordinate are believed
Whether breath is matched with polygon longitude and latitude, namely judge the current band of position of unmanned plane in no-fly zone.
If controlling unmanned plane to sail out of no-fly zone.
It is noted that in embodiments of the present invention, can also be the base that Current location area is obtained by unmanned plane
Plinth coordinate information, can also obtain the base coordinate information of unmanned plane Current location area by a controller.
Specifically, when for unmanned plane obtain Current location area base coordinate information when, then referring to Fig. 3, including：
Step S210, unmanned plane obtains the base coordinate information in the unmanned plane present position region；
Step S220, the unmanned plane judges whether the Current location area belongs to according to the base coordinate information
Default sensitizing range；
Step S230, if so, the unmanned plane sails out of the sensitizing range.
Further, the unmanned plane judges whether the Current location area belongs to according to the base coordinate information
Default sensitizing range, including：The unmanned plane is pre-processed to the base coordinate information, is obtained and the base coordinate
The corresponding standard coordinate information of information；The unmanned plane judges the Current location area according to the standard coordinate information
Whether default sensitizing range is belonged to.
Further, the unmanned plane is pre-processed to the base coordinate information, obtains believing with the base coordinate
The corresponding standard coordinate information of manner of breathing includes：The unmanned plane obtains the first longitude and latitude number of degrees corresponding to the base coordinate information
Value；The unmanned plane removes last three digit after the decimal point of the first longitude and latitude numerical value, and numerical value after removal is used as the
Two longitude and latitude numerical value；The unmanned plane regard the second longitude and latitude numerical value as the standard corresponding with the base coordinate information
Coordinate information.
Further, the presetting method of the sensitizing range includes：The unmanned plane obtains at least three edges of forbidden zone
Coordinate information；At least three edge coordinates information in the way of adjacent coordinates are connected two-by-two, is obtained one by the unmanned plane
Regional graphics；Wherein, the regional graphics are polygons；The unmanned plane enters the regional graphics as the sensitizing range
Row storage.
Further, it is described according to the base coordinate information, judge whether the Current location area belongs to default
Sensitizing range includes：The unmanned plane judges whether the base coordinate information is fallen on the polygon or the polygon
Interior zone；If so, then the unmanned plane judges that the Current location area is sensitizing range.
Again specifically, when for a controller obtain Current location area base coordinate information when, then referring to Fig. 4, bag
Include：
Step S310, controller obtains the base coordinate information of unmanned plane Current location area；
Step S320, the controller judges whether the Current location area belongs to according to the base coordinate information
Default sensitizing range；
Step S330, if so, the controller controls the unmanned plane to sail out of the sensitizing range.
Further, whether the Current location area is judged according to the base coordinate information described in the controller
Belong to default sensitizing range, including：The controller is pre-processed to the base coordinate information, is obtained and the basis
The corresponding standard coordinate information of coordinate information；The controller judges the current location according to the standard coordinate information
Whether region belongs to default sensitizing range.
Further, the controller is pre-processed to the base coordinate information, obtains believing with the base coordinate
The corresponding standard coordinate information of manner of breathing includes：The controller obtains the first longitude and latitude number of degrees corresponding to the base coordinate information
Value；The controller removes last three digit after the decimal point of the first longitude and latitude numerical value, and numerical value after removal is used as the
Two longitude and latitude numerical value；The controller regard the second longitude and latitude numerical value as the standard corresponding with the base coordinate information
Coordinate information.
Further, the presetting method of the sensitizing range includes：The controller obtains at least three edges of forbidden zone
Coordinate information；At least three edge coordinates information in the way of adjacent coordinates are connected two-by-two, is obtained one by the controller
Regional graphics；Wherein, the regional graphics are polygons；The controller enters the regional graphics as the sensitizing range
Row storage.
Further, the controller judges whether the Current location area belongs to according to the base coordinate information
Default sensitizing range includes：It is on the polygon or described that the controller judges whether the base coordinate information falls into
Polygonal interior zone；If so, then the controller judges that the Current location area is sensitizing range.
You need to add is that, for the non-detailed descriptions of Fig. 3 and Fig. 4, the content described in Fig. 1 is see, here is omitted.
It should be noted that in embodiments of the present invention, when judging that the Current location area is to belong to default sensitivity
After region, in order to inform road surface staff in time, or close on the unmanned plane of flight.Now, unmanned plane also can be transmitted and regard
Feel warning message, namely unmanned plane in Current location area traveling alarm track；The track can be the S type rails of default settings
Mark, or digital 8 track；When road surface staff sees unmanned plane in Current location area traveling S types track, or numeral 8
During track, even if not passing through earth station or communication apparatus then, you can or the unmanned plane enters no-fly region.In addition, right
In other unmanned planes adjacent with current unmanned plane；When the image information collecting module of other unmanned planes collects current unmanned plane
S types track, or digital 8 track are being travelled, then because the built-in system of other unmanned planes is provided with visual alarm track S types
Track, or digital 8 track, then it is to be in no-fly zone that now other unmanned planes, which can learn that current unmanned plane is sailed, other nobody
Machine will not then be further continued for moving forward and directly adjusting flight path and avoid no-fly zone.
In addition, the embodiment of the present invention can also in advance sensitizing range in no-fly grade is set to different no-fly zones, such as institute
Stating sensitizing range includes：The no-fly region of grade one, the no-fly region of grade two, the no-fly region of grade three, the no-fly region of grade four；Its
No-fly grade is raised successively.
That is, in the no-fly region of grade one, unmanned plane has in the time of departure of 10 minutes, the no-fly region of grade two, nothing
Man-machine to have in time of departure of 6 minutes, the no-fly region of grade three, unmanned plane has the time of departure of 4 minutes, the no-fly region of grade four
In, unmanned plane has the time of departure of 2 minutes., now can also be in sensitizing range when judging that unmanned plane is in sensitizing range
No-fly grade is judged, sets the flying speed of sailing out of of unmanned plane successively according to judged result, and then is targetedly sailed out of
Current sensitizing range.
Based on same inventive concept, the embodiment of the present invention additionally provides device corresponding with method in embodiment one, sees reality
Apply example two.
Embodiment two
The embodiment of the present invention two provides a kind of device, refer to Fig. 5, described device includes：
Coordinate information acquisition module 1100, the base coordinate information for obtaining destination object Current location area；Judge
Module 1200, for according to the base coordinate information, judging whether the Current location area belongs to default sensitizing range；
Module 1300 is sailed out of, for if so, the destination object sails out of the sensitizing range.
Further, the judge module 1200 includes：First judging submodule, for entering to the base coordinate information
Row pretreatment, obtains the standard coordinate information corresponding with the base coordinate information；Second judging submodule, for according to institute
Standard coordinate information is stated, judges whether the Current location area belongs to default sensitizing range.
Further, first judging submodule includes：
First longitude and latitude acquiring unit, for obtaining the first longitude and latitude numerical value corresponding to the base coordinate information；
Three bit values after second longitude and latitude acquiring unit, the decimal point for taking the first longitude and latitude numerical value, are used as
Two longitude and latitude numerical value；
Standard coordinate information generating unit, for using the second longitude and latitude numerical value as with the base coordinate information phase
Corresponding standard coordinate information.
Further, the judge module also includes：
First subelement, at least three edge coordinate information for obtaining sensitizing range；
Second subelement, for by least three edge coordinates information, in the way of adjacent coordinates are connected two-by-two, obtaining
To a regional graphics；Wherein, the regional graphics are polygons；
3rd subelement, for being stored the regional graphics as the sensitizing range.
Further, the judge module is additionally operable to：
Judge whether the base coordinate information is fallen on the polygon or the polygonal interior zone；
If so, then judging that the Current location area is sensitizing range.
By the device that the embodiment of the present invention two is introduced, to implement the dress that the method for the embodiment of the present invention one is used
Put, so the method introduced based on the embodiment of the present invention one, the affiliated personnel in this area can understand the concrete structure of the device
And deformation, so will not be repeated here.The device that the method for every embodiment of the present invention one is used belongs to the present invention and is intended to
The scope of protection.
Based on same inventive concept, the embodiment of the present invention additionally provides equipment corresponding with method in embodiment one, sees reality
Apply example three.
Embodiment three
The embodiment of the present invention three provides a kind of equipment for no-fly zone to be identified；The equipment includes：
Alignment system, the base coordinate information for obtaining unmanned plane present position region；
Memory, for storing default no-fly zone coordinate information；
Processor, for the base coordinate information and the no-fly zone coordinate information to be contrasted, judges the base
The present position region is no-fly zone corresponding to plinth coordinate information；
Controller, for controlling the unmanned plane to send visual alarm information in Current location area；The visual alarm
Information includes：The controller controls the unmanned plane in Current location area traveling S tracks.
Optionally, the equipment also includes：Encoder, for described current corresponding to the base coordinate information when judging
When position region is no-fly zone, alarm signal is generated；Data transmission interface, for the alarm signal to be transmitted to the external world
Terminal.
Optionally, the equipment also includes：Network transmission module, for the alarm signal to be transmitted to extraneous terminal.
Optionally, the equipment also includes：Power module, the power module be the alignment system, the memory,
The processor, the encoder, the network transmission module and/or the data transmission interface are powered.
Based on the equipment, the embodiment of the present invention three additionally provides a kind of method for no-fly zone to be identified, described
Method includes：
Obtain the base coordinate information in unmanned plane present position region；
Store default no-fly zone coordinate information；
The base coordinate information and the no-fly zone coordinate information are contrasted, the base coordinate information institute is judged
The correspondence present position region is no-fly zone；
The unmanned plane is controlled to send visual alarm information in Current location area；The visual alarm information includes：Institute
State controller and control the unmanned plane in Current location area traveling S tracks.
Optionally, methods described also includes：Generate alarm signal.
It is corresponding with embodiment one and two by the equipment that the embodiment of the present invention three is introduced, so will not be repeated here.
Non- detailed portion see embodiment one and two.
You need to add is that：
In inventive embodiments, common GPS chip (GPS such as UBLOX 6m 7m M8n)；CPU processor (all controls
Device, including FPGA etc.)；Memory (binary data can be preserved can be memory such as：RAM, FIFO, memory bar, TF,
Flash, SD card etc.)；Data-interface (can be with self-defined, such as：Serial ports, SPI, I2C, CAN etc., can also multiple interfaces it is simultaneously defeated
Go out, IO and serial ports etc.)；Here it is that, by CPU processor, memory, data-interface is drawn on one piece of PCB with GPS module, synthesis one
The individual sensor assembly with no-fly zone data GPS；CPU processor and any one sensor or master controller can also be drawn
Together (such as：Fly control).This module can also add any equipment or sensor (such as above again：Add 4G modules, magnetic force
Meter, attitude transducer etc.).
It should be understood by those skilled in the art that, embodiments of the invention can be provided as method, system or computer program
Product.Therefore, the present invention can be using the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware
Apply the form of example.Moreover, the present invention can be used in one or more computers for wherein including computer usable program code
The computer program production that usable storage medium is implemented on (including but is not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The present invention is the flow with reference to method according to embodiments of the present invention, equipment (system) and computer program product
Figure and/or block diagram are described.It should be understood that can be by every first-class in computer program instructions implementation process figure and/or block diagram
Journey and/or the flow in square frame and flow chart and/or block diagram and/or the combination of square frame.These computer programs can be provided
The processor of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced by the instruction of computer or the computing device of other programmable data processing devices for real
The device for the function of being specified in present one flow of flow chart or one square frame of multiple flows and/or block diagram or multiple square frames.
These computer program instructions, which may be alternatively stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory, which is produced, to be included referring to
Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or
The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that in meter
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented processing, thus in computer or
The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in individual square frame or multiple square frames.
, but those skilled in the art once know basic creation although preferred embodiments of the present invention have been described
Property concept, then can make other change and modification to these embodiments.So, appended claims are intended to be construed to include excellent
Select embodiment and fall into having altered and changing for the scope of the invention.
Obviously, those skilled in the art can carry out various changes and modification without departing from this hair to the embodiment of the present invention
The spirit and scope of bright embodiment.So, if these modifications and variations of the embodiment of the present invention belong to the claims in the present invention
And its within the scope of equivalent technologies, then the present invention is also intended to comprising including these changes and modification.
Claims (10)
1. a kind of method that unmanned plane is sailed out of to sensitizing range, it is characterised in that methods described includes：
Controller obtains the base coordinate information of unmanned plane Current location area；
The controller judges whether the Current location area belongs to default sensitizing range according to the base coordinate information
Domain；
If so, the controller controls the unmanned plane to sail out of the sensitizing range.
2. the method as described in claim 1, it is characterised in that according to the base coordinate information described in the controller, sentence
Whether the disconnected Current location area belongs to default sensitizing range, including：
The controller is pre-processed to the base coordinate information, obtains the standard corresponding with the base coordinate information
Coordinate information；
The controller judges whether the Current location area belongs to default sensitizing range according to the standard coordinate information
Domain.
3. method as claimed in claim 2, it is characterised in that the controller is located in advance to the base coordinate information
Reason, obtaining the standard coordinate information corresponding with the base coordinate information includes：
The controller obtains the first longitude and latitude numerical value corresponding to the base coordinate information；
The controller removes last three digit after the decimal point of the first longitude and latitude numerical value, and numerical value after removal is used as the
Two longitude and latitude numerical value；
The controller regard the second longitude and latitude numerical value as the standard coordinate information corresponding with the base coordinate information.
4. the method as described in claim 1, it is characterised in that the presetting method of the sensitizing range includes：
The controller obtains at least three edge coordinate information of forbidden zone；
The controller is by least three edge coordinates information, in the way of adjacent coordinates are connected two-by-two, obtains a region
Figure；Wherein, the regional graphics are polygons；
The controller is stored the regional graphics as the sensitizing range.
5. method as claimed in claim 4, it is characterised in that the controller judges institute according to the base coordinate information
Stating Current location area and whether belonging to default sensitizing range includes：
The controller judges whether the base coordinate information is fallen on the polygon or the polygonal inner area
Domain；
If so, then the controller judges that the Current location area is sensitizing range.
6. a kind of device that unmanned plane is sailed out of to sensitizing range, it is characterised in that described device includes：
Base coordinate data obtaining module, the base coordinate information of unmanned plane Current location area is obtained for controller；
Judge module, for the controller according to the base coordinate information, judges whether the Current location area belongs to
Default sensitizing range；
Module is sailed out of, for if so, the controller controls the unmanned plane to sail out of the sensitizing range.
7. device as claimed in claim 6, it is characterised in that the judge module includes：
First judging submodule, is pre-processed for the controller to the base coordinate information, is obtained and the basis
The corresponding standard coordinate information of coordinate information；
Second judging submodule, for the controller according to the standard coordinate information, judges that the Current location area is
It is no to belong to default sensitizing range.
8. device as claimed in claim 7, it is characterised in that first judging submodule includes：
First longitude and latitude numerical value acquisition submodule, the first warp corresponding to the base coordinate information is obtained for the controller
Latitude numerical value；
Second longitude and latitude numerical value acquisition module, for the controller by the end three after the decimal point of the first longitude and latitude numerical value
Digit is removed, and the numerical value after removal is used as the second longitude and latitude numerical value；
Standard coordinate acquisition of information submodule, sits the second longitude and latitude numerical value as with the basis for the controller
Mark the corresponding standard coordinate information of information.
9. device as claimed in claim 6, it is characterised in that the judge module also includes：
3rd judging submodule, at least three edge coordinate information of forbidden zone are obtained for the controller；
4th judging submodule, for the controller by least three edge coordinates information, with the two-phase of adjacent coordinates two
Mode even, obtains a regional graphics；Wherein, the regional graphics are polygons；
5th judging submodule, is stored for the controller using the regional graphics as the sensitizing range.
10. device as claimed in claim 8, it is characterised in that the judge module also includes：
6th judging submodule, for the controller judge the base coordinate information whether fall on the polygon or
The polygonal interior zone；
7th judging submodule, for if so, then the controller judges that the Current location area is sensitizing range.
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|---|---|---|---|
| CN201710418692.5A CN107300926A (en) | 2017-06-06 | 2017-06-06 | Unmanned plane is sailed out of to the method and device of sensitizing range |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710418692.5A CN107300926A (en) | 2017-06-06 | 2017-06-06 | Unmanned plane is sailed out of to the method and device of sensitizing range |
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| CN205016075U (en) * | 2015-10-10 | 2016-02-03 | 杨珊珊 | Device is verified in unmanned vehicles flying area territory |
| CN105472558A (en) * | 2015-12-18 | 2016-04-06 | 苏州贝多环保技术有限公司 | Unmanned aerial vehicle and control method |
| CN105722031A (en) * | 2016-03-30 | 2016-06-29 | 冯基洲 | Unmanned aerial vehicle |
| CN105717945A (en) * | 2016-03-30 | 2016-06-29 | 冯基洲 | Unmanned aerial vehicle capable of automatically avoiding collision |
| CN106354153A (en) * | 2016-10-09 | 2017-01-25 | 北京国泰北斗科技有限公司 | Unmanned aerial vehicle flight control method and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205016075U (en) * | 2015-10-10 | 2016-02-03 | 杨珊珊 | Device is verified in unmanned vehicles flying area territory |
| CN105472558A (en) * | 2015-12-18 | 2016-04-06 | 苏州贝多环保技术有限公司 | Unmanned aerial vehicle and control method |
| CN105722031A (en) * | 2016-03-30 | 2016-06-29 | 冯基洲 | Unmanned aerial vehicle |
| CN105717945A (en) * | 2016-03-30 | 2016-06-29 | 冯基洲 | Unmanned aerial vehicle capable of automatically avoiding collision |
| CN106354153A (en) * | 2016-10-09 | 2017-01-25 | 北京国泰北斗科技有限公司 | Unmanned aerial vehicle flight control method and device |
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