CN107430402A - For being identified to geographical railing device and the system and method for certification - Google Patents

For being identified to geographical railing device and the system and method for certification Download PDF

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Publication number
CN107430402A
CN107430402A CN201580078610.6A CN201580078610A CN107430402A CN 107430402 A CN107430402 A CN 107430402A CN 201580078610 A CN201580078610 A CN 201580078610A CN 107430402 A CN107430402 A CN 107430402A
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CN
China
Prior art keywords
unmanned vehicle
user
geography fence
air traffic
traffic control
Prior art date
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Granted
Application number
CN201580078610.6A
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Chinese (zh)
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CN107430402B (en
Inventor
龚明
戴劲
崔浩
王晓东
黄晗
吴军
范伟
马宁
荣新华
林星森
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Shenzhen Dajiang Innovations Technology Co Ltd
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Shenzhen Dajiang Innovations Technology Co Ltd
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Publication of CN107430402A publication Critical patent/CN107430402A/en
Application granted granted Critical
Publication of CN107430402B publication Critical patent/CN107430402B/en
Active legal-status Critical Current
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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0073—Surveillance aids
    • G08G5/0091—Surveillance aids for monitoring atmospheric conditions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
    • G06F21/60—Protecting data
    • G06F21/62—Protecting access to data via a platform, e.g. using keys or access control rules
    • G06F21/6218—Protecting access to data via a platform, e.g. using keys or access control rules to a system of files or objects, e.g. local or distributed file system or database
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0004—Transmission of traffic-related information to or from an aircraft
    • G08G5/0008—Transmission of traffic-related information to or from an aircraft with other aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0004—Transmission of traffic-related information to or from an aircraft
    • G08G5/0013—Transmission of traffic-related information to or from an aircraft with a ground station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0017—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information
    • G08G5/0026—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located on the ground
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/003—Flight plan management
    • G08G5/0034—Assembly of a flight plan
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/003—Flight plan management
    • G08G5/0039—Modification of a flight plan
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0043—Traffic management of multiple aircrafts from the ground
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0052—Navigation or guidance aids for a single aircraft for cruising
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/006—Navigation or guidance aids for a single aircraft in accordance with predefined flight zones, e.g. to avoid prohibited zones
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0073—Surveillance aids
    • G08G5/0078—Surveillance aids for monitoring traffic from the aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0073—Surveillance aids
    • G08G5/0082—Surveillance aids for monitoring traffic from a ground station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0073—Surveillance aids
    • G08G5/0086—Surveillance aids for monitoring terrain
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/06—Authentication
    • H04W12/065—Continuous authentication
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/06—Authentication
    • H04W12/069—Authentication using certificates or pre-shared keys
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
    • H04W4/022—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences with dynamic range variability
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B64U2201/104—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] using satellite radio beacon positioning systems, e.g. GPS
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2221/00—Indexing scheme relating to security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
    • G06F2221/21—Indexing scheme relating to G06F21/00 and subgroups addressing additional information or applications relating to security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
    • G06F2221/2111—Location-sensitive, e.g. geographical location, GPS
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2221/00—Indexing scheme relating to security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
    • G06F2221/21—Indexing scheme relating to G06F21/00 and subgroups addressing additional information or applications relating to security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
    • G06F2221/2117—User registration
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0056—Navigation or guidance aids for a single aircraft in an emergency situation, e.g. hijacking

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Computer Security & Cryptography (AREA)
  • Signal Processing (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Atmospheric Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Software Systems (AREA)
  • Health & Medical Sciences (AREA)
  • Databases & Information Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Bioethics (AREA)
  • Computer Hardware Design (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention provides the system and method for unmanned vehicle safety.It can confirm unmanned vehicle and/or user identity using Verification System and the secure communication between user and unmanned vehicle is provided.The unmanned vehicle can be operated according to one group of air traffic control.Described group of air traffic control can be associated with the geography fence equipment near the unmanned vehicle.

Description

For being identified to geographical railing device and the system and method for certification
Background technology
The unmanned vehicles such as unmanned vehicle (UAV) are developed to various fields, including consumer's application and work Industry application.For example, can manipulate unmanned vehicle be used to entertaining, photographic/camera, monitoring, delivering or other application.
Unmanned vehicle has expanded the dimension of personal lifestyle.However, as the use of unmanned vehicle becomes more widespread, There is safety problem and challenge.For example, when the flight of unmanned vehicle is unrestricted, unmanned vehicle may forbidden flying Or the overlying regions flight of flight should be forbidden.This is probably intentionally or accidentally to occur.In some cases, novice users can The control to unmanned vehicle can be lost or be unfamiliar with aviation flight rule.Also there is abduction or hacker attacks unmanned flight The latent danger of the control of device.
The content of the invention
Security system and method described herein improve unmanned vehicle (UAV) flight safety.It can provide winged Row control and Verification System and method, the system and method can aid in the use of tracking unmanned vehicle.The system Interactive each side's (for example, user, remote control, unmanned vehicle, geography fence equipment) can be uniquely identified out.One In the case of a little, verification process can occur and only have authorized party to be allowed to operate the unmanned vehicle.Air traffic control It can put in the operation of unmanned vehicle, and can be with the manual control of override user.In some cases, geography fence Equipment may be used to provide the information or the help air traffic control process on air traffic control.
One aspect of the present invention is related to a kind of geography fence equipment, and the geography fence equipment includes：Communication module, institute Communication module is stated for the predetermined geographic scope internal transmission information in the geography fence equipment；And one or more storage lists Member, one or more of memory cell are used to store one group of the predetermined geographic scope for the geography fence equipment Or multigroup air traffic control, wherein the communication module is used for when unmanned vehicle (UAV) enters the institute of the geography fence equipment The one group of flight selected from one or more groups of air traffic control is sent when stating predetermined geographic scope to the unmanned vehicle Control.
In addition, many aspects of the present invention can include one kind to unmanned vehicle (UAV) one group of air traffic control of offer Method, methods described include：Store in one or more memory cell of geography fence equipment and set for the geography fence One or more groups of air traffic control of standby predetermined geographic scope；And by means of in the described pre- of the geography fence equipment The communication module of geographic range internal transmission information is determined, when the unmanned vehicle enters the described predetermined of the geography fence equipment During geographic range, the one group of air traffic control selected from one or more groups of air traffic control is transmitted to the unmanned vehicle.
According to many aspects of the present invention, a kind of unmanned vehicle (UAV) can be provided.The unmanned vehicle can wrap Include：Sensor, the sensor are used for the indicant for detecting geography fence equipment；And flight control modules, the flight control Molding block, which is used to generate, makes one or more signals that the unmanned vehicle is operated according to one group of air traffic control, and described one Group air traffic control is generated based on the indicant detected described in the geography fence equipment.
In addition, many aspects of the present invention can be related to a kind of method of operation unmanned vehicle (UAV), methods described bag Include：By means of the sensor on the unmanned vehicle machine, the indicant of detection geography fence equipment；And use flight control Module generation makes one or more signals that the unmanned vehicle is operated according to one group of air traffic control, one group of flight Control is the detected indicant based on the geography fence equipment and generated.
The many aspects of the present invention can also include a kind of geography fence equipment, including：Input element, the input element The data of one group of air traffic control are aided in determining whether for collecting；One or more processors, one or more of processor lists Solely or it is commonly used for determining one group of air traffic control based on the data being collected into by the input element；And one Or multiple output elements, one or more of output elements, which are used for output, makes the unmanned vehicle according to one group of flight Control and the signal to fly.
According to further aspect of the invention, a kind of method of the flight of control unmanned vehicle (UAV), institute can be provided The method of stating includes：Using the input element of geography fence equipment, the data for aiding in determining whether one group of air traffic control are collected；By means of One or more processors, one group of air traffic control is determined based on the data being collected into by the input element；With And one or more output elements by means of the geography fence equipment, output make the unmanned vehicle according to described one group Air traffic control and the signal to fly.
Moreover, many aspects of the present invention can be related to a kind of geography fence equipment, including：Detector, the detector For detecting the presence of unmanned vehicle (UAV) in the range of the predetermined geographic of the geography fence equipment；And communication module, The communication module is used to send when the unmanned vehicle enters the predetermined geographic scope of the geography fence equipment Signal, the signal trigger to the unmanned vehicle and send one group of air traffic control.
One aspect of the present invention can be related to a kind of method that one group of air traffic control is provided to unmanned vehicle (UAV), Methods described includes：By means of the detector of geography fence equipment, examined in the range of the predetermined geographic of the geography fence equipment Survey the presence of the unmanned vehicle；And the communication module by means of the geography fence equipment, when the unmanned vehicle Into the geography fence equipment the predetermined geographic scope when transmission signal, the signal triggered to the unmanned vehicle Send one group of air traffic control.
According to the additional aspect of the present invention, a kind of unmanned vehicle (UAV) can be provided, the unmanned vehicle includes： Communication unit, the communication unit are used for the position for receiving geography fence equipment；And flight control modules, the flight control Module, which is used to generate, makes one or more signals that the unmanned vehicle is operated according to one group of air traffic control, described one group Air traffic control is the position based on the geography fence equipment and generated.
Also, many aspects of the present invention can include a kind of method of operation unmanned vehicle (UAV), methods described bag Include：By means of the communication unit of the unmanned vehicle, the position of reception geography fence equipment；And control mould by means of flight Block, generation make one or more signals that the unmanned vehicle is operated according to one group of air traffic control, one group of flight Control is the position based on the geography fence equipment and generated.
The additional aspect of the present invention can be related to a kind of method of identified geographic railing device, and methods described includes：Receive Geography fence identifier, the geography fence identifier uniquely identify out the geography fence from other geography fence equipment Equipment；Based on the geography fence identifier, one group air traffic control of the generation for unmanned vehicle (UAV)；And according to institute One group of air traffic control is stated to carry out operating the unmanned vehicle.
In addition, according to an aspect of the present invention, a kind of geography fence device identification system can be provided.The geography encloses Column equipment can include：One or more processors, one or more of processors are operatively used for separately or together Ground：Geography fence identifier is received, the geography fence identifier uniquely identifies out described from other geography fence equipment Geography fence equipment；And one group of tof tube for unmanned vehicle (UAV) is generated based on the geography fence identifier System, to allow the unmanned vehicle to be operated according to one group of air traffic control.
According to the additional aspect of the present invention, a kind of method being authenticated to geographical railing device, the side can be provided Method includes：The identity of geographical railing device is authenticated, wherein the identity of the geography fence equipment can enclose with other geography Column equipment uniquely makes a distinction；One group of air traffic control for unmanned vehicle (UAV) is provided, wherein the air traffic control relates to And the position of the certified geography fence equipment；And carry out operating the unmanned flight according to one group of air traffic control Device.
Moreover, many aspects of the present invention can be related to a kind of geography fence device authentication system, including：It is one or more Processor, one or more of processors are used to either individually or collectively be used for：The identity of geographical railing device is recognized Card, wherein the identity of the geography fence equipment can uniquely make a distinction with other geography fence equipment；And generation is directed to One group of air traffic control of unmanned vehicle (UAV), wherein the air traffic control is related to the certified geography fence equipment Position, to allow the unmanned vehicle to be operated according to one group of air traffic control.
According to an aspect of the present invention, a kind of geography fence equipment can be provided, including：One or more memories are deposited Storage unit, one or more of Memory Storage Units are used to store multiple indicant parameters；And dynamic instruction thing, it is described Dynamic instruction thing (1) is over time to meet from the first indicant parameter change met in the multiple indicant parameter Second indicant parameter, and (2) are used for (a) when unmanned vehicle flight and (b) is when the unmanned vehicle enters institute It can be detected when stating in the range of the predetermined geographic of geography fence equipment by the unmanned vehicle (UAV).
In addition, many aspects of the present invention can include one kind to unmanned vehicle (UAV) one group of air traffic control of offer Method, methods described include：Multiple indicant ginsengs are stored in one or more Memory Storage Units of geography fence equipment Number；And over time and by the dynamic instruction thing of the geography fence equipment from meeting in the multiple indicant parameter First indicant parameter change is meets the second indicant parameter, wherein the dynamic instruction thing works as unmanned vehicle for (a) During flight and (b) when unmanned vehicle enter the geography fence equipment predetermined geographic in the range of when can by it is described nobody fly Row device detects.
The many aspects of the present invention can be related to a kind of method of operation unmanned vehicle (UAV), and methods described includes：Really The position of the fixed unmanned vehicle；Multiple geography fence equipment are identified, wherein each geography fence equipment is indicated and covered One group of air traffic control of the unmanned vehicle is directed in the region of the position of the unmanned vehicle；By means of one or more Processor, the one group of main air traffic control to be followed the unmanned vehicle carry out priority ranking, and described main one Group air traffic control is selected from multigroup air traffic control of the multiple geography fence equipment；And according to described main One group of air traffic control operate the unmanned vehicle.
According to many aspects of the present invention, a kind of program for being used to operate unmanned vehicle (UAV) that includes can be provided and referred to The non-transient computer-readable media of order, the computer-readable medium include：For determining the position of the unmanned vehicle Programmed instruction；For identifying the programmed instruction of multiple geography fence equipment, wherein each geography fence equipment is indicated and covered Cover in the region of the position of the unmanned vehicle and be directed to one group of air traffic control of the unmanned vehicle；And for described The unmanned vehicle one group of main air traffic control to be followed carries out priority ranking to allow to fly according to described main one group Row control operates the programmed instruction of the unmanned vehicle, and one group of main air traffic control enclosed from the multiple geography Selected in multigroup air traffic control of column equipment.
Further aspect of the invention can include a kind of unmanned vehicle (UAV) air traffic control prioritization system.It is described System can include：One or more processors, one or more of processors are used to either individually or collectively be used for：It is determined that The position of the unmanned vehicle；Multiple geography fence equipment are identified, wherein each geography fence equipment is indicated in covering institute State one group of air traffic control that the unmanned vehicle is directed in the region of the position of unmanned vehicle；And to the unmanned flight The device one group of main air traffic control to be followed carries out priority ranking to allow the unmanned vehicle according to described main One group of air traffic control is operated, and one group of main air traffic control is from the described multigroup of the multiple geography fence equipment Selected in air traffic control.
Believe in addition, many aspects of the present invention can be related to a kind of display for the geography fence of unmanned vehicle (UAV) The method of breath, methods described include：Geography fence device data is received, the data are set including (1) at least one geography fence Standby position and one or more geography fence borders of (2) described at least one geography fence equipment；There is provided and be used for user The display of display information；And the position with (1) described at least one geography fence equipment is shown on the display (2) map of one or more of geography fence borders of at least one geography fence equipment.
Moreover, according to many aspects of the present invention, a kind of display device can be provided.The display device can include： Communication unit, the communication unit are used to receive geography fence device data, and the data include (1) at least one geography fence The position of equipment and one or more geography fence borders of (2) described at least one geography fence equipment；And display, institute State display to be used for user's display information, wherein the display shows there is (1) described at least one geography fence equipment Position and (2) described at least one geography fence equipment one or more of geography fence borders map.
According to the additional aspect of the present invention, a kind of method for controlling geography fence equipment can be provided, methods described includes： Receive the data at least one geography fence equipment；Display is provided, the display is used for based on received The data at least one geography fence equipment and geographical railing device information is shown to user；Receive described in influenceing User's input of the operation of at least one geography fence equipment；And by means of transmitter, inputted according to the user to transmit Influence one or more signals of the operation of at least one geography fence equipment.
The many aspects of the present invention can be related to a kind of display device, including：Receiver, the receiver, which is used to receive, to close In the data of at least one geography fence equipment；Display, the display be used for based on it is received on it is described at least The data of one geography fence equipment and geographical railing device information is shown to user；One or more processors, it is one Or multiple processors are either individually or collectively defeated for receiving the user for the operation for influenceing at least one geography fence equipment Enter；And transmitter, the transmitter is used to be inputted according to the user to be set to transmit influence at least one geography fence One or more signals of the standby operation.
In addition, many aspects of the present invention can include a kind of method for identifying mobile geographical railing device, methods described Including：The signal from the geographical railing device of movement is received at unmanned vehicle (UAV) place, it is described that the signal designation goes out (1) The position of mobile geographical railing device and one or more geography fence borders of (2) described geographical railing device of movement；Calculate The distance between the unmanned vehicle and the geographical railing device of movement；Based on the distance, the unmanned flight is determined Whether device falls in one or more of geography fence borders of the geographical railing device of movement；And when it is described nobody fly When row device is fallen in one or more of geography fence borders of the geographical railing device of movement, based on it is described movably The unmanned vehicle is operated under the one group of air traffic control managed railing device and provided.
According to an aspect of the present invention, a kind of unmanned vehicle (UAV) can be provided.The unmanned vehicle can wrap Include：Communication unit, the communication unit are used to receive the signal from the geographical railing device of movement, and the signal designation goes out (1) The position of the geographical railing device of movement and one or more geography fence borders of (2) described geographical railing device of movement； And be operably coupled to the one or more processors of the communication unit, one or more of processors individually or It is commonly used for：Calculate the distance between the unmanned vehicle and the geographical railing device of movement；Based on the distance, really Whether the fixed unmanned vehicle falls in one or more of geography fence borders of the geographical railing device of movement；With And when the unmanned vehicle falls in one or more of geography fence borders of the geographical railing device of movement, it is raw Into signal to realize the unmanned vehicle under the one group of air traffic control provided based on the geographical railing device of movement Operation.
The many aspects of the present invention can provide a kind of method that one group of air traffic control is provided to unmanned vehicle (UAV), Methods described includes：The request to geography fence Mobile solution is received from mobile device, wherein the mobile device (1) is used for Communicated by network and (2) include being used to provide the locator of the position of the mobile device；To the mobile device The geography fence Mobile solution is provided, the position that the geography fence Mobile solution is used to use the mobile device is as one The reference of group air traffic control；And when the unmanned vehicle enters the predetermined geographic scope of the mobile device to the nothing The transmission of people's aircraft uses the one group air traffic control of the position of the mobile device as reference.
In addition, according to many aspects of the present invention, a kind of geo-fencing system can be provided, including：One or more connects Device is received, one or more of receivers are either individually or collectively used for：Being received from mobile device should to geography fence movement Request, wherein the mobile device (1) is used to be communicated by network and (2) include setting for providing the movement The locator of standby position；And one or more transmitters, one or more of transmitters are either individually or collectively used for： (a) the geography fence Mobile solution is provided to the mobile device, the geography fence Mobile solution is used to use the shifting Reference of the position of dynamic equipment as one group of air traffic control；And (b) makes a reservation for when unmanned vehicle into the mobile device During geographic range, the position of the mobile device is used as described one group referred to the unmanned vehicle (UAV) transmission Air traffic control.
The additional aspect of the present invention can be related to a kind of method that one group of air traffic control is provided to unmanned vehicle (UAV), Methods described includes：Geography fence Mobile solution is asked by mobile device, wherein the mobile device (1) is used to enter by network Row communication and (2) include being used to provide the locator of the position of the mobile device；Described in being received at the mobile device Geography fence Mobile solution, the position that the geography fence Mobile solution is used to use the mobile device is as one group of tof tube The reference of system；And when the unmanned vehicle enters the predetermined geographic scope of the mobile device to the unmanned vehicle Transmission makes the unmanned vehicle receive one group of air traffic control and the letter operated according to one group of air traffic control Number.
According to further aspect of the invention, a kind of mobile device for being communicated by network, institute can be provided Stating mobile device includes：Locator, the locator are used for the position for providing the mobile device；One or more memories are deposited Storage unit, one or more of Memory Storage Units store geography fence Mobile solution, wherein the geography fence moves Using reference of the position as one group of air traffic control for using the mobile device；And transmitter, the transmitter are used Transmission makes the unmanned vehicle receive institute when the predetermined geographic scope of the mobile device is entered when the unmanned vehicle State one group of air traffic control and the signal operated according to one group of air traffic control.
It should be understood that the different aspect of the present invention can be understood individually, jointly or in conjunction.Retouched herein The various aspects of the invention stated go for any application-specific being set forth below or suitable for any other types Loose impediment.Any description to aircraft such as unmanned vehicles is applicable to and for any mobile article herein Body, such as any carrier.In addition, disclosed system, apparatus and method are also under the scene of motion (for example, flight) in the air herein Under the scene for going for other types motion, movement such as on the ground or on the water, sub-aqua sport or in space In motion.
By investigating specification, claims and accompanying drawing, the other objects and features of the invention will become obvious.
Brief description of the drawings
The new feature of the present invention especially embodies in the dependent claims.To more fully understand the spy of the present invention Seek peace beneficial effect, can combine with reference to the embodiment in following embodiments and corresponding accompanying drawing：
Fig. 1 is shown between one or more users and one or more unmanned vehicles according to embodiment of the present invention Interactive example.
Fig. 2 shows the example of Verification System according to embodiment of the present invention.
Fig. 3 shows showing for the one or more factors that may participate in one group of air traffic control of generation according to embodiment of the present invention Example.
Fig. 4 shows the example of flight control units according to embodiment of the present invention.
Fig. 5 shows the additional example of flight control units according to embodiment of the present invention.
Fig. 6 shows the example of flight control units according to embodiment of the present invention, and the flight control units tracking flies The mark of chip in row control unit.
Fig. 7 shows the diagram of the scene comprising polytype air traffic control according to embodiment of the present invention.
Fig. 8 shows the process for considering whether that authorized user operates unmanned vehicle according to embodiment of the present invention.
Fig. 9 shows the process for determining whether that user operates unmanned vehicle according to embodiment of the present invention.
Figure 10 is shown according to embodiment of the present invention may be by the diagram for the air traffic control grade that certification degree is influenceed.
Figure 11 shows the example that can store facility information in memory according to embodiment of the present invention.
Figure 12 shows that hijacker attempts the diagram of the scene of adapter control unmanned vehicle according to embodiment of the present invention.
Figure 13 shows the example of unmanned vehicle flight deviation according to embodiment of the present invention.
Figure 14 shows the example of the monitoring system using one or more loggers according to embodiment of the present invention.
Figure 15 shows the diagram of two-way authentication between unmanned vehicle and authentication center according to embodiment of the present invention.
Figure 16 shows the process for sending the message with ciphering signature according to embodiment of the present invention.
Figure 17 is shown for by being decrypted signature to verify another mistake of message according to embodiment of the present invention Journey.
Figure 18 shows the example of unmanned vehicle and geography fence equipment according to embodiment of the present invention.
Figure 19 shows the side of geography fence equipment, geography fence border and unmanned vehicle according to embodiment of the present invention View.
Figure 20 shows that geography fence equipment is directly transmitted to unmanned vehicle wherein according to embodiment of the present invention to be believed The system of breath.
Figure 21 shows that air traffic control system can be with what geography fence equipment and/or unmanned vehicle were communicated wherein System.
Figure 22 shows the system that unmanned vehicle detects geography fence equipment wherein according to embodiment of the present invention.
Figure 23 shows unmanned vehicle wherein and geography fence equipment without straight each other according to embodiment of the present invention Connect the example of the unmanned vehicle system of letter.
Figure 24 shows the example of the geography fence equipment can with multiple flight restricted areas.
Figure 25 shows the process for generating one group of air traffic control according to embodiment of the present invention.
Figure 26 shows the process for being authenticated to geographical railing device according to embodiment of the present invention.
Figure 27 shows another example that can store facility information in memory according to embodiment of the present invention.
Figure 28 shows that the geography that different groups of flight restrictions can be provided in different scenes encloses according to embodiment of the present invention Column equipment.
Figure 29 according to embodiment of the present invention show with can over time and change multigroup air traffic control ground Manage the example of railing device.
Figure 30 is shown according to embodiment of the present invention to provide nothing in the overlapping area of multiple geography fence equipment The scene of people's aircraft.
Figure 31 shows the example of the different control for different geographical railing devices according to one aspect of the invention.
Figure 32 shows the example of mobile geographical railing device according to embodiment of the present invention.
Figure 33 shows the example of mobile geographical railing device closer to each other according to embodiment of the present invention.
Figure 34 shows another example of mobile geographical railing device according to embodiment of the present invention.
Figure 35 shows the example of user interface according to embodiment of the present invention, the user interface show on one or The information of multiple geography fence equipment.
Figure 36 illustrates unmanned vehicle according to embodiment of the present invention.
Figure 37 illustrates the loose impediment including carrier and load according to embodiment of the present invention.
Figure 38 illustrates the system for controlling loose impediment according to embodiment of the present invention.
Figure 39 shows different types of logical between unmanned vehicle and geography fence equipment according to embodiment of the present invention Letter.
Figure 40 shows that (it is each with corresponding geographical with multiple geography fence equipment according to embodiment of the present invention Fence identifier) example.
Figure 41 shows air traffic control system wherein and multiple unmanned vehicles and multiple geography according to embodiment of the present invention The example for the unmanned vehicle system that railing device interacts.
Figure 42 is shown with can be just in the domestic flight path of traversal ring and one or more geography fence equipment Unmanned vehicle environment example.
Figure 43 provides according to embodiment of the present invention can receive user's input to control one or more geography fences The example of the equipment of equipment.
Figure 44 according to embodiment of the present invention provide geography fence equipment can how with private residence be used together with limit The diagram used of unmanned vehicle processed.
Figure 45 provides how geography fence equipment can be used to control showing for unmanned vehicle according to embodiment of the present invention Figure.
Embodiment
The unmanned vehicles such as unmanned vehicle (UAV) can be according to the safety of the flight safety for improving unmanned vehicle System is operated.Any description to unmanned vehicle goes for any kind of unmanned vehicle (for example, being based on herein The carrier of sky, the carrier based on land, the carrier based on water or the carrier based on space).Can provide contribute to monitoring and The flight control and Verification System and method that control unmanned vehicle uses.The system, which can uniquely identify out, to be interacted Each side's (for example, user, remote control, unmanned vehicle, geography fence equipment).In some cases, verification process can be sent out Life and only authorized party can be allowed to operate unmanned vehicle.Air traffic control can put on the operation of unmanned vehicle On, and can be with the manual control of override user.Geography fence equipment may be used to provide on air traffic control information or Help air traffic control process.Geography fence equipment can provide physical reference for one or more geography fence borders, and described one Individual or multiple geography fence borders can be associated with corresponding one group of air traffic control.
Can occur in many different forms in the flight safety challenge of unmanned vehicle during use.It is for example, traditional On, the flight of unmanned vehicle is unrestricted (for example, unmanned vehicle should may fly at it above forbidden somewhere). For example, unmanned vehicle may fly to sensitizing range (for example, airport, military base) without permission.In addition, unmanned flight Device may fly into the navigation channel of other airborne vehicles without permission.Unmanned vehicle may without permission fly to enterprise and lead Ground or personal manor, cause noise pollution, personnel's injury and property loss.In some cases, unmanned vehicle may be without Ground flight is authorized to public domain, and personnel's injury and property loss may be caused.Provided herein is system and method can be with One group of air traffic control is provided, described group of air traffic control can apply necessary limitation to unmanned vehicle, and the limitation can be Based on geography, time-based and/or based on activity.Unmanned vehicle can be in the situation without the input from user It is lower to observe air traffic control automatically.In some cases, can based on can the air traffic control that is manually entered of the override from user and Generate the control to unmanned vehicle.
The flight of unmanned vehicle can be controlled by user by means of one or more remote controls.In some cases, The potential risk being held as a hostage in the presence of flight.Hijacker may interfere with instruction of the authorized user to unmanned vehicle.If nothing People's aircraft receives and receives to forge instruction, then it may perform uncontrolled task and produce adverse consequences.Carry herein The system and method for confession can identify when to kidnap.When kidnapping, the system and method can alert user.Institute Stating system and method can also make unmanned vehicle be taken action in response to detected abduction, and can be kidnapped with override The control of person.
Unmanned vehicle can with airborne be carried available for the various sensors for obtaining data.Hacker may attempt to steal institute The data of acquisition.For example, the data of unmanned vehicle may be trapped, or transmitted by remote wireless link to ground Data may be monitored.Provided herein is system and method can provide encryption and authentication, to cause only authorized use Family can receive data.
In another example of unmanned vehicle flight safety challenge, unmanned vehicle may be abused.Traditionally, especially It is when unmanned vehicle manipulator abuses unmanned vehicle intentionally, lacks cautionary measure, differentiates measure or prevent violation measure. For example, unmanned vehicle is possibly used for illegal advertisement, unwarranted attack or invasion of privacy (for example, unwarranted steal Clap).Provided herein is system and method can monitor use, this can aid in identifies when occur unmanned vehicle it is indiscriminate With.The data can be also used for the side of being related in judicial tracking abuse or any related data.Such system can also be provided System and method：User or other entities can be warned when abusing and/or any control of abuse can be supported with override System.
When operated, unmanned vehicle can be wirelessly transferred or receive data.In some cases, unmanned vehicle may Radio Resource and/or aeronautical resources are abused, this may cause the waste of public resource.For example, unmanned vehicle may interfere with through The communication of mandate, or steal bandwidth from other communications.Provided herein is system and method can identify when occur so Activity, and warning can be provided or prevent such interference from occurring.
In general, there is challenge in the operating aspect in supervision unmanned vehicle.With different types of unmanned vehicle Different types of use is common in further, traditionally lacks the authoring system for unmanned vehicle flight.Distinguish improper fly Row and normal flight；Detect small-sized unmanned aircraft；The unmanned vehicle of visual detection night flying；Track and punish anonymous fly Row and/or make unmanned vehicle flight carried out with its user or owner in a manner of non-repudiation binding be difficult into Capable.Systems and methods described herein can perform one or more of these targets.Mark data can be collected simultaneously And one or more identifiers can be authenticated.Although traditionally may be one or more in the following due to lacking And it is difficult to provide security control：Escape way, directly warning between management and control person and the owner or user of unmanned vehicle Or aposematic mechanism, the legitimate mechanisms for management and control person's adapter control, the machine for unmanned vehicle differentiation management and control person and hijacker System and force stop unmanned vehicle unlawful practice measure, but provided herein is system and method these work(can be provided One or more of can.
Similarly, the needs of the performance for unmanned vehicle, the evaluation of ability and authority or classification mechanism be present.Also deposit In the evaluation of the operative skill for unmanned vehicle user and record or the needs of checking mechanism.Provided herein is system and side Method can advantageously provide such evaluation.It is alternatively possible to generate and realize air traffic control according to the evaluation.
As it was previously stated, traditional unmanned vehicle system is without the security mechanism on unmanned vehicle flight safety. For example, lack the alarm mechanisms of flight safety；Lack the information sharing mechanism of flight environment of vehicle；Or automatic rescue mechanism.It is described Flight safety system and method can perform one or more of above-mentioned function.
System survey
Fig. 1 show one or more user 110a, 110b, 110c and one or more unmanned vehicle 120a, 120b, The example of interaction between 120c.User can be handed over by means of remote control 115a, 115b, 115c with unmanned vehicle Mutually.Verification System can include that the memory storage 130 on the information of user, remote control and/or unmanned vehicle can be stored.
User 110a, 110b, 110c can be the individuals associated with unmanned vehicle.The user can be that nobody flies The manipulator of row device.The user can be the individual for being authorized to operation unmanned vehicle.The user can provide input with Control unmanned vehicle.User can provide input to control unmanned vehicle using remote control 115a, 115b, 115c.With Family can provide the flight of control unmanned vehicle, the operation of the load of unmanned vehicle, load relative to unmanned vehicle State, unmanned vehicle one or more sensors operation, unmanned vehicle communication operation or unmanned vehicle its User's input of his function.The user can receive data from unmanned vehicle.Use the one or more of unmanned vehicle Sensor and the data that obtain are provided to user, be alternatively provided to user via remote control.User can be nothing The owner of people's aircraft.The user can be the registration owner of unmanned vehicle.User can be registered as being authorized to behaviour Make unmanned vehicle.The user can be mankind manipulator.The user can be adult or children.The user is operating Can have during unmanned vehicle or can not have the sight with unmanned vehicle.The user can use remote control straight Connect and communicated with unmanned vehicle.Or the user can be communicated indirectly with unmanned vehicle by network it is (optional Ground, use remote control).
User can have the user identifier for identifying the user (for example, ID 1, ID 2, user ID3……).User identifier can be unique for user.Other users can have the mark different from the user Symbol.User and other individuals uniquely can be distinguished and/or made a distinction by user identifier.Each user can only be allocated Sole user's identifier.Or user can register multiple user identifiers.In some cases, sole user identifies Symbol can be only distributed to sole user.Or sole user's identifier can be by multiple users to share.In preferred embodiment In, one-to-one corresponding can be provided between user and corresponding user identifier.
Alternatively, user can be authenticated to be the authorized user of user identifier.Verification process can include to user's body The checking of part.The example of verification process is described in further detail in elsewhere herein.
Unmanned vehicle 120a, 120b, 120c can be exercisable when being powered.Unmanned vehicle may be at flying State may be at state of having landed.Unmanned vehicle can use one or more sensors, and (alternatively, load can be with It is sensor) collect data.Unmanned vehicle can be in response to the control (for example, manually by remote control) from user Operated, independently operation (for example, without user input) or semi-autonomous operated (for example, it is defeated to include some users Enter but the aspect independent of user's input can also be included).Unmanned vehicle be able to can respond from remote control 115a, 115b, 115c order.Remote control can be not attached to unmanned vehicle, and the remote control can be from certain distance and the nothing People's aircraft radio communication.Remote control can receive and/or detect user's input.Unmanned vehicle be able to can follow one group it is pre- The instruction of programming.In some cases, unmanned vehicle can by response to one or more orders from remote control and Operate, and otherwise independently operate semi-autonomously.For example, one or more orders from remote control can be according to one or more Individual parameter and initiate by unmanned vehicle carry out a series of autonomous or semi-autonomous action.Unmanned vehicle can grasped manually Make, switch between autonomous operation and/or semi-autonomous operation.In some cases, the activity of unmanned vehicle can by one group or Multigroup air traffic control dominates.
Unmanned vehicle can have one or more sensors.Unmanned vehicle can include one or more visions and pass Sensor, such as imaging sensor.For example, imaging sensor can be monocular camera, stereo vision camera, radar, sonar or red Outer camera.Unmanned vehicle can also include the other sensors for being determined for the position of unmanned vehicle, such as global Alignment system (GPS) sensor, the part that may be used as Inertial Measurement Unit (IMU) or separated inertial sensor (for example, accelerometer, gyroscope, magnetometer), laser radar, sonac, sonic transducer, WiFI sensors.Sensor Various examples can include but is not limited to position sensor (for example, global positioning system (GPS) sensor, support position three The mobile device transmitter of angle), vision sensor be (for example, the imaging of visible ray, infrared light or ultraviolet light can be detected Equipment, such as camera), distance or range sensor be (for example, sonac, laser radar, flight time (Time-Of- Flight) camera or depth camera), it is inertial sensor (for example, accelerometer, gyroscope, Inertial Measurement Unit (IMU)), high Sensor, attitude transducer (for example, compass), pressure sensor (for example, barometer), audio sensor are spent (for example, Mike Wind) or field sensor (for example, magnetometer, electromagnetic sensor).The sensor of any suitable number and combination can be used, such as One, two, three, four, five or more sensors.
It is alternatively possible to the sensor from different type (for example, two kinds, three kinds, four kinds, five kinds or more types) connects Receive data.Different types of sensor can measure different types of signal or information (for example, position, direction, speed, acceleration Degree, distance, pressure etc.) and/or using different types of e measurement technology obtain data.For example, sensor can include Active sensor (for example, generation and measure the sensor from its respective energy of the energy) and passive sensor (for example, Detect the sensor of utilisable energy) any suitable combination.In another example some sensors can be generated according to global coordinate system And the absolute measurement data provided are (for example, the position data provided by GPS sensor, the posture provided by compass or magnetometer Data), and other sensors can generate the relative measurement data provided according to local coordinate system (for example, being carried by gyroscope The relative angular speed supplied；The relative translation acceleration provided by accelerometer；The relative attitude information provided by vision sensor； The relative distance information provided by sonac, laser radar or time-of-flight camera).On unmanned vehicle machine or outside machine Sensor can collect information, the position of such as unmanned vehicle, the position of other objects, the direction of unmanned vehicle or environment Information.Single-sensor can in the environment collect a complete group information, or one group of sensor can co-operate To collect a complete group information in the environment.Navigation that sensor can be used between the mapping of position, position, barrier Detection or the detection of target.Sensor can be used for the monitoring to environment or main body interested.Sensor can be used for identifying Target object.Target object can make a distinction with the object of other in environment.
The unmanned vehicle can be aircraft.Unmanned vehicle can have can allow the unmanned vehicle in sky In one or more propulsion units for moving around.One or more of propulsion units can enable unmanned vehicle to close In it is one or more, two or more, three or more, four or more, five or more, six or more The free degree moves.In some cases, unmanned vehicle can surround one, two, three or more rotary shaft and revolve Turn.Rotary shaft may be orthogonal to each other.Rotary shaft can keep orthogonal in the whole flight course of unmanned vehicle.Rotation Axle can include pitch axis, roll axle and/or course axle.Unmanned vehicle be able to can move along one or more dimensions. For example, unmanned vehicle be able to can be moved up by the lift generated by one or more rotors.In certain situation Under, unmanned vehicle can along Z axis (its can be direction relative to unmanned vehicle and upwards), X-axis and/or Y-axis (it can be horizontal) is mobile.Unmanned vehicle be able to can move along the axle that one, two or three can be orthogonal It is dynamic.
Unmanned vehicle can be gyroplane.In some cases, unmanned vehicle can may include multiple rotors More gyroplanes.Multiple rotors can be capable of rotating such that generates lift for unmanned vehicle.Rotor can be propulsion unit, It can enable unmanned vehicle to move freely in the air.Rotor can be rotated and/or can be given birth to by same speed Into the lift or thrust of equivalent.Rotor alternatively can be rotated with the speed of change, and this can generate the lift of inequality or push away Power and/or permission unmanned vehicle rotate.In some cases, can be provided on unmanned vehicle one, two, three Individual, four, five, six, seven, eight, nine, ten or more rotors.Rotor can be arranged to cause their rotation Rotating shaft is parallel to each other.In some cases, rotor can have the rotary shaft for being oriented relative to one another to any angle, and this can influence The motion of unmanned vehicle.
Shown unmanned vehicle can have multiple rotors.The rotor can be connected to the fuselage of unmanned vehicle, The fuselage can include control unit, one or more sensors, processor and power supply.Sensor can include visual sensing Device and/or the other sensors that the information on unmanned vehicle environment can be collected.Information from sensor can be used for Determine the position of unmanned vehicle.Rotor can be via the one or more arms or extension that can be separated from the core of fuselage And it is connected to the fuselage.For example, one or more arms can radially extend from the center fuselage of unmanned vehicle, and in institute State arm end or its nearby can have rotor.In another example, unmanned vehicle can include one or more arms, institute Stating arm includes one or more additional supporting members, the supporting member can have be attached to thereon one, two, three Individual or more rotor.For example, the configuration of T-shaped frame can be used for supporting rotor.
By keeping and/or adjusting the output to one or more propulsion units of unmanned vehicle, can control described The upright position of unmanned vehicle and/or speed.For example, the rotary speed of one or more rotors of increase unmanned vehicle can To help to make unmanned vehicle increase height or at faster speed increase height.Increase the rotation of one or more of rotors Rotary speed can increase the thrust of rotor.The rotary speed of one or more rotors of reduction unmanned vehicle, which can aid in, to be made Unmanned vehicle reduces height or reduces height at faster speed.The rotary speed for reducing one or more of rotors can be with Reduce the thrust of one or more rotors.When unmanned vehicle takes off, will can be provided to the output of propulsion unit from its The previous state of landing increase.When unmanned vehicle lands, can be previous from it by the output for being supplied to propulsion unit State of flight reduces.Unmanned vehicle can be used for taking off and/or landing in a substantially vertical fashion.
By keeping and/or adjusting the output of one or more propulsion units to unmanned vehicle, nobody can be controlled The lateral attitude of aircraft and/or speed.The rotation of the height of unmanned vehicle and one or more rotors of unmanned vehicle Speed can influence the transverse shifting of unmanned vehicle.For example, unmanned vehicle can favour specific direction with described Side moves up, and the speed of the rotor of unmanned vehicle can influence the speed and/or motion track of transverse shifting.Can be with The lateral attitude of unmanned vehicle is controlled by the rotary speed for the one or more rotors for changing or keeping unmanned vehicle And/or speed.
Unmanned vehicle can have small size.Unmanned vehicle can be carried and/or carried by the mankind.Nobody flies Row device be able to can be carried by the mankind are singlehanded.
Unmanned vehicle can have full-size no more than 100cm (for example, length, width, height, diagonal, straight Footpath).In some cases, the full-size can be less than or equal to 1mm, 5mm, 1cm, 3cm, 5cm, 10cm, 12cm, 15cm、20cm、25cm、30cm、35cm、40cm、45cm、50cm、55cm、60cm、65cm、70cm、75cm、80cm、85cm、 90cm、95cm、100cm、110cm、120cm、130cm、140cm、150cm、160cm、170cm、180cm、190cm、200cm、 220cm, 250cm or 300cm.Alternatively, the full-size of unmanned vehicle can be more than or equal to described herein any Value.Unmanned vehicle can have the full-size between any two value described herein.
Unmanned vehicle can be light-duty.For example, the weight of unmanned vehicle can be less than or equal to 1mg, 5mg, 10mg、50mg、100mg、500mg、1g、2g、3g、5g、7g、10g、12g、15g、20g、25g、30g、35g、40g、45g、50g、 60g、70g、80g、90g、100g、120g、150g、200g、250g、300g、350g、400g、450g、500g、600g、700g、 800g、900g、1kg、1.1kg、1.2kg、1.3kg、1.4kg、1.5kg、1.7kg、2kg、2.2kg、2.5kg、3kg、3.5kg、 4kg、4.5kg、5kg、5.5kg、6kg、6.5kg、7kg、7.5kg、8kg、8.5kg、9kg、9.5kg、10kg、11kg、12kg、 13kg, 14kg, 15kg, 17kg or 20kg.Unmanned vehicle can have the weight more than or equal to any value described herein Amount.Unmanned vehicle can have the weight between any two value described herein.
Unmanned vehicle can have the unmanned vehicle identifier for identifying the unmanned vehicle (for example, unmanned flight Device ID1, unmanned vehicle ID2, unmanned vehicle ID3 ...).Unmanned vehicle identifier can be only for unmanned vehicle One.Other unmanned vehicles can have the identifier different from the unmanned vehicle.Unmanned vehicle identifier can be with The unmanned vehicle is uniquely distinguished and/or made a distinction with other unmanned vehicles.Each unmanned vehicle can be only It is allocated single unmanned vehicle identifier.Or can be that single unmanned vehicle registers multiple unmanned vehicle identifiers. In some cases, single unmanned vehicle identifier can be only distributed to single unmanned vehicle.Or it is single nobody fly Row device identifier can be shared by multiple unmanned vehicles.In a preferred embodiment, can be in unmanned vehicle and corresponding nothing One-to-one corresponding is provided between people's aircraft identifier.
Alternatively, unmanned vehicle can be authenticated to be the authorized unmanned vehicle of unmanned vehicle identifier.Authenticated Journey can include the checking to unmanned vehicle identity.The example of verification process is described in further detail in elsewhere herein.
In some embodiments, remote control can have the remote control identification symbol for identifying the remote control.Remote control mark It can be unique for remote control to know symbol.Other remote controls can have the identifier different from the remote control.Remote control The remote control uniquely can be distinguished and/or made a distinction with other remote controls by identifier.Each remote control can only by Distribute single remote controller identifier.Or can be that single remote controller distributes multiple remote control identification symbols.In some cases, Single remote controller identifier can be only distributed to single remote controller.Or single remote controller identifier can be total to by multiple remote controls Enjoy.In a preferred embodiment, one-to-one corresponding can be provided between remote control accords with corresponding remote control identification.Remote control mark Know symbol can with or can not be associated with corresponding user identifier.
Alternatively, remote control can be authenticated to be the authorized remote control of remote control identification symbol.Verification process can include pair The checking of remote control identity.The example of verification process is described in further detail in elsewhere herein.
Remote control can be any kind of equipment.The equipment can be computer (for example, personal computer, above-knee Type computer, server), mobile device (for example, smart phone, cell phone, tablet PC, personal digital assistant) or appoint What other kinds of equipment.The equipment can be the network equipment that can be communicated by network.The equipment includes one Individual or multiple Memory Storage Units, the Memory Storage Unit can include non-transient computer-readable media, and it can be with Store code, logic or the instruction for performing the one or more steps described by elsewhere herein.The equipment can be with Including one or more processors, code that it can be according to non-transient computer-readable media as described herein, logic Or instruct and either individually or collectively perform one or more steps.Remote control can be held.Remote control can be via any use Family interaction mechanism and receive the input from user.In one example, the equipment can have touch-screen, the touch-screen User's input can be recorded when user touches screen or slides screen.The equipment can have the user of any other type Interactive component, such as button, mouse, control stick, trackball, touch pad, writing pencil, inertial sensor, image-capturing apparatus, fortune It is dynamic to catch equipment or microphone.The equipment can sense when the equipment tilts, and this can influence the behaviour of unmanned vehicle Make.Remote control can be performed for the single component of each function of the remote control described by elsewhere herein.Or can To provide the more of each function of the remote control as can either individually or collectively perform the remote control provided such as elsewhere herein Individual part or component.
Verification System can include storing depositing on the memory of the information of user, remote control and/or unmanned vehicle Storage 130.The memory storage can include one or more Memory Storage Units.One or more of memory storages Unit can jointly provide or can be distributed on network and/or be distributed at diverse location.In some cases, store Device storage can be cloud storage system.The memory storage can include storing up stored one or more databases.
Described information can include the identification information on user, remote control and/or unmanned vehicle.For example, the mark Knowledge can include user identifier (for example, ID 1, ID 2, ID 3 ...) and/or unmanned vehicle identifier (for example, unmanned vehicle ID1, unmanned vehicle ID2, unmanned vehicle ID3 ...).Equally can alternatively storage of remote control Identifier.Described information can be stored in long term memory storage, or only can be stored in a short time.Described information can quilt Receive and buffer.
Fig. 1 shows that each user 110a, 110b, 110c can control corresponding unmanned vehicle 120a, 120b, 120c Scene.For example, the first user 110a can control the first unmanned vehicle 120a by means of remote control.Second user 110b The second unmanned vehicle 120b can be controlled by means of remote control.3rd user 110c can control by means of remote control Three unmanned vehicle 120c.User can with it is apart farther out.Or user can operate unmanned flight in areal Device.User can operate its corresponding unmanned vehicle simultaneously, or can operate them in different time.Usage time can be with It is overlapping.User and unmanned vehicle be able to can be separately identified, can be only by corresponding so as to obtain the instruction from each user Unmanned vehicle receive, without being received by other unmanned vehicles.This can reduce in multiple unmanned vehicles while operate When interference signal possibility.
Each user can control the unmanned vehicle of corresponding user.User can be noted in advance to unmanned vehicle Volume, make it that only authorized user can just control corresponding unmanned vehicle.Unmanned vehicle can be carried out advance Registration, therefore user can only control authorized unmanned vehicle.Relation between user and unmanned vehicle and/or associate Can be known.Alternatively, the relation between user and unmanned vehicle and/or associate and can be stored in memory storage In 130.User identifier can be associated with the unmanned vehicle identifier of corresponding unmanned vehicle.
Memory Storage Unit can track order of the user to unmanned vehicle.Stored order can be with user's The corresponding unmanned vehicle identifier of corresponding user identifier and/or unmanned vehicle is associated.Alternatively it is also possible to store pair Answer the identifier of remote control.
The equipment or the identity of each side being related in being operated to unmanned vehicle are authenticated.For example, can be to user Identity be authenticated.User can be verified as the user associated with user identifier.Can be to the identity of unmanned vehicle It is authenticated.Unmanned vehicle can be verified as the unmanned vehicle associated with unmanned vehicle identifier.Can be alternatively The identity of remote control is authenticated.Remote control can be verified as the remote control associated with remote control identification symbol.
Fig. 2 shows the example of Verification System according to the embodiment of the present invention.Verification System can be unmanned vehicle Security system can be operated as a part for unmanned vehicle security system.Verification System can provide the nothing of raising People's aircraft safety.Verification System can authenticate user, unmanned vehicle, remote control and/or geography fence equipment.
Verification System can include mark (ID) registration database 210.ID registration databases can enter with authentication center 220 Row communication.Verification System can be communicated with air traffic control system 230, the air traffic control system can include flight monitoring module 240, Air traffic control module 242, boat power management module 244, user access control module 246 and unmanned vehicle Access Control module 248。
ID registration databases 210 can keep user 250a, 250b, 250c and unmanned vehicle 260a, 260b, 260c's Identity information.ID registration databases can be that each user and each unmanned vehicle distribute unique identifier (connection 1).Institute It can user can be uniquely identified out from other users or from other unmanned vehicles to state unique identifier Uniquely identify out the alpha-numeric string of random generation or the identifier of any other type of unmanned vehicle.It is described unique Identifier can be generated or can be selected from the list of still unassigned possibility identifier by ID registration databases.ID is registered Database can be optionally in geography fence equipment and/or remote control or unmanned vehicle security system can relate to it is any Other equipment distributes unique identifier.Identifier can be used for recognizing user, unmanned vehicle and/or other equipment Card.ID registration databases can be with can not either be handed over one or more users or one or more unmanned vehicles Mutually.
Authentication center 220 can provide the body to user 250a, 250b, 250c or unmanned vehicle 260a, 260b, 260c The certification of part.Authentication center can optionally provide is safely to geographical railing device and/or remote control or unmanned vehicle The certification of the identity for any other equipment that can relate in system.Authentication center can be obtained from ID registration databases 210 on The information of user and unmanned vehicle (and/or any other equipment being related in unmanned vehicle security system) (connection 2).This Text provides the further detail below on verification process elsewhere.
Air traffic control system 230 can interact with authentication center 220.Air traffic control system can from authentication center obtain on The information of family and unmanned vehicle (and/or any other equipment being related in unmanned vehicle security system) (connection 4).It is described Information can include user identifier and unmanned vehicle identifier.Described information can be related to user identity and/or nobody flies The confirmation of row device identity or mark.Air traffic control system can be management cluster, and the management cluster can include one or more sons System, such as flight monitoring module 240, air traffic control module 242, boat power management module 244, user access control module 246 With unmanned vehicle Access Control module 248.One or more of subsystems can be used for flight control, aerial boat power control System, associated authorization, user and unmanned vehicle access-in management and other functions.
In one example, flight monitoring module/subsystem 240 can be used for monitoring unmanned vehicle in assigned spatial domain Interior flight.Flight monitoring module can be used for detecting when one or more unmanned vehicles deviate predetermined navigation channel.Flight monitoring Module can detect when one or more unmanned vehicles perform unwarranted action or the action not inputted by user.Fly Row monitoring module can also detect when one or more unwarranted unmanned vehicles enter assigned spatial domain.Flight prison Control module can send warning or warning to unwarranted unmanned vehicle.Can be to the unwarranted unmanned vehicle of operation User remote control provide warning.It can be given a warning with visual manner, audible means or tactile manner.
Flight monitoring module can be utilized by the data of one or more sensor collections on unmanned vehicle machine.Flight Monitoring module can utilize the data of one or more sensor collections outside by unmanned vehicle machine.Data can be by that can monitor Unmanned vehicle or other movable radars, photoelectric sensor or sonic transducer in assigned spatial domain are collected.Data can be by one At individual or multiple base stations, stop, battery station, geography fence equipment or network collection.Data can be collected by static equipment.It is static Equipment can be used for or can be not used in interact with unmanned vehicle physics (for example, recovering energy for unmanned vehicle, receiving Delivering from unmanned vehicle provides repairing for unmanned vehicle).Data can be from wire communication or radio communication There is provided.
Air traffic control system may also include air traffic control module/subsystem 242.Air traffic control module can be used for generating and storing one Group or multigroup air traffic control.One group of air traffic control can be based on, and come control, the power of navigating in the air manages.The generation of air traffic control can wrap Include and create air traffic control from the beginning, or can include selecting one or more groups of air traffic control from multigroup air traffic control.Fly The generation of row control can include combining selected multigroup air traffic control.
Unmanned vehicle can be operated according to the air traffic control of one or more groups of applications.Air traffic control can with control without Any aspect of the operation of people's aircraft is (for example, flight, sensor, communication, load, navigation, electricity use, entrained thing Product).For example, air traffic control may indicate that unmanned vehicle can wherein fly or can not wherein fly.Tof tube System may indicate that when unmanned vehicle can not fly in given area or in given area.Air traffic control can be with Indicate when data can be by one or more sensor collections, transmission and/or the records on unmanned vehicle machine.Air traffic control can To indicate when load can be exercisable.For example, load can be image-capturing apparatus, and air traffic control may indicate that institute State image-capturing apparatus can when and where catch image, transmission image and/or storage image.Air traffic control can refer to How bright communication can occur (it is, for example, possible to use channel or method) or what type of communication can occur.
Air traffic control module can include one or more databases of the storage on the information of air traffic control.For example, institute One or more positions that the limit of unmanned vehicle flies can be stored by stating one or more databases.Air traffic control module can store up Deposit multigroup air traffic control for polytype unmanned vehicle, and multigroup air traffic control can with it is specific nobody fly Row device is associated.The access one group air traffic control associated with the particular type unmanned vehicle in polytype unmanned vehicle Can be possible.
One or more flight plans of unmanned vehicle can be ratified or be refused to air traffic control module.In certain situation Under, the flight plan for including the proposed flight path for unmanned vehicle can be assigned.Can on unmanned vehicle and/or Environment and flight path is provided.Flight path can be limit completely (define along path a little), half limit (for example, one or more way points can be included, but the path for reaching the way point can be variable) or less limit Fixed (for example, final destination or other specification can be included, but the path for reaching the final destination can not limited ).Air traffic control module can receive flight plan and can ratify or refuse flight plan.If flight plan is with being directed to One group of air traffic control of unmanned vehicle contradicts, then air traffic control module can refuse the flight plan.Tof tube molding Block can suggest the modification to flight plan, and the modification can make the flight plan observe one group of air traffic control.Fly Row control module can be that unmanned vehicle generates or suggested one group of flight plan that can observe one group of air traffic control.User One or more parameters or target that can be with input pin to unmanned vehicle task, and air traffic control module can be generated or suggested One group of flight plan that can meet one or more of parameters while in accordance with one group of air traffic control.For nobody The parameter of aircraft task or the example of target can include destination, one or more way points, timing demands (for example, total Body time restriction, the time that be in some opening positions), maximal rate, peak acceleration, the data type to be collected, to catch Image type, any other parameter or the target caught.
Boat power management module/subsystem 244 can be provided for air traffic control system.Boat power management module can be used for receiving from user Request to resource.The example of resource can include but is not limited to Radio Resource (for example, bandwidth, access to communication equipment), Position or space (for example, position or space for flight plan), time (for example, time for flight plan), to base The access stood, the access to bus stop, the access to battery station, to delivering point or pull access a little or any other type Resource.Boat power management module plans the Flight Path for unmanned vehicle available for the request is responded.Flight Path can be with Utilize assigned resource.Boat power management module can be used for task of the plan for unmanned vehicle, and it can alternatively include Flight Path and any sensor on the unmanned vehicle machine or the operation of other equipment.The task, which can utilize, appoints The resource what is assigned.
Boat power management module can be used for adjusting task based on the condition detected in the spatial domain assigned.For example, boat Power management module can adjust predetermined flight path based on the condition detected.Adjusting flight path can be whole including adjusting The way point for the flight path that individual predetermined flight path, adjustment half limit or the destination for adjusting flight path.Detected The condition arrived can include weather, the change that can use spatial domain, accident, the foundation of geography fence equipment or the change of air traffic control. Boat power management module can inform adjustment of the user to task, such as adjustment to flight path.
User 250a, 250b, 250c can be the individuals associated with unmanned vehicle 60a, 260b, 260c, such as grasp Make the individual of unmanned vehicle.The described elsewhere herein example of user and unmanned vehicle.Can user with it is corresponding Unmanned vehicle between communication channel is provided, the communication channel can be used for the operation (connection 3) for controlling unmanned vehicle. The flight of control unmanned vehicle or the nothing as described by elsewhere herein can be included by controlling the operation of unmanned vehicle Any other part of people's aircraft.
Communication channel (connection 5) can be provided between unmanned vehicle and air traffic control system, because air traffic control system can be marked Knowledge condition, on the condition user and/or adapter unmanned vehicle is warned to improve the condition.When user and/or nothing When people's aircraft undergoes verification process, communication channel can also contribute to authentication.Alternatively, communication channel can be established Between air traffic control system and the remote control of user, and some similar functions can be provided.It is being including geography fence equipment In system, communication channel can be provided between geography fence equipment, for identify/certification and/or condition identity, warning and/or Adapter.
Communication channel (connection 6) can be provided between user and air traffic control system because air traffic control system can with identification condition, User and/or adapter unmanned vehicle is warned to improve the condition on the condition.When user and/or unmanned vehicle When undergoing verification process, communication channel can also contribute to authentication.
Alternatively, connection 1 can be logic channel.Connection 2 and connection 4 can be network connections.For example, connect 2 and connect Connect 4 can by LAN (LAN), wide area network (WAN) (such as internet), communication network, data network, cellular network or appoint What other kinds of network provides.Connection 2 and connection 4 can pass through indirect communication (for example, the indirect communication for passing through network) To provide.Or they can be provided by direct access communication channel.Connection 3, connection 5 and connection 6 can be via remote control Or earth station and the network connection, the mobile access network connection that provide, or the connection of any other type.They can be via Indirect communication channel or direct access communication channel provide.
Authorized third party's (air traffic control system, geo-fencing system etc.) can be according to its unmanned vehicle identifier (ID) corresponding unmanned vehicle is identified by authentication center, and obtain relevant information (configuration of such as unmanned vehicle, Its ability rating and safe class).Security system can handle different types of unmanned vehicle.It is different types of nobody Aircraft can have different physical characteristics (for example, model, shape, size, engine power, distance, battery life, sensing Device, performance capability, load factor, load grading or ability) or can be used for performing different tasks (for example, monitoring, taking the photograph Picture, communication, delivering).Different types of unmanned vehicle can have different safe class or priority.For example, inhomogeneity The unmanned vehicle of type, which can be authorized to, performs different activities.For example, the unmanned vehicle with the first authorization type can quilt Authorize and enter the area that the unmanned vehicle with the second authorization type can not be authorized to entrance.Unmanned vehicle type can wrap Include by same manufacturer or designer or the different unmanned vehicle types created by different manufacturers or designer.
Authorized third party's (air traffic control system, geo-fencing system etc.) can pass through according to user identifier (ID) Authentication center identifies corresponding user, and obtains relevant information.Security system can handle different types of user. Different types of user can have different levels of skill, experience amount, with the associating of different types of unmanned vehicle, authorize Grade or different demographic informations.For example, the user with different levels of skill can be considered as different types of user. User can undergo proof or test to verify user skill level.One or more other users can confirm or verify described The level of skill of user.For example, the director of user can verify the level of skill of the user.User can be from rower Know the level of skill of the user.User with different experience levels can be considered as different types of user.For example, user Log recording can be used or prove hourage determine, operation unmanned vehicle or being flown using unmanned vehicle for task Number.The experience level of the user can be verified or confirmed to other users.The user can be from the warp of user described in line identifier The amount of testing.User type can indicate that the level of training of user.The level of skill and/or experience of user can for unmanned vehicle To be general.Or the level of skill and/or experience of user can be specific for unmanned vehicle type.For example, user Can have the high professional qualification level and rich experiences amount to the unmanned vehicle of the first kind, and to the unmanned flight of Second Type Utensil has low level of skill and not very rich experience.Different types of different user can be included with different authorization types User.Different authorization types, which may mean that, can apply one group of different air traffic control to different users.In certain situation Under, some users can have the safe class higher than other users, this may mean that the user can be done it is less Air traffic control or limitation.In some cases, common user can be different from management user, and the management user can Control is taken over from common user.Common user can be different from controlled entity user (for example, the member of government organs, emergent The member of service, such as law enforcement agency).In some embodiments, it can be controlled entity user Huo Keyi areas to manage user Not in controlled entity user.In another example, parent can take over flight control from the child of the parent, or Director can take over flight control from student.User type can indicate that the one or more types of operation, and nobody flies The classification or species of the user of row device.Other users type information can be based on user's demographic statistics (for example, address, year Age etc.).
Similarly, any other equipment being related in security system or each side can have the type of their own.For example, ground Reason fence identifier can indicate that geography fence device type, or remote control identification symbol can indicate that remote unit type.
The unmanned vehicle operated in security system can be assigned unmanned vehicle ID and key.The ID and key It can be distributed from ID registration databases.The ID and key can be globally unique and can not alternatively be replicated.Pacifying The user of operation unmanned vehicle can be assigned ID and key in total system.The ID and key can register number from ID Distributed according to storehouse.The ID and key can be globally unique and can not alternatively be replicated.
Unmanned vehicle and air traffic control system can have the mutual authentication using ID and key, so as to allow to operate the nothing People's aircraft.In some cases, certification can include obtaining the license flown in confined area.User and air traffic control system can With the mutual authentication with use ID and key, so as to allow user to operate the unmanned vehicle.
Key can provide in a variety of manners.In some embodiments, the key of unmanned vehicle can be and nobody Aircraft is indivisible.Can be by key designs into preventing the key from stealing.Key can by one-time write and not Can the outside memory (for example, encryption chip) read or the universal subscriber identity module by solidifying (USIM) realization.One In the case of a little, user key or remote control key can be indivisible with the remote control of the user.Key can be by recognizing Card center to unmanned vehicle, user and/or any other equipment using to be authenticated.
Verification System as herein provided can include：Identity registry database, it is used to store on each other and only One ground identifies one or more unmanned vehicle identifiers of unmanned vehicle and on uniquely identifying out use each other One or more user identifiers at family；Authentication center, it is used to recognize the identity of unmanned vehicle and the identity of user Card；And air traffic control system, it is used to receive the unmanned vehicle identifier of authenticated unmanned vehicle and the use of authenticated user entities Family identifier, and based in the following at least one of one group of air traffic control is provided：Certified unmanned vehicle mark Know symbol and certified user identifier.
Using as known in the art or later developed any hardware configuration or it can set to realize Verification System.Example Such as, ID registration databases, authentication center and/or blank pipe can either individually or collectively be operated using one or more servers System.One or more subsystems of air traffic control system can be either individually or collectively realized using one or more servers, Such as flight monitoring module, air traffic control module, boat power management module, user access control module, unmanned vehicle access control Molding block or any other module.Any description to server goes for the equipment of any other type.The equipment Can be computer (for example, personal computer, laptop computer, server), mobile device (for example, smart phone, honeycomb Phone, tablet PC, personal digital assistant) or any other type equipment.The equipment can pass through network And the network equipment to communicate.The equipment includes one or more Memory Storage Units, and the Memory Storage Unit can be with Including non-transient computer-readable media, it can be stored for performing the one or more steps described by elsewhere herein Code, logic or instruction.The equipment can include one or more processors, and the processor can be according to such as this paper institutes Code, logic or the instruction of the non-transient computer-readable media of description and either individually or collectively perform one or more steps Suddenly.
Each part can be realized at same position or at diverse location on hardware, such as ID is registered Database, authentication center and/or air traffic control system.Verification System composition portion can be realized using same equipment or multiple equipment Point.In some cases, it is possible to achieve cloud computing architecture is to provide Verification System.Alternatively, Verification System can utilize Reciprocity (P2P) relation.
The part can be provided in outside unmanned vehicle machine, on unmanned vehicle machine or in some combinations.Institute Part is stated to can be provided in outside remote control machine, on remote control machine or in some combinations.In some preferred embodiments, The part can be provided in that unmanned vehicle machine is outer or remote control machine outside, and can with unmanned vehicle (and/or its His unmanned vehicle) and remote control (and/or other remote controls) communicated.The part can be straight with unmanned vehicle Connect letter or indirect communication.In some cases, the communication can relay via another equipment.Other equipment can be remote control Device or another unmanned vehicle.
Air traffic control
The activity of unmanned vehicle can be dominated according to one group of air traffic control.One group of air traffic control can include one or Multiple air traffic control.This document describes all kinds of air traffic control and example.
Air traffic control can dominate the physical arrangement of unmanned vehicle.For example, air traffic control can dominate unmanned vehicle Flight, unmanned vehicle take off and/or the landing of unmanned vehicle.Air traffic control can indicate that unmanned vehicle can be with The surface area or unmanned vehicle that can not either fly above it above it can wherein fly or can not The spatial volume to fly wherein.Air traffic control can be related to the position of unmanned vehicle (for example, unmanned vehicle is in space Or the position above underlying surface) and/or unmanned vehicle direction.In some instances, air traffic control can prevent nothing People's aircraft is in the volume (for example, spatial domain) assigned and/or on the area (for example, lower section ground or water surface) assigned Fang Feihang.Air traffic control can include the one or more borders for not allowing unmanned vehicle flight in it.In other examples In, air traffic control can only allow unmanned vehicle to be flown in the volume assigned and/or above the area assigned.Flight Control can include the one or more borders for allowing unmanned vehicle flight in it.Alternatively, air traffic control can prevent Unmanned vehicle flies on limiting in height, and the upper height limit can be fixed or variable.In another case, fly Row control can prevent unmanned vehicle from being flown under height lower limit, and the height lower limit can be fixed or variable. Unmanned vehicle can be required to fly in the height between height lower limit and upper height limit.In another example, unmanned flight Device can not can fly in one or more altitude ranges.For example, air traffic control can only allow the nothing in a certain scope People's aircraft direction, or the unmanned vehicle direction in a certain scope may not be allowed.The scope of unmanned vehicle direction can With on one, two or three axle.The axle can be normal axis, such as course axle, pitch axis or roll axle.
Air traffic control can dominate the movement of unmanned vehicle.For example, air traffic control can dominate the flat of unmanned vehicle Speed, the translational acceleration of unmanned vehicle, the angular speed of unmanned vehicle are moved (for example, on one, two or three axle Angular speed) or unmanned vehicle angular acceleration (for example, angular acceleration on one, two or three axle).Tof tube System can be unmanned vehicle point-to-point speed, unmanned vehicle translational acceleration, unmanned vehicle angular speed or unmanned vehicle The maximum limitation of set angular acceleration.Therefore, one group of air traffic control can include limitation unmanned vehicle flying speed and/ Or Flight Acceleration.Air traffic control can be unmanned vehicle point-to-point speed, unmanned vehicle translational acceleration, unmanned vehicle Angular speed or unmanned vehicle set angular acceleration minimum threshold.Air traffic control can require unmanned vehicle minimum threshold with Moved between maximum limitation.Or air traffic control can prevent unmanned vehicle in one or more point-to-point speed scopes, translation Moved in the range of acceleration range, angular velocity range or angular acceleration.In one example, unmanned vehicle may be not allowed to Hovered in the spatial domain of appointment.The unmanned vehicle can be required to fly more than 0mph minimum point-to-point speed.Another In example, unmanned vehicle may be not allowed to fly too fast (for example, in 40mph following flight of maximal rate limitation).Can To dominate the movement of unmanned vehicle on the volume assigned and/or above the area assigned.
Air traffic control can dominate unmanned vehicle take off and/or descent.For example, unmanned vehicle can be allowed Flown in the area assigned, without dropping in the area.In another example, unmanned vehicle can only can be with Certain mode is taken off with a certain speed from the area assigned.In another example, may not allow in the area assigned Take off or land manually, and Autonomous landing or take-off process must be used.Air traffic control can dominate whether permission to take off, whether Allow to land, take off or land any regular (for example, speed, acceleration, direction, direction, the offline mode) having to comply with. In some embodiments, the automation order for being only allowed for taking off and/or land without allowing manual landing or taking off, or Vice versa by person.Can be dominated on the volume assigned and/or above the area assigned unmanned vehicle take off and/ Or descent.
In some cases, air traffic control can dominate the operation of the load of unmanned vehicle.The load of unmanned vehicle Can be sensor, transmitter or any other object that can be carried by unmanned vehicle.Load can be powered or power off.It is negative Carrying can show as exercisable (for example, energization) or inoperable (for example, power-off).Air traffic control can include not allowing The condition of unmanned vehicle service load.For example, in the spatial domain assigned, air traffic control can require load power down.Load Can send signal and air traffic control can with the property of dominant signal, the amplitude of signal, the scope of signal, signal direction or Any operator scheme.For example, if load is light source, the light that air traffic control may be required in assigned spatial domain is unlike threshold It is brighter to be worth light intensity.In another example, if load is the loudspeaker for sending sound, air traffic control can require described Loudspeaker does not transmit any noise outside the spatial domain assigned.Load can collect the sensor of information, and air traffic control Can dominate collect information pattern, on how to pre-process or the pattern of processing information, collected with what resolution ratio information, with What frequency or sampling rate collect information, collect information from what scale collection information or from what direction.For example, load It can be image-capturing apparatus.Image-capturing apparatus can catch still image (for example, rest image) or dynamic image (for example, video).Air traffic control can dominate image-capturing apparatus zoom, by image capture device capture image resolution Rate, the sampling rate of image-capturing apparatus, the shutter speed of image-capturing apparatus, image-capturing apparatus aperture, whether use Flash of light, the pattern (for example, light illumination mode, color mode, static and video mode) of image-capturing apparatus or image-capturing apparatus Focus.In one example, camera may be not allowed to catch image on the area assigned.In another example, phase Machine can be allowed to catch image on the area assigned but can not catch sound.In another example, camera can only be permitted Perhaps in the interior high-resolution photo of seizure in area assigned in the outer shooting low resolution picture in area assigned.Another In example, load can be audio capture equipment.Whether air traffic control can dominate allows the energization of audio capture equipment, audio to catch The sensitivity of equipment, the decibel range that audio capture equipment can receive, the directionality of audio capture equipment are caught (for example, being directed to The directionality of parabola microphone) or audio capture equipment any other quality.In one example, audio capture equipment can It is allowed to or may be not allowed to catch sound in the area assigned.In another example, audio capture equipment can be only It is allowed to catch the sound in particular frequency range in the area assigned.Can be on the volume assigned and/or in institute The area top of assignment dominates the operation of load.
Air traffic control can dominate information can be transmitted or stored to load whether.For example, if load is that picture catching is set Standby, then whether air traffic control be able to can be recorded with dominating figure picture (static or dynamic).Air traffic control can seem with dominating figure In memory on the no machine carried memory that may be recorded in image-capturing apparatus or unmanned vehicle machine.For example, it can allow Image-capturing apparatus is powered and captured image is shown in local display, but it cannot be allowed to record any figure Picture.Air traffic control can seem no can flow out outside image-capturing apparatus or outside unmanned vehicle with dominating figure.For example, flight Control may indicate that, when unmanned vehicle is located in assigned spatial domain, the image-capturing apparatus on unmanned vehicle can be permitted Perhaps video is flowed downwardly into the terminal outside unmanned vehicle machine, and when outside unmanned vehicle is located at assigned spatial domain, institute Video can not be flowed downward out by stating image-capturing apparatus.Similarly, if load is audio capture equipment, air traffic control It can dominate whether sound may be recorded in the memory on the machine carried memory or unmanned vehicle machine of audio capture equipment. For example, audio capture equipment can be allowed to be powered and captured sound is played back on local loudspeaker, but cannot allow It records any sound.Air traffic control can seem no can flow out outside audio capture equipment or any other load with dominating figure Outside.Can be dominated on the volume assigned and/or above the area assigned collected data storage and/or Transmission.
In some cases, load can be by unmanned vehicle carry article, and air traffic control may indicate that it is negative The characteristic of load.The example of load factor characteristic can include load size (for example, height, width, length, diameter, diagonally Line), load weight, load stability, load material, load fragility or load type.For example, air traffic control It may indicate that unmanned vehicle can carry the parcel no more than 3lbs above the area assigned while flight.Another In example, air traffic control can allow unmanned vehicle to be carried only in the volume assigned with the size more than 1 foot Parcel.Another air traffic control can allow unmanned vehicle when carrying 1lb or bigger parcel only in the volume assigned Interior flight 5 minutes, and if unmanned vehicle not yet left assigned volume in 5 minutes, then can make it is described nobody Aircraft lands automatically.Limitation to loading own type can be provided.For example, unstable or potential explosive load may nothing Method is carried by unmanned vehicle.Flight restriction can prevent from carrying frangible object by unmanned vehicle.Can be on being assigned Volume and/or above the area assigned control load characteristic.
Air traffic control can also indicate the activity that can be performed on the article carried by unmanned vehicle.For example, flight Whether control may indicate that can drop article in the area assigned.Similarly, whether can with for air traffic control if may indicate that Article is picked up from the area assigned.Unmanned vehicle can have mechanical arm or can help to drop or pick up article Other mechanical structures.Unmanned vehicle can have the carrying cabin that can allow unmanned vehicle belongings.Can be on dividing The volume of group and/or the area assigned and control is related to the activity of load.
Load can be dominated relative to the positioning of unmanned vehicle by air traffic control.Load the position relative to unmanned vehicle It can be adjustable to put.Load translates the court of position and/or load relative to unmanned vehicle relative to unmanned vehicle To can be adjustable.It can be adjustable on one, two or three normal axis to translate position.The direction of load can To be adjustable on one, two or three normal axis (for example, pitch axis, course axle or roll axle).In some implementations In mode, load can be connected to the unmanned vehicle with carrier, and the carrier can control load relative to unmanned flight The positioning of device.Carrier can support the weight of load on unmanned vehicle.Carrier can be alternatively that load can be allowed relative In unmanned vehicle on the head of one, two or three axle rotation.The adjustment that can be achieved to load orientation can be provided One or more housing assemblies and one or more actuators.Air traffic control can be loaded with control vector or any adjustment Relative to other mechanisms of the position of unmanned vehicle.In one example, when flight is above the area assigned, flight Control can not allow load direction downwards.For example, the area can have the sensitivity that may do not expect that load is caught Data.In another example, when in the spatial domain assigned, air traffic control can be such that load is put down relative to unmanned vehicle Shifting moves down, and this can allow the broader visual field, such as panoramic image capture.Can on the volume assigned and/or The area top assigned dominates the positioning of load.
Air traffic control can dominate the operation of one or more sensors of unmanned vehicle.For example, air traffic control can be with Dominate and whether open or close sensor (or which sensor opened or closed), the pattern of collection information, on how pre- The pattern of processing or processing information, what resolution ratio information is collected with, information is collected with what frequency or sampling rate, from what Scale collection information collects information from what direction.Air traffic control can dominate whether sensor can store or transmit letter Breath.In one example, when unmanned vehicle is located in assigned volume, GPS sensor can be closed, while open and regard Feel that sensor or inertial sensor are used for navigation purpose.In another example, can be with when flight is above the area assigned Close the audio sensor of unmanned vehicle.One can be dominated on the volume assigned and/or above the area assigned The operation of individual or multiple sensors.
The communication of unmanned vehicle can be controlled according to one or more groups of air traffic control.For example, unmanned vehicle can be with Telecommunication can be carried out with one or more remote equipments.The example of remote equipment can include controllable unmanned vehicle and grasp The remote control of work, load, carrier, sensor or unmanned vehicle any other component, can show to be received by unmanned vehicle The display terminal of the information arrived, the database or any other external equipment for collecting the information from unmanned vehicle.Far Cheng Tongxin can be radio communication.The communication can be the direct communication between unmanned vehicle and remote equipment.It is directly logical The example of letter can include WiFi, WiMax, radio frequency, infrared, vision or other kinds of direct communication.The communication can be Indirect communication between unmanned vehicle and remote equipment, the remote equipment can include one or more intermediate equipments or net Network.The example of indirect communication can include 3G, 4G, LTE, satellite or other kinds of communication.Air traffic control may indicate that whether Open or close telecommunication.Air traffic control can include not allowing unmanned vehicle to communicate under one or more radio conditions Condition.For example, when unmanned vehicle is in assigned spatial domain volume, can not allow to communicate.Air traffic control may indicate that The communication pattern that can be allowed to or can be not allowed to.For example, air traffic control may indicate that whether allow direct communication pattern, whether Allow indirect communication pattern or whether between direct communication pattern and indirect communication pattern set up priority.In an example In, interior of the volume assigned allows direct communication.In another example, above the area assigned, as long as direct communication It can use, it is possible to the priority to direct communication is set up, otherwise can use indirect communication, and outside the area assigned, Any communication is not allowed.Air traffic control may indicate that the characteristic of communication, bandwidth such as used, frequency used, agreement used, used Encryption, the equipment of workable subsidiary communications.For example, when unmanned vehicle is located in predetermined volume, air traffic control only may be used Allow to be communicated using existing network.Air traffic control can dominate unmanned vehicle on the volume assigned and/or in institute Communication on the area of assignment.
Other functions of unmanned vehicle can be dominated according to air traffic control, such as navigation, electricity are used and monitored.Electricity The residual non-uniformity amount based on battery and electricity use information, the electric charge shape of battery can be included by measuring the example for using and monitoring The surplus of state or estimated distance based on battery and electricity use information.Assigned for example, air traffic control may be required in Volume in the unmanned vehicle of operation there is remaining power life-span of at least 3 hours.In another example, air traffic control can be with It is required that unmanned vehicle when outside the area assigned with least 50% state of charge.Can be on being assigned Volume and/or such additional function is dominated by air traffic control above the area assigned.
The volume assigned and/or the area assigned can be static for one group of air traffic control.For example, for institute The volume of assignment and/or the regional border assigned can remain identical for one group of air traffic control.Or institute Stating border can change over time.For example, the area assigned can be school, and the regional side for being assigned Boundary can include the school during the class period.After classes are over, the area that the border can reduce or be assigned can be moved Remove.In a period of after classes are over, it can be participated in child and create an area assigned near after school activity at park.Close In the volume assigned and/or the regional rule assigned for one group of air traffic control can remain it is identical or It can change over time.Change can be by a certain in some day sometime, in one week in one day, one month Week, month, season, season, the factor of time or any other time correlation indicate.(it can be carried information from clock For in one day sometime, the related information of date or other times) can be used for the change of realizing border or rule.One group Air traffic control can have is dynamically composed part in response to the other factors in addition to the time.The example of other factors can wrap Include presence, environmental complexity, the physics traffic of weather, temperature, detected illumination level, detected individual or machine Flow (for example, the land magnitude of traffic flow, pedestrian traffic flow, aircraft traffic flow), wireless or network traffic flow, detected Noise level, detected movement, detected temperature mark or any other factor arrived.
The volume assigned and/or the area assigned can with or can not be associated with geography fence equipment.Ground Reason railing device can be for assigned volume and/or the regional reference point assigned.As described elsewhere herein, Can the position based on geography fence equipment and assigned volume and/or the regional position assigned are provided.Or can be with Assigned volume and/or area are provided in the presence of without geography fence equipment.For example, set without geography fence In the case of airport is in, the known coordinate on airport can be provided and be used as assigned volume and/or divide The regional reference of group.Assigned volume can be provided and/or any combinations in area, some of which may rely on ground Manage railing device and some of which can be independent of the equipment.
Air traffic control can cause any kind of flight responsive measures of unmanned vehicle.For example, unmanned vehicle can To bear away.Unmanned vehicle can be from manual mode automatically into autonomous or semi-autonomous flight control mode, or can be with It is not responding to certain user's input.Unmanned vehicle can allow another user to take over the control unmanned vehicle.Unmanned flight Device can land or take off automatically.Unmanned vehicle can send to user and alert.Unmanned vehicle can with automatic retarding or add Speed.Unmanned vehicle can adjust load, carrier, sensor, communication unit, navigation elements, operation (its of power adjustment unit Hang up can be included or change its operating parameter).Flight responsive measures can occur immediately, or can be at one section Between occur afterwards (for example, 1 minute, 3 minutes, 5 minutes, 10 minutes, 15 minutes, 30 minutes).The period can be for The grace period at family, so that some controls to unmanned vehicle are reacted and practised before flight responsive measures come into effect. For example, if user is close to restricted area, user can be cautioned and can change the navigation channel of unmanned vehicle to leave The restricted area.If the user does not respond within the grace period, unmanned vehicle can drop to limit automatically Fly in area.Unmanned vehicle can be normal according to the one or more flight orders for carrying out the remote control that free long-distance user operates Operation.When one group of air traffic control and one or more of flight orders conflict, flight responsive measures can be with override institute State one or more flight orders.For example, if user command unmanned vehicle enters no-fly zone, unmanned vehicle can be certainly It is dynamic to change navigation channel to avoid the no-fly zone.
One group of air traffic control can include on one or more information in the following：(1) being assigned, Volume and/or the area of one group of air traffic control can be applied above it, (2) one or more rules are (for example, unmanned flight Device, load, the operation of carrier, sensor, communication unit, navigation elements, power cell), it is described that (3) follow unmanned vehicle One or more flight responsive measures of rule are (for example, unmanned vehicle, load, carrier, sensor, communication unit, navigation list Member, the response of power cell), or (4) can influence assigned volume and/or area, described regular or described fly respond The time of measure or any other factor.One group of air traffic control can include single air traffic control, its can include on (1), the information of (2), (3) and/or (4).One group of air traffic control can include multiple air traffic control, its can each include on (1), the information of (2), (3) and/or (4).Any kind of air traffic control can be combined, and can be sent out according to air traffic control Raw any combination of flight responsive measures.One group of air traffic control can be directed to and provide one or more volumes assigned and/ Or area.For example, unmanned vehicle can be directed to and one group of air traffic control is provided, wherein one group of air traffic control does not allow nothing People's aircraft flies in the first volume assigned, it is allowed to unmanned vehicle limit in height it is following, assigned second Flown in volume but do not allow to operate the camera on unmanned vehicle machine, and only allow unmanned vehicle in the 3rd assigned Recording audio evidence in volume.Unmanned vehicle can have the flight that the unmanned vehicle can be made to observe air traffic control to respond Measure.Can be with override unmanned vehicle manually operated so that the unmanned vehicle observes the rule of air traffic control.One or Being manually entered with override user can occur automatically for multiple flight responsive measures.
Unmanned vehicle can be directed to and generate one group of air traffic control.The generation of one group of air traffic control can include from Head starts to create air traffic control.The generation of one group of air traffic control can include selecting one from available multigroup air traffic control Group air traffic control.The generation of one group of air traffic control can include the feature for combining one or more groups of air traffic control.For example, one The generation of group air traffic control can include determining that element, such as to determine that the volume assigned and/or area, determination one or more Rule, determine that one or more flight responsive measures and/or determination can make any element for any of dynamic element Factor.These elements can from the beginning be generated or can selected from one or more pre-existing element options. Under certain situation, air traffic control can be manually selected by user.Or it can be selected automatically by means of one or more processors Air traffic control is selected, without user intervention.In some cases, some users input, but one or more processing can be provided Device can cause the final determination of air traffic control to be inputted in accordance with the user.
Fig. 3 shows the example of the one or more factors for the generation that may participate in one group of air traffic control.For example, user profile 310th, unmanned vehicle information 320 and/or geography fence facility information 330 can participate in the generation of one group of air traffic control 340. Under certain situation, during one group of air traffic control is generated, only consider user profile, only consider unmanned vehicle letter Breath, only consider geography fence information, only consider remote information or consider any number or any combinations of these factors.
It is contemplated that additive factor during one group of air traffic control is generated.These factors can be included on this The information of ground environment (for example, environmental complexity, city and rural area, traffic flow information, climatic information), from one or more The information in third party source (for example, government sources, such as FAA), the information of time correlation, the preference of user's input or it is any its His factor.
In some embodiments, one group on specific landform (for example, the volume assigned, the area assigned) flies Row control can be identical, and with user profile, unmanned vehicle information, geography fence facility information or any other information It is unrelated.For example, all users can receive one group of air traffic control of identical.In another case, all unmanned vehicles can be with Receive one group of air traffic control of identical.
Or can be with base on one group of air traffic control of specific landform (for example, the volume assigned, the area assigned) It is different in user profile, unmanned vehicle information and/or geography fence facility information.User profile can be included specific to list The information record of flight (for example, user's flying history, previous user) of individual user and/or can include as herein other User type (for example, the users ' skillses classification, user experience classification) described in place.Unmanned vehicle information can include specific In the information (for example, unmanned vehicle flying history, the recording of maintenance or accident, unique sequence number) of single unmanned vehicle And/or can be including unmanned vehicle type as described elsewhere herein (for example, unmanned vehicle model, spy Property).
One group of air traffic control can be generated based on the user identifier for indicating user type.One kind can be provided to be used for The system for controlling unmanned vehicle (UAV).The system can include：First communication module；One or more processors, it can It is operatively coupled to the first communication module and is either individually or collectively used for：Use the first communication module or second Communication module indicates the user identifier of user type to receive；Generated based on the user identifier for it is described nobody One group of air traffic control of aircraft；And using the first communication module or the second communication module come to it is described nobody fly Row device transmits one group of air traffic control.
One kind is used to control the method for unmanned vehicle (UAV) to include：Receive the user's mark for indicating user type Know symbol；By means of one or more processors, one group for the unmanned vehicle is generated based on the user identifier Air traffic control；And by means of communication module, one group of air traffic control is transmitted to the unmanned vehicle.Similarly, can be with A kind of non-transient computer-readable media for the programmed instruction for including and being used to operate unmanned vehicle (UAV), the calculating are provided Machine computer-readable recording medium includes：For receiving the programmed instruction for the user identifier for indicating user type；For based on the user Identifier and the programmed instruction for generating one group of air traffic control for the unmanned vehicle；And for generate signal with by The programmed instruction of one group of air traffic control is transmitted to the unmanned vehicle in communication module.
A kind of unmanned vehicle can include：One or more propulsion units, it realizes the flight of the unmanned vehicle； Communication module, it is used to receive one or more flight orders from long-distance user；And flight control units, it is used to give birth to Into the flight control signal for being delivered to one or more of propulsion units, it is directed to wherein the flight control signal is basis One group of air traffic control of the unmanned vehicle and generate, wherein the air traffic control is based on indicating the long-distance user User type user identifier and generate.
User type can have any characteristic as described elsewhere herein.For example, user type can indicate that Experience level, the level of training for the user for operating unmanned vehicle or proof or the operation one for operating the user of unmanned vehicle The class of subscriber of kind or polytype unmanned vehicle.User identifier can uniquely identify out use from other users Family.User identifier can receive from away from unmanned vehicle remote control farther out.
Based on user identifier, one group of flight is generated by selecting one group of air traffic control from multigroup air traffic control Control.One group of air traffic control is generated by the air traffic control system outside unmanned vehicle machine.Unmanned vehicle can be via directly logical Believe channel and communicated with air traffic control system.Unmanned vehicle can be carried out by user or the remote control operated by the user In then communicated with air traffic control system.Unmanned vehicle can be carried out by other one or more unmanned vehicles in then Communicated with air traffic control system.
One group of air traffic control can be generated based on the unmanned vehicle identifier for indicating unmanned vehicle type.Can be with System for controlling unmanned vehicle (UAV) is provided.The system can include：First communication module；At one or more Device is managed, it is operably coupled to the first communication module and is either individually or collectively used for：Communicated using described first Module or second communication module indicate the unmanned vehicle identifier of unmanned vehicle type to receive；Based on it is described nobody fly Row device identifier, one group air traffic control of the generation for the unmanned vehicle；And use the first communication module or the Two communication modules transmit one group of air traffic control to the unmanned vehicle.
In some embodiments, it is a kind of to be used to control the method for unmanned vehicle (UAV) to include：Reception indicates The unmanned vehicle identifier of unmanned vehicle type；By means of one or more processors, based on the unmanned vehicle mark Know symbol and generate one group of air traffic control for the unmanned vehicle；And by means of communication module, to the unmanned flight Device transmits one group of air traffic control.Similarly, a kind of non-wink for including the programmed instruction for being used to operate unmanned vehicle (UAV) State computer-readable medium can include：For receiving the program for the unmanned vehicle identifier for indicating unmanned vehicle type Instruction；For generating the program of one group of air traffic control for the unmanned vehicle based on the unmanned vehicle identifier Instruction；And for generating signal to transmit one group of air traffic control to the unmanned vehicle by means of communication module Programmed instruction.
A kind of unmanned vehicle (UAV) can be provided, including：One or more propulsion units, it realizes unmanned vehicle Flight；Communication module, it is used to receive one or more flight orders from long-distance user；And flight control units, It is used to generate the flight control signal for being delivered to one or more of propulsion units, wherein the flight control signal is Generated according to one group of air traffic control for the unmanned vehicle, wherein the air traffic control is described based on indicating The unmanned vehicle identifier of the unmanned vehicle type of long-distance user and generate.
Unmanned vehicle type can have any characteristic as described elsewhere herein.For example, unmanned vehicle class Type can indicate that the load of the model of unmanned vehicle, the performance of unmanned vehicle or unmanned vehicle.Unmanned vehicle mark The unmanned vehicle can be uniquely identified out from other unmanned vehicles by knowing symbol.User identifier can fly from away from nobody Received in the remote control of row device farther out.
It can be based on giving birth to comprising one or more additive factors (those factors described by such as elsewhere herein) Into one group of air traffic control.Such as, it may be considered that environmental condition.For example, if environmental complexity is high, more limit can be provided System, and if environmental complexity is low, then more less limitation can be provided.If the density of population is high, more limitation can be provided, And if the density of population is low, then less limitation can be provided.If there is higher magnitude of traffic flow degree (for example, air mass flow Or the magnitude of traffic flow based on surface), then it can provide more limitation, and if there is relatively low magnitude of traffic flow degree, then can be with Less limitation is provided.In some embodiments, compared to amblent air temperature with temperature preferably, with less wind, do not have Have precipitation or with little or no lightning possibility, if amblent air temperature there is extreme temperature, have wind including precipitation or The possibility of lightning, then it can provide more limitations.
Based on unmanned vehicle identifier, by selecting one group of air traffic control to generate described one from multigroup air traffic control Group air traffic control.One group of air traffic control is generated by the air traffic control system outside unmanned vehicle machine.Unmanned vehicle can be via Direct access communication channel and communicated with air traffic control system.Unmanned vehicle can pass through user or the remote control operated by the user Device is then communicated in carrying out with air traffic control system.Unmanned vehicle can be carried out by other one or more unmanned vehicles In then communicated with air traffic control system.
As it was noted above, various types of air traffic control can be provided in one group of air traffic control.Air traffic control can be special Due to unmanned vehicle or user or without specific to unmanned vehicle and/or user.
Fig. 7 shows the diagram of the scene comprising polytype air traffic control.Various areas can be provided.Border can be provided To limit the area.One group of air traffic control can influence one or more areas (for example, the spatial domain of two-dimensional surface area top Or spatial domain volume).One group of air traffic control can include the one or more rule associated with one or more areas.
In one example, flight control area 710 can be provided, communication regulatory area 720 can be provided, and can provide Load regulatory area 730.Load and communication regulatory area 750, and non-regulatory area 760 can be provided.The area can have any The border of shape or size.For example, area there can be regular shape, such as circular, oval, avette, square, rectangle, appoint The quadrangle of what type, triangle, pentagon, hexagon, octagon, bar shaped, shaped form etc..Area can have irregular shape Shape, it can include convex or spill part.
Flight control area 710 can apply the one or more rule of arrangement or the movement on unmanned vehicle.Flight Regulatory area can apply the flight responsive measures for the flight that can influence unmanned vehicle.For example, when in flight control area, Unmanned vehicle can only can fly at the height between height lower limit and upper height limit, and not applied outside flight control area Add flight restriction.
Load regulatory area 720 can apply the operation of the load on unmanned vehicle or one or more rule of positioning Then.Load regulatory area can apply the flight responsive measures for the load that can influence unmanned vehicle.For example, when positioned at load control When in area, unmanned vehicle can not can be loaded using image-capturing apparatus to catch image, and outside load regulatory area not Apply load limitation.
Communication regulatory area 730 can apply the one or more rule of the operation of the communication unit on unmanned vehicle. Communication regulatory area can exert one's influence unmanned vehicle communication unit operation flight responsive measures.For example, when positioned at logical When believing in regulatory area, unmanned vehicle may not transmit captured data, but can be allowed to receive flight control letter Number, and do not apply communication limitation outside communication regulatory area.
Load and communication regulatory area 750 can apply the load on unmanned vehicle and the communication unit of unmanned vehicle Operation/positioning one or more rule.For example, when in load and communication regulatory area, unmanned vehicle may not It can store by the image that captures of image-capturing apparatus load on unmanned vehicle machine, and may also can not be by image It flow to or transmits to outside unmanned vehicle machine, and does not apply such limitation outside area of control loading and communicating.
One or more non-regulatory areas can be provided.Non- regulatory area can be outside one or more borders, or can be In one or more borders.When within non-regulatory area, user can ring that need not automatically initiate one or more flights Retain the control to unmanned vehicle in the case of answering measure.User can in the physical limit of unmanned vehicle freely Operate the unmanned vehicle.
One or more of described area can be with overlapping.For example, flight control area can be with the control area overlapping 715 that communicates. In another example communication regulatory area can be with loading control area overlapping 725.In another example flight control area can be with load regulatory area weight Folded 735.In some cases, flight control area, communication regulatory area and load regulatory area can overlapping 740.
When multiple area overlappings, the rule from multiple areas can be held in place.For example, flight restriction and communication limitation are equal It can be held in place in overlay region.In some cases, as long as the rule from multiple areas does not conflict with one another, their cans It is held in place.
If conflict be present between the rule, various rule responses can be applied.Most limited for example, can apply Property one group rule.For example, if the firstth area requires that unmanned vehicle flies below 400 feet of height, and the secondth area will Ask unmanned vehicle to be flown below 200 feet of height, then in overlay region, can apply in 200 feet of height The rule flown below.This can include being mixed and matched one group of rule to form most restricted one group.If for example, One area requires that unmanned vehicle flies more than 100 feet and below 400 feet, and the secondth area requires that unmanned vehicle exists More than 50 feet and below 200 feet fly, then when unmanned vehicle positioned at it is overlapping area in when, its can use come from The flight lower limit in the firstth area and the flight upper limit from the secondth area, so as to be flown between 100 feet and 200 feet.
In another case, rank can be provided for the area.The rule in the area higher from rank can be dominant, and No matter whether it has more or less limitations for the rule from the relatively low area of rank.Can be according to control Type indicates the rank.For example, the air traffic control of unmanned vehicle position can be than the higher grade for the control that communicates, it is described Communicating control can be than loading the higher grade of control.In other cases, about whether not allowing unmanned vehicle specific The rule flown in area can surpass other control for the area.It can be pre-selected or pre-enter rank.At some In the case of, there is provided it can indicate which area is higher than other areas in rank for the user of one group of rule in the area.For example, Firstth area can require that unmanned vehicle flies and loaded below 400 feet and must shut off.Secondth area can require nobody Aircraft flies below 200 feet and without load limitation.If the rank in the firstth area is higher, it can apply and come from The rule in the firstth area, without applying any rule from the secondth area.For example, unmanned vehicle can fly below 400 feet Go and close load.If the rank in the secondth area is higher, the rule from the secondth area can be applied, come from without applying Any rule in the firstth area.For example, unmanned vehicle can fly below 200 feet and be limited without any load.
As it was noted above, when unmanned vehicle is in an area, one group of air traffic control can be to the unmanned flight Device applies different types of rule.This can include the position based on unmanned vehicle and about beam loading uses, or based on nothing The position of people's aircraft and constrain radio communication.
The many aspects of the present invention can be related to a kind of unmanned vehicle load control system, including：First communication module； And one or more processors, it is operably coupled to first module and is either individually or collectively used for：Use The first communication module or second communication module indicate signal of the related load of out position using parameter to receive；It is and raw Into the one or more unmanned vehicle operation signals for realizing load operation using parameter in accordance with the load.
A kind of to be used to constrain the method that the load of unmanned vehicle uses, methods described includes：Receive instruction out position phase The load of pass uses the signal of parameter；And by means of one or more processors, generation observe the load using parameter and Realize one or more unmanned vehicle operation signals of load operation.Similarly, a kind of include can be provided to be used to constrain nothing The non-transient computer-readable media for the programmed instruction that the load of people's aircraft uses, the computer-readable medium include：With The programmed instruction of the signal of parameter is used in the load for receiving instruction out position correlation；And make for generating in accordance with the load The programmed instruction of one or more unmanned vehicle operation signals of load operation is realized with parameter.
According to the embodiment of the system, unmanned vehicle can include：Load；Communication module, it is used for reception and come from One or more load commands of long-distance user；And flight control units, it is used for generation and is delivered to the load or branch The load control signal of the carrier of the load is supportted, wherein the load control signal is according to one or more unmanned vehicles Operation signal and generate, wherein the unmanned vehicle operation signal is to be generated based on the related load in position using parameter 's.
The load that load can limit one or more pre-positions using parameter uses.As it was noted above, load can To be image-capturing apparatus, and described image seizure equipment can be limited in one or more pre-positions using parameter by loading Operation.Load using parameter may be limited to one or more pre-positions using image-capturing apparatus come record one or Multiple images.Load may be limited to one or more pre-positions using image-capturing apparatus to transmit one using parameter Or multiple images.In other embodiments, load can be audio capture equipment, and loads and limit the audio using parameter Catch operation of the equipment in one or more pre-positions.
Alternatively or in combination, load can allow the load of one or more pre-positions to use using parameter.When When load is image-capturing apparatus, load can allow image-capturing apparatus in one or more pre-positions using parameter Operation.Load can allow to record one or more using image-capturing apparatus in one or more pre-positions using parameter Individual image.Load using parameter can allow one or more pre-positions using image-capturing apparatus come transmit one or Multiple images.Load can be audio capture equipment, and the audio capture equipment can be allowed at one using parameter by loading Or the operation of multiple pre-positions.
One or more processors can also either individually or collectively be used for：It is logical using the first communication module or second Module is believed to receive the signal for the position for indicating unmanned vehicle；And by negative related to position in the position of unmanned vehicle Whether load is compared using parameter, and determine unmanned vehicle positioned at the opening position for limiting or allowing load operation.Institute's rheme It can be restricted area to put.Restricted area can be determined by control person.Restricted area can away from airport, public gathering, government property, In army's property, school, private residence, power plant or the preset distance in any other regions for being designated as restricted area.Institute Rheme, which is put, can remain static, or can change over time.
Signal of the related load of instruction out position using parameter can be received from controlled entity.Controlled entity can be pipe Person, international organization or company processed or the controlled entity of any other type as described by elsewhere herein.Controlled entity Can be the global institution, any mechanism and tissue described by such as elsewhere herein.Controlled entity can be unmanned flight Source outside device machine or on machine.Controlled entity can be the certification outside air traffic control system or unmanned vehicle machine outside unmanned vehicle machine Any other part of system.Controlled entity can be database, and the database is stored in the memory of unmanned vehicle Or it can be stored in outside unmanned vehicle machine.Database can be used for renewable.Controlled entity can be transmission equipment, and it can With the opening position for being positioned at limitation or allowing load operation.In some cases, controlled entity can be such as elsewhere herein Described geography fence equipment.In some cases, can based on the user for indicating the unmanned vehicle user mark Know symbol and/or indicate the unmanned vehicle identifier of the unmanned vehicle type to send signal.
One aspect of the present invention can be related to a kind of unmanned vehicle communication control system, including：First communication module； And one or more processors, it is operably coupled to first communication module and is either individually or collectively used for：Use The first communication module or second communication module use the signal of parameter to receive related the communicating of instruction out position；It is and raw One or more unmanned vehicles into the operation for being realized unmanned vehicle communication unit using parameter in accordance with the communication are grasped Make signal.
Further it is provided that it is used for the method for constraining the radio communication of unmanned vehicle, including：It is related to receive instruction out position Communication using parameter signal；And by means of one or more processors, generation reality in accordance with described communicate using parameter One or more unmanned vehicle operation signals of the operation of existing communication unit.Similarly, a kind of include can be provided to be used for about The non-transient computer-readable media of the programmed instruction of the radio communication of beam unmanned vehicle (UAV), computer-readable Jie Matter includes：For receiving programmed instruction of the related communication of instruction out position using the signal of parameter；And observed for generating The programmed instruction of one or more unmanned vehicle operation signals of the operation that communication unit is realized using parameter that communicates.
The additional aspect of the present invention can include a kind of unmanned vehicle, and the unmanned vehicle includes：Communication unit, its For receiving or transmitting radio communication；And flight control units, it is used for generation, and to be delivered to communication unit described to realize The communications control signal of the operation of communication unit, wherein the communications control signal is grasped according to one or more unmanned vehicles Make signal and generate, wherein the unmanned vehicle operation signal is to be generated based on the related communication in position using parameter 's.
The radio communication that communication can limit one or more pre-positions using parameter uses.Radio communication can be Direct communication.Radio communication can include radio communication, WiFi communication, bluetooth (Bluetooth) communication or infrared communication.Wirelessly Communication can be indirect communication.Radio communication can include 3G, 4G or LTE communication.Can be by not allowing any radio communication Used to limit the communication.Can be by only allowing the radio communication in selected frequency band to be used using to limit the communication. By only when radio communication, which uses, does not disturb higher priority to communicate the radio communication can be allowed to use, it is described to limit Communication uses.In some cases, every other pre-existing radio communication can communicate with higher than unmanned vehicle Priority.For example, if unmanned vehicle nearby flies, the various radio communications nearby occurred can be considered to have higher Priority.In some cases, certain form of communication can be considered to have the communication of higher priority --- for example, emergent Communication for service, government or official's communication, Medical Devices or communication for service etc..Alternatively or in combination, the communication uses parameter The radio communication of one or more pre-positions can be allowed to use.For example, indirect communication can be allowed in designated area, Without allowing direct communication.
One or more processors can also either individually or collectively be used for：Communicated using the first communication module or second Module receives the signal for the position for indicating unmanned vehicle；And by the communication related to position of the position of unmanned vehicle Compared using parameter and determine whether unmanned vehicle is located at the opening position for the operation for limiting or allowing communication unit.It is described Position can be communication restricted area.The restricted area that communicates can determine by control person or by individual.Restricted area can live away from individual Residence, airport, public gathering, government property, army's property, school, power plant or it is any be designated as restricted area its In the preset distance in his region.The position can remain static, or can change over time.
The position can depend on existing radio communication in area.For example, if the operation of communication unit can be disturbed One or more existing radio communications in given area, then the area, which can be identified as to communicate, is limited area.In accordance with logical The operation of the unmanned vehicle communication unit of courier's parameter can reduce electromagnetic interference or audio disturbances.If for example, Electronic equipment around use, then some operations of unmanned vehicle communication unit may interfere with them, for example, disturbing theirs Wireless signal.In accordance with communication interference can be reduced or eliminated using the operation of the unmanned vehicle communication unit of parameter.For example, nothing Operation of people's aircraft communication unit in limited frequency band can not disturb ambient electronics to operate or communicate.In another situation Under, area in unmanned vehicle communication unit operation stop can prevent disturb ambient electronics operation or communication.
Signal of the related communication of instruction out position using parameter can be received from controlled entity.Controlled entity can be pipe Person, international organization or company processed, or the controlled entity of any other type as described by elsewhere herein.Controlled entity Can be the global institution, any mechanism and tissue described by such as elsewhere herein.Controlled entity can be unmanned flight Source outside device machine or on machine.Controlled entity can be the certification outside air traffic control system or unmanned vehicle machine outside unmanned vehicle machine Any other part of system.Controlled entity can be database, and the database can be stored in the storage of unmanned vehicle In device, or it can be stored in outside unmanned vehicle machine.Database can be used for renewable.Controlled entity can be that transmission is set It is standby, its opening position that can be positioned at limitation or allow load operation.In some cases, controlled entity can be as herein its Geography fence equipment described by his place.In some cases, can be based on the user's for indicating the unmanned vehicle User identifier and/or the unmanned vehicle identifier of the unmanned vehicle type is indicated to send signal.
Mark module
Unmanned vehicle can include the one or more propulsion units that can promote the unmanned vehicle.In some feelings Under condition, propulsion unit can include rotor assemblies, and the rotor assemblies can include the rotation for driving one or more rotor blades The one or more motors turned.Unmanned vehicle can be the more rotor unmanned aircrafts that may include multiple rotor assemblies.Rotor Blade can provide propulsive force, such as lift to unmanned vehicle when rotated.Each rotor blade of unmanned vehicle can Rotated with identical speed or with friction speed.The operation of rotor blade can be used for the flight for controlling unmanned vehicle.Rotor The operation of blade can be used for controlling taking off and/or landing for unmanned vehicle.The operation of rotor blade can be used for controlling nothing People's aircraft is motor-driven in spatial domain.
Unmanned vehicle can include flight control units.Flight control units can generate the behaviour of controllable rotor assemblies One or more signals of work.Flight control units can generate the one of the operation of one or more motors of control rotor assemblies Individual or multiple signals, the operation can transfer to influence the rotary speed of rotor blade.Flight control units can be received and come from The data of one or more sensors.Data from sensor can be used for generation and the one or more of rotor assemblies flown Control signal.The example of sensor can include but is not limited to GPS unit, inertial sensor, vision sensor, ultrasonic sensing Device, heat sensor, magnetometer or other kinds of sensor.Flight control units can receive the data from communication unit. Data from communication unit can include the order from user.The order can be inputted via remote control, and it can be by Transmit to unmanned vehicle.Data from communication unit and/or sensor can include detection to geographical railing device or Person is transferred from the information of geography fence equipment.Data from communication unit can be used for generating one or more to rotor assemblies Individual flight control signal.
In some embodiments, flight control units can control other functions of unmanned vehicle, with replacement or attached It is added on flight.Flight control units can control the operation of the load on unmanned vehicle machine.For example, load can be that image is caught Equipment is caught, and flight control units can control the operation of image-capturing apparatus.Flight control units can control unmanned flight The positioning of load on device machine.For example, carrier can support load, such as image-capturing apparatus.Flight control units can be controlled The operation of carrier processed is to control the positioning of load.Flight control units can control one or more biographies on unmanned vehicle machine The operation of sensor.This can include any sensor described by elsewhere herein.Flight control units can control nobody The communication of aircraft, the navigation of unmanned vehicle, unmanned vehicle electricity use or unmanned vehicle machine on any other Function.
Fig. 4 shows the example of flight control units according to embodiment of the present invention.Flight control modules 400 can include Mark module 410, one or more processors 420 and one or more communication modules 430.In some embodiments, nothing The flight control modules of people's aircraft can be circuit board, and the circuit board can include one or more chips, such as one Or multiple identification chips, one or more processors chip and/or one or more communication chips.
Mark module 410 can be unique for unmanned vehicle.Mark module can be from other unmanned flights Device uniquely identifies and distinguished the unmanned vehicle.Identity module can include unmanned vehicle identifier and unmanned flight The key of device.
The unmanned vehicle identifier being stored in mark module can not be changed.Unmanned vehicle identifier can be with can not The state of change is stored in mark module.Mark module can be nextport hardware component NextPort, and it can prevent user's change only with one kind The mode of one identifier stores unique unmanned vehicle identifier of unmanned vehicle.
Unmanned vehicle key can be used for providing the authentication verification to unmanned vehicle.Unmanned vehicle key is for nobody Aircraft can be unique.Unmanned vehicle key can be alpha-numeric string, and the alpha-numeric string is for unmanned flight Device can be unique and can be stored in mark module.Unmanned vehicle key can generate at random.
Unmanned vehicle identifier and unmanned vehicle key can be used in combination, to be authenticated simultaneously to unmanned vehicle And allow the operation of unmanned vehicle.Unmanned vehicle identifier and unmanned vehicle key can be entered using authentication center Row certification.Authentication center can be outside unmanned vehicle machine.Authentication center can be the certification as described by elsewhere herein A part (for example, authentication center 220 in Fig. 2) for system.
Unmanned vehicle identifier and unmanned vehicle key can be as the ID log-on datas described by elsewhere herein Issue in storehouse (for example, ID Registering modules 210 in Fig. 2).ID registration databases can be outside unmanned vehicle machine.Mark module can For receiving unmanned vehicle identifier and unmanned vehicle key once, and no longer changed after being initially received.Therefore, Unmanned vehicle identifier and unmanned vehicle key once have determined, you can are not modifiable.In other cases, nothing People's aircraft identifier and key can be fixed after receipt, and can not again be written into.Or unmanned vehicle mark Symbol and unmanned vehicle key can only be changed by authorized party.The conventional manipulator of unmanned vehicle can not change or repair Change the unmanned vehicle identifier and unmanned vehicle key in mark module.
In some cases, ID registration databases can voluntarily issue mark module, and the mark module can be fabricated onto In unmanned vehicle.ID registration databases can issue identifier before or while the manufacture of unmanned vehicle.ID registers number Identifier can be issued before unmanned vehicle is sold by or is distributed according to storehouse.
Mark module can be realized as USIM.Mark module can be the memory of one-time write.Mark module Outside it can not alternatively can read.
Mark module 410 can be indivisible with flight control units 400.Mark module can not damage flight Removed in the case of the function of control unit from the remainder of flight control units.Cannot be single-handedly by mark module from flight The remainder of control unit removes.Individual manually cannot remove mark module from flight control units.
Unmanned vehicle can include flight control units, and it is used for the operation for controlling unmanned vehicle；And mark mould Block, the mark module are integrated into the flight control units, wherein the mark module is from other unmanned vehicles Uniquely identify out the unmanned vehicle.A kind of method for identifying unmanned vehicle can be provided, methods described includes：Use Flight control units control the operation of unmanned vehicle；And use the mark module being integrated in the flight control units To uniquely identify out the unmanned vehicle from other unmanned vehicles.
Mark module with physical associations or can be attached to flight control units.It is single that mark module can be integrated to flight control In member.For example, mark module can be welded onto the chip on the circuit board of flight control units.Various physics skills can be used Art, to prevent mark module from being separated from the remainder of flight control units.
System in package (SIP) technology can be used.For example, multiple functional chips (including processor, communication module and/ Or mark module) can integrate in a package, so as to perform complete function.If splitting mark module, encapsulate In other modules will be destroyed, so as to cause unmanned vehicle unavailable.
Fig. 5 shows the additional example of flight control units 500 according to embodiment of the present invention.Illustrate and utilize SIP skills The possible configuration of art.Mark module 510 and processor 520 can be encapsulated in same chip.Mark module can not be with processing Device separates, and any trial to removing mark module will cause the removal or damage of processor, and this will cause to fly The damage of control unit.Mark module can be integrated in same core together with one or more other assemblies of flight control units In one encapsulation of piece.In other examples, mark module can be encapsulated in same chip with communication module 530.At some In the case of, mark module, processor and communication module can be encapsulated in a chip.
Chip on board (COB) can be used to encapsulate.Bare chip can be adhered to interconnection substrates with conductive or non-conductive adhesive. Then wire bonding can be carried out to realize its electrical connection, also referred to as Soft Roll seals.Mark module can be soldered to flight control On the circuit board of unit.After COB encapsulation, mark module just cannot intactly be taken out once welding on circuit boards. Trial to physical removal mark module will cause the damage of the other parts to circuit board or flight control units.
It can ensure that the remainder of the flight control units of mark module and unmanned vehicle is inseparable using software Cut.For example, each unmanned vehicle can be with burning software version corresponding with its mark module.In other words, software version with There may be one-to-one corresponding between identity module.Software version can be unique or substantially unique for unmanned vehicle 's.The normal operation of software needs to obtain the unmanned vehicle key being stored in mark module.It is not corresponding nobody fly In the case of row device key, software version may not be run.If change removes mark module, the software of unmanned vehicle It is not normally functioning.
In some embodiments, mark module can be issued by controlled entity.Controlled entity can exercise a setting The power of formula is used for any entity for the power for identifying unmanned vehicle or exercising unmanned vehicle certain forms.In some feelings Under condition, controlled entity can be government organs or the manipulator by government authorization.Government can be national government, state/provincial government, Municipal government or any type of local government.Controlled entity can be government organs, such as US Federal Aviation Administration (FAA), U.S. Federal Trade Commission of state (FTC), FCC (FCC), American National telecommunications and Information Management Bureau (NTIA), Department of Transportation (DoT) or U.S. Department of Defense (DoD).Controlled entity can be control person.Controlled entity can be country or state Border is organized or company.Controlled entity can be manufacturer or the dealer of unmanned vehicle of unmanned vehicle.
Fig. 6 shows the flight control units of the mark of chip on tracking flight control units according to embodiment of the present invention Example.Flight control units 600 can have mark module 610 and one or more chips (for example, chip 1 620, chip 2 630……).Mark module can have unique unmanned vehicle identifier 612, chip to record 614 and one or more Individual processor 616.
Mark module 610 can be indivisible with the remainder of flight control units 600.Or mark module It is able to can be removed from flight control units.Mark module can by unique unmanned vehicle identifier 612 and from its He uniquely identifies out the unmanned vehicle in unmanned vehicle.
Mark module can include chip record 614, and the chip record can be stored to one or more periphery chips 620th, 630 record.The example of other chips can include one or more process chips, communication chip or any other type Chip.Chip record can store any kind of data on one or more periphery chips, such as periphery chip Type (for example, model), the information on chip manufacturer, the sequence number of chip, performance characteristics of chip or on chip Any other data.It is described record can be for certain chip it is unique, the type for chip can be it is unique, with And/or person can be included for chip or chip type not necessarily unique parameter.Chip record can be memory cell.
When unmanned vehicle starts, mark module can start self-test, and this can collect the information on periphery chip And the information collected is compared with the information being stored in chip record.The one or more processors 616 of mark module It can be used for performing the comparison.Mark module can check whether periphery chip and its internal chip record are consistent, so as to Differentiate whether the mark module is transplanted.For example, if the information being currently collected into during self-test records with initial chip Match, then mark module is not transplanted probably.If the information being currently collected into during self-check program not with initially Chip record matches, then mark module has probably been transplanted.It can be provided to user or another equipment to whether The possibility transplanted the instruction of mark module or transplanted.For example, when initial chip record not with periphery core during self-test During piece information match, warning can be sent to user equipment or to controlled entity.
In some embodiments, chip record information can not change.Chip record information can be one-time write Memory.Chip record can include for the first time open unmanned vehicle when be collected into, on periphery one or more core The information of piece.Information on periphery chip can be hard wired in chip record.Information on periphery chip can be with There is provided and can be built in chip record by manufacturer.In some cases, chip record can outside be read 's.
In the alternative, chip record information can change., can more new chip when occurring self-check program Record information.For example, the information on periphery chip may be substituted for or supplement the existing record on periphery chip.Can be with In initial chip record compared between the chip information collected during self-test.If being not detected by change, mould is identified Block is probably not yet transplanted.If detecting change, mark module has probably been transplanted.Similarly, Ke Yiti For to whether the instruction transplanted.
For example, initial chip can include the record for showing two periphery chips, one of chip is Serial No. ABCD123 model X, and another is Serial No. DCBA321 model Y.Self-check program can occur.In the self-check program phase Between, the information on periphery chip can be collected, described information can show two chips, and one of them is Serial No. 12345FG model X, and another is Serial No. HIJK987 model S.Because data mismatch, mark mould can be provided The relatively high likelihood that block has been transplanted.Originally will chip record in records series number be 12345FG model X and sequence number Initial marking module for HIJK987 model S may be removed.Initial marking module can be flown by being derived from different nobody The new logo module substitution of row device, wherein the chip that the flight control units of the different unmanned vehicle have is sequence number For ABCD123 model X and Serial No. DCBA321 model Y.Initial chip record can include to from unmanned vehicle Original manufacturer or initial configuration or prior operation, unmanned vehicle periphery chip the note from unmanned vehicle Record.In any case, difference can indicate that for from after initial manufacture or initial configuration or from the nothing after prior operation For people's aircraft, mark module has been transplanted.
It is, therefore, possible to provide a kind of unmanned vehicle, including：Flight control units, it is used to control unmanned vehicle Operation, wherein the flight control units include mark module and chip, wherein the mark module for (1) from other nobody The unmanned vehicle is uniquely identified out in aircraft, (2) are included to the original records of the chip, and (3) including To collecting the information on the chip after the original records of the chip, wherein the mark module is used to undergo self-test journey Sequence, the self-check program by the information on chip collected compared with to the original records of the chip, and wherein The mark module be used for when collected the information on chip it is inconsistent with original records to the chip when police is provided Accuse.
A kind of method for identifying unmanned vehicle can include：The behaviour of unmanned vehicle is controlled using flight control units Make, wherein the flight control units include mark module and chip；Using the mark module come from other unmanned vehicles In uniquely identify out the unmanned vehicle, wherein the mark module is included to the original records of the chip；Including To collecting the information on the chip after the original records of the chip；Using the mark module, will collect on The information of chip is compared with to the original records of the chip, so as to undergo self-check program；And when the pass collected Warning is provided when the information in chip and the inconsistent original records to the chip.
Chip record can be the integration section of mark module.Chip record can be with the remainder of mark module not It is alienable.In some cases, chip record can not be in the feelings for the remainder for not damaging mark module and/or flight control Removed under condition from the mark module.
Self-test can occur automatically in the case of no any user's input.When unmanned vehicle is powered, self-test journey Sequence can be with automatic start.For example, once unmanned vehicle is opened, self-check program can be carried out.When unmanned vehicle starts to fly During row, self-check program can be with automatic start.When unmanned vehicle powers off, self-check program can be with automatic start.In unmanned flight During the operation of device, self-check program can regular automatic start (for example, with rule or irregular time interval automatic start). It may also respond to the event that detects or inputted in response to user and self-check program occurs.
In some embodiments, during mark module is issued, Verification System can be related to.Verification System can be with Distribution physical marking module or the data that may be provided in mark module.During mark module is issued, it can be related to ID Registering modules and/or authentication center.During Verification System is realized, controlling organization can be related to.Mould is identified in distribution During block, controlled entity can be related to.Controlled entity can be specific government organs or the manipulator by government authorization, Or the controlled entity of any other type as described by elsewhere herein.
In order to prevent unmanned vehicle by refitted vehicles (for example, with new mark module or new identifier), certification System (for example, authentication center) can require to inspect periodically unmanned vehicle.Once unmanned vehicle is qualified and does not examine Measure and distort, verification process can continues.Verification process can uniquely identify out unmanned vehicle and confirm the nothing People's aircraft is the actual unmanned vehicle identified by identifier.
Mark for operation
The user of unmanned vehicle can be uniquely identified.The use can be uniquely identified by means of user identifier Family.User identifier can uniquely identify out the user and the user can be made to be different from other users.User can To be the manipulator of unmanned vehicle.User can be the individual for controlling unmanned vehicle.User can control unmanned vehicle Flight, control unmanned vehicle load operation and/or placement, control unmanned vehicle communication, control unmanned vehicle One or more sensors, control unmanned vehicle navigation, control unmanned vehicle electricity use or control nobody Any other function of aircraft.
Unmanned vehicle can be uniquely identified.It can be flown by means of unmanned vehicle identifier to uniquely identify nobody Row device.Unmanned vehicle identifier can uniquely identify out the unmanned vehicle and can make the unmanned vehicle area Not in other unmanned vehicles.
In some cases, user can be authorized to operation unmanned vehicle.One or more individual consumers can operate It may need to be identified before unmanned vehicle.In some cases, all users can be authorized to operation nothing when identified People's aircraft.Alternatively, one group of only selected user can be authorized to operation unmanned vehicle when identified.Some users can It can be not authorized to operate unmanned vehicle.
Fig. 8 shows according to embodiment of the present invention and considered whether before allowing user to operate unmanned vehicle The user is authorized to operate the process of unmanned vehicle.The process can include receiving user identifier 810 and receive nobody Aircraft identifier 820.It can be made whether that authorized user operates the determination of unmanned vehicle 830.If unauthorized user is grasped Make unmanned vehicle, then do not allow the user to operate unmanned vehicle 840.If authorized user operates unmanned vehicle, The user is allowed to operate unmanned vehicle 850.
User identifier 810 can be received.User identifier can be received from remote control.Connect in being inputted from user Receive user identifier.User can be based on to input and pull user identifier from memory.Can alternatively to remote control or Another equipment provides user's input.During user identifier is provided, user can log in or undergo any authentication procedure. User can be manually entered user identifier.User identifier can store on a user device.User identifier can deposited Stored in reservoir, user identifier is manually entered without user.
Unmanned vehicle identifier 820 can be received.User identifier can be received from unmanned vehicle.Can from Unmanned vehicle identifier is received in the input of family.User can be based on to input and pull unmanned vehicle mark from memory Symbol.Alternatively user's input can be provided to remote control or another equipment.During unmanned vehicle identifier is provided, use Family can undergo verification process.Or unmanned vehicle can undergo tagging or Self-certified program automatically.Unmanned vehicle mark Knowing symbol can be stored on unmanned vehicle or user equipment.Unmanned vehicle identifier can store from memory, and nothing User is needed to be manually entered unmanned vehicle identifier.Unmanned vehicle identifier can be stored in the mark module of unmanned vehicle On.For unmanned vehicle unmanned vehicle identifier can be optionally it is not modifiable.
Unmanned vehicle can broadcast unmanned vehicle identifier during operation.Broadcast unmanned vehicle mark can be continued Know symbol.Or unmanned vehicle identifier can be broadcasted when asking.It can occur to the sky outside unmanned vehicle machine Unmanned vehicle identifier is broadcasted during the request of guard system, the Verification System outside unmanned vehicle machine or any other equipment.When Communicated between unmanned vehicle and air traffic control system when may be encrypted or authenticate, unmanned vehicle identifier can be broadcasted.One In the case of a little, unmanned vehicle identifier can be broadcasted in response to event.For example, when unmanned vehicle is opened, can be certainly Dynamic broadcast unmanned vehicle identifier.Unmanned vehicle identifier can be broadcasted during initialization program.Can be in certification journey Unmanned vehicle identifier is broadcasted during sequence.It is alternatively possible to via wireless signal (for example, radio signal, optical signal or sound Signal) broadcast unmanned vehicle identifier.The identifier can be broadcasted using direct communication.Or can be between use Letter is connected to broadcast the identifier.
User identifier and/or unmanned vehicle identifier can be received by Verification System.User identifier and/or nobody Aircraft identifier can receive at the authentication center of Verification System or air traffic control system.User identifier and/or nobody fly Row device identifier can be by unmanned vehicle and/or the remote control of unmanned vehicle.User identifier and/or unmanned flight Device identifier can be to receive at one or more processors, and one or more of processors may determine whether authorized user Operate unmanned vehicle.
It can be made by means of one or more processors to whether authorized user operates unmanned vehicle 830 really It is fixed.Determination can be made on unmanned vehicle machine or outside unmanned vehicle machine.Can be on the remote control of user or user It is determined outside remote control.Determination can be made at the equipment separated with unmanned vehicle and/or remote control.In some feelings Under condition, determination can be made at the part of Verification System.Can Verification System authentication center (for example, as in Fig. 2 The authentication center 220 of diagram) or air traffic control system (for example, as illustrated in Figure 2 air traffic control system 230) place of Verification System make It is determined that.
Determination can be made at the equipment or system that can generate one or more groups of air traffic control.For example, it be able to can give birth to Determination is made into one or more groups of unmanned vehicles at the air traffic control system of the air traffic control of its lower operation.Described one group or more Group air traffic control can depend on the position of unmanned vehicle or any other factor on the unmanned vehicle.Can be with base One or more groups of air traffic control are generated in user identifier and/or unmanned vehicle identifier.
When determining whether that authorized user operates unmanned vehicle, it may be considered that user identifier and unmanned vehicle mark Symbol.In some cases, user identifier and unmanned vehicle identifier can only be considered.Or, it may be considered that additional information. Information on user can be associated with user identifier.For example, on user type (for example, level of skill, experience water Flat, proof, license, training) information can be associated with user identifier.The flying history of user is (for example, what user flew over Whether unmanned vehicle type that place, user fly over, user ran into any accident) can be associated with user identifier. Information on unmanned vehicle can be associated with unmanned vehicle identifier.For example, the letter on unmanned vehicle type Breath (for example, model, manufacturer, characteristic, performance parameter, operation difficulty level) can be associated with unmanned vehicle identifier. The flying history of unmanned vehicle is (for example, the unmanned vehicle place flown over, the use that was previously interacted with the unmanned vehicle Family) can also be associated with unmanned vehicle identifier., can during determining whether that authorized user operates unmanned vehicle To consider the information associated with user identifier and/or unmanned vehicle identifier.In some cases, it may be considered that additional Factor, such as geographic factor, time-giver, the factor of environmental factor or any other type.
Alternatively, unmanned vehicle corresponding to sole user's operation is only authorized.Can authorized user with it is corresponding One-to-one corresponding is provided between unmanned vehicle.Or multiple users can be authorized to operate unmanned vehicle.Can be authorized It is corresponding that many-one is provided between user and corresponding unmanned vehicle.Only authorized user it can operate single corresponding unmanned flight Device.Or multiple unmanned vehicles can be operated with authorized user.Can be in authorized user and multiple corresponding unmanned flights One-to-many correspondence is provided between device.The multiple corresponding unmanned vehicles of multiple user's operations can be authorized.Can be authorized It is corresponding that multi-to-multi is provided between user and multiple corresponding unmanned vehicles.
In some cases, user can be with registered in advance to operate unmanned vehicle.It is for example, only registered in advance with operation The user of unmanned vehicle can be authorized to operation unmanned vehicle.User can be the registration owner of unmanned vehicle.When When user buys or receives unmanned vehicle, user can be registered as the owner and/or manipulator of unmanned vehicle.At some In the case of, multiple users can be registered as the owner and/or manipulator of unmanned vehicle.An or only user It can be registered as the owner and/or manipulator of unmanned vehicle.The sole user be able to can specify be allowed to Operate one or more other users of unmanned vehicle.In some cases, only with user identifier, registered It can be authorized to operation unmanned vehicle to operate the user of unmanned vehicle.One or more registration databases can store pass In the information for the registered user for being allowed to operate unmanned vehicle.Registration database can be on unmanned vehicle machine or outside machine. User identifier can be compared with the information in registration database, and only works as in user identifier and registration database When being associated with the user identifier of unmanned vehicle and matching, user can be just allowed to operate the unmanned vehicle.Register number Can be specific to unmanned vehicle according to storehouse.For example, the first user can operate unmanned vehicle 1 with registered in advance, but cannot It is registered in advance to operate unmanned vehicle 2.Then the user can be allowed to operate unmanned vehicle 1, but it cannot be allowed Operate unmanned vehicle 2.In some cases, registration database can specific to unmanned vehicle type (for example, with spy All unmanned vehicles of sizing number).
In other cases, registration database can be open, and unrelated with unmanned vehicle.For example, user can be with Manipulator registered in advance for unmanned vehicle.As long as those specific unmanned vehicles will without any other for authorizing Ask, it is possible to allow user to manipulate any unmanned vehicle.
Or unmanned vehicle can be given tacit consent to and allow all users to operate the unmanned vehicle.Institute can be authorized useful Family operates the unmanned vehicle.In some cases, all users not on " blacklist " can be authorized to operate the nothing People's aircraft.Therefore, when determining whether that authorized user operates unmanned vehicle, as long as user is not on the blacklist, it is possible to The user is authorized to operate the unmanned vehicle.One or more black list databases can be stored on being not allowed to operate The information of the user of unmanned vehicle.Black list database can store the user for the user for being not allowed to operate unmanned vehicle Identifier.Black list database can be on unmanned vehicle machine or outside machine.User identifier can with black list database Information compare, just can be with and only when the user identifier in user identifier and black list database matches User is allowed to operate unmanned vehicle.Blacklist registration can be specific to the type of unmanned vehicle or unmanned vehicle.For example, User can be included in the blacklist that can not manipulate the first unmanned vehicle, but can not be included in and can not operate the second nothing In the blacklist of people's aircraft.Blacklist registration can be specific to unmanned vehicle type.For example, user can not be allowed to manipulate The unmanned vehicle of specific model, and allow the user to manipulate the unmanned vehicles of other models.Or blacklist registration nothing Need to be specific to unmanned vehicle or unmanned vehicle type.Blacklist registration can be applied to all unmanned vehicles. If for example, forbid user to operate any unmanned vehicle, no matter unmanned vehicle identity or type, can not all authorize described User operates unmanned vehicle, and does not allow to operate unmanned vehicle.
The registration of registered in advance or blacklist can be applicable in addition to unmanned vehicle or unmanned vehicle type Other factors.For example, the registration of registered in advance or blacklist goes for specific position or administrative area.For example, user can be with It is registered in advance to operate unmanned vehicle in the first administrative area, without it is registered in advance with operated in the second administrative area nobody fly Row device.This may or may not be knowable for unmanned vehicle identity in itself or type.In another example, in advance First registration or blacklist registration go for specific weather conditions.For example, when wind speed is more than 30mph, can be by user It is included in the blacklist that can not operate unmanned vehicle.In another example, it may be considered that other environmental conditions, such as environment are answered Polygamy, the density of population or air mass flow.
For whether the additional consideration of authorized user's operation unmanned vehicle can depend on user type.For example, true It is fixed during whether authorized user operates unmanned vehicle, it may be considered that the users ' skillses or experience level.Such as user type Can be associated with user identifier Deng the information on user., can when considering whether that authorized user operates unmanned vehicle To consider the information on user such as user type.In one example, only when user has reached threshold value technical ability water Usually, the user can be just authorized to operate unmanned vehicle.For example, if user experienced for unmanned vehicle flight Training, then the user can be authorized to operate unmanned vehicle.In another example if user experienced have to the user it is some The proof of airmanship, then the user can be authorized to operate unmanned vehicle.In another example, only when user has reached During to threshold value experience level, the user can be just authorized to operate unmanned vehicle.For example, if user log recording is extremely The flight time unit of few certain threshold number, then can authorize the user to operate unmanned vehicle.In some cases, threshold Value number goes for the flight time unit of any unmanned vehicle or is only applicable to have to match the unmanned flight The flight time unit of the unmanned vehicle of the type of device.Information on user can include the demography on user Information.For example, only it can just authorize the user to operate nobody when user reaches threshold age (for example, being adult) and fly Row device.During determining whether that authorized user operates unmanned vehicle, it can pull and be handled by means of one or more Device considers the information on user and/or unmanned vehicle.Determining whether the process of authorized user's operation unmanned vehicle In, one or more considerations can be made according to non-transient computer-readable media.
As it was noted above, during determining whether that authorized user operates unmanned vehicle, it may be considered that additive factor, Such as geographic factor, time factor or environmental factor.For example, only some users can be authorized to be in night time operation unmanned flight Device, and other users can be authorized to be only in day time operation unmanned vehicle.In one example, night-flying training is lived through User can be authorized on daytime and night time operation unmanned vehicle, and not yet live through night-flying training user can only by Authorize in day time operation unmanned vehicle.
In some cases, the unmanned vehicle certification of different mode can be provided.For example, in pattern registered in advance, The user of mistake only registered in advance can be authorized to manipulation unmanned vehicle.In open mode, all users can be authorized to manipulation Unmanned vehicle.In the pattern based on technical ability, only having shown the user of a certain technical ability or experience level can be allowed to Manipulate unmanned vehicle.In some cases, single-mode can be provided for user authentication.In other cases, user can be with Switch between user operation mode.For example, the owner of unmanned vehicle can switch the certification of unmanned vehicle to be run Pattern.In some cases, the other factors such as the position of unmanned vehicle, air mass flow level, environmental condition can be true Surely the certification mode of unmanned vehicle is run.For example, if environmental condition were windy or were difficult to fly, unmanned flight Device automatically can only allow authorized user under technical ability pattern to manipulate the unmanned vehicle.
When unauthorized user operates unmanned vehicle, the user is not allowed to operate unmanned vehicle 840.In some feelings Under condition, this can cause unmanned vehicle to be not responsive to the order of the remote control from user and/or user.User can not Unmanned vehicle is enough set to fly or control the flight of unmanned vehicle.User can not can control unmanned vehicle it is any its His component, such as load, carrier, sensor, communication unit, navigation elements or power cell.User can or can be with Unmanned vehicle can not be made to be powered.In some cases, user can make unmanned vehicle be powered, but the unmanned vehicle It is not responsive to the user.If user is unwarranted, unmanned vehicle can alternatively power themselves down.In some feelings Under condition, warning or the message of its uncommitted operation unmanned vehicle can be provided a user.It can provide or can not carry For user it is uncommitted the reason for.It is alternatively possible to second user provide the uncommitted operation of the user it is described nobody fly Row device or the user have attempted to operate warning or the message of unmanned vehicle.Second user can be unmanned vehicle Owner or manipulator.Second user can be authorized to the individual of operation unmanned vehicle.Second user can be enforcement pair The individual of the control of unmanned vehicle.
In some alternate embodiments, when unauthorized user operates unmanned vehicle, it can only allow the user Unmanned vehicle is operated in a limited manner.This can include geographical limitation, time restriction, rate limitation, to one or more The limitation that add-on assemble (for example, load, carrier, sensor, communication unit, navigation elements, power cell etc.) uses.This can be with Including operator scheme.In one example, when unauthorized user operates unmanned vehicle, the user can not be selected Opening position operates unmanned vehicle.In another example, when unauthorized user operates unmanned vehicle, the user can be only Unmanned vehicle is operated in selected opening position.
When unauthorized user operates unmanned vehicle, the user can be allowed to operate unmanned vehicle 850.Nobody flies Row device can be in response to the order from user and/or the remote control of user.User can control flying for unmanned vehicle Any other component of row or unmanned vehicle.User can be by inputting to control nobody manually via the user of remote control Aircraft.In some cases, unmanned vehicle override user can be inputted with accordance with one group of air traffic control automatically.Described one group Air traffic control can preestablish, or can awing receive.In some cases, setting up or providing During one group of air traffic control, one or more geography fence equipment can be used.
The many aspects of the present invention can be related to a kind of method for operating unmanned vehicle.Methods described can include：Connect Receive the unmanned vehicle identifier that the unmanned vehicle is uniquely identified out from other unmanned vehicles；Receive from other use The user identifier of user is uniquely identified out in family；By means of one or more processors, assess by the user identifier Whether the user of mark is authorized to the unmanned vehicle that operation is identified by the unmanned vehicle identifier；And work as The user, which is authorized to when operating the unmanned vehicle, allows the user to operate the unmanned vehicle.It is similar Ground, a kind of non-transient computer-readable media for the programmed instruction for including and being used to operate unmanned vehicle, the meter can be provided Calculation machine computer-readable recording medium includes：Uniquely identify out from other unmanned vehicles nobody of the unmanned vehicle for receiving and fly The programmed instruction of row device identifier；The program for uniquely identifying out the user identifier of user from other users for receiving refers to Order；For assessing whether the user identified by the user identifier is authorized to operation by the unmanned vehicle identifier The programmed instruction of the unmanned vehicle of mark；And for permitting when the user is authorized to and operates the unmanned vehicle Perhaps the programmed instruction that described user is operated to the unmanned vehicle.
Furthermore it is possible to a kind of unmanned vehicle authoring system is provided, including：First communication module；It is and one or more Processor, it is operably coupled to the first communication module and is either individually or collectively used for：Nobody is received from other The unmanned vehicle identifier of the unmanned vehicle is uniquely identified out in aircraft；Receive unique terrestrial reference from other users Know the user identifier for user；Assess whether the user identified by the user identifier is authorized to operation by the nothing The unmanned vehicle of people's aircraft identifier mark；And when the user is authorized to and operates the unmanned vehicle, Transmission signal is to allow the user to operate the unmanned vehicle.A kind of unmanned vehicle (UAV) authorization module can With including：One or more processors, it is either individually or collectively used for：Reception uniquely identifies from other unmanned vehicles Go out the unmanned vehicle identifier of the unmanned vehicle；Receive user's mark that user is uniquely identified out from other users Symbol；Assess whether the user identified by the user identifier is authorized to operation by unmanned vehicle identifier mark The unmanned vehicle；And when the user is authorized to and operates the unmanned vehicle, transmission signal is described to allow User operates to the unmanned vehicle.
Second user can take over from the first user and control the unmanned vehicle.In some cases, first use Family and second user can be authorized to the operation unmanned vehicle.Or only second user be authorized to operation it is described nobody Aircraft.First user can be authorized to operates unmanned vehicle in a manner of more limited for second user.Second User can be authorized to operates unmanned vehicle in a manner of more unrestricted for the first user.One or more can be provided Individual operation grade.Higher operation grade can indicate that user can operate the priority of carrier.For example, fly operating nobody In terms of row device, the user in higher operation grade can be prior to the user in relatively low operation grade.In higher operation The user of grade can take over control unmanned vehicle from the user in relatively low operation grade.In some cases, Two users can be in higher operation grade than the first user.Compared to the user in relatively low operation grade, in higher Operation grade user can alternatively be authorized to by it is a kind of it is more unrestricted in a manner of operate unmanned vehicle.Compared in compared with The user of height operation grade, the user in relatively low operation grade can alternatively be authorized to by it is a kind of it is more limited in a manner of grasp Make unmanned vehicle.When second user is authorized to operation unmanned vehicle and with than the operation higher grade of the first user When operating grade, second user can take over the operation to unmanned vehicle from the first user.
When the privilege that unmanned vehicle operates second user unmanned vehicle is authenticated, can allow to be used by second Family operates to unmanned vehicle.The certification can be by means of the digital signature and/or numeral of checking second user identity Certificate and occur.What certification to second user and/or the first user can use as described by elsewhere herein any recognizes Card process and occur.
In some embodiments, can adapter control second user can be emergency service a part.For example, second User can be a part for law enforcement agency, Fire-Fighting Service, medical services or disaster relief service.Second user can be electronics Police.In some cases, second user can be a part for government organs, such as can control air mass flow or other types The mechanism of the magnitude of traffic flow.Second user can be air traffic control system manipulator.The user can be member or the pipe of Verification System Reason person.Second user can be the member for defending army or quasi- defence army.For example, second user can be USAF (Air Force), United States Coasts Guard (Coast Guard), National Guard of the United States (National Guard), China arms police Examine the anti-of army (China Armed Police Force (CAPF)) or any other type in any administrative area in the world The army of defending or the member organized on an equal basis.
When second user, which is taken over, to be controlled, the first user can be notified.For example, warning can be provided to the first user or disappeared Breath.Warning or message can be provided via the remote control of the first user.Warning can be visual display, or can be can Hear or tactile is recognizable.In some embodiments, second user can ask to control nobody from the first user adapter Aircraft.First user can select to receive or refuse the request.Or second user can need not come from first The receiving of user perhaps can in the case of take over control.In some embodiments, on second user i.e. will take over control and Alert and there may be some lag times between the time of the first user and the time of second user adapter control.Or, there is provided Seldom lag time does not provide lag time, to allow second user to take over immediately.Second user can energy It is enough to attempt being less than 1 minute, 30 seconds, 15 seconds, 10 seconds, 5 seconds, 3 seconds, 2 seconds, 1 second, 0.5 second, 0.1 second, 0.05 second for adapter control Or inner connecting tube control in 0.01 second.
Second user can take over from the first user and control, with response to any scene.In some embodiments, nothing is worked as When people's aircraft enters limited regional, second user can take over control.When unmanned vehicle leaves it is limited regional when, can will The first user is given back in control.When unmanned vehicle is in limited area, second user can operate unmanned vehicle. In the case of another, second user being capable of the unmanned vehicle of adapter control at any time.In some cases, when determining Safety ensures that second user can control unmanned vehicle when threatening.If for example, detect unmanned vehicle When advancing on the navigation channel to be collided with airborne vehicle, then second user can take over control to avoid unmanned vehicle and aviation The collision of device.
Certification
The user of unmanned vehicle can be authenticated.User can be uniquely identified by means of user identifier. User identifier can be authenticated to verify that the user is strictly the user associated with user identifier.For example, such as Fruit user carries out tagging using the user identifier associated with the Bob Smith (Bob Smith), then The user can be authenticated to confirm that the user is strictly Bob Smith.
Unmanned vehicle can be authenticated.Nobody can be uniquely identified out by means of unmanned vehicle identifier Aircraft.Unmanned vehicle identifier can be authenticated with verify the unmanned vehicle be strictly and the unmanned flight The associated unmanned vehicle of device identifier.For example, if unmanned vehicle use is associated with unmanned vehicle ABCD1234 Unmanned vehicle identifier carry out tagging, then the unmanned vehicle can be authenticated to confirm the unmanned flight Device is strictly unmanned vehicle ABCD1234.
In some cases, unmanned vehicle can be operated with authorized user.One or more individual consumers can operate It may need to be identified before unmanned vehicle.The identity of user may need to be authenticated to be the individual that the user calls oneself, with Just the user is allowed to operate unmanned vehicle.Before allowing user to operate unmanned vehicle, it is necessary to certification and confirmation first User identity, certified identity are authorized to operation unmanned vehicle.
Fig. 9 shows the mistake for determining whether that user is operated to unmanned vehicle according to embodiment of the present invention Journey.The process can include being authenticated user 910 and being authenticated unmanned vehicle 920.If user is not led to Cross verification process, then can Nai do not allow the user to operate unmanned vehicle 940.If the not authenticated mistake of unmanned vehicle Journey, then the user may not be allowed to operate unmanned vehicle 940.Can be to whether authorized user operates unmanned vehicle 930 And make determination.If unauthorized user operates unmanned vehicle, the user may not be allowed to operate unmanned vehicle 940.If user can allow the user to operate unmanned vehicle 950 by the verification process.If unmanned flight Device can then allow the user to operate unmanned vehicle 950 by the verification process.Fly if authorized user operates nobody Row device, then the user can be allowed to operate unmanned vehicle 950.In some cases, user is being allowed to operate unmanned flight Before device 950, the user and the unmanned vehicle must all pass through verification process.Alternatively, user is being allowed to operate nothing Before people's aircraft 950, user and unmanned vehicle must must be all authorized to by verification process and user operates nobody Aircraft.
In some cases, any situation is gone for the license for operating unmanned vehicle, or can be only applicable In the volume assigned in one or more or area.For example, user/unmanned vehicle may be needed by certification to grasp completely Make unmanned vehicle.In other cases, user can generally operate unmanned vehicle, but be selected in limited area etc. In fixed spatial domain, it may be necessary to user is authenticated to operate unmanned vehicle.
One aspect of the present invention can be related to a kind of method for operating unmanned vehicle, and methods described includes：To nobody The identity of aircraft is authenticated, wherein the identity of the unmanned vehicle can uniquely distinguish with other unmanned vehicles Come；The identity of user is authenticated, wherein the identity of the user can uniquely make a distinction with other users；By means of one Individual or multiple processors, assess whether to authorize the user to operate the unmanned vehicle；And when mandate user's operation The unmanned vehicle and when being all authenticated to the unmanned vehicle and the user, it is allowed to which the user is to the nothing People's aircraft is operated.Similarly, a kind of the non-transient of programmed instruction for including and being used for operating unmanned vehicle can be provided Computer-readable medium, the computer-readable medium include：Program for being authenticated to the identity of unmanned vehicle refers to Order, wherein the identity of the unmanned vehicle can uniquely make a distinction with other unmanned vehicles；For the identity to user The programmed instruction being authenticated, wherein the identity of the user can uniquely make a distinction with other users；For by one Or multiple processors assess whether to authorize the user operate the programmed instruction of the unmanned vehicle；And for when mandate When the user operates the unmanned vehicle and the unmanned vehicle and the user is all authenticated described in permission The programmed instruction that user is operated to the unmanned vehicle.
Moreover, provided herein is system and method can include a kind of unmanned vehicle Verification System, including：First communication Module；And one or more processors, it is operably coupled to the first communication module and either individually or collectively For：The identity of unmanned vehicle is authenticated, wherein the identity of the unmanned vehicle can be with other unmanned vehicles only One ground makes a distinction；The identity of user is authenticated, wherein the identity of the user can uniquely distinguish with other users Come；Assess whether to authorize the user to operate the unmanned vehicle；And when the mandate user operates the unmanned flight Device and transmission signal when being all authenticated to the unmanned vehicle and the user, with allow the user to it is described nobody Aircraft is operated.A kind of unmanned vehicle authentication module can include：One or more processors, it is separately or together Ground is used for：The identity of unmanned vehicle is authenticated, wherein the identity of the unmanned vehicle can be with other unmanned vehicles Uniquely make a distinction；The identity of user is authenticated, wherein the identity of the user can uniquely be distinguished with other users Come；Assess whether to authorize the user to operate the unmanned vehicle；And when authorize user operation it is described nobody fly Row device and transmission signal when being all authenticated to the unmanned vehicle and the user, to allow the user to the nothing People's aircraft is operated.
User identifier and/or unmanned vehicle identifier can be carried out in a manner of any described by elsewhere herein Collect.For example, during flight, unmanned vehicle can in a continuous manner or it is in office why will when broadcast its identity letter Breath.For example, when receiving the instruction of the monitoring from air traffic control system (for example, police) or when unmanned vehicle and air traffic control system Between communication it is to be encrypted and authentication when, unmanned vehicle can be accorded with broadcast user identification.The broadcast of identification information can be with Various modes are (for example, radio signal, optical signal, acoustical signal or any other type as described by elsewhere herein Direct communication or indirect communication method) realize.
User and/or unmanned vehicle can be carried out using as known in the art or later developed any technology Certification.Elsewhere herein provides the further detail below and example of user and/or unmanned vehicle certification.
Unmanned vehicle
Unmanned vehicle can be authenticated by means of the key of unmanned vehicle.Unmanned vehicle can have only One unmanned vehicle identifier.Further unmanned vehicle can be recognized by means of unmanned vehicle identifier Card.Unmanned vehicle identifier and unmanned vehicle key information can be used in conjunction with being authenticated with unmanned vehicle. Unmanned vehicle identifier and/or unmanned vehicle key can be provided on unmanned vehicle machine.Unmanned vehicle identifier And/or key can be a part for the mark module of unmanned vehicle.Mark module can be the flight control of unmanned vehicle A part for unit processed.As described elsewhere herein, mark module can be indivisible with flight control units.Nobody Aircraft identifier and/or unmanned vehicle key can not can remove from unmanned vehicle.Unmanned vehicle can not From the unmanned vehicle identifier on unmanned vehicle machine and unmanned vehicle key disassociation.In a preferred embodiment, Unmanned vehicle identifier and/or unmanned vehicle key can not be removed or altered.
Elsewhere herein provides to be further described to unmanned vehicle certification.Elsewhere herein carries in more detail For the further detail below that how can be occurred using the unmanned vehicle certification of unmanned vehicle identifier and/or key.
According to certain embodiments of the present invention, authentication center cannot to no unmanned vehicle identifier and nobody fly Any unmanned vehicle of row device key is authenticated.If unmanned vehicle identifier or unmanned vehicle key are lost, The unmanned vehicle cannot be successfully accessed air traffic control system and any activity cannot be carried out in restricted area domain.At some In the case of, if be not authenticated to unmanned vehicle identity, unmanned vehicle described in user's complete operation may not be allowed. Or user may not be allowed to operate unmanned vehicle in limited spatial domain, but it can be allowed to operate institute in other areas State unmanned vehicle.It can prevent and punish any violation activity of such unmanned vehicle.
Under some specific environments, unmanned vehicle and user can not do certification, directly start aerial mission.For example, When unmanned vehicle, user can not establish with authentication center to be communicated to connect, still user can be allowed to start the task. Under certain situation, if establishing communication connection during task, it can occur to recognize user and/or unmanned vehicle Card.If user and/or unmanned vehicle can take responsive measures not over certification.For example, unmanned vehicle is pre- Land after the fixed period.In another case, unmanned vehicle can make a return voyage to flight starting point.If user and/or nothing People's aircraft has passed through certification, then the user can continue in an uninterrupted manner operate unmanned vehicle. In some cases, communication connection is established during task, does not also occur to recognize user and/or unmanned vehicle Card.
If having had been started up task without authentication, certification can be betided in task later.Root According to whether by certification, it can take or flight responsive measures can not be taken.Or when certification may occur, later Task in certification does not occur.Any number of factor can be based on and be made whether to continue during task certification really It is fixed.Such as, it may be considered that one or more environmental conditions.Such as, it may be considered that amblent air temperature, topological structure, the density of population, sky The throughput or surface magnitude of traffic flow, environmental complexity or any other environmental condition.For example, unmanned vehicle may be able to determine that (for example, being determined by means of GPS and map) it is located in city or in suburb, and if it is located in suburb, It may not necessarily then be authenticated.Therefore, certification can be needed when the higher density of population be present, and works as and relatively low population be present Can be without certification during density.Certification can be needed when the density of population exceedes density of population threshold value.In another case, when depositing Certification can be needed in higher air mass flow density, and can be without certification when relatively low air mass flow density be present. Certification can be needed when air mass flow density exceedes threshold value.Similarly, when environmental complexity is (for example, higher number or density Surrounding objects) it is higher when can need certification, and can be without certification when environmental complexity is relatively low.When environmental complexity surpasses Certification can be needed when crossing threshold value.During certification is determined the need for, it may be considered that other kinds of factor, such as Any other factor described by reason, time and elsewhere herein.
When unmanned vehicle flight without authentication, its flight performance may be restricted.Can basis One group of air traffic control is flown to limit unmanned vehicle.One group of air traffic control can include the behaviour that can influence unmanned vehicle The one or more rule of work.In some embodiments, only when unmanned vehicle flight without authentication The unmanned vehicle can be limited according to air traffic control, else if being authenticated to unmanned vehicle, is not then applied Any group of air traffic control.Or in the normal operation period, unmanned vehicle can be limited according to one group of air traffic control, and If be not authenticated to unmanned vehicle, one group of additional air traffic control can be applied.In some embodiments, no matter Whether unmanned vehicle is authenticated, unmanned vehicle operation can be limited according to one group of air traffic control, but it is described One group of air traffic control may be based on whether to be authenticated unmanned vehicle and require different rules.In some cases, If be not authenticated to unmanned vehicle, rule can be more restricted.Generally speaking, unmanned vehicle is not recognized Card can cause the manipulator of unmanned vehicle according to any aspect of unmanned vehicle (for example, flight, load operation or fixed Position, carrier, sensor, communication, navigation, electricity using or for the use of any other) control the relatively small freedom of motion of unmanned vehicle.
The example of the type for the unmanned vehicle flight performance that may be restricted can include one in the following Or it is multinomial, or other kinds of limitation as described by elsewhere herein, for unmanned vehicle can be included.Example Such as, the distance of unmanned vehicle flight can be limited, for example, it must be in the vision coverage area of user.Flight can be limited Height and/or speed.It is alternatively possible to require the equipment (such as camera or other kinds of load) carried by unmanned vehicle Pausing operation.
Different limitations can be applied according to the grade of user.For example, for more experienced user, can apply compared with Few limitation.For example, the user with higher experience or level of skill can be allowed, which to perform novice users, may be not allowed to hold Capable function.The user with higher experience or level of skill can be allowed to be not allowed to the region of flight in novice users Or flown in position.As described elsewhere herein, can be that user type and/or the customization of unmanned vehicle type are directed to nobody One group of air traffic control of aircraft.
Unmanned vehicle can be communicated with Verification System.In some instances, Verification System can have as herein One or more characteristics described by (for example, Fig. 2) elsewhere.Unmanned vehicle can enter with the air traffic control system of Verification System Row communication.Any description to the communication between unmanned vehicle and air traffic control system goes for unmanned vehicle with recognizing herein Any communication between any other part of card system.Herein to any of the communication between unmanned vehicle and air traffic control system Description goes for unmanned vehicle and can aid in any outside other of unmanned vehicle flight safety, guarantee or control Communication between portion's equipment or system.
Unmanned vehicle can be communicated with air traffic control system in any way.For example, unmanned vehicle can be with blank pipe System forms direct communication channel.The example of direct communication channel can include dedicated radio link, WiFi, WiMax, red Outside, the direct communication of bluetooth (Bluetooth) or any other type.Unmanned vehicle can be formed indirectly with air traffic control system Communication channel.Communication can be via the relaying of one or more intermediate equipments.In one example, communication can be via user And/or the relaying of user equipment (such as remote control).Alternatively or additionally, communication can via it is single or multiple other nobody The relaying of aircraft.Communication can be via the relaying of earth station, router, tower or satellite.Unmanned vehicle can use herein Described single method or multiple methods are communicated.Any communication mode can be combined.In some cases, can be simultaneously Use different communication patterns.Alternatively or additionally, unmanned vehicle can switch between different communication patterns.
Unmanned vehicle (may combine with user) is by mutual with authentication center's (or any part of Verification System) After certification, the safe communication connection with air traffic control system can be obtained.It can also obtain between unmanned vehicle and user Secure communication connects.Unmanned vehicle can be directly geographical with the air situation monitoring server and/or one or more of air traffic control system Railing device is communicated.Unmanned vehicle can also be communicated with user and can be relayed via user, be recognized with reaching Card center or air traffic control system.In some embodiments, with air situation monitoring server and/or one or more geography fence equipment Direct communication can occur over just unmanned vehicle and/or user certification occur after.Or even if certification is not yet sent out Raw, direct communication can also occur.In some embodiments, the communication between unmanned vehicle and user can occur over just After the certification of unmanned vehicle and/or user.Or even if the certification of unmanned vehicle and/or user not yet occur, nobody Communication between aircraft and user can also occur.
In some embodiments, the flight plan of unmanned vehicle registered in advance can be carried out with utilization system.For example, User can need to specify planning location and/or flight timing.Whether air traffic control system may be able to determine that allows unmanned vehicle Flown according to flight plan.Flight plan can be accurate or can substantially estimate.During flight, unmanned flight Device can independently be controlled or semi-autonomous controlled to be flown according to flight plan.Or unmanned vehicle can have The power of being free to arrange must control unmanned vehicle with manual, but it should being maintained in the estimate of flight plan.In some cases, The flight of unmanned vehicle can be monitored, and if the flight plan deviation for controlling and suggesting manually is excessive, then can be forced The unmanned vehicle takes flight responsive measures.Flight responsive measures can include forcing unmanned vehicle to return on navigation channel (for example, by computer or another individual adapter flight), force unmanned vehicle landing, force unmanned vehicle to hover or compel Unmanned vehicle is set to make a return voyage to its starting point.In some cases, air traffic control system can the flight meter based on other unmanned vehicles Draw, the currently monitored air situation arrived, environmental condition, region and/or any flight restriction of time or any other factor come it is true It is fixed whether to allow unmanned vehicle to be flown according to flight plan.In the alternative, it may not be necessary to flight plan It is registered in advance.
Establish after secure connection, unmanned vehicle can from the boat of air traffic control system power management module application resource (for example, Any other resource described by air route and period or elsewhere herein).Boat power management module can manage boat Power.Unmanned vehicle can receive one group of air traffic control to flight (for example, distance, height, speed or elsewhere herein institute The air traffic control of any other type of description).Unmanned vehicle only can just take off when obtaining clearance.Flight meter Drawing can put on record in boat power management.
During flight, unmanned vehicle periodically can report its state to the air situation monitoring subsystem of air traffic control system.Can So that the state of unmanned vehicle is transmitted to air situation monitoring subsystem using any technology.Direct communication or a connection can be used Letter, those communications described by such as elsewhere herein.It is determined that unmanned vehicle state and to air situation monitoring subsystem During transferring status data, it can use or can be without using external sensor data.In some instances, nobody flies Row device status information can be broadcasted, or boat power management subsystem can be relayed to by earth station or other intermediate equipments. Unmanned vehicle can receive the monitoring of boat right management system.Boat power management subsystem can use direct or indirect communication party Method described by method, such as elsewhere herein, communicates with unmanned vehicle.If changing predetermined flight, nobody Aircraft can weigh management subsystem to boat and submit application.The application can be submitted before unmanned vehicle flight starts, Or it can occur after unmanned vehicle has begun to flight.When unmanned vehicle flight, can be applied.Boat power Management can have the ability of the flight of monitoring unmanned vehicle.Boat power management subsystem can be according to from unmanned vehicle Information and/or the information of one or more sensors outside unmanned vehicle monitor the flight of unmanned vehicle.
During flight, unmanned vehicle (can include but is not limited to other unmanned vehicles or geography with other equipment Railing device) communicated.During flight, unmanned vehicle can (including but not limited to numeral be signed that can be authenticated Name+digital certificate) and/or response (for example, in response to certified geography fence equipment).
During flight, as elsewhere herein is described in further detail, unmanned vehicle can receive to use from greater degree The adapter control at family (such as air traffic control system or electronic police).It is more high if unmanned vehicle is authenticated to privilege Level user can take the control.
After flying, unmanned vehicle can discharge the resource of application.If the response that management subsystem is weighed to boat surpasses When, the resource applied can also be discharged.For example, resource can be position and/or the timing of the unmanned vehicle flight of plan. At the end of flight, unmanned vehicle can weigh management subsystem to boat and send signal to discharge resource.Or boat power management System can be with release of the self-starting to resource.If unmanned vehicle stops and boat power management subsystem after predetermined amount of time Communicated, then boat power management subsystem can be with release of the self-starting to resource.In some cases, if the period of application Terminate (for example, if as task and 3:00-4:Block unmanned vehicle in 00PM period, and 4:00 crosses), Then boat power management subsystem can be with release of the self-starting to resource.
Unmanned vehicle can respond certification request and/or identity lookup request.The request can come from Verification System. In some cases, request may come from air situation monitoring server.Request can occur when unmanned vehicle is powered.Request It can occur when unmanned vehicle makes requests on to resource.Request can arrive before the flight of unmanned vehicle.Or Request can arrive during the flight of unmanned vehicle.In some embodiments, there is the unmanned vehicle of security function Certification request and/or identity lookup request from air situation monitoring server will be responded.In some implementations, can be any Situation is responded under (it may include authentification failure).
During flight, if communication disruption between unmanned vehicle and air traffic control system and/or out of touch, Unmanned vehicle can rapidly return back to the state of flight of relatively limited right and quickly make a return voyage.Therefore, if nobody flies Communication disruption between row device and air traffic control system, then it can take flight responsive measures.In some cases, flight responsive measures Can unmanned vehicle is maked a return voyage automatically to starting point.Flight responsive measures can unmanned vehicle is flown automatically to nobody The position of the user of aircraft.Flight responsive measures can unmanned vehicle is maked a return voyage automatically to position of going home, described to go home Position may or may not be the starting point of unmanned vehicle flight.Flight responsive measures can be landed automatically.Flight rings It can be flown automatically into autonomous flight pattern, wherein unmanned vehicle according to flight plan registered in advance to answer measure.
User
User can be the manipulator of unmanned vehicle.User can be classified according to user type.At one In example, user can be classified according to the technical ability and/or experience level of user.Verification System can be issued for using The identification information at family.For example, Verification System can be responsible for user's certificate and distribute corresponding to user identifier and/or User key.In some cases, ID registration databases can perform one or more functions.For example, ID registration databases can To provide user identifier and/or user key.
User can be authenticated.Subscription authentication can use as is generally known in the art or later developed any technology and Occur.Subscription authentication technology can be similar or different to unmanned vehicle authentication techniques.
In one example, user can be authenticated based on customer-furnished information.Can based on user The knowledge that can have authenticates to user.In some cases, the knowledge only may be known by the user, without quilt Well known to other users.For example, user can be authenticated by providing correct username and password.Can by by User submits password, password, key entry or slides the information of mobile, signature or any other type to be authenticated to user.Can To be authenticated by one or more inquiries of correct response system to user.In some embodiments, user can be with Apply for login name and/or password from authentication center.User can use the login name and password to be logged in.
User can be authenticated based on the physical trait of user.The biometer on unmanned vehicle can be used Information is measured to be authenticated to user.For example, user can be authenticated by submitting biological information.For example, with Family can undergo finger scan, palmmprint scanning, iris scan, retina scanning or sweeping to any other part of user's body Retouch.User can provide body sample, can such as be analyzed to identify the saliva of user, blood, the nail cut or cut Hair.In some cases, the DNA analysis to the sample from user can occur.Can be by undergoing face recognition or step State is identified to be authenticated to user.User can be authenticated by submitting vocal print.User can submit the body of user High and/or body weight is for analysis.
User can be authenticated based on the equipment that can be in the possession of the user.Can be based on can be in the possession of the user Information on memory cell and/or the memory cell authenticates to user.For example, user can have by certification The memory devices that center, the other parts of Verification System or any other source are issued.Memory devices can be that outside is deposited The memory devices of storage device, such as USB flash disk (for example, USB drives), external hard drive driving or any other type.One In a little embodiments, external equipment is coupled to user remote controller.For example, the external equipment such as USB flash disk can be with physical connection It can be communicated to remote control (for example, in insertion/insertion remote control) or with remote control (for example, transmission can be by remote control The signal being connected to).The equipment can be physical storage storage device.
User can be authenticated based on the information in the memory that can be in the possession of the user can be stored in.It can make With or can be without using single physical memory devices.For example, token (such as digitizing token) can be gathered around by user Have.Digitlization token can be stored on the memory of USB flash disk, hard drive or other forms.Digitlization token can be stored in On the memory of remote control.For example, digitized token can by remote control and from authentication center, ID registration databases or appoint What received in his source.In some embodiments, digitlization token can be can not be outside from the memory of remote control Read.It may or may not be modifiable on the memory of remote control to digitize token.
User can be authenticated by means of may be provided in the mark module on remote control.Mark module can with Family is associated.Mark module can include user identifier.In some embodiments, mark module can include user key Information.The data being stored in mark module can be or can not be and can be read from outside.It is stored in mark module Data can not be alternatively modifiable.Mark module alternatively can not can be split from remote control.Mark is alternatively It can not be removed in the case where not damaging flight controller from remote control.Mark module can be optionally integrated in remote control. Information in mark module can be recorded in the case via authentication center.For example, authentication center can retain to from remote control The record of the information of the mark module of device.In one example, user identifier and/or user key can be remembered by authentication center Record on record.
User can be authenticated by undergoing mutual authentication process.In some cases, mutual authentication process can With similar to certifiede-mail protocol (AKA) process.It can be communicated by means of being used by user with unmanned vehicle Key on user terminal authenticates to user.The terminal can be alternatively can to unmanned vehicle send one or The remote control of multiple command signals.The terminal can show information based on the data received from unmanned vehicle Display device.Alternatively, key can be a part for the mark module of user terminal and can be integrated in user terminal. Key can be a part for the mark module of remote control and can be integrated in remote control.Key can be by Verification System (for example, ID registration databases of Verification System) provides.Elsewhere herein can provide the mutual authentication of user in more detail Further example and details.
In some embodiments, user may need to have to operate the software of unmanned vehicle or application.Software A part for user authentication process itself can be authorized to be with application.In one example, user can have smart phone App, the app can be used for operating unmanned vehicle.Directly smart phone app can be authorized in itself.When to user When the smart phone app used is authenticated, it can use or can be without using further user authentication.In some feelings Under condition, user authentication process that smart phone mandate can be described in detail with elsewhere herein, additional is coupled.In certain situation Under, smart phone app, which is authorized, can be enough to be authenticated user.
User can be authenticated by means of Verification System.In some cases, user can be by Verification System Authentication center (for example, authentication center 220 as illustrated in Figure 2) or any other part of Verification System are reflected Power.
Subscription authentication can put generation at any time., can be certainly when unmanned vehicle is opened in some embodiments It is dynamic that subscription authentication occurs.When remote control is opened, subscription authentication can occur automatically.When remote control formed with unmanned vehicle it is logical When believing channel, subscription authentication can occur., can when remote control and/or unmanned vehicle form communication channel with Verification System So that subscription authentication occurs.Subscription authentication can occur in response to the input from user.For example, when user's logon attempt or carry During for information (for example, user name, password, biological information) on user, subscription authentication can occur.In another example, (made when the information for coming from memory devices (for example, USB flash disk) is supplied into Verification System, or when by information for example, digitizing Board or key) when being supplied to Verification System, subscription authentication can occur.Therefore it can promote and authenticate from user or user equipment Journey.In another example, when from Verification System or the request certification of another external source, subscription authentication can occur.Verification System Authentication center or air traffic control system can ask authentication to user.Authentication center or air traffic control system can be with one or many requests Authentication from user.Authentication can occur before the flight of unmanned vehicle and/or during the flight of unmanned vehicle. Under certain situation, user can be authenticated before aerial mission is performed using unmanned vehicle.Can be in flight plan User is authenticated before can going through.The user can be entered before user can carry out control to unmanned vehicle Row authentication.User can be authenticated before unmanned vehicle can be allowed to take off.It can lose and/or rebuild and certification system User is authenticated after the connection of system.When detecting one or more events or situation (for example, uncommon unmanned flight Device offline mode) when, user can be authenticated.When there occurs unwarranted adapter suspicious, to unmanned vehicle When, user can be authenticated.When there occurs it is suspicious, to the Communication Jamming of unmanned vehicle when, user can be carried out Authentication.When unmanned vehicle, which deviates, it is expected flight plan, user can be authenticated.
Similarly, unmanned vehicle authentication can occur at any time, all as mentioned above for subscription authentication Time.User and unmanned vehicle authentication can substantially simultaneously occur (for example, each other at 5 minutes or less, 4 minutes or more Less, 3 minutes or less, 2 minutes or less, 1 minute or less, 30 seconds or less, 15 seconds or less, 10 seconds or less, 5 seconds or Less, occur within 3 seconds or less, 1 second or less, 0.5 second or less or 0.1 second or less).User and unmanned vehicle Authentication can occur in similar condition or scene.Or they can be in the different time and/or in response to difference Condition or scene and occur.
The information on user can be collected after authentication has been carried out to user.Information on user can include this Text described any information elsewhere.For example, described information can include user type.User type can include user Technical ability and/or experience level.Described information can include the past flying quality of user.
Authentication center
A kind of Verification System can be provided according to the embodiment of the present invention.The Verification System can include in certification The heart.Any description to authentication center goes for any part of Verification System herein.Herein to Verification System Any description goes for external equipment or entity, or the one or more functions of Verification System can be in unmanned vehicle Perform above and/or on a remote control.
Authentication center can be responsible for safeguarding on one or more users and/or the data of unmanned vehicle.Data can be with User identifier including association, the user key of association, the unmanned vehicle identifier of association and/or the unmanned flight of association Device key.Authentication center can receive the identity of user and/or the identity of unmanned vehicle.In some embodiments, certification System can be responsible for safeguarding on one or more users and all data of unmanned vehicle.Or Verification System can be born Duty is safeguarded on one or more users and the subset of all data of unmanned vehicle.
The controller (for example, remote control of user) and unmanned vehicle of unmanned vehicle can send to air traffic control system and step on Record request.Controller and/or unmanned vehicle can send logging request before the flight of unmanned vehicle.Controller and/ Or unmanned vehicle can send logging request before the flight of unmanned vehicle is allowed.As controller and/or unmanned flight When device is opened, controller and/or unmanned vehicle can send logging request.When being established between controller and unmanned vehicle During connection, either when establishing connection between controller and external equipment or when unmanned vehicle and external equipment it Between establish connection when, controller and/or unmanned vehicle can send logging request.Controller and/or unmanned vehicle can be with Logging request is sent in response to the event or the situation that detect.When provide for certification instruction when, controller and/or nobody Aircraft can send logging request.When providing the instruction for certification by external source (for example, authentication center), controller And/or unmanned vehicle can send logging request.Controller and/or unmanned vehicle can initiate logging request, Huo Zheke To provide logging request in response to the initiation outside controller and/or unmanned vehicle.Controller and/or unmanned flight Device can propose logging request at the single time point of unmanned vehicle ession for telecommunication.Or controller and/or unmanned vehicle Logging request can be proposed at multiple time points of unmanned vehicle ession for telecommunication.
Controller and unmanned vehicle can substantially simultaneously propose logging request (for example, each other less than 5 minutes, it is few In 3 minutes, less than 2 minutes, less than 1 minute, less than 30 seconds, less than 15 seconds, less than 10 seconds, less than 5 seconds, less than 3 seconds, less than 1 Second, less than proposing logging request within 0.5 second or less than 0.1 second).Or controller and unmanned vehicle can be when different Between propose logging request.Controller and unmanned vehicle can be proposed to log according to the detection to same event or situation and asked Ask.For example, when establishing connection between controller and unmanned vehicle, controller and unmanned vehicle are proposed that login please Ask.Or controller and unmanned vehicle can propose logging request according to different event or situation.Therefore, controller Logging request can be proposed independently of one another with unmanned vehicle.For example, controller can propose to log in when controller is powered Request, and unmanned vehicle can propose logging request when unmanned vehicle is powered.These events can be independent of each other Time occurs.
Any description to logging request goes for any kind of authentication as described elsewhere herein.Example Such as, any description to logging request goes for providing username and password.In another example, logging request is appointed What description goes for the startup of AKA agreements.In another example, any description to logging request can include user's The offer of physical trait.Logging request can start verification process or request certification.
After the logging request of user from unmanned vehicle and/or unmanned vehicle is received, Verification System can be with Initiate verification process.In some cases, air traffic control system can receive logging request and can be initiated using authentication center Verification process.Or authentication center can receive logging request and voluntarily initiate verification process.Landing request information can be passed Authentication center is transported to, and authentication center can authenticate to identity information.In some cases, landing request information can wrap Include user name and/or password.In some embodiments, log-on message can include user identifier, user key, nobody fly Row device identifier and/or unmanned vehicle key.
Communication connection between air traffic control system and authentication center can be safe and reliable.Alternatively, air traffic control system and Authentication center can utilize one or more groups of identical processors and/or Memory Storage Unit.Or they can not be utilized One or more groups of identical processors and/or Memory Storage Unit.Air traffic control system and authentication center can utilize or One group of hardware of identical can not be utilized.Can or air traffic control system and authentication center can be provided at same position. Under certain situation, hardwired connection can be provided between air traffic control system and authentication center.Or can be in air traffic control system with recognizing Card provides radio communication between center.Direct communication can be provided between air traffic control system and authentication center.Or can be in sky Indirect communication is provided between guard system and authentication center.Communication between air traffic control system and authentication center can travel through or can be with Not traverses network.Communication connection between air traffic control system and authentication center can be encrypted.
Carried out at authentication center to after the authentication of user and/or unmanned vehicle, in unmanned vehicle and blank pipe system Communication connection is established between system.In some embodiments, the certification to both user and unmanned vehicle can be asked.Or Person, authentication to user or can be enough to the authentication of unmanned vehicle.Can be alternatively in remote control and blank pipe system Communication connection is established between system.Alternatively or additionally, communication connection can be established between remote control and unmanned vehicle. Have built up communication connection (all connections as described herein) and may occur or may not occur further certification afterwards.
Unmanned vehicle can be communicated via direct access communication channel with air traffic control system.Or unmanned vehicle can To be communicated via indirect communication channel with air traffic control system.Unmanned vehicle can operate by user or by the user Remote control carry out in then communicated with air traffic control system.Unmanned vehicle can pass through other one or more unmanned flights Then air traffic control system is communicated in device progress.The communication of any other type can be provided, such as elsewhere herein is retouched Those communications stated.
The remote control of user can be communicated via direct access communication channel with air traffic control system.Or remote control can be with Communicated via indirect communication channel with air traffic control system.Remote control can be carried out by the unmanned vehicle operated by user In then communicated with air traffic control system.Remote control can be carried out by other one or more unmanned vehicles in then with sky Guard system is communicated.The communication of any other type, those communications described by such as elsewhere herein can be provided. Under certain situation, without providing the communication connection between remote control and air traffic control system.In some cases, remote control flies with nobody Communication connection between row device can be enough.It can be provided between remote control and unmanned vehicle any kind of logical Letter, those communications described by such as elsewhere herein.
After being authenticated to user and/or unmanned vehicle, boat of the unmanned vehicle to air traffic control system can be allowed Weigh management module application resource.In some embodiments, the certification to user and unmanned vehicle can be asked.It is or right The certification of user or certification to unmanned vehicle can be enough.
Resource can include air route and/or period.Resource can be used according to flight plan.Resource can wrap Include one or more in the following：Sense and avoid auxiliary, the access to one or more geography fence equipment, to battery The access stood, the access to fuel station or to the access at base station and/or stop.Elsewhere herein such as can be provided to be retouched Any other resource stated.
The boat power management module of air traffic control system can record one or more flight plans of unmanned vehicle.It can allow The modification of predetermined flight of the unmanned vehicle application to unmanned vehicle.Can allow unmanned vehicle start flight plan it The flight plan of the preceding modification unmanned vehicle.Unmanned vehicle can be allowed to be carrying out flying in the unmanned vehicle Modification flight plan during plan.Boat power management module can be made whether to allow unmanned vehicle to carry out asked modification Determination.If allowing unmanned vehicle to carry out asked modification, flight plan can be updated to be repaiied including what is asked Change., can not change of flight plan if not allowing unmanned vehicle to carry out asked modification.Unmanned flight can be required Device observes initial flight plan.If unmanned vehicle deviates significantly from flight plan, (either initial is still updated ), then it can apply flight responsive measures to unmanned vehicle.
In some embodiments, it is after being authenticated at authentication center to user and/or unmanned vehicle, can be with Communication connection is established between unmanned vehicle and one or more geography fence equipment.Elsewhere herein is provided on ground Manage the further detail below of railing device.
Be authentication center be in user and/or unmanned vehicle are authenticated after, can unmanned vehicle with Communication connection is established between one or more certified central objects.Certified central object can be another certified Unmanned vehicle or certified geography fence equipment.Certified central object can be base station or can trunking traffic Station or equipment.Certified central object can undergo any kind of verification process, described by such as elsewhere herein Those verification process.For example, certified central object can pass through certification using AKA processes.
It can be made whether that authorized user operates the determination of unmanned vehicle.Can be to user and/or unmanned vehicle Before being authenticated, while being authenticated to user and/or unmanned vehicle or to user and/or unmanned vehicle Determination is made after being authenticated.If unauthorized user operates unmanned vehicle, the user can not be allowed to operate nothing People's aircraft.If unauthorized user operates unmanned vehicle, the user only can in a limited manner operate nothing People's aircraft.When unauthorized user operates unmanned vehicle, the user can be only allowed to operate nobody in selected position Aircraft.One or more air traffic control can be applied to the user for operating unmanned vehicle without permission, such as herein its Those air traffic control described by his place.In some implementations, it is applied to institute when unauthorized user operates unmanned vehicle Stating one on user group of air traffic control can be than that can be applied to pipe on the user when authorized user operates unmanned vehicle Fixture has more limitations or tightened up.When authorized user operate unmanned vehicle when, can or can not be in the user One group of air traffic control of upper application.When user is authorized to operation unmanned vehicle, one group of tof tube being applied on the user System can include null value.When authorized user operates unmanned vehicle, user can in a manner which is non-limiting operate nobody Aircraft.Or some limitations can be applied, but these limitations when unauthorized user operates unmanned vehicle with that can be applied to The limitation of user is compared, can be less strict or can be with different.
One group of air traffic control can depend on the identity of unmanned vehicle and/or the identity of user.In some cases, may be used One group of air traffic control is changed with the identity according to unmanned vehicle and/or the identity of user.Unmanned flight can be based on The identity of device adjusts or kept the limitation of the flight to unmanned vehicle.It can adjust or keep pair based on the identity of user The limitation of the flight of unmanned vehicle.In some embodiments, one group of acquiescence of the flight to unmanned vehicle can be provided Limitation.The default value can be in place before certification and/or mark unmanned vehicle.The default value can certification and/ It is or in place before mark user.According to user and/or the certified identity of unmanned vehicle, it can keep or adjust and be described silent Recognize value.In some cases, the default value can be adjusted to restricted one group of lower air traffic control.In other situations Under, the default value can be adjusted to restricted one group of higher air traffic control.
In some embodiments, if having carried out mark and certification to user and/or unmanned vehicle, can authorize The user operates the unmanned vehicle.In some cases, though to user and/or unmanned vehicle carried out mark and Certification, the user can not also be authorized to operate the unmanned vehicle.Whether authorized user operate unmanned vehicle can be only Stand on and whether user and/or unmanned vehicle are authenticated.In some cases, mark and/or certification can occur true It is fixed whether before authorized user, so as to before it be made whether that authorized user operates unmanned vehicle to the user and/or institute Unmanned vehicle is stated to be confirmed.
In some cases, only sole user can be authorized to operate unmanned vehicle.Or multiple users can be authorized to grasp Make unmanned vehicle.
The unmanned vehicle can be authenticated before allowing unmanned vehicle to take off.Nobody can allowed to fly Row device is authenticated before taking off to user.User can be carried out before allowing user to carry out to the control of unmanned vehicle Certification.Can be before allowing user to send one or more operational orders to unmanned vehicle via user remote controller to user It is authenticated.
Certification degree
Different authentication degree can occur.In some cases, different verification process can occur, such as herein other Those verification process described by place.In some cases, higher certification degree can occur, and in other cases, can So that relatively low certification degree occurs.In some embodiments, can make on degree or the type of the verification process to be undergone Go out to determine.
One aspect of the present invention provides a kind of side for the authentication level for determining the operation for unmanned vehicle (UAV) Method, methods described include：Receive the context information on the unmanned vehicle；Using one or more processors, based on institute State context information and assess the certification degree of the user to the unmanned vehicle or the unmanned vehicle；According to the certification Degree realizes the certification to the unmanned vehicle or the user；And allow the use when completing the certification degree Family operates to the unmanned vehicle.Similarly, a kind of include can be provided to be used to determine for operation unmanned vehicle (UAV) non-transient computer-readable media of the programmed instruction of authentication level, the computer-readable medium include：For connecing Receive the programmed instruction of the context information on the unmanned vehicle；For assessed based on the context information to it is described nobody The programmed instruction of the certification degree of the user of aircraft or the unmanned vehicle；For being realized pair according to the certification degree The programmed instruction of the certification of the unmanned vehicle or the user；And for providing permission when completing the certification degree The programmed instruction for the signal that the user is operated to the unmanned vehicle.
A kind of unmanned vehicle (UAV) Verification System can include：Communication module；And one or more processors, its It is operably coupled to the communication module and is either individually or collectively used for：Receive the scene on the unmanned vehicle Information；The certification degree of user to the unmanned vehicle or the unmanned vehicle is assessed based on the context information； And the certification to the unmanned vehicle or the user is realized according to the certification degree.Can provide it is a kind of nobody fly Row device (UAV) authentication module, including：One or more processors, it is either individually or collectively used for：Receive on it is described nobody The context information of aircraft；User to the unmanned vehicle or the unmanned vehicle is assessed based on the context information Certification degree；And the certification to the unmanned vehicle or the user is realized according to the certification degree.
Certification degree for user and/or unmanned vehicle can be provided.In some cases, for the certification of user Degree can be variable.Or for the certification degree of user can be fixed.For the certification degree of unmanned vehicle Can be variable.Or for the certification degree of unmanned vehicle can be fixed.In some embodiments, for The certification degree of user and unmanned vehicle can be variable.Alternatively, for user and the certification journey of unmanned vehicle Degree can be fixed.Or for user certification degree can be it is variable and for unmanned vehicle certification journey Degree can be fixed, or can be fixed while that the certification degree for being directed to unmanned vehicle can for the certification degree of user To be variable.
Certification degree can include not requiring any certification for user and/or unmanned vehicle.For example, certification degree Can be zero.Therefore, certification degree can include not being authenticated unmanned vehicle or user.Certification degree can include pair Unmanned vehicle and user are authenticated.Certification degree can include being authenticated unmanned vehicle without carrying out user Certification, or can include being authenticated user without being authenticated unmanned vehicle.
The certification degree can be selected from for unmanned vehicle and/or multiple options of the certification degree of user. For example, three options of the certification degree for unmanned vehicle and/or user can be provided (for example, high certification degree, medium Certification degree or low certification degree).Can provide any number of certification degree option (for example, 2 or more, 3 or More, 4 or more, 5 or more, 6 or more, 7 or more, 8 or more, 9 or more Individual, 10 or more, 12 or more, 15 or more, 20 or more, 25 or more options).One In the case of a little, certification degree can be generated and/or determined in the case where being selected not from one or more preset selective items.It is described Certification degree can be generated awing.
Compared to relatively low certification degree, higher certification degree may provide for user be identified user or Unmanned vehicle is the higher levels of determination of identified unmanned vehicle.Compared to relatively low certification degree, higher recognizes Card degree may provide for user identifier and actual user matches and/or unmanned vehicle identifier and actual nothing The higher levels of determination that people's aircraft matches.Higher certification degree can more tightened up than relatively low certification degree be recognized Card process.Higher certification degree can include that there is relatively low certification certification degree process to add additional authentication procedures.For example, compared with Low certification degree can only include username/password combination, and higher certification degree can include username/password combination Plus AKA verification process.Alternatively, higher certification degree can take more resources or calculate power.Alternatively, it is higher Certification degree can take a greater amount of time.
Any description to certification degree goes for auth type herein.For example, auth type use can be selected from Multiple different options.Auth type can indicate that or can not indicate higher certification degree.According to context information, Different types of verification process can be selected.For example, being based on context information, certification can be used for using username/password combination, Or certification can be used for using biometric data.According to context information, AKA verification process can occur and add biometric Data authentication, or usemame/password can occur and add biological sample data authentication.Herein to any of selection certification degree Description can be applicable to select auth type.
Context information can be used for assessing certification degree.Context information can include on user, unmanned vehicle, remote control Device, geography fence equipment, environmental condition, geographical conditions, timing condition, communication or network condition, task risk are (for example, attempt Adapter or interference risk) information or any other kinds of information that can be relevant with task.Context information can include by User, remote control, unmanned vehicle, geography fence equipment, Verification System, external equipment are (for example, external sensor, external number According to source) or any other equipment provide information.
In one example, context information can include environmental condition.For example, context information can include grasping in it Make the environment of unmanned vehicle.The environment can be environmental form, such as rural areas, rural areas or urban area.When Unmanned vehicle is located at when in urban area can be than requiring higher certification journey when unmanned vehicle is located in rural areas Degree.It can recognize when unmanned vehicle is located in urban area than requiring higher when unmanned vehicle is located in rural areas Card degree.Can be than requiring higher when unmanned vehicle is located in rural areas when unmanned vehicle is located in rural areas Certification degree.
Environmental condition can include the density of population of environment.When unmanned vehicle is located at the environment with compared with high population density Higher certification degree is required when can be than in being located at the environment with the relatively low density of population when unmanned vehicle when middle.When nobody Aircraft is located at the density of population and meets or exceeds the certification degree that can require higher when in the environment of population threshold value, and works as nobody Aircraft be located at the density of population not less than or less than in the environment of population threshold value when can require relatively low certification degree.It can carry For any number of population threshold value, it is determined for certification degree.For example, three population threshold values can be provided, wherein when Reach and/or during more than each threshold value, increased certification degree can be required.
Environmental condition can include the magnitude of traffic flow degree in environment.The magnitude of traffic flow can include air mass flow and/or base The magnitude of traffic flow in surface.The magnitude of traffic flow based on surface can include the ground carrier in environment and/or carrier waterborne.Work as nothing People's aircraft can be than when unmanned vehicle is located at relatively low traffic when being located in the environment with higher magnitude of traffic flow degree Higher certification degree is required when in the environment of flow degree.Friendship is met or exceeded when unmanned vehicle is located at magnitude of traffic flow degree Higher certification degree can be required when in the environment of through-current capacity threshold value, and is not surpassed when unmanned vehicle is located at magnitude of traffic flow degree Cross or relatively low certification degree can be required during less than in the environment of magnitude of traffic flow threshold value.Any number of traffic flow can be provided Threshold value is measured, it is determined for certification degree.For example, five magnitude of traffic flow threshold values can be provided, wherein when reaching and/or surpass When crossing each threshold value, increased certification degree can be required.
Environmental condition can include the environmental complexity of environment.Environmental complexity can indicate that the barrier in environment And/or potential potential safety hazard.The environmental complexity factor can be used to indicate that barrier takes the degree of environment.Environmental complexity because Son can be quantitative measurment or observational measurement.In some embodiments, can based in the following it is one or more come Determine the environmental complexity factor：The volume or percentage in the space that the number of barrier, barrier take, in unmanned vehicle Volume or percentage, the volume or percentage in the space not hindered by barrier in the space taken in a certain distance by barrier Than, in a certain distance of unmanned vehicle not by barrier hinder space volume or percentage, barrier fly away from nobody The distance of row device, obstacle density (for example, the barrier number in per unit space), the type of barrier (for example, it is static or It is mobile), the motion (for example, speed, acceleration) etc. of the space arrangement (for example, position, direction) of barrier, barrier.Example Such as, the environment with of a relatively high obstacle density will be with high environment complexity factor (for example, indoor environment, city ring Border) it is associated, and the environment with relatively low obstacle density will be with low environment complexity factor (for example, high idle loop Border) it is associated.In another example the environment that barrier occupies the space of larger percentage wherein will have higher complexity Property, and the environment in the unimpeded space with larger percentage will be with relatively low complexity.Then can be based on giving birth to Into environment representation carry out computing environment complexity factor.Can the 3-dimensional digital based on the environment generated using sensing data Represent to determine the environmental complexity factor.3-dimensional digital represents that three-dimensional point cloud can be included or takes grid.Work as unmanned vehicle Can be than being located at the ring with relatively low environmental complexity when unmanned vehicle when in the environment with higher environmental complexity Higher certification degree is required when in border.Environmental complexity threshold value is met or exceeded when unmanned vehicle is located at environmental complexity Environment in when can require higher certification degree, and when unmanned vehicle is located at environmental complexity not less than or less than environment Relatively low certification degree can be required when in the environment of complexity threshold value.Any number of environmental complexity threshold value can be provided, It is determined for certification degree.For example, two environmental complexity threshold values can be provided, wherein when reaching and/or more than every During one threshold value, increased certification degree can be required.
Environmental condition can include environmental weather conditions.The example of weather conditions can include but is not limited to temperature, precipitation, Wind speed or wind direction or any other weather conditions.There are more extreme or potentially harmful weather conditions when unmanned vehicle is located at Environment in when can than when unmanned vehicle be located at less extreme or harmful weather conditions environment in when require more High certification degree.Higher certification journey can be required when unmanned vehicle, which is located at, to be met or exceeded in the environment of weather threshold value Degree, and can require relatively low certification degree when unmanned vehicle is in the environment not less than or less than weather threshold value.Can To provide any number of weather threshold value, it is determined for certification degree.For example, multiple weather threshold values can be provided, its In when reaching and/or more than each threshold value, increased certification degree can be required.
Context information can include geography information.For example, context information can include the position of unmanned vehicle.Scene is believed Breath can include the geographical flight restriction for unmanned vehicle position.Some positions can be classified as sensitive position.At some In example, the position can include airport, school, campus, hospital, military area, place of safety, research institution, administrative area terrestrial reference, Power plant, private residence, shopping center, the position of any other type of aggregation ground.In some cases, the position can be returned The one kind or multiclass of class into " sensitiveness " level that can indicate that position.When unmanned vehicle is located at the position with compared with high sensitive Can be than requiring higher certification degree when unmanned vehicle is located at and has the opening position compared with low sensitivity when putting place.For example, Can be than requiring higher certification degree when user is located at shopping center when unmanned vehicle is located at safe military installations.When Unmanned vehicle, which is located at when susceptibility meets or exceeds the opening position of position sensing threshold value, can require higher certification degree, And when unmanned vehicle be located at susceptibility not less than or less than position sensing threshold value opening position when can require relatively low and recognize Card degree.Any number of position sensing threshold value can be provided, it is determined for certification degree.For example, it can provide Multiple position sensing threshold values, wherein when reaching and/or more than each threshold value, increased certification degree can be required.
Context information can include time-based information.Time-based information can be including certain in one day for the moment Between, some day in one week, the date, month, season, season, time or any other time-based information.Compared to other Period, for these periods, higher certification degree can be required.For example, in one with higher historical traffic flows Higher certification degree can be required in some day in week.For certain in one day with higher historical traffic flows or accident One time, higher certification degree can be required.For the season with more extreme amblent air temperature, it can require higher and recognize Card degree.When the time is in the range of one or more specified times, higher certification degree can be required.It can provide any The specified time scope of number, it is determined for certification degree.For example, ten time ranges can be provided, and for Each time range, there is different certification degree or type.In some cases, can it is determined that during certification degree To assign weight simultaneously for polytype time range.Such as, it may be considered that in one day sometime with one week in certain One day and for its assign weight, to determine certification degree.
Context information can include the information on user.Context information can include the identity of user.The identity of user It can indicate that user type.Context information can include user type.The example of user type can include the technical ability of user Horizontal and/or experience.Any other user profile as described by elsewhere herein may be used as context information.When user has Having can be than requiring higher certification degree when user has more technical ability or experience during less technical ability or experience.When with Family can require higher certification degree when having the technical ability or experience level for meeting or exceeding technical ability or empirical value, and work as and use Family can require relatively low certification degree when having the technical ability or experience level less than or equal to technical ability or empirical value.It can carry For any number of technical ability or empirical value, it is determined for certification degree.For example, three technical ability or experience can be provided Threshold value, wherein when reaching and/or more than each threshold value, the certification degree reduced can be required.
Context information can include the information on unmanned vehicle.Context information can include the body of unmanned vehicle Part.The identity of unmanned vehicle can indicate that unmanned vehicle type.Context information can include unmanned vehicle type.Nothing The example of people's type of aircraft can include the model of unmanned vehicle.As described by elsewhere herein any other nobody Aircraft information may be used as context information.It can compare when unmanned vehicle model is model that is more complicated or being more difficult to operation Higher certification degree is required when unmanned vehicle model is model that is simpler or being physically easier to perform.When unmanned flight's type Number complexity or difficulty higher certification degree can be required when meeting or exceeding complexity or difficulty threshold value, and when nobody flies The complexity or difficulty of row type number can require relatively low certification degree when being less than or equal to complexity or difficulty threshold value.Can be with Any number of complexity or difficulty threshold value is provided, it is determined for certification degree.For example, four complexity can be provided Or difficulty threshold value, wherein when reaching and/or more than each threshold value, increased certification degree can be required.
Context information can include the complexity of being performed by unmanned vehicle for task.Unmanned vehicle is during mission One or more tasks can be performed.Task can include flying along flight path.Task can include collecting on nobody The information of aircraft environment.Task can include data of the transmission from unmanned vehicle.Task can include picking up, carrying And/or place load.Task can include the power on management unmanned vehicle machine.Task, which can include monitoring or photography, to be made Life.In some cases, more calculating or process resource on unmanned vehicle machine have been used during in completion task When, task complexity can be higher.In one example, detect mobile target and follow the mobile mesh using unmanned vehicle Target task can be more more complicated than the task of the music of the loudspeaker played pre-recorded from unmanned vehicle.Work as unmanned vehicle Task can be than requiring higher certification degree when unmanned vehicle task is simpler when more complicated.When unmanned vehicle task Complexity can require higher certification degree when meeting or exceeding task complexity threshold value, and when unmanned vehicle task is complicated Property can require relatively low certification degree when being less than or equal to task complexity threshold value.It is complicated that any number of task can be provided Property threshold value, it is determined for certification degree.For example, multiple tasks complexity threshold value can be provided, wherein when reaching and/or During more than each threshold value, increased certification degree can be required.
Context information can include the information on communication system around.For example, the presence of wireless signal or not in environment In the presence of the example that can be context information.In some cases, can provide influence one or more surrounding wireless signals can Energy property is as context information.The number of wireless signal can influence or can not influence to wireless around one or more in environment The possibility that signal has an impact.Provided that greater number of signal, then there may be at least one possibility among them It is affected compared with high likelihood.The safe class of wireless signal can influence or can not influence to one or more in environment The possibility that surrounding wireless signal has an impact.For example, the wireless signal with some guarantees is more, then they will be affected Possibility it is smaller.Can be more one or more than when influenceing when the possibility for influenceing one or more surrounding wireless signals is higher Higher certification degree is required when the possibility of surrounding wireless signal is relatively low.Can when influence one or more surrounding wireless signals When energy property meets or exceeds communication threshold, higher certification degree can be required, and when the one or more surrounding wireless communications of influence Number possibility when being less than or equal to communication threshold, relatively low certification degree can be required.Any number of communication can be provided Threshold value, it is determined for certification degree.For example, multiple communication thresholds can be provided, wherein when reaching and/or more than each During threshold value, increased certification degree can be required.
The risk for disturbing the operation of unmanned vehicle can be the example of context information.Context information can include on nothing Information of people's aircraft by the risk of hacker attacks/abduction.Another user can attempt to take over control in an unauthorized manner Unmanned vehicle.Can be than being wanted when the risk of hacker attacks/abduction is relatively low when higher hacker attacks/abduction risk be present Seek higher certification degree.Higher certification can be required when the risk of hacker attacks/abduction meets or exceeds risk threshold value Degree, and relatively low certification degree can be required when the risk of hacker attacks/abduction is less than or equal to risk threshold value.It can carry For any number of risk threshold value, it is determined for certification degree.For example, multiple risk threshold values can be provided, wherein when Reach and/or during more than each threshold value, increased certification degree can be required.
Context information can include the information of the risk on interference unmanned vehicle communication.For example, it is another without permission User can disturb the communication of authorized user and unmanned vehicle in an unauthorized manner.Unauthorized user can To disturb order of the authorized user to unmanned vehicle, this may be influenceed to the control to unmanned vehicle.Without permission User can disturb and sent from unmanned vehicle to the data of the equipment of authorized user.When higher interference be present, nobody flies Can be than requiring higher certification degree when the risk of interference unmanned vehicle communication is relatively low during the risk of row device communication.When dry The risk of unmanned vehicle communication is disturbed when meeting or exceeding risk threshold value, higher certification degree can be required, and when interference nothing When the risk of people's aircraft communication is less than or equal to risk threshold value, relatively low certification degree can be required.Any number can be provided Purpose risk threshold value, it is determined for certification degree.For example, multiple risk threshold values can be provided, wherein when reaching and/or During more than each threshold value, increased certification degree can be required.
Context information can include the information on one or more groups of air traffic control.Context information can include on region In flight restriction degree information.This can be based on current winged limitation or history flight restriction.Flight restriction can be by controlling Entity applies.Can be than when relatively low flight restriction degree in region being present when higher flight restriction degree in region be present Certification degree higher Shi Yaoqiu.It can require higher when the flight restriction degree in region meets or exceeds threshold limit Certification degree, and relatively low certification degree can be required when the flight restriction degree in region is less than or equal to threshold limit. Any number of threshold limit can be provided, it is determined for certification degree.For example, multiple threshold limits can be provided, Wherein when reaching and/or more than each threshold value, increased certification degree can be required.
It is determined that during for the certification degree of user and/or unmanned vehicle, can individually or in combination make With any kind of context information.The type of used context information can remain identical or can change.When commenting When estimating polytype context information, them can be substantially simultaneously assessed to obtain the determination to certification degree.Polytype Context information can be considered as identical factor.Or can be that polytype context information assigns weight, and differ Surely need for identical factor.Context information type with bigger weight can be to identified certification degree with bigger shadow Ring.
The determination to certification degree can be made on unmanned vehicle machine.Unmanned vehicle can be received and/or generated Used context information.The one or more processors of unmanned vehicle can be from external data source (for example, Verification System) Or the data source (for example, sensor, clock) on unmanned vehicle machine receives context information.In some embodiments, one Or multiple processors can be from the air traffic control system receive information outside unmanned vehicle machine.Information from air traffic control system can be evaluated To determine certification degree.Information from air traffic control system can be context information, or can be additional to elsewhere herein institute The type of the context information of description.One or more processors can be determined using the context information received with making.
The determination to certification degree can be made outside unmanned vehicle.For example, determination can be made by Verification System. In some cases, the air traffic control system outside unmanned vehicle machine or authentication center can make the determination on certification degree.Recognize The one or more processors of card system can from external data source (for example, unmanned vehicle, external sensor, remote control) or Data source (for example, clock, information on other unmanned vehicles) in Verification System receives context information.In some implementations In mode, one or more of processors can be outside unmanned vehicle, remote control, distance sensor or Verification System Other external equipment receive informations.One or more of processors can be determined using the context information received with making.
In another case, determination can be made on the remote control of user.Remote control, which can be received and/or generated, to be made Context information.The one or more processors of remote control can be from external data source (for example, Verification System) or remote control On data source (for example, memory, clock) receive context information.In some embodiments, one or more processors can With the air traffic control system receive information outside remote control.Information from air traffic control system can be evaluated to determine certification degree.Come It can be context information from the information of air traffic control system, or the context information class described by elsewhere herein can be additional to Type.One or more of processors can be determined using the context information received with making.
In the determination to certification degree is made based on context information, any other external equipment can be used.Can be with Using single external equipment or multiple external equipments can be used in conjunction with.Other external equipments can receive from machine external source or The context information in airborne source.Other external equipments can include can be used the context information that receives with make the one of determination or Multiple processors.
Figure 10 is shown according to embodiment of the present invention may be by the diagram for the air traffic control grade that certification degree is influenceed. One group, which can be generated, can influence the air traffic control of operation of unmanned vehicle.Certification degree can be based on and generate one group of tof tube System.One group of air traffic control can be generated based on the certification degree of completion.It is contemplated that whether successfully pass certification.Certification degree Go for any part of system, such as unmanned vehicle certification, user authentication, remote control certification, geography fence equipment Certification and/or the certification of any other type.
In some embodiments, when certification degree 1010 increases, air traffic control grade 1020 can reduce.If Through forming higher certification degree, then it can relatively be not concerned with and need the limitation to flight.Certification degree and air traffic control grade It can be inversely proportional.Certification degree and air traffic control grade can linearly (for example, linear inverse ratio).Certification degree and fly Row control grade can be with exponentially ratio (for example, exponentially inverse ratio).It can be carried between certification degree and air traffic control grade For any other inverse relation.In the alternative, the relation can be with directly proportional.The relation can directly into Linear scale, direct exponentially ratio or any other relation.Air traffic control grade can depend on performed certification degree. In the alternative, air traffic control grade can be unrelated with certification degree.Can on or can be not in relation to certification journey Spend and select air traffic control grade.When certification degree is relatively low, restricted one group of higher air traffic control can be generated.Work as certification When degree is higher, restricted one group of relatively low air traffic control can be generated.Can be based on or certification degree can be not based on and Generate one group of air traffic control.
One aspect of the present invention is related to a kind of method for the air traffic control grade for determining the operation for unmanned vehicle, Methods described includes：Using one or more processors, the user to the unmanned vehicle or the unmanned vehicle is assessed Certification degree；Certification to the unmanned vehicle or the user is realized according to the certification degree；Recognized based on described Card degree and generate one group of air traffic control；And the operation of the unmanned vehicle is realized according to one group of air traffic control. Similarly, embodiments of the present invention can be related to a kind of program for the air traffic control grade for including and being used to determine unmanned vehicle The non-transient computer-readable media of instruction, the computer-readable medium include：For assess to unmanned vehicle or nobody The programmed instruction of the certification degree of the user of aircraft；For being realized according to the certification degree to the unmanned vehicle or institute State the programmed instruction of the certification of user；For generating the programmed instruction of one group of air traffic control based on the certification degree；And For the programmed instruction for the signal for providing the operation for allowing to realize unmanned vehicle according to one group of air traffic control.
A kind of unmanned vehicle Verification System can be provided, including：Communication module；And one or more processors, its It is operably coupled to the communication module and is either individually or collectively used for：Assess to the unmanned vehicle or the nothing The certification degree of the user of people's aircraft；Realize and the unmanned vehicle or the user are recognized according to the certification degree Card；And one group of air traffic control is generated based on the certification degree.A kind of unmanned vehicle authentication module can include：One Or multiple processors, it is either individually or collectively used for：Assess the user to the unmanned vehicle or the unmanned vehicle Certification degree；Certification to the unmanned vehicle or the user is realized according to the certification degree；And based on institute State certification degree and generate one group of air traffic control.
As described by elsewhere herein, certification degree can be included without appointing to user and/or unmanned vehicle What certification.For example, certification degree can be zero.Therefore, certification degree can include not recognizing unmanned vehicle or user Card.Certification degree can include being authenticated both unmanned vehicle and user.Certification degree can include to unmanned flight Device is authenticated without being authenticated to user, or can include being authenticated user without entering unmanned vehicle Row certification.
The certification degree can be selected from for unmanned vehicle and/or multiple options of the certification degree of user. For example, three options of the certification degree for unmanned vehicle and/or user can be provided (for example, high certification degree, medium Certification degree or low certification degree).Can provide any number of certification degree option (for example, 2 or more, 3 or More, 4 or more, 5 or more, 6 or more, 7 or more, 8 or more, 9 or more Individual, 10 or more, 12 or more, 15 or more, 20 or more, 25 or more options).One In the case of a little, certification degree can be generated and/or determined in the case where being selected not from one or more preset selective items.It is described Certification degree can be generated awing.Unmanned vehicle and/or user can be authenticated according to certification degree.Such as Fruit/and when unmanned vehicle and/or user are by verification process, then it can be considered as certified.If unmanned vehicle and/ Or user undergoes but not authenticated process, then it can be considered as unauthenticated.For example, identifier/key mismatch can Example during being not authenticated.There is provided, the not biometric number with the biometric data match on file According to another example when can be not authenticated.It can be not by recognizing to provide incorrect login username/password combination Additional example during card process.
Information on certification degree can include the level or species of the certification having occurred and that.The horizontal or species can To be qualitatively and/or quantitative.One or more types that information on certification degree can include having occurred and that are recognized Card.The data that information on certification degree can include being collected into during certification are (if for example, certification includes processing biology Data, then it can provide the biological data in itself).
Certification degree can be based on and generate one group of air traffic control.Any description to certification degree can also be applied herein In auth type.One group of air traffic control can be generated according to any technology as described by elsewhere herein.For example, pass through One group of air traffic control is selected from multigroup air traffic control to generate one group of air traffic control.From the beginning in another example, can be Start to generate one group of air traffic control.One group of air traffic control can be generated by means of the input from user.
One group of air traffic control can be generated by means of one or more processors.The generation of one group of air traffic control can To occur on unmanned vehicle machine.Unmanned vehicle can receive and/or generate used certification degree.Unmanned vehicle One or more processors can be from the data sources on external data source or unmanned vehicle machine on certification degree Information.In some embodiments, one or more of processors can receive from the air traffic control system outside unmanned vehicle machine Information.The information from air traffic control system can be assessed to generate one group of air traffic control.One or more of processors can make With it is being received, on the information of certification degree with make determine.
The generation of one group of air traffic control can occur outside unmanned vehicle machine.For example, one group of air traffic control Generation can be realized by Verification System.In some cases, the air traffic control system outside unmanned vehicle machine or authentication center can be with Generate one group of air traffic control.The one or more processors of Verification System can be from the number on external data source or Verification System The information on certification degree is received according to source.In some embodiments, one or more of processors can fly from nobody Other external equipment receive informations outside row device, remote control, distance sensor or Verification System.One or more of processing Device can use it is being received, on the information of certification degree with make determine.
In another case, the generation of one group of air traffic control can occur on the remote control of user.Remote control Certification degree used in can receiving and/or generating.The one or more processors of remote control can from external data source or Information of the data sources on certification degree on remote control.In some embodiments, one or more of processing Device can be from the air traffic control system receive information outside remote control.The information from air traffic control system can be assessed to generate one group of flight Control.One or more of processors can use the information on certification degree and be determined with making.
During one group of air traffic control is generated based on certification degree, any other external equipment can be used.Can So that using single external equipment or multiple external equipments can be used in conjunction with.Other external equipments can be with slave external source or airborne Source receives the context information on certification degree.Other external equipments can include one or more processors, the processor Can use it is being received, on the information of certification degree with make determine.
Unmanned vehicle can be operated according to one group of air traffic control.The user of unmanned vehicle can send realization One or more orders of the operation of unmanned vehicle.The order can be sent by means of remote control.It can observe described The operation of unmanned vehicle is realized in one group of air traffic control.If one or more order does not comply with one group of air traffic control, It can then keep observing one group of air traffic control so as to unmanned vehicle with order described in override.When the order observes described one During group air traffic control, the order in the case where not interfering with without that by override and be able to can realize to unmanned flight The control of device.
Device identification stores
Figure 11 shows the example that can store facility information in memory according to embodiment of the present invention.It can provide Storage system 1110.It can provide from one or more user 1115a, 1115b, one or more user terminals 1120a, 1120b and/or one or more unmanned vehicle 1130a, 1130b information.Described information can include one Individual or multiple orders, associated user identifiers, associated unmanned vehicle identifier, associated timing information and Any other associated information.One or more information collection 1140 can be stored.
Storage system 1110 can include one or more Memory Storage Units.Storage system can be with Including one or more databases, the database can store information described herein.Storage system can wrap Include computer-readable medium.One or more electronic memory modules can be provided, such as memory (for example, read-only storage, with Machine access memory, flash memory) or hard disk." storage " class medium can include computer, processor etc. or it is associated Module in any or all of Tangible storage, various semiconductor memories, magnetic tape drive, disk drive etc., it can To provide the non-transient storage for software programming at any time.In some embodiments, non-volatile memory medium example Such as include any storage device in CD or disk, any one or more computers etc., such as available for realizing number According to the medium in storehouse etc..Volatile storage medium includes dynamic memory, the main storage of such computer platform.Tangible Transmission medium includes coaxial cable, copper cash and optical fiber, and it is included in the wire for including bus in computer system.Carrier-wave transmission is situated between Matter can take electric signal or electromagnetic signal, or the form of sound wave or light wave, such as in radio frequency (RF) and infrared (IR) data Those of communication period generation.Therefore computer-readable medium common form for example including：Floppy disk, flexible disk, hard disk, magnetic Band, any other magnetizing mediums, CD-ROM, DVD or DVD-ROM, any other optical medium, card punch paper tape, there is hole pattern Any other physical storage medium of case, RAM, ROM, PROM and EPROM, FLASH-EPROM, any other memory chip or Cassette memory, the carrier wave of transmission data or instruction, the cable or link of the such carrier wave of transmission, or computer can be read therefrom Take any other of programming code and/or data medium.Many in the computer-readable medium of these forms can participate in taking One or more sequences with one or more instruction are to processor, for performing.
Storage system may be provided on single opening position, or can be distributed on multiple positions.In some realities Apply in mode, storage system can include single Memory Storage Unit or multiple Memory Storage Units.It can carry For cloud computer architecture.In some cases, reciprocity (P2P) storage system can be provided.
Storage system can be provided outside unmanned vehicle machine.Can above it be carried in the equipment outside unmanned vehicle For storage system.Storage system can be provided outside remote control.Can be in the equipment outside remote control Storage system is provided.Storage system can be provided outside unmanned vehicle and remote control.Memory storage System can be a part for Verification System.Storage system can be a part for air traffic control system.Memory storage system System can include one or more memory cells, and the memory cell can be the one of the Verification Systems such as air traffic control system Individual or multiple memory cells.Or storage system can be separated with Verification System.Storage system can be with Possessed and/or operated by same entity with Verification System.Or storage system can be from Verification System by different realities Body possesses and/or operated.
Communication system can include one or more loggers.One or more loggers can be received from communication system Any equipment data.For example, one or more loggers can receive the data from one or more unmanned vehicles. One or more loggers can receive the data from one or more users and/or remote control.One or more can be passed through Individual logger and one or more Memory Storage Units are provided.For example, can be by receiving from unmanned vehicle, user And/or one or more message of remote control one or more loggers and one or more Memory Storage Units are provided. One or more loggers can have or can not have the scope of limited receive information.For example, logger can be used for Data are received from the equipment being located at the logger in same physical region.For example, when unmanned vehicle is located in the firstth area When, the first logger can receive the information from the unmanned vehicle, and when unmanned vehicle is located in the secondth area, the Two loggers can receive the information from the unmanned vehicle.Or logger is without limited scope and can be with The information from equipment (for example, unmanned vehicle, remote control) is received, regardless of whether the equipment is located at where.Logger can be with It is Memory Storage Unit and/or the information collected can be transmitted to Memory Storage Unit.
Information from one or more user 1115a, 1115b can be stored in storage system.The letter Breath can include user identity information.The example of user identity information can include user identifier (for example, ID 1, user ID2, ID 3 ...).User identifier can be unique for user.In some cases, the information from user can With including helping to be identified user and/or the information of certification.Information from one or more users can include closing In the information of user.Information from one or more users can include one or more orders from user (for example, life Make 1, order 2, order 3, order 4, order 5, order 6 ...).One or more order can include realizing unmanned vehicle The order of operation.One or more order can be used for controlling the flight of unmanned vehicle, the taking off of unmanned vehicle, nobody flies The landing of row device, the operation of the load of unmanned vehicle, the operation of carrier of unmanned vehicle, one on unmanned vehicle machine Or the operation of multiple sensors, one or more communication units of unmanned vehicle, one or more power of unmanned vehicle Any feature of unit, one or more navigation elements of unmanned vehicle and/or unmanned vehicle.Any other type Information can provide from one or more users, and can be stored in storage system.
In some embodiments, all user's inputs can be stored in storage system.It is or only selected User input can be stored in storage system.In some cases, only certain form of user inputs storage In storage system.For example, in some embodiments, only user identifies input and/or command information is stored in In storage system.
User can carry optionally with the aid of one or more user terminal 1120a, 1120b to storage system For information.User terminal can be the equipment that can be interacted with user.User terminal can be can be with unmanned vehicle The equipment interacted.User terminal can be the remote control for sending one or more operational orders to unmanned vehicle. User terminal can be for showing the display device of data based on the information received from unmanned vehicle.User terminal can be with Information can be sent to unmanned vehicle and from unmanned vehicle receive information simultaneously.
User can provide information by means of the equipment of any other type to storage system.For example, can be with One or more computers or other equipment are provided, it can receive user's input.The equipment can be to depositing Reservoir memory device communication user inputs.The equipment with unmanned vehicle without interacting.
User terminal 1120a, 1120b can provide information to storage system.User terminal can provide on The information of user, the information of user command or any other type.User terminal can be provided on user terminal itself Information.For example, user terminal identification can be provided.In some cases, user identifier and/or user terminal mark can be provided Know symbol.User key and/or user terminal key can be alternatively provided.In some instances, user is not provided on user Any input of key, but user key information can store on the subscriber terminal or can be can be by user terminal access 's.In some cases, user key information can be stored on the physical storage of user terminal.Or user key letter Breath can be stored in machine outer (for example, being stored on cloud) and can be by user terminal access.In some embodiments In, user terminal can transmit user identifier and/or associated order.
Unmanned vehicle 1130a, 1130b can provide information to storage system.Unmanned vehicle can provide Information on the unmanned vehicle.For example, unmanned vehicle identification information can be provided.Unmanned vehicle identification information Example can include unmanned vehicle identifier (for example, unmanned vehicle ID1, unmanned vehicle ID2, unmanned vehicle ID3……).Unmanned vehicle identifier can be unique for unmanned vehicle.In some cases, from unmanned flight The information of device can include helping to be identified the unmanned vehicle and/or the information of certification.From one or more The information of unmanned vehicle can include the information on the unmanned vehicle.Letter from one or more unmanned vehicles One or more orders that breath can include being received by the unmanned vehicle are (for example, order 1, order 2, order 3, order 4th, order 5, order 6 ...).One or more of orders can include the order for realizing the operation of unmanned vehicle.It is described One or more order can be used for controlling the flight of unmanned vehicle, the taking off of unmanned vehicle, the landing of unmanned vehicle, The operation of the load of unmanned vehicle, the operation of the carrier of unmanned vehicle, one or more sensings on unmanned vehicle machine The operation of device, one or more communication units of unmanned vehicle, unmanned vehicle one or more power cells, nobody fly One or more navigation elements of row device and/or any feature of unmanned vehicle.The information of any other type can be with There is provided from one or more unmanned vehicles and can be stored in storage system.
In some embodiments, can before the information storage that user is related is in storage system to Family is authenticated.For example, can obtain user identifier and/or by storage system store the user identifier it It is preceding that user is authenticated.Therefore, in some implementations, only certified user identifier is stored in storage system In.Or user needs not move through certification, and the user identifier claimed can be stored in memory storage system before certification In system.If having passed through certification, the instruction that user identifier has been verified can be made., can if not authenticated The instruction of suspicious activity has been marked as to make user identifier, or has made and carries out failure using the user identifier Authentication attempt instruction.
It is alternatively possible to nobody is flown before by the related information storage of unmanned vehicle in storage system Row device is authenticated.For example, can obtain unmanned vehicle identifier and/or by storage system store it is described nobody Unmanned vehicle is authenticated before aircraft identifier.Therefore, in some implementations, only certified unmanned vehicle Identifier is stored in storage system.Or unmanned vehicle needs not move through certification, and the unmanned vehicle claimed Identifier can be stored in storage system before certification.If having passed through certification, unmanned flight can be made The instruction that device identifier has been verified.If not authenticated, unmanned vehicle identifier can be made and be marked as The instruction of suspicious activity, or make the instruction for the authentication attempt for carrying out failure using the unmanned vehicle identifier.
In some embodiments, only one or more fly just is allowed when user is authorized to operation unmanned vehicle Line command.Can or can not it is determined that user whether be authorized to operation unmanned vehicle before to the user and/or The unmanned vehicle is authenticated.Can be before user's Authorized operation unmanned vehicle be allowed to the user and/or institute Unmanned vehicle is stated to be authenticated.In some cases, only when user is authorized to operation unmanned vehicle, memory storage Order in system can be just stored.Only when user and/or unmanned vehicle pass through certification, in storage system Order can be just stored.
Memory Storage Unit can store one or more information collection 1140.Information collection can include from user, use The information of family terminal and/or unmanned vehicle.Information collection can include one or more orders, user identifier, unmanned flight Device identifier and/or associated time.User identifier can be associated with sending the user of order.Unmanned vehicle identifies Symbol can be associated with reception and/or exectorial unmanned vehicle.Time can be when sending and/or receive order Between.Time can will order the time of storage in memory.Time can be the unmanned vehicle exectorial time. Under certain situation, single order can be provided for single piece of information collection.Or multiple orders can be provided for single piece of information collection.Institute The order sent by user and the corresponding order received by unmanned vehicle can be included by stating multiple orders.Or can be with Single order is provided, the order can be recorded when being sent from user, or can by unmanned vehicle receive and/or It is recorded when being performed by unmanned vehicle.
Therefore, the order of correlation can be provided for multiple information collection.For example, when user sends order, can be stored One information collection.It can reflect when user sends order or when information collection is stored in and deposits for the time of first information collection In reservoir storage system.It is alternatively possible to using the data from remote control to provide first information collection.When unmanned vehicle connects When receiving order, the second information collection can be stored.It can reflect when unmanned vehicle receives for the time of the second information collection When order or information collection are stored in storage system.It is alternatively possible to use the data from unmanned vehicle The second information collection is provided with the order based on correlation.When unmanned vehicle, which performs, orders, the 3rd information collection can be stored.Pin When unmanned vehicle, which performs order, or when information collection is stored in memory to be reflected to the time of the 3rd information collection In storage system.It is alternatively possible to provide the 3rd information using the data from unmanned vehicle with the order based on correlation Collection.
Storage system can be stored on the specific letter interacted between the first user and the first unmanned vehicle Breath collection.For example, send multiple orders during being interacted between the first user and the first unmanned vehicle.Interaction can be The execution of task.In some cases, Memory Storage Unit can only store the information on specific interaction.Or storage Device storage system can store to be interacted (for example, multiple tasks) on multiple between the first user and the first unmanned vehicle Information.Storage system alternatively can store information according to user identifier.The data associated with the first user It can store together.Or Memory Storage Unit can store information according to unmanned vehicle identifier.With the first nothing The associated data of people's aircraft can store together.Memory Storage Unit can be according to the friendship of user-unmanned vehicle Mutually store information.For example, together with being stored with the data that the first unmanned vehicle and the first user associate jointly.One In the case of a little, it can be stored in memory only with respect to the information of user, unmanned vehicle or user-unmanned vehicle combination and deposit In storage unit.
Or storage system can store the letter on the interaction between multiple users and/or unmanned vehicle Breath collection.Storage system can be the data storage bank for collecting the information from multiple users and/or unmanned vehicle.Deposit Reservoir storage system can store the information from multiple tasks, its can include each user, each unmanned vehicle and/or Each user-unmanned vehicle combination.In some cases, the information collection in storage system can be can search for or It can index.Can be according to any parameter, such as user identity, unmanned vehicle identity, time, user-unmanned vehicle group Conjunction, command type, position or any other information, to search or index information collection.Information can be stored according to any parameter Collection.
In some cases, the information in storage system can be analyzed.Information collection can be analyzed to detect one Or multiple behavior patterns.Information collection can be analyzed with detect may be relevant with accident or undesirable condition one or more characteristics. For example, if specific user continually makes the unmanned vehicle of specific model crash, the data can be extracted.Show another In example, if another user tends to attempt to manipulate unmanned vehicle into according to ground of the one group of air traffic control without allowing flight Qu Zhong, then it can extract such information.Statistical analysis can be carried out to the information collection in Memory Storage Unit.Such system Meter analysis can aid in mark trend or correlative factor.For example, it may be noted that some unmanned vehicle models in general may be used So that there is higher accident rate than other unmanned vehicle models.Information collection can be analyzed to determine：When the temperature drop in environment During to less than 5 degrees Celsius, higher unmanned vehicle fault rate may be typically present.Therefore, can be deposited with comprehensive analysis memory Information in storage system is to collect the information of the operation on unmanned vehicle.Such comprehensive analysis is without in response to specific Event or scene.
The information in storage system can be analyzed in response to specific event or scene.If for example, Generation unmanned vehicle crashes, then can analyze the information associated with the unmanned vehicle and enter one on crash to provide Walk jurisdictional information.Occur if unmanned vehicle crashes during task, the information that will can be collected into during the task Collection is pulled together and analyzed.For example, the mismatch between the order sent and the order received can be identified.Can be with Environmental condition when analysis is crashed.The presence of other unmanned vehicles or barrier in area can be analyzed.In some embodiment party In formula, information collection from other tasks, for unmanned vehicle can also be pulled.For example, in other tasks, Ke Yijian Measure to exist and some lucky exempt to hit or failure.Such information is it is determined that crash reason and/or times for needing to take afterwards that crash What can be useful during taking action.
Can be movable to track the unmanned vehicle of individuation with the information that use information is concentrated.It is, for example, possible to use one Or multiple orders, associated one or more user identifiers and associated one or more unmanned vehicle identifiers To track the activity of the unmanned vehicle of individuation.
Information collection can be with stored command, user profile, unmanned vehicle information, timing information, positional information, environmental condition Information, air traffic control information or any condition detected.Any information can correspond to order.For example, geography information can be with Including the position of unmanned vehicle and/or remote control when sending order.Geography information can indicate that unmanned vehicle is It is no to fall into in the area for considering air traffic control purpose.Environmental condition can include one or more environmental conditions in region.Example Such as, when sending or receiving order, it may be considered that the environmental complexity of unmanned vehicle peripheral region.It is contemplated that when sending or The weather that unmanned vehicle is undergoing when receiving order.Order can occur a time point.
Can be with real-time update storage system.For example, when sending, receiving and/or performing order, they can be with Any other information for carrying out self-information collection is recorded in storage system together.This can occur in real time.Can send, Receive and/or it is exectorial be less than 10 minutes, 5 minutes, 3 minutes, 2 minutes, 1 minute, 30 seconds, 15 seconds, 10 seconds, 5 seconds, 3 seconds, Any relevant information that stored command and information are concentrated in 1 second, 0.5 second or 0.1 second.Information collection can store in any way Or it is recorded in storage system.Enter in information collection it is fashionable, can record described information collection without consider other specification, it is all Such as user identity, unmanned vehicle identity or user-unmanned vehicle combination.Or, it may be considered that other specification and record it .For example, it can be stored together for all information collection of same user.Even if information collection does not store all together, it Can search for and/or can index, to find associated information.If for example, letter for specific user Breath collection enters at different time points and recorded together with the information collection from other users, then information collection can be can search for , to find all information collection associated with the user.
In the alternative, storage system can be without real-time update.Storage system can be with Rule or irregular time interval and be updated periodically.For example, storage system can weekly, daily, per some Hour, per hour, per half an hour, it is every 15 minutes, every 10 minutes, every 5 minutes, every 3 minutes, per minute, every 30 seconds, every 15 seconds, Every 10 seconds, every five seconds for example or renewal per second.In some cases, renewal time table can be provided, the renewal time table can include Rule or irregular renewal time.Renewal time table can be fixed, or can be modifiable.In certain situation Under, renewal time table can be changed by the manipulator of storage system or manager.Renewal time table can be by certification system The manipulator of system or manager's change.The user of unmanned vehicle or can can not change the renewal time Table.The user of unmanned vehicle can change the renewal time table of the unmanned vehicle associated with the user.User It can change it and be authorized to the renewal time table of the unmanned vehicle of operation.
Storage system can be updated in response to the event or the situation that detect.For example, work as memory storage system During manipulator's solicited message of system, storage system can be asked or pulled from one or more external sources (for example, distant Control device, unmanned vehicle, user) information collection.In another example, when situation (crash such as the detected) hair detected When raw, storage system can ask or pull information collection.In some instances, one or more external source (examples Such as, remote control, unmanned vehicle, user) can be to storage system pushed information collection.If for example, unmanned vehicle The unmanned vehicle is detected close to restricted area, then the unmanned vehicle can be to storage system push letter Breath collection.In another example, if remote control or unmanned vehicle are recognized to there may be some interference wireless signals, they can With to Memory Storage Unit pushed information collection.
One aspect of the present invention can be related to a kind of method of record unmanned vehicle (UAV) behavior, methods described bag Include：Receive the unmanned vehicle identifier that the unmanned vehicle is uniquely identified out from other unmanned vehicles；Receive from The user identifier of user is uniquely identified out in other users, wherein the user provides one or more via remote control Order to realize the operation of the unmanned vehicle；And recorded in one or more Memory Storage Units it is one or It is multiple order, the user identifier associated with one or more of orders and with one or more of order phases The unmanned vehicle identifier of association.Similarly, according to the embodiment of the present invention, a kind of include can be provided to be used to remember The non-transient computer-readable media of the programmed instruction of unmanned vehicle (UAV) behavior of record, the computer-readable medium include： For making the user identifier programmed instruction associated with one or more orders from user, wherein the user identifier Uniquely identify out user from other users, and wherein described user provided via remote control one or more orders with Realize the operation of the unmanned vehicle；For making the unmanned vehicle identifier journey associated with one or more of orders Sequence instructs, wherein the unmanned vehicle identifier uniquely identifies out the unmanned vehicle from other unmanned vehicles； And for recording one or more of orders and one or more of lives in one or more Memory Storage Units The associated user identifier of order and the unmanned vehicle identifier associated with one or more of orders Programmed instruction.
According to the embodiment of the present invention, a kind of unmanned vehicle (UAV) behavior record system can be provided.The system It can include：One or more Memory Storage Units；And one or more processors, it is operably coupled to described one Individual or multiple Memory Storage Units and either individually or collectively it is used for：Reception uniquely identifies from other unmanned vehicles Go out the unmanned vehicle identifier of the unmanned vehicle；Receive user's mark that user is uniquely identified out from other users Symbol, wherein the user provides one or more orders via remote control to realize the operation of the unmanned vehicle；And Recorded in one or more Memory Storage Units it is one or more of order, it is associated with one or more of orders The user identifier and the unmanned vehicle identifier associated with one or more of orders.
Information collection can be stored any a period of time by storage system.In some cases, can be indefinitely Information collection is stored, until they are deleted.It can allow or can not allow to delete information collection.In some cases, can be with Only the manipulator of storage system or manager is allowed to be interacted with the data being stored in storage system. Under certain situation, the manipulator of Verification System (for example, air traffic control system, authentication center) can be only allowed to be deposited with being stored in memory Data in storage system interact.
It is alternatively possible to described information collection is automatically deleted over time, become.The period can preestablish.Example Such as, described information collection can be automatically deleted after more than predetermined amount of time.The example of predetermined amount of time can include but unlimited In 20 years, 15 years, 12 years, 10 years, 7 years, 5 years, 4 years, 3 years, 2 years, 1 year, 9 months, 6 months, 3 months, 2 months, 1 month, 4 Week, 3 weeks, 2 weeks, 1 week, 4 days, 3 days, 2 days, 1 day, 18 hours, 12 hours, 6 hours, 3 hours, 1 hour, 30 minutes or 10 points Clock.In some cases, only after a predetermined time period has elapsed, information collection can be just deleted manually.
Adapter control
In some embodiments, the operation of unmanned vehicle may be compromised.In one example, user can grasp Make unmanned vehicle.Another user (for example, hijacker) can attempt adapter control unmanned vehicle in an unauthorized manner. Systems and methods described herein can allow to detect such trial.Systems and methods described herein can also provide The response attempted is kidnapped to such.In some embodiments, can analyze the information collected in storage system with Detection is kidnapped.
Figure 12 shows that hijacker attempts the diagram of the scene of adapter control unmanned vehicle according to embodiment of the present invention. User 1210 can send user command using user remote controller 1215 to unmanned vehicle 1220.Hijacker 1230 can make Ordered with hijacker's remote control 1235 with sending hijacker to unmanned vehicle 1220.Hijacker's order can be disturbed described User command.
In some embodiments, user 1210 can be the authorized user of unmanned vehicle 1220.User can be with Unmanned vehicle has initial relation.User alternatively can carry out registered in advance to unmanned vehicle.User can kidnap Person attempts to operate the unmanned vehicle before adapter control unmanned vehicle.In some cases, fly if user is nobody The authorized user of row device, then the user can operate the unmanned vehicle.If user is not the warp of unmanned vehicle Authorized user, then the user can be not allowed to operate the unmanned vehicle, or can operate in a limited manner described Unmanned vehicle.
User identity can be authenticated.In some cases, can user operate unmanned vehicle before to Family identity is authenticated.Can it is determined that user whether be unmanned vehicle authorized user prior to, concurrently with, or after to institute User is stated to be authenticated.If user passes through certification, the user can operate unmanned vehicle.If user is without recognizing Card, then the user can be not allowed to operate the unmanned vehicle, or can operate in a limited manner it is described nobody fly Row device.
User 1210 can control the operation of unmanned vehicle 1220 using user remote controller 1215.Remote control can obtain Take family input.Remote control can transmit user command to unmanned vehicle.User command can be inputted and given birth to based on user Into.User command can control the operation of unmanned vehicle.For example, user command can control the flight of unmanned vehicle (for example, flight path, take off, land).User command can control it is one or more load operate, one or more loads Position, the operating of one or more carriers, the operating of one or more sensors, the operation of one or more communication units, The operation of one or more navigation elements and/or the operation of one or more power cells.
In some cases, user command can persistently be sent to unmanned vehicle.Even if user does not lead at a time It is dynamic that input is provided, or to keep present situation or sent out based on recently inputting of being provided from the user to unmanned vehicle Lose one's life order., can be with for example, if user's input includes the movement of control stick and user makes control stick be maintained at special angle Flight orders are sent to unmanned vehicle based on the known control stick angle from previous movement.In some cases, can be with User's input is persistently provided to remote control, even if user does not move actively or physically changed anything.For example, if user is defeated Enter including remote control being tilted into particular pose and user does not adjust the posture set up, then can be obtained based on test constantly To the remote control posture and persistently provide user input.For example, if remote control is angled within the period of extension A, then during the period, user's input can be read as " posture of remote control is angle A ".Can be to unmanned vehicle Flight orders are transmitted, the flight orders indicate the flight orders in response to " posture of remote control is angle A ".Can be real-time User command of the renewal for unmanned vehicle.User command can reflect less than 1 minute, 30 seconds, 15 seconds, 10 seconds, 5 seconds, 3 User's input in second, 2 seconds, 1 second, 0.5 second, 0.1 second, 0.05 second or 0.01 second.
Alternatively, without persistently sending user command to unmanned vehicle.Can be by rule or irregular time cycle To send user command.For example, can less equal than per hour, it is every 30 minutes, every 15 minutes, every 10 minutes, every 5 points Clock, every 3 minutes, per minute, every 30 seconds, every 15 seconds, every 10 seconds, every five seconds for example, it is every 3 seconds, every 2 seconds, every 1 second, every 0.5 second or every 0.1 User command is sent in second.User command can be sent according to timetable.Timetable may or may not be to change 's.User command can be sent in response to one or more events that detect or situation.
User command can be received by unmanned vehicle 1220.When the user command and hair that are received at unmanned vehicle Send from the user command of user remote controller 1215 match when, the unmanned vehicle can be according to the order from user Operated.When the order sent matches with the order received, the communication link between unmanned vehicle and remote control Can be exercisable.If the order sent and the order received match, the order may be dropped.One In a little embodiments, if the order sent and the order received mismatch, the order may be dropped (for example, Communication link between remote control and unmanned vehicle may be dropped), or disturb order to have been sent from.
Hijacker 1230 can control the operation of unmanned vehicle 1220 using hijacker's remote control 1235.Remote control can To obtain hijacker's input.Remote control can transmit hijacker's order to unmanned vehicle.Hijacker's order can be based on misfortune What the person of holding inputted and generated.Hijacker orders the operation that can control unmanned vehicle.For example, hijacker's order can control nothing The flight (for example, flight path, take off, land) of people's aircraft.Hijacker's order can control one or more behaviour loaded Make, the position of one or more load, the operating of one or more carriers, the operation of one or more sensors, one or more The operating of individual communication unit, the operation of one or more navigation elements and/or the operation of one or more power cells.
In some cases, hijacker's order can be persistently sent to unmanned vehicle.This can by similar to how to The mode that unmanned vehicle persistently sends user command occurs.Or without persistently sending hijacker's order to unmanned vehicle. How this is can be by similar to without occurring in the way of persistently sending user command to unmanned vehicle.It can be advised by rule or not The time cycle of rule sends hijacker's order.Hijacker's order can be sent according to timetable.Can in response to one or The multiple events detected or situation and send hijacker order.
Hijacker's order can be received by unmanned vehicle 1220.When the hijacker's order received at unmanned vehicle With send from the hijacker of hijacker's remote control 1235 order match when, the unmanned vehicle can be according to from misfortune The order for the person of holding is operated.When the order sent and the order received match, unmanned vehicle is remotely controlled with hijacker Communication link between device can be exercisable.When by the order that unmanned vehicle receives with being sent from hijacker's remote control Order when matching, hijacker may successful adapter control unmanned vehicle.In some cases, unmanned vehicle is worked as When being ordered according to hijacker and performing one or more operation, hijacker may successful adapter control unmanned vehicle. Under certain situation, when unmanned vehicle performs not according to user command one or more operations, hijacker may into Work(adapter control unmanned vehicle.
When receiving hijacker's order at unmanned vehicle, unmanned vehicle can also receive or can not receive use Family order.In a type of abduction, the communication link between unmanned vehicle and hijacker's remote control may interfere with described Communication link between unmanned vehicle and user remote controller.This may prevent user command from reaching unmanned vehicle, Huo Zheke User command only can unreliably be received by unmanned vehicle.Hijacker order can by or can not be by unmanned flight Device receives.In some embodiments, when hijacker sends the order of adapter control unmanned vehicle, hijacker connects may Disturb user's connection.In the scene, unmanned vehicle may only receive hijacker's order.Unmanned vehicle can be according to misfortune The person's of holding order is operated.In another embodiment, when hijacker differs orientation unmanned vehicle transmission order, hijacker Connection may interfere with user's connection.The interference of signal can be enough to form abduction to unmanned vehicle or to unmanned vehicle The hacker attacks of user's operation.Unmanned vehicle alternatively can not receive any order and (first advance for example, can stop receiving The user command entered).Unmanned vehicle can have one or more acquiescences to take action, can be with when losing the communication with user The generation acquiescence action.For example, unmanned vehicle can be hovered with original place.In another example, unmanned vehicle can return To task starting point.
In another type of abduction, unmanned vehicle can receive user command and hijacker's order.Unmanned flight Communication link between device and hijacker's remote control is not necessarily required to disturb between the unmanned vehicle and user remote controller Communication link.Unmanned vehicle can be ordered according to hijacker and operated.Unmanned vehicle can select to be ordered according to hijacker Order is operated, and ignores user command.Or when unmanned vehicle receives more group commands constantly, the unmanned vehicle can To take one or more acquiescence action.For example, unmanned vehicle can be hovered with original place.In another example, unmanned vehicle Task starting point can be back to.
Hijacker can be the individual of uncommitted operation unmanned vehicle.Hijacker can be that unmanned vehicle is not entered Row individual registered in advance.Hijacker can be that uncommitted taken over from user is controlled to operate the individual of unmanned vehicle.Can By other means to be authorized hijacker to operate unmanned vehicle.However, when user has operated unmanned vehicle, Hijacker can be not authorized to disturb the operation of the user.
Systems and methods described herein can include detection to one or more interference ordered from user.This The abduction to unmanned vehicle can be included.When user command does not reach unmanned vehicle, the user command may be by Interference.User command may be interfered due to the communication connection between unmanned vehicle and hijacker.In some cases, Hijacker may attempt to block the signal between user and unmanned vehicle.Can be in response to the logical of hijacker and unmanned vehicle Believe and signal blockage occurs.Or hijacker with unmanned vehicle communication without blocking between user and unmanned vehicle Signal.For example, even if hijacker's equipment does not send any hijacker's order, hijacker's equipment, which can also be broadcasted, may interfere with The signal of the communication of user and unmanned vehicle.Even if user command reaches unmanned vehicle, the user command also may can It is interfered.If unmanned vehicle performs operation not according to user command, the user command may be interfered.Example Such as, unmanned vehicle can select to perform operation according to hijacker's order rather than user command.Or unmanned vehicle can be with Selection takes acquiescence action or takes no action to replace user command.
Hijacker order can with or can not be contradicted with user command.Unwarranted communication, which may interfere with, to be come from The one or more of the user of contradiction order are provided to unmanned vehicle to order.In one example, user command can be realized The flight of unmanned vehicle and hijacker's order can realize flight in a different manner.For example, user command can order nothing People's aircraft turn right and hijacker order can order unmanned vehicle move on.User command can order unmanned vehicle Around pitch axis rotation and hijacker order can order unmanned vehicle around course axle rotate.
In addition to detecting and disturbing, this paper system and method can also allow in response to it is detecting, to from user One or more orders interference and the action taken.The action can include alerting user on interference.The row It is dynamic to include alerting one or more other party (for example, manipulator or manager of Verification System) on interference.The row Dynamic one or more acquiescence action (for example, landing, original place hover, are back to starting point) that can be including unmanned vehicle.
One aspect of the present invention is related to the method that user is alerted when the operation of unmanned vehicle is compromised, the side Method includes：User is authenticated to realize the operation of unmanned vehicle；Attempted from the abduction for receiving user's input in remote control One or more orders are received to realize the operation of unmanned vehicle；Detect one of unwarranted, interference from the user The communication of individual or multiple orders；And via the remote control, the user is alerted on the unwarranted communication. Similar aspect, a kind of programmed instruction for including and being used for that user to be alerted when the operation of unmanned vehicle is compromised can be provided Non-transient computer-readable media.The computer-readable medium can include：For being authenticated user to realize nothing The programmed instruction of the operation of people's aircraft；For receiving one or more order to realize from the remote control for receiving user's input The programmed instruction of the operation of unmanned vehicle；And to be supplied to the warning of the user via the remote control for generating Programmed instruction, the warning is on disturbing the detected unwarranted of one or more orders from the user Communication.
According to the embodiment of the present invention, a kind of unmanned vehicle warning system, the unmanned vehicle police can be provided Announcement system includes：Communication module；And one or more processors, its be operably coupled to the communication module and individually Ground is commonly used for：User is authenticated to realize the operation of unmanned vehicle；From the remote control for receiving user's input One or more orders are received to realize the operation of unmanned vehicle；Detect one of unwarranted, interference from the user The communication of individual or multiple orders；And signal is generated to alert institute on the unwarranted communication via the remote control State user.Unmanned vehicle alert module can include：One or more processors, it is either individually or collectively used for：To with Family is authenticated to realize the operation of unmanned vehicle；Received from the remote control for receiving user's input one or more orders with Realize the operation of unmanned vehicle；Detect the communication of one or more orders of the unwarranted, interference from the user；With And signal is generated to alert the user on the unwarranted communication via the remote control.
Unwarranted communication, which can include hijacker, orders.Unwarranted communication can indicate that unwarranted use The abduction at family is attempted.The one or more of operation that hijacker's order alternatively can include being used to control unmanned vehicle order Order.Unwarranted communicate indicates that the signal blockage of unauthorized user is attempted.Cause the unwarranted of signal blockage Communication need not include the hijacker's order for being used to control the operation of unmanned vehicle.
The warning on unwarranted communication can be generated.Can to attempt to operate the user of unmanned vehicle, to another One individual (for example, the manipulator and/or manager of Verification System, the individual in law enforcement agency, individual of emergency service) and/or Warning is provided to controlled entity.
Can visually, audibly and/or tactile warning is provided.For example, can be on the display screen of user remote controller Warning is provided.For example, the text or image for indicating unwarranted communication can be provided.It can provide and indicate that there occurs right The text or image of the interference of user command.In another example, warning can acoustically be provided via user remote controller.With Family remote control can have the loudspeaker that can produce sound.Sound can indicate that unwarranted communication.Sound can indicate Go out the interference to user command.Can via remote control and tactile warning is provided.User remote controller can be vibrated or beat. Or user remote controller can be trembleed, heating or turn cold, deliver mild electrical shock or provide any other haptic indication.Tactile is imitated Fruit can indicate that unwarranted communication.Haptic effect can indicate that the interference to user command.
Warning can indicate that the type of unwarranted communication.Can be from the one or more kind of unwarranted communication The type of the unwarranted communication is selected in class.For example, unwarranted communication can be antagonism flight orders, signal Communication, the order of antagonism load operation or antagonism communication (for example, data transfer) order of blocking.Warning can be visually Distinguish different types of unwarranted communication.For example, different text and/or image can be provided.Warning can be in the sense of hearing The upper different types of unwarranted communication of difference.For example, different sound can be provided.Different sound can be different Words or different tones.Warning can distinguish different types of unwarranted communication in tactile.It is, for example, possible to use not Same vibration or bounce.
The various modes for detecting unwarranted communication can be realized.For example, when associated with unwarranted communication When user identifier does not indicate the user through allowing to interact with unmanned vehicle without certification or, it can detect not Authorized communication.For example, it is user that hijacker's possibility is not authenticated.In some cases, single hijacker can be extracted Identifier.It can determine that hijacker's identifier is not the individual of authorized operation unmanned vehicle or is not authorized from user Take over the individual of the control to operation.In some cases, hijacker can also be identified using key information.For example, can be with Information of the extraction on hijacker's key in experience mark and/or verification process.Hijacker's key may not be with user key Match.Hijacker cannot access the key of user.Therefore the hijacker can be identified as non-user.Hijacker's communication can It is identified as non-user communication.In some cases, hijacker can not produce user identifier and/or user key.
Made comparisons when between the user command sent from remote control and/or the order received at unmanned vehicle When, unwarranted communication can be detected.If not receiving user command at unmanned vehicle, one or more is dry Disturbing unwarranted communication may have occurred and that.When unwarranted communication is reduced between user remote controller and unmanned vehicle During the effect of communication channel, unwarranted communication can be detected.It can be based on or can be not based on unwarranted logical Believe and provide one or more contradiction orders to unmanned vehicle.Fly for example, one or more contradiction orders can be hijacker Line command, hijacker's flight orders may contradict with user command.It can carry out receiving unmanned vehicle contradiction life The detection of order.In other cases, contradiction order is not received at unmanned vehicle, and unmanned vehicle may be not detected by lance Shield order.Not receiving the order sent from user can be enough to indicate that unwarranted communication has disturbed user command.
When being made comparisons between the user command that remote control is sent and the operation carried out by unmanned vehicle, Ke Yijian Measure unwarranted communication.If unmanned vehicle is not taken action according to user command, one or more interference is without awarding The communication of power may have occurred and that.This can occur in the first stage, wherein communication can occur in user remote controller and nobody Between aircraft.This is likely to occur in second stage, and the stage receives order in unmanned vehicle and performed with unmanned vehicle Between the time of order.The example of unwarranted communication type in the first stage is provided above.For in second stage Unwarranted communication, user command can receive by unmanned vehicle.However, alternative contradiction order can also be by nobody Aircraft receives.Unmanned vehicle can be operated according to alternative contradiction order.The order and unmanned flight that user sends Mismatch between the action of device can indicate that unwarranted communication.In another example, unmanned vehicle can receive User command and alternative contradiction order, but due to the conflict essence of order, it can hold fire or can take silent Recognize action.The mismatch that can be provided between user command and the operation of unmanned vehicle that action lacks or acquiescence is taken action.
In some cases, can analyze from storage system (for example, memory storage as illustrated in Figure 11 System) data to detect unwarranted communication.The data from one or more information collection can be analyzed.In some implementations In mode, the order for being stored in information concentration can be compared.For example, multiple information collection, described information collection and user can be stored Specific intercorrelation connection between unmanned vehicle.The multiple information collection can include sent by remote control order, by The order and/or the order by unmanned vehicle execution that unmanned vehicle receives.If the order sent by remote control with by nothing The order that people's aircraft receives matches, then produces the risk of interference very to the communication between user remote controller and unmanned vehicle It is low or without risk.If mismatched by the order that remote control is sent with the order received by unmanned vehicle, to remote control The risk that communication between unmanned vehicle produces interference is very high.If unmanned vehicle receives different order or such as Fruit unmanned vehicle does not receive order, then order may mismatch.If the order sent by remote control with by unmanned flight The order that device performs matches, then the risk of unwarranted Communication Jamming user command is very low or without risk.If by distant The order that sends of control device and the operation of unmanned vehicle mismatch, then the risk of unwarranted Communication Jamming user command is very It is high.In some cases, the mistake of unmanned vehicle operation may occur in the case where no hijacker disturbs.For example, nothing People's aircraft can receive user command, but can not can be performed according to the order.It can compare and be deposited from memory The order of storage system or other data are to detect the interference to user command.
In some cases, the data such as order data can be pulled from single equipment without being present in storage In device storage system.For example, user command data can be pulled from remote control and/or can be pulled from unmanned flight The order data of device, and can be compared.
Hijacker can be the individual for taking over control unmanned vehicle from user without permission.However, in other cases, As described elsewhere herein, adapter control can be allowed.For example, the user with more high precedence or higher operation grade It can take over control.The user can be management user.The user can be law enforcement agency member or emergency service Member.The user can have any characteristic as described elsewhere herein.Taken over when user is authorized to from initial user During control, unmanned vehicle can have different reactions.Any description to authorized user herein is readily applicable to can The autonomous or semiautonomous system of control unmanned vehicle is taken over from user.For example, computer can take over control in some cases Unmanned vehicle processed, and unmanned vehicle can be operated according to one or more groups of codes, logic or instruction.Computer can be with Unmanned vehicle is operated according to one group of air traffic control.
System can distinguish unwarranted adapter and authorized adapter.If adapter, can by authorizing To allow authorized user to continue adapter control unmanned vehicle.If adapter can re-establish nothing without mandate Communication between people's aircraft and initial user, the communication between unmanned vehicle and unauthorized user can be stopped, can To provide warnings to one or more individuals, unmanned vehicle can take one or more acquiescence flight responses and/or Authorized entity can adapter control unmanned vehicle.
The example for the scene that authorized adapter can occur is described herein.Unmanned vehicle can be sent comprising signature Message.The message can include on each of flight control command, the GPS location of unmanned vehicle and/or temporal information The information of type.Any other information of the operation on unmanned vehicle or unmanned vehicle can be sent (for example, can be with Send the information on unmanned vehicle load, the information of the positioning loaded on unmanned vehicle, on using the load And the information for the data being collected into, on unmanned vehicle one or more sensors information, on using one Or multiple sensors and the information of the data that are collected into, on unmanned vehicle communication information, on unmanned vehicle The information or any other information that the information of navigation, the electricity on unmanned vehicle use).In some cases, message It can be received by air traffic control system.
It is limited that if air traffic control system finds that unmanned vehicle enters from the information of unmanned vehicle transmission (for example, broadcast) Region, then air traffic control system can warn the unmanned vehicle or dissuade unmanned vehicle continuation activity in this region from.Can With by means of or confined area can be determined without the help of the geography fence equipment as described by elsewhere herein.It is limited Region can be alternatively assigned volume or assigned area top space.Cannot authorized user manipulate nobody fly Row device enters in confined area.Unmanned vehicle cannot be authorized to enter confined area.In some embodiments, do not authorize and appoint What unmanned vehicle enters confined area.Or some unmanned vehicles can be authorized to enter confined area, but the region can To be only limitted to the unmanned vehicle by user's control.
It can send and warn to user via the communication connection between air traffic control system and user.For example, can be to Send and warn with the user remote controller that user interacts.User can operate institute when unmanned vehicle enters confined area State the individual of unmanned vehicle.Alternatively, it can also send and warn to unmanned vehicle first, the warning is then via nobody Communication connection between aircraft and user and be sent to user.Any intermediate equipment or network can be used to warn to relay To user.If therefore user does not interrupt the unwarranted flight of unmanned vehicle, air traffic control system can take over the nothing People's aircraft.Unmanned vehicle can be given for a period of time to allow the unmanned vehicle to leave confined area.If nobody Aircraft does not leave confined area within the period, then air traffic control system can take over behaviour of the control to the unmanned vehicle Make.If unmanned vehicle continues to travel further into confined area and do not start steering, air traffic control system can take over control Operation to the unmanned vehicle.Any description for entering limited area to unmanned vehicle herein goes for being in pin To any other activity of unwarranted unmanned vehicle under one group of air traffic control of unmanned vehicle.For example, this can be with During including in being located at the region for not allowing photography when unmanned vehicle, the unmanned vehicle collects image with camera.Can be with Similarly warning is sent to unmanned vehicle.Can or can not air traffic control system adapter before give the unmanned flight Some times of device observe.
After starting adapter control process, air traffic control system can send remote control life using digital signature to unmanned vehicle Order.Such guidance command can have the reliable digital signature and digital certificate of air traffic control system, and it can prevent what is forged Control command.The digital signature and digital certificate of air traffic control system can not be forged.
The flight control units of unmanned vehicle can identify the guidance command from air traffic control system.From air traffic control system The priority of guidance command can be configured to the priority higher than the guidance command from user.Therefore, air traffic control system can be located In the operation grade of the operation higher grade than user.These orders from air traffic control system can be recorded by authentication center.Nothing The original user of people's aircraft also can be notified that the order from air traffic control system.The original user can be notified that air traffic control system just Taking over.Original user could be aware that or can be unaware of the details that unmanned vehicle how is controlled on air traffic control system. In some embodiments, user remote controller can show the information of unmanned vehicle how is controlled on air traffic control system.For example, work as When air traffic control system controls unmanned vehicle, the data such as positioning of unmanned vehicle can be shown in real time on a remote control.Come It can be provided from the order of air traffic control system by the manipulator of air traffic control system.For example, air traffic control system, which can utilize, has adapter control One or more management users of the ability of unmanned vehicle.In other cases, can be in the case of without human intervention The order from air traffic control system is automatically provided by means of one or more processors.It can be borrowed according to one or more parameters Help one or more processors to generate the order.If for example, unmanned vehicle enter the unmanned vehicle without The confined area entered is authorized, then the one or more processors of air traffic control system can generate leaves for the unmanned vehicle The confined area makes a return voyage.In another example, air traffic control system can generate the path for starting landing for unmanned vehicle.
Air traffic control system can guide unmanned vehicle to leave confined area.Then, control can be given back to original use Family.Or air traffic control system can allow unmanned vehicle suitably to land.Therefore, authorized connect can be allowed in each scene Pipe.In contrast, unwarranted adapter can be detected.Can take as described by elsewhere herein to without permission Adapter one or more responses.For example, authorized entity can take over control from unwarranted hijacker, nobody flies Row device.Air traffic control system may be at operation grade than the operation higher grade of unwarranted hijacker.Air traffic control system can be with Control unmanned vehicle can be taken over from unwarranted hijacker.In some embodiments, air traffic control system can be awarded compared with High operation grade.Or air traffic control system can be awarded high operation grade, and one or more government entities can have it is higher Operation grade.Air traffic control system can have operation grade than the operation higher grade of all private users.
The deviation of unmanned vehicle behavior can be detected.The deviation of unmanned vehicle behavior is probably due to one or more Hijacker's is movable and generation.The deviation of unmanned vehicle behavior is probably due to unmanned vehicle and/or user remote controller Failure and occur.In one example, unmanned vehicle behavior can include flight.Herein to unmanned vehicle flight Any description of deviation goes for the deviation of the unmanned vehicle behavior of any other type, such as loads behavior, load The deviation that positioning, carrier operation, sensor operations, communication, navigation and/or electricity use.
Figure 13 shows the example of unmanned vehicle flight deviation according to embodiment of the present invention.Unmanned vehicle 1300 can With the travel path 1310 with prediction.However, the Actual path 1320 of unmanned vehicle can be differently configured from predicted path.At certain At one time point, it may be determined that the predicted position 1330 of unmanned vehicle.However, the physical location 1340 of unmanned vehicle can be with It is different.In some embodiments, it may be determined that the distance between predicted position and physical location d.
The predicted path 1310 that unmanned vehicle is advanced can be determined.Data from user remote controller are determined for Information on predicted path.For example, user can to remote control provide input, and remote control can be based on user input and One or more flight orders are provided to unmanned vehicle.Flight orders from remote control can be flown by unmanned vehicle and be controlled Unit processed receives, and the flight control units can send one or more control signals with reality to unmanned vehicle propulsion unit The existing flight orders.In some embodiments, the one or more flight orders sent by remote control are determined for The predicted path of unmanned vehicle.For example, if flight orders order unmanned vehicle continues straight forward, it can be desirable to pre- Path is surveyed to continue to straight forward.During predicted path is calculated, it may be considered that posture/direction of unmanned vehicle. Flight orders can cause the maintenance or adjustment to unmanned vehicle direction, and this can be used for influenceing flight path.
At any given time point, the predicted position 1330 of unmanned vehicle can be determined based on predicted path. During predicted position is calculated, it may be considered that the prediction movement of unmanned vehicle, such as predetermined speed and/or prediction accelerate Degree.Such as, if it is determined that predicted path be straight forward and the speed of unmanned vehicle keep stable, then can calculate pre- Location is put.
The Actual path 1320 that unmanned vehicle is advanced can be determined.Data from one or more sensors can be used In it is determined that information on Actual path.For example, unmanned vehicle can have one or more Airborne GPS sensors, it is described GPS sensor can be used for the coordinate for determining unmanned vehicle in real time.In another example, unmanned vehicle can use one Or multiple inertial sensors, vision sensor and/or sonac provide the navigation to unmanned vehicle.It can realize more Sensor is merged to determine the position of unmanned vehicle.At any given time point, sensing data can be based on come really Determine the physical location 1340 of unmanned vehicle.Unmanned vehicle can carry one or more sensors, other ground of such as this paper Those sensors described by side.One or more of described sensor can be any biography described by elsewhere herein Sensor.In some cases, the data from airborne sensor are determined for Actual path and/or the position of unmanned vehicle Put.In some cases, one or more machine outer sensors are determined for Actual path and/or the position of unmanned vehicle Put.For example, multiple cameras can be provided in known position and can catch the image of unmanned vehicle.It can analyze described Image is to detect the position of unmanned vehicle.In some cases, the sensor on unmanned vehicle machine and unmanned vehicle machine The combination of outer sensor is determined for Actual path and/or the position of unmanned vehicle.One or more of sensings Device can be operated independently of unmanned vehicle and can alternatively can not be by user's control.One or more of sensings Device can be located on unmanned vehicle machine or outside unmanned vehicle machine, while still be operated independently of unmanned vehicle.For example, Unmanned vehicle can have the GPS tracks of device that user may not control.
The gap d between the predicted position of unmanned vehicle and the physical location of unmanned vehicle can be determined.At some In the case of, distance d can be calculated by means of one or more processors.Unmanned vehicle predicted position and nobody can be calculated Coordinate difference between aerocraft real position.Coordinate can be provided as world coordinates.Or coordinate can be provided as part Coordinate and one or more conversions can be carried out to global coordinate system or to same local coordinate system.
One or more processors for determining gap can be located at unmanned vehicle machine, on remote control or can It is provided at outside unmanned vehicle and remote control.In some cases, one or more of processors can be blank pipe system A part for system or any other part of Verification System.In some embodiments, one or more of processors can be with It is a part for flight monitoring module, air traffic control module or boat power management module.
In one example, the order from remote control can be transferred into unmanned vehicle and can also be examined by air traffic control system Survey.Air traffic control system can receive order directly from remote control or via one or more intermediate equipments or network.Memory Storage system (for example, storage system in Figure 11) can receive order.Storage system can be blank pipe system A part for system can be accessed by air traffic control system.Number from sensor (on unmanned vehicle machine and/or outside machine) According to can be received by air traffic control system.Air traffic control system can directly from sensor, via unmanned vehicle or via in any other Between equipment or network receive sensing data.Storage system can receive or can not receive sensing data.
In some embodiments, to there may be some between the predicted path and Actual path of unmanned vehicle naturally inclined Difference.However, when deviation is larger, due to kidnap or failure or any other harm to unmanned vehicle and the inclined of increase be present Poor possibility.This goes for any kind of unmanned vehicle Deviant behavior and is not necessarily limited to fly.In certain situation Under, it can be estimated that distance d with determine kidnap failure or to unmanned vehicle any other harm risk.Institute can be based on Distance is stated to determine that risk indicates.In some cases, risk instruction can be that the binary of risk is indicated (for example, risk is deposited Still it is being not present).For example, if distance is maintained at below predetermined value, risk instruction can not be provided.If distance exceedes Predetermined value, then it can provide and the risk of abduction or failure is indicated.In other cases, risk can be indicated to be provided as one Or multiple species or level.For example, if distance meets or exceeds first threshold, excessive risk level can be indicated.If away from From falling between first threshold and relatively low Second Threshold, then medium risk level can be indicated.If distance falls in the second threshold Value is following, then can indicate low-risk level.In some cases, risk level can be substantially continuous, or can be with With many types.For example, risk instruction can be quantitative.Distance can be based on and percentage risk is provided.For example, it is based on Deviation, 74% abduction or failure risk can be provided.
In some cases, deviation can be the single factor so as to providing risk instruction.In other embodiments, with The other factors that deviation is combined are determined for the risk to be presented instruction.For example, under first group of environmental condition, it is specific The deviation of distance can indicate that unmanned vehicle is compromised the excessive risk of (for example, kidnapping, failure), and in second group of environment Under the conditions of, identical specific range can indicate that the low-risk that unmanned vehicle is compromised.For example, at calm one day, It can indicate that away from 10 meters of deviation of predicted position and have occurred and that some form of abduction or failure.However, at one day that has wind, The risk of relatively low abduction or failure can be presented in 10 meters of deviation, because wind will cause the deviation of flight path more has can Energy.
It is determined that during risk indicates it is contemplated that factor can include environmental condition (for example, amblent air temperature (wind, Precipitation, temperature), the magnitude of traffic flow, environmental complexity, obstacle), the movement (for example, speed, acceleration) of unmanned vehicle, communication Condition (for example, signal intensity, blackout or there is interference signal), the sensitivity (example of unmanned vehicle type Such as, turn, stability) or any other factor.
The risk that unmanned vehicle is not operated according to one or more flight orders can be provided to indicate.This can be wrapped Include the degree of risk that unmanned vehicle is endangered.This can include flight operation, load operation, carrier operation, sensor operations, Communication, navigation, electricity uses or the unmanned vehicle of any other type described herein operates.Unmanned vehicle behavior Larger large deviation can correspond to the high risk degree that unmanned vehicle does not operate according to one or more flight orders.One In a little embodiments, the Deviation Type of unmanned vehicle behavior is assessed to determine degree of risk.For example, the flight of unmanned vehicle Deviation can and the deviation of load activity treat with a certain discrimination.In some embodiments, it is possible to distinguish treat the position of unmanned vehicle Put deviation and the velocity deviation of unmanned vehicle.
The many aspects of the present invention can be related to a kind of method for the flight deviation for detecting unmanned vehicle, methods described bag Include：The one or more flight orders provided by user from remote control are provided；By means of one or more processors, based on described One or more flight orders and calculate the predicted position of the unmanned vehicle；Detected by means of one or more sensors The physical location of the unmanned vehicle；By the predicted position and the physical location be compared to determine it is described nobody fly The deviation of row device behavior；And deviation based on the unmanned vehicle behavior and provide the unmanned vehicle not according to The risk instruction that one or more flight orders are operated.It is used to detect unmanned vehicle furthermore it is possible to provide a kind of include Flight deviation programmed instruction non-transient computer-readable media, the computer-readable medium includes：For based on by One or more flight orders that user provides from remote control calculate the programmed instruction of the predicted position of the unmanned vehicle； For the programmed instruction for the physical location that the unmanned vehicle is detected by means of one or more sensors；For by described in Predicted position is compared to determine the programmed instruction of the unmanned vehicle Deviant behavior with the physical location；And it is used for The unmanned vehicle is provided and not entered according to one or more of flight orders based on the unmanned vehicle Deviant behavior The programmed instruction of the risk instruction of row operation.
According to the embodiment of the present invention, a kind of unmanned vehicle flight deviation detecting system can be provided.The flight Offset detection system can include：Communication module；And one or more processors, it is operably coupled to the communication mould Block and either individually or collectively it is used for：The one or more flight orders provided by user from remote control are provided；Based on described One or more flight orders and calculate the predicted position of the unmanned vehicle；Detected by means of one or more sensors The physical location of the unmanned vehicle；By the predicted position and the physical location be compared to determine it is described nobody fly The deviation of row device behavior；And signal is generated to provide the unmanned vehicle not based on the unmanned vehicle Deviant behavior The risk operated according to one or more of flight orders indicates.A kind of flight deviation detection module can include：One Individual or multiple processors, it is either individually or collectively used for：The one or more flight lives provided by user from remote control are provided Order；The predicted position of the unmanned vehicle is calculated based on one or more of flight orders；By means of one or more Sensor detects the physical location of the unmanned vehicle；By the predicted position compared with the physical location with true The deviation of the fixed unmanned vehicle behavior；And generation signal is described to be provided based on the unmanned vehicle Deviant behavior The risk that unmanned vehicle is not operated according to one or more of flight orders indicates.
Risk instruction can be provided by way of caution.Warning can be provided a user via the remote control of user.User can be with Then can select to take action according to risk instruction.There is provided to the mutually separated air traffic control system of remote control and unmanned vehicle Risk indicates.Air traffic control system then can determine whether to take action according to risk instruction.For example, air traffic control system can be with Adapter control unmanned vehicle.Air traffic control system can require that user confirms institute before adapter control unmanned vehicle is determined whether State whether user is still controlling the unmanned vehicle.For example, if user confirms unmanned vehicle according to the user Order operated, then air traffic control system can determine not take over the control unmanned vehicle.If user it is unconfirmed nobody Aircraft is operated according to the order of the user, then air traffic control system can take over the control unmanned vehicle.
In some embodiments, risk instruction can be presented to unmanned vehicle itself.Unmanned vehicle can make one Individual or multiple airborne agreements are in place, and one or more acquiescences that one or more of airborne agreements can initiate unmanned vehicle fly Row response.For example, if unmanned vehicle receives its report for being compromised of flight control, the unmanned vehicle can be with Automatic start landing sequence, can automatically original place hovering or in the holding patterrn (holding pattern) flight, can be certainly It is dynamic to be back to task starting point or fly automatically to specified " going home " position.In some embodiments, of task Point can be the position that unmanned vehicle takes off." going home " position can be predetermined, can be stored in unmanned vehicle memory In one group of coordinate.In some cases, the starting point of task can be arranged to position of going home.In some cases, go home position Put can be user or user remote controller position.Even if user moves around, position of going home can also be updated and nothing People's aircraft can find remote control.In some cases, user can be manually entered the coordinate or by street of going home Location is appointed as the place that goes home.Unmanned vehicle can stop the life from external source while the flight responder of experience acquiescence Order.In some cases, unmanned vehicle can stop while the flight responder of experience acquiescence comes from private user Order.Unmanned vehicle can or can not experience acquiescence flight responder while stop come from blank pipe system The order of system or controlled entity.
The risk instruction that unmanned vehicle is not operated according to one or more flight orders can include unmanned flight The information of device Harm Type.For example, the risk instruction that unmanned vehicle is not operated according to one or more flight orders can Indicated with the risk being held as a hostage including unmanned vehicle.In another example, unmanned vehicle does not fly according to one or more The risk operated instruction is ordered to include the risk instruction that the signal from remote control blocks.In another example In, the risk instruction that unmanned vehicle is not operated according to one or more flight orders can include on unmanned vehicle machine The risk instruction broken down.Warning can transmit the information on unmanned vehicle Harm Type.Warning can transmit on The information of degree of risk.Warning can transmit the information of the degree of risk on being endangered for various types of unmanned vehicles. For example, warning can indicate that produces some form of harm possibility be 90%, and endanger have 85% probability be by In abduction and caused by, the probability that harm has 15% be due to communication blockage and caused by, and harm have 0% probability be by In failure on unmanned vehicle machine and caused by.
If the order received by unmanned vehicle is different from by remote control and the order sent, the risk kidnapped can Can be higher.If the order received by unmanned vehicle is the order to be omitted in the order that sends by remote control, communicate The risk of blocking may be higher.If ordered by what unmanned vehicle received with being matched by remote control and the order sent, But unmanned vehicle is operated not according to received order, then the risk of failure may be higher on machine.
Any description to abduction is readily applicable to hacker attacks herein.Hacker can intercept and capture pass to unmanned vehicle or The one or more communications sent from unmanned vehicle.Hacker can intercept and capture the data collected by unmanned vehicle.Hacker can be with Intercept and capture one or more sensors from unmanned vehicle or the data of load.Fly for example, hacker can intercept and capture from nobody The data of image-capturing apparatus on row device machine.Therefore hacker can attempt to steal obtained data.Therefore hacker can invade Violate the privacy of the manipulator of unmanned vehicle.Hacker can also intercept and capture the communication for passing to unmanned vehicle.For example, hacker can cut Obtain one or more orders from user remote controller to unmanned vehicle.Hacker can intercept and capture order to determine that unmanned vehicle will How to run.Hacker can use intercepted and captured order to determine that (otherwise the position can be for the position of unmanned vehicle It is unconspicuous) or unmanned vehicle other activity.
Intercepting and capturing of the hacker to communication (up-link or downlink) may not disturb the remainder of communication.For example, work as When hacker intercepts and captures the image stream from unmanned vehicle, the intended recipient of image still can receive image.Intended recipient Otherwise intercepting and capturing may be unaware of and had occurred and that.Or the intercepting and capturing of communication may interfere with the remainder of communication.Example Such as, when image is trapped, the expection recipient of image may not receive image.Systems and methods described herein can be with Help to detect and/or prevent hacker attacks.
For example, carrying out with that may need to carry out equipment before any communication of each component of unmanned vehicle system Certification.For example, it may need to be authenticated equipment before the communication from unmanned vehicle and/or remote control is received.Only Have when equipment is authorized to and receives communication, the equipment can just receive communication.Hacker can be not authorized to receive communication, and therefore It can not receive communication.Similarly, if hacker attempts to send the replacement communication of falseness, the identity of hacker may not be right In authorized user and it should can prevent hacker from sending the communication of falseness.Similarly, if send false communication or from Unauthorized user sends the trial of false communication, then can provide warning to authorized user.In some embodiments In, communication can be encrypted.In some cases, only authorized user and/or certified user can Communication to encryption is decrypted.For example, even if hacker wants communication interception, the hacker can not may also solve to communication Close and deciphering.In some embodiments, decryption can require the key of user, and the key can be merely stored in authorized In the physical storage of equipment.Therefore, hacker is likely difficult to attempt the copy of acquisition key and/or attempts to be disguised as through awarding The user of power.
Individuation is evaluated
The activity of user and/or unmanned vehicle can be evaluated.For example, the work of the user of unmanned vehicle can be evaluated It is dynamic.Because user can uniquely can identify, so the activity of user can be tied to unique user identity.Therefore, by The activity that same user performs can be associated with the user.In one example, the activity of user can be with the user Previous aerial mission is relevant.Various tests, proof or Training Practicing can also be associated with user.The activity of user can be with Refer to the operation of any unmanned vehicle unsuccessfully attempted, disturb another user that user carries out to participate in task and/ Or intercepting and capturing and the communication of the unmanned vehicle of another user.In some embodiments, can be identified by activity and user The user is authenticated before symbol is associated.
The activity of unmanned vehicle can be evaluated.Unmanned vehicle can uniquely can also identify, and unmanned flight The activity of device can be tied to unique unmanned vehicle identity.Therefore, the activity performed by same unmanned vehicle can be with The unmanned vehicle is associated.In one example, the activity of unmanned vehicle can be previous with the unmanned vehicle Aerial mission is relevant.Various maintenance activities, diagnosis or proof can also be associated with unmanned vehicle.The activity of unmanned vehicle Any mistake, failure or accident can also be included.In some embodiments, can by activity with unmanned vehicle identifier The unmanned vehicle is authenticated before associated.
The one or more activity of user and/or unmanned vehicle can be evaluated.In some cases, evaluation can include Qualitative evaluation is provided.For example, on user or unmanned vehicle any movable one or more records can with user or The corresponding activity of unmanned vehicle and/or user or unmanned vehicle is associated.Fly for example, if accident relate to nobody Row device, then on the accident, how accident occurs, mistake is attributed to who record can be related to the unmanned vehicle Connection.In another example, if user had previously performed many aerial missions and in different landform under high wind speed Success is navigated, then can provide the record on these achievements.The evaluation of a kind of or multiclass can be with user and/or the user Corresponding activity is associated.For example, if user completes many difficult tasks, user can have associated with the user The evaluation of " expert user ".If unmanned vehicle undergoes many failures or mistake, unmanned vehicle can have with it is described The evaluation of unmanned vehicle associated " high failure risk ".
In some cases, evaluation can include providing quantitative assessment.For example, user and/or unmanned vehicle activity can To receive grading, such as alphabetical rank or numerical value grading.Grading can on any activity of user or unmanned vehicle, and Can be associated with the corresponding activity of user or unmanned vehicle and/or user or unmanned vehicle.For example, when user is complete During into task, user can receive shows grading how or fraction on the user during task.For example, for first Task, user can receive 7.5 gradings, and for the second task, it can receive 9.8 gradings, and this shows that user may be Show more preferably during two tasks.The other factors such as task difficulty can play a role.In some cases, for success Being more difficult to for task is completed, user can receive higher grading.In another example, user can undergo skills tests or proof Test, and can receive and indicate user shows numerical score how.Unmanned vehicle can according to task complete how And receive grading.For example, do not broken down during task compared to unmanned vehicle, if the unmanned vehicle is in task Period breaks down, then the unmanned vehicle can receive lower grading.Do not suffer from periodically tieing up compared to unmanned vehicle Shield, if the unmanned vehicle experiencings periodic maintenance, the unmanned vehicle grading can be higher.
When user and/or unmanned vehicle successfully complete task with active mode, the user and/or unmanned vehicle There can be higher overall grading.When user and/or unmanned vehicle be not successfully completed task or carry out be probably can During doubtful behavior, the user and/or unmanned vehicle can have relatively low overall grading.Therefore, user and/or nobody fly Row device can have the movable reputation based on user and/or unmanned vehicle.
In some embodiments, evaluation system can provide one group of evaluation for user and/or unmanned vehicle.Institute Commentary valency can automatically determine evaluation (for example, qualitative evaluation and/or quantitative assessment) by means of one or more processors, and Without human interaction.Can be according to one or more parameters or algorithm and on the movable of user and/or unmanned vehicle Data determine the evaluation.For example, successfully completing every time for task can carry user and/or unmanned vehicle evaluation automatically Up to more positive result.User and/or unmanned vehicle evaluation can be automatically decreased to by failing every time for task or crash More passive result.Therefore the evaluation can be objective.
Alternatively or additionally, evaluation can be provided by one or more human users.For example, user can evaluate he or Herself.User can evaluate the unmanned vehicle that the user manipulates.In other cases, the peer of user can evaluate him Or she.Peer can evaluate the unmanned vehicle manipulated by user.For example, the first user can operate the first unmanned flight Device.Second user can observe the first user and notice that the first user is carrying out bad flight behavior (for example, direction The unmanned vehicle surprise attack of second user or threatening second user).Second user can provide the passiveness to the first user Evaluation.In another example, second user is observed that the first user is carrying out positive flight behavior (for example, performing Difficult maneuvering flight, help second user) and the Positive evaluation to the first user can be provided.
User and/or unmanned vehicle evaluation can be checked by other users.For example, the first user can check the second use The overall assessment at family and vice versa.User can check the user evaluation of oneself.User can take measures to try Figure improves the grading of user.In some embodiments, only when user's evaluation reaches threshold level, system can just allow The activity of the user.For example, only when user's evaluation reaches threshold level, the user can just grasp in some regions Make.Only when user is rated 7.0 or higher, user can just manipulate unmanned vehicle in some regions.Flight restriction Level can depend on user and/or unmanned vehicle is evaluated.In some cases, user and/or unmanned vehicle evaluation can To indicate user type and/or unmanned vehicle type, or vice versa., can when user has higher user's evaluation To provide relatively low flight restriction level, and when user has relatively low user's evaluation, higher flight restriction can be provided It is horizontal.When user has relatively low user's evaluation, one group of air traffic control for the user can be more strict, and works as and use When family has higher user's evaluation, one group of air traffic control for the user can be with less stringent.When unmanned flight's utensil When having higher unmanned vehicle evaluation, it is horizontal to provide relatively low flight restriction, and when unmanned vehicle have it is relatively low When unmanned vehicle is evaluated, it is horizontal that higher flight restriction can be provided.When unmanned vehicle has lower unmanned vehicle During evaluation, one group of air traffic control for the unmanned vehicle can be more strict, and when unmanned vehicle is with higher When unmanned vehicle is evaluated, one group of air traffic control for the unmanned vehicle can be with less stringent.
Flight monitoring
It can be desirable to air traffic control system knows unmanned vehicle position.Unmanned vehicle can send position letter to air traffic control system Breath.In some cases, for guarantee and/or security purpose, it is preferable to allow unmanned vehicle report position information.Nothing People's aircraft regularly and on one's own initiative can report its current location and navigation channel to air traffic control system.However, in some cases, Unmanned vehicle can not observe report.This can lose between unmanned vehicle and air traffic control system communicates or unmanned flight Device may maliciously conceal information or occur when providing false (forging) information.Air traffic control system can be in the middle part of its management region Logger is affixed one's name to monitor the state of unmanned vehicle.One or more loggers can be disposed to monitor unmanned vehicle activity.
Figure 14 shows the example of the monitoring system using one or more loggers according to embodiment of the present invention.Nobody Aircraft 1410 can be provided in environment.The environment can be in the region by air traffic control system management.Can be by blank pipe One or more loggers are provided in the region of system administration (for example, logger A 1420a, logger B 1420b, logger C 1420c……).Monitoring device or system 1430 can receive the information collected from one or more loggers.In some realities Apply in mode, monitoring system can be air traffic control system.
In some embodiments, air traffic control system can be used for managing whole unmanned vehicle flight system.By blank pipe system The region of reason under the overall leadership can be the whole world.In other cases, can be limited by the region of air traffic control system management.By blank pipe The region of system administration can be based on administrative area.For example, air traffic control system can manage whole administrative area (for example, country, State/province and district area, city, town, village or any other administrative area) in unmanned vehicle flight system.Different air traffic control systems can be with Manage different regions.The size in region can be similar or can be different.
Unmanned vehicle 1410 can send can be monitored by one or more logger 1420a, 1420b, 1420c one Or multiple message.Message from unmanned vehicle can include signature.In some cases, the message from unmanned vehicle Can include for unmanned vehicle unique identification information (for example, unmanned vehicle identifier and/or unmanned vehicle Key information).Identification information can uniquely identify and distinguish the unmanned vehicle from other unmanned vehicles.Come from The message of unmanned vehicle can include any other information, such as on flight control command, the GPS location of unmanned vehicle (or other positions information for unmanned vehicle) and/or temporal information.Described information can include flying for nobody The positional information (for example, GPS information) of row device.Temporal information can include formulating and/or the time of transmission message.Can basis The clock of unmanned vehicle provides the time.
The signal obtained from these loggers 1420a, 1420b, 1420c can stamp timestamp and in air traffic control system Collect in 1430.Carrying out the data of self-recorder can be stored in storage system.Storage system can be empty A part for guard system be able to can be accessed by air traffic control system.Air traffic control system can analyze the letter from data logger Breath.Therefore, air traffic control system can collect the history control information of unmanned vehicle, and flight information and unmanned vehicle Claim GPS flight paths.Air traffic control system can collect the operation data on unmanned vehicle, and the operation data can wrap Include be sent to unmanned vehicle order, by unmanned vehicle receive order, unmanned vehicle perform action and on The unmanned vehicle position of the information of unmanned vehicle, such as different time points.
In some embodiments, unmanned vehicle can be with air traffic control system direct communication and/or directly to storage Device storage system provides information.Or unmanned vehicle can be with one or more logger direct communications, the logger can To be communicated with air traffic control system and/or storage system.In some cases, the information on unmanned vehicle can be with Air traffic control system is relayed to via one or more loggers.In some cases, logger can to air traffic control system provide with Send to the associated additional data of the information of unmanned vehicle.
Air traffic control system can determine the position of unmanned vehicle with analysis time data.One aspect of the present invention can relate to And a kind of method for the position for determining unmanned vehicle, methods described include：At multiple loggers receive from it is described nobody One or more message of aircraft；It is one or more message from the unmanned vehicle at the multiple logger Stamp timestamp；And by means of one or more processors, the timestamp based on one or more of message and calculate institute State the position of unmanned vehicle.A kind of the non-transient of programmed instruction for the position for including and being used to determine unmanned vehicle can be provided Computer-readable medium, the computer-readable medium include：The unmanned flight is come from for being received at multiple loggers The programmed instruction of one or more message of device；For being one from the unmanned vehicle at the multiple logger Or multiple message stamp the programmed instruction of timestamp；And calculate institute for the timestamp based on one or more of message State the programmed instruction of the position of unmanned vehicle.A kind of unmanned vehicle communication position system can include：Communication module；And One or more processors, it is operably coupled to the communication module and is either individually or collectively used to be based on from described One or more message that unmanned vehicle sends and received at away from the unmanned vehicle multiple loggers farther out Timestamp and the position for calculating the unmanned vehicle.
In an example of unmanned vehicle position is analyzed based on time data, from the signal of different loggers transmission Time difference be determined for the rough position of unmanned vehicle, the different loggers, which are collected, comes from same unmanned vehicle Same message.For example, if two loggers all receive the signal sent from specific unmanned vehicle, according to the record The time difference of device reception signal, it is known that unmanned vehicle is being formed by time difference measuring and described two logger positions On hyperbola.During formation is hyp, two, three or more logger can be used.Therefore, can be along double Curve claims the rough position of unmanned vehicle.Timestamp can be stamped when signal leaves unmanned vehicle, and when letter Number reach logger when can stamp timestamp.Such information can be used for calculating the time difference.
In another example, multiple loggers can be from unmanned vehicle reception signal, and can determine the time difference.When Between poor example can be that unmanned vehicle sends time difference between signal and logger reception signal.In some cases, When sending signal to one or more loggers, unmanned vehicle can be that the signal stamps timestamp.Work as reception signal When, one or more loggers can beat timestamp.Time difference between two timestamps can indicate that signal reaches record The traveling time of device.Traveling time can be related to the rough distance of unmanned vehicle to logger.For example, compared to advance when Between it is longer, if traveling time is shorter, unmanned vehicle can be closer to logger.If multiple loggers show different Traveling time, then unmanned vehicle can be closer to the logger for showing smaller traveling time.For example, if unmanned vehicle enters One step is away from logger, then it can be desirable to the traveling time of signal is longer.Traveling time can be small chronomere.For example, Traveling time can be in the magnitude of second, millisecond, microsecond or nanosecond.The timestamp of unmanned vehicle and/or logger can have There is pinpoint accuracy (for example, second, millisecond, microsecond and/or magnitude of nanosecond).Clock on unmanned vehicle and/or logger can To be synchronous.The clock may be used to provide timestamp.In some cases, in unmanned vehicle and/or logger There may be some biasings between one or more clocks, but the biasing can be known and can compensate.Triangle is surveyed Amount technology or other similar technologies can determine that nobody flies based on unmanned vehicle to the distance of one or more loggers The rough position of row device.
In the additional example of analysis unmanned vehicle position, one or more loggers can also be strong by reception signal Degree instruction (RSSI) substantially determines the distance between unmanned vehicle and logger.RSSI can be to receiving at logger The measurement of power present in signal (for example, radio signal).Higher rssi measurement value can indicate that stronger signal. In some embodiments, wireless signal can be with range attenuation.Therefore, stronger signal can be with nearer distance phase Close, and weaker signal can be related to farther distance.Based on RSSI unmanned vehicle can be determined to the big of logger Cause distance.In some cases, can more multiple loggers RSSI to determine the rough position of unmanned vehicle.For example, Provided that two loggers, then the potential site of unmanned vehicle may be provided as hyperbola.Provided that three or more Individual logger, then rough unmanned vehicle position can be determined using triangulation technique.If multiple loggers are shown Different RSSI values, then compared to the logger for showing weaker RSSI value, unmanned vehicle can be away from showing stronger RSSI The logger of value closer to.
Further example can provide one or more loggers with multiple receiving channels.The logger can have There are one or more antennas, the antenna can receive multiple signals.For example, reception antenna can have multiple receiving channels. It can handle by the multiple receiving channel and the multiple signals received to obtain the relative direction of unmanned vehicle.Blank pipe system The other parts of system, Verification System or Verification System can be handled from reception antenna by way of receiving beam forming Multiple signals.This can allow air traffic control system or other entities substantially to obtain direction and position of the unmanned vehicle relative to logger Put.The direction that beam forming can be arrived with detection signal, and can be used for detecting side of the unmanned vehicle relative to logger To.Multiple loggers can be used for wherein intersecting to reduce unmanned vehicle by the desired orientation for watching unmanned vehicle Position range.
In another example, logger can include sensor, such as vision sensor, sonac or other types Sensor.Logger can be able to record the environment around the logger.Logger can record unmanned flight in environment The presence or movement of device.For example, logger can use the unmanned vehicle of flight in video tape recording environment.Carry out self-recorder Data can be used for detecting unmanned vehicle and analyze position of the unmanned vehicle relative to logger.For example, can be with base The size of unmanned vehicle determines distance of the unmanned vehicle relative to logger in image, and/or works as sensor Direction known to when, it may be determined that direction.
The position of logger can be known.The world coordinates of logger can be known.Or logger can be with With local coordinate, and the local coordinate of logger can be changed to common coordinate system.In some embodiments, remember Record device can have precalculated position.In other cases, logger can be moved around or placed by ad hoc fashion.Logger can The signal of the logger position is indicated with transmission.For example, each logger can have GPS unit, the GPS unit can To provide the world coordinates for logger.The coordinate for logger can be transmitted.Air traffic control system or Verification System it is any Other parts could be aware that the position of logger.Any other part of air traffic control system or Verification System can receive from logger Indicate the signal of the logger position.Therefore, even if logger moves around, air traffic control system can also have on record Device position updates the data.In some cases, logger can be the midget plant that can be picked up and move around.Logger can With self-propelled or can not self-propelled.Logger can hold or can be carried by the mankind.Or logger can be can Sizable equipment in an opening position is permanently or semi-permanently provided.
Any number of logger can be provided in region.Can provide one, two, three, four, five, six Individual, seven, eight, nine, ten or more loggers.In some cases, the signal from unmanned vehicle can have There is limited range.In some cases, the logger only in the certain distance of unmanned vehicle can be with reception signal.Connect Collect mail number logger can record on received signal information and can be to Verification System (for example, certification system The air traffic control system of system) information is provided.Logger from the greater number of unmanned vehicle reception signal can be unmanned vehicle Rough position higher degree of certainty or accuracy are provided.In some embodiments, greater density is provided in specific region Or more the logger of number can increase the logger of a great deal of by from the possibility of unmanned vehicle reception signal.One In the case of a little, logger can be distributed in density be at least per 1 logger of sq. mi, per 3 loggers of sq. mi, it is every 20 5 loggers of sq. mi, 10 loggers of every sq. mi, 15 loggers of every sq. mi, every sq. mi notes Record device, 30 loggers of every sq. mi, 40 loggers of every sq. mi, 50 loggers of every sq. mi, every square of English In 70 loggers, per sq. mi 100 loggers, per 150 loggers of sq. mi, per 200 records of sq. mi Device, 300 loggers of every sq. mi, 500 loggers of every sq. mi, the region per 1000 loggers of sq. mi In.
Logger can be distributed on large regions.For example, multiple loggers can be distributed in greater than about 50 square metres, 100 Square metre, 300 square metres, 500 square metres, 750 square metres, 1000 square metres, 1500 square metres, 2000 square metres, it is 3000 flat Square rice, 5000 square metres, 7000 square metres, 10000 square metres, 15000 square metres, 20000 square metres or 50000 square metres On region.With big region can aid in detection traveling time, signal intensity or by logger collect other data in Difference.If logger is only located in zonule, for signal traveling time will very little, or be likely difficult to recording Distinguished or distinguished between device and logger.Logger can be spread apart from each other.For example, in multiple loggers at least Two positioned at 1 meter at least apart, it is apart 5 meters, apart 10 meters, apart 20 meters, apart 30 meters, that This at a distance of 50 meters, it is apart 75 meters, apart 100 meters, apart 150 meters, apart 200 meters, apart 300 Rice, it is apart 500 meters, apart 750 meters, apart 1000 meters, apart 1250 meters, apart 1500 meters, Apart 1750 meters, apart 2000 meters, apart 2500 meters, apart 3000 meters, 5000m apart or At person's ten thousand metres apart.Logger with separated distribution can aid in detection traveling time, signal intensity or by remembering Record the difference in other data that device is collected.If logger is close together too closely, will be very for the traveling time of signal It is small, or be likely difficult to be distinguished or distinguished between logger and logger.
Any other part of authentication center, air traffic control system or Verification System can be based on the data received from logger To calculate the rough position of unmanned vehicle.One or more processors can be used for calculating based on the data for carrying out self-recorder The rough position of unmanned vehicle.Come self-recorder data can include time stamp data, signal strength data or herein its The data of any other type described by his place.
Any other part of Verification System, air traffic control system or Verification System can based on timing information come check with roughly The unmanned vehicle of positional information formation control claims position, whether there is phase between position and rough position to determine to claim To big difference.Larger deviation can indicate that the high risk that some form of harm is caused to unmanned vehicle.For example, Larger deviation can indicate that the high risk of the position of false unmanned vehicle.False position from unmanned vehicle can To indicate the behavior (for example, the position data forged is distorted or reported to sensor) of malicious act or fraud correlation.Make a false report position Put the navigation system that can indicate that unmanned vehicle mistake or failure (for example, the GPS sensor of damage, for determining nothing One or more sensor errors of people's position of aircraft).The mistake or failure of the navigation system of unmanned vehicle are not necessarily Malice, but if without the position for accurately tracking unmanned vehicle, then it may also cause worry.In some cases, nobody The claiming of aircraft/reported position can be compared with the calculation position of unmanned vehicle, and when calculation position and claims position When difference between putting exceedes threshold value, warning can be provided.In some cases, it is determined that only considering position in terms of the risk of fraud Difference between putting.Or, it may be considered that other factors as described elsewhere herein, such as environmental condition, radio communication Condition, unmanned vehicle model parameter or any other factor.
Logger can exist as air situation monitoring system, and can record going through for the aerial mission monitored History.Air traffic control system can be by the same nothing acquired in the flight information of unmanned vehicle Active report and one or more loggers The flight information of people's aircraft compares, and quickly judges the data true and false of unmanned vehicle report.Nobody is flown when existing When row device causes the risk of some form of harm, warning can be provided.Manipulator that can be to unmanned vehicle, air traffic control system Or any other entity provides warning.Warning can indicate that or can not indicate that the estimation of risk is horizontal.Warning can be with Indicate or can not indicate harm type (for example, it may be possible to malice distort or forge, possible sensor fault).
The verification process of user
Authentication center can be authenticated using any number of process come the identity of the user to manipulating unmanned vehicle. For example, authentication center can use simple verification process, such as by by the identification information of user and password and being associated with institute The authentication information stated user and stored is compared.During other, can by obtain the vocal print of user, fingerprint and/or Iris information and acquired information is compared to be authenticated the identity of user with stored user profile.Or Person, it can be verified using the short message signal (SMS) sent to the mobile device associated with user to verify user identity.System System can also be authenticated using the built-in identity module in token and/or remote control to the user for being associated with remote control.
In further example, the process being authenticated to user can include the certification of diversified forms listed above. It is, for example, possible to use two step process is authenticated to user, the two step process need user input identification information (such as with Name in an account book) together with password, and then by verifying that the text received at the mobile device of user provides certification come requirement user Second step.
After successful execution certification, authentication center can retrieve the information on user from database.Retrieve Information can be sent to air traffic control system, and the air traffic control system can then determine whether user has the authority of flight.
The verification process of unmanned vehicle
When the intrinsic personal information of user (for example, vocal print, fingerprint) can be used to perform the certification to user, to nothing The certification of people's aircraft can utilize the facility information being stored in unmanned vehicle, such as encode the key into equipment.Cause This, the group that the certification to unmanned vehicle can be based on unmanned vehicle identifier He the key being stored in unmanned vehicle Close.Further, it is possible to use certifiede-mail protocol (AKA) realizes the certification to unmanned vehicle.AKA is two-way authentication association View.In this example, when using AKA, authentication center can be authenticated to the legitimacy of unmanned vehicle, and unmanned vehicle The legitimacy of authentication center can be authenticated.The example of the certification based on AKA is discussed in Figure 15.
Figure 15 shows the diagram of the two-way authentication between unmanned vehicle and authentication center according to embodiment of the present invention 1500.Specifically, Figure 15 shows the mode that unmanned vehicle interacts with air traffic control system, and the air traffic control system is transferred and recognized Card center interacts.
Universal subscriber identity module (USIM) can be based on and perform the AKA between unmanned vehicle and authentication center and recognize Card.Specifically, unmanned vehicle can have the airborne USIM modules comprising international mobile subscriber identity (IMSI) and key. In some instances, when manufacturing unmanned vehicle, key is burned onto in the unmanned vehicle.When manufacture unmanned vehicle When, key can be permanently written or be integrally formed into the unmanned vehicle.Therefore, key is protected and can not be by Read.In addition, key is any other part of authentication center or Verification System (for example, as illustrated in Figure 2 in certification The heart 220) it is shared.To USIM to crack difficulty very big.In the field, it is with high safety certification degree that AKA, which is recognized, System.Therefore, authentication center can have high safety degree and public credibility, and it expands to the IMSI, key and counting to user Device SQN protection.
As seen in step 1505, unmanned vehicle can provide certification request and IMSI to air traffic control system.Unmanned flight Device actively (broadcast) or passive (response) can transmit its IMSI.
Once receiving certification request and IMSI at air traffic control system, then in step 1510, air traffic control system can be to Authentication center's certified transmission request of data.Authentication data request can include the information on unmanned vehicle, and such as nobody flies The IMSI of row device.
In step 1515, authentication center can receive IMSI, key, generation random number and according to pre- corresponding to inquiry Algorithm is determined to calculate authentication vector (AV).Algorithm f1, f2, f3, f4 and f5 pacify in typical Universal Mobile Telecommunications System (UMTS) It is described in full agreement.AV can include 5 elements, and such as, (encryption is close by RAND (random number), XRES (expected response), CK Key), IK (integrity check key) and AUNT (authentication token).Or authentication vector can include one or more elements, institute Element is stated including at least one in the element in this example (including different elements).In this example, AUTN is by being hidden Counter SQN, AMF (authentication management of submission) and MAC (message authentication code) composition.
AUNT：=SQN (+) AK | | AMF | | MAC
In step 1520, authentication center can respond to air traffic control system certified transmission data, described in step 1525 Air traffic control system can then provide the authentication response for including AUNT and RAND to unmanned vehicle.Specifically, AUNT and RAND The security module A of unmanned vehicle can be transferred to.In step 1530, security module A can verify AUNT.Security module A AK can be calculated according to RAND and key.Once calculating AK, SQN can be calculated and recovered according to AUNT.Then can be with Calculate XMAC (authentication code of expectation), RES (response to random number), CK (encryption key) and IK (integrity check key). Security module A can compare MAC and XMAC.If MAC and XMAC are differed, unmanned vehicle can be to remote control and certification Center sends certification refuse information, and certification is terminated as response.Or if MAC is identical with XMAC, security module A can be with Verify whether the SQN received falls in the reasonable scope.Specifically, security module A can record the maximum received so far SQN, therefore SQN may only be incremented by.If SQN is abnormal, unmanned vehicle can send synchronization failure message, then terminate Certification.Or if SQN falls in the reasonable scope, security module A can verify AUNT authenticity and can be to certification Center provides computer RES.
As seen in Figure 15, in step 1535, security module A can transmit RES to air traffic control system, in step 1540 In, the air traffic control system then can provide RES to authentication center.Or unmanned vehicle can be carried directly to authentication center For RES.
Once authentication center has been received by RES, then in step 1545, it is (right that the authentication center can compare XRES The expected response of random number) and RES.If it find that XRES and RES are inconsistent, then authentification failure.Or if it find that XRES and RES is identical, then mutual authentication success.
After mutual authentication, unmanned vehicle and air traffic control system can be protected by using the CK and IK that consult Close communication.Specifically, after mutual authentication, in step 1550, authentication center can transmit to air traffic control system and consult CK and IK.In addition, in step 1555, unmanned vehicle can calculate the CK and IK consulted.Once air traffic control system is from recognizing Card center has been received by the CK and IK consulted, then can be built in step 1560 between unmanned vehicle and air traffic control system Vertical secret communication.
Air traffic control system
Air traffic control system can include user and unmanned vehicle access subsystem, air situation monitoring subsystem, boat power management System and geography fence subsystem.Air traffic control system can perform many functions, including the monitoring of real-time air situation and record unmanned flight Device activity.Air traffic control system can also assign boat power in limited spatial domain.In addition, air traffic control system can accept geography fence equipment Application, and can also authorize and determine the attribute of the geography fence equipment.
Air traffic control system can also carry out necessary user and aircraft certification examination ＆ verification.Further, air traffic control system can supervise Control violation aircraft.Air traffic control system can identify unlawful practice or the behavior close to violation, and such behavior can be given With warning.In addition, air traffic control system can provide counterattacking measure, such as air situation monitoring, boat power pipe for continuing the aircraft of violation Reason, the violation counter with the safe interface of authentication center, geography fence and other forms.Air traffic control system can also possess respective Event recording function.Air traffic control system can also provide the access classes to air situation information.
Air traffic control system can include air situation monitoring subsystem.Air situation monitoring subsystem can be responsible for monitoring in real time and assign sky The flight of flight progress in domain, such as unmanned vehicle.Specifically, air situation monitoring subsystem can monitor mandate aircraft Whether flown along predetermined navigation channel.Air situation monitoring subsystem can also be responsible for finding the abnormal behaviour for authorizing aircraft.Base In the abnormal behaviour of discovery, air situation monitoring subsystem can send alarm to violation counter system.In addition, air situation monitoring subsystem The presence of unauthorized aircraft can be monitored and can be sent out based on the detection to unauthorized aircraft to violation counter system Go out alarm.The example of spatial domain monitoring can include radar, photoelectricity harmony sensing and other examples.
Air situation monitoring subsystem can also actively perform the checking to aircraft identity, and can also be to received from flight The certification request of device is responded.In addition, air situation monitoring system can be with active obtaining on the state of flight of given aircraft Information.When monitoring aircraft, monitored aircraft can be positioned in three dimensions.For example, air situation monitors System can track the flight path of aircraft and by it compared with planning navigation channel, to identify abnormal behaviour.Abnormal behaviour can quilt The behavior more than predetermined tolerance limit is identified as (for example, in flight for deviateing predetermined flight plan or being down to below threshold level Threshold value).In addition, control point can be distributed or centralized.
Air situation monitoring subsystem can have the Main Means for being used for spatial domain monitoring, i.e. real-time reception and parsing (directly connects Receive or receive forwarding) (or cooperation) aircraft real-time broadcast, flight on aircraft in itself are authorized in monitored spatial domain Information.Real-time flight information can be obtained by the active inquiry of blank pipe and the response of aircraft.In addition, air situation monitoring System can have the supplementary means for spatial domain monitoring, such as acoustic radar and electro-optic radar.In this example, can allow through recognizing The user of card inquires about current air situation state to spatial domain monitoring subsystem.
Air traffic control system can also include boat power management subsystem.Boat right management system can be responsible for accepting to navigation channel resource Initial application and the application to changing navigation channel, this can plan Flight Path and be sent to applicant on to applying really The feedback of provisioning response.It is determined that the Examples of information that provides includes in the Flight Path of planning, way control point and correspondingly in response Time window.In addition, when the condition in this spatial domain and/or other spatial domains changes, boat right management system can be responsible for adjustment Predetermined Flight Path.The reason for predetermined Flight Path can be adjusted, includes but is not limited to weather, can use change, the thing of spatial domain resource Therefore, geography fence equipment sets up and to geography fence equipment such as spatial dimension, duration and restricted ranks The adjustment of attribute.Boat right management system can also inform applicant or user on the original Flight Path to be adjusted.Further Ground, the distribution in the certified authorized aerial navigation channel of user Xiang Hang power management subsystem inquiry can be allowed.
Air traffic control system can also include the safe interface with authentication center subsystem.Connect with the safety of authentication center subsystem Mouth can be responsible for the secure communication with authentication center.Specifically, for authentication purposes or for aircraft and user The purpose of attribute query is carried out, air traffic control system can be communicated with authentication center.
In this example, user can know the other users in areal by air traffic control system.User can select Information, such as their flight path are shared with other users.User can also share the content captured by its equipment.Example Such as, user can share the content captured from the camera on or within its unmanned vehicle.In addition, user can be each other Send instant message.
Unmanned vehicle flight system can also include geography fence subsystem, and the geography fence subsystem includes one Or multiple geography fence equipment.Unmanned vehicle can detect geography fence equipment, and or vice versa.Geography fence is set It is standby that unmanned vehicle can be made to be taken action according to one group of air traffic control.The example of geography fence subsystem will be in the application hereinafter In discuss in more detail.
Only rely upon the flight course of unmanned vehicle certification
In some applications, before unmanned vehicle can take off, air traffic control system only can need to perform to fly for nobody The certification of row device.In such applications, it is not necessary to perform the certification for user.Air traffic control system performs recognizing for unmanned vehicle The process of card can be demonstrated by the AKA provided in such as figure 15 above.After certification, unmanned vehicle and air traffic control system can be with CK and IK is obtained to communicate with one another, as described in Figure 15 step 1550 and step 1555.CK can be used for data encryption, and IK can be used for data integrity protection.
After certification, user can be obtained via the channel of safety it is final during verification process caused by key (CK, IK), and protection can be encrypted by using key in the communication data between user and unmanned vehicle, to avoid It is held as a hostage or is controlled by mistake.Therefore, follow-up data-message (MSG) can include the information relevant with unmanned vehicle, all The position of such as unmanned vehicle, the speed of unmanned vehicle.By this way, unmanned vehicle can be protected simultaneously by inclusive And verified by IK.The information of transmission is as follows：
Equation 1：MSG1||((HASH(MSG1)||CRC()+SCR(IK))||IMSI
Wherein MSG1=MSG | | RAND | | TIMESTAMP | | GPS
In above equation 1, CRC () can be message loop verification and, and SCR (IK) can be that data are covered derived from IK Code.In addition, in this manual, MSG is origination message, HASH () is hash function, and RAND is random number, and TIMESTAMP is Timestamp at that time, and GPS are positions at that time, to avoid playback formula from attacking.
Figure 16 shows the process 1600 for sending the message with ciphering signature according to embodiment of the present invention. In one step 1610, message has been write.Provided in as discussed above, message can be expressed as " MSG ".Write message it Afterwards, in step 1620, the sender of message can generate the message using hash function from the text of the message Summary.Summary can be the Hash of only message --- MSG --- in itself, or it can be modified message --- such as such as Seen MSG1 above --- Hash.Specifically, MSG1 can include such as origination message MSG, random parameter RAND, current The compilation of the information such as time stamp T IMESTAMP and current location GPS.In other examples, modified message can be included and replaced For information.
Once generating message MSG or modified message MSG1 summary, in step 1630, sender can use private The summary is encrypted people's key.Specifically, it can use sender public-key cryptography that summary is encrypted, so that The summary that must be encrypted can serve as the idiograph of transmitted message.Therefore, in step 1630, the cryptographic digest can be with Then recipient is sent jointly to using as the digital signature of message and message.
Figure 17 is shown for by being decrypted signature to verify the process of message according to embodiment of the present invention 1700.As seen in step 1710, recipient receives message and cryptographic digest, and the message and encryption discussed in such as Figure 16 are plucked Will.In step 1720, recipient can use to be calculated with sender's identical hash function from the origination message received The summary of outbound message.In addition, in step 1730, recipient can be using the public-key cryptography of sender come come to message attachment Digital signature is decrypted.Once the digital signature of message attachment is decrypted, in step 1740, recipient can compare Summary.If the two summaries are identical, recipient can confirm that the digital signature is from sender.
Therefore, when other fellows receive such information and are uploaded to authentication center, it can be used as numeral label Name is treated.That is, the presence of such wireless messages is equal with the presence of the unmanned vehicle.The step can simplify nobody The verification process of aircraft.I.e. after the completion of initial authentication, unmanned vehicle can correctly be announced by performing said process The determination of oneself is present, and without necessarily initiating the initial authentication process of complexity every time.
Dependent on unmanned vehicle and the flight course of user authentication
In some applications, only after the double authentication of unmanned vehicle and user is carried out, unmanned vehicle just may be used To take off.
Certification for user can be based on electron key.When manufacturing unmanned vehicle, manufacturer can be with built-in electronic Key.Electron key can have built-in usim card, and the card includes (related with user to the authentication center IMSI-U shared The IMSI of connection) and K-U (key associated with user).This is also the unique person identifier of user and is only manufacturing USIM When one-time write.Therefore, usim card can not be replicated or forge.Moreover, it is protected and nothing by USIM security mechanism Method is read.Therefore, difficulty USIM being decrypted is very big.Electron key, it can be inserted in as an electronic equipment distant In control device, it is integrated in remote control or via conventional meanses such as Bluetooth (TM), WIFI, USB, audio, optic communications Communicated with remote control.Remote control can obtain the essential information of electron key and being carried out with authentication center communicate into Certification corresponding to row.
Certification for user can also be realized by various other means, the inherent feature of such as user.It is specific and Speech, the certification to user can be realized by vocal print, fingerprint, iris information etc..
For unmanned vehicle certification based on airborne security module, the security module is via CH (channel) and certification Center is authenticated.In this example, the airborne security module of unmanned vehicle includes USIM, the USIM include IMSI-M (with The associated IMSI of unmanned vehicle, for example, such as by the IMSI of manufacturer's offer) and K-M (associated with unmanned vehicle is close Key, for example, the key such as provided by manufacturer).The K-M shared between unmanned vehicle and authentication center is when manufacturing USIM One-time write.Moreover, it is protected by USIM security mechanism and can not read.Therefore, difficulty USIM being decrypted Degree is very big.
The airborne security module of unmanned vehicle and authentication center can carry out the two-way mirror of two-way authentication, process and UMTS Weigh it is similar, using certifiede-mail protocol mechanism, i.e. AKA.AKA is bidirectional identification protocol.That is, not only authentication center is required to nothing The legitimacy of people's aircraft or electron key is verified, and unmanned vehicle or electron key are also required to providing service The legitimacy of authentication center is verified.Between the unmanned vehicle provided in Figure 15 as discussed above and authentication center AKA verification process illustrates this process.
Before aerial mission is performed, unmanned vehicle and electron key may need to perform verification process.In this example, Both are serially or parallelly authenticated with authentication center, wherein being carried out Basic Authentication process.Specifically, fly to nobody (IMSI-M, K-M) can be used in the certification of row device, and (IMSI-U, K-U) can be used in the certification to electron key. It is described below general description.The security module refers to unmanned vehicle or electron key.
After the certification of unmanned vehicle and authentication center is completed, authentication center can determine nobody by database Some characteristics of aircraft.For example, authentication center can determine the type of unmanned vehicle, the ability of unmanned vehicle, nobody The maintenance of the ownership of aircraft, health/operational situation of unmanned vehicle, unmanned vehicle needs, the history of unmanned vehicle Log etc..In addition, after the certification of electron key and authentication center is completed, authentication center can determine the electronics key The personal information of user, operating right, flying history etc. corresponding to spoon.
After above-mentioned certification is completed, controller obtains the several important passwords consulted：CK-U is (associated with user CK), IK-U (the associated IK with user's), CK-M (CK associated with unmanned vehicle) and IK-M are (with unmanned vehicle phase The IK of association).Above-mentioned basic verification process and result can flexibly use in the scene of unmanned vehicle.
Electron key can consult aerial mission via encryption channel and authentication center.Authentication center can be based on user and The attribute of unmanned vehicle and ratified, refused or provided related amendments suggestion or prompting to aerial mission.Flying Cheng Zhong, certification can also use each password and keep communicating with unmanned vehicle and remote control, (all to obtain flight parameter Such as position, speed) and management awing and the authority of control unmanned vehicle or user.
In wireless communication link between unmanned vehicle and remote control, using pair of unmanned vehicle and electron key Sign again.When sending the message, sender generates eap-message digest using hash function from Message-text, and then using individual The summary is encrypted key.Summary after this encryption is sent jointly to as the digital signature of message and the message Recipient.Recipient is plucked first by calculating message from the origination message received with sender's identical hash function Will, and then the digital signature of message attachment is decrypted using the public-key cryptography of sender.If the two summaries are identical, Then recipient can confirm that the digital signature is from sender.
Specifically, follow-up data-message (MSG) can be guidance command, position report, speed report etc., and can With integrity protected and verified by K-U and IK-M.The information transmitted is as follows：
MSG1||(HASH(MSG||RAND)||CRC)(+)SCR1(IK-M)(+)SCR2(IK-U))||IMSI-U|| IMSI-M
Wherein MSG1=MSG | | RAND | | TIMESTAMP | | GPS
In above equation, CRC (+) can be message loop verification and, and SCR1 (IK) and SCR2 (IK) be IK derivative Data mask.SCR1 () and SCR2 () can be common cipher code generator.In addition, HASH () is hash function, and RAND is random number, and TIMESTAMP is timestamp at that time, and GPS is position at that time, to avoid playback formula from attacking.
When being uploaded to authentication center, such information can be treated as digital signature.That is, such wireless messages It is equal in the presence of the presence with the unmanned vehicle and the presence of user.The step can simplify the certification of unmanned vehicle Process.I.e. after the completion of initial authentication, unmanned vehicle can correctly announce that the determination of oneself is deposited by performing said process , and without necessarily initiating the initial authentication process of complexity every time.
Can be that above-mentioned IK distributes the legal period to strengthen security.Authentication center and unmanned vehicle and electronics key Spoon can continuously carry out AKA processes.In flight course, unmanned vehicle can receive the program of user's replacing.
Authentication center can possess the identity of unmanned vehicle, the registration aerial mission of unmanned vehicle and its practical flight History.It can also possess the information of corresponding user.Moreover, the result based on bi-directional verification, authentication center can also be to user Various services on safety and information are provided.Authentication center can also carry out a certain degree of adapter to unmanned vehicle.Example Such as, authentication center can adapter unmanned vehicle some functions.By this way, supervision of the regulator to unmanned vehicle Strengthened with control.
Process of supervision
Air traffic control system can send IMSI querying commands via pccr-to-pccr communicator B to unmanned vehicle.In unmanned vehicle After being responded using its IMSI to IMSI inquiries, the manager at air traffic control system can initiate mentioned order authentication to identify The unmanned vehicle is the legal unmanned vehicle for possessing IMSI.Once having determined that unmanned vehicle is legal possesses IMSI, can So that the Signalling exchange of both sides is further carried out between unmanned vehicle and air traffic control system using the CK and IK consulted.For example, Unmanned vehicle can be with report history information or task scheduling.In addition, air traffic control system can require that unmanned vehicle execution is some Action.Therefore, air traffic control system can take over some action of control unmanned vehicle.By using the verification process, blank pipe System may insure the correct mark to unmanned vehicle, without risk of assuming another's name.
In another example, if air traffic control system sends IMSI querying commands to unmanned vehicle and receives no sound Should, errored response or erroneous authentication, then air traffic control system can consider that unmanned vehicle is non-to close rule.In other examples, nothing People's aerocraft system can require unmanned vehicle in the case of without the prompting from aerial boat power control periodic broadcasting its IMSI.Air traffic control system can select to initiate the above-mentioned authentication process with unmanned vehicle when receiving broadcasted IMSI.
Geography fence is summarized
Unmanned vehicle flight system can include one or more geography fence equipment.Unmanned vehicle be able to can be examined Geodetic manages railing device, and or vice versa.Geography fence equipment can make unmanned vehicle be gone according to one group of air traffic control It is dynamic.One group of air traffic control can include geographical component that can be related to the position of geography fence equipment.For example, geography fence Equipment can be provided in a certain opening position and claim one or more geography fence borders.Can be within geography fence border The activity of control unmanned vehicle.Alternatively or additionally, can outside geography fence border control unmanned vehicle work It is dynamic.In some cases, the rule put on unmanned vehicle within the geography fence border with outside geography fence border May be different.
Figure 18 shows the example of unmanned vehicle and geography fence equipment according to embodiment of the present invention.Geography fence is set Standby 1810 can claim geography fence border 1820.Unmanned vehicle 1830 can run into geography fence equipment.
Unmanned vehicle 1830 can be operated according to one group of air traffic control.One group of air traffic control can be based on Geography fence equipment and generate.One group of air traffic control is considered that the border of geography fence equipment.One group of tof tube System can be associated with the geography fence border in the certain distance of geography fence equipment.
Geography fence equipment 1810 can be provided in a certain opening position.Geography fence equipment can be used for assisting in Any equipment of one or more geography fence borders, the geography fence border can be used for one or more groups of air traffic control In.Geography fence equipment can be transmitted or can not transmission signal.Signal may or may not be can be by unmanned flight What device detected.Unmanned vehicle can detect geography fence equipment with or without signal.Geography fence equipment It or can can not detect unmanned vehicle.Unmanned vehicle can transmit or can not transmission signal.Letter Number may or may not be that can be detected by geography fence equipment.One or more intermediate equipments, which be able to can detect, to be come From unmanned vehicle and/or the signal of geography fence equipment.For example, intermediate equipment can receive the letter from unmanned vehicle Number, and the data on the unmanned vehicle can be transmitted to geography fence equipment.Intermediate equipment can be received from ground The signal of railing device is managed, and the data on the geography fence equipment can be transmitted to unmanned vehicle.As herein its He is more fully described in place, the various combinations that can be detected and communicate.
Geography fence equipment may be used as the reference to one or more geographical frontiers 1820.Geography fence border can refer to Two-dimentional area is shown.Anything on or below the two dimension area can be located within the geography fence border.Institute Stating the anything on or below the area outside two-dimentional area can be located at outside the geography fence border.Show another In example, geography fence border can indicate that three-D volumes.Space within the three-D volumes can be in the geography fence Within border.Space outside the three-D volumes can be outside the geography fence border.
Geography fence equipment border can be open or closure.The geography fence equipment border of closure can be sealed completely The area closed in the geography fence equipment border.The geography fence equipment border of closure can begin and end with same point. In some embodiments, the geography fence border of closure can not have beginning or end.The geography fence border of closure Example can be circular, square or any other polygon.Open geography fence border can have different starting points and Terminal.Geography fence wall can have linear or curve border.The geography fence border of closure can close an area. For example, the border of closure can aid in restriction restricted area.Open geography fence border can form barrier.Barrier can have Help form geography fence border at natural physical boundary.The example of physical boundary can include administrative area border (for example, Border between country, area, state, province, town, city or boundary location line), the border of naturally occurring is (for example, river, small stream, river, steep cliff, ditch Gully, valley), the border of artificialboundary's (for example, wall, street, bridge, dam, door, access road) or any other type.
Geography fence equipment can have the position relative to geography fence border.The position of geography fence equipment can be used In it is determined that the position of geography fence border.The position of geography fence equipment can serve as the reference to geography fence border.For example, If geography fence border is the circle around geography fence equipment, geography fence equipment may be at the center of circle.Therefore, base area The position of railing device is managed, geography fence border can be confirmed as the circle around the geography fence equipment, and the circle is with geography Railing device is its center of circle and has predetermined radii.Geography fence equipment needs not to be the center of circle.For example, geography fence can be provided The border of equipment with cause the border be relative to geography fence equipment bias circle.Geography fence equipment can be located in itself In the border of geography fence equipment.In the alternative, the border of geography fence equipment can cause the geography fence Equipment is located at outside the border of the geography fence equipment.However, the border of geography fence equipment can be based on geography fence The position of equipment and determine.The position on the border of geography fence equipment can also be based on geography fence border type (for example, Shape, the size of geography fence border) and determine.For example, if it is known that geography fence border type is set with geography fence The hemispherical border that standby position is the center of circle and radius is 30 meters, and it is X that known geographic railing device, which has world coordinates, Y, Z, then the position of geography fence border can be calculated according to world coordinates.
Unmanned vehicle can be close to geographical railing device.Identification to geographical railing device border can be by unmanned flight Device provides.Unmanned vehicle can fly according to air traffic control, and it is to be located at that the air traffic control, which is based on the unmanned vehicle, There is different rules on first side on geography fence equipment border or on second side on geography fence equipment border.
In one example, unmanned vehicle may not be allowed to be flown in the border of geography fence equipment.Therefore, nothing is worked as , can be to having passed over geography fence close to geography fence border or unmanned vehicle when people's aircraft is close to geographical railing device Detected on border.It can be detected by unmanned vehicle.For example, unmanned vehicle be known that unmanned vehicle position and Geography fence border.In another example, can be detected by air traffic control system.Air traffic control system can be received on unmanned flight Device position and/or the data of geography fence device location.Unmanned vehicle is known that or can not know that geography fence is set Standby position.Air traffic control can cause unmanned vehicle to be not allowed to fly in the border.It can be adopted by unmanned vehicle Take flight responsive measures.For example, the navigation channel of unmanned vehicle can be changed so that the unmanned vehicle does not enter geography fence In border area or if the unmanned vehicle comes into, then the unmanned vehicle can be made to leave geography fence Area in border.The flight responsive measures of any other type can be taken, it can include the user to unmanned vehicle Or air traffic control system provides warning.Flight responsive measures can be initiated on unmanned vehicle machine, or can be sent out from air traffic control system Play flight responsive measures.
In some cases, unmanned vehicle can be close to geographical railing device.Unmanned vehicle is known that nobody flies The position of row device itself is (for example, use any other described by GPS unit, any other sensor or elsewhere herein Technology is known).Unmanned vehicle is known that the position of geography fence equipment.Unmanned vehicle can directly sense geography and enclose Column equipment.Geography fence equipment, which can sense unmanned vehicle and can be transmitted to unmanned vehicle, indicates that geography fence is set The signal of standby position.Unmanned vehicle can receive the instruction to geographical railing device from air traffic control system.Set based on geography fence Standby position, unmanned vehicle are known that the position of geography fence border.Based on the known location of geography fence equipment, nobody flies Row device can calculate the position of geography fence border.In other cases, can be carried out over the ground outside unmanned vehicle machine The calculating of fence boundary position is managed, and the position of geography fence border can be transmitted to unmanned vehicle.For example, geography fence Equipment could be aware that its own position and border type (for example, the space arrangement of border relative to device location).It is geographical Railing device can calculate the position of its geography fence border and transmit the boundary information to unmanned vehicle.Boundary information It can be transmitted directly or via one or more intermediates (for example, air traffic control system) from geography fence equipment to unmanned vehicle. In another example, air traffic control system could be aware that geography fence device location.Air traffic control system can from geography fence equipment or from Unmanned vehicle receives geography fence device location.Air traffic control system could be aware that the type on border.Air traffic control system can calculate The position of geography fence border and can to unmanned vehicle transmit boundary information.Boundary information can be directly from air traffic control system Transmit to unmanned vehicle.Boundary information can transmit winged to nobody directly or via one or more intermediates from air traffic control system Row device.When unmanned vehicle knows the position of geography fence border position, the unmanned vehicle can compare its own phase For the position of geography fence border position.
Based on the comparison, one or more flight responsive measures can be taken.Unmanned vehicle be able to can voluntarily be sent out Act the flight responsive measures to be taken.Unmanned vehicle can have one group of air traffic control being stored on unmanned vehicle machine simultaneously And it can observe the air traffic control and initiate flight responsive measures.Or air traffic control can be stored in unmanned flight Device machine is outer but be able to can be accessed by unmanned vehicle, so that unmanned vehicle determines what is taken by the unmanned vehicle Flight responsive measures.In another example, unmanned vehicle does not initiate flight response voluntarily, but can receive and fly from external source Response instruction.Compared based on the position, unmanned vehicle can inquire whether external source needs flight responsive measures, if needed Will, then external source can provide the instruction for flight responsive measures.For example, air traffic control system can watch position relatively and determine Whether flight responsive measures are needed.If it is required, then air traffic control system can provide direction for unmanned vehicle.If for example, nothing People's aircraft flight path needs to deviate to avoid enter into geography fence border, then can provide the life of change flight path Order.
In another case, unmanned vehicle can be close to geographical railing device.Unmanned vehicle is known that the nothing The position of people's aircraft itself is (for example, using any described by GPS unit, any other sensor or elsewhere herein Other technologies are known).Unmanned vehicle does not know the position of geographical railing device alternatively.Unmanned vehicle can be to outside Equipment provides the information on unmanned vehicle position.In one example, external equipment is geography fence equipment.Geography fence Equipment is known that the position of its own.Geography fence equipment can know that nobody flies from the information of unmanned vehicle from providing Row device position.In the alternative, geography fence equipment can sense unmanned vehicle and based on the data sensed To determine unmanned vehicle position.Geography fence equipment be able to can receive from additional sources such as air traffic control systems to fly on nobody The information of row device position.Geography fence equipment is known that the position of geography fence border.Geography fence equipment being capable of base The position of geography fence border is calculated in the known location of geography fence equipment.The calculating of boundary position is also based on side Boundary's type (for example, the space arrangement of border relative to device location).It is geographical when known to the position of geography fence border position Railing device can compare position of the unmanned vehicle relative to geography fence border position.
In another example, external equipment is air traffic control system.Air traffic control system is known that geography fence device location.Blank pipe System can receive geography fence device location directly or via one or more intermediate equipments from geography fence equipment.Blank pipe system System can sense geography fence equipment and determine geographical railing device position based on the data sensed.In certain situation Under, the information from one or more loggers is determined for the position of geography fence equipment.Air traffic control system can The position of geography fence equipment is received from additional sources such as unmanned vehicles.Air traffic control system can be from providing from unmanned vehicle Information in know unmanned vehicle position.In the alternative, air traffic control system equipment can sense unmanned vehicle simultaneously And unmanned vehicle position is determined based on the data sensed.In some cases, the letter from one or more loggers Breath is determined for the position of unmanned vehicle.Geography fence equipment can be from additional sources such as geography fence equipment Receive the information on unmanned vehicle position.Air traffic control system is known that the position of geography fence border.Air traffic control system can be with The position on geography fence equipment border is received from geography fence equipment or another source.Air traffic control system can be based on geography fence The known location of equipment and calculate the position of geography fence border.Calculating to boundary position is also based on boundary types (for example, the space arrangement of border relative to device location).When known to the position of geography fence border, air traffic control system can compare Position compared with unmanned vehicle relative to geography fence border position.
Based on the comparison, one or more flight responsive measures can be taken.Geography fence equipment or air traffic control system can So that the information on the comparison can be provided to unmanned vehicle.What unmanned vehicle be able to can voluntarily initiate to be taken flies Row responsive measures.Unmanned vehicle can have one group of air traffic control being stored on unmanned vehicle machine and be able to can abide by Keep the air traffic control and initiate flight responsive measures.Or can be stored in unmanned vehicle machine outer but can be with for air traffic control It can be accessed by unmanned vehicle, so that the flight response that unmanned vehicle determines to be taken by the unmanned vehicle is arranged Apply.
In another example, unmanned vehicle does not initiate flight response voluntarily, but flight response can be received from external source Instruction.External source can be geography fence equipment or air traffic control system.Compared based on the position, if it is desired, then external source can To provide the instruction for flight responsive measures.For example, air traffic control system can watch the position relatively and determine the need for Flight responsive measures.If it is required, then air traffic control system can provide direction for unmanned vehicle.If for example, unmanned vehicle Flight path needs to deviate to avoid enter into geography fence border, then can provide the order of change flight path.
Any description to air traffic control previously provided goes for herein.Geography fence equipment can set up position The border put, it can work to air traffic control.As elsewhere herein provides, various types of tof tubes can be applied System.Geography fence equipment can be used for setting up the border for different type air traffic control, and it can fly including that can influence nobody The flight (for example, flight path, take off, land) of row device, the operation of the load of unmanned vehicle, the load of unmanned vehicle Positioning, the operation of carrier of unmanned vehicle, unmanned vehicle one or more sensors operation or arrangement, unmanned flight The operations of one or more communication units of device, the navigation operation of unmanned vehicle, unmanned vehicle power configuration and/or The control of any other operation of person's unmanned vehicle.
Figure 19 shows geography fence equipment, geography fence border and unmanned vehicle according to embodiment of the present invention Side view.Geography fence equipment 1910 can be provided in any opening position.For example, geography fence equipment can be provided in object On on 1905 or surface 1925.Geography fence equipment may be used as the reference to one or more geographical frontiers 1920.Nobody flies Row device 1930 can be close to geographical railing device and/or geography fence border.
Geography fence equipment 1910 can be built up in a certain opening position.In some cases, can be with permanent or semipermanent Mode geography fence equipment is provided.Geography fence equipment can be substantially immovable.Not by the situation of instrument Under, geography fence equipment is not manually displaced.Geography fence equipment may remain in same position.In some cases, it is geographical Object 1905 can be fixed or be attached to railing device.Geography fence equipment can be built in the object.
Or geography fence equipment can be can be easy to it is mobile and/or portable.Geography fence equipment is without work It can be moved manually in the case of tool.Geography fence equipment can move between position and position.Geography fence equipment energy It is enough to be attached to object in a movable manner or by the object support.In some cases, geography fence equipment can be hand Hold formula equipment.Geography fence equipment can be picked up and carried by the mankind.Geography fence equipment can be picked up and taken by mankind's one hand Band.Geography fence equipment can be easily transported.In some embodiments, geography fence equipment can weight to be less than or Equal to about 500kg, 400kg, 300kg, 200kg, 150kg, 100kg, 75kg, 50kg, 40kg, 30kg, 25kg, 20kg, 15kg, 12kg、10kg、9kg、8kg、7kg、6kg、5kg、4kg、3kg、2kg、1.5kg、1kg、750g、500g、300g、200g、100g、 75g, 50g, 30g, 20g, 15g, 10g, 5g, 3g, 2g, 1g, 500mg, 100mg, 50mg, 10mg, 5mg or 1mg.Geography fence is set It is standby can have less than or equal to about 5m3,3m3,2m3,1m3,0.5m3,0.1m3,0.05m3,0.01m3,0.005m3, 0.001m3、500cm3、300cm3、100cm3、75cm3、50cm3、30cm3、20cm3、10cm3、5cm3、3cm3、1cm3、 0.1cm3 or 0.01cm3 volume.Geography fence equipment can be dressed by individual.Geography fence equipment can be carried at pocket, In handbag, pouch, wallet, knapsack or any other individual article.
Geographical railing device can be moved between position and position by means of individual.For example, user can pick up geography Railing device, it is moved to another location and is put down.Alternatively, user can be needed geography fence equipment from now Have in object and separate, then pick up the geography fence equipment, be moved to another location and be affixed to new position Place.Or geography fence equipment can be self-propelled.Geography fence equipment can be mobile.For example, geography fence is set Standby can be another unmanned vehicle, or can be another carrier (for example, the carrier based on ground, the carrier based on water, base Carrier in air, the carrier based on space).In some cases, geography fence equipment can be attached to unmanned vehicle or Other carriers are supported by unmanned vehicle or other carriers.The position of geography fence equipment can obtain with its movement Renewal and/or tracking.
In some embodiments, geography fence equipment can be during use substantially stationary.Geography fence is set It is standby to can be provided on object 1905 or on surface 1925.The object or person divine force that created the universe body that object can be naturally occurring.It is natural The example of existing object can include the object of trees, shrub, stone, massif, mountain range or any other naturally occurring.It is artificial The example of object can include structure (for example, building, bridge, post, fence, wall, bridge pier, buoy) or any other is artificial Object.In one example, geography fence equipment can be provided on the structures such as the roof built.Surface can be certainly Surface existing for so can be artificial surfaces.The example on surface can include floor surface (for example, landform, soil, broken Stone, pitch, highway, floor) or surface (for example, lake, sea, river, small stream) based on water.
Alternatively, geography fence equipment can be unmanned vehicle bus stop.Geography fence equipment can be fixed to nobody Aircraft bus stop.Geography fence equipment can be positioned on unmanned vehicle bus stop, or can be stopped by unmanned vehicle Pull in support.Geography fence equipment can be a part for unmanned vehicle bus stop, or can be stopped with unmanned vehicle Stand integrally formed.Unmanned vehicle bus stop can allow one or more unmanned vehicles to drop on bus stop or by stopping Pull in support.The one or more of the weight that unmanned vehicle bus stop can include can be used for bearing unmanned vehicle are landed Area.Unmanned vehicle bus stop can provide power to unmanned vehicle.In some cases, unmanned vehicle bus stop can be with For being charged to one or more power cells (for example, battery) on unmanned vehicle machine.Unmanned vehicle bus stop can be with For being swapped out with new power cell from unmanned vehicle power cell.New power cell can have higher energy to hold Amount or state of charge.Unmanned vehicle bus stop can place under repair on unmanned vehicle or be carried for unmanned vehicle For replacement part.Unmanned vehicle bus stop can receive the article carried by unmanned vehicle or can store and can be lifted With the article carried by unmanned vehicle.
Geography fence equipment can be any kind of equipment.The equipment can be computer (for example, individual calculus Machine, laptop computer, server), mobile device is (for example, smart phone, cell phone, tablet PC, individual digital help Reason) or any other type equipment.The equipment can be the network equipment that can be communicated by network.The equipment Including one or more Memory Storage Units, the Memory Storage Unit can include non-transient computer-readable media, The medium can store code, logic or instruction, to perform the one or more steps described by elsewhere herein.Institute One or more processors can be included by stating equipment, and the processor can be according to non-transient computer can as described herein Read code, logic or the instruction of medium and either individually or collectively perform one or more steps.
When equipment provides the reference point for the one group border associated with one group of air traffic control, the equipment can become For geography fence equipment.In some cases, when software or application operate in can provide equipment position be used as be directed to and one group When in the equipment of the reference point on one group of associated border of air traffic control, the equipment can be geography fence equipment.For example, with Family can have the equipment for performing additional function, such as smart phone.It can will apply that be downloaded to can be with air traffic control system, certification system The smart phone that another part or any other system of system are communicated.The application can provide institute to air traffic control system State the position of smart phone and indicate that the smart phone is geography fence equipment.Therefore, the position of smart phone can be with It is known and is determined for border that can be associated with limitation.Equipment can have locator or can make The position of the equipment is determined with alignment system.For example, it may be determined that smart phone and/or tablet PC or other shiftings The position of dynamic equipment.Reference point can be provided using the position of mobile device, as geography fence equipment.
In some embodiments, geography fence equipment is designed to be provided in outdoor environment.Geography fence equipment It is designed to stand various weathers.Geography fence equipment can have can partially or even wholly surround the geography fence The shell of the one or more assemblies of equipment.The shell can protect one or more of components from wind, dust or drop Water (for example, rain, snow, hail, ice).The shell of geography fence equipment may or may not be airtight, and can be Or it can not be waterproof.The shell of geography fence equipment can surround one or more processing of the geography fence equipment Device.The shell of geography fence equipment can surround one or more Memory Storage Units of the geography fence equipment.It is geographical The shell of railing device can surround the locator of the geography fence equipment.
In some embodiments, geography fence equipment can be the remote control for receiving user's input.Remote control can To control the operation of unmanned vehicle.When geography fence border is used to allow unmanned vehicle in the geography fence border When operating but limiting operation of the unmanned vehicle outside geography fence border, this can be with useful.For example, unmanned vehicle can be only It is allowed to fly in geography fence border.If unmanned vehicle is toward or away from border, unmanned vehicle can be changed Flight path so that the unmanned vehicle is maintained within geography fence border.If unmanned vehicle is only permitted on ground Manage in fence boundary and fly, then this can be such that the unmanned vehicle is maintained in the distance to a declared goal away from remote control.This can be helped User is helped to be easier to monitor unmanned vehicle.This can prevent unmanned vehicle from flying and getting lost beyond desired distance.If Geography fence equipment is remote control, then user be able to can walk everywhere and geography fence equipment border can be with remote control one Play movement.Therefore, user can have certain free degree freely to travel through region, while unmanned vehicle is maintained at relative to institute State in the expectation border of user.
Geography fence border can include one or more horizontal boundaries.For example, geography fence border can be two-dimensionally Area, the two-dimentional area can limit the transverse dimensions in the space in geography fence border and the space outside geography fence border. Geography fence border may or may not include height border.Geography fence border can limit three-D volumes.
Figure 19 provides the diagram in terms of geography fence border 1920 wherein may include lateral aspects and height.For example, One or more horizontal boundaries can be provided.Upper height limit and/or lower limit can be provided.For example, upper height limit can limit side The top on boundary.Height lower limit can be with the bottom of limited boundary.Border can be substantially flat, or can be bending, It is inclined or there is any other shape.Some borders can have cylindrical, prismatic, conical, spherical, hemispherical, bowl Shape, annular, tetrahedroid or any other shape.In a diagram, unmanned vehicle can be not allowed on geography fence side Flown within boundary.Unmanned vehicle can the free flight outside geography fence border.Therefore, unmanned vehicle can be in Figure 19 More than the upper height limit of middle offer fly.
In some embodiments, geo-fencing system can be provided.Geo-fencing system can be the son of air traffic control system System.In some cases, air traffic control system can include the geography fence that can perform one or more examples described herein Module.Any description to geo-fencing system herein goes for geography fence module, and the geography fence module can be with It is a part for air traffic control system.Geography fence module can be a part for Verification System.Or geo-fencing system can be with Verification System or air traffic control system separate and/or independently of Verification System or air traffic control system.
Geo-fencing system can receive the application to setting up geography fence equipment.For example, when geographical railing device is nothing During a part for people's aerocraft system, it can be identified and/or tracked.Geography fence equipment can have unique body Part.For example, geography fence equipment can have unique geography fence identifier, the geography fence identifier can be from other The geography fence equipment is uniquely identified and/or distinguished in geography fence equipment.It can collect on geography fence equipment Identity information.Such information can include the information on geography fence device type.Geography fence device identifier can For determining geographical railing device type.It can be provided on the further of geography fence device type in elsewhere herein Description.
In some embodiments, geography fence device identifier can be provided from ID registration centers.ID registration centers are also User identifier and/or unmanned vehicle identifier (for example, the ID registration centers 210 illustrated in Fig. 2) can be provided.Or Geography fence equipment can use the ID registration center mutually separated with unmanned vehicle and/or user.Therefore, can be with identified geographic Railing device.When geographical railing device is when setting up application and passing through geo-fencing system, then it can identify the geography fence and set It is standby.
In some embodiments, geography fence equipment can also be by certification.Certification to geographical railing device can be with It is as the geography fence equipment indicated by geography fence device identifier to include validating that the geography fence equipment.It can use and appoint What authentication techniques is authenticated to geographical railing device.For any skill being authenticated to unmanned vehicle and/or user Art can be used for being authenticated geographical railing device.Geography fence equipment can have geography fence device keyses.In certification The geography fence device keyses can be used during process.In some cases, AKA processes can be used for helping to enclose geography The certification of column equipment.The further possibility for being authenticated to geographical railing device is described in further detail in elsewhere herein Process.Geo-fencing system can prevent from cloning geography fence equipment.Geo-fencing system can prevent the geography fence of clone The certification that equipment passes through aerial management system (for example, air traffic control system) and unmanned vehicle.Certified geography fence equipment can To be used and can be communicated with unmanned vehicle by air traffic control system.
Geo-fencing system can track to have gone through to be enclosed on the geography of the registration process of geography fence device systems The identity of column equipment.Before on geography fence device systems successful registration geography fence equipment, the geography can be enclosed Column equipment is authenticated.In some cases, geography fence equipment is registered once on geography fence equipment subsystem.Or Registration can occur repeatedly.When being powered geography fence equipment, can the geography fence equipment be identified and/or recognize Card.In some cases, geography fence equipment can remain powered on during use.In some cases, geography fence equipment It can power off.When geographical railing device powers off and is then re-energised, it can undergo mark and/or verification process to set up In systems.In some cases, only present power-up geography fence equipment can just be tracked by system.With once setting up but working as Before the data of geography fence device-dependent that are not powered on can be stored by system.When the device is powered off, it is without tracked.
Geo-fencing system can check and determine useful space scope, duration and/or the limit of geographical railing device Property rank processed.For example, the position of geography fence equipment can be tracked.In some cases, geography fence equipment can be reported voluntarily Accuse their position.In some cases, geography fence equipment can have a position tracker, such as GPS unit or one Or multiple sensors.Geography fence equipment can transmit the information on geography fence device location to geo-fencing system.Institute Rheme puts the coordinate that can include geography fence equipment, such as world coordinates or local coordinate.
Geo-fencing system can be with recording needle to the geography fence border of each in geographical railing device.Geography fence is set Standby border that can be with same type can be with different types of border.For example, the border of equipment and equipment room can With difference.Geo-fencing system can record boundary types and the position of geography fence equipment.Therefore, geo-fencing system can be with It can determine the position on the border of geography fence equipment.The useful space scope of geography fence equipment can be by the system Know.
The duration on geography fence equipment border can be known.In some embodiments, geography fence border It can keep static over time.As long as geography fence equipment is powered, the geography fence border can is kept it turned on. In other cases, geography fence border can change over time.Even when geographical railing device is powered, geography encloses Column border can have identical scope, but can come into force or can not come into force., can be with for example, daily from 2pm to 5pm Geography fence border is provided, and during remaining hour, geography fence border does not come into force.The shape of geography fence border and/or Size can change over time.Geography fence border change can based in one day sometime, in one week The factor in a certain week, month, season, season, time or any other time correlation in some day, one month.The change can To be rule or periodic.Or the change can be irregular.In some cases, geography can be provided to enclose The timetable that the change on column border can follow.Elsewhere herein provides in more detail changes the further of geography fence border Example and diagram.
The rank of geography fence equipment can be known by geography fence subsystem.To the ranks of various air traffic control in the early time Description goes for the rank of geography fence equipment.For example, if multiple geography fence equipment have overlapping spatial dimension, The overlapping range can be then treated according to rank.For example, the tof tube on the geography fence equipment with higher level System goes for the overlapping area.Or restricted higher air traffic control can be used in the overlapping area.
Geo-fencing system can determine how to announce (announce) geography fence equipment.In some cases, it is geographical Railing device can send signal.The signal can be used for detecting geography fence equipment.Unmanned vehicle be able to can detect Signal from geography fence equipment is to detect the geography fence equipment.Or unmanned vehicle can not can be examined directly Geodetic manages railing device, but geo-fencing system can detect geography fence equipment.Logger, such as elsewhere herein Described logger, it may be possible to detect geography fence equipment.Air traffic control system can detect geography fence equipment.It is geographical Railing device can be announced in any way.It is, for example, possible to use electromagnetic signal or sound and light signal announce geography fence equipment. Can by means of vision sensor, infrared sensor, Ultraviolet sensor, sound transducer, magnetometer, radio receiver, The sensor or receiver of WiFi receiver or any other type detects the signal from geography fence equipment.Geography fence Which geography fence equipment is system can track and use which type of signal.Geo-fencing system can be set on geography fence It is standby which type of signal is provided and informs one or more other equipments or system (for example, unmanned vehicle), so as to Geography fence equipment is detected using correct sensor.Geography fence information can also track such as frequency range, bandwidth and/ Or the information such as agreement used in transmission signal.
Geo-fencing system can be managed for unmanned vehicle flight based on the information from geography fence equipment Resource pool.Geography fence equipment can be to unmanned vehicle operation apply one or more control.For example, geography can be based on Railing device flies to limit unmanned vehicle.The example of resource can be available spatial domain.Can be based on geography fence equipment Position and/or border can use spatial domain to limit., can with spatial information (si) during the resource for unmanned vehicle is distributed To be used by air traffic control system.Can be with real-time update with spatial domain., can be by for example, geography fence equipment can open or close Addition removes, and can move, or the border of geography fence equipment can change over time.Therefore, spatial domain can be used It can change over time.Can be with real-time update with spatial domain.Constantly or it can be updated periodically with spatial domain.It can use Spatial domain can update with rule or irregular time interval or according to timetable.Can be in response to event (such as to money The request in source) and spatial domain can be used by updating.In some cases, can over time and predict can use spatial domain.If for example, ground It is known in advance to manage railing device timetable, then some changes in spatial domain can be predictable.Therefore, when user is inciting somebody to action During asking the resources such as spatial domain, it can be estimated that the available spatial domain predicted.In some embodiments, difference can be provided Grade.For example, the different operating grade of user can be provided.Operation grade based on user, different resource can be with for user It is available.For example, the limitation of some geography fences can be only applicable to certain user and not be suitable for other users.User type Available resources can be influenceed.Another example of grade can include unmanned vehicle type.Unmanned vehicle type can influence Available resources.For example, the limitation of some geography fences can be only applicable to some unmanned vehicle models and not be suitable for other nothings People's aircraft model.
When user wishes to operate unmanned vehicle, the request to one or more resources can be made.In certain situation Under, resource can include some spaces in a period of time.Resource can include equipment, described by such as elsewhere herein Those equipment.Based on available resources, it can receive or refuse flight plan.In some cases, can be provided to flight plan Some changes are with accordance with available resources.It is determined that during Resource Availability, geography fence facility information can be useful. During determining whether to receive, refuse or change proposed flight plan, geography fence facility information can be useful 's.
User can interact with geo-fencing system.User can inquire about geography fence system on the assignment of resource System.For example, user, which can ask to assign, can use spatial domain or the state of other resources.User, which can ask to assign, corresponds to user etc. The state in the available spatial domain of level (for example, operation grade, user type).User, which can ask to assign, corresponds to unmanned vehicle class The state in the available spatial domain of type or other characteristics.In some cases, user can be withdrawn on resource from geo-fencing system The information of assignment.In some cases, information can be presented in a graphic format.For example, the ground for showing available spatial domain can be provided Figure.The map can show the available spatial domain when the current point in time that user is inquired about, or may infer that user looks into Available spatial domain during future time point after inquiry.The map can show the position and/or border of geographical railing device.This (for example, Figure 35) can in more detail be provided user interface is further described text elsewhere, and the user interface can be with Geographical railing device and/or available resources are shown.
In some embodiments, violation counter system can be provided.Violation counter system can be the son of air traffic control system System.Air traffic control system can include the violation counter module of executable one or more action described herein.Herein to disobeying Rule counter system any description go for can be a part for air traffic control system violation counter module.Counter mould in violation of rules and regulations Block can be a part for Verification System.Or violation counter system can be separated with Verification System or air traffic control system and/or Person is independently of Verification System or air traffic control system.
Violation counter system can track unmanned vehicle activity.For example, the position of unmanned vehicle can be tracked.Nobody The position of aircraft can include the direction of unmanned vehicle.Tracking the position of unmanned vehicle can also fly including tracking nobody The movement (for example, point-to-point speed, translational acceleration, angular speed, angular acceleration) of row device.Other of unmanned vehicle can be tracked Operation, the operation that such as loads, the positioning of load, the operating of carrier, one or more unmanned vehicle sensors are operated, led to Believe any other activity of the operation of unit, the operation of navigation elements, power attenuation or unmanned vehicle.Counter system can in violation of rules and regulations To detect when unmanned vehicle shows exception.Violation counter system can detect when unmanned vehicle carries out not observing one group The behavior of air traffic control.It is determined that unmanned vehicle observe still not observe one group of air traffic control during, Ke Yikao Consider user identity and/or unmanned vehicle identity.It is determined that unmanned vehicle, which is observed, does not still observe one group of air traffic control During, it may be considered that geography fence data.For example, how violation counter system can detect unwarranted unmanned vehicle When appear in limited spatial domain.Limited spatial domain can be provided in the border of geography fence equipment.User and/or unmanned vehicle It can be not authorized to enter limited spatial domain.However, it is possible to detect the presence of the unmanned vehicle proximal or into limited spatial domain.Can With the activity of real-time tracking unmanned vehicle.Can continue tracking, periodically tracking, according to timetable come track or in response to inspection The event or situation that measure and track unmanned vehicle activity.
When unmanned vehicle will be engaged in the activity do not observed for one group of air traffic control of the unmanned vehicle, disobey Rule counter system can send warning.For example, if unwarranted unmanned vehicle will enter limited spatial domain, can carry For warning.The warning can provide in any way.In some cases, warning can be electromagnetism warning or acousto-optic warning. Warning can be provided to the user of unmanned vehicle.Warning can be provided via user terminals such as remote controls.Can be to Air traffic control system and/or unmanned vehicle provide warning.The chance for changing unmanned vehicle behavior can be provided a user so that institute State unmanned vehicle and observe air traffic control.For example, if unmanned vehicle can have one close to limited spatial domain, user A little times change the path of unmanned vehicle to avoid the limited spatial domain.Or it can not provide a user and change nobody The chance of aircraft behavior.
Violation counter system can be such that flight responsive measures are realized by unmanned vehicle.Flight responsive measures can come into force with Unmanned vehicle is set to observe one group of air traffic control., can be more for example, if unmanned vehicle comes into limited area Change the flight path of unmanned vehicle so that the unmanned vehicle leaves limited area immediately, or drops unmanned vehicle Fall.Flight responsive measures can be can override one or more user input compulsory measure.Flight responsive measures can be machine Tool, electromagnetism or acousto-optic measure or the adapter control to unmanned vehicle.If warning is invalid, the measure can fly nobody Row device is dislodged, catches or even smashed.For example, the measure can be automatically led to unmanned vehicle flight path more Change.The measure can make unmanned vehicle land automatically.The measure can make unmanned vehicle power-off or self-destruction.It can adopt With any other flight responsive measures, those flight responsive measures described by such as elsewhere herein.
Counter system can be with information of the recording and tracking on unmanned vehicle activity in violation of rules and regulations.It can record and/or store Various types of information on unmanned vehicle.In some embodiments, described information can be stored in memory storage In system.All information on unmanned vehicle activity can be stored.Or it can store on unmanned vehicle activity The subset of information.In some cases, the information recorded can aid in be traced afterwards.The information recorded can be used for taking charge of Method purpose.In some cases, the information recorded can be used for disciplining action as a warning.For example, event may occur.Institute can be traced Record, relevant with event information.Described information is determined for how the event occurs or why occur Details.If the reason for event is accident, and described information is determined for accident.Described information can be used for assigning For the mistake of accident.If for example, a side is responsible for the accident, described information is determined for the side in fault. If the side is in fault, it can carry out and discipline action as a warning.In some cases, different degrees of mistake may be shared in many ways. Action can be disciplined as a warning to assign according to the information recorded.In another example, the event can be that unmanned vehicle is not abided by Keep the action of one group of air traffic control.For example, unmanned vehicle can fly through the area for not allowing photography.However, the nothing People's aircraft may use cameras capture image.After warning is sent, the unmanned vehicle may be with certain side Formula continues to catch image.Described information can be analyzed with determine the unmanned vehicle catch image up to how long or catch The image type arrived.Event can be the abnormal behaviour shown by unmanned vehicle.If unmanned vehicle shows exception Behavior, then it can analyze the reason for described information is to determine abnormal behaviour.It is remotely controlled for example, if unmanned vehicle performs with user The unmatched action of order that device is sent, then can analyze described information and how to be performed with to determine the unmanned vehicle or why Perform the action.
In some embodiments, the information recorded can be not modifiable.Alternatively, private user may not The recorded information of enough changes.In some cases, only storage system and/or in violation of rules and regulations counter system manipulator or Manager can be able to access that recorded information.
Communication type
Unmanned vehicle and geo-fencing system can interact in unmanned vehicle system.Geo-fencing system can To provide one or more geography fence borders, the geography fence border can influence the available spatial domain for unmanned vehicle And/or unmanned vehicle in spatial domain when the activity that can perform or can not perform.
Figure 39 shows different types of logical between unmanned vehicle and geography fence equipment according to embodiment of the present invention Letter.Geography fence equipment can be online 3910 or can be offline 3920.Geography fence equipment can be only from nobody Aircraft reception signal 3930, signal 3940 only can be sent to unmanned vehicle, or both can be sent to unmanned vehicle Signal is again from unmanned vehicle reception signal 3950.
When geographical railing device is connected to authentication center (for example, when communicating), the geography fence equipment Can be online 3910.When geographical railing device is connected to any part of Verification System (for example, communicating When), the geography fence equipment can be online.When geographical railing device is connected to air traffic control system or its module (for example, ground Reason rail module, in violation of rules and regulations counter module) when (communicate constantly), the geo-fencing system can be online.When When geography fence equipment is connected to network, the geography fence equipment can be online.When geographical railing device is directly connected to During to another equipment, the geography fence equipment can be online.When geographical railing device can be with another equipment or system When being communicated, the geography fence equipment can be online.
When geographical railing device is not connected to authentication center (for example, when not communicating), the geography fence Equipment can be offline 3920.When geographical railing device is not connected to any part of Verification System (for example, not entering therewith During row communication), the geography fence equipment can be offline.When geo-fencing system is not connected to air traffic control system or its module When (for example, geography fence module, in violation of rules and regulations counter module) (for example, when not communicating), the geography fence equipment can To be offline.When geographical railing device is not connected to network, the geography fence equipment can be offline.When geography encloses When column equipment is not directly connected to another equipment, the geography fence equipment can be offline.When geographical railing device can not When enough being communicated with another equipment or system, the geography fence equipment can be offline.
Geography fence equipment can be communicated with unmanned vehicle.It is logical between geography fence equipment and unmanned vehicle Letter can occur in many ways.For example, communication can be via channel, signaling mode, multi-access mode, signal format or signaling lattice Formula and occur.Communication between geography fence equipment and unmanned vehicle can be direct or can be indirect.One In the case of a little, can only with direct communication, only with indirect communication or can use direct communication and indirect communication Both.Elsewhere herein provides the further example and details on direct communication and indirect communication.
When geographical railing device is only from unmanned vehicle reception signal 3930, indirect communication can be used.When geography encloses During column equipment on-line, indirect communication can include the signal to unmanned vehicle.It is for instance possible to use network with by signal from ground Reason railing device is sent to unmanned vehicle.When geographical railing device is offline, indirect communication can include recorded nobody The presence of aircraft.Geography fence equipment can detect the presence of unmanned vehicle or receive the presence of unmanned vehicle Indirect communication.
When geographical railing device only sends signal 3940 to unmanned vehicle, direct communication can be used.It can use Direct communication is regardless of whether geography fence equipment is online or offline.Even if geography fence equipment not with Verification System or its Part is communicated, and the geography fence equipment can also can be with unmanned vehicle direct communication.Geography fence equipment Direct communication can be sent to unmanned vehicle.Geography fence equipment can provide direct communication via wireless signal.Directly Communication can be the signal of electromagnetic signal, sound and light signal or any other type.
When geographical railing device is not only sent but also receive and the signal of unmanned vehicle 3950 (for example, carrying out two-way communication) When, direct communication or indirect communication can be used.In some cases, it can simultaneously use and directly or indirectly communicate.Geography encloses Column equipment and unmanned vehicle can switch using between direct communication and indirect communication.Direct communication or indirect can be used Communication is regardless of whether geography fence equipment is online or offline.In some embodiments, direct communication can be used for from Geography fence equipment is to a part for the two-way communication of unmanned vehicle, and indirect communication can be used for from unmanned vehicle to ground Manage a part for the two-way communication of railing device.For from unmanned vehicle to one of the two-way communication of geography fence equipment Point, indirect communication can include when geographical railing device is online to the signal of unmanned vehicle, and can include when geography The presence of the unmanned vehicle recorded when railing device is offline.Or can convertibly using direct communication with connect Letter is without considering direction.
Alternatively, rule of communication can be stored in the memory on geography fence equipment.Alternatively, on one group or One or more rules of multigroup air traffic control can be stored on geography fence equipment.Geography fence equipment can or Person can not connect network, such as internet, any other WAN, LAN, communication network or data network.If geography encloses Column equipment can be connected to network, then geography fence equipment is without the rule is stored in memory.For example, rule of communication It need not be stored on geography fence equipment.Or need not storage on the one or more rule of one or more groups of air traffic control Exist on geography fence equipment.Geography fence equipment can be stored on single equipment or memory by network to access Rule.
Geography fence device memory can store geography fence mark and/or authentication information.For example, geography fence equipment Memory can store geographical railing device identifier.Memory can store geographical railing device key.Correlation can be stored Algorithm.Geography fence device identifier and/or key cannot be changed.Alternatively, geography fence device identifier and/or close Key can be outside unreadable.Geography fence device identifier and/or key can store in the module, and the module can be with It can not be separated with geography fence equipment.The module can not be in the case where not damaging the function of geography fence equipment from institute State the removal of geography fence equipment.In some cases, geography fence mark and/or authentication information can be stored in geography fence and set On standby, and it is unrelated whether can to access network with geography fence equipment.
Geography fence equipment can include communication unit and one or more processors.One or more of processors Any step or function of geography fence equipment can either individually or collectively be performed.Communication unit can allow direct communication, Indirect communication or direct communication and indirect communication.Communication unit and one or more can be provided in geography fence equipment Processor, and it is unrelated whether can to access network with geography fence equipment.
In some embodiments, unmanned vehicle can be offline or online.Unmanned vehicle can be offline (for example, being not connected to Verification System).When offline, unmanned vehicle can not enter with any part of Verification System Row communication, the part is such as authentication center, the module of air traffic control system or air traffic control system is (for example, geography fence mould Block, violation counterattacking measure module).When unmanned vehicle is not connected to network, the unmanned vehicle can be offline.When When unmanned vehicle is not directly connected to another equipment, the unmanned vehicle can be offline.When unmanned vehicle can not When enough being communicated with another equipment or system, the unmanned vehicle can be offline.
When unmanned vehicle can be offline, digital signature method can be used in the communications.Certificate is issued and used It can be used for communicating.Such method can provide some safeguards to the communication with unmanned vehicle.It can provide so Guarantee communicated without unmanned vehicle with authentication center.
When unmanned vehicle is connected to any module of such as authentication center, air traffic control system or authentication center (for example, geographical Rail module, violation counterattacking measure module) etc. any part of Verification System when (for example, when communicating), institute It can be online to state unmanned vehicle.When unmanned vehicle is connected to network, the unmanned vehicle can be online. When unmanned vehicle is connected directly to another equipment, the unmanned vehicle can be online.When geographical railing device energy When enough being communicated with another equipment or system, the unmanned vehicle can be online.
When unmanned vehicle is online, various communication means or technology can be used.For example, unmanned vehicle and/or use Family can receive geography fence signal, and can be authenticated at the authentication center of Verification System.Certification can be directed to ground Railing device is managed, it can confirm that the geography fence equipment is authenticated and authorized.In some cases, can confirm that Geography fence equipment is abide by the law standard.In some cases, certified geography fence equipment can inform unmanned vehicle And/or user is on one or more groups of air traffic control.Air traffic control system can inform unmanned vehicle and/or user in response to Certified geography fence equipment and the one or more groups of air traffic control applied.
Figure 20 shows that geography fence equipment is directly transmitted to unmanned vehicle wherein according to embodiment of the present invention to be believed The system of breath.Geography fence equipment 2010 can be connect with transmission signal 2015, the signal 2015 by unmanned vehicle 2030 Receive.Geography fence equipment can have geography fence border 2020.Geography fence equipment can include communication unit 2040, storage Device unit 2042, detector 2044 and one or more processors 2046.Communication can be used for transmission signal.Detector can be with For detecting the presence of unmanned vehicle 2050.
Geography fence equipment 2010 can be with broadcast wireless signal 2015.The broadcast can continue to occur.The broadcast can To occur independent of any condition detected.The broadcast mode can be advantageously simple.Or when detecting just In close unmanned vehicle 2020, the broadcast to signal can occur.In other times, broadcast is without occurring.This can be with Advantageously save Radio Resource.Geography fence equipment can remain hidden, until detecting unmanned vehicle.
The many aspects of the present invention can be related to geography fence equipment 2010, including：Communication module 2040, it is used in institute State the predetermined geographic scope internal transmission information of geography fence equipment；And one or more memory cell 2042, it is used to store Or one or more groups of air traffic control of the predetermined geographic scope for the geography fence equipment are received, wherein working as unmanned vehicle Into the geography fence equipment predetermined geographic scope when, the communication module is used to send from described to unmanned vehicle One group of air traffic control in one or more groups of air traffic control.It can provide and a kind of provide one group of air traffic control to unmanned vehicle Method, methods described include：Store or receive in one or more memory cell of geography fence equipment and be directed to the geography One or more groups of air traffic control of the predetermined geographic scope of railing device；And by means of in the geography fence equipment The communication module of predetermined geographic scope internal transmission information, when unmanned vehicle enters the predetermined geographic model of the geography fence equipment When enclosing one group of air traffic control in one or more groups of air traffic control is sent to unmanned vehicle.
Geography fence equipment 2010 can detect the presence of unmanned vehicle 2020.Alternatively, the inspection of geography fence equipment Surveying device 2044 can broadcast to detect the presence of unmanned vehicle.
In some embodiments, geography fence equipment can be by identifying unmanned vehicle to detect via visual information Unmanned vehicle.For example, geography fence equipment visually can detect and/or identify the presence of unmanned vehicle.At some In the case of, the vision sensor of camera or other forms is provided as the detector of unmanned vehicle.Work as unmanned vehicle When in into the preset range of geography fence equipment, camera can detect the unmanned vehicle.In some cases, ground The detector of reason railing device can include multiple cameras or vision sensor.Multiple cameras or vision sensor can have not The same visual field.Camera can catch the image of unmanned vehicle.Described image can be analyzed to detect unmanned vehicle.At some In the case of, described image can be analyzed to detect the existence or non-existence of unmanned vehicle.Can with analysis chart picture with determination nobody Estimated distance of the aircraft away from geography fence equipment.Can be with analysis chart picture to detect unmanned vehicle type.For example, it can distinguish The different model of unmanned vehicle.
In unmanned vehicle is identified, the information in any part from electromagnetic spectrum can be used.For example, except can See spectrum, other spectrum from unmanned vehicle can also be analyzed to detect and/or identify the presence of unmanned vehicle.One In the case of a little, detector can be infrared detector, UV-detector, microwave detector, radar or detectable electromagnetic signal Any other type equipment.When unmanned vehicle enters in the preset range of geography fence equipment, detector can energy Enough detect the unmanned vehicle.In some cases, multiple sensors can be provided.Multiple sensors can have different The visual field.In some cases, the electromagnetic image or signature of unmanned vehicle can be detected.Can analyze described image or signature with Detect the existence or non-existence of unmanned vehicle.Described image or signature can be analyzed to estimate unmanned vehicle away from geography fence The distance of equipment.Described image or signature can be analyzed to detect unmanned vehicle type.For example, unmanned vehicle can be distinguished Different model.In one example, the first unmanned vehicle model type, which can have, is different from second unmanned flight's type The heat signature (heat signature) of number type.
Geography fence equipment can be by identifying unmanned vehicle to detect unmanned flight via acoustic intelligence (for example, sound) Device.For example, geography fence equipment can acoustically detect and/or identify the presence of unmanned vehicle.In some cases, examine The sonic transducer of microphone, sonar, sonac, vibrating sensor and/or any other type can be included by surveying device.Work as nothing When people's aircraft is entered within the preset range of geography fence equipment, detector can detect the unmanned vehicle.Inspection Multiple sensors can be included by surveying device.Multiple sensors can have the different visuals field.Sensor can catch unmanned vehicle Sound signature (acoustic signature).Sound signature can be analyzed to detect unmanned vehicle type.Sound label can be analyzed Name is to detect the existence or non-existence of unmanned vehicle.Sound signature can be analyzed to determine unmanned vehicle away from geography fence equipment Estimated distance.Sound signature can be analyzed to detect unmanned vehicle type.For example, the different shaped of unmanned vehicle can be distinguished Number.In one example, the first unmanned vehicle model type can have different from the second unmanned vehicle model type Sound is signed.
Geography fence equipment can be identified by monitoring one or more wireless signals from unmanned vehicle Close unmanned vehicle.When unmanned vehicle enters scope, the unmanned vehicle can be broadcasted alternatively can be by geography The wireless signal that railing device detects.The detector of unmanned vehicle can be connecing for the wireless signal from unmanned vehicle Receive device.Detector can be alternatively the communication unit of unmanned vehicle.Transmission signal can be carried out simultaneously using same communication unit And radio communication of the detection from unmanned vehicle.Or transmission signal can be carried out using different communication units and detected to come From the radio communication of unmanned vehicle.The wireless data that is captured by detector can be analyzed to detect the presence of unmanned vehicle Or it is not present.Wireless data can be analyzed to estimate distance of the unmanned vehicle away from geography fence equipment.For example, when can analyze Between difference or signal intensity to estimate distance of the unmanned vehicle away from geography fence equipment.Wireless data can be analyzed to detect nobody Type of aircraft.In some cases, wireless data can include data of the mark on unmanned vehicle, such as unmanned flight Device identifier and/or unmanned vehicle type.
In some cases, geography fence equipment can be based on from any other of air traffic control system or Verification System composition Partial information detects unmanned vehicle.For example, when air traffic control system detects unmanned vehicle close to geographical railing device, Air traffic control system can track the position of unmanned vehicle and can send signal to geography fence equipment.In other cases, Air traffic control system can send the positional information on unmanned vehicle to geography fence equipment, and geography fence equipment can be made Go out determination of the unmanned vehicle close to the geography fence equipment.In some embodiments, detector can receive From the communication unit of the data of air traffic control system.
Unmanned vehicle can send or can not send any information on unmanned vehicle 2020.In some feelings Under condition, unmanned vehicle can send radio communication.Radio communication can be detected by the detector on geography fence equipment.Nothing Line communication can include the information broadcasted by unmanned vehicle.The information broadcasted by unmanned vehicle can announce unmanned vehicle Presence.It can provide or the additional information on unmanned vehicle identity can not be provided.In some embodiments, close It can include unmanned vehicle identifier in the information of unmanned vehicle identity.Described information can include on unmanned vehicle The information of type.Described information can include the positional information of unmanned vehicle.For example, can to broadcast its current for unmanned vehicle World coordinates.Unmanned vehicle can broadcast any other attribute, the parameter or unmanned vehicle class of such as unmanned vehicle Type.
In some embodiments, unmanned vehicle can establish the communication with geography fence equipment, therefore can occur The exchange of information.Communication can include one-way communication or two-way communication.Communication can include on unmanned vehicle identity, geography Railing device identity, unmanned vehicle type, geography fence device type, unmanned vehicle position, geography fence device location, The information of the geography fence device type on border, the information of air traffic control or any other type.
Geography fence equipment can know unmanned vehicle by the detector on the geography fence equipment In the presence of.Geography fence equipment can know the presence of unmanned vehicle by the information from other equipment.For example, blank pipe System (for example, geography fence module, violation counterattacking measure module), authentication center, another geography fence equipment, it is another nobody fly Row device can provide the existing information on unmanned vehicle to geography fence equipment.
The detector of geography fence equipment can be used for detecting unmanned vehicle in the preset range of geography fence equipment In the presence of.In some implementations, detector may detect the presence of unmanned vehicle outside the predetermined range.When unmanned vehicle position When within preset range, detector can have existing possibility that is very high, detecting unmanned vehicle.When nobody When aircraft is located within the preset range of geography fence equipment, detector can have more than 80%, 90%, 95%, 97%, 99%th, 99.5%, 99.7%, 99.9% or 99.99%, the existing possibility that detects unmanned vehicle.Geography fence The preset range of equipment can be when unmanned vehicle is located in the preset distance away from geography fence equipment.Geography fence equipment Preset range can have circular, cylinder, hemispherical or spherical form relative to the geography fence equipment.Or in advance Any shape can be had relative to geography fence equipment by determining scope.Geography fence equipment may be provided in preset range The heart.Or geography fence equipment can be offset from the center of preset range.
The preset range of geography fence equipment can include the distance of any magnitude.For example, geography fence equipment is predetermined Scope can 1 meter, 3 meters, 5 meters, 10 meters, 15 meters, 20 meters, 25 meters, 30 meters, 40 meters, 50 meters, 70 meters, 100 meters, 120 meters, 150 Rice, 200 meters, 300 meters, 500 meters, 750 meters, 1000 meters, 1500 meters, 2000 meters, 2500 meters, 3000 meters, 4000 meters, 5000m, In 7000 meters or ten thousand metres.
The communication unit of geography fence equipment can be used for passing to unmanned vehicle in the preset range of geography fence equipment Defeated information.Communication unit can be used for continuous transmission information, periodically transmit information, according to timetable come transmit information or Information is transmitted when detecting event or situation.Transmitted information can be broadcasted to allow it to be received by unmanned vehicle Arrive.If other equipment is located within preset range, it can also receive information.Or only selected equipment can connect Collect mail and cease, even if when within the scope of they are located at.In some implementations, communication unit may be to nobody outside preset range Aircraft transmits information.When unmanned vehicle is located within preset range, communication unit can have very high, communication to arrive Up to the possibility of unmanned vehicle.When unmanned vehicle is located within the preset range of geography fence equipment, communication unit can With with it is more than 80%, 90%, 95%, 97%, 99%, 99.5%, 99.7%, 99.9% or 99.99%, successfully to described Unmanned vehicle transmits the possibility of information.
When detecting the presence of unmanned vehicle, the communication unit of geography fence equipment can be used in geography fence equipment Preset range internal transmission information.The presence for detecting unmanned vehicle can initiate to transmit information from geography fence equipment Event or situation., can be with transmission primaries or continuous transmission described information after the presence of unmanned vehicle is detected.One , can be continuously or periodically when unmanned vehicle is rested within the preset range of geography fence equipment in the case of a little Information is transmitted to unmanned vehicle.
In some embodiments, one group of air traffic control can be included by transmitting to the information of unmanned vehicle.Can be on ground Manage and one group of air traffic control is generated at railing device.One group of tof tube can be generated by being selected from multigroup air traffic control System.One group of air traffic control can be generated from the beginning at geography fence equipment.One group can be generated by means of user's input Air traffic control.One group of air traffic control can combine the feature in multigroup air traffic control.
One group of air traffic control can be generated based on the information on unmanned vehicle.For example, unmanned flight can be based on Device type and generate one group of air traffic control.Unmanned vehicle type can be based on and one group of flight is selected from multigroup air traffic control Control.Unmanned vehicle identifier can be based on and generate one group of air traffic control.Can be based on unmanned vehicle identifier and from One group of air traffic control is selected in multigroup air traffic control.One group of air traffic control can be generated based on the information on user.For example, User type can be based on and generate one group of air traffic control.User type can be based on and one group is selected from multigroup air traffic control Air traffic control.User identifier can be based on and generate one group of air traffic control.User identifier can be based on and from multigroup flight Multiple air traffic control are selected in control.The air traffic control generation technique of any other type can be utilized.
Geography fence equipment can be used for receiving unmanned vehicle identifier and/or user identifier.Unmanned vehicle identifies Symbol can uniquely identify out the unmanned vehicle from other unmanned vehicles.User identifier can be from other users Uniquely identify out user.Unmanned vehicle identity and/or user identity can obtain certification.Geography fence equipment is led to Letter module can receive unmanned vehicle identifier and/or user identifier.
When unmanned vehicle enters the preset range of geography fence equipment, communication module can change communication mould Formula.Communication module can be the communication module of geography fence equipment.Or communication module can be the communication mould of unmanned vehicle Block.Before unmanned vehicle enters the preset range of geography fence equipment, communication module can be grasped under the first communication pattern Make.When unmanned vehicle enters the preset range of geography fence equipment, communication module can switch to the second communication pattern. In some embodiments, the first communication pattern is indirect communication pattern and the second communication pattern is direct communication pattern.For example, work as When unmanned vehicle is located within the preset range of geography fence equipment, the unmanned vehicle can be via direct communication pattern Communicated with the geography fence equipment.It is described when outside unmanned vehicle is located at the preset range of geography fence equipment Unmanned vehicle can be communicated via indirect communication pattern with the geography fence equipment.In some embodiments, may be used To establish two-way communication between unmanned vehicle and geography fence equipment.Alternatively, when unmanned vehicle is located at geography fence When within the preset range of equipment, two-way communication can be established.When unmanned vehicle is located at the preset range of geography fence equipment Within when, and be not alternatively that communication module can when outside unmanned vehicle is located at the preset range of geography fence equipment With in the preset range internal transmission information of geography fence equipment.When unmanned vehicle be located at geography fence equipment preset range it When interior, and it is not alternatively when outside unmanned vehicle is located at the preset range of geography fence equipment, communication module can be with The receive information in the preset range of geography fence equipment.
The one or more processors 2046 of geography fence equipment can either individually or collectively be used to generate one group of flight Control.It can use on the information for the multigroup air traffic control that can be stored on geography fence equipment and generate one group of tof tube System.Processor can generate one group of air traffic control, and the processor can be from being stored in one or more memory cells One group of air traffic control is selected in multigroup air traffic control in 2042.Come from the one or more memory cells of storage by combining In multigroup air traffic control in air traffic control, processor can generate one group of air traffic control.Or processor can make One group of air traffic control is generated with the information of multigroup air traffic control on that can be stored in outside geography fence equipment.In some feelings Under condition, the information outside geography fence equipment can be pulled and received at geography fence equipment.Geography fence equipment can Permanently or temporarily to store pulled information.The information pulled can be stored in short-term storage.In some feelings Under condition, temporarily pulled information can be stored by buffering received information.
Geography fence equipment may or may not be that can be detected by unmanned vehicle.In some cases, ground Reason railing device can include the indicant that can be detected by unmanned vehicle.Indicant can be visual indicia, infrared markers, Ultraviolet marking, acoustic signature, wireless signal or can be by the mark for any other type that unmanned vehicle detects.Herein its His place can provide the further detail below detected on unmanned vehicle to geographical railing device in more detail.Nobody flies Row device can receive one group of air traffic control in the case where not detecting geography fence equipment.Geography fence equipment can be in nothing Unmanned vehicle is needed to detect the unmanned vehicle in the case of detecting the geography fence equipment and to the unmanned flight Device pushes one group of air traffic control or any other geography fence data.
One group of air traffic control can include one group of one or more geography fence border.Geography fence border can be used In receiving unmanned vehicle or unmanned vehicle is prevented to enter.For example, one group of air traffic control can include allowing nobody to fly One or more borders of row device flight in it.Unmanned vehicle can alternatively be not allowed to fly outside the border. Or one group of air traffic control can include not allowing unmanned vehicle on one group of one or more border of its interior flight. One group of air traffic control can apply or can not apply any height limitation.In some embodiments, described one group Air traffic control can include not allowing the upper height limit that unmanned vehicle flies above it.One group of air traffic control can wrap Include the height lower limit for not allowing unmanned vehicle to fly thereunder.
One group of air traffic control can include the load for not allowing the unmanned vehicle to operate the unmanned vehicle Condition.The load of unmanned vehicle can be image-capturing apparatus, and air traffic control can include not allowing it is described nobody Aircraft catches the condition of image.The condition can be within geography fence border based on unmanned vehicle or it Outside.One group of air traffic control can include not allowing the condition that unmanned vehicle communicates under one or more radio conditions. Radio condition can include one or more selected frequencies, bandwidth, agreement.It is position that the condition, which can be based on unmanned vehicle, Within the geography fence border or outside.
The one or more of the article that one group of air traffic control can include carrying unmanned vehicle limit.For example, The limitation can be added in the type of the number of article, the size of article, the weight of article or article.The condition can be with base In unmanned vehicle be within the geography fence border or outside.
One group of air traffic control can include the least residue battery capacity for being used for unmanned vehicle operation.Battery capacity State of charge, residual non-uniformity, remaining flying distance, energy efficiency or any other factor can be included.The condition can With based on unmanned vehicle be within the geography fence border or outside.
One group of air traffic control can include limiting the one or more of landing unmanned vehicle.The limitation can be with Whether descent or unmanned vehicle including that can be realized by unmanned vehicle can land actually.The condition can be with base In unmanned vehicle be within the geography fence border or outside.
It can provide such as the air traffic control of elsewhere herein any other type in greater detail.It is one or more groups of to fly Row control can be associated with the preset range of geography fence equipment.One or more groups of air traffic control can be with geography fence equipment Preset range in one or more geography fence borders be associated.In some embodiments, preset range can indicate Go out the scope for detecting unmanned vehicle and/or being communicated with unmanned vehicle.Geography fence border can indicate that can Delimit different operating border, the different operating can by or can not be allowed by unmanned vehicle.Different rules can With suitable within geography fence border and outside.In some cases, the operation delimited without using preset range.It is geographical Fence boundary can finally align with preset range.Or geography fence border can be differently configured from preset range.Geography fence side Boundary can be fallen within the predetermined range.In some cases, can be provided between preset range and geography fence border Buffering.The buffering may insure that unmanned vehicle can receive one group of air traffic control before border is reached.
In one example, when unmanned vehicle is located within the preset range of geography fence equipment, unmanned vehicle One group of air traffic control can be received.Unmanned vehicle can determine the geography fence for equipment from one group of air traffic control Border be will appear from, and the unmanned vehicle is not allowed within the geography fence border.Unmanned vehicle can With the unmanned vehicle reach geography fence border before, when the unmanned vehicle crosses geography fence border or Person makes the determination shortly after the unmanned vehicle crosses geography fence border.Send to one group of unmanned vehicle Air traffic control can include the instruction for making the unmanned vehicle not enter one or more of geography fence borders.Nobody flies Row device can take flight responsive measures.For example, unmanned vehicle flight path can be automatically controlled to avoid one or more Geography fence border.When unmanned vehicle enters one or more geography fence borders, can force automatically it is described nobody fly Row device lands.When unmanned vehicle enters one or more geography fence borders, unmanned vehicle flight can be automatically controlled Path is so that unmanned vehicle leaves the region surrounded by one or more geography fence borders.
Figure 21 is shown in which that air traffic control system can be with what geography fence equipment and/or unmanned vehicle were communicated System.Geography fence equipment 2110 and unmanned vehicle 2120 can be provided in system.Air traffic control system 2130 can also be provided.Ground Reason railing device can provide the georeferencing for one or more geographical frontiers 2115.Geography fence equipment can include logical Believe unit 2140 and detector 2142.Air traffic control system can include one or more processors 2150 and memory cell 2152.
Unmanned vehicle 2120 can be detected by the detector 2142 of geography fence equipment.Can use as this paper other Any technology described by side detects unmanned vehicle.When unmanned vehicle enters preset range, the nothing can be detected People's aircraft.When unmanned vehicle enters preset range, there can be the high likelihood for detecting the unmanned vehicle. Under certain situation, unmanned vehicle can be detected before preset range is entered.When unmanned vehicle enters preset range When, one group of air traffic control can be provided to the unmanned vehicle.
One group of air traffic control can be generated at air traffic control system 2130.One group of air traffic control can by from it is multigroup can Selection generates for one group of air traffic control of unmanned vehicle in air traffic control.Multigroup air traffic control can be stored in and deposit In reservoir 2152.The one or more processors 2150 of air traffic control system can select one group of flight from multigroup air traffic control Control.Air traffic control system can use any other air traffic control generation technique, including those described elsewhere tof tubes Generation technique processed.
In some cases, geography fence equipment 2110 can be to the transmission signal of air traffic control system 2130, and the signal can be with Triggering generates one group of air traffic control at air traffic control system.Can be by means of the communication unit 2140 of geography fence equipment to transmit State signal.When geographical railing device detects that unmanned vehicle is located within preset range, the geography fence equipment can be with The signal is transmitted to air traffic control system.The detection being crossing to unmanned vehicle in preset range can be enclosed with triggering command from geography Column equipment is transmitted to air traffic control system to generate one group of air traffic control for the unmanned vehicle.
In some embodiments, geography fence equipment can detect the letter on unmanned vehicle and/or user Breath.Geography fence equipment can detect unmanned vehicle identifier and/or user identifier.Geography fence equipment can energy Enough determine unmanned vehicle type or user type.Geography fence equipment can be transmitted on unmanned vehicle to air traffic control system And/or the information of user.For example, geography fence equipment can be transmitted on unmanned vehicle type or user class to air traffic control system The information of type.Geography fence equipment can transmit unmanned vehicle identifier and/or user identifier to air traffic control system.Geography encloses Column equipment can transmit additional information to air traffic control system, such as environmental condition or by geography fence equipment caught or received Any other data.
Air traffic control system can alternatively use the information from geography fence equipment to broadcast to generate one group of air traffic control. For example, air traffic control system can be based on unmanned vehicle or user profile and generate one group of air traffic control.Air traffic control system can be based on Unmanned vehicle type or user type and generate one group of air traffic control.Air traffic control system can be based on unmanned vehicle identifier or User identifier and generate one group of air traffic control.During one group of air traffic control is generated, air traffic control system can use The additional data from geography fence equipment such as environmental condition.For example, it can be based on being detected or being passed by geography fence equipment One group of environmental condition sending and generate one group of air traffic control.Geography fence equipment can have one or more carry thereon Sensor, the sensor can allow geography fence equipment to detect one or more environmental conditions.In some cases, blank pipe System can receive data from additional data source rather than geography fence equipment.In some cases, air traffic control system can be from multiple Geography fence equipment receives data.Air traffic control system can (such as multiple geography fence equipment, geography fence be set from multiple data sources Standby and external sensor or third party's data source) information of the reception on environmental condition.In generation for unmanned vehicle During one group of air traffic control, any data from geography fence equipment or other data sources can be used.It can be based on One or more in the following and generate one group of air traffic control：User profile, unmanned vehicle information, from geography fence The additional data of equipment or the additional information from other data sources.
Unmanned vehicle can directly or can not directly to air traffic control system send communicate.In some embodiments, Unmanned vehicle can send unmanned vehicle and/or user data to air traffic control system.Or unmanned vehicle is not to blank pipe system System sends unmanned vehicle and/or user data.
When air traffic control system has generated one group of air traffic control for unmanned vehicle, the air traffic control system can be to institute State unmanned vehicle and transmit one group of air traffic control.During one group of air traffic control is provided, air traffic control system can be with Directly or indirectly communicated with unmanned vehicle.Air traffic control system can transmit one group via geography fence equipment to unmanned vehicle Air traffic control.For example, air traffic control system can generate one group of air traffic control and transmit one group of flight to geography fence equipment Control, the geography fence equipment then can send one group of air traffic control to unmanned vehicle.
Unmanned vehicle can quickly receive one group of air traffic control.Unmanned vehicle can be set into geography fence Before standby preset range, when or receive one group of air traffic control afterwards.Unmanned vehicle can pass through geography fence Before the geography fence border of equipment, when or receive one group of air traffic control afterwards.In some embodiments, nobody flies Row device can less than about 10 minutes detected by the detector of geography fence equipment, 5 minutes, 3 minutes, 1 minute, 30 seconds, One group of air traffic control is received in 15 seconds, 10 seconds, 5 seconds, 3 seconds, 2 seconds, 1 second, 0.5 second or 0.1 second.Unmanned vehicle can be Less than about 10 minutes into the preset range of geography fence equipment, 5 minutes, 3 minutes, 1 minute, 30 seconds, 15 seconds, 10 seconds, 5 One group of air traffic control is received in second, 3 seconds, 2 seconds, 1 second, 0.5 second or 0.1 second.
Figure 22 shows the system that unmanned vehicle detects geography fence equipment wherein according to embodiment of the present invention.Ground Reason railing device 2210 be able to can be detected by unmanned vehicle 2220.Unmanned vehicle can have memory cell 2230th, communication unit 2232, flight controller 2234 and/or one or more sensors 2236.
Geography fence equipment 2210 can include indicant.The indicant of geography fence can be can be by unmanned vehicle 2220 detect.Indicant can be the mark that can be distinguished by one or more sensors 2236 on unmanned vehicle machine. When unmanned vehicle flight, indicant be able to can be detected by unmanned vehicle.When unmanned vehicle flight, instruction Thing can be detected by one or more sensors on unmanned vehicle machine.Enter geography fence in unmanned vehicle Prior to or just when in the preset range of equipment, indicant be able to can be detected by the unmanned vehicle.In unmanned flight Device enters before the geography fence border of geography fence equipment, and indicant be able to can be detected by the unmanned vehicle. When unmanned vehicle enters the geography fence border of geography fence equipment, indicant can be examined by the unmanned vehicle Measure.
Indicant can be wireless signal.Geography fence equipment can continue broadcast wireless signal.Geography fence equipment can With periodically broadcast wireless signal (for example, with rule or irregular time cycle broadcast wireless signal).For example, geography encloses Column equipment can with less than or equal to about every 0.01 second once, every 0.05 second once, every 0.1 second once, every 0.5 second once, often Second once, every 2 seconds once, every 3 seconds once, every five seconds for example once, every 10 seconds once, every 15 seconds once, every 30 seconds once, it is per minute Once, every 3 minutes once, every 5 minutes once, every 10 minutes once or every 15 minutes cycles once come broadcast radio letter Number.Geography fence equipment can be according to timetable come broadcast wireless signal.Geography fence equipment can be in response to event or situation And broadcast wireless signal.For example, geography fence equipment can in response to the unmanned vehicle detected presence and broadcast radio Signal.Geography fence equipment can be in response to detecting that unmanned vehicle has intruded the preset range of the geography fence equipment Within and broadcast wireless signal.Geography fence equipment can in response to before unmanned vehicle has been intruded in preset range, Detected when unmanned vehicle has been intruded in preset range or after unmanned vehicle has been intruded in preset range To the unmanned vehicle and broadcast wireless signal.Geography fence equipment can cross geography fence equipment in unmanned vehicle Unmanned vehicle broadcast wireless signal described in the forward direction of geography fence border.
Indicant can provide any kind of wireless signal.For example, wireless signal can be radio signal, bluetooth (Bluetooth) signal, infrared signal, UV signals, visible signal or optical signal, WiFi signal or WiMax signals or any Other kinds of wireless signal.Can be with broadcast wireless signal to allow any equipment in region to receive and/or detect nothing Line signal.In some cases, wireless signal can be only for unmanned vehicle.Wireless signal can be can be by unmanned vehicle What wireless receiver or sensor on machine detected.In some embodiments, wireless receiver or sensor can be logical Believe unit.It can detect indicant using same communication and the other equipment such as unmanned vehicle and user terminal is provided Between communication.Or can using different communication units come detect indicant and provide unmanned vehicle with such as with Communication between the other equipments such as family terminal.
Indicant can be witness marking.Witness marking can be can be by one or more visual sensings of unmanned vehicle What device detected.Witness marking can visually be depicted in by cameras capture to image on.Witness marking can include Image.Witness marking can be static and can include the not rest image that changes over time.Rest image can With including letter, numeral, icon, shape, symbol, picture, 1D bar codes, 2D bar codes or 3D bar codes, quick response (QR) The image of code or any other type.Witness marking can be dynamic and can include over time changing Image.Witness marking can continuously, periodically, according to timetable or the event in response to detecting or situation change Become.Visual indicia may be displayed on screen, and the screen can keep static or can change and show over time The mark shown.Visual indicia can be the paster on the surface for may be provided in geography fence equipment.Visual indicia can include one Individual or multiple lamps.The space arrangement of lamp and/or the flash pattern of lamp may be used as a part for visual indicia.Visual indicia can be with With color.Elsewhere herein provides in more detail to be further described to dynamically labeled.Visual indicia can be regarding It can be distinguished in feel from distant place.When unmanned vehicle enters the preset range of geography fence equipment, the unmanned vehicle can Can visually distinguish the visual indicia.Before unmanned vehicle enters the preset range of geography fence equipment, institute The visual indicia can visually be distinguished by stating unmanned vehicle.Enter the ground of geography fence equipment in unmanned vehicle Before managing fence boundary, the unmanned vehicle can visually distinguish the visual indicia.
Indicant can be acoustic signature.Acoustic signature can send sound, vibration or other recognizable sound effective values.Sound Learning mark can be detected by the sonic transducer (such as microphone or other kinds of sound detector) on unmanned vehicle machine.Sound Different tones, pitch, frequency, harmony, volume or acoustic pattern or vibration mode can be sent by learning mark.Acoustic signature can With or can not be and can be detected by the naked ear of the mankind.Acoustic signature may or may not be can be by typical lactation What the ear detection of animal arrived.
Indicant can indicate that the presence of geography fence equipment.When unmanned vehicle detects indicant, the nothing People's aircraft is known that geography fence equipment there may be.In some cases, indicant can uniquely identify geography Railing device.For example, each geography fence equipment can have different indicants, the indicant can be flown by nobody Row device is detected, the geography fence equipment and other geography fence equipment are made a distinction.In some cases, can be with Geography fence equipment based on unique mark and generate one group of air traffic control.One group of air traffic control can be with the unique mark Geography fence equipment is associated.
In some cases, indicant can indicate that geography fence device type.Indicant is without for specifically It is unique to manage railing device, but can be unique for specific geography fence device type.In some cases, it is different The geography fence equipment of type can have different physical characteristics (for example, model, shape, size, power output, scope, electricity Pond life-span, sensor, performance capability) or can be used for performing different geography fence functions (for example, protecting unmanned vehicle The flight of holding outside region, influence unmanned vehicle, the load operation for influenceing unmanned vehicle, influence the logical of unmanned vehicle Letter, the sensor on influence unmanned vehicle machine, the navigation for influenceing unmanned vehicle, the electricity use for influenceing unmanned vehicle). Different types of geography fence equipment can have different safe class or priority.For example, set by first order geography fence The standby rule applied can be regular more important than being applied by second level geography fence equipment.Geography fence device type can include By identical manufacturer or designer or the different geographical railing device types created by different manufacturers or designer. Under certain situation, one group of air traffic control can be generated based on the geography fence device type identified.One group of air traffic control can With associated with the geography fence device type identified.
Indicant can be permanently affixed to geography fence equipment.Indicant can be integrated to geography fence equipment.At some In the case of, indicant can not remove in the case where not damaging geography fence equipment from the geography fence equipment.Or instruction Thing be able to can remove from geography fence equipment.Indicant can be in the case where not damaging geography fence equipment from described Railing device is managed to remove.In some embodiments, indicant can be the fuselage or housing of geography fence equipment in itself.It is geographical The fuselage or housing of railing device be able to can be identified by unmanned vehicle.For example, unmanned vehicle can include camera, institute State camera can catch geography fence equipment image and can be according to the fuselage or housing of geographical railing device to identify State geography fence equipment.
Unmanned vehicle 2220 can sense geography fence equipment.Unmanned vehicle can sense geography fence equipment Indicant.Unmanned vehicle can include：Sensor, it is used for the indicant for detecting geography fence equipment；And flight control Molding block, it is used to generate the one or more signals for making the unmanned vehicle be operated according to one group of air traffic control, institute Stating one group of air traffic control is the detected indicant based on the geography fence equipment and generates ground.One kind operates nobody and flown The method of row device can include：By means of the sensor on the unmanned vehicle machine, the indicant of detection geography fence equipment； The one or more signals for making the unmanned vehicle be operated according to one group of air traffic control are generated using flight control modules, One group of air traffic control is the detected indicant based on the geography fence equipment and generated.
Unmanned vehicle can detect indicant by means of sensor 2236.Unmanned vehicle can carry a kind of or more The sensor of type.In some cases, unmanned vehicle can detect different types of indicant.For example, nobody Aircraft can run into the geography fence equipment with witness marking and another geography with wireless signal as indicant Railing device.Unmanned vehicle can detect two kinds of indicant.Or unmanned vehicle can find certain kinds The indicant (for example, visual indicia is only identified as to the indicant of geography fence equipment) of type.Unmanned vehicle can carry one Kind or polytype sensor, those sensors described by such as elsewhere herein, and can have and can also act as For the communication unit 2232 of the sensor of indicant.
When unmanned vehicle detects geography fence equipment, the unmanned vehicle can generate or receive one group of flight Control.Unmanned vehicle can be operated then according to one group of air traffic control.Various types of tof tubes can be provided System, such as elsewhere herein those air traffic control in greater detail.One group of air traffic control can include on geography Fence boundary and the information of position, and allow or do not allow within geography fence border or outside geography fence border Unmanned vehicle manipulator type.One group of air traffic control can include rule or the applicable timing of limitation and/or Person will be taken by unmanned vehicle to be responded in accordance with any flight of the control.
One group of air traffic control can be generated on unmanned vehicle machine.Unmanned vehicle can include one or more processing Device, the processor can perform step to generate one group of air traffic control.Unmanned vehicle can include memory 2230, described Memory can store the information available for one group of air traffic control of generation.In one example, one group of air traffic control can be with By selecting one group of air traffic control to generate from multigroup air traffic control.Multigroup air traffic control can be stored in unmanned flight In memory on device machine.
Unmanned vehicle can detect the presence of geography fence equipment.Can depositing based on the geography fence equipment detected And generate one group of air traffic control.In some cases, the presence of geography fence equipment can be enough to generate one group of air traffic control.Can To provide unmanned vehicle and/or user profile at unmanned vehicle.In some cases, unmanned vehicle and/or user Information can be used for help and generate one group of air traffic control.For example, unmanned vehicle and/or user profile can be based on (for example, nothing People's aircraft identifier, unmanned vehicle type, user identifier and/or user type) and generate one group of air traffic control.
Unmanned vehicle can receive the other information on geography fence equipment, such as the type of geography fence equipment or The unique identifier of geography fence equipment.Information on geography fence equipment can be the indicant based on geography fence equipment And determine.Or other channels can deliver the information on geography fence equipment.Geography fence facility information can be used for Help generates one group of air traffic control.For example, geography fence information can be based on (for example, geography fence device identifier, geography enclose Column device type) and generate one group of air traffic control.For example, different types of geography fence equipment can have different borders big Small or shape.Different types of geography fence equipment can have the different operating rule or limit being applied on unmanned vehicle System.In some cases, the different geographical railing devices of same type can have identical boundary shape or size and/or institute The operation rules of the same type of application.Or in identical geography fence device type, it can also apply different Air traffic control.
Unmanned vehicle can collect or receive the other information available for one group of air traffic control of generation.For example, nobody flies Row device can receive the information on environmental condition.Can be from geography fence equipment, air traffic control system, one or more external senses One or more sensors or any other source on device, unmanned vehicle machine receive the information on environmental condition.Can be with One group of air traffic control is generated based on other informations such as environmental conditions.
One group of air traffic control can be generated outside unmanned vehicle machine.For example, can be in the blank pipe outside unmanned vehicle machine One group of air traffic control is generated at system.Air traffic control system can include one or more processors, and the processor can perform step Suddenly to generate one group of air traffic control.Air traffic control system can include memory, and the memory can be stored available for one group of generation The information of air traffic control.In one example, one group of air traffic control can be by selecting one group from multigroup air traffic control Air traffic control and generate.Multigroup air traffic control can be stored in the memory of air traffic control system.
Unmanned vehicle can detect the presence of geography fence equipment.In response to the detection to geographical railing device, Unmanned vehicle can send the request to one group of air traffic control to air traffic control system.Based on detected geography fence equipment In the presence of one group of air traffic control can be generated at air traffic control system.In some cases, the presence of geography fence equipment can be enough to give birth to Into one group of air traffic control.Unmanned flight can be provided from unmanned vehicle or from any other component of system to air traffic control system Device and/or user profile.In some cases, unmanned vehicle and/or user profile can be used for help and generates one group of flight Control.For example, unmanned vehicle and/or user profile can be based on (for example, unmanned vehicle identifier, unmanned vehicle class Type, user identifier and/or user type) and generate one group of air traffic control.
Air traffic control system can receive the other information on geography fence equipment, the type or ground of such as geography fence equipment Manage the unique identifier of railing device.Air traffic control system can receive the information from unmanned vehicle, and the unmanned vehicle can The indicant of geography fence equipment can be had been based on and determine described information.Or other channels can be delivered and enclosed on geography The information of column equipment.For example, air traffic control system can be directly from geography fence equipment receive information.Air traffic control system can be by nothing The position of people's aircraft and geography fence equipment is compared to determine unmanned vehicle with may have detected which (a little) Manage railing device.Geography fence facility information can be used for help and generate one group of air traffic control.For example, geography fence can be based on Information (for example, geography fence device identifier, geography fence device type) and generate one group of air traffic control.For example, inhomogeneity The geography fence equipment of type can have different boundary sizes or shape.Different types of geography fence equipment, which can have, to be applied Different operating rule or the limitation being added on unmanned vehicle.In some cases, the different geographical railing devices of same type Can have identical boundary shape or the operation rules of size and/or the same type applied.Or even in identical In geography fence device type, different air traffic control can also be applied.
Air traffic control system can collect or receive the other information available for one group of air traffic control of generation.For example, air traffic control system The information on environmental condition can be received.Can be from geography fence equipment, one or more external sensors, unmanned vehicle One or more sensors or any other source on machine receive the information on environmental condition.Such as environment can be based on The other informations such as condition and generate one group of air traffic control.
In another example, one group of air traffic control can be generated on geography fence equipment.Geography fence equipment can be with Including one or more processors, the processor can perform step to generate one group of air traffic control.Geography fence equipment can So that including memory, the memory can store the information available for one group of air traffic control of generation.In one example, it is described One group of air traffic control can be by selecting one group of air traffic control to generate from multigroup air traffic control.Multigroup air traffic control can To be stored in the memory of geography fence equipment.
Unmanned vehicle can detect the presence of geography fence equipment.In response to the detection to geographical railing device, Unmanned vehicle can send the request to one group of air traffic control to geography fence equipment.In response to from unmanned vehicle Request, one group of air traffic control can be generated at geography fence equipment.Can be from unmanned vehicle or from any of system Other assemblies provide unmanned vehicle and/or user profile to geography fence equipment.In some cases, unmanned vehicle and/ Or user profile can be used for help and generate one group of air traffic control.For example, unmanned vehicle and/or user profile can be based on (for example, unmanned vehicle identifier, unmanned vehicle type, user identifier and/or user type) and generate one group of flight Control.
Geography fence equipment can use the information on geography fence equipment, the type or ground of such as geography fence equipment Manage the unique identifier of railing device.Geography fence equipment can store the information on the geography fence equipment thereon. Geography fence facility information can be used for help and generate one group of air traffic control.For example, can be based on geography fence information (for example, Geography fence device identifier, geography fence device type) and generate one group of air traffic control.For example, different types of geography encloses Column equipment can have different boundary sizes or shape.Different types of geography fence equipment can fly with nobody is applied to Different operating rule or limitation on row device.In some cases, the different geographical railing devices of same type can have phase Same boundary shape or the operation rules of size and/or the same type applied.Or set even in identical geography fence In standby type, different air traffic control can also be applied.
Geography fence equipment can collect or receive the other information available for one group of air traffic control of generation.It is for example, geographical Railing device can receive the information on environmental condition.Can be from other geography fence equipment, one or more external senses One or more sensors, unmanned vehicle or any other source on device, geography fence equipment are received on environment The information of condition.The other informations such as environmental condition can be based on and generate one group of air traffic control.
In some embodiments, geography fence equipment can include：Receiver, it is used for reception and aids in determining whether one group The data of air traffic control；One or more processors, it is either individually or collectively used for：Based on the number received by the receiver According to and determine one group of air traffic control；And one or more transmitters, it, which is used for transmission, makes unmanned vehicle according to One group of air traffic control and the signal to fly.The many aspects of the present invention can be related to a kind of side for the flight for controlling unmanned vehicle Method, methods described include：Using the receiver of geography fence equipment, the data for aiding in determining whether one group of air traffic control are received；Borrow Help one or more processors, one group of air traffic control is determined based on the data received by the receiver；And borrow Help one or more transmitters of the geography fence equipment, transmission makes the unmanned vehicle according to one group of tof tube The signal made and flown.Receiver can be the input element for collecting data.Transmitter can export to believe to unmanned vehicle Number output element.
In some embodiments, receiver can be sensor.The data received by receiver can be indicated The sensing data of one or more environmental conditions of geography fence equipment.Geography fence equipment can include any kind of sensing Device, such as vision sensor, GPS sensor, IMU sensors, magnetometer, sonic transducer, infrared sensor, sonac or The sensor of any other type described by elsewhere herein, it is included in what is described in the scene carried by unmanned vehicle Other sensors.One or more environmental conditions can include any kind of environmental condition, and such as elsewhere herein is retouched Those environmental conditions stated.Sensor be able to can detect on amblent air temperature (for example, temperature, wind, precipitation, sunshine, humidity), Environmental complexity, the density of population or the magnitude of traffic flow (for example, surface magnitude of traffic flow or air mass flow near geography fence equipment) Data.When generating one group of air traffic control, it may be considered that environmental condition.If for example, rainy compared with not raining, tof tube System can be with different.If the sensors sense that many movements (for example, high magnitude of traffic flow) around geography fence equipment with Without mobile phase ratio, air traffic control can be with different.
The data received by receiver can refer to the one or more radio conditions for showing geographical railing device or logical The sensing data of creed part.For example, geography fence equipment can be surrounded by different wireless network or focus.When generation, one group flies During row control, it may be considered that radio condition or communication condition.
Receiver can be the existing detector for detecting unmanned vehicle.The data received by receiver can be with Indicate the presence of unmanned vehicle.Compared to other objects that can be located in environment, the detector can will described in Unmanned vehicle is identified as unmanned vehicle.Detector can detect unmanned vehicle identity and/or unmanned vehicle class Type.In some cases, the data received by receiver can indicate that the type and/or unmanned vehicle of unmanned vehicle Identifier.Detector can detect the position of unmanned vehicle.It is relative that detector can detect unmanned vehicle In the distance of the detector.Detector can detect direction of the unmanned vehicle relative to the detector.Detector It may be able to determine that the direction of unmanned vehicle.Detector be able to can detect unmanned vehicle relative to the detector and/ Or the position relative to global context.
Receiver can be the communication module for receiving wireless signal.The data received by communication module can be used Family inputs.User can directly into communication module hand input-data.Or user can be handed over remote user terminals Mutually, the remote user terminals can send the signal for indicating user's input to communication module.Data can include coming from one The information of individual or multiple surrounding geography railing devices.Geography fence equipment can communicate with each other and share information.Data The information of any other part from air traffic control system or Verification System can be included.
One group of air traffic control can be determined based on the data received by receiver.One group of air traffic control can wrap Include one or more geography fence borders for one or more flight restrictions.Can be based on the data received by receiver And determine geography fence border.Therefore, for same geography fence equipment, different geography can be provided in different situations Fence boundary.For example, when detecting the unmanned vehicle of the first kind, geography fence equipment can produce first group of border, And when detecting the unmanned vehicle of Second Type, geography fence equipment can produce second group of border.The nothing of the first kind The unmanned vehicle of people's aircraft and Second Type can be located in the range of geography fence equipment simultaneously, and can each have There is the different boundary being applied to thereon.In another example, when environmental condition indicates that wind speed is higher, geography fence equipment can To produce first group of border, and when environmental condition indicates that wind speed is relatively low, it can produce second group of border.Can be based on by Any data (including but is not limited to unmanned vehicle information, user profile, environmental information, shared information) that receiver receives And determine geography fence border.
One group of air traffic control can include the flight restriction of one or more types.Flight restriction goes for geography and enclosed Area inside or outside column border.The one or more aspects that flight restriction can operate in unmanned vehicle are (for example, fly Go, take off, landing, load operation, load orientation, carrier operation, can by unmanned vehicle carry object, communication, sensor, Navigation and/or electricity use) on apply limitation.In some cases, flight limit can be applied only within geography fence border System.Or limitation can be applied only outside geography fence border.Can within border and outside some limitations are all provided. Whole group limitation within border can be differently configured from the whole group limitation outside border.Can based on the data received by receiver and Determine flight restriction.Therefore, for same geography fence equipment, different limitations can be provided in different situations.For example, When detecting the unmanned vehicle of the first kind, geography fence equipment can produce first group of flight restriction, and work as and detect During the unmanned vehicle of Second Type, geography fence equipment can produce second group of limitation.The unmanned vehicle of the first kind and The unmanned vehicle of Second Type can be located in the range of geography fence equipment simultaneously, and can each have and be applied to it On different one group limitation.In another example, when geographical railing device detects a large amount of hotspot in the zone, institute First group of flight restriction can have been produced by stating geography fence equipment, and when geographical railing device is not detected by many hotspot When, it can produce second group of air traffic control.
Geography fence equipment can send the signal for making unmanned vehicle be flown according to one group of air traffic control.The signal One group of air traffic control can be included in itself.Geography fence equipment can be in locally one group of air traffic control of determination and then to nothing People's aircraft sends one group of air traffic control.One group of air traffic control can be sent directly to unmanned vehicle or can be with Unmanned vehicle can be relayed to by one group of air traffic control by sending to air traffic control system, the air traffic control system.Signal can be straight Unmanned vehicle or another external equipment are delivered in sending and receiving.
In some embodiments, signal can include making external equipment to unmanned vehicle one group of air traffic control of transmission Triggering.The example of external equipment can be another geography fence equipment, air traffic control system or any other external equipment.In some feelings Under condition, external equipment can store multigroup possible air traffic control or can store available for the group for generating one group of air traffic control Into part.Geography fence equipment, which can be sent, can make external equipment generate one group of tof tube according to the determination of geographical railing device The signal of system.External equipment can then deliver one group of generated air traffic control to unmanned vehicle.The signal can be straight External equipment is delivered in sending and receiving.
Signal can include making one group of flight determined by memory selection of the unmanned vehicle from the unmanned vehicle The identifier of control.Unmanned vehicle can generate one group of air traffic control based on the signal from geography fence equipment.For example, The part of one or more groups of air traffic control or air traffic control can be stored in the unmanned vehicle by unmanned vehicle In memory.Geography fence equipment, which can be sent, can make unmanned vehicle generate one group according to the determination of geographical railing device and fly The signal of row control.In one example, the signal can include the mark that can indicate whether the generation of one group of air traffic control Symbol.The identifier can be for the unique identifier of specific one group of air traffic control.Unmanned vehicle can be observed then The one group of air traffic control generated is operated.
Figure 23 is shown in which unmanned vehicle and the unmanned vehicle system that geography fence equipment need not directly communicate with each other The example of system.In some cases, unmanned vehicle can detect the presence of geography fence equipment, and or vice versa.
Unmanned vehicle system can include geography fence equipment 2310, unmanned vehicle 2320 and/or external equipment 2340.Unmanned vehicle can include memory cell 2330, sensor 2332, flight controller 2334 and/or communication unit 2336。
External equipment 2340 can be any other part of air traffic control system, authentication center or Verification System.External equipment Can be another unmanned vehicle or another geography fence equipment.External equipment can other kinds of be set with what is be mentioned herein The equipment that back-up is opened.In some cases, external equipment can include one or more physical equipments.Multiple physical equipments can be with Communicate with one another.External equipment can possess distributed structure/architecture.In some cases, external equipment can have cloud computing foundation frame Structure.External equipment can have P2P frameworks.External equipment can be communicated with unmanned vehicle 2320 and can be independently Communicated with geography fence equipment 2310.
In one implementation, geography fence equipment 2310 can detect the presence of unmanned vehicle.Geography fence is set Standby to include detector, the detector can be located at the predetermined geographic scope of the geography fence equipment in unmanned vehicle The presence of unmanned vehicle is detected when interior.Detector can be any kind of detector, described by such as elsewhere herein Those detectors.For example, detector can use vision sensor, radar or any as described by elsewhere herein Other testing agencies.Detector can be used for detecting unmanned vehicle by means of one or more external equipments.For example, can be Additional sensor is provided separately in environment.Single sensor can detect unmanned vehicle or can help geography fence The information of the detector detection unmanned vehicle of equipment or collection on unmanned vehicle.For example, individually sensor can wrap Include and be dispersed in entirely by the vision sensor in the environment of geography fence hold facility, sonic transducer, infrared sensor or nothing Line receiver.As described elsewhere herein, detector can detect the nothing before unmanned vehicle enters preset range People's aircraft, or can when unmanned vehicle is located within preset range with it is very high, detect it is described nobody fly The possibility of row device.Detector can detect the unmanned flight before unmanned vehicle reaches geography fence equipment border Device.
Detector can detect any information on unmanned vehicle and/or user.Detector can detect nothing People's aircraft or user type.Detector may be able to determine that unmanned vehicle identifier and/or user identifier.In some realities Apply in mode, detector can be communication module.The communication module can receive instruction from unmanned vehicle or external equipment Go out the communication of unmanned vehicle and/or user profile.Unmanned vehicle can be received with broadcast message, described information by detector To detect the presence of unmanned vehicle.The information broadcasted can include the information on unmanned vehicle, such as unmanned flight The identity of device, unmanned vehicle type, the attribute of the position of unmanned vehicle or unmanned vehicle.
Geography fence equipment can include communication module, and the communication module can be used for sending triggering to unmanned vehicle hair Send the signal of one group of air traffic control.When unmanned vehicle enters the predetermined geographic scope of geography fence equipment, communication module can To send signal.When unmanned vehicle is detected by geography fence equipment, communication module can send signal.In unmanned flight Device enters before geography fence equipment border, and communication module can send signal.
The many aspects of the present invention can include a kind of geography fence equipment, including：Detector, it is used in the geography The presence of unmanned vehicle is detected in the range of the predetermined geographic of railing device；And communication module, its be used for when it is described nobody fly Row device sends signal when entering the predetermined geographic scope of the geography fence equipment, the signal trigger to it is described nobody fly Row device sends one group of air traffic control.Further aspect can be related to a kind of side that one group of air traffic control is provided to unmanned vehicle Method, methods described include：By means of the detector of geography fence equipment, in the range of the predetermined geographic of the geography fence equipment Detect the presence of unmanned vehicle；And the communication module by means of the geography fence equipment, when the unmanned vehicle enters Transmission signal when entering the predetermined geographic scope of the geography fence equipment, the signal triggers to be sent out to the unmanned vehicle Send one group of air traffic control.
Signal from communication module can be sent to any equipment outside geography fence equipment.For example, signal can quilt Send to external equipment 2340.As it was noted above, signal can be sent to air traffic control system, authentication center, other geography fences are set Standby or other unmanned vehicles.In some cases, signal can be sent to unmanned vehicle in itself.External equipment can receive Signal and can to unmanned vehicle 2320 send one group of air traffic control.When external equipment reception signal, the outside is set It is standby to generate one group of air traffic control.After one group of air traffic control has been generated, external equipment can be sent out to unmanned vehicle Send one group of air traffic control.
In some alternate embodiments, communication module can provide signal to the component on geography fence equipment.Example Such as, signal can be provided to the one or more processors of geography fence equipment, the processor can be from geography fence equipment Memory in retrieve one group of air traffic control and to unmanned vehicle send described group of air traffic control.It can be set in geography fence It is standby that two-way communication is provided between unmanned vehicle.
Communication module can be used for transmitting information within the scope of the predetermined geographic of geography fence equipment.Communication module can be used for At least got in touch with the equipment in the range of the predetermined geographic of geography fence equipment.Communication module be able to can be set with geography fence Equipment outside standby predetermined geographic scope is got in touch.Communication module can send the direct communication can with limited range. Under certain situation, communication module with direct communication and can utilize one or more intermediate equipments or network.
Communication module can be used for continuous transmission information.Communication module can be used for periodically transmitting information (for example, with rule Or irregular interval transmission information), according to timetable transmit information or transmit information when detecting event or situation. For example, communication module can transmit information when detecting the presence of unmanned vehicle.Communication module can detect nobody Aircraft transmits information when being located within the preset range of geography fence equipment.Communication module can detect unmanned vehicle Information is transmitted when close to geography fence border.Communication module can detect any situation (such as elsewhere herein Those described situations) when transmit information.
Geography fence equipment 2310 can include locator, and the locator is used for the position for providing geography fence equipment Put.In some cases, locator can be GPS unit.Locator can provide the world coordinates of geography fence equipment.Positioning Device can determine geographical railing device position using one or more sensors.Locator can provide geography fence equipment Local coordinate.The position of geography fence equipment can be included in the signal of the transmission of one group of air traffic control of triggering.Show at one In example, external equipment can receive geography fence device location.External equipment be able to can track the geography fence equipment and/ Or in region any other geography fence equipment position.
In some embodiments, one group of air traffic control can be generated at external equipment.Unmanned vehicle can be based on And/or user profile and generate one group of air traffic control.It is, for example, possible to use unmanned vehicle identity, unmanned vehicle type, use Family identity and/or user type generate one group of air traffic control.The information on geography fence equipment can be used to generate one Group air traffic control.It is, for example, possible to use geography fence equipment identities, type or position.It can be based on described herein any The information of type and one group of air traffic control is selected from multigroup air traffic control.
One group of air traffic control can include any characteristic as described by elsewhere herein.One group of air traffic control can wrap Include geography fence border.One group of air traffic control can include one or more limitations of the operation to unmanned vehicle.
One group of air traffic control can be sent from external equipment to unmanned vehicle.In some cases, can be enclosed from geography Column equipment sends one group of air traffic control to unmanned vehicle.Can from geography fence equipment directly or via external equipment to nobody Aircraft sends one group of air traffic control.
In a further implementation, unmanned vehicle can receive the information of the position on geography fence equipment.Unmanned flight Device can include communication unit, and it is used for the position for receiving geography fence equipment；And flight control modules, it, which is used for generation, makes One or more signals that the unmanned vehicle is operated according to one group of air traffic control, one group of air traffic control is to be based on The position of the geography fence equipment and generate.The many aspects of the present invention can include a kind of side for operating unmanned vehicle Method, methods described include：By means of the communication module of the unmanned vehicle, the position of reception geography fence equipment；And borrow Help flight control modules, generation makes one or more letters that the unmanned vehicle is operated according to one group of air traffic control Number, one group of air traffic control is the position based on the geography fence equipment and generated.
When unmanned vehicle flight, the unmanned vehicle can receive the letter of the positioning on geography fence equipment Breath.Geography fence equipment can have the locator on the geography fence equipment.For example, locator can be used for The GPS unit of the world coordinates of geography fence equipment is provided.It can be provided in geography fence equipment such as elsewhere herein institute Any other locator of description.
Unmanned vehicle can receive the positioning on geography fence equipment at the communication unit of the unmanned vehicle Information.Communication unit can be used for the position that the geography fence equipment is directly received from geography fence equipment.Communication unit can For receiving the position of geography fence equipment from one or more intermediate equipments (i.e. external equipment).One or more intermediate equipments It can be the air traffic control system outside unmanned vehicle machine.
One group of air traffic control can be generated on unmanned vehicle machine.Unmanned vehicle can will can be used for one group of generation to fly The information storage of row control is in the machine carried memory of unmanned vehicle.For example, the machine carried memory of unmanned vehicle can store up Deposit multigroup air traffic control.Unmanned vehicle can using it is received, on the information of geography fence equipment generate one group Air traffic control.Detection to geographical railing device can trigger the generation of one group of air traffic control.The information of geography fence equipment can With the generation for influenceing or one group of air traffic control can not being influenceed.Unmanned vehicle can be then according to the one group of flight generated Control is operated.
One group of air traffic control can be generated at the air traffic control system outside unmanned vehicle machine or other external equipments.Outside is set It is standby can by available for the information storage of one group of air traffic control of generation in the machine carried memory of external equipment.For example, outside is set Standby machine carried memory can store multigroup air traffic control.External equipment can use it is received, set on geography fence Standby information is to generate one group of air traffic control.Detection to geographical railing device can trigger the generation of one group of air traffic control.Ground The information of reason railing device can influence or can not influence the generation of one group of air traffic control.In some cases, can be with base One group of air traffic control is generated in the position of geography fence equipment.External equipment can send generated one to unmanned vehicle Group air traffic control.One group of air traffic control can directly or indirectly be sent.Unmanned vehicle can have and can be received from external equipment The communication unit of one group of air traffic control.
The other parts of external equipment, such as air traffic control system or Verification System, can be with Added Management unmanned vehicle and ground Manage the interaction between railing device.This paper any description goes for any kind of external equipment.Air traffic control system can be with The receive information from multiple unmanned vehicles and multiple geography fence equipment.Air traffic control system can collect the information from multiple sources And help to manage the flight of unmanned vehicle.Air traffic control system can push the dynamic lane letter for each unmanned vehicle Breath.Air traffic control system can be based on receiving, refuse or change on the information of other unmanned vehicles and/or geography fence equipment The suggestion course line of unmanned vehicle.Air traffic control system can be received, be refused using the positional information of each geography fence equipment Or the suggestion course line of change unmanned vehicle.Air traffic control system can provide navigation Service.Air traffic control system can help unmanned flight Device navigates in the environment.Air traffic control system can help unmanned vehicle to have one or more geography fence equipment wherein Navigated in environment.
Figure 41 shows air traffic control system wherein and multiple unmanned vehicles and multiple geography according to embodiment of the present invention The example for the unmanned vehicle system that railing device interacts.Air traffic control system 4110 can be set with one or more geography fences Standby 4120a, 4120b, 4120c, 4120d are communicated.Air traffic control system can with one or more unmanned vehicle 4130a, 4130b, 4130c, 4130d are communicated.
In some embodiments, air traffic control system could be aware that the position of geography fence equipment.Geography fence equipment can be with With the locator that can determine that the geography fence device location.Information from locator can be transferred into air traffic control system.Such as Fruit changes the position of geography fence equipment, then it can be updated.
Air traffic control system could be aware that the position of unmanned vehicle.Unmanned vehicle, which can have, determines unmanned vehicle position Locator.For example, unmanned vehicle can have GPS unit or can determine unmanned vehicle using other sensors Position.Information on unmanned vehicle position can be transferred into air traffic control system.If changing the position of unmanned vehicle, It can be updated.
Air traffic control system is known that the position of geography fence equipment and unmanned vehicle.Can be in real time or with high-frequency Ground-to-ground manage railing device and the position of unmanned vehicle is positioned.Air traffic control system can be collected advantageously from multiple geography The information of railing device and multiple unmanned vehicles.Therefore, air traffic control system be able to can have good to the equipment in region Understand.Air traffic control system is known that the position of geography fence equipment and unmanned vehicle, and nothing is detected without geography fence equipment Or vice versa for people's aircraft.In some cases, the detection between geography fence equipment and unmanned vehicle can occur. Air traffic control system can detect the preset range whether unmanned vehicle is going into geography fence equipment.Air traffic control system can be with Unmanned vehicle can be detected whether close to the geography fence border of geographical railing device.Air traffic control system be able to can alert Unmanned vehicle and/or geography fence equipment：The unmanned vehicle is close to the geography fence equipment.Or can be with Warning is not provided.
When air traffic control system detects unmanned vehicle close to geographical railing device, the air traffic control system can generate One group of air traffic control for the unmanned vehicle and transmit one group of air traffic control to the unmanned vehicle.Blank pipe System can be detected by comparing the position data of unmanned vehicle and the position data of geography fence equipment it is described nobody Aircraft is close to the geography fence equipment.The real time position of unmanned vehicle can be with the real-time position of geography fence equipment Put and be compared.The coordinate of unmanned vehicle can be compared with the coordinate of geography fence equipment.Unmanned flight can be compared The position of device and geography fence equipment, without detecting unmanned vehicle by geography fence equipment, or vice versa.Described one Group air traffic control can be for the close geography fence device customizing of unmanned vehicle, or based on the equipment and Generation.Unmanned vehicle can receive one group of air traffic control and be operated according to described group of air traffic control.
In alternative realizations, can detect the unmanned vehicle of geographical railing device can provide unmanned flight to air traffic control system Device is close to the instruction of geographical railing device.Air traffic control system can generate for unmanned vehicle one group of air traffic control and One group of air traffic control is transmitted to unmanned vehicle.Geography fence equipment may be provided on the opening position to be detected but without tool There are other functions.In some cases, geography fence equipment may be provided on the opening position and can be identified uniquely Either can there can be certain influence to the type of the air traffic control generated by type identification, the type.It is geographical Railing device itself need not perform any action.Or geography fence equipment can detect unmanned vehicle close to simultaneously And unmanned vehicle can be provided to air traffic control system close to the instruction of geographical railing device.Air traffic control system can be generated and is directed to One group of air traffic control of unmanned vehicle and transmit one group of air traffic control to unmanned vehicle.Geography fence equipment can quilt There is provided in the opening position but need not have other functions to be detected by unmanned vehicle.In some cases, geography fence equipment Can have unique identifier or can be by type identification, air traffic control that the type can be to being generated Type there is certain influence.Geography fence equipment itself need not perform any additional action.Therefore, in some implementations, ground Reason railing device can be advantageously relatively simple or has cost-benefit equipment.
In further alternative realizations, air traffic control system provides to unmanned vehicle can make the unmanned vehicle generate one group The signal of air traffic control, rather than one group of air traffic control is generated on air traffic control system.Signal from air traffic control system can be true Surely any group air traffic control generated.Signal from air traffic control system can correspond to one group of single air traffic control.When nobody flies When row device generates one group of air traffic control, the unmanned vehicle then can take action according to one group of air traffic control.Another In one example, air traffic control system can provide to geography fence equipment can make one group of air traffic control of the geography fence equipment generation Signal, rather than one group of air traffic control is generated on air traffic control system.Signal from air traffic control system can determine which to be generated Group air traffic control.Signal from air traffic control system can correspond to one group of single air traffic control.Geography fence equipment can be to Unmanned vehicle transmits one group of generated air traffic control.When unmanned vehicle receives one group of air traffic control, described nobody flies Row device then can take action according to one group of air traffic control.Similarly, air traffic control system can be to the attached of any other type Oil (gas) filling device provides the signal that the optional equipment can be made to generate one group of air traffic control.Optional equipment can transmit to unmanned vehicle The one group of air traffic control generated, the unmanned vehicle can be operated according to one group of air traffic control.
As it was noted above, various types of interactions between unmanned vehicle system component can allow to generate air traffic control And unmanned vehicle is allowed to be operated in accordance with the air traffic control.Air traffic control can be on the side by geography fence equipment The fixed one or more area of boundary.In some cases, such as unmanned vehicle, user terminal (for example, remote control), geography Each components such as railing device, external memory unit and/or air traffic control system (or other external equipments) can communicate with one another or Can be by detecting each other.
In some embodiments, push communication can be provided between any two in the component.Push communication It can include sending to the communication of the second component, wherein first assembly from first assembly and initiate the communication.Communication can be from the One component is sent to the second component, and to the no any request of the communication from the second component.For example, air traffic control system can be downward Push is communicated to unmanned vehicle.Air traffic control system can be in the case where unmanned vehicle ask one group of air traffic control to described Unmanned vehicle sends one group of air traffic control.
Communication is pulled it is alternatively possible to be provided between any two component.Pulling communication can be included from first assembly Send to the communication of the second component, wherein the second component initiates the communication.Communication can be in response to from the second component The request of communication and sent from first assembly to the second component.For example, when unmanned vehicle asks one group of air traffic control of renewal, Air traffic control system can send one group of air traffic control to the unmanned vehicle.
Communication between any two component can be automatic.Communication can without from user any instruction or Occur in the case of input.Communication can occur automatically in response to timetable or the event detected or situation.One or more Individual processor can receive data and the instruction for communication can be automatically generated based on the data received.It is for example, empty Guard system can send the renewal to local navigation map from trend unmanned vehicle.
One or more communications between any two component can be manual.Communication can come from user detecting Instruction or input when occur.User can initiate the communication.User can control the one or more aspects of communication, such as Inside perhaps deliver.For example, user can renewal of the order unmanned vehicle from air traffic control system request to local navigation map.
Communication can be occurred with real-time continuous, can be occurred according to routine (for example, with rule or irregular time interval Periodically occur, either occurred according to timetable) or occurred in a manner of non-routine (for example, in response to the event detected Or situation and occur).First assembly can be sent by continuous fashion, according to routine or in a manner of non-routine to the second component Communication.For example, geography fence equipment can continue to send the information on its position to air traffic control system.Air traffic control system can be real-time Know the position of geography fence equipment.Or geography fence equipment can be sent in a manner of routine and be set on the geography fence The information of standby position.For example, geography fence equipment can on its position renewal air traffic control system per minute.In another example In, geography fence equipment can send its position according to timetable to air traffic control system.The timetable can be updated.For example, On Monday, geography fence equipment can be with renewal of the transmission on its position per minute, and can be with every in Tuesday, geography fence equipment The renewal sent on its position in 5 minutes.In another example, geography fence equipment can be sent in a manner of non-routine on The information of the geography fence device location.For example, geography fence equipment can detect unmanned vehicle just in the equipment When close to the equipment information on the geography fence device location is sent to air traffic control system.
Communication between any two component can be direct or indirect.Can be from first assembly directly to second group Part provides communication, without any intermediate.For example, remote control can be straight by the receiver of unmanned vehicle from transmitter transmission The radio signal of reception.Can be by then providing communication to the second component indirectly from first assembly in intermediate.In Between thing can be one or more intermediate equipments or network.For example, remote control can send signal to control by communication network The operation of unmanned vehicle processed, it can include the route via one or more antenna towers.In another example, air traffic control Information can be sent directly to unmanned vehicle and then be received and sent by user terminal (for example, via unmanned vehicle), Or user terminal can be sent directly to and then received and sent by unmanned vehicle (for example, via user terminal).
Any kind of communication between any component can in a variety of ways (all those modes as described herein) There is provided.Communication can include positional information, identification information, the information for certification, the information on environmental condition or with fly The relevant information of row control.For example, one or more groups of air traffic control can be provided via the communication, the communication can be Push or pull communication, the communication that automatic or manual communicates, real-time continuous occurs, according to the communication of routine generation or with non-routine The communication that occurs of mode, or the communication that can directly or indirectly send.
The control that geography fence equipment determines
Geography fence equipment can have border.Border can limit the area that one group of air traffic control can be applicable.It is described Area can be located within geography fence border.The area can be located at outside geography fence border.Can be at described one group The border is determined in the generation of air traffic control.The border can be determined independently of remaining group air traffic control is generated.
In some embodiments, geography fence equipment can generate one group of air traffic control.Generated by geography fence equipment One group of air traffic control can also include instruction to the border of geographical railing device.Or geography fence equipment can determine For the border of geography fence equipment, and generate one group with the air traffic control system one group of air traffic control of generation or another equipment and fly Row control is unrelated.
Or air traffic control system can generate one group of air traffic control.By air traffic control system generation one group of air traffic control also The instruction to the border of geographical railing device can be included.Or air traffic control system can determine the side for geography fence equipment Boundary, and it is unrelated to generate one group of air traffic control with the air traffic control system one group of air traffic control of generation or another equipment.Herein to true Any description for determining the geography fence equipment on the border of air traffic control or geography fence equipment is readily applicable to determine flight The air traffic control system on the border of control or geography fence equipment.
In further example, unmanned vehicle can generate one group of air traffic control.By one group of unmanned vehicle generation Air traffic control can also include the instruction to the border of geographical railing device.Or unmanned vehicle can be determined for geography The border of railing device, and with unmanned vehicle generate one group of air traffic control or another equipment generation one group of air traffic control without Close.Any description of the geography fence equipment on the border of pair determination air traffic control or geography fence equipment is readily applicable to herein Determine the unmanned vehicle on the border of air traffic control or geography fence equipment.
Geography fence equipment can voluntarily determine that being applicable to the air traffic control of geography fence equipment and/or the geography encloses The border of column equipment.One group of air traffic control (and/or border) can be based on weighing control system, user's input, ring from aerial boat Border conditional information is (for example, amblent air temperature, environmental complexity (environmental complexity), the density of population, traffic flow Amount), air route state (for example, air mass flow state), from the information of geographical railing device around and/or from one or The information of multiple unmanned vehicles.Can in response to described any factor or the information from described any source and Change or update any air traffic control.Renewal or change can be carried out in real time, can be periodically (for example, with rule or not advising The time interval of rule), carried out according to timetable or the event in response to detecting or situation.
Limit Type
As it was noted above, operation that can be to unmanned vehicle applies any kind of air traffic control.Can be in response to ground Manage the presence of railing device and apply any kind of air traffic control as previously described.Geography fence equipment can have can be with The one or more geography fence borders associated with one group of air traffic control.
One group of air traffic control can include the limitation of the behavior to unmanned vehicle.For example, unmanned vehicle can be limited Into the area limited by geography fence equipment.Other examples of limitation can include but is not limited to limitation and exist, allow to exist, Height limitation, linear speed limitation, angular speed limitation, linear acceleration limitation, angular acceleration limitation, time restriction, load make With limit, limitation of taking photo by plane, the limitation to sensor operations is (for example, beat opening/closing particular sensor, without using sensor collection Data, do not record the data from sensor, do not transmit the data from sensor), transmitting limitation (for example, in specified electromagnetism Sent in frequency spectrum, the specified electromagnetic spectrum can include visible ray, infrared ray or ultraviolet, the limitation to sound or vibration), Limitation (for example, limitation to unmanned vehicle deformation) to unmanned vehicle outward appearance change, the limitation (example to wireless signal Such as, frequency band, frequency, agreement), to the limitation of change in used communication or communication, the thing to being carried by unmanned vehicle The limitation (for example, type of items, Item Weight, item sizes, article material) of product, to be held on article or using article The limitation (for example, article is left behind or delivered, article is picked up) of capable action, the limitation to unmanned vehicle carrier operation, to electricity Amount uses or the limitation of management (such as, it is desirable to enough remaining battery capacities), to the limitation of landing, to the limitation taken off or To unmanned vehicle any other limitation for using.Any example provided in elsewhere herein on air traffic control can To be applied to unmanned vehicle as possible limitation, the limitation is associated with the presence of geography fence equipment.
Geography fence equipment can have different type.In some cases, different types of geography fence equipment can be with Apply different types of flight restriction.The example of flight restriction type can include any of above flight restriction or herein other Any air traffic control described by place.In some cases, the different types of geographical railing device of difference can have relative In the different boundary (for example, different shapes, size, change condition) of the geography fence equipment.
As it was noted above, unmanned vehicle identity, user identity and/or geography fence equipment entity can be based on and applied Different limitations.For different unmanned vehicle types, different user types and/or different geography fence equipment classes Type, different limitations can be applied.For the unmanned vehicle with different operating grade, the user with different operating grade And/or the geography fence equipment with different operating grade, different limitations can be provided.
When unmanned vehicle does not comply with one group of air traffic control and taken action, flight responsive measures can occur.Can from Family adapter control unmanned vehicle.Control can be by performing flight responsive measures automatically according to the instruction on unmanned vehicle machine Unmanned vehicle itself adapter, by send instruction so that unmanned vehicle performs flight according to the instruction on air traffic control system The air traffic control system adapter of responsive measures, or by with the operation grade of the operation higher grade than unmanned vehicle original user Another user adapter.Can be by providing instruction away from unmanned vehicle source farther out, the source has the spy than original user The higher privilege of power.The report of adapter can be made to air traffic control system.Unmanned vehicle can formulate flight responsive measures.Can be with Flight responsive measures are provided according to the inobservant air traffic control of unmanned vehicle.
If do not allowed in its existing area for example, unmanned vehicle is located at, the unmanned vehicle can be forced Leave describedly, be back to starting point or go home a little or landing.Adapter occur before, can give unmanned vehicle some when Between the unmanned vehicle is left the area so as to user.The unmanned vehicle is allowed to fly if unmanned vehicle leaves Capable unique area, then the unmanned vehicle can be forced to be back to the area or landing., can be with before adapter controls Some times of unmanned vehicle are given so that user makes the unmanned vehicle be back to the area.If unmanned vehicle is just The service load in the area for not allowing the unmanned vehicle service load, then the load can be closed automatically.If nothing People's aircraft does not allow the collection of information using sensor collection information in area, then can close the sensor, The sensor can not record the data collected or the sensor can not the number collected of transmitter According to.In another example, if not allowing radio communication in area, the communication unit of unmanned vehicle can be closed to prevent Radio communication.If not allowing unmanned vehicle to drop in area, user provides landing instruction, the unmanned flight Device can not land but hover.If unmanned vehicle must maintain certain battery charge level in area and charge level drops To aspiration level, then the unmanned vehicle can be to be automatically guided to Battery Charging Station, can be navigated outside area or Person can be forced to land.In any case, some times of user can be given to observe, or, flight responsive measures can be with Come into force.The flight that any other type that unmanned vehicle can be allowed to observe its unsatisfied air traffic control can be provided rings Answer measure.
In some cases, geography fence equipment can be used for limiting flight restricted area, one of which or multigroup tof tube System can be applicable.Geography fence border can be the circumference of flight restricted area.In some cases, for the spy in particular task Determine unmanned vehicle, same group of flight restriction goes in flight restricted area or outside flight restricted area.
Alternatively, geography fence equipment can be used for limiting multiple flight restricted areas.Figure 24 shows can there is multiple flights The example of the geography fence equipment of restricted area.Geography fence equipment 2410 can be used for limiting the first flight restricted area (for example, area A 2420a) and the second flight restricted area (for example, area B 2420b).It is alternatively possible to provide the 3rd flight restricted area (for example, Area C 2420c).Any number of flight restricted area can be limited by geography fence equipment.For example, can be by geography fence equipment Limit it is one or more, two or more, three or more, four or more, five or more, six or more It is individual, seven or more, eight or more, nine or more, ten or more, it is ten one or more, 12 Or more, 15 or more, 20 or more, 25 or more, 30 or more, 50 or more or 100 or more flight restricted areas.
The area can be with overlapping or can not be overlapping.In one case, area A, area B and area C can be separated, no Overlapping area.For example, area A can have circle.Area B can be annular (for example, can within area B external boundary and Outside area A external boundary).Area C can be have perforate hole rectangle (for example, can within area C external boundary and Outside area B external boundary).The external boundary in area can be concentric, to cause border to mutually disjoint.Or the outside in area Boundary can intersect each other.In some cases, area can be with overlapping.In some cases, an area can be fully located at another area It is interior.Such as area A can be round.Area B can not have porose circle.Area A can be fully located in area B.In some cases, if One area is located in another area, and inner region can have the institute to outskirt restricted.
Area can have any size or shape.Area can be by two-dimentional borders.In two-dimentional border above and below Space can be the part in the area.For example, area can have rounded, oval, triangle, square, rectangle, any Quadrangle, bar shaped, pentagon, hexagon, octagon, crescent, annular, star or any other rule or irregular shape Shape.The shape may or may not include one or more holes in wherein.Area can be limited by three-dimensional boundaries.Closing Space in three-dimensional boundaries can be the part in the area.For example, area can with it is spherical, cylindrical, prismatic (with The cross section of any shape), hemispherical, bowl-type, annular, bell, wall shape, cone or it is any rule or irregular shape Shape.The not same district limited by geography fence can be of similar shape or can have different shapes.By geography fence The not same district that equipment limits can have different sizes.
In some cases, geography fence equipment can be located within the external boundary in all areas.Or geography fence equipment It can be located at outside the external boundary in one or more areas.The area can be all spaced apart and non-intersect.However, it is possible to reference to Geography fence equipment positions all areas of geographical railing device.It is geographical if geography fence equipment will move in environment The area of railing device can move along the equipment.For example, if geography fence equipment is mobile about 10 meters eastwards, describedly Can correspondingly be moved eastwards by managing the area of railing device by 10 meters.In some embodiments, area can be radial symmetric.No matter How geography fence equipment rotates, and area can keep constant.Or area can not be radial symmetric.If for example, rotatably Railing device is managed, then the area can correspondingly rotate.Area can rotate around geography fence equipment.For example, if geography encloses Column equipment dextrorotation is turn 90 degrees, then the area can be turn 90 degrees around some dextrorotations at geography fence equipment.One In the case of a little, the rotation of geography fence equipment can not the zone of influence position.
In some cases, each flight restricted area can have the limitation of its own.One group of air traffic control can with not Same flight restricted area border and corresponding limitation are associated.For example, one group of air traffic control can include the border for area A, Border for area B, the border for area C, the limitation for area A, the limitation for area B and/or the limit for area C System.Different areas can have different limitations.In one example, area A can limit flight to cause no unmanned flight Device can enter area A.Area B can allow to fly but unmanned vehicle may be prevented to operate camera in area B.Regional C can permit Perhaps flight and camera are used, but unmanned vehicle may not be allowed to be flown below height lower limit.Can be in one group of air traffic control The middle instruction provided for these different control.Different areas can have limitation to the different aspect that unmanned vehicle operates. Different areas can have limitation to the same one side that unmanned vehicle operates, but limit levels are different.For example, area A, area B and area C can limit the flight of unmanned vehicle.However, in different areas, it can differently limit nobody and fly The flight of row device.For example, in area A, unmanned vehicle can not allowed to enter.In area B, unmanned vehicle is possible must It must be flown more than height lower limit, wherein the height of height lower limit increases as the distance away from area A increases.In area C, nobody Aircraft can not fly being positively retained at below the height lower limit of substantial horizontal height, and wherein area C height lower limit and area B is high The peak of degree lower limit matches.
Similarly, each area can have the one group of border of its own, and the border can be identical with the border in other areas It is or different.Every group of border can correspond to one group of different air traffic control.Every group of border can correspond to one group of different flight Limitation.In some cases, the type for the flight restriction on every group of border can be identical.Or for every group of border The type of flight restriction can be different.
In some embodiments, there can be most stringent of limitation near the area of geography fence equipment.In some realities Apply in mode, can be than having tightened up limitation further from the area of geographical railing device closer to the area of geography fence equipment. Can be than there is less or less stringent limitation closer to the area of geography fence equipment further from the area of geographical railing device. For example, in area A, unmanned vehicle can not be allowed to enter.In area B, unmanned vehicle can be allowed under the first height More than limit fly.In area C, unmanned vehicle can be allowed to fly more than the second height lower limit less than the first height lower limit OK.In some embodiments, go for enclosing closer to geography further from the institute in the area of geographical railing device is restricted All areas of column equipment.Therefore, there can be additional, to other areas limitations closer to the area of geography fence equipment.For example, Area C can have one group of limitation.Area B can add additional area B limitation with all area C limitation.Area A can have institute There are area C limitation, area B additional limitation and the additional limitation from area A.For example, area C can allow unmanned vehicle in area From anywhere in flight and service load but do not land, area B can not also allow unmanned vehicle to land, but be also possible to prevent to exist Service load on unmanned vehicle, but still allow unmanned vehicle to be flown at any point, and area A can not allow nobody to fly Row device lands, and can prevent the operation of load, and can require that unmanned vehicle flies more than height lower limit.
In other embodiments, area can have limitation independently from each other.Closer to the area of geography fence equipment without Need to be more restricted than other areas higher.For example, area A can prevent unmanned vehicle service load but unmanned vehicle can be allowed to exist Anywhere fly, area B can allow unmanned vehicle service load but can prevent more than unmanned vehicle limits in height Flight, and area C can prevent the radio communication from unmanned vehicle, and anywhere unmanned vehicle can fly simultaneously And service load.
Unmanned vehicle navigates
One or more unmanned vehicles can navigate in area.Unmanned vehicle can advance along flight path. Flight path can be predetermined, half predetermined or can create in real time.
For example, whole flight path can be predetermined.Each position along flight path can be predetermined.One In the case of a little, flight path can include unmanned vehicle the position in area.In some cases, flight path can be with Including unmanned vehicle the opening position direction.In one example, predetermined flight path can predetermined unmanned flight The position and orientation of device.Or only the position of unmanned vehicle can be predetermined, and the direction of unmanned vehicle can not It is predetermined and can is variable.Other functions of unmanned vehicle can as predetermined flight path a part but Predetermined, or can not be predetermined.For example, load use can as the part of flight path but it is predetermined.Example Such as, unmanned vehicle can carry image-capturing apparatus.Open or close the position of image-capturing apparatus, image-capturing apparatus exists Can be predetermined along the zoom of each opening position in path, pattern or other operating characteristicses.In some cases, image is caught Catch equipment relative to unmanned vehicle positioning (for example, direction) can also as the part of flight path but it is predetermined. For example, image-capturing apparatus can have the first direction relative to the unmanned vehicle at first position, and then relative to The unmanned vehicle of the second place can switch to the second direction.In another example, radio communication can be used as flight road The part in footpath but it is predetermined.For example, can predetermined unmanned vehicle will be used at the Part I of flight path it is a certain Communication frequency simultaneously then switches to another communication frequency at the Part II of flight path.Any other behaviour of unmanned vehicle Make function can as the part of predetermined flight path but it is predetermined.In some embodiments, not as flight path A part and the aspect of predetermined unmanned vehicle operation can be variable.When unmanned vehicle travels through flight path, User can provide the input of one or more alterable features of controllable unmanned vehicle operation.User can or Person can not change the predetermined portions of predetermined flight path.
In another example, flight path can be half predetermined.Can be directed to flight path and provide some parts or Checkpoint, the part or checkpoint can be predetermined.Unscheduled part can be variable and/or can be by user's control 's.For example, flight path can be directed to and make a reservation for a series of way points.Unmanned vehicle flight path between way point can be with It is variable.However, even if the path between way point can change, unmanned vehicle also can be guided to each way point. In some cases, final destination can be predetermined.Reach final destination whole path can be it is variable and/or Can be by user's control.
In another example, can Make Path in real time.Whole flight can be by user's control.User can not appoint When control unmanned vehicle manually in the case of journey or predefined paths or target.User can freely manipulate nobody in environment Aircraft.When unmanned vehicle travels through environment, the flight path of the unmanned vehicle can be created.
Geography fence equipment in area can influence the flight path of unmanned vehicle.In some cases, in environment Geography fence equipment can be considered and one or more groups of tof tubes can be applied to the unmanned vehicle that is operated in environment System.Unmanned vehicle behavior can by or can not be by geography fence equipment change.If the action of unmanned vehicle is not abided by One group of air traffic control is kept, then can change unmanned vehicle behavior.If one group of air traffic control is observed in the action of unmanned vehicle, Unmanned vehicle behavior then alternatively can not be changed.When unmanned vehicle is traveling through predetermined flight path, half predetermined flight When path or real-time flight path, it may be considered that geography fence equipment.
Figure 42 is shown with can be just in the domestic flight path of traversal ring and one or more geography fence equipment The example of environment.One or more unmanned vehicles (for example, unmanned vehicle A 4210a, unmanned vehicle B 4210b) can be with Environment is traveled through along flight path.Flight path (for example, path A, path B, path C) can be predetermined, can be half It is predetermined or can determine in real time.Unmanned vehicle can alternatively fly to destination 4220.Destination can be predetermined Destination can be the destination determined in real time.Destination can be last final destination or can be along road The way point in footpath.Destination can be it is any can be unmanned vehicle target position.Can be provided in environment one or Multiple geography fence equipment (for example, GF1 4230a, GF2 4230b, GF3 4230c, GF4 4230d or GF5 4230e).Ground Reason railing device can have geography fence equipment border.
Unmanned vehicle can according to can be associated with one or more geography fence equipment one group of air traffic control carry out Operation.As described elsewhere herein, any interact can be provided between unmanned vehicle and geography fence equipment.As herein It is described elsewhere, it can be set in air traffic control system (or other external equipments or system) with unmanned vehicle and/or geography fence Any interaction is provided between standby.The interaction can cause the generation of one group of air traffic control, and described group of air traffic control can be provided that Generated to unmanned vehicle or on unmanned vehicle machine.Described group of air traffic control can include by the geography fence in area One or more limitations that equipment applies.
In one example, unmanned vehicle 4210a can advance towards destination 4220.Can unmanned vehicle with One or more geography fence equipment 4230a, 4230b are provided between destination.Geography fence equipment can have to fall in nothing Border between people's aircraft and destination.In some cases, geography fence equipment border can hinder unmanned vehicle road Footpath is towards its destination.Unmanned vehicle can alternatively have flight path.In some cases, if unmanned vehicle will The flight path is continued on, then unmanned vehicle can run into the side of geography fence equipment in the way for lead to destination Boundary.Track can allow unmanned vehicle along predetermined flight path, half predetermined flight path or real-time flight path.
In one example, the flight path of original plan can be with the confined area phase in the border of geography fence equipment Hand over.If it is the case, then path can be changed to that geography fence equipment can be avoided and unmanned vehicle is maintained at limited Another path (for example, path A) outside region.Path A can be calculated so that unmanned vehicle is avoiding the same of confined area When arrive at.In some cases, path A can be selected so that unmanned vehicle with predefined paths relatively small amount Deviation in the case of arrive at.Possible minimum bias can be calculated.Or bias can be in possible minimum Bias 50% or smaller, 40% or smaller, 30% or smaller, 20% or smaller, 10% or smaller, 5% or smaller or Within 1% or smaller.For example, it may be determined that GF1 and GF2 border overlays, to allow unmanned vehicle not enclosed by geography Between column equipment.Unmanned vehicle can select the path for taking on GF2 sides or GF1 sides.GF2 paths can with it is shorter or with Original path deviates less.Therefore, path A can be selected as surrounding GF2 sides.In some cases, can select to consider ring The path A of border condition.If wind strongly blows, unmanned vehicle can take wider path to avoid border, so as to The bigger guarantee that unmanned vehicle can not be blown in confined area unintentionally is provided.It is contemplated that other are measured, such as energy Efficiency.Unmanned vehicle can be guided to the path with of a relatively high energy efficiency levels.Therefore can be in unmanned flight Predefined paths are changed during device flight to avoid geography fence equipment.
In other cases, predefined paths can be calculated or generate to avoid geography fence equipment in advance.For example, user can To enter proposed path, way point or destination.It is special that user can indicate that the user wishes that unmanned vehicle reaches Fixed destination (it can be way point).Air traffic control system or any other system described by elsewhere herein can be collected Data on the geography fence equipment in region.Air traffic control system can detect the position and/or border of geography fence equipment.With Family can alternatively suggest the flight path arrived at.Air traffic control system can receive, refuse or change the path.One In the case of a little, air traffic control system can suggest the path that unmanned vehicle can be allowed to be arrived at while confined area is avoided (for example, path A).The deviation in path that proposed path can be selected to have relatively small amount, being initially recommended with user. User can select to receive or refuse proposed path.Or the suggestion path from air traffic control system can be implemented automatically.Cause This, the predetermined flight path of unmanned vehicle can already have accounted for geography fence equipment and depict to enclose by each geography Column equipment is so that the path that unmanned vehicle arrives at.In some embodiments, user need not suggest whole path but One or more destinations can be suggested.Air traffic control system, which can contemplate geography fence facility information and can generate, allows nobody The predetermined flight path that aircraft is arrived at without entering confined area.In some cases, it may be considered that avoid limited Multiple possible paths in region and single-pathway can be selected from the multiple path.
In another example, half predetermined flight path can make unmanned vehicle be located at in geography fence equipment border The intersecting track of confined area on.Can be towards the destination row for example, destination and unmanned vehicle can be entered Enter.If it is the case, then path can be changed to that geography fence equipment can be avoided and unmanned vehicle is maintained at limited Another path (for example, path A) outside region.Path A can be calculated so that unmanned vehicle is avoiding the same of confined area When arrive at.In some cases, path A can be selected so that unmanned vehicle is based on pre-track and with relative Arrived in the case of less bias.The new route in view of environmental condition or other conditions can be selected.Therefore Half predetermined path can be changed in unmanned vehicle flight to avoid geography fence equipment, but still allows unmanned vehicle to arrive Up to destination.
In some cases, half predetermined path can be calculated or generate to avoid geography fence equipment in advance.For example, with Family can enter proposed destination (for example, final destination, way point).Air traffic control system described by elsewhere herein Or any other system can collect the data on geography fence equipment in region.Air traffic control system can detect geography fence and set Standby position and/or border.Air traffic control system can determine proposed destination whether in confined area, the restricted area Domain can be located in the border of geography fence equipment.If destination is not in confined area, then proposed by can receiving Destination.If destination is located in the confined area that would not allow for unmanned vehicle to enter, then air traffic control system can be refused The exhausted destination.In some cases, air traffic control system can suggest being located at outside confined area but close to original destination institute Another object at place.During new suggestion destination is generated, it may be considered that one or more factors, such as away from most The distance of the destination just suggested, flight path close to new destination easiness or environmental condition.
In addition, user can control unmanned vehicle manually in real time.Unmanned vehicle, which can have, can indicate that nobody The track that aircraft will enter in the confined area in geography fence equipment border.If it is the case, then path can be with It is changed to that geography fence equipment can be avoided and makes another path that unmanned vehicle is maintained at outside confined area (for example, path A).In some cases, it can issue the user with to the user close to the warning on border, and alternatively give described Some times of user are voluntarily corrected., can be from the user if user does not correct voluntarily within the time distributed Adapter control.Or path can be changed automatically in the case where not giving user time voluntarily to correct.Adapter can make nothing People's aircraft flies along the path (for example, path A) after change.Path A can be calculated so that unmanned vehicle avoid by The destination of planning is reached while limiting region.When formulating path A, it may be considered that one or more factors, such as with it is original Deviation, energy efficiency or the environmental condition of track.Therefore, when unmanned vehicle flight, real-time route can be changed to avoid Geography fence equipment.
In some embodiments, Local Navigation map can be provided for unmanned vehicle.Unmanned vehicle can be from sky Guard system or other external equipments receive local navigation map.Unmanned vehicle can receive Local Navigation from geography fence equipment Map.Local Navigation map can include the position of one or more geography fence equipment.Local Navigation map can include one The border of individual or multiple geography fence equipment.Local Navigation map can include on can be applied to it is each area in nobody fly The information of limitation on row device.For example, if unmanned vehicle is not allowed to be flown in the border of geography fence equipment, locally Map can indicate the limitation to being flown in area on map.In another example, unmanned vehicle is not allowed another Service load in the border of geography fence equipment, local map can indicate the limit to load operation in area on map System.One or more groups of air traffic control for unmanned vehicle can be reflected in Local Navigation map.
Unmanned vehicle can be navigated using Local Navigation map in area.In some cases, Local Navigation Figure can include the predefined paths for being drawn on unmanned vehicle therein.Predefined paths can already have accounted for geography fence and set It is standby.Unmanned vehicle can then follow predefined paths., if necessary can be with if unmanned vehicle deviates predefined paths Make adjustment.Unmanned vehicle current location can should be compared with whereabouts on map with unmanned vehicle.If Predefined paths do not consider geography fence equipment and are seen into confined area, then can update predefined paths, and can be with Cartographic information is updated to reflect described information.
In some embodiments, Local Navigation map can include for unmanned vehicle, as half predefined paths A part one or more destinations.The destination can include the way point for unmanned vehicle.The purpose Ground can already have accounted for geography fence equipment.For example, destination can be selected at the opening position not in confined area.Nothing People's aircraft be able to can advance between destination and destination.It is necessary if encountering one or more confined areas When can make adjustment.If destination does not consider geography fence equipment and one or more destinations are located at confined area Region that is interior, then destination being updated to outside limited area, and cartographic information can be updated to reflect described information.
Or unmanned vehicle can be operated along real-time route.Local Navigation map can track nobody Aircraft relative to one or more geography fence equipment position.If seeing unmanned vehicle close to restricted area domain, It can then make adjustment if necessary to change unmanned vehicle path.
In some cases, when unmanned vehicle travels through environment, Local Navigation map can be updated to reflect on institute State the information of the environment near unmanned vehicle.For example, when new portion of the unmanned vehicle close to environment, for unmanned flight The Local Navigation map of device can reflect the information of the new portion on environment.In some embodiments, if nobody flies Row device leaves the preceding section of environment, then Local Navigation map can no longer reflect the information of the preceding section on environment. Under certain situation, Local Navigation map can be updated by air traffic control system.In other cases, one or more geography fence equipment The map can be updated.When unmanned vehicle is close to geographical railing device, the geography fence equipment can be to institute State unmanned vehicle and the information that can be used for renewal local map is provided.When unmanned vehicle runs into not in the process for performing its task With geography fence equipment when, then can update unmanned vehicle map according to various geography fence equipment, it is described variously Railing device is managed with the local information for the geography fence equipment.
Geography fence equipment can be such that limitation is applied in unmanned vehicle operation.As it was noted above, example can be with It is the limitation to unmanned vehicle flight.For example, unmanned vehicle can be not allowed in the border of geography fence equipment (limit Fly region) flight.Other examples of the flight restriction applied by geography fence equipment can include load operation limitation, load is determined Position limitation, carrier limitation, the object limitation carried, sensor limitation, communication limitation, navigation limitation, electricity using limitation or are appointed What other kinds of limitation.Unmanned vehicle can be engaged in the activity that may be observed or may not observe the limitation.Nobody Aircraft flight path can be by different types of limitations affect.The not Tongfang for handling different types of flight restriction can be provided Method.
Unmanned vehicle (for example, unmanned vehicle B 4210b) just can advance towards destination 4220.If nobody flies Row device will advance along most direct path (for example, path B), then the unmanned vehicle is possibly into geography fence equipment Area in the border of (for example, GF4 4230d).Limitation in the area can be in addition to the presence of unmanned vehicle Factor.For example, limitation can be height lower limit.It can require that unmanned vehicle flies more than certain height.If nobody Aircraft can reach the height, then the unmanned vehicle can be allowed to march to destination along path B.However, If unmanned vehicle can not reach the height, or if reach the height with around the area (for example, along Path C) compared to the bigger deviation that will cause unmanned vehicle flight path, then the unmanned vehicle can be ordered to bypass Advance (for example, being advanced along path C) in the area.In another example, limitation can be the operation of load (for example, image Seizure).If unmanned vehicle can close its camera or without using any image of its cameras capture, described nobody flies Row device can advance (when in the area, its camera is to close) along path B and then can leave institute at it Its camera is opened when stating area.If however, unmanned vehicle can not close its camera or stop catch image, or if Undesirable unmanned vehicle closes its camera, then the route that can specify that the unmanned vehicle is around described along path C Area.Therefore, according to the limitation in area, unmanned vehicle can follow original path or direction, or can be prescribed Route is around the area.If unmanned vehicle positioned at it is described area in when can not observe limitation, or if than The route for playing regulation unmanned vehicle is to observe limitation around more undesirable unmanned vehicle for the area, then can specify that The route of the unmanned vehicle is around the area.Determining whether undesirable unmanned vehicle in the area During limitation described in Shi Zunshou, it may be considered that one or more factors.It is determined that described should provide unmanned vehicle Route be around it is described area or unmanned vehicle described in should observe territorial restrictions during, it may be considered that such as environment The factors such as condition, navigation needs, energy efficiency, security or task object.
This goes for when unmanned vehicle is in flight on predefined paths, half predefined paths or real-time route.For example, When unmanned vehicle is in flight on predefined paths and described regional predefined paths traversal, it can make and keep described pre- Determine the identical determination that path still changes path.When unmanned vehicle on half predefined paths towards destination fly and it is most straight When the path connect or described regional path locus traversal, can make be maintained at directapath/along on the path of track still Change the identical determination in path.When unmanned vehicle flown according to the real-time manual command from user and the user just Guide the unmanned vehicle towards it is described regional when, can make and follow user command and allow the user to guide nobody Aircraft enters the area or adapter controls and changes the identical determination in path.
Geography fence identifies
Geography fence equipment can be uniquely identifiable.In some embodiments, geography fence equipment can have The unique geographical railing device identifier of its own.Geography fence identifier can from other geography fence equipment unique terrestrial reference Know and the geography fence equipment.Geography fence equipment can be different from other geography fences by its geography fence identifier Equipment.
Figure 40 shows the example with the system of multiple geography fence equipment, and each equipment has corresponding geography fence mark Know symbol.First geography fence equipment 4010a can have the first geography fence identifier (for example, geography fence ID1), the second ground Reason railing device 4010b can have the second geography fence identifier (for example, geography fence ID2) and the 3rd geography fence to set Standby 4010c can have the 3rd geography fence identifier (for example, geography fence ID3).One or more unmanned vehicles 4020a, 4020b, which can be located at, to be provided in it in environment of geography fence equipment.In some embodiments, can provide Air traffic control system 4030 or other external equipments, it can provide multigroup air traffic control.The generation of air traffic control can be directed to and carried For any other framework, those frameworks as described herein.For example, can be in air traffic control system, one or more unmanned flights Air traffic control is generated or stored at device or one or more geography fence equipment.Only carried by example and nonrestrictive mode For air traffic control system.
Geography fence equipment can have the geography fence identifier of identified geographic railing device (for example, geography fence ID1, geography fence ID2, geography fence ID3 ...).Geography fence identifier can be unique for geography fence equipment. Other geography fence equipment can have the identifier different from the geography fence equipment.Geography fence identifier can make institute Geography fence equipment is stated uniquely to distinguish and/or be distinguished with other individuals.Each geography fence equipment can only be allocated single One geography fence identifier.Or geography fence equipment can register multiple geography fence identifiers.In certain situation Under, single geography fence identifier can be only distributed to single geography fence equipment.Or single geography fence mark Symbol can be by multiple geography fence collaborative shares.In a preferred embodiment, can be in geography fence equipment and corresponding geography One-to-one corresponding is provided between fence identifier.
Alternatively, geography fence equipment can be authenticated to be the authorized geography fence equipment for geography fence identifier. Verification process can include the checking to the identity of geographical railing device.It is described in further detail and authenticated in elsewhere herein The example of journey.
In some embodiments, the ID registration databases of Verification System can keep the identity for geography fence equipment Information.ID registration databases can be that each geography fence equipment distributes unique identifier.Unique identifier can be with The identifier of the alpha-numeric string being alternatively randomly generated or any other type, it can be from other geography fence equipment Uniquely identify geography fence equipment.Unique identifier can be generated by ID registration databases or can be selected from not yet The list of the possibility identifier of distribution.The identifier can be used for being authenticated geographical railing device.ID registration databases Can with or can not be interacted with one or more geography fence equipment.
One group of flight with the geography fence device-dependent can be generated based on the information on geography fence equipment Control.Information on geography fence equipment can include the identification information on the geography fence equipment.Identification information can With including geography fence identifier or geography fence device type.In some embodiments, geography fence identifier can refer to Geographical railing device type is shown.
Geography fence device type can have any characteristic.For example, geography fence device type can indicate that geography The model of railing device, the performance capability of geography fence equipment, the scope of geography fence equipment are (for example, geography fence equipment is used In detection or communication objective preset range), the border of geography fence equipment, geography fence equipment power capacity (for example, electricity The pond life-span), the manufacturer of geography fence equipment or the Limit Type applied by geography fence equipment.Geography fence identifier can To uniquely identify out the geography fence from other geography fence equipment.Geography can be received from geography fence equipment to enclose Column identifier.In some cases, geography fence equipment can have mark module.Geography fence identifier can be stored in mark Know in module.In some cases, it can not change or not remove mark module from geography fence equipment.Geography fence equipment Identifier can be anti-tamper or anti-distort.
One aspect of the present invention can be related to a kind of method of identified geographic railing device, and methods described includes：Receive The geography fence identifier of the geography fence equipment is uniquely identified out from other geography fence equipment；Based on the geography Fence identifier and generate one group of air traffic control for unmanned vehicle；And according to one group of air traffic control to operate State unmanned vehicle.A kind of geography fence device identification system can be provided, including：One or more processors, its is operable Ground is used for either individually or collectively：Receive the ground that the geography fence equipment is uniquely identified out from other geography fence equipment Manage fence identifier；And one group of air traffic control for unmanned vehicle is generated based on the geography fence identifier, with Allow operation of the unmanned vehicle according to one group of air traffic control.The system can also include one or more communications Module, wherein one or more of processors are operably coupled to one or more of communication modules.
Figure 25 shows the process for generating one group of air traffic control according to embodiment of the present invention.Geography can be received to enclose Column device identifier 2510.Geography fence device identifier can be based on and one group of air traffic control 2520 is provided.
Geography fence device identifier can be received by the equipment or system that can generate one group of air traffic control.It is for example, geographical Railing device identifier can be received by air traffic control system.Or geography fence device identifier can be by unmanned vehicle, described The one or more processors of geography fence equipment, user terminal, storage system or any other component or system Receive.Geography fence device identifier can be received by the one or more processors of any component or system.Same component or System can generate one group of air traffic control.For example, the one or more processors of air traffic control system, unmanned vehicle, geography fence Equipment, user terminal, storage system or any other component or system can be based on geography fence device identifier And generate one group of air traffic control.
Can the identity based on geography fence equipment and generate one group of air traffic control.Geography fence device type can be based on And generate one group of air traffic control.The other factors such as unmanned vehicle information, user profile, environmental condition or timing can be with shadow Ring the generation of one group of air traffic control.
Any kind of air traffic control, those air traffic control described by such as elsewhere herein can be provided.Flight Control goes for any aspect of unmanned vehicle operation.Air traffic control can be with geography fence device location and/or side Boundary is associated.One group of air traffic control goes for specific geographic railing device associated there.Another geography fence Equipment can have second group of air traffic control, and described group of air traffic control can be applicatory.In some instances, described one group Air traffic control determines that unmanned vehicle is used to keep at least preset distance, or one group of flight with the geography fence equipment Control determines that unmanned vehicle is used to be maintained at least within preset distance of the geography fence equipment.One group of tof tube System can include what the unmanned vehicle can not be above it when being located relative to the pre-position of geography fence equipment The flight lower limit that the flight upper limit or the unmanned vehicle can not fly thereunder.One group of air traffic control can include base The limitation used is loaded to unmanned vehicle relative to the positioning of geography fence device location in unmanned vehicle, or it is described One group of air traffic control can include based on unmanned vehicle relative to the position of geography fence device location and to unmanned vehicle The limitation that uses of communication unit.
Each geography fence equipment can be directed to and generate one group of air traffic control.For example, air traffic control system 4030 can be directed to Each geography fence equipment and generate and/or provide multigroup air traffic control.For example, can be to close to the first geography fence equipment The unmanned vehicle 4020a of (for example, geography fence ID1 4010a) provide for the first geography fence equipment one group flies Row control.Unmanned vehicle can be operated in accordance with one group of air traffic control for the first geography fence equipment.Unmanned flight Device can be communicated with air traffic control system to receive one group of generated air traffic control.In some cases, unmanned vehicle can To inform unmanned vehicle described in air traffic control system close to the first geography fence equipment.Or geography fence equipment can accuse Know unmanned vehicle described in air traffic control system close to the geography fence equipment.
Second unmanned vehicle 4020b can be close to another geography fence equipment (for example, geography fence ID3 4010c). Second group of air traffic control for another geography fence equipment can be provided to the second unmanned vehicle.Unmanned vehicle can abide by The second group of air traffic control kept for another geography fence equipment is operated.Unmanned vehicle can be led to air traffic control system Believe to receive one group of generated air traffic control.In some cases, unmanned vehicle can inform described in air traffic control system nobody Aircraft is close to another geography fence equipment.Or another geography fence equipment can inform described in air traffic control system nobody Aircraft is close to another geography fence equipment.
Unmanned vehicle can receive one group of air traffic control for being applicable to the unmanned vehicle.If for example, nobody Aircraft is located in the range of the first geography fence equipment but not positioned at second or the 3rd in the range of geography fence equipment, then institute One group of air traffic control for the first geography fence equipment can only be received by stating unmanned vehicle.In some cases, pin To the unmanned vehicle, one group of air traffic control for the first geography fence equipment can be only generated.Similarly, if second Unmanned vehicle is located in the range of the 3rd geography fence equipment but is not located in the range of the first or second geography fence equipment, Then second unmanned vehicle can only receive one group of air traffic control for the 3rd geography fence equipment.In some feelings Under condition, for second unmanned vehicle, one group of air traffic control for the 3rd geography fence equipment can be only generated.
Geography fence certification
The identity of geographical railing device can be authenticated.The identity of geography fence equipment can be authenticated by experience Journey and be verified.Verification process can confirm that the geography fence equipment and the geography fence mark using geography fence identifier Know the geography fence equipment belonging to symbol registration to match.
One aspect of the present invention is related to a kind of method being authenticated to geographical railing device, and methods described includes：It is right The identity of geography fence equipment is authenticated, wherein the identity of the geography fence equipment can be unique with other geography fence equipment Ground makes a distinction；One group of air traffic control for unmanned vehicle is provided, wherein the air traffic control is enclosed with certified geography The position of column equipment is relevant；And the unmanned vehicle is operated according to one group of air traffic control.A kind of geography fence is set Standby Verification System can include：One or more processors, it is either individually or collectively used for：To the identity of geographical railing device It is authenticated, wherein the identity of the geography fence equipment can uniquely make a distinction with other geography fence equipment；It is and raw Into one group of air traffic control for unmanned vehicle, wherein the air traffic control and the position of certified geography fence equipment have Close, to allow operation of the unmanned vehicle according to one group of air traffic control.The system can also include one or more Individual communication module, wherein one or more of processors are operably coupled to one or more of communication modules.
Figure 26 shows the process for being authenticated to geographical railing device according to embodiment of the present invention.It can receive Geography fence device identifier 2610.2620 can be authenticated to the identity of geographical railing device.One group of flight can be provided Control 2630.
Geography fence device identifier can be received by the equipment or system that can generate one group of air traffic control.It is for example, geographical Railing device identifier can be received by air traffic control system.Or geography fence device identifier can be by unmanned vehicle, described The one or more processors of geography fence equipment, user terminal, storage system or any other component or system Receive.Geography fence device identifier can be received by the one or more processors of any component or system.Same component or System can generate one group of air traffic control.For example, the one or more processors of air traffic control system, unmanned vehicle, geography fence Equipment, user terminal, storage system or any other component or system can be based on geography fence device identifier And generate one group of air traffic control.
One group of air traffic control can be generated after geography fence device identifier is received.Can be to geographical railing device Identity be authenticated after generate one group of air traffic control.Can the identity based on geography fence equipment and generate one group of tof tube System.One group of air traffic control can be generated in the case where not considering geography fence equipment identities.One group of tof tube can generated The certification to geographical railing device identity is required before system.Or even if geography fence equipment can also generate without certification One group of air traffic control.In some embodiments, if geography fence equipment passes through certification, the geography fence can be directed to Equipment and first group of air traffic control is provided, if geography fence equipment without certification, can be directed to the geography fence and Second group of air traffic control is provided.First group of air traffic control and second group of air traffic control can be different.In some embodiments In, second group of air traffic control can be more tightened up than first group or restricted higher.Geography fence device type can be based on and given birth to Into one group of air traffic control.The other factors such as unmanned vehicle information, user profile, environmental condition or timing can influence one The generation of group air traffic control.
Geographical railing device can be authenticated using any verification process.It is used for described by elsewhere herein Any technology being authenticated to other equipment goes for the certification to geographical railing device.For example, to user or nothing People's aircraft is authenticated the middle process used and goes for geography fence equipment.In one example, can be by means of ground The key on railing device is managed to be authenticated to the geography fence equipment.Geography fence key can be can not be from described Removed in geography fence equipment.Alternatively, key can not enclose in the case where not damaging geography fence equipment from the geography Column equipment removes.Key can be stored in the mark module of geography fence equipment.In some cases, mark module can not be Removed in the case of not damaging geography fence equipment from the geography fence equipment.Mark module can have as this paper other Any characteristic of the mark module (for example, unmanned vehicle mark module) of any other type described by side.
Geography fence certification
Via the geography fence of authentication center
Certified unmanned vehicle can broadcast its position and IMSI via Radio Link, and it can have containing signature The information of property.In addition, unmanned vehicle and authentication center, which can have, consults simultaneously caused one group of reliable CK1 and IK1, It is identified as SCS1 (secure communication collection).
Geography fence equipment is similarly by authentication center's certification.Specifically, similar to the certification to unmanned vehicle, ground Reason railing device and authentication center can consult and produce reliable CK2 and IK2, and it is identified as SCS2.
Wireless channel for the communication between geography fence equipment and unmanned vehicle can pass through such as time-division, frequency division Or code division etc. is multiplexed each channel and carries out the mode of multiple access arrangement to realize.Sent by unmanned vehicle or geography fence equipment Wireless messages (shape described in such as Figure 16) can be sent in the form of signature authentication.Therefore, as message to be sent (MSG) When, transmitted information format is as follows：
Equation 1：MSG1||((HASH(MSG1)||SCR()(+)SCR(IK))||IMSI
Wherein MSG1=MSG | | RAND | | TIMESTAMP | | GPS
In above equation 1, SCR () can be common cipher code generator, and SCR (IK) can be data derived from IK Mask.In addition, in this manual, MSG is origination message, and HASH () is hash function, and RAND is random number, TIMESTAMP It is timestamp at that time, and GPS is position at that time, to avoid playback formula from attacking.
When receiving the information of above-mentioned unmanned vehicle, geography fence equipment can set up the lattice chain with authentication center Connect and report the IMSI of unmanned vehicle.Whether authentication center can inquire about allows unmanned vehicle to appear in the area In.If the inquiry indicate forbid unmanned vehicle enter the area or indicate restricted information need to transmit to Unmanned vehicle, then authentication center can be via network signals geography fence equipment, and geography fence equipment will be recognized by signature The mode of card sends restricted information.
The information sent by geography fence equipment cannot be forged and can controlled by authentication center.Receiving by ground After managing the information that railing device is sent, unmanned vehicle can be via remote control and/or public communication network and authentication center Foundation CK1 protection link and continue provide encrypted transmission.By this way, unmanned vehicle can will by it is described nobody fly The geography fence information that row device receives, which is sent to authentication center, to be authenticated.Successfully confirming that the true of geography fence information can By afterwards, unmanned vehicle can understand the content in geography fence equipment.Meanwhile it can be carried out via remote control to user Report.In some instances, Flight Path amendment can be made by user or unmanned vehicle itself.
During flight, unmanned vehicle can announce its position or its destination.Know such letter in authentication center Cease and find that the unmanned vehicle cannot enter after corresponding area, it, which can send, forbids information, asks nobody to fly Row device makes a return voyage.Procedures described above can definitely be realized and can bear various attacks.If for example, unmanned vehicle Confined area is gone successively to, then authentication center can record swarming into and being reported to interested regulatory authorities for the unmanned vehicle It is described to swarm into.
Do not pass through authentication center
Certified unmanned vehicle can have with radio broadcasting digital signature characteristic relevant information (such as its ID, its Position and its navigation channel) and other such information.In geography fence equipment after unmanned vehicle receives information above, it can To be connected to air traffic control system via network and report the IMSI of the unmanned vehicle.Air traffic control system can then determine nothing Whether people's aircraft occurs in this region.If it is determined that the unmanned vehicle cannot enter it is described regional or limited Property information processed needs to inform unmanned vehicle, then air traffic control system can be by network signals geography fence equipment, and geography encloses Column equipment can send restricted information by way of signature authentication.The information sent by geography fence equipment cannot forge simultaneously And it can be controlled by authentication center.The secure infomation passageway from authentication center to unmanned vehicle is described below.
Some public key algorithms can be used in embodiments of the present invention.According to public key algorithm, Ke Yixuan Select password pair.Password public keys and private cipher key to being made up of.Therefore it provides two passwords pair.Geography fence equipment and recognize Card center each controls the private cipher key of their own respectively.The geography fence equipment private cipher key controlled by geography fence equipment is remembered For KP, and corresponding public-key cryptography is designated as KO.The authentication center's private cipher key controlled by authentication center is designated as CAP, and corresponding The public-key cryptography of authentication center is designated as CAO.
In this example, when registering geographical railing device, password to the KP private cipher key of geography fence equipment (be directed to) and KO (public keys for being directed to geography fence equipment) can be distributed by authentication center and be reported and submitted authentication center.Geography fence equipment Private cipher key (KP) both can not be read or can not be replicated.In addition, authentication center can use the private cipher key of authentication center (CAP) public keys (KO) of geographical railing device is encrypted, with the C that Generates Certificate.Air traffic control system obtains from authentication center Certificate C simultaneously sends it to geography fence equipment.In addition, to be sent to the MSG of unmanned vehicle can be first subjected to Hash letter Number HASH effect with generate summary D.Then can use geography fence equipment private cipher key (KP) MSG is encrypted with Form signature S.Further, geography fence equipment can send C, S and MSG by wireless channel to unmanned vehicle.
After unmanned vehicle receives C, S and MSG, it can use the public keys (CAO) of known authenticating device C is decrypted to obtain the public keys of geography fence equipment (KO), and can also use KO that signature S is decrypted with Obtain the summary D1 of decryption.In addition, unmanned vehicle can perform hash function HASH to obtain summary D to MSG.Unmanned flight Device can compare the summary D1 and summary D of decryption.If both are identical, unmanned vehicle can be to being sent out by geography fence equipment The MSG sent is authenticated.Therefore, can be securely communicated with each other using above-mentioned signature process, unmanned vehicle and authentication center.
During flight, unmanned vehicle can announce its position or target.When receiving the position of unmanned vehicle, If it is determined that unmanned vehicle is forbidden entering corresponding spatial domain, then authentication center can send restricted information and ask nobody to fly Row device makes a return voyage.Said process can safely carry out and can bear various attacks.If unmanned vehicle is gone successively to, recognize The violation that card center can record unmanned vehicle enters and reported to regulator.
Alternately, geography fence equipment can continue to the restricted information of One-to-All Broadcast.Certification to described information with Said process is identical.Restricted information can indicate that the flight authority of various types of unmanned vehicles in this region.In addition, Wireless channel for being communicated between geography fence equipment and unmanned vehicle can be believed by time-division, frequency division or code division etc. The mode of road multiplexing carries out multiple access arrangement.
Air traffic control system can be with active push information
According to the unmanned vehicle for preparing to fly and the position of the unmanned vehicle to fly and plan navigation channel, blank pipe system System can determine that geography fence may be affected in real time.In the example, air traffic control system can be per each unmanned vehicle Prepare the geography fence list to be avoided.Each unmanned vehicle geography fence to be avoided may be according to unmanned vehicle, nothing The user of people's aircraft and the rank of aerial mission and be affected.In addition, air traffic control system can pass through air traffic control system and nobody Encryption channel between aircraft and send the list to unmanned vehicle, the list is then forwarded to user.
Before flight and during flight, the unmanned vehicle with electronic map can receive by air traffic control system push Information.Unmanned vehicle can also receive the position on the geography fence near such as unmanned vehicle and its navigation channel, effect The information such as scope, effect period.Unmanned vehicle can also send back clearly to receive to air traffic control system to be confirmed.Unmanned vehicle Can with active obtaining and update its navigation channel near effective geography fence information and to air traffic control system provide as information. When information as active offer, unmanned vehicle may not necessarily send back reception to air traffic control system and confirm.
When air traffic control system pushed information and during when unmanned vehicle active obtaining information, system, which can be used to ensure that, to be sent The main body of information is not counterfeited and information is not yet tampered.Connected by using the secure communication established during verification process To push and obtain information, it can be ensured that communication security., please on establishing the details of the secure communication connection and security control With reference to foregoing character.
Data storage with relevant identifier
Figure 27 shows another example that can store facility information in memory according to embodiment of the present invention.
Storage system 2710 can be provided.It can provide from one or more user 2715a, 2715b, one Or multiple user terminal 2720a, 2720b, one or more unmanned vehicle 2730a, 2730b and/or one or more Geography fence equipment 2750a, 2750b information.Described information can include any kind of data (for example, one or more Order, environmental data), data source (for example, producing the identifier of the equipment of data therefrom) and relevant device identifier (example Such as, associated user identifier, associated unmanned vehicle identifier, associated geography fence identifier) and/or Any other associated timing information of person or other associated information.One or more information collection 2740 can be stored.
Storage system 2710 can include one or more Memory Storage Units.Storage system can be with One or more databases including information described herein can be stored.Storage system can include computer-readable Medium.Storage system can have any other memory storage described herein (for example, the memory in Figure 11 Storage system) any characteristic.Storage system can be provided in single opening position or can be distributed in multiple positions On.In some embodiments, storage system can include single Memory Storage Unit or multiple memory storages Unit.Cloud computer architecture can be provided.In some cases, reciprocity (P2P) storage system can be provided.
Storage system can be provided outside unmanned vehicle machine.Can above it be carried in the equipment outside unmanned vehicle For storage system.Storage system can be provided outside remote control.Can be in the equipment outside remote control Storage system is provided.Storage system can be provided outside unmanned vehicle and remote control.Memory storage System can be a part for Verification System.Storage system can be a part for air traffic control system.Memory storage system System can include one or more memory cells, and the memory cell can be the one of the Verification Systems such as air traffic control system Individual or multiple memory cells.Or storage system can separate with Verification System.Storage system can be by Possess and/or operate with Verification System identical entity.Or storage system can be by the reality different from Verification System Body possesses and/or operated.
Communication system can include one or more loggers.One or more of loggers can be from communication system Any equipment receives data.For example, one or more loggers can receive data from one or more unmanned vehicles.One Or multiple loggers can be from one or more users and/or remote control data.Can be on one or more loggers One or more Memory Storage Units are provided.For example, can be from unmanned vehicle, user and/or remote control one Or provide one or more Memory Storage Units on one or more loggers of multiple message.One or more of records Device can have or can not have the scope of limited receive information.For example, logger can be used for from positioned at the note Data are received in equipment in record device identical physical region.For example, when unmanned vehicle is located in the firstth area, the first record Device can be from the unmanned vehicle receive information, and when unmanned vehicle is located in the secondth area, and the second logger can be from The unmanned vehicle receive information.Or logger is without limited scope and can be with slave unit (for example, nobody flies Row device, remote control, geography fence equipment) receive information is regardless of whether the equipment is located at where.Logger can be that memory is deposited Storage unit and/or the information that collects can be transmitted to Memory Storage Unit.
Information from one or more data sources can store in memory.Data source can be any to be remembered Record the equipment or entity in the source of data.For example, for data 1, data source can be the first unmanned vehicle (for example, nobody Aircraft 1).For data 2, data source can be the second unmanned vehicle (for example, unmanned vehicle 2).Data source can be User, user terminal (for example, remote control), unmanned vehicle, geography fence equipment, logger, external sensor or it is any its The equipment of his type.Information can be relevant with that can store data source in memory.
For example, the information on one or more user 2715a, 2715b can be stored in storage system.Institute User identity information can be included by stating information.The example of user identity information can include user identifier (for example, ID 1, ID 2, ID 3 ...).The user identifier can be unique for the user.In some cases, come from The information of user can include contributing to mark and/or the information of certification user.Information from one or more users can be with Including the information on the user.Information from one or more users can include the data from the user. In one example, data can include one or more orders from user.One or more order can include realizing nothing The order of the operation of people's aircraft.The information of any other type can be provided by one or more users and can be stored in In storage system.
In some embodiments, all user's inputs can be stored in storage system as data.Or Person, only selected user input can be stored in storage system.In some cases, only certain form of use Family input is stored in storage system.For example, in some embodiments, only user identifies input and/or order Information storage is in storage system.
User can carry optionally with the aid of one or more user terminal 2720a, 2720b to storage system For information.User terminal can be the equipment that can be interacted with user.User terminal be able to can enter with unmanned vehicle Row interaction.User terminal can be the remote control for sending one or more operational orders to unmanned vehicle.User terminal Can be for showing the display device of data based on the information received from unmanned vehicle.User terminal can be both Information is sent again from unmanned vehicle receive information to unmanned vehicle.In some embodiments, user terminal can be pin To the data source for the data being stored in storage system.For example, remote control 1 can be the source of data 4.
User can provide information by means of the equipment of any other type to storage system.For example, it can carry For one or more computers or other equipment, it can receive user's input.The equipment can be to storage Device memory device communication user inputs.The equipment with unmanned vehicle without interacting.
User terminal 2720a, 2720b can provide data to storage system.User terminal can be provided and used The information of the relevant information of family, user command or any other type.User terminal can be provided on user terminal itself Information.For example, user terminal identification can be provided.In some cases, user identifier and/or user terminal can be provided Identifier.User key and/or user terminal key can be alternatively provided.In some instances, user is not provided in user The relevant any input of key, but user key information can store on the subscriber terminal or can be visited by user terminal Ask.In some cases, user key information can be stored on the physical storage of user terminal.Or user key Information can be stored in outside physical storage (for example, on cloud) and can be by user terminal access.At some In embodiment, user terminal can transmit user identifier and/or associated order.
Unmanned vehicle 2730a, 2730b can provide information to storage system.Unmanned vehicle can provide The information relevant with the unmanned vehicle.For example, unmanned vehicle identification information can be provided.Unmanned vehicle identification information Example can include unmanned vehicle identifier (for example, unmanned vehicle ID1, unmanned vehicle ID2, unmanned vehicle ID3……).Unmanned vehicle identifier can be unique for unmanned vehicle.In some cases, from unmanned flight The information of device can include contributing to mark and/or the information of certification unmanned vehicle.From one or more unmanned vehicles Information can include information on the unmanned vehicle.Information from one or more unmanned vehicles can include Any data (for example, data 1, data 2, data 3 ...) received by the unmanned vehicle.Data can include realizing nothing The order of the operation of people's aircraft.The information of any other type can be provided by one or more unmanned vehicles and can be with It is stored in storage system.
Geography fence equipment 2750a, 2750b can provide information to storage system.Geography fence equipment can be with Information with the geography fence device-dependent is provided.For example, geography fence equipment identification information can be provided.Geography fence is set The example of standby identification information can include geography fence device identifier (for example, geography fence equipment 1, geography fence equipment 2……).Geography fence device identifier can be unique for geography fence equipment.In some cases, enclosed from geography The information of column equipment can include the information for contributing to geography fence equipment described in mark and/or certification.From one or more The information of geography fence equipment can include the information on the geography fence equipment.From one or more unmanned vehicles Information can include any data (for example, data 5, data 6 ...) for being received by geography fence equipment.The data can be with Position including geography fence equipment, the situation of the unmanned vehicle detected or presence or the letter relevant with air traffic control Breath.The information of any other type can be provided by one or more geography fence equipment and can be stored in memory storage In system.
Can be before by any device-dependent information storage described herein in storage system to institute Equipment is stated to be authenticated.For example, can be before by the related information storage of user in storage system to the use Family is authenticated.For example, the user can be entered before obtaining and/or storing user identifier by storage system Row certification.Therefore, in some implementations, only certified user identifier is stored in storage system.Or use The user identifier that family needs not move through certification and claimed can be stored in storage system before certification.If By certification, then the instruction that unmanned vehicle identifier has been verified can be made.If not authenticated, can make User identifier has been marked as the instruction of suspicious activity, or makes and the certification of failure is carried out using the user identifier taste The instruction of examination.
It is alternatively possible to the nothing before the related information of unmanned vehicle is stored in storage system People's aircraft is authenticated.For example, can be before obtaining and/or storing unmanned vehicle identifier by storage system The unmanned vehicle is authenticated.Therefore, in some implementations, only certified unmanned vehicle identifier is stored in In storage system.Or the unmanned vehicle unmanned vehicle identifier that needs not move through certification and claimed can be with It is stored in before certification in storage system.If by certification, unmanned vehicle identifier can be made and obtained To the instruction of checking.If not authenticated, the finger that unmanned vehicle identifier has been marked as suspicious activity can be made Show, or make the instruction for the authentication attempt that failure is carried out using the unmanned vehicle identifier.
Similarly, can be before by the device-dependent information storage of geography fence in storage system to described Geography fence equipment is authenticated.For example, it can be identified obtaining and/or storing geographical railing device by storage system The geography fence equipment is authenticated before symbol.Therefore, in some implementations, only certified geography fence equipment mark Know symbol to be stored in storage system.Or the geography fence that geography fence equipment needs not move through certification and claimed Device identifier can be stored in storage system before certification.If by certification, geography can be made and enclosed The instruction that column device identifier has been verified.If not authenticated, can make to have shown geography fence device identifier The instruction of suspicious activity is marked as, or makes the authentication attempt that failure is carried out using the geography fence device identifier Instruction.
Except data source, the relevant device information on corresponding data can also be stored.If for example, send order, Relevant device can include the equipment for sending the equipment of order and/or receiving order.Data source can be the equipment for sending order. In another example, data can be by the sensor collection on unmanned vehicle machine.Data source can be unmanned vehicle.Nobody The data transfer sensed to multiple equipment, the equipment can be included in the information on relevant device by aircraft In.For example, data 3 can be sensed by unmanned vehicle 1, and unmanned vehicle 1 can to user's (for example, ID 3) and Geography fence equipment (for example, geography fence equipment 2) sends the equipment.Relevant device information can include user, user's end Hold setting for (for example, remote control), unmanned vehicle, geography fence equipment, logger, external sensor or any other type It is standby.
Memory Storage Unit can store one or more information collection 2740.Information collection can include from user, use Family terminal, unmanned vehicle, geography fence equipment, logger, external sensor or any other type equipment information.Letter Breath collection can include one or more groups of data, data source and the information on relevant device.In some cases, can be single One information collection provides single data item.Or multiple data item can be provided for single piece of information collection.
Storage system can store the relevant information collection of specific interaction between two equipment.For example, can be with Multiple orders are sent during interaction between both devices.Interaction can be the execution of task.In some cases, memory Memory cell can only store the information on specific interaction.Or storage system can be stored on two equipment Between multiple interactive information.Storage system alternatively can store information according to the identifier of particular device.With The associated data of same equipment (for example, same unmanned vehicle) can store together.Or Memory Storage Unit can To store information according to device identifier.Together with the data being associated with the particular combination of equipment or equipment can store.
Or storage system can store the information collection on the interaction between multiple equipment or multigroup equipment. Storage system can be collect from multiple users, user terminal, unmanned vehicle, geography fence equipment or other set The data storage bank of standby information.Storage system can store the information from multiple tasks, and it can include each User, each user terminal, each unmanned vehicle, each geography fence equipment and/or its various combination.In certain situation Under, the information collection in storage system can search for or can index.Can be according to any parameter, such as user Identity, user terminal identity, unmanned vehicle identity, geography fence equipment identities, time, equipment combination, data type, position Or any other information, to find or index information collection.Information collection can be stored according to any parameter.
In some cases, the information in storage system can be analyzed.Information collection can be analyzed to detect one Or multiple behavior patterns.Information collection can be analyzed with detect may be relevant with accident or undesirable condition one or more characteristics. Information collection can be used for analyzing air mass flow.Statistical analysis can be carried out to the information collection in Memory Storage Unit.It is such Statistical analysis can aid in mark trend or correlative factor.As an example, it can be noted that some unmanned vehicle models are generally There can be higher accident rate than other unmanned vehicle models.Therefore, can be with comprehensive analysis storage system Information is to collect the information of the operation on unmanned vehicle.Such comprehensive analysis is without in response to particular event or scene.
Can be with real-time update storage system.For example, when transmitting or receiving data, the information on the data It can be recorded in together with any other information for carrying out self-information collection in storage system.This can occur in real time.Can be with Send or receive order less than 10 minutes, 5 minutes, 3 minutes, 2 minutes, 1 minute, 30 seconds, 15 seconds, 10 seconds, 5 seconds, 3 seconds, 1 Any relevant information that data and information are concentrated is stored in second, 0.5 second or 0.1 second.
In the alternative, can be without real-time update storage system.Can be with rule or irregular Time interval is updated periodically storage system.In some cases, renewal time table, the timetable can be provided Rule or irregular renewal time can be included.Renewal time table can be fixed or can be modifiable.Can be with Storage system is updated in response to the time or the situation that detect.
Information collection can be stored any time section by storage system.In some cases, can indefinitely store up Information collection is deposited until they are deleted.It can allow or can not allow to delete information collection.In some cases, can only permit Perhaps the manipulator of storage system or manager interact with the data being stored in the storage system. Under certain situation, the manipulator of Verification System (for example, air traffic control system, authentication center) can be only allowed to be deposited with being stored in memory Data in storage system interact.
It is alternatively possible to described information collection is automatically deleted over time, become.The period can be preestablished 's.For example, described information collection can be automatically deleted after more than predetermined amount of time.The example of predetermined amount of time can include but It is not limited to 20 years, 15 years, 12 years, 10 years, 7 years, 5 years, 4 years, 3 years, 2 years, 1 year, 9 months, 6 months, 3 months, 2 months, 1 The moon, 4 weeks, 3 weeks, 2 weeks, 1 week, 4 days, 3 days, 2 days, 1 day, 18 hours, 12 hours, 6 hours, 3 hours, 1 hour, 30 minutes or 10 Minute.In some cases, information collection can just be deleted manually only after predetermined amount of time is pass by.
The geography fence limitation of identity-based
One or more groups of air traffic control in environment can correspond to one or more geography fence equipment.Every group of tof tube System can be associated with geography fence equipment.In some embodiments, one group of only single air traffic control and geography fence Equipment is associated.No matter, can be with for example, the number or type of the unmanned vehicle that can be interacted with geography fence equipment It is applicable one group of air traffic control of identical.Or multigroup air traffic control can be associated with geography fence equipment.This can occur When multiple unmanned vehicles interact with geography fence equipment.Each group in multigroup unmanned vehicle can have its own One group of air traffic control.For example, the first unmanned vehicle can have first group of air traffic control, and second group of unmanned vehicle can With with second group of air traffic control.The limitation provided by first group of air traffic control and second group of air traffic control can be different. In some cases, difference be probably due to the identity of unmanned vehicle and it is caused (for example, the first unmanned vehicle identity with The difference of second unmanned vehicle identity).Difference be probably due to the identity of user and it is caused (for example, operation first nobody The difference of the identity of first user of aircraft and the identity of the second user of the second unmanned vehicle of operation).Difference is probably It is caused due to any other factor (such as time, environmental condition or any other factor).One group of air traffic control can be with Single geographical railing device is associated.
Figure 28 shows that the geography fence equipment 2810 of one group of different flight restrictions can be provided in different scenes.It is described not With one group of air traffic control can be with identical border or can be with different border 2820a, 2820b.Different nothings People's aircraft 2830a, 2830b, 2840a, 2840b can receive one group of different air traffic control.
A certain opening position that can be in environment provides geography fence equipment 2810.Can be to the environment near the position Interior unmanned vehicle provides one group of air traffic control.If multiple unmanned vehicles are located in the environment near the position, They can each receive one group of air traffic control.Multigroup air traffic control between multiple unmanned vehicles can be identical.It is more Multigroup air traffic control between individual unmanned vehicle can be different.In one example, the difference in multigroup air traffic control Can the identity based on unmanned vehicle.Difference in multigroup air traffic control can be based on unmanned vehicle type.For example, first Group unmanned vehicle 2830a, 2830b can have the first unmanned vehicle type, and second group of unmanned vehicle 2840a, 2840b can have the second unmanned vehicle type.The unmanned vehicle of the first kind and the unmanned vehicle of Second Type can To be different.Any description to the difference of multigroup air traffic control based on unmanned vehicle type only passes through example herein Mode provides, and goes for the factor that can cause any other type of different multigroup air traffic control.These factors User profile (for example, user identity, user type), environmental condition, timing, other unmanned vehicle information or sheet can be included The factor of text described any other type elsewhere.
First group of unmanned vehicle can receive first group of air traffic control, and second group of unmanned vehicle can receive second Group air traffic control.First group of air traffic control and second group of air traffic control can be different.For example, first group of unmanned vehicle 2830a, 2830b can receive first group of air traffic control, and second group of unmanned vehicle 2840a, 2840b can be received for ground Manage second group of air traffic control of railing device 2810.Border between first group of air traffic control and second group of air traffic control can be Different.Therefore, for same geography fence equipment, multigroup border can be provided by multigroup air traffic control.First group flies Row control can have first group of border, and second group of air traffic control can have second group of border.In some cases, it is single One group of air traffic control can have multigroup border.For example, even if single unmanned vehicle receives one group of air traffic control, also may be used Multigroup border be present, not same district either at multiple areas, different time is still for the different condition that detects Not same district or any other factor.First group of border can be provided in for the first of first group of unmanned vehicle group control 2820a, and second group of border 2820b can be provided in for the second of second group of unmanned vehicle group control.Border can With with different size or shape.Border can be with overlapping.
In the examples provided, border can limit the presence of unmanned vehicle.This is only provided by way of example And the limitation of any other type goes for border.First group of air traffic control can be limited with first group of border 2820a Unmanned vehicle 2830a, 2830b of the first kind presence in system area.Therefore, the unmanned vehicle of the first kind can not Into first group of border.Unmanned vehicle 2840a, 2840b of Second Type can not receive first group of air traffic control and therefore It can not be limited by what is limited from first group of air traffic control.Therefore, the unmanned vehicle of Second Type can enter first (for example, unmanned vehicle 2840b is come into first group of border 2820a) in group border.
Second group of air traffic control can limit the unmanned vehicle of Second Type in area with second group of border 2820b 2840a, 2840b presence.Therefore, the unmanned vehicle of Second Type can not enter second group of border.The nothing of the first kind People's aircraft 2830a, 2830b can not receive second group of air traffic control and therefore can not be by from second group of air traffic control The limitation of limitation.Therefore, the unmanned vehicle of the first kind can enter in second group of border (for example, unmanned vehicle 2830b Come into second group of border 2820b).
Therefore, even single geography fence equipment can also have high flexibility ratio.Geography fence equipment can There is provided in different situations for may be close to the different unmanned vehicles of geography fence equipment for different groups of tof tubes The reference point of system, the geography fence equipment can provide height to the Activity Type near geographical railing device and control, and nothing Any change or renewal need to be carried out in itself to geographical railing device.In some embodiments, can geography fence equipment it One group of air traffic control of outer generation, therefore any renewal or ad hoc rules can be directed to and geographical railing device need not can be carried out in itself Outside the geography fence equipment of any change.In some cases, geography fence equipment can generate one group in itself thereon and fly Row control, but can receive to parameter, algorithm or from cloud, for generate one group of air traffic control data renewal.Ground Reason railing device need not receive any be manually entered during its function is performed.Or user can select offer to be directed to The individualization request of geography fence equipment or input.
Geography fence equipment changes over time
As it was noted above, one group of air traffic control can change over time.Geography fence is run at different time The unmanned vehicle of equipment can have one group of different air traffic control.In some embodiments, one group of air traffic control It is applicable to specifically meet or the specific time.For example, if unmanned vehicle is for the first time close to geographical railing device, institute First group of air traffic control can be received by stating unmanned vehicle.If unmanned vehicle will elsewhere fly and then return right And running into geography fence equipment for the second time, then the unmanned vehicle can receive second group of air traffic control.First group and second Group can be identical.Or they can be different.One group of air traffic control can have been based on the time or other Part (environmental condition such as detected) and change.Therefore, can according to condition (for example, time, environmental condition) and to nobody Aircraft delivers different groups of flying conditions.One group of flying condition is in itself without including any condition.In other embodiment In, one group of air traffic control can include different conditions, including timing.For example, fly for one group that unmanned vehicle provides Row control can indicate that 3:Before 00pm, first group of border and limitation are applicable, 3:00pm and 5:Between 00pm, second group Border and limitation are applicable, and 5:After 00pm, the 3rd group of border and limitation are applicable.Therefore, one group of flight restriction can wrap Include according to different condition (for example, time, environmental condition etc.) and to the different group borders of unmanned vehicle and limitation.
But, there is provided one group of air traffic control, unmanned vehicle can take according to conditions such as time or environmental conditions Limited from the difference to geographical railing device.
Figure 29 show with can over time and change multigroup air traffic control geography fence equipment example.Control Change over time can be provided only by way of example, and go for the condition of any other type, all Such as environmental condition.For example, if example describes the change of the very first time, the second time, the 3rd time etc., the example Go for first group of environmental condition, second group of environmental condition, the 3rd group of environmental condition or any other group of condition (for example, First group of condition, second group of condition, the 3rd group of condition).
Geographical railing device 2910 can be illustrated at different time (time=A, B, C or D).Can be in different time Or provide different conditions in the opening position of different time.Unmanned vehicle 2920 can be provided about in geography fence equipment. The unmanned vehicle illustrated at different time can be same unmanned vehicle or can be different unmanned vehicles.It is geographical Railing device can have one group of border 2930a, 2930b, 2930c, 2930d.
The border can change over time.For example, one group of border during the very first time (for example, time=A) 2930a can be differently configured from one group of border 2930b during the second time (for example, time=B).Border can change by any means Become.For example, the lateral part on border can change (for example, border during border 2930a and time=C during time=A 2930c) and/or the vertical component on border can change (for example, during border 2930a and time=B during time=A Border 2930b).In some cases, the laterally and vertically part on border can change (for example, border during time=B simultaneously Border 2930c during 2930b and time=C).The size and/or shape on border can change.In some cases, border can To keep constant in different time.For example, one group of border 2930a during the very first time (for example, time=A) can be with second One group of border 2930d during time (for example, time=D) is identical.
The Limit Type applied on border can change over time.Although one group of border keeps constant, Limit Type can change.For example, at the very first time (for example, time=A), border 2930a can be with the second time (example Such as, time=D) when border 2930d it is identical.However, first group of limitation goes for the very first time (for example, in time=A When, unmanned vehicle 2920 can be not allowed into the 2930a of border), and second group of limitation goes for the second time (example Such as, in time=D, unmanned vehicle 2920 can be allowed to enter in the 2930d of border, but can alternatively apply other limits System, does not allow service load such as).Although border keeps constant, the type of limitation can be different.Although border is kept Constant and Limit Type is identical, but limit grade can be it is different (for example, do not allow using any radio communication with only Permission uses radio communication in particular frequency range).
In some embodiments, the Limit Type applied on border can keep constant, and border pushes away with the time Move and change.For example, at the very first time (for example, time=A), border 2930a can be on the second time (for example, the time =B) when border 2930b and change.First group of limitation goes for the very first time and second group of limitation goes for Two times.First group of limitation can be identical with second group of limitation.For example, in time=A, unmanned vehicle 2920 can not be permitted Perhaps enter in the 2930a of border.In time=B, unmanned vehicle can be equally not allowed into the 2930b of border, but border Can change, with allow unmanned vehicle enter the unmanned vehicle be previously unable to enough entrance region and/ Or unmanned vehicle can not enter the region that the unmanned vehicle can previously enter.Unmanned vehicle can energy The region enough entered may change with the change on border.
Or first group of limitation can differ with second group of limitation.For example, in time=B, unmanned vehicle can not It is allowed to enter in the 2930b of border.In time=C, unmanned vehicle be able to can enter in the 2930c of border, but work as and be located at Any radio communication can not be sent when in border.Therefore, the border and described group one limitation can change.It is described One group of limitation can change with so that Limit Type changes.One group of limitation can change to allow Limit Type phase Together, but limit grade can change.
Unmanned vehicle can run into geography fence equipment in all cases.Different situations can be provided in order (unmanned vehicle either runs into geography fence equipment under different conditions at multiple time points multiple) or can be alternative Different situations is provided in embodiment (for example, unmanned vehicle in theory can be in different time points or in different groups of bars Geography fence equipment is reached under part first).
In some embodiments, occur in the case of there can be indicant not requiring geography fence equipment to one group The change of air traffic control.For example, air traffic control system is known that geography fence equipment and unmanned vehicle position.Air traffic control system can be with Unmanned vehicle is detected when in the preset range of geography fence equipment.When unmanned vehicle is close to geographical railing device When, air traffic control system is known that one group of condition (for example, time at that time, environmental condition, unmanned vehicle identity or type, use Family identity or type etc.).Based on the condition, air traffic control system can provide one group of air traffic control to unmanned vehicle.Nobody flies Row device need not detect geography fence equipment, without the indicant in detection geography fence equipment, although unmanned vehicle can be with Do so, as described elsewhere herein.
In another example, when unmanned vehicle is close to geographical railing device, the geography fence equipment can detect To the presence of unmanned vehicle.When unmanned vehicle is come in the preset range of geography fence equipment, the geography fence is set It is standby to detect the unmanned vehicle.When unmanned vehicle is close to geographical railing device, the geography fence equipment can To know one group of condition (for example, time at that time, environmental condition, unmanned vehicle identity or type, user identity or type Deng).Based on the condition, geography fence equipment can provide one group of air traffic control for unmanned vehicle.Unmanned vehicle need not Geography fence equipment is detected, without the indicant of detection geography fence equipment, although unmanned vehicle can so be done, such as this Text is described elsewhere.
In addition, unmanned vehicle can generate one group of air traffic control on machine.Unmanned vehicle can detect geography fence The presence of equipment.Or can be provided to unmanned vehicle it is from air traffic control system or geography fence equipment, on unmanned flight Information of the device to the distance of geography fence equipment.When unmanned vehicle is close to geographical railing device, the unmanned vehicle can To know one group of condition (for example, time at that time, environmental condition, unmanned vehicle identity or type, user identity or type Deng).Based on the condition, unmanned vehicle can generate one group of air traffic control on the unmanned vehicle machine.Unmanned flight Device need not detect geography fence equipment, without the indicant in detection geography fence equipment, although the unmanned vehicle can So to do, as described elsewhere herein.
In other embodiments, geography fence equipment 2910 can include indicant 2940.The indicant can be Any kind of indicant as described by elsewhere herein.Although visual indicia closely provides by way of example, can To use the indicant of the indicant, such as wireless signal, thermal signal, acoustical signal or any other type of any other type. Unmanned vehicle can detect the indicant of geography fence equipment.When unmanned vehicle close to geographical railing device (for example, Into in the preset range of geography fence equipment) when, unmanned vehicle can detect the indicant.
Indicant can change over time.The change of indicant can reflect different conditions.Indicant can With periodically (for example, with rule or irregular time interval), according to preset time table or the thing in response to detecting Part or situation and change.The change of indicant can voluntarily be started by geography fence equipment.Geography fence equipment can have pair Which one group of instruction of which indicant be provided in the case of.It can utilize from external equipment (for example, cloud, air traffic control system, nothing People's aircraft, other geography fence equipment etc.) information update the instruction.In some cases, to the change of indicant The data from one or more external equipments can be included.In one example, air traffic control system can order geography fence set It is standby to change indicant.In another example, another external equipment, such as unmanned vehicle, other geography fence equipment or geography The remote control of railing device, instruction can be provided to geography fence equipment to change indicant.Indicant can change characteristic.It is special Property be able to can be detected by unmanned vehicle.For example, for visual indicia, changing for characteristic can include regarding for indicant Feel the change of outward appearance.In another example, for acoustical signal, the change of characteristic can include the detectable sound label of indicant The change of name.For wireless signal, characteristic changes the change that can include the information by indicant transmission.
For example, indicant can be with periodic variation.In one example, indicant can change per hour.Another In example, indicant can change daily.Geography fence equipment can have the machine that can allow the geography fence equipment record time Carry clock.
Indicant can change according to preset time table.For example, timetable can indicate that indicant should be on Monday 9:00AM from the first indicant characteristic changing be the second indicant characteristic, and then 3 on Monday:00PM is from the second indicant Characteristic changing is the 3rd characteristic, and then the 1 of Tuesday:00AM becomes the first characteristic again from the 3rd characteristic, and then in Tuesday 10:00AM from the first characteristic changing be second characteristic etc..Timetable can be modifiable.In some cases, blank pipe system The manipulator of system can change timetable.In another example, the owner of geography fence equipment or manipulator can energy Enough change timetable.The owner and/or manipulator of geography fence equipment can be by handing over manually with geography fence equipment Enter mutually or remotely or change timetable from the equipment of separation, this can cause the timetable for updating geography fence equipment.
In another example, indicant can change in response to the event or the situation that detect.For example, if geography encloses Air mass flow around column equipment reaches threshold densities, then indicant can change.If the gas around geography fence equipment Wait and change (for example, begin to rain or wind speed increase), then indicant can change.Alternatively, dynamic instruction thing can respond Change in the presence of the unmanned vehicle detected.For example, unmanned vehicle can be uniquely identified.Geography fence equipment can To receive the unmanned vehicle identifier that the unmanned vehicle is uniquely identified out from other unmanned vehicles.It can be based on Unmanned vehicle identifier and select indicant parameter or characteristic.For example, one group of air traffic control can depend on unmanned vehicle Identity or unmanned vehicle type.In another example, user identifier can be based on and selects indicant parameter or characteristic. For example, one group of air traffic control can depend on the identity or user type of user.
The change of indicant can reflect the change of one group of air traffic control.For example, unmanned vehicle can be able to detect that The change of indicant characteristic and know that another group of limitation is in place.For example, when indicant changes, unmanned vehicle can be with Use another group of air traffic control.Or unmanned vehicle can use same group of air traffic control, but the same group of air traffic control It can apply for the different limitations of different indicants or border.
For example, if unmanned vehicle detected indicant 2940 under first group of characteristic (for example, showing " X "), institute Stating unmanned vehicle could be aware that first group of control in place (for example, first group of border 2930a, first group of limitation).If Unmanned vehicle detects indicant 2940 under second group of characteristic (for example, showing " O "), then the unmanned vehicle can be known Know second group of control in place (for example, second group of border 2930b, second group of limitation).If unmanned vehicle detects finger Show thing 2940 under the 3rd group of characteristic (for example, showing "="), then the unmanned vehicle could be aware that the 3rd group of control (for example, the 3rd group of border 2930c, the 3rd group of limitation) in place.If unmanned vehicle detects indicant 2940 at the 4th group Under characteristic (for example, showing "+"), then the unmanned vehicle could be aware that the 4th group of control in place (for example, the 4th group of side Boundary 2930d, the 4th group of limitation).
Based on the local storage on unmanned vehicle machine, unmanned vehicle could be aware that different control corresponds to difference Indicant characteristic.Local storage on unmanned vehicle machine can or can not continuously, periodically, according to the time Table or the event in response to detecting or situation and update.In some cases, the external equipment such as air traffic control system can be with Know the different control corresponding to different indicant characteristics.Unmanned vehicle can transmit the finger on detecting to external equipment Show the information of thing characteristic.External equipment can generate one group of air traffic control and then be carried as response to unmanned vehicle For one group of air traffic control.Any other framework, those frameworks described by such as elsewhere herein can be used.
The many aspects of the present invention can be related to a kind of geography fence equipment, including：One or more memory storage lists Member, it is used to store multiple indicant parameters；And dynamic instruction thing, its (1) is over time and from meeting the multiple finger Show that the first indicant parameter in thing parameter is changed into meeting the second indicant parameter, and (2) are used for (a) when unmanned vehicle flies During row and (b) can be by the unmanned flight when unmanned vehicle enters in the range of the predetermined geographic of the geography fence equipment Device detects.A kind of method that one group of air traffic control is provided to unmanned vehicle can be provided, methods described includes：By multiple fingers Show that thing parameter is stored in one or more Memory Storage Units of geography fence equipment；And over time and by described in The dynamic instruction thing of geography fence equipment is changed into meeting from the first indicant parameter met in the multiple indicant parameter Two indicant parameters, wherein the dynamic instruction thing is used for (a) when unmanned vehicle flight and (b) is when unmanned vehicle enters It can be detected when entering in the range of the predetermined geographic of the geography fence equipment by the unmanned vehicle.
As it was noted above, indicant can be dynamic instruction thing.Dynamic instruction thing can have one or more parameter/spies Property.In some embodiments, dynamic instruction thing can change the visual indicia of outward appearance over time.Visual indicia First outward appearance can be based on the first indicant parameter and generate, and the of the visual indicia different from the first outward appearance of visual indicia Two outward appearances can be based on the second indicant parameter and generate.In another example, dynamic instruction thing can be over time and Change the wireless signal of characteristic.First characteristic of wireless signal can be based on the first indicant parameter and generate, and be different from nothing Second characteristic of the wireless signal of the first characteristic of line signal can be based on the second indicant parameter and generate.
Dynamic instruction thing can uniquely identify out geography fence equipment and by the geography fence equipment and other ground Reason railing device makes a distinction.For example, different geography fence equipment can have different indicants.Different dynamic instructions Thing can be with different from each other.So when unmanned vehicle detects dynamic instruction thing, the unmanned vehicle can not only know One group of air traffic control in place under the described conditions, and know the identity of geography fence equipment.In other embodiments, refer to Show thing without being unique for each geography fence equipment.In other cases, same type of geography fence can be directed to Equipment and identical indicant is provided.Indicant can be unique for geography fence equipment.When unmanned vehicle detects During dynamic instruction thing, the unmanned vehicle can not only know that one group of air traffic control is in place under the described conditions, and know The type of geography fence equipment.In other cases, indicant is without being unique for equipment.It is different types of different geographical Railing device can show identical indicant.Indicant can reflect one group of air traffic control corresponding to the indicant, And unmanned vehicle need not uniquely identify geography fence equipment or geography fence device type.
Dynamic instruction thing can indicate first group of air traffic control when meeting the first indicant parameter, and can be with Second group of air traffic control is indicated when meeting the second indicant parameter.As it was noted above, can be in unmanned vehicle system One group of air traffic control is generated and/or stored at any equipment in system.Any combinations of communication can occur to allow nobody Aircraft is operated according to one group of air traffic control.In some instances, first group of air traffic control and second group of tof tube System can be stored on unmanned vehicle machine, and first group of air traffic control and second group of air traffic control can be stored in unmanned vehicle On air traffic control system outside machine, or first group of air traffic control and second group of air traffic control can be stored in geography fence equipment it On.
Geography fence is overlapping and priority
Figure 30 shows that the scene of unmanned vehicle can be provided in the overlapping area of multiple geography fence equipment.Can be Multiple geography fence equipment 3010a, 3010b are provided in environment.The geography fence equipment can have corresponding border 3020a、3020b.One or more unmanned vehicles can be provided in environment.
Unmanned vehicle 3030d can be positioned at the first geography fence equipment 3010a's and the second geography fence equipment 3010b Outside border.Unmanned vehicle can be alternatively in one group from the first geography fence equipment or the second geography fence equipment Under limitation.Unmanned vehicle can freely operate in environment, without one group of flight of application to the unmanned vehicle Control.
Unmanned vehicle 3030a can be located within the first geography fence equipment 3010a border and the second geography fence Outside equipment 3010b border.Unmanned vehicle can be under one group of limitation from the first geography fence equipment without coming From under one group of limitation of the second geography fence equipment.Unmanned vehicle can observe associated with the first geography fence equipment the One group of air traffic control is operated.
Unmanned vehicle 3030c can be located within the second geography fence equipment 3010b border and the first geography fence Outside equipment 3010a border.Unmanned vehicle can be under one group of limitation from the second geography fence equipment without coming From under one group of limitation of the first geography fence equipment.Unmanned vehicle can observe associated with the second geography fence equipment the Two groups of air traffic control are operated.
Unmanned vehicle 3030d can be positioned at the first geography fence equipment 3010a's and the second geography fence equipment 3010b Within border.Unmanned vehicle can be under one group of air traffic control.Can be that unmanned vehicle falls in multiple geography fence equipment In the range of different possibilities is provided.Any possibility when describing overlapping multiple regional goes for this.
For example, the one or more areas provided by different geographical railing devices can be with overlapping.For example, the first geography fence is set The firstth area in first group of standby border 3020a can be with second in second group of border 3020b of the second geography fence equipment Area overlapping.
When multiple area overlappings, can be held in place from multiple regional rules.For example, with the first geography fence equipment First group of associated air traffic control and the second group air traffic control associated with the second geography fence equipment can be overlappingly It is held in place in area.In some cases, as long as the rule from multiple areas does not conflict with one another can and is held in place.For example, When unmanned vehicle is located in the firstth area, the first geography fence equipment can not allow the use that unmanned vehicle loads.When When unmanned vehicle is located in the secondth area, the second geography fence equipment can not allow the use that unmanned vehicle communicates.Work as nothing When people's aircraft 3030d is located in Liang Ge areas, the unmanned vehicle can be not allowed to operate the unmanned vehicle load simultaneously And it can be not allowed to use communication unit.
If conflict between rule be present, various rule responses can be applied.For example, restricted highest can be applied One group of rule.For example, if the firstth area requires that unmanned vehicle flies below 400 feet of height, and the secondth area requires nothing People's aircraft flies below 200 feet of height, then, can be in overlay region when unmanned vehicle is located within overlay region Using the rule on being flown below 200 feet of height.This can include being mixed and matched one group of rule to form limitation One group of highest of property.If for example, the firstth area require unmanned vehicle flown more than 100 feet and below 400 feet, And the secondth area requires that unmanned vehicle flies more than 50 feet and below 200 feet, then when unmanned vehicle is positioned at weight Folded Qu Zhongshi, it can use the flight lower limit from the firstth area and the flight upper limit from the secondth area, with 100 feet with Flown between 200 feet.
In another case, rank can be provided for the area.It can be provided in the rank one or more preferential Grade.The geography fence equipment of (for example, rank is relatively low) relatively low compared to priority level, priority level it is higher (for example, rank compared with It is high) geography fence equipment can have dominant rule, regardless of whether the geography fence equipment phase higher with priority Whether the rule of association has more or less limitations for the rule that priority lower ground manages railing device.Can To be pre-selected or pre-enter the priority level of geography fence equipment.In some cases, there is provided for one group of the area The user of rule can indicate which geography fence equipment is higher than other geography fence equipment in priority level.In some feelings Under condition, the rank for the geography fence equipment can be pre-selected in the manufacturer of geography fence equipment.What is be pre-selected is excellent First level can by or can not be modified.In other cases, the owner of geography fence equipment or manipulator can input For the tier levels of the geography fence equipment.The owner or manipulator of geography fence equipment can change geography and enclose Column equipment priority level.In some cases, for geography fence equipment priority level can by such as air traffic control system, one Or the external equipment such as multiple unmanned vehicles or other geography fence equipment determines.In some cases, the manipulation of air traffic control system Person can check the information on multiple geography fence equipment and input or adjust the priority level of geography fence equipment. In some embodiments, some priority levels can be authorized by administrative area.For example, some administrative areas can require political affairs The geography fence equipment of mansion facility or emergency service has higher priority scheduling than the geography fence equipment that individual possesses or operated Level.
In a realization of one group of rule that unmanned vehicle, the priority in for overlay region are driven, the firstth area It can require that unmanned vehicle flies below 400 feet and loads closing.Secondth area can require unmanned vehicle 200 Foot is following to fly and to being limited without load.If the geography fence equipment that the firstth area can be higher to priority is related Connection, then can apply the rule from the firstth area, without applying any rule from the secondth area.For example, unmanned vehicle can To be flown below 400 feet and close load.If the secondth area is associated with the geography fence equipment that priority is higher, The rule from the secondth area can then be applied, without applying any rule from the firstth area.For example, unmanned vehicle can be Less than 200 feet are flown and are limited without any load.
In some cases, when multiple area overlappings, multigroup air traffic control can be provided.Unmanned vehicle can be provided can One group of air traffic control observe, main.As it was noted above, one group of main air traffic control in first group of air traffic control and Second group of air traffic control can include when not conflicting all both, can between first group of air traffic control and second group of air traffic control By comprising restricted one group of higher air traffic control, can by it is restricted it is higher in a manner of include first group of air traffic control and second Group air traffic control all both aspects, or can fly comprising one group associated with the geography fence equipment that priority is higher Row control.
One aspect of the present invention can include a kind of method for operating unmanned vehicle, and methods described includes：Determine institute State the position of unmanned vehicle；Multiple geography fence equipment are identified, wherein each geography fence equipment is indicated described in covering One group of air traffic control of unmanned vehicle is directed in the region of the position of unmanned vehicle；By means of one or more processors, The one group of main air traffic control to be followed the unmanned vehicle carries out priority ranking, one group of main tof tube System is selected from one group of air traffic control of the multiple geography fence equipment；And flown according to described main one group Row control operates the unmanned vehicle.Similarly, a kind of program for being used to operate unmanned vehicle that includes can be provided to refer to The non-transient computer-readable media of order, the computer-readable medium include：For determining the position of the unmanned vehicle Programmed instruction；For identifying the programmed instruction of multiple geography fence equipment, wherein each geography fence equipment is indicated and covered Cover in the region of the position of the unmanned vehicle and be directed to one group of air traffic control of unmanned vehicle；And for it is described nobody The aircraft one group of main air traffic control to be followed carries out priority ranking to allow according to one group of main tof tube Make to operate the programmed instruction of the unmanned vehicle, one group of main air traffic control is set from the multiple geography fence Selected in standby one group of air traffic control.
In addition, a kind of unmanned vehicle air traffic control prioritization system can include：One or more processors, its Either individually or collectively it is used for：Determine the position of the unmanned vehicle；Multiple geography fence equipment are identified, wherein each geographical Railing device indicates one group of air traffic control that unmanned vehicle is directed in the region of position of the unmanned vehicle is covered； And the one group of main air traffic control to be followed the unmanned vehicle carries out priority ranking to allow according to the master The one group of air traffic control wanted operates the unmanned vehicle, and one group of main air traffic control enclosed from the multiple geography Selected in multigroup air traffic control of column equipment.The system can also include one or more communication modules, wherein described one Individual or multiple processors are operably coupled to one or more of communication modules.
Figure 31 shows the example of different control according to one aspect of the invention, for different geographical railing devices.It is more Individual geography fence equipment 3110a, 3110b, 3110c can have priority level and/or one or more groups of control.Described one Group air traffic control can include one or more measurements.One or more control values can be related to one or more of measurements Connection.One example of measurement can include a type of control.For example, the first measurement goes for the limitation of height lower limit, Second measurement goes for load operation limitation, and the 3rd measurement goes for radio communication limitation, and fourth amount can fit Limited for battery capacity, the 5th measurement goes for rate limitation, and the 6th measurement goes for largest item and carries weight Amount etc..
In some embodiments, geography fence equipment can have different priority levels.Any number can be provided Priority level.For example, can provide it is one or more, two or more, three or more, four or more, five It is individual or more, six or more, seven or more, eight or more, nine or more, ten or more, 15 or more, 20 or more, 25 or more, 30 or more, 40 or more, 50 or more Individual or 100 or more priority levels.Priority level can be qualitatively or quantitative.For example, priority level can divide Into low precedence, medium priority grade and high precedence.Geography fence equipment with high precedence can be in rank It is upper to be higher than the geography fence equipment with medium priority grade.Any sorting technique can be provided for priority level.For example, can be with Priority level A, priority level B, priority level C etc. are provided.In some cases, priority level can have numerical value.For example, ground Reason railing device A 3110a can have priority level 98, and geography fence equipment B 3110b can have priority level 17, with And geography fence equipment C 3110c can have priority level 54.In some cases, the priority level with higher numerical value can With higher in rank.
Multiple geography fence equipment can enclose with different priority levels and from the geography with limit priority One group of air traffic control of column equipment can be chosen as one group of main air traffic control.For example, if unmanned vehicle encloses positioned at geography In the area of the overlay region of column device A, B and C, then the unmanned vehicle can have one group of main air traffic control, described Group air traffic control uses the control associated with geography fence device A, because geography fence device A has highest priority scheduling Level.If unmanned vehicle is located in the area of geography fence equipment B and C overlay region, the unmanned vehicle can have There is one group of air traffic control using the control associated with geography fence equipment C, because geography fence equipment C is set than geography fence Standby B has higher priority level.Therefore, in the scene, main one group of unmanned vehicle can be included for measurement A Control AVAL3, for measure B control BVAL3, for measure E control EVAL3 and for measure F control FVAL3.In some cases, different geography fence equipment can have identical priority level.If unmanned vehicle falls Priority level identical geography fence equipment it is overlapping in, then can be determined using other technologies for unmanned vehicle One group of main air traffic control.It is, for example, possible to use any other example described by elsewhere herein.
In other cases, one group of main air traffic control can be most stringent of including being selected from multigroup air traffic control Control.For example, if unmanned vehicle is located in the area of the overlay region of geography fence device A, B and C, for each degree Amount, can from each geography fence equipment selectional restriction highest value.For example, for measure A, can select AVAL1, Restricted highest value in AVAL2 or AVAL3.Limited for example, if measurement A is height lower limit, and AVAL1=400 feet, AVAL2=250 feet and AVAL3=300 feet, then AVAL1 can be selected, because AVAL1 provides restricted highest height Spend lower limit.For measuring B, restricted highest value in BVAL1 or BVAL3 can be selected.Because geography fence equipment is for degree Amount B does not have any restrictions, then geography fence equipment B has been restricted minimum.If measurement B is load operation limitation, and And BVAL1=can make load be powered but can not any data for arriving of store collected, and BVAL3=can not lead to load Electricity, then BVAL3 can be selected, because BVAL3 provides restricted higher load and used.For measuring D, geography fence equipment A and geography fence equipment C do not have any restrictions.Therefore, for measuring D, DVAL2 can be selected, because it is acquiescence Restricted highest.For each measurement, selectional restriction highest can be measured from geography fence equipment.
In other cases, one group of main air traffic control can be included from overall most stringent of air traffic control The control of geography fence equipment.If generally speaking, geography fence equipment C is compared to geography fence device A and B and with most tight The control of lattice, then one group of main control that can include geography fence equipment C.Although some of A and B measurements are more Strictly, but if geography fence equipment is integrally tightened up, then geographical railing device D can be selected.
One group of main air traffic control can include the air traffic control from one group of single air traffic control.It is for example, main One group of air traffic control can include be only from geography fence device A control, be only from geography fence equipment B control or It is only from geography fence equipment C control.One group of main air traffic control includes the air traffic control from multigroup air traffic control.Example Such as, main one group can include two or more the air traffic control in geography fence device A, B and C.For not Same measurement, can select the value from different geographical railing devices.
In some embodiments, can be based on unmanned vehicle identity (for example, unmanned vehicle identifier or nobody fly Row device type) and priority ranking is carried out to one group of main air traffic control.Unmanned vehicle identifier can be received.Nobody flies Row device identifier can uniquely identify out the unmanned vehicle from other unmanned vehicles.One group of main air traffic control Unique unmanned vehicle identity can be based on.For example, unmanned vehicle identity can determine which group geography fence equipment used Control, or which combination using geography fence equipment control.Unmanned vehicle identity can determine to come using which technology Determine described main one group.One group of main air traffic control can be based on unmanned vehicle type.For example, unmanned flight Device type can determine which combination using which group geography fence equipment control, or using geography fence equipment control.Nothing People's type of aircraft can determine to determine described main one group using which technology.
In some embodiments, can be based on user identity (for example, user identifier or user type) and to main One group of air traffic control carry out priority ranking.User identifier can be received.User identifier can be from other users only One ground identifies user.One group of main air traffic control can be based on unique user identity.For example, user identity can determine Which organizes geography fence equipment control, or which combination using geography fence equipment control using.User identity can determine Which technology to determine described main one group using.One group of main air traffic control can be based on user type.For example, User type can determine which combination using which group geography fence equipment control, or using geography fence equipment control. User type can determine to determine described main one group using which technology.
Can be static geographical railing device with overlapping regional multiple geography fence equipment.Or they can be wrapped Include one or more mobile geographical railing devices.When the geographical railing device of movement meets static geographical railing device, Ke Yichuan Build overlapping area.When static geographical railing device have can over time and change border when, can create overlappingly Area can make its disappearance.
Mobile geography fence
Geography fence equipment can be static or move.In some cases, geography fence equipment may remain in At same position.In some cases, unless mobile by individual, otherwise geography fence equipment may remain at same position. Substantially stationary geography fence equipment can be positioned in environment and can not be self-propelled.Static geography fence is set It is standby to be fixed to rest configuration thing or be supported by it.User can be manually by static geographical railing device from first position It is moved to the second place.
Geography fence equipment can be mobile.Geography fence equipment can move between position and position.Geography encloses Column equipment can move in the case of without personal mobile geographical railing device.Mobile geographical railing device can be self-propelled Formula.Mobile geographical railing device can be fixed to the loose impediments such as carrier or be supported by it.Mobile geography fence Equipment can have one or more propulsion units thereon, and the propulsion unit can allow to move geographical railing device in ring Moved around in border.Mobile geographical railing device can be attached to loose impediment or be supported by it, the loose impediment There can be one or more propulsion units, the propulsion unit can allow the loose impediment to be enclosed with mobile geography Moved around in the environment of column equipment.
Figure 32 shows the example of mobile geographical railing device according to embodiment of the present invention.Mobile geographical railing device can To be unmanned vehicle 3210a, 3210b.Mobile geographical railing device can be aircraft, the carrier based on ground, based on water Carrier or carrier or any combination of them based on space.Unmanned vehicle only provides by way of example, and Any description to unmanned vehicle goes for any other carrier or loose impediment herein.
Geography fence equipment 3210a, 3210b can have can over time and change position.Can be movably Distance d is provided between reason railing device.Mobile geographical railing device can have corresponding border 3220a, 3220b.The side Boundary can keep constant or can change over time.The border can be in response to as described by elsewhere herein The condition that detects of one or more and change.
Movably geography fence equipment can send radio communication.Radio communication can may include to enclose on mobile geography The message of the information of column equipment.Identification information, such as geography fence device identifier or geography fence device type can be sent. Message can include information signature.Message can include geography fence device keyses information.Message can be included for movably Manage the positional information of railing device.For example, message can include the world coordinates for geography fence equipment.Mobile geography fence Can have the GPS unit or other locators of the position that the geographical railing device of movement can be provided in equipment.Message can be with Including the flight plan or the information in navigation channel on geography fence equipment.Message can include temporal information, such as send message Time.The time can be provided according to the clock on the geographical railing device of movement.Message can include flight control information. For example, message can include the information on the flight orders received and/or the flight orders being carrying out.
When the geographical railing device of movement is unmanned vehicle, message can be sent and received each other.For example, when the first shifting When dynamic geography fence equipment 3210a is close to the second movement geographical railing device 3210b, each moving geographical railing device can send out Go out the message with any information described herein.Unmanned vehicle can based on transmitted message come identify each other and/ Or detection.Or other detections or identification technology, those technologies described by such as elsewhere herein can be used.
The message from unmanned vehicle can be continuously sent out.For example, it can continue to broadcast the message.Unmanned vehicle Message can be sent, regardless of whether they have been detected by each other.Can regularly (for example, with rule or it is irregular when Between be spaced), the message from unmanned vehicle sent according to timetable or the event in response to detecting or situation.Example Such as, when unmanned vehicle detects the presence of other unmanned vehicles, message can be sent.In another example, when by During air traffic control system order, unmanned vehicle can send message.
In some cases, geography fence radius can be included for the message of unmanned vehicle.Geography fence radius can With relevant with the mobility or task of corresponding unmanned vehicle., can be with for example, if unmanned vehicle is more can be motor-driven Less radius is provided.For example, if unmanned vehicle is compared with can not be motor-driven, larger radius can be provided.
For example, the first unmanned vehicle 3210a can broadcast the first geography fence radius (for example, RA).Alternatively, second Unmanned vehicle 3210b can broadcast the second geography fence radius (for example, RB).When the second unmanned vehicle from first nobody fly When row device receives radius, the distance between the first unmanned vehicle and the second unmanned vehicle d can be calculated.If it is described away from It is less than RA or less than RB from d, then the second unmanned vehicle can carry out navigation channel amendment or hover on the spot, meanwhile, it can be accused It is possible to know that the first unmanned vehicle has collision.It that case, the first unmanned vehicle can carry out navigation channel amendment or just Hover on ground.
Similarly, in flight course, the second unmanned vehicle can broadcast simultaneously the second geography fence radius (for example, RB).When the first unmanned vehicle receives radius from the second unmanned vehicle, the first unmanned vehicle and second can be calculated The distance between unmanned vehicle d.If the distance d is less than RA or less than RB, then the first unmanned vehicle can be carried out Navigation channel is corrected or hovered on the spot, meanwhile, it can inform that the second unmanned vehicle has the possibility of collision.It that case, Second unmanned vehicle can carry out navigation channel amendment or hover on the spot.
When two unmanned vehicle broadcast messages, two unmanned vehicles can detect the possibility of collision and carry Corrected for navigation channel.In some cases, one in the unmanned vehicle can continue its navigation channel and another unmanned vehicle Take and evade action to avoid possible collision.In other cases, two unmanned vehicles can be taken some form of Evade action to avoid possible collision.
In some embodiments, when priority difference between unmanned vehicle be present, only described unmanned vehicle In one can take evade action and another cannot not.For example, the higher unmanned vehicle of priority level need not be adopted Take and evade action, and the relatively low unmanned vehicle of priority level can be forced to take and evade action.In another example, can be on Which unmanned vehicle is readily able to, which takes, evades action and is calculated.For example, if the first unmanned vehicle is very Rapidly move and the second unmanned vehicle is very slowly moving, then if the second unmanned vehicle can not leave in time Route, then the first unmanned vehicle is carried out navigation channel amendment may be easier.In another example, if the second unmanned vehicle Route can be left in time, then can make its carry out navigation channel amendment, otherwise make the first unmanned vehicle take evade action will Spend more multi-energy.
Therefore, it is possible to use unmanned vehicle, as mobile geographical railing device, it can help unmanned vehicle to avoid Collision.For collision avoidance application, unmanned vehicle can limit the side that other unmanned vehicles enter the unmanned vehicle In boundary.For example, the first unmanned vehicle can prevent other unmanned vehicles such as second unmanned vehicle from entering the first nothing The border of people's aircraft.Similarly, the second unmanned vehicle can prevent the first unmanned vehicle from entering the second unmanned vehicle Border.If a border for entering another unmanned vehicle in the unmanned vehicle, can occur to help Prevent the flight responsive measures of collision.
Similar collision avoidance application can also be provided for static mobile geographical railing device.If for example, the first ground Reason railing device is mounted in the static geographical railing device on stationary body (building such as on ground), then it can be right Prevent the second geographical railing device (for example, unmanned vehicle) of movement from bumping against and the quiet of the first geography fence equipment is installed thereon State object is helpful.Geography fence equipment can provide in virtual " field of force ", and " field of force " can prevent unwarranted Unmanned vehicle or other geography fence equipment enter in border.
In other embodiments, other kinds of limitation can be provided in the border of geography fence equipment.For example, can To provide load operation limitation.In one example, two unmanned vehicles can be traveling at, and each unmanned vehicle has Their own is corresponding, can catch the camera of image.First unmanned vehicle can have other nothings not allowed in border The flight restriction of people's aircraft operation camera.Second unmanned vehicle, which can have, allows other unmanned vehicles in border to grasp Make camera but do not allow the flight restriction for recording image.Therefore, when the second unmanned vehicle enters the side of the first unmanned vehicle During boundary, second unmanned vehicle may have to power off its camera.If it can not power off its camera, can compel Take it and evade action to avoid the border of the first unmanned vehicle.When the first unmanned vehicle enters the second unmanned vehicle Border when, it can keep its camera to open but must stop recording.Similarly, can be with if it is unable to stop recording Force it to take and evade action.If it is desire to the activity of geography fence equipment is not recorded or caught on camera, then this species The limitation of type can be useful.For example, when unmanned vehicle undergoes task, it may be undesirable to other unmanned vehicles Catch the image of the unmanned vehicle.The limitation of any other type can be used, described by such as elsewhere herein Those limitations.
The many aspects of the present invention can include a kind of method for identifying mobile geographical railing device, and methods described includes： The signal from the geographical railing device of movement is received at unmanned vehicle, the signal designation goes out (1) described mobile geography and enclosed The position of column equipment and one or more geography fence borders of (2) described geographical railing device of movement；Calculate it is described nobody fly The distance between row device and the geographical railing device of movement；Based on the distance, determine whether the unmanned vehicle falls In one or more of geography fence borders of the geographical railing device of movement；And when the unmanned vehicle falls in institute When stating in one or more of geography fence borders of mobile geographical railing device, based on the geographical railing device of movement And operate the unmanned vehicle under the one group of air traffic control provided.
Unmanned vehicle can include：Communication unit, it is used to receive the signal from the geographical railing device of movement, described Signal designation goes out the position of (1) described geographical railing device of movement and the one or more of (2) described geographical railing device of movement Geography fence border；And one or more processors, its be operably coupled to the communication unit and individually or altogether It is used for together：Calculate the distance between the unmanned vehicle and the geographical railing device of movement；Based on the distance, it is determined that Whether the unmanned vehicle falls in one or more of geography fence borders of the geographical railing device of movement；And Signal is generated, to fall when the unmanned vehicle in one or more geography fence borders of the geographical railing device of movement Operation of the unmanned vehicle described in Shi Shixian under the one group of air traffic control provided based on the geographical railing device of movement.
One or more of geography fence borders of the geographical railing device of movement can be with geography fence equipment Centered on, have the first radius circular boundary.The distance between unmanned vehicle and mobile geographical railing device can be with First radius compares.Unmanned vehicle can also be that the geography fence with second group of one or more geography fence border is set It is standby.Second group of one or more geography fence border of unmanned vehicle can be it is centered on unmanned vehicle, Circular boundary with the second radius.Unmanned vehicle can be with the second radius phase with moving the distance between geographical railing device Compare.Mobile geographical railing device can be another unmanned vehicle.
Figure 33 shows the example of mobile geographical railing device closer to each other according to embodiment of the present invention.First movement Geography fence equipment 3310a can be close to the second geographical railing device 3310b of movement.The second geographical railing device of movement can With close to the first geographical railing device of movement.Geography fence equipment can be with closer to each other.Mobile geographical railing device can be with With corresponding one group of border 3320a, 3320b.Mobile geographical railing device can be along corresponding track 3330a, 3330b It is mobile.
In some embodiments, the track and/or border of mobile geographical railing device can be analyzed, to determine movably Whether reason railing device would be possible to intrude in mutual border.In some cases, mobile geographical railing device can be It is quick mobile, it is possible to it is intended that whether equipment is positioned at the determination on the navigation channel of collision in early days.The track can be analyzed With the Future Positions of the mobile geographical railing device of prediction.The border can be analyzed to determine to move geographical railing device to keep away Allow each other and the berth having will be may require that.For example, larger border may cause to move geographical railing device needs each other Keep wider berth.Less border may cause to allow to move geographical railing device keeps less berth each other.
In some cases, track can be provided to approach directly with one another to move geographical railing device.Or one or Multiple tracks can cancel.In terms of determining whether to take and evading action, it is also contemplated that the speed of mobile geographical railing device And/or acceleration.Also, whether any geographical railing device of movement of determination, which needs to take, is evaded action, which movement geography encloses Column equipment by need take evade action or two geographical railing devices of movement whether will need to take and evade action.It is similar Ground, it may be determined that evade action type (such as, if it is geographical to bear away, slow down, accelerate, hover or change any other Railing device operating parameter).
Figure 34 shows another example of mobile geographical railing device according to embodiment of the present invention.Mobile geography fence is set Standby 3410 can be loose impediment, or can be fixed to loose impediment 3420 or be supported by it.Loose impediment can be with It is carrier, such as carrier based on ground, the carrier based on water, the carrier based on air or the carrier based on space.It is mobile Geography fence equipment can have border 3430.Border can move with the geographical railing device of movement.Unmanned vehicle 3440 Can be near geography fence equipment.
Geography fence equipment 3410 can have any one group of associated air traffic control for unmanned vehicle 3440. In one example, air traffic control can require that unmanned vehicle is maintained at the geography fence border of mobile geographical railing device In 3430.Unmanned vehicle can the free flight in the spatial domain limited by geography fence border.When the geographical railing device of movement When mobile, border can move with the geographical peripheral equipment of movement.Unmanned vehicle can be then also with the movement Geography fence equipment and move.It is this to be limited in it can be desirable to it have that unmanned vehicle, which is followed in the scene of loose impediment, .For example, loose impediment can be the carrier based on ground, and it can be desirable to unmanned vehicle in the load based on ground Tool top is flown and catches the image of surrounding environment, and described image may be displayed on the carrier based on ground.Unmanned vehicle It can be maintained in the case of without unmanned vehicle described in user's active operation near the carrier based on ground.Nobody Aircraft may remain in carrier and can follow in the border of movement and therefore the carrier.
In another example, limitation can be such that unmanned vehicle is maintained at outside border.Limitation can prevent unmanned flight Device bumps against the carrier based on ground or collided therewith.Although unmanned vehicle is just manually operated by user, but if user carries For unmanned vehicle will be made to bump against the instruction of carrier, then the unmanned vehicle, which can be taken, to prevent unmanned vehicle from hitting The flight responsive measures of carrier.This is for may otherwise be not intended to cause unmanned vehicle crashing, lacking experience to use Family, or it can be useful that may always strive to hit carrier, malice unmanned vehicle user intentionally.Mobile geography encloses Column equipment can protect object is remote unmanned vehicle is hit the evil near mobile geographical railing device Anticipate user.
One additional example can be for load limitation.For example, set when unmanned vehicle is located at mobile geography fence When in standby border, the unmanned vehicle can be not allowed to catch ambient image.Even if when mobile geographical railing device is in ring When moving around within the border, the unmanned vehicle can not catch mobile geographical railing device and the figure of loose impediment Picture.If it is desire to unmanned vehicle is prevented to collect on the geographical railing device of movement or data (such as image of loose impediment Data), then this can be useful.
In another example, when unmanned vehicle is located in border, limitation can prevent the channel radio of unmanned vehicle Letter.In some instances, limitation can allow radio communication but can prevent to may interfere with loose impediment and/or geography fence is set The communication of standby function.When geographical railing device moves, unmanned vehicle can not use may interfere with geography and enclose The radio communication of column equipment and/or the radio communication of loose impediment.This is removable for preventing random unmanned vehicle from entering Animal body is nearby and to disturb loose impediment and/or the communication of mobile geographical railing device can be useful.
The limitation of any other type as described by elsewhere herein goes for moving geographical railing device.
User interface
Information on one or more geography fence equipment can be shown on the display device.The equipment can be can The user terminal checked by user.User terminal can function as that one or more operational orders can be sent to unmanned vehicle Remote control.Remote control can be used for the user's input for receiving to realize the operation of unmanned vehicle.Can be by the unmanned flight of user's control Device operation example can include flight, load operation, load orientation, carrier operation, sensor operations, radio communication, navigation, Any other operation of electricity use, article delivery or unmanned vehicle.For example, user can control nobody via remote control The flight of aircraft.User terminal can receive data from unmanned vehicle.Unmanned vehicle can use one or more pass Sensor (such as camera) catches data.The image from camera can be provided to user terminal, or can be to user terminal Data from any other sensor are provided.User terminal can function as that one or more can be sent to geography fence equipment The remote control of the function of order or change geography fence equipment.The equipment can be the display with geography fence equipment sheet Equipment.Geography fence equipment can show the information of the geography fence equipment on the geography fence equipment and any surrounding. The equipment can be the display device of the manipulator (for example, manager) of air traffic control system.The equipment can be judicial entity User (for example, government operator, employee of government organs) and/or the display device of emergency service user (for example, policeman etc.). The equipment can be the display device that can be seen by any other individual being related in unmanned vehicle system.
Display device can include screen or other kinds of display.Screen can be lcd screen, CRT screen, etc. from Sub-screen, LED screen, touch-screen and/or it can be shown using any other technology as is generally known in the art or aobvious later The information shown.
Figure 35 shows the example of user interface according to embodiment of the present invention, the user interface show on one or The information of multiple geography fence equipment.Display device 3510 can have screen or other the portion of user interface 3520 can be shown Point, the user interface 3520 can show the information on one or more geography fence equipment.In one example, can be with Show geographical railing device 3530a, 3530b, 3530c map.User interface can show geographical railing device relative to that This position.User interface can show corresponding border 3540a, 3540b, 3540c for geography fence equipment.It can show Unmanned vehicle 3550 relative to geography fence equipment position.
Display device can be remote equipment, and it can be used for allowing user to check geography fence facility information.Can be from Collect the information of the position on geography fence equipment in one or more geography fence equipment.Remote equipment can be directly from one Individual or multiple geography fence equipment receive informations.For example, geography fence equipment can be transmitted on the geography fence equipment The signal of position.Or the information from one or more geography fence equipment can be provided to display device indirectly.At one In example, air traffic control system, the other parts of Verification System or any other system can collect the letter on geography fence equipment Breath.Closed for example, air traffic control system can receive the information on the position of geography fence equipment and can be transmitted to remote equipment In the information of geography fence equipment.
Geography fence equipment can to remote equipment or to another equipment or system (such as air traffic control system) transmission on The information of geography fence border.Air traffic control system can from geography fence equipment receive on geography fence border information and can To transmit described information to remote equipment.In other embodiments, geography fence equipment can only transmission of location information, it is and empty Guard system or other systems can provide the information on border.For example, geography fence equipment can transmit ground to air traffic control system Railing device position is managed, and air traffic control system can determine the border for the geography fence equipment.Air traffic control system can be then The information together with position information on border is sent to remote equipment.In some embodiments, air traffic control system or other systems Can the position based on geography fence equipment and generate border.The position on border can be determined on the position of geography fence equipment Put.Air traffic control system is it is determined that can contemplate other factors during geography fence border, such as on the nothing near geography fence equipment The information of people's aircraft and/or user, environmental condition, timing and/or any other factor.
In some embodiments, remote equipment can be the remote control of unmanned vehicle.Just by Remote Device Control control The unmanned vehicle of system can be located near one or more geography fence equipment.Air traffic control system or geography fence equipment can be with Detect that unmanned vehicle is located near geography fence equipment.Unmanned vehicle can determine that it is located at geography fence equipment Near.Geography fence side can be generated based on the information on unmanned vehicle or the user for operating the unmanned vehicle Boundary.Geography fence border can be generated at air traffic control system, geography fence equipment, unmanned vehicle and/or remote control.Remotely set The standby information that can show the border on geography fence equipment, described information may or may not be for unmanned vehicle Specifically customize.
In one example, shown border can be to check that the remote equipment on the border customizes.Can be with base In the unmanned vehicle on that can be communicated with remote equipment information (for example, unmanned vehicle identifier, unmanned vehicle The activity of type, unmanned vehicle) and customize border.One or more operations of unmanned vehicle can be with origin from remote equipment Order control.Unmanned vehicle can be sent on the information for the data collected by the unmanned vehicle to remote equipment. For example, by the image capture device capture on unmanned vehicle machine to image can send downwards to remote equipment.
When customizing border for remote equipment, identical border will or can not can be considered as far by other remote equipments Journey equipment.For example, the first remote equipment can be communicated with the first unmanned vehicle, first unmanned vehicle can position Near one or more geography fence equipment.First remote equipment can show on geography fence equipment position and/ Or the information on border.The position of the first unmanned vehicle can be shown on position and/or the border of geography fence equipment.The Two remote equipments can be communicated with the second unmanned vehicle, and second unmanned vehicle can be located at one or more ground Manage near railing device.Second remote equipment can show the information of the position and/or border on geography fence equipment.Can The position of second unmanned vehicle is shown with the position on geography fence equipment and/or border.In some cases, on The information of the position of geography fence equipment can be consistent between the first remote equipment and the second remote equipment.It is for example, right In the same geography fence equipment all shown on the first remote equipment and the second remote equipment, same position can be provided.Close In can be between the first remote equipment and the second remote equipment for the information on the border of geography fence equipment or can be with It is not consistent.For example, border can be rendered as identical on the first remote equipment and the second remote equipment.Or border It can be rendered as on the first remote equipment and the second remote equipment different.In some cases, the side of geography fence equipment Boundary can change according to the identity of unmanned vehicle.The border of geography fence equipment can change according to unmanned vehicle type Become.Therefore, different borders can be shown for same geography fence equipment, the first remote equipment and the second remote equipment.Institute Have in geography fence equipment, geography fence equipment some, one in geography fence equipment or there is no geography fence equipment Different borders can be shown between the first remote equipment and the second remote equipment.
First remote equipment can show the position of the first unmanned vehicle, and the second remote equipment can show the second nothing The position of people's aircraft.The position of first unmanned vehicle and the second unmanned vehicle can be with different from each other.First remote equipment It can show or can not show the position of the second unmanned vehicle.Second remote equipment can show or can not show The position of first unmanned vehicle.Remote equipment can show the remote equipment can corresponding to unmanned vehicle position.Far Journey equipment can show or can not show the position of other unmanned vehicles.
One aspect of the present invention is related to a kind of method for showing the geography fence information for unmanned vehicle, the side Method includes：Geography fence device data is received, the data include position and (2) institute of (1) at least one geography fence equipment State one or more geography fence borders of at least one geography fence equipment；There is provided for the display to user's display information Device；And show on the display at least one described in position and (2) with (1) described at least one geography fence equipment The map of one or more geography fence borders of individual geography fence equipment.Display device can include：Communication unit, it is used for Geography fence data are received, position and (2) of the data including (1) at least one geography fence equipment are described at least onely Manage one or more geography fence borders of railing device；And display, it is used for user's display information, wherein described aobvious Show that device shows the position with (1) described at least one geography fence equipment and (2) described at least one geography fence equipment The map of one or more of geography fence borders.
Can be with the position of the object shown in real-time update remote display device.For example, can be with real-time update remote equipment On the position of unmanned vehicle that shows.The position of unmanned vehicle can be shown at least one geography fence equipment. Can continuously, periodically (for example, with rule or irregular time interval), according to timetable or in response to detecting Event or situation and update the position of unmanned vehicle.In some cases, 15 can be less than what unmanned vehicle moved Minute, 10 minutes, 5 minutes, 3 minutes, 2 minutes, 1 minute, 30 seconds, 15 seconds, 10 seconds, 5 seconds, 3 seconds, 2 seconds, 1 second, 0.5 second, 0.1 Position of the unmanned vehicle on screen is updated in second, 0.05 second or 0.01 second.
In some embodiments, geography fence equipment can be static.Without renewal or can constantly, the cycle Property, the position of geography fence equipment updated according to timetable or the event in response to detecting or situation.In some feelings Under condition, user can move static geographical railing device.For example, user can pick up geography fence equipment and be moved to Another location.The position of renewal may be displayed on remote equipment.
Or geography fence equipment can be mobile.The position of geography fence equipment can change.Can be with real-time update The position of the one or more geography fence equipment shown on remote display.Can be relative to each other and/or on map its His feature and the position of one or more geography fence equipment is shown.Can be continuously, periodically (for example, with rule or not The time interval of rule), the position of geography fence equipment updated according to timetable or the event in response to detecting or situation Put.In some cases, can geography fence equipment move less than 15 minutes, 10 minutes, 5 minutes, 3 minutes, 2 minutes, 1 Geography fence is updated in minute, 30 seconds, 15 seconds, 10 seconds, 5 seconds, 3 seconds, 2 seconds, 1 second, 0.5 second, 0.1 second, 0.05 second or 0.01 second Position of the equipment on screen.
The border of geography fence equipment can be essentially static.Essentially static geography fence equipment need not be updated The display on border.Or can continuously, periodically, according to timetable or the event in response to detecting or situation and Update the border.
The border of geography fence equipment alternatively can change over time.Can be with real-time update remote display The position on the border shown.Other features that can be relative to each other and/or on map and one or more geography fences are shown The position on equipment border.Can continuously, periodically (for example, with rule or irregular time interval), according to timetable Or the event in response to detecting or situation and update geography fence equipment border.In some cases, can be enclosed in geography Column equipment border change less than 15 minutes, 10 minutes, 5 minutes, 3 minutes, 2 minutes, 1 minute, 30 seconds, 15 seconds, 10 seconds, 5 seconds, The geography fence equipment border shown on screen is updated in 3 seconds, 2 seconds, 1 second, 0.5 second, 0.1 second, 0.05 second or 0.01 second.It is geographical Railing device border can change according to any number of factor (those factors described by such as elsewhere herein).Example Such as, environmental condition can cause the change on border.The other factors such as unmanned vehicle information, user profile or timing can be with Cause the change on border.
User interface can alternatively show a type of air traffic control applied by least one geography fence equipment Visual indicator.Different types of air traffic control can be applied by geography fence equipment.The example of species can be included but not It is limited to air traffic control, load control, communication control, electricity use/management control, the control on entrained article, navigation pipe System, sensor control or any other control.Visual indicator can visually distinguish the air traffic control of different type or species. The example of the type of visual indicator can include but is not limited to word, numeral, symbol, icon, size, image, color, figure Case, highlighted or any other visual indicators for helping distinguish between different types of air traffic control.For example, it can be directed to by least Different types of air traffic control that one geography fence equipment applies and different colors is provided.For example, the first geography fence is set Standby or border can have the first color (for example, red) for the air traffic control (for example, upper height limit) for indicating the first kind, And the second geography fence equipment or border can have the second of the air traffic control (for example, load uses) for indicating Second Type Color (for example, green).In some cases, single geography fence equipment can have polytype air traffic control.Depending on Feel that indicant can indicate that covered polytype (for example, red line and green line can be shown on border to indicate height It is all in place using limiting to spend the upper limit and load).In some embodiments, the area in the applicable border of air traffic control can To be hypographous or can have and indicate the color of air traffic control type.In some cases, if control is applied to One or more limitations outside border, then the region outside border can be hypographous or colored.For example, unmanned vehicle can It is only permitted the service load in one group of border of geography fence.Area so outside border can be hypographous, show Limitation load uses outside the border of geography fence equipment.Or the area in border can be hypographous, show the class Operation of the control of type in border and only in permission border.
In some embodiments, unmanned vehicle can have flight path or direction.The track of unmanned vehicle or Direction can be shown on a user interface.For example, arrow or vector can point to the direction that unmanned vehicle is traveling at.Nobody The visual indicator of aircraft direction or track can indicate that or can not indicate unmanned vehicle speed or other shiftings Reason element.For example, indicant can visually distinguish unmanned vehicle with higher speed or relatively low speed Degree is advanced.In one example, can be with display speed numerical value.In another example, it is longer compared to shorter arrow or vector Arrow or vector can be corresponding with larger speed.
The information on unmanned vehicle flight path can be shown on a user interface.It is alternatively possible to show on The information of the past flight path of unmanned vehicle.For example, other of dotted line or path indicant can show unmanned vehicle Where advanced to.Map can show other indicants in the course line that unmanned vehicle has stepped through or path.At some In the case of, following flight path can be shown on a user interface.In some cases, unmanned vehicle can have predetermined Or half predetermined flight plan.Flight plan can include the following flight path of planning.Rule can be shown on a user interface The flight path drawn.For example, it can show to plan other indicants in the course line advanced wherein of unmanned vehicle or path.Can To change in real time or update following flight path.Can be continuously, periodically (for example, between rule or irregular time Every), according to timetable update and/or show following flight path.In some cases, can enter to following flight path Row change less than 15 minutes, 10 minutes, 5 minutes, 3 minutes, 2 minutes, 1 minute, 30 seconds, 15 seconds, 10 seconds, 5 seconds, 3 seconds, 2 seconds, The following flight path shown on screen is updated in 1 second, 0.5 second, 0.1 second, 0.05 second or 0.01 second.
The priority level for geography fence equipment can be shown on a user interface.Visual indicator can allow to be directed to Vision difference between the different priority levels of geography fence equipment.For example, the size and shape of icon can indicate that and be directed to The priority level of geography fence equipment.The color of icon can indicate that the priority level for geography fence equipment.It is such as single The label such as word or numerical value can be provided by geography fence equipment, and it can indicate that the priority level of geography fence equipment.One In the case of a little, priority level can not intuitively be shown under normal circumstances.However, when user selects geographical railing device or makes When mouse is in geography fence equipment, described information can be shown.
Remote display device can be used for receiving user's input.In one example, the display device can have and touch Screen, the touch-screen can record user's input when user touches screen or slides screen.The equipment, which can have, appoints What other kinds of subscriber interaction component, such as button, mouse, control stick, trackball, touch pad, pen, inertial sensor, figure As catching equipment, motion capture device or microphone.
User inputs the operation that can influence unmanned vehicle or geography fence equipment.The nothing that may be influenceed by user's input The example of people's aircraft operation can include unmanned vehicle energization or power-off, unmanned vehicle flight path, unmanned vehicle Take off, unmanned vehicle landing, unmanned vehicle destination or way point, unmanned vehicle offline mode (for example, it is autonomous, Semi-autonomous or manual offline mode；Or the offline mode along predefined paths, half predefined paths or real-time route).
User inputs the operation that can influence geography fence equipment.User inputs the position that can influence geography fence equipment And/or the border of geography fence equipment.User's input can influence the one group air traffic control associated with geography fence equipment.Example Such as, user's input can influence the one or more limitations applied by geography fence equipment.User's input can influence geography and enclose The priority level of column equipment.
One aspect of the present invention is related to a kind of method for controlling geography fence equipment, and methods described includes：Receive on The data of at least one geography fence equipment；Display is provided, the display is used for based on receiving on described The data of at least one geography fence equipment and show geographical railing device information to user；It is described at least onely to receive influence Manage user's input of the operation of railing device；And by means of transmitter, inputted according to the user to transmit described in influence extremely One or more signals of the operation of few geography fence equipment.A kind of display device can include：Receiver, it is used to connect Receive the data at least one geography fence equipment；Display, it is used for based on receiving on described at least one Manage the data of railing device and show geographical railing device information to user；One or more processors, it is separately or together Ground is used for the user's input for receiving the operation for influenceing at least one geography fence equipment；And transmitter, it is used for basis The user is inputted to transmit the one or more signals for the operation for influenceing at least one geography fence equipment.
Figure 43 is shown according to embodiment of the present invention can receive user's input to control one or more geography fences The example of the equipment of equipment.System can include one or more remote equipments 4310.The system can also include one or Multiple geography fence equipment 4320a, 4320b, 4320c.The geography fence equipment can alternatively with air traffic control system 4330, recognize Another part of card system or any other system or equipment are communicated.Or geography fence equipment can be with remotely setting Standby direct communication.Remote equipment can include the user interface on display 4315.User interface can show to enclose on geography The information of column equipment.In one example, map 4340 can show the positional information on geography fence equipment.Alternatively, The present invention can provide listings format, chart format or any other form.In some embodiments, can provide one or Multiple additional regional 4360.The area can include instrument or the choosing of the control on one or more geography fence equipment .In some cases, user directly can be interacted with user interface 4350 to control geography fence equipment.
In some embodiments, can be provided between geography fence equipment and air traffic control system or other systems it is unidirectional or Two-way communication.For example, geography fence equipment can to air traffic control system provide on the geography fence equipment positional information or Other information.Air traffic control system can by one or more dictation trunks to geography fence equipment (for example, about whether change position The instruction put, change border, changed priority, change of flight limitation etc.).Air traffic control system or other systems can have with it is long-range The unidirectional or two-way communication of display device.Information (for example, geography fence device location, border) on geography fence equipment can To be transmitted from air traffic control system to remote display device.In some embodiments, can be provided to air traffic control system on to display The information of one or more users input of equipment.For example, user can provide input to influence the operation of geography fence equipment, The input can be transferred to air traffic control system, and the air traffic control system, which can transfer to transmit instruction to corresponding geography fence, to be set It is standby.In other embodiments, direct communication can be provided between geography fence equipment and remote display device.Geography fence Equipment can directly provide the information on geography fence equipment, and wherein at least some information may be displayed on remote display device On.Remote display device can receive the operation for influenceing at least one geography fence equipment user input, and to influence to The instruction of the operation of few geography fence equipment can be transferred into corresponding geography fence equipment.
User inputs the operation that can influence geography fence equipment.User inputs the position that can influence geography fence equipment Put.In some cases, geography fence equipment can be mobile geographical railing device.User, which can provide, can influence geography fence The input of the movement of equipment.For example, user's input can indicate that mobile geographical railing device will be moved to new position.User Input can influence to be not currently in mobile geography fence equipment.Or user's input can be in geography fence equipment moving Influence the geography fence equipment simultaneously.User's input can indicate that destination or the way point for geography fence equipment. For example, user can key in the destination for geography fence equipment or the coordinate of way point.In another example, user can be with Geography fence equipment is clicked on map and is dragged to it from current location and it is expected destination.In another example, Yong Huke Pick up geography fence equipment to be slided on map using finger and be moved to new desired locations.User's input can be with Indicate the path for geography fence equipment.User can be set using the finger of the user to depict for geography fence Standby expected path.User can with input pin to one or more parameters in geographical railing device path (for example, specifying geography to enclose Column equipment, which should be taken, can reach the shortest path for it is expected destination etc., designate whether any constraint for having to path, all The architecture based on water that should be followed such as height limitation, no-fly zone, landing or geography fence equipment).User's input can be with For the movement of geography fence equipment, one or more parameters are set.For example, user's input can indicate that geography fence is set Standby point-to-point speed, angular speed, translational acceleration or angular acceleration.Any type of maximum or minimum speed can be provided or added Speed.
User inputs the border that can influence geography fence equipment.One or more ground of at least one geography fence equipment Reason fence boundary can be influenceed by user's input.User inputs the size and/or shape that can influence geography fence equipment border. In one example, user can key in one group of coordinate and/or geometric parameter (example on the expectation border for geography fence equipment Such as, radius).User can depict desired geography fence equipment using the finger 4350 or pointer of the user.Describe The border gone out can be freehand or can use one or more shape templates.User can select existing boundaries simultaneously And border described in drag and drop is to change the size on border.User can be with the part on drag and drop border so that border extension or change border Shape.The geography fence border information of renewal can be shown in real time.Input and show over the display for example, user can be based on Go out the boundary information of renewal.In some cases, each geography fence equipment can have default boundary.Or initially, border Can be undefined.User can change default boundary or new border is inputted for undefined border.
User's input can influence the one group air traffic control associated with geography fence equipment.For example, user's input can be with Influence the one or more limitations applied by geography fence equipment.In some cases, user can be handed over map 4340 Mutually to input or change flight restriction.In other cases, user can be interacted with defeated with one or more areas 4360 Enter or change flight restriction.User the user can be selected to wish for its input or change flight restriction geography fence set It is standby.In some cases, user can be directed to selected geography fence equipment and select one from multiple available flight restrictions Individual or multiple flight restrictions.User can input the one or more values that can be directed to air traffic control and specify.For example, user can be with Selected, to allow the flight restriction for being directed to geography fence equipment to include height lower limit and maximal rate.User can be with Then value of the input pin to height lower limit and the value for maximal rate.In other cases, user can not deposit from advance Option in selected in the case of specify or generation flight restriction.In some cases, each geography fence equipment can With flight restriction with acquiescence, associated.Or initially, one group of flight restriction can be undefined.User can energy One group of flight restriction of enough change acquiescences inputs new flight restriction for undefined equipment.Therefore, user can be with One or more groups of air traffic control for geography fence equipment can be write at remote location.User can be from long-range position Put one group air traffic control of the renewal for geography fence equipment.User can be directed to different condition and write and be enclosed for geography The different group air traffic control of column equipment.For example, when unmanned vehicle runs into geography fence equipment, user be able to can specify to The unmanned vehicle of the first kind provides first group of air traffic control and provides second group of flight to the unmanned vehicle of Second Type Control.User be able to can be programmed：Will when unmanned vehicle runs into geography fence equipment under first group of environmental condition First group of air traffic control can be provided, and will be that the unmanned vehicle that geography fence equipment is run under second group of environmental condition carries For second group of air traffic control.User can also be programmed：When unmanned vehicle runs into geography fence equipment in the very first time First group of air traffic control is will provide for, and second will be provided to run into the unmanned vehicle of geography fence equipment in the second time Group air traffic control.User can write the combination of any kind of condition or condition that can produce various air traffic control.
User inputs the priority level that can influence geography fence equipment.For example, user can specify geography fence equipment With high priority, high medium priority or low priority.User can be that equipment specifies priority value.Such as elsewhere herein The priority of any other described type can be defined by the user.In some cases, geography fence equipment can have Default priority level.Or initially, the priority level of geography fence equipment can be undefined.User be able to can change Default priority level inputs new priority level for undefined equipment.User can be able to be geography fence equipment Specify any available priority level.Or user can have limited flexibility or freely input geography fence equipment Priority level.Retain for example, some priority levels can be official Government or emergency service geography fence equipment.Conventional private People user or can can not obtain the TP top priority for private geographical railing device.In certain situation Under, outside valve value PRI, air traffic control system manipulator/manager may need to ratify higher priority.For example, private use Family can ask high precedence.The request to high precedence can be ratified or be refused to air traffic control system.In some cases, it is all Such as the request to high precedence can be ratified or be refused to government organs' government entity.
Therefore, user can advantageously provide the input of the operation of controllable one or more geography fence equipment.User Input can be provided via remote equipment.Therefore, it is described to control need not to be in the location of geography fence equipment by user Manage railing device.In some cases, user can be selected near geography fence equipment, or can be selected remotely Manage railing device.The user for controlling the operation of geography fence equipment can be owner or the manipulation of the geography fence equipment Person.The individual point of unmanned vehicle of geography fence equipment can be likely encountered with control by operating the individual of geographical railing device Open, or can be same user.
In other embodiments, user directly can interact with geography fence equipment.User can enclose to geography Column equipment provides being manually entered for the operation of controllable geographical railing device.User's input can also control the geography fence to set The operation of standby other neighbouring geography fence equipment.It is, for example, possible to use it is equipped on the user interface on geography fence equipment To update one group of air traffic control for the geography fence equipment manually.The use being equipped in geography fence equipment can be used Family interface to update other operating characteristicses of geography fence equipment manually, and such as border of geography fence equipment or geography fence are set Standby priority level.
It is described by elsewhere herein, for controlling the operation of geography fence equipment (for example, being controlled via remote control System) any function be readily applicable to the user interface being equipped in the geography fence equipment.Herein to by user interface Any description of the data shown is readily applicable to the user interface being equipped in geography fence equipment.In one example, Geography fence equipment can have user to interact to control the operation of geography fence equipment and/or check local number According to screen and/or button.
Geography fence device software application
User can have the equipment for performing various functions.The equipment can be already present in the property of user. For example, the equipment can be computer (for example, personal computer, laptop computer, server), mobile device (for example, Smart phone, cell phone, tablet PC, personal digital assistant) or any other type equipment.The equipment can be The network equipment that can be communicated by network.The equipment includes one or more Memory Storage Units, the storage Device memory cell can include non-transient computer-readable media, and the medium can be stored for performing elsewhere herein institute Code, logic or the instruction of the one or more steps of description.The equipment can include one or more processors, and it can be with One is either individually or collectively performed according to the code of non-transient computer-readable media as described herein, code or instruction Individual or multiple steps.For example, user can be communicated using the equipment (for example, carrying out call, sends or receives figure Picture, video or text, send or receive mail).The equipment, which can have, can allow user to access internet or browse network Browser.
When equipment provides the reference point on the one group border associated with one group of air traffic control, the equipment can become into ground Manage railing device.In some cases, device location can be provided fly as with one group when geography fence software or application operate in During the reference point on one group of associated border of row control, the equipment can be geography fence equipment.The equipment can have The locator of the position of geography fence equipment can be provided.For example, it may be determined that smart phone, laptop computer and/or flat board The position of computer or other mobile devices.The equipment can be the equipment of relative movement (for example, smart phone, honeycomb are electric Words, tablet PC, personal digital assistant, laptop computer).Any description to mobile device herein goes for appointing What other kinds of equipment.
Geography fence application can be downloaded to mobile device.Mobile device can be from system request Mobile solution.At some In the case of, the system can be air traffic control system, another component of Verification System or any other system.The system can be to Mobile device provides Mobile solution.Geography fence application can collect the position of the mobile device from the locator of mobile device Put.For example, if smart phone has locator, geography fence application can be used from smart phone locator Information is to determine the position of geographical railing device.The application can be that air traffic control system (or any other system) provides mobile set Standby position.The application can be optionally the position that unmanned vehicle provides geography fence equipment.Mobile device can lead to Cross geography fence application and be converted into geography fence equipment (its can have elsewhere herein described by geography fence equipment Property or characteristic).In some cases, it will start or run the geography fence application so that mobile device serves as geography and enclosed Column equipment.
Alternatively, when downloading geography fence application, mobile device can be registered in geo-fencing system.Example Such as, mobile device can be registered as the geography fence equipment with Verification System.User can specify user name and/or close Code or other can be used for the information that is authenticated later to the user of geographical railing device or geography fence equipment.Mobile device There can be unique identifier, the identifier can be such that the mobile device is made a distinction with other equipment.It is described unique Identifier can receive via Mobile solution and/or be generated by Mobile solution.It can provide as described by elsewhere herein Any verification process.
In some embodiments, system can receive the position of geography fence equipment.The system can be blank pipe system System or any other system.The system can be gathered around from the same entity that geography fence Mobile solution can be provided to mobile device Have or operate.Or the system can be from the entity institute of the entity different from that can provide geography fence application to mobile device Possess or operate.Any description to air traffic control system could be applicable in any other reality described by elsewhere herein herein Body.The position of mobile device can be known and be determined for border that can be associated with one group of air traffic control.Move The position of dynamic equipment can provide the reference of one group of air traffic control.The position on border can use the position of mobile device to make For reference.For example, if mobile device will move, the position on border can be correspondingly updated to be moved with mobile device It is dynamic.The position of mobile device can be used for providing reference point as geography fence equipment.
One group of air traffic control can be generated on air traffic control system.It can be based on providing via geography fence Mobile solution Mobile device position and generate one group of air traffic control., can when unmanned vehicle enters in the preset range of mobile device To generate one group of air traffic control.In some embodiments, air traffic control system can receive the position of unmanned vehicle.Unmanned flight The position of device can determine whether the unmanned vehicle is come into preset range compared with the position of mobile device. It is contemplated that any factor or condition as described by elsewhere herein are (for example, unmanned vehicle information, user profile, ring Border condition, timing) and generate one group of air traffic control.Mobile device can provide the information of the factor of may act as or condition, Huo Zheqi He can be provided that external data source.For example, the information being collected into using other Mobile solutions of mobile device can be used for really Fixed one group of air traffic control.For example, mobile device can have Climate application, the Climate application can be exercisable and receive Collect the information on mobile device local weather.Such information can be provided to determine the local environment conditions of mobile device. In another example, mobile device can have the local clock that can determine the time.Similarly, mobile device can have pair The access right of user schedule.When it is determined that during one group of air traffic control, it may be considered that the schedule of mobile device user.
Then one group of air traffic control can be transmitted to unmanned vehicle.One group of tof tube can be transmitted to geography fence equipment System, the geography fence equipment then can transmit described group of air traffic control to unmanned vehicle.Unmanned vehicle can basis One group of air traffic control is operated.
In some embodiments, one group of air traffic control can be generated on mobile device.It can utilize from movement The information (for example, the position of mobile device, information of other Mobile solutions from mobile device) of equipment and generate one group and fly Row control.When unmanned vehicle is located in the preset range of mobile device, the mobile device can be with receive information.For example, Mobile device can be communicated with unmanned vehicle and receive the position of the unmanned vehicle.Mobile device can nobody The position of aircraft and the position of the mobile device are to determine unmanned vehicle when in the preset range of mobile device. In other cases, mobile device can receive unmanned vehicle position from air traffic control system.Air traffic control system can track each nothing The position of people's aircraft and to shift position send information.Air traffic control system can also send on unmanned vehicle or nobody fly The other information of the user of row device.
Mobile device can to or can not to air traffic control system send one group of air traffic control.In some cases, it is mobile Equipment directly can send one group of air traffic control to unmanned vehicle.Mobile device can via Mobile solution and and air traffic control system And/or unmanned vehicle is communicated.When geographical railing device is mobile device that is described, having Mobile solution, such as Any combinations of communication type of the elsewhere herein described by geography fence equipment can also be applied.
Mobile solution can also show user interface to the user of equipment.User can interact with user interface.With Family interface can show as described elsewhere herein, on each the geography fence equipment and/or relevant border in region Information.User interface can show the position of unmanned vehicle.User interface can show that unmanned vehicle is taken or want The path taken or travel track.User interface can show the letter on the air traffic control associated with geography fence equipment Breath.Mobile solution user interface can show any information as described by elsewhere herein.
User can be interacted with the user interface provided by Mobile solution to control the operation of geography fence equipment.Can Inputted with providing any kind of operation as described by elsewhere herein.For example, user can be provided for one group of flight One or more parameters of control.User can provide the side of position for one group of air traffic control, relative to mobile device Boundary.User can specify the type of flight restriction and/or the value for various flight restrictions measurement.User can specify geography to enclose The priority of column mobile device.When generating one group of air traffic control, it may be considered that the parameter set by user.One group of flight Control can generate on air traffic control system or on mobile device, and can be based on the parameter from user and Generation.Therefore, the Mobile solution of geography fence equipment is served as available for permission mobile device can also provide on described Manage the information of railing device and/or other geography fence equipment and/or allow the operation of user's control geography fence equipment.
Geography fence device network
As discussed previously, geography fence equipment can communicate with one another.In some embodiments, geography fence equipment can To be communicated with one another via direct communication or via indirect communication.Can be provided between geography fence equipment as herein other Various types of communications described by place.
In some embodiments, geography fence equipment can have the information being equipped in the geography fence equipment. Geography fence facility information can include on the position of geography fence equipment, the border of geography fence equipment and geography fence The associated air traffic control of equipment, the priority level of geography fence equipment and/or geography fence equipment identity information (for example, Geography fence device type or geography fence device identifier) information.Geography fence equipment can use one or more defeated Enter element to collect data.Input element can be communication module, sensor or any other class that can collect information The element of type.For example, input element can sense the unmanned flight being likely located in the range of the predetermined geographic of geography fence equipment Device.Information on unmanned vehicle can be determined by input element.For example, geography fence equipment may be able to determine that nothing The position of people's aircraft, the movement of unmanned vehicle, the identity information of unmanned vehicle are (for example, unmanned vehicle type or nothing People's aircraft identifier), the physical characteristic of unmanned vehicle, the power stage of unmanned vehicle or on unmanned vehicle appoint What other information.In another example, input element can collect environmental condition (for example, amblent air temperature, environmental complexity, friendship Through-current capacity or the density of population).For example, input element can collect the letter on local wind speed and direction and local air mass flow Breath.
Any information in geography fence equipment can be with other geography fence collaborative shares.In some embodiments, Geography fence equipment can share the information and/or any information being collected on geography fence equipment.Geography fence equipment Can be with other geography fence collaborative shares in the physical extent of the geography fence equipment.Or geography fence is set Standby physical extent that can be with other geography fence collaborative share information without consideration other geography fence equipment.Except to Other geography fence equipment are sent outside information, and the geography fence equipment can also receive from other geography fence equipment to be believed Breath.In some cases, geography fence equipment can be from other geography fences in the physical extent of the geography fence equipment Equipment receive information.Or geography fence equipment can from other geography fence equipment receive informations, without consider it is described other The physical extent of geography fence equipment.Geography fence equipment can also be with other geography fence collaborative shares from other geography fences The information that equipment receives.For example, the first geography fence equipment can enclose with the first geography described in the second geography fence collaborative share The information that column equipment receives from the 3rd geography fence equipment.Similarly, the first geography fence equipment can be with the 3rd geography fence The information that first geography fence equipment described in collaborative share receives from the second geography fence equipment.Therefore, by each geography fence The information that equipment is collected can be by other geography fence equipment utilizations.Collective's sex knowledge of multiple geography fence equipment can be more respectively In the knowledge of single geographical railing device.
Therefore, geography fence equipment can form the network that can share information each other.Geography fence equipment can create and/ Or the local map of the storage geography fence equipment.Local map can include the position on the geography fence equipment Information.Local map can include the letter of the position on the geography fence equipment in the geography fence equipment physical extent Breath.The position of other geography fence equipment can be received by the geography fence equipment from other geography fence equipment.Can be with The position of the geography fence equipment is sensed using one or more input elements in geography fence equipment.Local map can To include the information of the position on one or more unmanned vehicles in the geography fence equipment physical extent.On nothing The information of people's aircraft can be collected using one or more input elements of geography fence equipment, or can be flown from nobody Received in row device or other geography fence equipment.Local map can include the environment bar in the physical extent of geography fence equipment Part.In some cases, each geography fence equipment in geography fence device network can have local map.In some feelings Under condition, one or more of geography fence equipment can have local map.It can share or combine and be enclosed from multiple geography The information of the local map of column equipment is to form bigger or more complicated map.
Geography fence equipment can share information.Geography fence equipment (for example, in a manner of P2P) can be shared directly with one another Information shares information by means of additional entities.Additional entities can play Information repositories.In some embodiments In, storage system and/or air traffic control system may be used as being directed to the information that can be shared between different geographical railing devices Repository.
In some embodiments, unmanned vehicle can be with geography fence collaborative share information and vice versa.Example Such as, unmanned vehicle can collect them can be with the ambient information of other geography fence collaborative shares.For example, unmanned flight Device can detect the local information of precipitation and geography fence equipment.Similarly, geography fence equipment can be total to unmanned vehicle Enjoy information.For example, geography fence equipment can collect the ambient information that they can share with unmanned vehicle.Geography fence Information that the geography fence equipment can be shared with unmanned vehicle, on local air traffic that equipment can collect.
Geography fence example
Provided hereinafter how can utilize unmanned vehicle system (including Verification System and/or geography fence equipment) Some examples.Such example be to can how the explanation of application system, it is and nonrestrictive.
Example 1：Geography fence equipment for privacy
With the number increase of unmanned vehicle in spatial domain, personal entity may want to retain the control to their own residence And retain some privacies.If the unmanned vehicle with camera flies above individual residence, the unmanned vehicle The image in the residence can be caught, described image can include the private garden or roof of user.Close to the residence The unmanned vehicle of flight may also result in noise pollution.In some embodiments, fly when novice users are operating nobody During row device, unmanned vehicle has the risk for the people for hitting individual residence or bumping against at user residence, so as to damage or damage.
It can be desirable to individual can prevent unmanned vehicle from carrying out the personal air of control into them.For example, individual can It can wish to prevent unmanned vehicle outside its residence or property.Individual may want to make unmanned vehicle prevent to gather around at them Outside have or their residences renting or subleting.In general, it is probably challenging so to do, because its Other people may manipulate unmanned vehicle and may be even without recognizing the individual hope, or may be without foot Enough levels of skill retain the control to unmanned vehicle to prevent the unmanned vehicle from drifting to above homestead In spatial domain.
Individual can obtain the geography fence equipment that unmanned vehicle can be prevented to enter in their residence space. Under certain situation, individual can buy geography fence equipment or free reception geography fence equipment.Individual can enclose geography Column equipment is placed on the individual and wished in the region that prevention unmanned vehicle enters.
Figure 44 provides how geography fence equipment can be used together with private residence to limit the use of unmanned vehicle Diagram.For example, personal A 4410a can buy geography fence equipment 4420a.Personal A can be by the geography fence equipment The a certain position being placed in personal A property.For example, geography fence equipment can be fixed to personal A house.Geography fence Equipment can provide the geography fence border 4430a that unmanned vehicle cannot enter in it.The border can be personal A's In property.The border can be at personal A boundary location line.The border can be outside personal A property.The border can be with Unmanned vehicle is prevented into personal A property or is flown above personal A property.The border can prevent all privates The unmanned vehicle that people possesses enters personal A spatial domain.Even if the manipulator of unmanned vehicle sends and allows the unmanned vehicle Into the order in personal A spatial domain, the unmanned vehicle can also be not responding to and can be prevented from entering personal A spatial domain. Unmanned vehicle flight path can be changed automatically to prevent the unmanned vehicle from entering personal A spatial domain.Therefore, personal A Personal A house can be enjoyed, and without worrying whether unmanned vehicle will enter personal A spatial domain.
Some individuals can not have local geographical railing device.For example, personal B can not mind unmanned vehicle entrance Personal B spatial domain.Personal B can not have geography fence equipment.Personal B can not have can prevent what unmanned vehicle passed through Any border.Therefore, unmanned vehicle 4440 can be found in personal B spatial domain.
Personal C may worry privacy but may not mind have air mass flow above personal C property.Personal C can be with Obtain geography fence equipment 4420c.The geography fence equipment can be placed on a certain position in personal C property by personal C Put.For example, geography fence equipment can be fixed to personal C house.The geography fence equipment can provide geography fence side Boundary 4430c.Personal C geography fence equipment can allow unmanned vehicle to be flown in border, but can prevent in border Camera operation.The border can be in personal C property, can be at personal C boundary location line or can be in personal C wealth Production is outer.The border can prevent all privately held unmanned vehicles shooting figure while in personal C spatial domain Piece.The unmanned vehicle is allowed to record the house on personal C using Airborne Camera even if the manipulator of unmanned vehicle sends Information order, the camera of the unmanned vehicle can also automatically power off or can be not allowed to store or flow out any figure Picture.Therefore, personal C can enjoy personal C house, and without worrying whether unmanned vehicle will catch personal C wealth The image of production catches image out of personal C spatial domain.
Geography fence equipment can be programmable, and to allow, possess or operate the individual of geographical railing device can The change limitation associated with the geography fence equipment.If personal C determined that personal C was no longer desire to allow unmanned flight later Device flies above personal C property, then personal C can update the geography fence equipment no longer to allow unmanned vehicle to exist Flight (equipment for being similar to personal A) above personal C property.
Any number of personal entity can obtain geography fence equipment to carry out the control to its house.By carrying For geography fence equipment, house can effectively select no longer to allow unmanned vehicle to enter its spatial domain or perform in its spatial domain Some functions.In one example, geography fence equipment can be fixed to individual roof, wall, fence, ground, garage or Any other part of individual residential building.Geography fence equipment can be outside house, or can be within house.Geography fence Equipment be able to can be detected by unmanned vehicle, it may be possible in unmanned vehicle close to individual spatial domain when detection described in Unmanned vehicle can have the position that can be transferred into air traffic control system.Control can be carried out to the unmanned vehicle in area System, the control can prevent one group air traffic control of the unmanned vehicle with being associated with geography fence equipment from taking action with contradicting.
Example 2：For controlling the geography fence equipment of (containment)
As increasing unmanned vehicle novice users are attempted to manipulate unmanned vehicle, unmanned vehicle crashes or thing Therefore risk may become higher.In some embodiments, unmanned vehicle novice users may worry that unmanned vehicle floats Move to depart from and control and crash in the user may not recover the area of unmanned vehicle.For example, if nobody flies Row device in the area close to water body, user may worry unmanned vehicle float to above water body and when hitting water body by To damage.In another example, user, which may worry, makes unmanned vehicle flight make nobody unintentionally on the property of user Aircraft flight to the garden of neighbours or the unmanned vehicle may not be in other enterable regions, and crash.
It can be desirable to user can manipulate unmanned vehicle but keep ensureing that the unmanned vehicle will rest on specific In area.For example, individual may want to practise manually handle unmanned vehicle, but unmanned vehicle is not allowed to fly too remote or winged From sight.User may want to practise manually handle unmanned vehicle while reduce unmanned vehicle to be damaged or positioned at can not Risk in the region of recovery.
User can obtain the geography fence equipment that unmanned vehicle can be made to be confined to known area.In certain situation Under, user can buy geography fence equipment or free reception geography fence equipment.Individual can put geography fence equipment Put in user wishes the region that is included in unmanned vehicle.
Figure 45 provide geography fence equipment can how to contain unmanned vehicle diagram.Scenario A illustrates nobody Aircraft 4520a user 4510a can be located at the situation in the house of user.Geography fence can be provided in the house of user Equipment 4530a.The geography fence equipment can have associated border 4540a.Unmanned vehicle can be limited to cause The unmanned vehicle only allows to fly in the border.User can manually control unmanned vehicle in border Flight.When unmanned vehicle is close to border, can be prevented from the flight of manipulator's adapter unmanned vehicle it is described nobody fly Row device leaves the area.The adapter can make unmanned vehicle hovering that unmanned vehicle be taken away into border until user provides Input, unmanned vehicle auto-steering can be made, can make unmanned vehicle drop to it is described area in or be back to Point.Border can prevent unmanned vehicle from entering access customer neighbours 4150b property.Therefore, user need not worry unmanned vehicle Accidentally enter the garden of neighbours and neighbours must not be left alone to obtain the unmanned vehicle, or worry potentially damages neighbours Object or injury neighbours in garden.
Scenario B illustrates user 4510c can manipulate unmanned vehicle 4520c situation in outdoor environment.Can be in ring Geography fence equipment 4530c is provided in border.Associated border 4540c can be provided around the geography fence equipment. Under certain situation, geography fence equipment can be portable.For example, user can pick up geography from the residence of the user Railing device simultaneously brings it to the local park that the user wishes exercise manipulation unmanned vehicle.Can be to geographical railing device Be positioned such that one or more possible traps or barrier can be with border outside.For example, water body 4550 or tree 4560 can With outside border.Then, user be able to can practise manipulating unmanned vehicle, and hit tree without worry unmanned vehicle or fall into In water.
In some embodiments, geography fence equipment can be picked up and carried between position and position by user. In another example, user can be filled with geography fence equipment or carry geography fence equipment in the pocket of user.Therefore, use Family can operate unmanned vehicle, to cause unmanned vehicle is maintained at can be around the side for the user for carrying geography fence equipment In boundary.User can go about, and manipulate unmanned vehicle.When geographical railing device by user is filled with or carried the mouth in user When in bag, it can be moved together with user.Therefore, the border of unmanned vehicle can be gone about with user and and user Advance together.Unmanned vehicle may remain near user, but can go about with user and be moved together with user.
System as described herein, apparatus and method go for a variety of objects, including loose impediment and resting Body.As it was noted above, any description to aircraft such as unmanned vehicles may be applicable to and for any removable herein Animal body.Any description to aircraft can be specifically adapted to unmanned vehicle herein.The loose impediment of the present invention can For being moved in any suitable environment, such as in the air (for example, Fixed-Wing, rotary wing aircraft or neither having Have fixed-wing also do not have rotor airborne vehicle), in water (for example, ship or submarine), on the ground (for example, motor vehicle, all Such as car, truck, bus, van, motorcycle, bicycle；Removable structure or framework, such as club, fishing Pole；Either train), at underground (for example, subway), in space (for example, space shuttle, satellite or detector) or these rings Any combinations in border.Loose impediment can be carrier, the carrier described by such as elsewhere herein.In some embodiments In, loose impediment can be carried by live bodies such as the mankind or animals or taken off from it.Suitable animal can include fowl Class, canine, cat class, horse class, ox class, sheep class, pig class, dolphin, rodent or insect.
Loose impediment may can in the environment on six-freedom degree (for example, three translation freedoms and three Individual rotary freedom) and move freely.Or the mobile of loose impediment may be on one or more frees degree by about Beam, such as by predefined paths, track or towards being constrained.The movement can be any suitable by engine or motor etc. Actuating mechanism activated.The actuating mechanism of loose impediment can provide power by any suitable energy, and the energy is all Such as it is electric energy, magnetic energy, solar energy, wind energy, gravitational energy, chemical energy, nuclear energy or any suitable combination.Loose impediment can be with As described elsewhere herein, the self-propelled via propulsion system.The propulsion system alternatively can be run by the energy, institute To state the energy be such as electric energy, magnetic energy, solar energy, wind energy, gravitational energy, chemical energy, nuclear energy or its any suitable combination.Or Person, loose impediment can be as entrained by biologies.
In some cases, the loose impediment can be aircraft.For example, aircraft can be Fixed-Wing (for example, aircraft, aerodone), rotary wing aircraft (for example, helicopter, gyroplane) while there is the boat of fixed-wing and rotor Pocket or the not only airborne vehicle without fixed-wing but also without rotor (for example, dirigible, fire balloon).Aircraft can be self-propelled, all Such as self-propelled in the air.Self-propelled aircraft can utilize propulsion system, such as including one or more engines, motor, wheel Son, wheel shaft, magnet, rotor, propeller, blade, the propulsion system of nozzle or its any appropriate combination.In some cases, Propulsion system, which may be used to loose impediment, can take off from surface, drop on surface, maintaining its current location and/or court To (for example, hovering), change direction and/or change position.
Loose impediment can by user be remotely controlled or by within loose impediment or on occupant in local control.Can Mobile object can be remotely controlled via the occupant in independent carrier.In some embodiments, loose impediment is nobody removable Animal body, such as unmanned vehicle.Nobody loose impediment, such as unmanned vehicle, can be described removable without taking The occupant of animal body.Loose impediment can by the mankind or self-control system (for example, computer control system) or its What is suitably combined to control.Loose impediment can be autonomous type or semi-autonomous formula robot, such as be configured with artificial intelligence Robot.
Loose impediment can have any suitable size and/or size.In some embodiments, loose impediment Can have can accommodate mankind occupant be within carrier or on size and/or size.Or loose impediment can have Have than can accommodate mankind occupant be within carrier or on size and/or smaller size/or size.It is removable Object can have the size and/or size for being suitable for being carried by the mankind or carried.Or loose impediment can be more than suitable In the size and/or size being carried by the mankind or carried.In some cases, the full-size that loose impediment can have (for example, length, width, height, diameter, diagonal) less than or equal to about：2cm, 5cm, 10cm, 50cm, 1m, 2m, 5m or 10m.The full-size can be greater than or equal to about：2cm, 5cm, 10cm, 50cm, 1m, 2m, 5m or 10m.It is for example, removable The distance between relative axle of rotor of object can be less than or equal to about：2cm, 5cm, 10cm, 50cm, 1m, 2m, 5m or 10m.Or the distance between relative axle of rotor can be greater than or equal to about：2cm、5cm、10cm、50cm、1m、2m、5m Or 10m.
In some embodiments, loose impediment can have less than 100cm x 100cm x 100cm, less than 50cm X 50cm x 30cm or the volume less than 5cm x 5cm x 3cm.The cumulative volume of loose impediment can be less than or equal to about： 1cm3、2cm3、5cm3、10cm3、20cm3、30cm3、40cm3、50cm3、60cm3、70cm3、80cm3、90cm3、100cm3、 150cm3,200cm3,300cm3,500cm3,750cm3,1000cm3,5000cm3,10,000cm3,100,000cm3,1m3 or 10m3.On the contrary, the cumulative volume of loose impediment can be greater than or equal to about：1cm3、2cm3、5cm3、10cm3、20cm3、 30cm3、40cm3、50cm3、60cm3、70cm3、80cm3、90cm3、100cm3、150cm3、200cm3、300cm3、500cm3、 750cm3,1000cm3,5000cm3,10,000cm3,100,000cm3,1m3 or 10m3.
In some embodiments, (this can refer to by described removable the floor space that loose impediment can have The cross-sectional area that object is surrounded) less than or equal to about：32,000cm2、20,000cm2、10,000cm2、1,000cm2、 500cm2,100cm2,50cm2,10cm2 or 5cm2.On the contrary, the floor space can be greater than or equal to about：32, 000cm2,20,000cm2,10,000cm2,1,000cm2,500cm2,100cm2,50cm2,10cm2 or 5cm2.
In some cases, loose impediment can be no more than 1000kg weights.The weight of loose impediment can be less than or Equal to about：1000kg、750kg、500kg、200kg、150kg、100kg、80kg、70kg、60kg、50kg、45kg、40kg、 35kg、30kg、25kg、20kg、15kg、12kg、10kg、9kg、8kg、7kg、6kg、5kg、4kg、3kg、2kg、1kg、0.5kg、 0.1kg, 0.05kg or 0.01kg.On the contrary, the weight can be greater than or equal to about：1000kg、750kg、500kg、 200kg、150kg、100kg、80kg、70kg、60kg、50kg、45kg、40kg、35kg、30kg、25kg、20kg、15kg、 12kg, 10kg, 9kg, 8kg, 7kg, 6kg, 5kg, 4kg, 3kg, 2kg, 1kg, 0.5kg, 0.1kg, 0.05kg or 0.01kg.
In some embodiments, loose impediment can be smaller relative to the load entrained by the loose impediment. As elsewhere herein is described in further detail, the load can include load and/or carrier.In some instances, mobile article The ratio between the weight of body and weighing load can be more than, less than or equal to about 1:1.In some cases, the weight of loose impediment It can be more than, less than or equal to about 1 with the ratio between weighing load:1.Alternatively, the ratio between vehicle weight and weighing load can be more than, Less than or equal to about 1:1.When needed, the ratio between the weight of loose impediment and weighing load can be less than or equal to：1:2、1: 3、1:4、1:5、1:10 or even more small.On the contrary, the ratio between the weight of loose impediment and weighing load can also be more than or It is equal to：2:1、3:1、4:1、5:1、10:1 or even more big.
In some embodiments, loose impediment can have low energy consumption.For example, loose impediment can use be less than About：5W/h, 4W/h, 3W/h, 2W/h, 1W/h or smaller.In some cases, the carrier of loose impediment can have low energy Consumption.For example, the carrier can use be less than about：5W/h, 4W/h, 3W/h, 2W/h, 1W/h or smaller.Alternatively, mobile article The load of body can have low energy consumption, such as less than about：5W/h, 4W/h, 3W/h, 2W/h, 1W/h or smaller.
Figure 36 illustrates unmanned vehicle (UAV) 3600 according to embodiment of the present invention.The unmanned vehicle can be The example of loose impediment as described herein, and the method and apparatus discharged battery component go for it On.Unmanned vehicle 3600 can include the propulsion system with four rotors 3602,3604,3606 and 3608.It can provide Any number of rotor (for example, one, two, three, four, five, six or more).The rotor of unmanned vehicle, Rotor assemblies or other propulsion systems can enable the unmanned vehicle hover/holding position, change towards and/or change position Put.The distance between relative axle of rotor can be any suitable length 3610.For example, length 3610 can be less than or wait In 2m, or less than or equal to 5m.In some embodiments, length 3610 can from 40cm to 1m, from 10cm to 2m or In the range of person is from 5cm to 5m.Any description to unmanned vehicle may be applicable to loose impediment, such as inhomogeneity herein The loose impediment of type, and vice versa.Unmanned vehicle can use assisted takeoff system as described herein or side Method.
In some embodiments, loose impediment can be used for carrying load.The load can include passenger, goods, One or more among equipment, instrument etc..The load can be provided in shell.The shell can be with loose impediment Shell be separated, an or part for the shell of loose impediment.Or load can possess shell, and mobile article Body does not have shell.Or some parts of load or whole load can provide in the case of without shell.Load It can be rigidly fixed relative to the loose impediment.Alternatively, load can be transportable relative to loose impediment (for example, can translate or rotate relative to loose impediment).As described elsewhere herein, the load can include load And/or carrier.
In some embodiments, loose impediment, carrier and load are relative to fixed reference system (for example, surrounding environment) And/or movement relative to each other can be controlled by terminal.The terminal can be in away from the loose impediment, load The remote control equipment of body and/or the opening position of load.Terminal can be placed in support platform or be fixed to support platform.Or Person, terminal can be hand-held or wearable device.For example, terminal can include smart phone, tablet PC, on knee Computer, computer, glasses, gloves, the helmet, microphone or its suitable combination.Terminal can include user interface, such as Keyboard, mouse, control stick, touch-screen or display.Any suitable user's input is used equally for and terminal interaction, such as manually Input instruction, Voice command, gesture control or position control (for example, via the movement of terminal, position or inclination).
Terminal can be used for any suitable state for controlling loose impediment, carrier and/or load.For example, terminal can For control loose impediment, carrier and/or load relative to fixed reference thing from and/or position relative to each other and/ Or direction.In some embodiments, terminal can be used for the discrete component for controlling loose impediment, carrier and/or load, all Actuating assembly, the sensor of load or the emitter of load such as carrier.Terminal can include being suitable to and loose impediment, load The Wireless Telecom Equipment that one or more of body or load are communicated.
Terminal can include the suitable display unit for being used to check the information of loose impediment, carrier and/or load.Example Such as, terminal can be used for display loose impediment, the information of carrier and/or load, and described information is on position, point-to-point speed, flat Move acceleration, direction, angular speed, angular acceleration or its any suitable combination.In some embodiments, terminal can be shown The information provided by load, the data provided are such as loaded (for example, being recorded by camera or other image-capturing apparatus by feature Image).
Alternatively, same terminal can control loose impediment, carrier and/or load or the mobile article simultaneously Body, carrier and/or the state of load, and receive and/or show the letter from the loose impediment, carrier and/or load Breath.For example, terminal can control positioning of the load relative to environment, while show the view data caught by load, Huo Zheguan Information in the position of load.Or different terminals can be used for different functions.For example, can control can for first terminal Mobile object, carrier and/or the movement of load or state, and second terminal can receive and/or show from loose impediment, Carrier and/or the information of load.For example, first terminal can be used for control load relative to the positioning of environment, and second terminal The view data that display is caught by the load load.Can be in loose impediment with controlling the loose impediment simultaneously And between receiving the integrated form terminal of data, or in loose impediment with controlling the loose impediment simultaneously and receiving data Multiple terminals between utilize various communication patterns.For example, can be in loose impediment with controlling the loose impediment simultaneously And receive at least two different communication patterns of formation between the terminal of the data from the loose impediment.
Figure 37 illustrates the loose impediment 3700 including carrier 3702 and load 3704 according to embodiment of the present invention.Though Right loose impediment 3700 is depicted as aircraft, but such description is not intended as restricted, and such as institute above The loose impediment of any suitable type can be used by stating.It will be understood to those of skill in the art that herein in aircraft system Any embodiment described under scene may be applicable to any suitable loose impediment (for example, unmanned vehicle).One In the case of a little, load 3704 can be provided in loose impediment 3700 without carrier 3702.Loose impediment 3700 can be with Including propulsive mechanism 3706, sensing system 3708 and communication system 3710.
As it was noted above, propulsive mechanism 3706 can include rotor, propeller, blade, engine, motor, wheel, wheel shaft, One or more in magnet or nozzle.Loose impediment can have it is one or more, two or more, three or more Individual or four or more propulsive mechanisms.Propulsive mechanism can be all same type.Or one or more propulsive mechanisms It can be different types of propulsive mechanism.Propulsive mechanism 3706 can use any suitable device and be arranged on loose impediment On 3700, described device is such as the support component (for example, drive shaft) described in elsewhere herein.Propulsive mechanism 3706 can be with On any suitable part of loose impediment 3700, such as top, bottom, above, below, side or its is suitable Combination.
In some embodiments, propulsive mechanism 3706 can enable loose impediment 3700 from surface vertically Fly or vertically land on the surface, any without loose impediment 3700 is moved horizontally (for example, need not be along runway Advance).Alternatively, propulsive mechanism 3706 can operationally allow loose impediment 3700 with specified location and/or towards outstanding It is stopped at aerial.One or more propulsive mechanisms 3700 can be controlled independently of other propulsive mechanisms.Or propulsive mechanism 3700 can be used for being controlled simultaneously.For example, loose impediment 3700 can have multiple rotors horizontally toward, the rotor Lift and/or thrust can be provided to the loose impediment.The multiple rotor horizontally toward can be activated with to removable Animal body 3700 provide take off vertically, vertical landing and hovering ability.In some embodiments, the rotation horizontally toward One or more of wing can rotate in the clockwise direction, while one or more of described rotor can be inverse Rotated on clockwise.For example, the number of rotor can be equal to the number of rotor counterclockwise clockwise.Each rotation horizontally toward The speed of rotation of the wing can be changed independently, and to control lift and/or thrust as caused by each rotor, and thereby adjust removable Space arrangement, speed and/or the acceleration of animal body 3700 on up to three translation freedoms and up to three (for example, revolve Turn the free degree).
Sensing system 3708 can include one or more sensors, and the sensor can sense loose impediment 3700 Space arrangement, speed and/or acceleration (for example, on up to three translation freedoms and up to three rotary freedoms). One or more of sensors can include global positioning system (GPS) sensor, motion sensor, inertial sensor, away from From sensor or imaging sensor.The sensing data provided by sensing system 3708 can be used for controlling loose impediment 3700 Space arrangement, speed and/or direction (for example, using suitable processing unit and/or control module, as described below).Or Sensing system 3708 may be used to provide the data on loose impediment surrounding environment, such as meteorological condition, away from potential obstacle The distance of thing, the position of geographical feature, the position etc. of artificial structure.
Communication system 3710 supports the communication via wireless signal 3716 and the terminal 3712 with communication system 3714.It is logical Letter system 3710, communication system 3714 can include any number of transmitter, receiver and/or receipts for being suitable for radio communication Send out device.The communication can be one-way communication so that data can only be transmitted in one direction.For example, one-way communication can be only It is related to loose impediment 3700 and transmits data to terminal 3712, or vice versa.Data can be from the one of communication system 3710 Individual or multiple transmitters are transmitted to one or more receivers of communication system 3712, and or vice versa.Or the communication Can be two-way communication so that data can be transmitted in the both direction between loose impediment 3700 and terminal 3712.It is double It can be related to from one or more transmitters of communication system 3710 to communication and be received to the one or more of communication system 3714 Device transmits data, and vice versa.
In some embodiments, terminal 3712 can be into loose impediment 3700, carrier 3702 and load 3704 One or more provide control datas, and from loose impediment 3700, carrier 3702 and load one or more of 3704 Receive information is (for example, loose impediment, the position of carrier or load and/or movable information；The data sensed by load, such as By the view data of load cameras capture).In some cases, carrying out the control data of self terminal can include being directed to mobile article Body, carrier and/or the relative position of load, movement, actuating or the instruction of control.For example, control data can cause may move The position of object and/or the modification (for example, control via propulsive mechanism 3706) of direction, or load is relative to mobile article The movement (for example, control via carrier 3702) of body.Control to load can be caused by carrying out the control data of self terminal, such as The control of operation to camera or other image-capturing apparatus is (for example, shooting static or mobile picture, zooming in or out, open Or close, switching imaging pattern, change image resolution ratio, change focus on, change the depth of field, change the time for exposure, change visual angle or The visual field).In some cases, the communication from loose impediment, carrier and/or load can include passing from one or more The information of sensor (for example, sensing system 3708 or load 3704 sensor).The communication can include from one or Multiple different types of sensors are (for example, GPS sensor, motion sensor, inertial sensor, range sensor or image pass Sensor) the information sensed.Such information can on loose impediment, carrier and/or load position (for example, position Put, direction), mobile or acceleration.Carry out the number that self-supported such information can include being caught by the load load According to or the load load the state sensed.The control data for being provided and being transmitted by terminal 3712 can available for control Mobile object 3700, carrier 3702 or the state for loading one or more of 3704.Alternatively or in combination, the He of carrier 3702 Load 3704 can also each include communication module, and the communication module is used to communicate with terminal 3712, to cause the terminal Independently it can be communicated with each in loose impediment 3700, carrier 3702 and load 3704 and it is controlled by.
In some embodiments, loose impediment 3700 can be used for being communicated with another remote equipment --- it is additional to Terminal 3712 replaces terminal 3712.Terminal 3712 can also be used for being led to another remote equipment and loose impediment 3700 Letter.For example, loose impediment 3700 and/or terminal 3712 can be with the loads of another loose impediment or another loose impediment Body or load factor are communicated.When needed, the remote equipment can be second terminal or other computing devices (for example, Computer, laptop computer, tablet PC, smart phone or other mobile devices).Remote equipment can be used for removable Object 3700 transmits data, data are received from loose impediment 3700, data is transmitted to terminal 3712 and/or from terminal 3712 receive data.Alternatively, remote equipment can be connected to internet or other communication networks, to cause from loose impediment 3700 and/or terminal 3712 receive data can be uploaded to website or server.
Figure 38 be according to embodiment of the present invention be used for control loose impediment system 3800 by block diagram for Bright schematic diagram.System 3800 can be combined with system disclosed herein, any suitable embodiment of apparatus and method Use.System 3800 can include sensing module 3802, processing unit 3804, non-transient computer-readable media 3806, control Module 3808 and communication module 3810.
Sensing module 3802 can utilize and collect the different types of of the information relevant with loose impediment by different way Sensor.Different types of sensor can sense different types of signal or the signal from separate sources.For example, the biography Sensor can include inertial sensor, GPS sensor, range sensor (for example, laser radar) or vision/imaging sensor (for example, camera).Sensing module 3802 can be operably coupled to the processing unit 3804 with multiple processors.At some In embodiment, sensing module can be operably coupled to transport module 3812 (for example, Wi-Fi image transmission modules), institute Transport module is stated to be used to directly transmit sensing data to suitable external equipment or system.For example, transport module 3812 can be used In to remote terminal transmission by sensing module 3802 cameras capture image.
Processing unit 3804 can have one or more processors, and such as programmable processor is (for example, central processing unit (CPU)).Processing unit 3804 can be operably coupled to non-transient computer-readable media 3806.Non-transient computer can Read medium 3806 can store logic, code and/or the programmed instruction that can be performed by processing unit 3804, to perform one or Multiple steps.Non-transient computer-readable media can include one or more memory cells (for example, removable medium or outer Portion stores, such as SD card or random access memory (RAM)).In some embodiments, the data from sensing module 3802 It can be conveyed directly to and be stored in the memory cell of non-transient computer-readable media 3806.Non-transient computer-readable Jie The memory cell of matter 3806 can store logic, code and/or the programmed instruction that can be performed by processing unit 1304, to hold Any suitable embodiment of row approach described herein.For example, processing unit 3804 can be used for execute instruction, so that The one or more processors of processing unit 3804 analyze the sensing data as caused by sensing module.Memory cell can store Will by processing unit 3804 sensing data handling, from sensing module.In some embodiments, non-transient computer can The memory cell for reading medium 3806 can be used for storage result as caused by processing unit 3804.
In some embodiments, processing unit 3804 can be operably coupled to control module 3808, the control Module 3808 is used for the state for controlling loose impediment.For example, control module 3808 can be used for the propulsion of control loose impediment Mechanism is to adjust loose impediment on the space arrangement of six-freedom degree, speed and/or acceleration.Alternatively or in combination, Control module 3808 can be with one or more of state of control vector, load or sensing module.
Processing unit 3804 can be operably coupled to communication module 3810, and the communication module 3810 is used to transmit number According to and/or receive from one or more external equipments (for example, terminal, display device or other remote controls) data.Can be with Use any suitable means of communication, such as wire communication or radio communication.For example, communication module 3810 can utilize LAN (LAN), among wide area network (WAN), infrared ray, radio, WiFi, point-to-point (P2P) network, communication network, cloud communication etc. It is one or more.It is alternatively possible to use relay station, such as tower, satellite or mobile station.Radio communication may rely on distance or Independently of distance.In some embodiments, communication may need or may not be needed sight.Communication module 3810 can pass Defeated and/or sensing data of the reception from sensing module 3802, result, predetermined control number as caused by processing unit 3804 According to, the user command of coming self terminal or remote control etc. one or more of.
The component of system 3800 can be arranged by any suitable configuration.For example, one or more groups of system 3800 Part can be located at loose impediment, carrier, load, terminal, sensing system or be communicated with above-mentioned one or more attached On the external equipment added.In addition, although Figure 38 depicts single treatment unit 3804 and single non-transient computer-readable media 3806, it will be apparent, however, to one skilled in the art, that this is not intended as restricted, and system 3800 can include it is multiple Processing unit and/or non-transient computer-readable media.In some embodiments, multiple processing units and/or non-transient meter One or more of calculation machine computer-readable recording medium can be located at different positions, such as loose impediment, carrier, load, terminal, In sensing module, the additional external equipment to be communicated with above-mentioned one or more or it is suitably combined, with cause by The processing and/or any suitable aspect of memory function that system 3800 performs can betide one or more above-mentioned positions Place.
Although the preferred embodiment of the present invention has been illustrated and described herein, it is aobvious for those skilled in the art and It is clear to, such embodiment simply provides in an illustrative manner.Those skilled in the art now will be without departing from this Many changes are expected in the case of invention, changes and substitutes.It should be appreciated that it can be used to this during the present invention is put into practice The various alternative solutions of embodiment of the present invention described by text.Following claims be intended to limit the scope of the present invention, and because This covers method and mechanism and its equivalent item in these rights.

Claims (80)

1. a kind of method of identified geographic railing device, methods described include：
Geography fence identifier is received, the geography fence identifier uniquely identifies out described from other geography fence equipment Geography fence equipment；
One group of air traffic control based on geography fence identifier generation for unmanned vehicle (UAV)；And
The unmanned vehicle is operated according to one group of air traffic control.
2. the method as described in claim 1, in addition to the identity of the geography fence equipment is authenticated.
3. the method as described in claim 1, wherein the geography fence identifier indicates geography fence device type.
4. method as claimed in claim 3, wherein one group of air traffic control is given birth to based on the geography fence device type Into.
5. the method as described in claim 1, wherein one group of air traffic control determine by the unmanned vehicle be configured to The geography fence equipment keeps at least preset distance.
6. the method as described in claim 1, wherein one group of air traffic control determines to be configured to protect by the unmanned vehicle Hold in the geography fence equipment at least within preset distance.
7. the method as described in claim 1, wherein one group of air traffic control includes the flight upper limit or flight lower limit, when described When unmanned vehicle is located relative to the pre-position of the geography fence equipment, the unmanned vehicle can not fly described The top flight of the row upper limit, and the unmanned vehicle can not fly in the lower section of the flight lower limit.
8. the method as described in claim 1, wherein one group of air traffic control include based on the unmanned vehicle relative to The positioning of the position of the geography fence equipment and to unmanned vehicle load the limitation used.
9. the method as described in claim 1, wherein one group of air traffic control include based on the unmanned vehicle relative to The positioning of the position of the geography fence equipment and the limitation used of the communication unit to the unmanned vehicle.
10. the method as described in claim 1, wherein one group of air traffic control includes the thing carried to the unmanned vehicle One or more limitations of product.
11. the method as described in claim 1, wherein one group of air traffic control includes being used for unmanned vehicle operation Least residue battery capacity.
12. the method as described in claim 1, wherein one group of air traffic control includes one to the landing unmanned vehicle Individual or multiple limitations.
13. the method as described in claim 1, wherein one group of air traffic control includes not allowing the unmanned vehicle at it One group of one or more border of interior flight.
14. the method as described in claim 1, wherein one group of air traffic control includes one group of one or more geography fence side Boundary, each geography fence border in one or more of geography fence borders correspond to one group of different air traffic control.
15. the method as described in claim 1, wherein the geography fence equipment is static.
16. the method as described in claim 1, wherein the geography fence equipment is mobile.
17. the method as described in claim 1, wherein the geography fence equipment is described to realize for receiving user's input The remote control of the operation of unmanned vehicle.
18. the method as described in claim 1, wherein the geography fence equipment is described to realize for receiving user's input The remote control or display of the operation of unmanned vehicle.
19. the method as described in claim 1, wherein the geography fence equipment is unmanned vehicle bus stop.
20. a kind of geography fence device identification system, including：
One or more processors, one or more of processors are either individually or collectively operatively used for：
Geography fence identifier is received, the geography fence identifier uniquely identifies out described from other geography fence equipment Geography fence equipment；And
One group of air traffic control based on geography fence identifier generation for unmanned vehicle (UAV), to allow the nothing People's aircraft is operated according to one group of air traffic control.
21. system as claimed in claim 20, in addition to one or more communication modules, wherein one or more of processing Device is operably coupled to one or more of communication modules.
22. system as claimed in claim 20, wherein body of one or more of processors to the geography fence equipment Part is authenticated.
23. system as claimed in claim 20, wherein the geography fence identifier indicates geography fence device type.
24. system as claimed in claim 23, wherein one group of air traffic control is to be based on the geography fence device type Generation.
25. system as claimed in claim 20, wherein one group of air traffic control determines the unmanned vehicle being configured to At least preset distance is kept with the geography fence equipment.
26. system as claimed in claim 20, wherein one group of air traffic control determines the unmanned vehicle being configured to It is maintained at least within preset distance of the geography fence equipment.
27. system as claimed in claim 20, wherein one group of air traffic control includes the flight upper limit or flight lower limit, work as institute When stating unmanned vehicle and being located relative to the pre-position of the geography fence equipment, the unmanned vehicle can not be described The top flight of the flight upper limit, and the unmanned vehicle can not fly in the lower section of the flight lower limit.
28. system as claimed in claim 20, wherein one group of air traffic control is including relative based on the unmanned vehicle In the limitation used that the positioning of the position of the geography fence equipment loads to unmanned vehicle.
29. system as claimed in claim 20, wherein one group of air traffic control is including relative based on the unmanned vehicle In the position of the geography fence equipment positioning and the limitation used of communication unit to the unmanned vehicle.
30. system as claimed in claim 20, wherein one group of air traffic control includes what is carried to the unmanned vehicle One or more limitations of article.
31. system as claimed in claim 20, wherein one group of air traffic control includes being used for unmanned vehicle operation Least residue battery capacity.
32. system as claimed in claim 20, wherein one group of air traffic control is included to the unmanned vehicle that lands One or more limitation.
33. system as claimed in claim 20, wherein one group of air traffic control includes not allowing the unmanned vehicle to exist One group of one or more border of flight in it.
34. system as claimed in claim 20, wherein one group of air traffic control includes one group of one or more geography fence Border, each geography fence border in one or more of geography fence borders correspond to one group of different tof tubes System.
35. system as claimed in claim 20, wherein the geography fence equipment is static.
36. system as claimed in claim 20, wherein the geography fence equipment is mobile.
37. system as claimed in claim 20, wherein the geography fence equipment is to be used to receive user's input to realize State the remote control of the operation of unmanned vehicle.
38. system as claimed in claim 20, wherein the geography fence equipment is to be used to receive user's input to realize State the remote control or display of the operation of unmanned vehicle.
39. system as claimed in claim 20, wherein the geography fence equipment is unmanned vehicle bus stop.
40. a kind of method being authenticated to geographical railing device, methods described include：
The identity of geographical railing device is authenticated, wherein the identity of the geography fence equipment can enclose with other geography Column equipment uniquely makes a distinction；
One group of air traffic control for unmanned vehicle (UAV) is provided, wherein the air traffic control and the certified geography The position of railing device is relevant；And
The unmanned vehicle is operated according to one group of air traffic control.
41. method as claimed in claim 40, wherein by means of the key on the geography fence equipment machine come to described Reason railing device is authenticated.
42. method as claimed in claim 41, wherein the key can not remove from the geography fence equipment.
43. method as claimed in claim 41, wherein the key in the case where not damaging the geography fence equipment not It can be removed from the geography fence equipment.
44. method as claimed in claim 40, wherein one group of air traffic control determines the unmanned vehicle being configured to At least preset distance is kept with the geography fence equipment.
45. method as claimed in claim 40, wherein one group of air traffic control determines the unmanned vehicle being configured to It is maintained at least within preset distance of the geography fence equipment.
46. method as claimed in claim 40, wherein one group of air traffic control includes the flight upper limit or flight lower limit, work as institute When stating unmanned vehicle and being located relative to the pre-position of the geography fence equipment, the unmanned vehicle can not be described The top flight of the flight upper limit, and the unmanned vehicle can not fly in the lower section of the flight lower limit.
47. method as claimed in claim 40, wherein one group of air traffic control is including relative based on the unmanned vehicle In the limitation used that the positioning of the position of the geography fence equipment loads to unmanned vehicle.
48. method as claimed in claim 40, wherein one group of air traffic control is including relative based on the unmanned vehicle In the position of the geography fence equipment positioning and the limitation used of communication unit to the unmanned vehicle.
49. method as claimed in claim 40, wherein the geography fence equipment is static.
50. method as claimed in claim 40, wherein the geography fence equipment is mobile.
51. method as claimed in claim 40, wherein the geography fence equipment is to be used to receive user's input to realize State the remote control of the operation of unmanned vehicle.
52. method as claimed in claim 40, wherein the geography fence equipment is unmanned vehicle bus stop.
53. method as claimed in claim 40, wherein one or more groups of air traffic control and the geography fence equipment One or more geography fence borders in preset range are associated.
54. method as claimed in claim 53, wherein sending to one group of air traffic control of the unmanned vehicle includes The unmanned vehicle is allowed not enter the instruction of one or more of geography fence borders.
55. method as claimed in claim 54, wherein automatically controlling the unmanned vehicle flight path to avoid described one Individual or multiple geography fence borders.
56. method as claimed in claim 54, wherein when the unmanned vehicle enters one or more of geography fences During border, the unmanned vehicle is forced to land automatically.
57. method as claimed in claim 54, wherein when the unmanned vehicle enters one or more of geography fences During border, the unmanned vehicle flight path is automatically controlled so that the unmanned vehicle leaves by one or more of Manage the region that fence boundary surrounds.
58. method as claimed in claim 54, wherein one group of air traffic control includes being used to keep away the unmanned vehicle Allow the geography fence equipment one or more of geography fence borders navigation channel amendment.
59. method as claimed in claim 53, wherein each geography in one or more of geography fence borders encloses Column border corresponds to one group of different air traffic control.
60. a kind of geography fence device authentication system, including：
One or more processors, one or more of processors are either individually or collectively used for：
The identity of geographical railing device is authenticated, wherein the identity of the geography fence equipment can enclose with other geography Column equipment uniquely makes a distinction；And
Generation is directed to one group of air traffic control of unmanned vehicle (UAV), wherein the air traffic control and the certified geography The position of railing device is relevant, to allow to operate the unmanned vehicle according to one group of air traffic control.
61. system as claimed in claim 60, in addition to one or more communication modules, wherein one or more of processing Device is operably coupled to one or more of communication modules.
62. system as claimed in claim 60, wherein by means of the key on the geography fence equipment machine come to described Reason railing device is authenticated.
63. system as claimed in claim 62, wherein the key can not remove from the geography fence equipment.
64. system as claimed in claim 62, wherein the key in the case where not damaging the geography fence equipment not It can be removed from the geography fence equipment.
65. system as claimed in claim 60, wherein one group of air traffic control determines the unmanned vehicle being configured to At least preset distance is kept with the geography fence equipment.
66. system as claimed in claim 60, wherein one group of air traffic control determines the unmanned vehicle being configured to It is maintained at least within preset distance of the geography fence equipment.
67. system as claimed in claim 60, wherein one group of air traffic control includes the flight upper limit or flight lower limit, work as institute When stating unmanned vehicle and being located relative to the pre-position of the geography fence equipment, the unmanned vehicle can not be described The top flight of the flight upper limit, and the unmanned vehicle can not fly in the lower section of the flight lower limit.
68. system as claimed in claim 60, wherein one group of air traffic control is including relative based on the unmanned vehicle In the limitation used that the positioning of the position of the geography fence equipment loads to unmanned vehicle.
69. system as claimed in claim 60, wherein one group of air traffic control is including relative based on the unmanned vehicle In the position of the geography fence equipment positioning and the limitation used of communication unit to the unmanned vehicle.
70. system as claimed in claim 60, wherein the geography fence equipment is static.
71. system as claimed in claim 60, wherein the geography fence equipment is mobile.
72. system as claimed in claim 60, wherein the geography fence equipment is to be used to receive user's input to realize State the remote control of the operation of unmanned vehicle.
73. system as claimed in claim 60, wherein the geography fence equipment is unmanned vehicle bus stop.
74. system as claimed in claim 60, wherein one or more groups of air traffic control and the geography fence equipment One or more geography fence borders in preset range are associated.
75. the system as described in claim 74, wherein sending to one group of air traffic control of the unmanned vehicle includes The unmanned vehicle is allowed not enter the instruction of one or more of geography fence borders.
76. the system as described in claim 75, wherein automatically controlling the unmanned vehicle flight path to avoid described one Individual or multiple geography fence borders.
77. the system as described in claim 75, wherein when the unmanned vehicle enters one or more of geography fences During border, the unmanned vehicle is forced to land automatically.
78. the system as described in claim 75, wherein when the unmanned vehicle enters one or more of geography fences During border, the unmanned vehicle flight path is automatically controlled so that the unmanned vehicle leaves by one or more of Manage the region that fence boundary surrounds.
79. the system as described in claim 75, wherein one group of air traffic control includes being used to keep away the unmanned vehicle Allow the geography fence equipment one or more of geography fence borders navigation channel amendment.
80. the system as described in claim 74, wherein each geography in one or more of geography fence borders encloses Column border corresponds to one group of different air traffic control.
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