CN108496213A - A kind of flight processing method and control device - Google Patents

A kind of flight processing method and control device Download PDF

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Publication number
CN108496213A
CN108496213A CN201780004597.9A CN201780004597A CN108496213A CN 108496213 A CN108496213 A CN 108496213A CN 201780004597 A CN201780004597 A CN 201780004597A CN 108496213 A CN108496213 A CN 108496213A
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China
Prior art keywords
course line
state
flight
aircraft
restricted area
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CN201780004597.9A
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Chinese (zh)
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CN108496213B (en
Inventor
张立天
周鸿柱
李昊南
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SZ DJI Technology Co Ltd
Shenzhen Dajiang Innovations Technology Co Ltd
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Shenzhen Dajiang Innovations Technology Co Ltd
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Priority to CN202111660400.1A priority Critical patent/CN114326811A/en
Publication of CN108496213A publication Critical patent/CN108496213A/en
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Publication of CN108496213B publication Critical patent/CN108496213B/en
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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]
    • G08G5/0047—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
    • 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
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • 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
    • 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

Abstract

A kind of flight processing method and control device, method include：The flight position (202) for obtaining aircraft arrives the planning course line (204,301) (S401, S501) between preset target location；Determine that the limit of planning course line (204,301) flies state (S402, S502), limiting winged state is determined according to planning the distance between course line (204,301) and target restricted area (205,302)；Fly state execution according to limit and handles (S403) about the flight of aircraft.Can fly state based on different limits and carry out different processing to aircraft, meet to aircraft based on restricted area controlled automate, intelligent demand.

Description

A kind of flight processing method and control device
This patent document disclosure includes material protected by copyright.The copyright is all for copyright holder.Copyright Owner do not oppose the patent document in the presence of anyone replicates the proce's-verbal of Patent＆Trademark Office and archives or this specially Profit discloses.
Technical field
The present invention relates to flying vehicles control technical field more particularly to a kind of flight processing method and control devices.
Background technology
Now, for various aircraft, such as UAV (Unmanned Aerial Vehicle, unmanned plane), safe flight It is an extremely important problem.Restricted area is a kind of management means to unmanned plane during flying spatial domain.By providing restricted area, resistance Only unmanned plane enters certain predetermined regions, to ensure the safety in the spatial domain.
In the flight control method of current aircraft, how aircraft automatically process as grinding based on restricted area The hot spot studied carefully.
Invention content
An embodiment of the present invention provides a kind of flight processing method and control devices, can be automatically based on restricted area and execute pass It is handled in the flight of aircraft.
In a first aspect, an embodiment of the present invention provides a kind of flight processing methods, including：
The flight position of aircraft is obtained to the planning course line between preset target location；
Determine that the limit in the planning course line flies state, it is according to the planning course line and target restricted area that the limit, which flies state, The distance between determine；
Fly state execution according to the limit to handle about the flight of the aircraft.
Second aspect, an embodiment of the present invention provides a kind of flight processing units, including：
Acquisition module, for obtaining the flight position of aircraft to the planning course line between preset target location；
Determining module, for determining that the limit in the planning course line flies state, the limit, which flies state, is navigated according to the planning The distance between line and target restricted area determine；
Processing module is handled for flying state execution according to the limit about the flight of the aircraft.
The third aspect, the embodiment of the present invention additionally provide a kind of control device, which includes：Communication interface and control Device processed；The communication interface is used for into row data communication, the controller, for obtaining the flight position of aircraft to preset Planning course line between target location；Determine that the limit in the planning course line flies state, it is according to the planning that the limit, which flies state, The distance between course line and target restricted area determine；Fly flight service of the state execution about the aircraft according to the limit Reason.
Fourth aspect is stored an embodiment of the present invention provides a kind of computer storage media in the computer storage media Have program instruction, the program instruction when being executed, the flight processing method for executing above-mentioned first aspect.
The embodiment of the present invention can after having planned the line of flight of aircraft, it is automatic carry out about the course line with it is neighbouring The distance between restricted area determines that the limit in the course line flies state, and then flies state based on different limits and carried out not to aircraft With processing, meet to aircraft based on restricted area controlled automate, intelligent demand.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of flight processing system of the embodiment of the present invention；
Fig. 2 is a kind of schematic diagram of display interface of the embodiment of the present invention；
Fig. 3 is the schematic diagram of another display interface of the embodiment of the present invention；
Fig. 4 is a kind of flow diagram of flight processing method of the embodiment of the present invention；
Fig. 5 is the flow diagram of another flight processing method of the embodiment of the present invention；
Fig. 6 is that the limit of the embodiment of the present invention flies the flow diagram that state determines method；
Fig. 7 is the flow diagram that the method for the winged state of limit is determined according to distance of the embodiment of the present invention；
Fig. 8 is the schematic diagram in a kind of the planning course line and restricted area relative position relation of the embodiment of the present invention；
Fig. 9 is the flow diagram that the method for the winged state of limit is determined according to distance of the embodiment of the present invention；
Figure 10 is the schematic diagram in another the planning course line and restricted area relative position relation of the embodiment of the present invention；
Figure 11 is the flow diagram of another flight processing method of the embodiment of the present invention；
Figure 12 is a kind of structural schematic diagram of flight processing unit of the embodiment of the present invention；
Figure 13 is a kind of structural schematic diagram of control device of the embodiment of the present invention.
Specific implementation mode
In embodiments of the present invention, aircraft has the ability in automatic planning course line, based on the position coordinates of two positions, The aircraft can plan that a rules and regulations plot a course flies automatically in order to be based on the planning course line.The aircraft can be certainly It is two or more position coordinates of aircraft configuration before dynamic flight, each position is based on by the controller being arranged in aircraft Coordinate carries out flight course planning, obtains the planning course line for covering each position coordinates.The aircraft can also be the mistake in flight Cheng Zhong is received and is established one or more position coordinates that the ground control terminal of connection is sent out with this aircraft, the aircraft In conjunction with current flight position and one or more position coordinates received, planning course line is obtained.The aircraft also may be used Directly to receive the planning course line of ground control terminal transmission.
The aircraft can also automatically be maked a return voyage according to current flight position, mainly according to current flight position and Waypoint location planning course back is returned, is maked a return voyage automatically.In one embodiment, the aircraft detects not enough power supply When, according to current flight position and waypoint location can be returned, plan course back, in not enough power supply with before supporting flight It makes a return voyage to home.The aircraft can also be that the connection signal between detection and ground control terminal is weak or connection is believed When number losing, according to current flight position and waypoint location can be returned, plan course back, in order to ensure aircraft be by Control.Target location when returning waypoint location can be that aircraft is self registering taking off can also be that user refers to A fixed target location.In one embodiment, ground control terminal can also as described above, electricity based on aircraft, It makes a return voyage with factors, control aircraft such as the connection signals of aircraft.
Restricted area mainly delimited to need the stringent region forbidden or limit aircraft flight including airport etc..Flight Device can be prohibited or be limited in the flight of these regions.In the embodiment of the present invention, at various height on, for areas such as airports, The range size for the restricted area delimited in the horizontal plane can be identical or different.
It, can be according to the planning course line and adjacent one or more after obtaining planning course line in the embodiment of the present invention The regional location coordinate of a restricted area (i.e. target restricted area), to judge to plan whether course line has some or all of course line to be in Close-target restricted area is leaned in target restricted area or planning course line.Different flight is carried out to aircraft according to judging result Processing.In embodiments of the present invention, it includes mainly the flight for being directed to the aircraft on planning course line that the flight processing is main Prompt is handled.When flight prompt processing is mainly used for prompting user's aircraft according to planning airline operation (such as making a return voyage), deposit In entrance or close to the risk of restricted area.
According to the distance in planning course line and target restricted area, it may be determined that go out multiple limits about the planning course line and fly shape State, the limit fly state and are mainly used for the state for indicating whether to be capable of safe flight.In one embodiment, it may include three limits Fly state, specially shows to plan the first state that close-target restricted area is leaned in course line；Show to plan course line very close to mesh Mark restricted area or part enter target restricted area or fully enter the second state of target restricted area；And it can be safe The third state of flight.Wherein, under the first state, plan the distance of course line and restricted area be more than second distance threshold value without More than the first distance threshold；In the second condition, plan that the distance of course line and restricted area is not more than second distance threshold value；In third Under state, plan that the distance of course line and restricted area is more than the first distance threshold.First distance threshold be more than described second away from From threshold value.
In the first state, the flight prompt message it should be noted that restricted area can be issued the user with.It, can in the second state With issue the user with limitation flight flight prompt message, indicate in the second condition according to planning airline operation can be limited or Restricted area can be entered, and there are flight hazards, in the second condition, need to prompt user's modification parameter new to plan to obtain again Target restricted area is avoided in planning course line, or is planned again automatically, obtains new planning course line to avoid target restricted area, Or send out direction instruction and user is notified to fly according to the indicated direction of direction instruction, in order to again based on new flight Position obtains planning course line.In a third condition, any prompt can not be sent out or send out can be with the prompt of safe flight.
In one embodiment, the system of flight processing is carried out to aircraft as shown in Figure 1, the system includes aircraft And ground control terminal, as shown in Figure 1, ground control terminal is located at user side.The aircraft can be used for according to configuration at least Two location points carry out flight course plannings, obtain planning course line, and after the completion of planning, according to planning course line and target restricted area it Between distance come determine limit fly state, determine limit fly state after flight processing is carried out to aircraft.The flight is handled Prompt message is sent out to the control user of the aircraft.The ground control terminal is then used to receive the aircraft and is carrying out very The prompt message sent out when processing, and will be prompted to information and be presented to the user.
Restricted area database can be set in the aircraft.Restricted area information, example are stored in restricted area database As one include multiple restricted areas restricted area set, the position letter of each restricted area has been included at least in the restricted area set Breath.Target restricted area can be obtained by inquiring the restricted area database.
Aircraft can calculate one according to flying height, cruise-in altitude set by user, current location, target location Plan course line, and combining target restricted area determines that the limit in the planning course line flies state.Fly state based on the limit to control to the ground End processed sends out corresponding prompt message.Aircraft can also only earthward control terminal sends the winged state of limit determined by aircraft, The limit sent according to aircraft by ground control terminal flies state to select corresponding prompt message to prompt user.
Ground control terminal can be an intelligent terminal, such as can be that smart mobile phone, tablet computer, intelligence wearable are set The terminal with communication function such as standby, PC.Ground control terminal can by be arranged display interface show to user it is corresponding Text prompt information, and/or image prompt message.Ground control terminal can also send out information of voice prompt, vibration prompt information Deng in order to which the limit in the planning course line of aircraft is flown condition prompting to user.
In other embodiments, the aircraft can also be only used for flying under the control of ground control terminal.Describedly The planning that face control terminal according at least two location points, can then complete course line obtains the planning course line of the aircraft, and base In planning course line and the target restricted area determined from built-in restricted area database, judge that the limit in the planning course line flies state, Fly state based on limit and directly issue the user with prompt message, which equally includes text prompt information, image prompt letter Any one or more in breath, information of voice prompt, vibration prompt information.If planning course line can make aircraft will not be into Enter or close to restricted area, then can be directly based upon the planning flight course control aircraft flight.
At least two position can be on a user interface arranged by user, such as user shows in display interface Map on specify and be arranged, the initial position in the position of user setting can be determined as the flight position of aircraft, and Final position (or some centre position therein) is it may be considered that be target location.At least two location point can also be Aircraft flight position current in flight course and a target location, flight position can be sent to ground by aircraft Control terminal, the position or one that position user when which can be then aircraft takeoff specifies A aircraft base stations position that can be used for aircraft charge or can provide aircraft landing.
The mode that prompt is issued the user in ground control terminal includes a variety of.It in one embodiment, can be by aobvious Show interface to issue the user with prompt message.The display interface is as shown in Figure 2.Include that flight refers in the display interface 200 of Fig. 2 Show area 201, in the flight indicates area 201, it is shown that the flight position 202 where aircraft, what aircraft had flown flies Row track 203, the planning course line 204 of aircraft and target restricted area 205.When target restricted area 205 includes multiple, Also each target restricted area 205 can be shown in the display interface.Under the scene of Fig. 2, judge to plan that the limit in course line 204 flies state For first state, that is, plan that the relationship between course line 204 and target restricted area 205 is to plan course line 204 and target close to relationship The distance between restricted area 205 is not more than the first distance threshold more than second distance threshold value.The first prompt message can be sent out 206, which includes for prompting the flight prompt message it should be noted that restricted area.Specifically, this first is carried Show that information 206 can have issued when flight directive controls aircraft according to planning 204 flight of course line to send out in user Go out.The flight directive for example can be instruction of making a return voyage, and the instruction of making a return voyage is used to indicate the aircraft according to the rule Plot a course 204 makes a return voyage returns waypoint location to described, which can be in checking user and clicking display interface 200 Return push-button 207 when detect.In addition, can also show confirmation prompt 208 on display interface 200, receiving When prompting the confirmation operation that 208 send out to the confirmation, the aircraft is controlled according to the instruction of making a return voyage and is navigated in the planning It flies on line 204 and described returns waypoint location to be back to.The confirmation prompt 208 can be actually by it is shown in Fig. 2 sliding or The forms such as person's virtual push button are supplied to user.Further, if the user thinks that flying without using the planning flight course control aircraft Row, then can also click the " Cancel " button shown in Fig. 2, will not control aircraft according to planning airline operation, in order to weight New setting course back, user can reassign target location in flight instruction area 201, in order to plan new planning boat Line is significantly away from target restricted area 205.After being determined that planning course line is first state, immediately (or between a preset time Every interior) start to show first prompt message 206.Display first prompt can be cancelled after showing preset duration Information 206.
Fig. 3 is referred to again, display interface 200 is equally illustrated in Fig. 3, with Fig. 2 the difference is that the planning in Fig. 3 is navigated Part is located in target restricted area 302 line 301, and planning the distance between course line 301 and target restricted area 302 are not more than the Two distance thresholds so that it is the second state that the limit in the planning course line 301, which flies state,.In the second condition, in the display interface of Fig. 3 The second prompt message 303 is shown in 200, is to remind user by way of word in embodiments of the present invention.This second is carried Show that information 303 includes the flight prompt message for prompting limitation to fly, if main users remind user at this time according to planning Course line, which is maked a return voyage, can enter restricted area, and flight can be obstructed or the warnings such as flight hazard.It is of course also possible to checked to flying The flight directive of row device, for example, click display interface 200 the button 207 that makes a return voyage send out make a return voyage instruction when, just show second prompt Information 303.After being determined that planning course line 301 is the second state, (or in a prefixed time interval) starts to show immediately Second prompt message 303.It can cancel after showing preset duration and show second prompt message 303.
In one embodiment, aircraft or ground control terminal include restricted area database, enquiry module, prompt mould Block.Restricted area information is stored in restricted area database.Other modules can inquire restricted area information.Enquiry module was flying Cheng Zhong according to current flying height, cruise-in altitude set by user, current location, returns waypoint location, calculates the line that makes a return voyage Road, and determine that the limit of aircraft flies state with the restricted area information inquired according to the circuit that makes a return voyage.And limit is flown into state push To reminding module.The state of making a return voyage that reminding module prompts user current.In one embodiment, the winged state of limit can be divided into following 4 kinds：
0：On cruise-in altitude, straight line makes a return voyage around circuit within the scope of 50m without restricted area.
1：On cruise-in altitude, straight line, which makes a return voyage, restricted area around circuit within the scope of 50m, without restricted area within the scope of 30m；Its In, which can correspond to above-mentioned second distance threshold value.
2：On cruise-in altitude, straight line, which makes a return voyage, restricted area around circuit within the scope of 20m, without restricted area within the scope of 10m；Its In, which can correspond to the first distance threshold.
3：On cruise-in altitude, straight line makes a return voyage around circuit has restricted area within the scope of 10m.
Wherein 0,1, which represents current location, makes a return voyage safety, can correspond to the above-mentioned third state；2 indicate that current location is returned Boat is dangerous, asks user note that can correspond to above-mentioned first state；3 indicate that current location can not make a return voyage, ask user note that Aircraft is moved back to the region that can make a return voyage to make a return voyage, can correspond to the second above-mentioned state.
A kind of flight processing method of the embodiment of the present invention is described below.
Fig. 4 is referred to, is a kind of flow diagram of flight processing method of the embodiment of the present invention, the embodiment of the present invention The flight processing method can execute at aircraft end, specifically be executed by the controller being arranged in aircraft.The side Method can also actually be executed by ground control terminal.The method can specifically include following steps.
S401：The flight position of aircraft is obtained to the planning course line between preset target location.The aircraft Flight position can be position current during the aircraft flight, and the corresponding target location can be aircraft The position of some destination flown to is needed, or returns waypoint location, it can be the position to fly up when taking off that this, which returns waypoint location,. The flight position of the aircraft can also be that the takeoff setting when aircraft takeoff, the target location can be then winged Row device needs the position for some destination flown to.The flight position of the aircraft can also be what user specified on map One position, the target location are then another positions that user specifies on map.In embodiments of the present invention, the rule Plot a course is a straightway or near linear section between flight position to target location on map, can also be curve The combination of section and straightway.
S402：Determine that the limit in the planning course line flies state, it is according to the planning course line and target that the limit, which flies state, The distance between restricted area determines.The target restricted area be preset restricted area set in the planning airline distance Less than the restricted area of specific range.The distance between restricted area and planning course line in the restricted area set can refer to that limit flies The shortest distance between area and planning course line.It plans on course line to include multiple destinations, each limit in restricted area set can be calculated The distance for flying each destination on the borderline location point to planning course line in area therefrom determines a shortest distance as correspondence Distance of the restricted area to planning course line.The distance in each restricted area to planning course line is less than the restricted area of specific range as mesh Mark restricted area.It in one embodiment, can be first according to administrative division (such as with administrative area in city), from restricted area set It is middle to screen the part restricted area for determining the same or similar administrative area in the administrative area being presently in aircraft, it is then based on The part restricted area is calculated.
In embodiments of the present invention, the limit flies state including at least first state and the second state, each state corresponds to There is the different processing rules for executing the flight processing about the aircraft.The first state is corresponding with the first prompt Information, and the second state is then corresponding with the second prompt message.Certainly can also include the winged state of other limits, for example, the third state, In a third condition, the planning course line of aircraft is not close with any restricted area, can be with safe flight, it may not be necessary to it prompts, Or prompt user can be according to planning airline safety flight.
S403：Fly state execution according to the limit to handle about the flight of the aircraft.In embodiments of the present invention, it closes Include mainly flying state based on different limits to issue the user with different prompts in the flight processing of the aircraft.Specifically carry The mode of showing includes any one in the modes such as text prompt information, image prompt message, information of voice prompt, vibration prompt information Kind is a variety of.One display interface as shown in Figure 2 and Figure 3 can be set to issue the user with prompt.In the display interface, It can also show the relative position between planning course line and the target restricted area, described fly can also be shown on display interface Line position sets the relative position with the target restricted area.
The embodiment of the present invention can after having planned the line of flight of aircraft, it is automatic carry out about the course line with it is neighbouring The distance between restricted area determines that the limit in the course line flies state, and then flies state based on different limits and carried out not to aircraft With processing, meet to aircraft based on restricted area controlled automate, intelligent demand.
Fig. 5 is referred to again, is the flow diagram of another flight processing method of the embodiment of the present invention, and the present invention is implemented The flight processing method of example can execute at aircraft end, specifically be executed by the controller being arranged in aircraft.Institute Stating method can also actually be executed by ground control terminal.The method can specifically include following steps.
S501：The flight position of aircraft is obtained to the planning course line between preset target location.The planning course line Can be during aircraft flight in real time or start at a time interval planning, planning obtain planning course line after, The limit for carrying out following S502 flies the verification step of state.
S502：Determine that the limit in the planning course line flies state, it is according to the planning course line and target that the limit, which flies state, The distance between restricted area determines.
S503：If it is first state that the limit, which flies state, according to processing corresponding with first state rule, aobvious Show and sends out the first prompt message on interface；First prompt message includes for prompting the flight prompt it should be noted that restricted area Information.
First state is primarily referred to as aircraft and close-target restricted area, the first prompt message is leaned on to be mainly used for call user's attention Flight.The alerting pattern of first prompt message can refer to the description of content corresponding to Fig. 2 in above-described embodiment.
In an alternative embodiment, first prompt message is to receive the flight directive to the aircraft It is sent out on the display interface afterwards；The target location is to return waypoint location, and the flight directive includes instruction of making a return voyage, institute It states instruction of making a return voyage and is used to indicate the aircraft and is maked a return voyage according to the planning course line and return waypoint location to described.That is, After being determined that limit flies state, the first prompt message of display can not had to, but wish that aircraft flies according to planning course line in user When row, when such as making a return voyage according to course back, the first prompt message is just shown, to notify the limit of user's current flight device to fly shape State notifies user's current flight close to restricted area, needs to fly with caution.
S504：Shown on display interface confirmation prompt, receive to it is described confirm prompt send out confirmation operation when, The aircraft is controlled according to the instruction of making a return voyage to be flown on the planning course line to return waypoint location described in being back to.It is described S504 is an optionally step, and in one embodiment, the S504 is being received according to planning flight course control aircraft After the flight directive of flight, such as after receiving above-mentioned instruction of making a return voyage, shown on the display interface confirmation prompt with Convenient for being confirmed whether to respond the flight directive to user, control aircraft is according to planning airline operation.The shape for confirming prompt Formula can be with the description of embodiment corresponding to reference chart 2.
S505：If it is the second state that the limit, which flies state, according to processing corresponding with second state rule, aobvious Show and send out the second prompt message on interface, second prompt message includes the flight prompt message for prompting limitation to fly. Second state mainly show the planning course line of aircraft flown it is close or partly or entirely enter restricted area, need to Family is sent out can be obstructed according to planning airline operation, and flight is dangerous.The prompting of the second prompt message under second state Form can refer to the corresponding descriptions of Fig. 3.In the second condition, can also control aircraft hovering, in order to etc. ground to be received Control terminal sends out the control instruction far from restricted area.
S506：It will be switched to from the first display mode on display interface for controlling the control icon of the aircraft flight Second display mode.The control icon refers to icon of the control aircraft according to planning airline operation, such as shown in Fig. 2 The button that makes a return voyage.The S506 is optional step, and the purpose of the S506 is, if due to according to planning airline operation flight Device can enter restricted area, therefore forbid user's control aircraft according to planning airline operation.First display mode and the second display Mode can be the difference of display color, for example, control icon is displayed in white under the first display mode, and it is aobvious to be switched to second Show and then show grey under mode, the control icon in grey will not receive and respond the clicking operation of user.
In addition, flying state execution according to the limit can also include about the flight processing of the aircraft：Fly shape in limit When state is in the second state, the prompt flown to the direction far from the target restricted area is sent out.This is limited to far from the target The prompt for flying the direction flight in area can be word or verbal cue, can also be to be prompted by way of an icon, should Icon can be the arrow icon for being used to indicate moving direction, for pointing out a specific separate direction, prompt user Aircraft is controlled to fly along this direction.
The display interface of the embodiment of the present invention is shown to user by ground control terminal.When the flight of the embodiment of the present invention Processing method is to send corresponding control message to ground control terminal by aircraft, ground control terminal exists when being executed by aircraft After receiving flying vehicles control message, corresponding prompt is sent out on display interface according to the instruction of control message.The control There is message the control ground control terminal the first prompt message, the second prompt message of display, display are shown on display interface Confirm prompt and control and control icon is switched to the purposes such as the second display mode from the first display mode.When of the invention real The flight processing method for applying example is then directly sent out on display interface by ground control terminal corresponding when being executed by ground control terminal Prompt.The form of the display interface is as shown in Figure 2.
The embodiment of the present invention can after having planned the line of flight of aircraft, it is automatic carry out about the course line with it is neighbouring The distance between restricted area determines that the limit in the course line flies state, and then flies state based on different limits and carried out not to aircraft With processing, meet to aircraft based on restricted area controlled automate, intelligent demand.
Fig. 6 is referred to again, is that the limit of the embodiment of the present invention flies the flow diagram that state determines method.Implement in the present invention The distance threshold for limit winged state confirmation is configured in example, which may include multiple, such as including first Distance threshold and second distance threshold value.Determine that aircraft limit flies state and includes the following steps in the embodiment of the present invention.
S601：Obtain target restricted area, the target restricted area be preset restricted area set in the planning course line Distance is less than the restricted area of specific range.
S602：Be compared with the distance threshold at a distance from target restricted area according to the planning course line, according to than Relatively result determines that the limit in the planning course line flies state.Planning course line can navigate at a distance from target restricted area according to the planning Multiple location points in the position coordinates of multiple destinations on line, target restricted area on the boundary line in the planning course line are sat Mark is calculated.Plan that course line is the shortest distance being calculated at a distance from target restricted area, according to the shortest distance and distance Threshold value is compared, to determine that the limit in planning course line flies state.
In one embodiment, the S602 can refer to specifically：By the planning course line and target restricted area in level Distance on direction is compared with the distance threshold, determines that the limit in the planning course line flies state according to comparison result. That is on sustained height, obtain planning course line between the restricted area in the height at a distance from, obtained distance is one The distance of a horizontal direction determines that limit flies state based on the distance and distance threshold.
In one embodiment, plan that the either above or below in course line is also likely to be present restricted area, for example, flying in certain limits Region, allow to fly within certain altitude, for example, the spatial domain in the 20m height in the region is can to fly , at this point, the S602 includes then：By the planning course line and target restricted area in the vertical direction at a distance from the distance Threshold value is compared, and determines that the limit in the planning course line flies state according to comparison result.
In one embodiment, the S602 includes：In the vertical direction by the planning course line and target restricted area Distance and the distance threshold be compared, by the planning course line and target restricted area in the horizontal direction at a distance from it is described Distance threshold is compared, and determines that the limit in the planning course line flies state according to comparison result.
Fig. 7 specifically is referred to, is the flow signal for determining the method for the winged state of limit according to distance of the embodiment of the present invention Figure.The method of the embodiment of the present invention corresponds to the S602 in embodiment corresponding to Fig. 6.It can specifically include following steps.
S701：Movement area is determined according to the planning course line and the distance threshold.It at least wraps the movement area of the determination Include the firstth area and the secondth area；Firstth area is obtained according to the planning course line and preset first distance threshold, described Plan that course line includes in firstth area；Secondth area is obtained according to the planning course line and preset second distance threshold value It arrives, the planning course line includes in secondth area；First distance threshold is more than the second distance threshold value.
S702：Judge whether the movement area intersects with the target restricted area.
S703：Determine that the limit in the planning course line flies state according to judging result.
In embodiments of the present invention, when judging that the target restricted area only intersects with firstth area, the rule are determined Plot a course is first state；When judging the target restricted area with secondth area, determine that the planning course line is the second shape State.As shown in figure 8, preset distance threshold includes showing planning in the first distance threshold d1 and second distance threshold value d2, Fig. 8 A kind of relationship between course line 801, the first area 802, the second area 803 and target restricted area 804.First area 802 and the secondth area 803 can be a regular geometry, be here rectangle, and restricted area is close to the boundary line 805 in planning course line 801 Straight line section.According to the boundary coordinate in the first area 802, the coordinate of the boundary line 805 of target restricted area, in world coordinates System is lower whether can be intersected with a rectangle by calculating straight line judge target restricted area 804 whether with the firstth area 802 intersections.Equally, the rectangle at 803 place of the boundary line 805 based on target restricted area 804 and the secondth area, it can be determined that Whether target restricted area 804 intersects with the second area 803.
If it is determined that the target restricted area only intersects with firstth area without intersecting with the secondth area, then can determine The distance between course line and restricted area are planned more than second distance threshold value and is not more than the first distance threshold, is in first state. And if intersected with the secondth area, it may be considered that planning the distance between course line and target restricted area are less than second distance threshold value, Planning course line is in the second state.Determine whether target restricted area intersects with the firstth area or the secondth area, it can be by judging Fig. 8 Whether the boundary line 805 of middle target restricted area intersects with the firstth area or the secondth area, can specifically judge under world coordinate system Whether the straight line where 805 intersects with the rectangle in the firstth area or the rectangle in the secondth area, and then determines the target restricted area Whether intersect with the firstth area or the secondth area.Such as linear equation can be determined according to multiple position coordinates on straight line, and determine Whether the vertex position coordinate in the firstth area or the secondth area may determine that the straight line with according to linear equation and vertex position coordinate One area or the intersection of the secondth area.
The schematic diagram of Fig. 8 is only for example, and in other embodiments, restricted area may be the plane of ellipse, such as Fig. 2 institutes The restricted area shown calculates the mode that a curve intersects with rectangle to determine that target limits then needing under world coordinate system Whether intersect with the firstth area or the secondth area in winged area.
Based on the calculation corresponding to schematic diagram shown in Fig. 8 can also calculate separately planning course line and target restricted area it Between horizontal distance, calculate planning course line and target restricted area between vertical distance.
The embodiment of the present invention by planning course line be adjusted, different flight ranges is generated based on distance threshold, By judging whether movement area intersects the position relationship that can be quickly determined out between planning course line and restricted area with restricted area, Determine the state in planning course line.Each position relationship between destination and restricted area on planning course line need not be calculated, is saved Calculating cost, improves efficiency.
Fig. 9 specifically is referred to, is the flow signal for determining the method for the winged state of limit according to distance of the embodiment of the present invention Figure.The method of the embodiment of the present invention corresponds to the S602 in embodiment corresponding to Fig. 6.It can specifically include following steps.
S901：Object boundary line is determined from the target restricted area；The object boundary line refers in target restricted area Boundary line close to the planning course line side can be sat based on the position coordinates of destination on planning course line and the region of restricted area It marks to determine, close to the boundary line of planning course line side, to obtain object boundary line.The obtained object boundary line is sat in the world Lower mark system is a line segment.
S902：Index line is obtained according to the object boundary line and the distance threshold.The index line includes：According to institute It states boundary line and preset third distance threshold obtains the first index line, the boundary line and preset 4th distance threshold obtain Second index line.The third distance threshold can correspond to the first above-mentioned distance threshold, identical as the first distance threshold.Institute It states the 4th distance threshold and can correspond to above-mentioned second distance threshold value, it is identical as second distance threshold value.
S903：Judge whether the planning course line intersects with the index line.Under world coordinate system, planning course line is calculated Whether intersect with the first index line, the second index line.
S904：Determine that the limit in the planning course line flies state according to judging result.When judging the planning course line only with When one index line intersects, determine that the planning course line is first state；When judging that the planning course line intersects with the second index line When, then it can determine that the planning course line is the second state.
As shown in Figure 10, planning course line 1001, the first index line 1002, the second index line 1003 and target limit are shown Fly the relationship between the object boundary line 1004 in area.The distance between first index line 1002 and object boundary line 1004 are d3, The distance between second index line 1003 and object boundary line 1004 are d4.
If it is determined that the planning course line is only intersected with first index line without intersecting with the second index line, then can To determine that planning the distance between course line and target restricted area are not more than third distance threshold more than the 4th distance threshold, it is in First state.And if the planning course line is intersected with the second index line, it may be considered that planning course line and target restricted area it Between distance be not more than the 4th threshold value, planning course line be in the second state.
Planning course line and target restricted area can also be calculated separately based on the calculation corresponding to schematic diagram shown in Figure 10 Between horizontal distance, calculate planning course line and target restricted area between vertical distance.
The embodiment of the present invention is adjusted by the boundary line to restricted area, and different instructions is generated based on distance threshold Line plans whether course line intersects the position that can be quickly determined out between planning course line and restricted area with index line by judging Relationship determines the state in planning course line.Each position relationship between destination and restricted area on planning course line need not be calculated, Calculating cost is saved, efficiency is improved.
The embodiment of the present invention can after having planned the line of flight of aircraft, it is automatic carry out about the course line with it is neighbouring The distance between restricted area determines that the limit in the course line flies state, and then flies state based on different limits and carried out not to aircraft With processing, meet to aircraft based on restricted area controlled automate, intelligent demand.
Figure 11 is referred to again, is the flow diagram of another flight processing method of the embodiment of the present invention, and the present invention is real Applying the flight processing method of example can execute at aircraft end, specifically be executed by the controller being arranged in aircraft. The method can also actually be executed by ground control terminal.The method can specifically include following steps.
S1101：According to the flight position, and according to the current flying speed of the aircraft, carry out pre- measure of flying It is described to carry out the predicted time value that flight prediction obtains and refer to predicted time value：Predict that the obtained entrance target limit flies The time interval in area.Predicted time value is smaller, shows that aircraft will enter restricted area quickly, predicted time value is larger, then may be used To think that aircraft also has longer period of time to enter restricted area.
S1102：It is executed according to the predicted time value and is handled about the flight of the aircraft.In one embodiment, The flight prompt that the predicted time value that obtains in the S1101 can be based only upon to carry out about the aircraft is handled. , can also be according to predicted time value in another embodiment, and the limit residing for aircraft obtained above is combined to fly state, it carries out Flight prompt about the aircraft is handled.
Obtained predicted time value can at least be divided into two grades, each grade be corresponding with it is different for execute about The processing rule of the flight processing of the aircraft.For example, in predicted time value no more than first etc. where being worth at the first time When grade, selects the first processing rule to execute and handled about the flight of the aircraft；It is not more than second in the predicted time value The second grade where time value selects second processing rule to execute and is handled about the flight of the aircraft.
In one embodiment, the limit in the planning course line determined in based on above-described embodiment flies state on display interface While sending out prompt message, it can show simultaneously based on the prompt message for handling rule corresponding to predicted time value.Two carry Show that information can be based respectively on two and float window window to show.
In one embodiment, state and predicted time value can also be flown based on limit to determine to fly about the aircraft Row processing.In the first state, it if predicted time value is less than the second time value, can send out accordingly about aircraft Flight processing prompt, such as " excessive velocities, the prompt please flown with caution " can be sent out.And in the second condition, if prediction Time value can then send out the flight processing accordingly about aircraft and carry more than the second time value and less than being worth at the first time Show, such as can be the prompt for sending out " flying after N seconds will be limited ".Aircraft hovering can also be further controlled, to keep away Exempt to enter target restricted area.
That is, fly the combination of state and different predicted time values based on different limits, it can be preset as needed Different processing rules is executed to be handled about the flight of the aircraft.
The embodiment of the present invention can after having planned the line of flight of aircraft, it is automatic carry out about the course line with it is neighbouring The distance between restricted area determines that the limit in the course line flies state, and then flies state based on different limits and carried out not to aircraft With processing, meet to aircraft based on restricted area controlled automate, intelligent demand.
The embodiment of the present invention additionally provides a kind of computer storage media, and storing program in the computer storage media refers to It enables.When the program instruction is run, corresponding method and corresponding display interface in above-mentioned each embodiment may be implemented Deng.
Figure 12 is referred to again, is a kind of structural schematic diagram of flight processing unit of the embodiment of the present invention, and the present invention is implemented The flight processing unit of example can be run in aircraft, can also run on ground control terminal.The flight processing dress Following module can specifically be run by setting：
Acquisition module 1201, for obtaining the flight position of aircraft to the planning course line between preset target location； Determining module 1202, for determining that the limit in the planning course line flies state, the limit fly state be according to the planning course line and The distance between target restricted area determines；Processing module 1203 is executed for flying state according to the limit about described winged The flight of row device is handled.
Optionally, the limit flies state including at least first state and the second state, each state is corresponding with different use In the processing rule for executing the flight processing about the aircraft.
Optionally, in an embodiment of the present embodiment, if the processing module 1203 is specifically used for the limit and flies State is first state, then according to processing corresponding with first state rule, the first prompt letter is sent out on display interface Breath；First prompt message includes for prompting the flight prompt message it should be noted that restricted area.
Optionally, first prompt message is after receiving to the flight directive of the aircraft in display circle It is sent out on face；The target location is to return waypoint location, and the flight directive includes instruction of making a return voyage, and the instruction of making a return voyage is used for It indicates that the aircraft makes a return voyage according to the planning course line and returns waypoint location to described.
Optionally, the processing module 1203 is additionally operable to show confirmation prompt on display interface, is receiving to described When confirming the confirmation operation that prompt is sent out, according to the instruction of making a return voyage control the aircraft fly on the planning course line with Waypoint location is returned described in being back to.
Optionally, in the another embodiment of the present embodiment, if the processing module 1203 is specifically used for the limit It is the second state to fly state, then according to processing corresponding with second state rule, the second prompt is sent out on display interface Information, second prompt message include the flight prompt message for prompting limitation to fly.
Optionally, the processing module 1203 is additionally operable to the control for controlling the aircraft flight on display interface Icon is switched to the second display mode from the first display mode.
Optionally, at least one distance threshold has been preset, the determining module 1202 is specifically used for obtaining target restricted area, The target restricted area is to plan restricted area of the airline distance less than specific range, and root with described in preset restricted area set It is compared with the distance threshold at a distance from target restricted area according to the planning course line, the rule is determined according to comparison result The limit of plot a course flies state.
Optionally, in an embodiment of the present embodiment, the determining module 1202 is specifically used for according to the rule Whether plot a course is less than the distance threshold with target restricted area at a distance from the horizontal direction, determines the limit in the planning course line Fly state.
Optionally, in the another embodiment of the present embodiment, the determining module 1202 is specifically used for according to Planning course line and the distance threshold determine movement area；Judge whether the movement area intersects with the target restricted area；According to Judging result determines that the limit in the planning course line flies state.
Optionally, the movement area of the determination includes at least the firstth area and the secondth area；When judging the target restricted area only When intersecting with firstth area, the determining module 1202 determines that the planning course line is first state；When judging the target When restricted area is with secondth area, the determining module 1202 determines that the planning course line is the second state.
Optionally, firstth area is obtained according to the planning course line and preset first distance threshold, the rule Plot a course includes in firstth area；Secondth area is obtained according to the planning course line and preset second distance threshold value , the planning course line includes in secondth area；First distance threshold is more than the second distance threshold value.
Optionally, in the another embodiment of the present embodiment, the determining module 1202 is specifically used for from the mesh Object boundary line is determined in mark restricted area, index line is obtained according to the object boundary line and the distance threshold, and judge Whether intersect with the index line in the planning course line；Determine that the limit in the planning course line flies state according to judging result.
Optionally, the index line includes：The first instruction is obtained according to the boundary line and preset third distance threshold Line, the boundary line and preset 4th distance threshold obtain the second index line；When judge the planning course line only with first refer to When timberline intersects, the determining module 1202 determines that the planning course line is first state；When judging the planning course line and the When two index lines intersect, the determining module 1202 determines that the planning course line is the second state.
Optionally, the flight processing unit can also run following module：Display module 1204, for preset aobvious Show the relative position shown in interface between planning course line and the target restricted area.
Optionally, the display module 1204 is additionally operable to show that the flight position is limited with the target on display interface Fly the relative position in area.
Optionally, the processing module 1203 is additionally operable to according to the flight position, and current according to the aircraft Flying speed carries out flight prediction and obtains predicted time value, described to carry out the predicted time value that flight prediction obtains and refer to：Prediction The obtained time interval into the target restricted area；It executes further according to the predicted time value and flies about the aircraft Row processing.
Optionally, it if the processing module 1203 is specifically used for the predicted time value no more than being worth at the first time, selects The flight that the execution of the first processing rule is selected about the aircraft is handled；If the predicted time value is not more than the second time value, It then selects second processing rule to execute to handle about the flight of the aircraft；The first time value and second time value It differs, and the first processing rule is differed with the second processing rule.
Optionally, the processing module 1203 is additionally operable to send out to what the direction far from the target restricted area was flown and carry Show.
The embodiment of the present invention can after having planned the line of flight of aircraft, it is automatic carry out about the course line with it is neighbouring The distance between restricted area determines that the limit in the course line flies state, and then flies state based on different limits and carried out not to aircraft With processing, meet to aircraft based on restricted area controlled automate, intelligent demand.
Figure 13 is referred to again, is a kind of structural schematic diagram of control device of the embodiment of the present invention, the control device packet It includes：Communication interface 1301, processor 1302 and memory 1303.In one embodiment, which can be flight Device further includes Power Component, electronics tune other than including above-mentioned communication interface 1301 and processor 1302, memory 1303 The structures such as fast device, power supply.
In one embodiment, the control device can also be intelligent terminal, such as smart mobile phone, tablet computer etc., Can also include user interface, display other than including above-mentioned communication interface 1301 and processor 1302, memory 1303 The structures such as device, power supply.
The memory 1303 may include volatile memory (volatile memory), such as random access memory Device (random-access memory, RAM)；Memory 1303 can also include nonvolatile memory (non-volatile ), such as flash memory (flash memory), hard disk (hard disk drive, HDD) or solid state disk memory (solid-state drive, SSD)；Memory 1303 can also include the combination of the memory of mentioned kind.
The processor 1302 can be central processing unit (central processing unit, CPU).The processing Device 1302 can further include hardware chip.Above-mentioned hardware chip can be application-specific integrated circuit (application- Specific integrated circuit, ASIC), programmable logic device (programmable logic device, PLD) or combinations thereof.Above-mentioned PLD can be Complex Programmable Logic Devices (complex programmable logic Device, CPLD), field programmable gate array (field-programmable gate array, FPGA), general battle array Row logic (generic array logic, GAL) or its arbitrary combination.
The memory 1303 is additionally operable to storage program instruction.The processor 1302 can call described program to instruct, Realize the correlation technique in above-mentioned each embodiment, including flight processing method, the limit mentioned fly state and determine method, and away from From computational methods etc...
The communication interface 1301 is used for into row data communication, the processor 1302, the flight for obtaining aircraft Position to the planning course line between preset target location；Determine that the limit in the planning course line flies state, the limit, which flies state, is It is determined according to planning the distance between the course line and target restricted area；Fly state according to the limit to execute about described winged The flight of row device is handled.
In an alternative embodiment, the limit flies state including at least first state and the second state, each state It is corresponding with the different processing rules for executing the flight processing about the aircraft.
In an alternative embodiment, the processor 1302 is executed for flying state according to the limit about institute State aircraft flight processing when, if specifically for it is described limit fly state be first state, according to and the first state pair The processing rule answered, sends out the first prompt message on display interface；First prompt message includes for prompting to need to note The flight prompt message of meaning restricted area.
In an alternative embodiment, first prompt message is to receive the flight directive to the aircraft It is sent out on the display interface afterwards；The target location is to return waypoint location, and the flight directive includes instruction of making a return voyage, institute It states instruction of making a return voyage and is used to indicate the aircraft and is maked a return voyage according to the planning course line and return waypoint location to described.
In an alternative embodiment, the processor 1302 is executed for flying state according to the limit about institute When stating the flight processing of aircraft, it is additionally operable to show confirmation prompt on display interface, the confirmation is prompted to send out receiving When the confirmation operation gone out, flown on the planning course line according to the instruction control aircraft that makes a return voyage described to be back to Return waypoint location.
In an alternative embodiment, the processor 1302 is executed for flying state according to the limit about institute When stating the flight processing of aircraft, if it is the second state to fly state for the limit, according to corresponding with second state Processing rule, sends out the second prompt message on display interface, and second prompt message includes for prompting limitation to fly Flight prompt message.
In an alternative embodiment, the processor 1302 is executed for flying state according to the limit about institute When stating the flight processing of aircraft, be additionally operable to by display interface for controlling the control icon of the aircraft flight from first Display mode is switched to the second display mode.
In an alternative embodiment, at least one distance threshold, the processor 1302, for determining have been preset When the limit in the planning course line flies state, for obtaining target restricted area, the target restricted area is preset restricted area set In with it is described planning airline distance be less than specific range restricted area；According to the planning course line at a distance from target restricted area with The distance threshold is compared, and determines that the limit in the planning course line flies state according to comparison result.
In an alternative embodiment, the processor 1302 flies for being limited according to the planning course line and target The distance in area is compared with the distance threshold, when determining that the limit in the planning course line flies state according to comparison result, is used for Whether it is less than the distance threshold at a distance from the horizontal direction with target restricted area according to the planning course line, determines the rule The limit of plot a course flies state.
In an alternative embodiment, the processor 1302 flies for being limited according to the planning course line and target The distance in area is compared with the distance threshold, when determining that the limit in the planning course line flies state according to comparison result, is used for Movement area is determined according to the planning course line and the distance threshold；Judge the movement area and the target restricted area whether phase It hands over；Determine that the limit in the planning course line flies state according to judging result.
In an alternative embodiment, the movement area of the determination includes at least the firstth area and the secondth area；When judging When stating target restricted area and only intersecting with firstth area, determine that the planning course line is first state；When judging target limit When flying area with secondth area, determine that the planning course line is the second state.
In an alternative embodiment, firstth area is according to the planning course line and preset first distance threshold It obtains, the planning course line includes in firstth area；Secondth area is according to the planning course line and preset What two distance thresholds obtained, the planning course line includes in secondth area；First distance threshold is more than described second Distance threshold.
In an alternative embodiment, the processor 1302 flies for being limited according to the planning course line and target The distance in area is compared with the distance threshold, when determining that the limit in the planning course line flies state according to comparison result, specifically For determining object boundary line from the target restricted area；Referred to according to the object boundary line and the distance threshold Timberline；Judge whether the planning course line intersects with the index line；Determine that the limit in the planning course line flies according to judging result State.
In an alternative embodiment, the index line includes：According to the boundary line and preset third apart from threshold It is worth to the first index line, the boundary line and preset 4th distance threshold obtain the second index line；When judging the planning When course line is only intersected with the first index line, determine that the planning course line is first state；When judging the planning course line and second When index line intersects, determine that the planning course line is the second state.
In an alternative embodiment, the processor 1302 is additionally operable to show planning in preset display interface Relative position between course line and the target restricted area.
In an alternative embodiment, the processor 1302 is additionally operable to show the flight position on display interface Set the relative position with the target restricted area.
In an alternative embodiment, the processor 1302 is additionally operable to according to the flight position, and according to described The current flying speed of aircraft carries out flight prediction and obtains predicted time value, described when carrying out the prediction that flight prediction obtains Between value refer to：Predict the obtained time interval into the target restricted area；It is executed about institute according to the predicted time value State the flight processing of aircraft.
In an alternative embodiment, the processor 1302, for according to the predicted time value execute about When the flight processing of the aircraft, if being additionally operable to the predicted time value no more than value at the first time, the first processing is selected Rule is executed to be handled about the flight of the aircraft；If the predicted time value is not more than the second time value, second is selected Processing rule is executed to be handled about the flight of the aircraft；The first time value and second time value differ, and The first processing rule is differed with the second processing rule.
In an alternative embodiment, the processor 1302 is executed for flying state according to the limit about institute The flight processing for stating aircraft, is additionally operable to send out the prompt flown to the direction far from the target restricted area.
The embodiment of the present invention can after having planned the line of flight of aircraft, it is automatic carry out about the course line with it is neighbouring The distance between restricted area determines that the limit in the course line flies state, and then flies state based on different limits and carried out not to aircraft With processing, meet to aircraft based on restricted area controlled automate, intelligent demand.
Above disclosed is only section Example of the present invention, cannot limit the right model of the present invention with this certainly It encloses, therefore equivalent changes made in accordance with the claims of the present invention, is still within the scope of the present invention.

Claims (20)

1. a kind of flight processing method, which is characterized in that including：
The flight position of aircraft is obtained to the planning course line between preset target location；
Determine that the limit in the planning course line flies state, it is according between the planning course line and target restricted area that the limit, which flies state, Distance determine；
Fly state execution according to the limit to handle about the flight of the aircraft.
2. the method as described in claim 1, which is characterized in that the limit flies state and includes at least first state and the second shape State, each state are corresponding with the different processing rules for executing the flight processing about the aircraft.
3. method as claimed in claim 2, which is characterized in that described to fly state execution about the aircraft according to the limit Flight processing, including：
If it is first state that the limit, which flies state, according to processing corresponding with first state rule, on display interface Send out the first prompt message；First prompt message includes for prompting the flight prompt message it should be noted that restricted area.
4. method as claimed in claim 3, which is characterized in that first prompt message is being received to the aircraft Flight directive after send out on the display interface；
The target location is to return waypoint location, and the flight directive includes instruction of making a return voyage, and the instruction of making a return voyage is used to indicate institute It states aircraft and is maked a return voyage according to the planning course line and return waypoint location to described.
5. method as claimed in claim 4, which is characterized in that described to fly state execution about the aircraft according to the limit Flight processing, further include：
Shown on display interface confirmation prompt, receive to it is described confirm prompt send out confirmation operation when, according to described Instruction of making a return voyage controls the aircraft and is flown on the planning course line to return waypoint location described in being back to.
6. method as claimed in claim 2, which is characterized in that described to fly state execution about the aircraft according to the limit Flight processing, including：
If it is the second state that the limit, which flies state, according to processing corresponding with second state rule, on display interface The second prompt message is sent out, second prompt message includes the flight prompt message for prompting limitation to fly.
7. method as claimed in claim 6, which is characterized in that described to fly state execution about the aircraft according to the limit Flight processing, further include：
On display interface for controlling the control icon of the aircraft flight the second display will be switched to from the first display mode Mode.
8. method as described in any one of claim 1 to 7, which is characterized in that at least one distance threshold has been preset, it is described true The limit in the fixed planning course line flies state, including：
Target restricted area is obtained, the target restricted area is to be less than spy with the planning airline distance in preset restricted area set The restricted area of set a distance；
It is compared with the distance threshold at a distance from target restricted area according to the planning course line, is determined according to comparison result The limit in the planning course line flies state.
9. method as claimed in claim 8, which is characterized in that it is described according to the planning course line at a distance from target restricted area It is compared with the distance threshold, determines that the limit in the planning course line flies state according to comparison result, including：
It is compared with preset distance threshold at a distance from the horizontal direction according to the planning course line and target restricted area, root Determine that the limit in the planning course line flies state according to comparison result.
10. method as claimed in claim 8, which is characterized in that it is described according to planning course line and the target restricted area away from It is compared from the distance threshold, determines that the limit in the planning course line flies state according to comparison result, including：
Movement area is determined according to the planning course line and the distance threshold；
Judge whether the movement area intersects with the target restricted area；
Determine that the limit in the planning course line flies state according to judging result.
11. method as claimed in claim 10, which is characterized in that the movement area of the determination includes at least the firstth area and second Area；When judging that the target restricted area only intersects with firstth area, determine that the planning course line is first state；Work as judgement When the target restricted area is with secondth area, determine that the planning course line is the second state.
12. method as claimed in claim 11, which is characterized in that firstth area is according to the planning course line and preset What the first distance threshold obtained, the planning course line includes in firstth area；
Secondth area is obtained according to the planning course line and preset second distance threshold value, and the planning course line is included in In secondth area；
First distance threshold is more than the second distance threshold value.
13. method as claimed in claim 8, which is characterized in that it is described according to planning course line and the target restricted area away from It is compared from the distance threshold, determines that the limit in the planning course line flies state according to comparison result, including：
Object boundary line is determined from the target restricted area；
Index line is obtained according to the object boundary line and the distance threshold；
Judge whether the planning course line intersects with the index line；
Determine that the limit in the planning course line flies state according to judging result.
14. method as claimed in claim 13, which is characterized in that the index line includes：According to the object boundary line and Preset third distance threshold obtains the first index line, and is obtained according to the object boundary line and preset 4th distance threshold Two index lines；When judging that the planning course line is only intersected with the first index line, determine that the planning course line is first state；When When judging that the planning course line is intersected with the second index line, determine that the planning course line is the second state.
15. such as claim 1 to 14 any one of them method, which is characterized in that further include：
The relative position between planning course line and the target restricted area is shown in preset display interface.
16. such as claim 1 to 15 any one of them method, which is characterized in that further include：
The relative position of the flight position and the target restricted area is shown on display interface.
17. such as claim 1 to 16 any one of them method, which is characterized in that further include：
According to the flight position, and according to the current flying speed of the aircraft, carries out flight prediction and obtain predicted time Value, the obtained predicted time value of flight prediction that carries out refer to：Between predicting the obtained time into the target restricted area Every；
It is executed according to the predicted time value and is handled about the flight of the aircraft.
18. method as claimed in claim 17, which is characterized in that described executed according to the predicted time value flies about described The flight of row device is handled, including：
If the predicted time value is worth no more than at the first time, selects the first processing rule to execute and fly about the aircraft Row processing；
If the predicted time value is not more than the second time value, selects second processing rule to execute and fly about the aircraft Row processing；
The first time value and second time value differ, and the first processing rule and second processing rule It differs.
19. method as claimed in claim 8, which is characterized in that described to fly state execution about the flight according to the limit The flight of device is handled：
Send out the prompt flown to the direction far from the target restricted area.
20. a kind of control device, which is characterized in that the control device includes：Communication interface and processor；Wherein
The communication interface is used for into row data communication；
The processor, for obtaining the flight position of aircraft to the planning course line between preset target location；Determine institute The limit for stating planning course line flies state, and the winged state of limit is according to the distance between the planning course line and target restricted area come really Fixed；Fly state execution according to the limit to handle about the flight of the aircraft.
CN201780004597.9A 2017-04-09 2017-04-09 Flight processing method and control equipment Active CN108496213B (en)

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