CN108496213B

CN108496213B - Flight processing method and control equipment

Info

Publication number: CN108496213B
Application number: CN201780004597.9A
Authority: CN
Inventors: 张立天; 周鸿柱; 李昊南
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2017-04-09
Filing date: 2017-04-09
Publication date: 2022-01-25
Anticipated expiration: 2037-04-09
Also published as: CN114326811A; WO2018187889A1; CN108496213A

Abstract

A flight processing method and control equipment, the method comprises the following steps: acquiring a planned route (204, 301) from a flight position (202) of the aircraft to a preset target position (S401, S501); determining a flight-restricted status (S402, S502) of the planned flight path (204, 301), the flight-restricted status being determined as a function of a distance between the planned flight path (204, 301) and the target flight-restriction zone (205, 302); flight processing with respect to the aircraft is performed according to the flight-restricted state (S403). The aircraft can be processed differently based on different flight-limiting states, and the automatic and intelligent requirements of controlling the aircraft based on the flight-limiting area are met.

Description

Flight processing method and control equipment

The disclosure of this patent document contains material which is subject to copyright protection. The copyright is owned by the copyright owner. The copyright owner has no objection to the facsimile reproduction by anyone of the patent document or the patent disclosure, as it appears in the patent and trademark office official records and records.

Technical Field

The invention relates to the technical field of aircraft control, in particular to a flight processing method and control equipment.

Background

Today, safe flight is a very important issue for various aircraft, such as UAV (Unmanned Aerial Vehicle). The flight limiting area is a management means for the flight airspace of the unmanned aerial vehicle. Through stipulating the limit flight district, prevent that unmanned aerial vehicle from getting into some regulation areas to guarantee the safety in this airspace.

In the field of flight control of current aircrafts, how to automatically process the aircrafts based on a flight-limiting area becomes a hot point of research.

Disclosure of Invention

The embodiment of the invention provides a flight processing method and control equipment, which can automatically execute flight processing related to an aircraft based on a flight limiting area.

In a first aspect, an embodiment of the present invention provides a flight processing method, including:

acquiring a planned route from a flight position of an aircraft to a preset target position;

determining a flight limit state of the planned flight path, the flight limit state being determined according to a distance between the planned flight path and a target flight limit zone;

performing flight processing with respect to the aircraft according to the flight-restricted status.

In a second aspect, an embodiment of the present invention provides a flight processing apparatus, including:

the acquiring module is used for acquiring a planned route from the flight position of the aircraft to a preset target position;

a determining module, configured to determine a flight-restriction state of the planned route, where the flight-restriction state is determined according to a distance between the planned route and a target flight-restriction region;

a processing module for performing flight processing with respect to the aircraft in accordance with the flight-restricted status.

In a third aspect, an embodiment of the present invention further provides a control device, where the control device includes: a communication interface and a controller; the communication interface is used for data communication, and the controller is used for acquiring a planned route from the flight position of the aircraft to a preset target position; determining a flight limit state of the planned flight path, the flight limit state being determined according to a distance between the planned flight path and a target flight limit zone; performing flight processing with respect to the aircraft according to the flight-restricted status.

In a fourth aspect, embodiments of the present invention provide a computer storage medium having stored therein program instructions for executing the flight processing method of the first aspect described above when executed.

According to the embodiment of the invention, after the flight route of the aircraft is planned, the distance between the flight route and the adjacent flight-limiting area is automatically determined, the flight-limiting state of the flight route is determined, and then different processing is carried out on the aircraft based on different flight-limiting states, so that the automatic and intelligent requirements of controlling the aircraft based on the flight-limiting area are met.

Drawings

FIG. 1 is a schematic structural diagram of a flight handling system according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a display interface according to an embodiment of the invention;

FIG. 3 is a schematic view of another display interface of an embodiment of the present invention;

FIG. 4 is a schematic flow chart diagram of a flight handling method in accordance with an embodiment of the present invention;

FIG. 5 is a schematic flow chart diagram of another flight handling method of an embodiment of the present invention;

fig. 6 is a flowchart illustrating a method for determining a flight restriction status according to an embodiment of the present invention;

FIG. 7 is a flowchart illustrating a method for determining a restricted-flight status based on distance according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of a planned route and a restricted flight zone relative position in accordance with an embodiment of the present invention;

FIG. 9 is a flowchart illustrating a method for determining a restricted-flight status based on distance according to an embodiment of the present invention;

FIG. 10 is a schematic illustration of another embodiment of the invention for planning the relative positional relationship of a flight path and a flight-limiting zone;

FIG. 11 is a schematic flow chart diagram of yet another flight handling method in accordance with an embodiment of the present invention;

FIG. 12 is a schematic structural diagram of a flight handling device according to an embodiment of the present invention;

fig. 13 is a schematic structural diagram of a control device according to an embodiment of the present invention.

Detailed Description

In an embodiment of the invention, the aircraft has the capability of automatically planning a flight path, and based on the position coordinates of the two positions, the aircraft can plan one planning flight path so as to automatically fly based on the planning flight path. The aircraft can be configured with two or more position coordinates before automatic flight, and a controller arranged in the aircraft plans the route based on each position coordinate to obtain a planned route covering each position coordinate. The aircraft can also receive one or more position coordinates sent by a ground control end connected with the aircraft in the flying process, and the aircraft combines the current flying position and the received one or more position coordinates to obtain a planned route. The aircraft can also directly receive the planned route sent by the ground control end.

The aircraft can also automatically return according to the current flight position, and the return route is planned mainly according to the current flight position and the return point position to automatically return. In one embodiment, when the aircraft detects a low power, a return route may be planned based on the current flight position and return point position to return to a safe position before the power is insufficient to support flight. The aircraft can also be used for planning a return flight route according to the current flight position and return flight position when detecting that a connection signal between the aircraft and the ground control end is weak or the connection signal is lost, so as to ensure that the aircraft is controlled. The return flight point position may be a target position of the aircraft during takeoff, which is automatically recorded by the aircraft, or may be a target position designated by a user. In one embodiment, the ground control terminal may also control the return flight of the aircraft based on the power of the aircraft, the connection signal with the aircraft, and other factors, as described above.

A flight-restricted zone mainly includes an area of an airport or the like that is defined as requiring strict prohibition or restriction of aircraft flight. Aircraft may be prohibited or restricted from flying in these areas. In the embodiment of the invention, the range sizes of the flight limiting areas defined on the horizontal plane can be the same or different for the airport and other areas at different heights.

In the embodiment of the invention, after the planned flight path is obtained, whether part or all of the planned flight path is in the target flight-limiting area or whether the planned flight path is close to the target flight-limiting area can be judged according to the regional position coordinates of the planned flight path and one or more adjacent flight-limiting areas (namely the target flight-limiting area). And performing different flight processing on the aircraft according to the judgment result. In the embodiment of the present invention, the flight processing mainly includes processing a flight prompt for the aircraft on a planned route. The flight alert process is primarily used to alert the user that there is a risk of the aircraft entering or approaching a flight-restricted area while the aircraft is flying along a planned route (e.g., returning).

According to the distance between the planned route and the target flight-limiting area, a plurality of flight-limiting states related to the planned route can be determined, wherein the flight-limiting states are mainly used for representing states of whether safe flight is available or not. In one embodiment, three flight-restricted states may be included, specifically a first state indicating that the planned flight path is near the target flight-restricted zone; a second state indicating that the planned flight path has approached the target flight limit zone very closely, or has partially entered the target flight limit zone, or has entered the target flight limit zone entirely; and a third state in which flight is safe. Wherein, in the first state, the distance between the planned route and the flight limiting zone is greater than a second distance threshold value and not greater than a first distance threshold value; in a second state, the distance between the planned route and the flight limiting area is not greater than a second distance threshold; in a third state, the distance between the planned route and the flight-limiting zone is greater than a first distance threshold. The first distance threshold is greater than the second distance threshold.

In the first state, flight prompt information needing to pay attention to the flight-limiting area can be sent to the user. In the second state, a flight prompting message for limiting flight can be sent to the user, which indicates that the flight is limited according to the planned flight path or the flight danger exists when the user enters the flight limiting area in the second state, and in the second state, the user is required to be prompted to modify parameters to re-plan to obtain a new planned flight path to avoid the target flight limiting area, or the user is automatically re-planned to obtain a new planned flight path to avoid the target flight limiting area, or a direction instruction is sent to inform the user to fly according to the direction indicated by the direction instruction, so that the planned flight path is obtained based on the new flight position again. In the third state, no notice or a notice that safe flight is possible may be issued.

In one embodiment, a system for performing flight management on an aircraft is shown in FIG. 1, and includes an aircraft and a ground control terminal, shown in FIG. 1, located on a user side. The aircraft can be used for planning a flight path according to at least two configured position points to obtain a planned flight path, determining a flight-limiting state according to the distance between the planned flight path and a target flight-limiting area after the planning is finished, and performing flight processing on the aircraft after the flight-limiting state is determined. The flight process includes issuing a prompt to a control user of the aircraft. And the ground control terminal is used for receiving prompt information sent by the aircraft during emergency treatment and presenting the prompt information to a user.

A flight limit zone database may be provided in the aircraft. The flight restriction area database stores flight restriction area information, such as a flight restriction area set including a plurality of flight restriction areas, and the flight restriction area set at least includes position information of each flight restriction area. The target flight limiting area can be obtained by inquiring the flight limiting area database.

The aircraft can calculate a planned route according to the flight altitude, the return flight altitude set by the user, the current position and the target position, and determines the flight-limiting state of the planned route by combining the target flight-limiting area. And sending corresponding prompt information to the ground control terminal based on the flight limiting state. The aircraft can also only send the flight limiting state determined by the aircraft to the ground control terminal, and the ground control terminal selects corresponding prompt information according to the flight limiting state sent by the aircraft to prompt the user.

The ground control terminal may be an intelligent terminal, for example, a terminal with a communication function, such as a smart phone, a tablet computer, a smart wearable device, and a personal computer. The ground control terminal can display corresponding text prompt information and/or image prompt information to a user through a display interface. The ground control end can also send out voice prompt information, vibration prompt information and the like so as to prompt the flight-limiting state of the planned air route of the aircraft to a user.

In other embodiments, the aircraft may also be used only for flight under control of the ground control terminal. The ground control end can complete the planning of the air route according to at least two position points to obtain the planned air route of the aircraft, judge the flight-limiting state of the planned air route based on the planned air route and a target flight-limiting area determined from a built-in flight-limiting area database, and directly send prompt information to a user based on the flight-limiting state, wherein the prompt information also comprises any one or more of character prompt information, image prompt information, voice prompt information and vibration prompt information. If the planned flight path is such that the aircraft does not enter or approach the flight limit zone, the aircraft may be controlled to fly directly based on the planned flight path.

The at least two positions may be set by a user on a user interface, for example, a user specified and set on a map displayed on a display interface, an initial position of the user-set positions may be determined as a flight position of the aircraft, and an end position (or some intermediate position thereof) may be considered as a target position. The at least two position points may also be a current flight position of the aircraft during flight and a target position, the flight position may be sent to the ground control end by the aircraft, and the target position may be a position when the aircraft takes off, or a position designated by a user, or a position of an aircraft base station that may be used to charge the aircraft or may provide landing for the aircraft.

The manner of sending the prompt to the user in the ground control terminal includes various ways. In one embodiment, the user may be prompted for information via a display interface. The display interface is shown in fig. 2. The display interface 200 of fig. 2 includes a flight indication area 201, and in the flight indication area 201, a flight position 202 where the aircraft is located, a flight path 203 where the aircraft has flown, a planned flight path 204 of the aircraft, and a target flight-limiting area 205 are displayed. When the target flight restriction area 205 includes a plurality of areas, each of the target flight restriction areas 205 is also displayed in the display interface. In the scenario of fig. 2, the flight-restriction state of the planned route 204 is determined as the first state, that is, the relationship between the planned route 204 and the target flight-restriction region 205 is a close relationship, and the distance between the planned route 204 and the target flight-restriction region 205 is greater than the second distance threshold but not greater than the first distance threshold. A first reminder 206 may be issued, the first reminder 206 including a flight reminder for reminding of the need to attend to the restricted flight zone. Specifically, the first prompt 206 may be issued when the user issues a flight command to control the aircraft to fly along the planned route 204. The flight instruction may be, for example, a return instruction for instructing the aircraft to return to the return point position according to the planned route 204, which may be detected when it is checked that the user has clicked a return button 207 in the display interface 200. In addition, a confirmation prompt 208 may be further displayed on the display interface 200, and when a confirmation operation sent to the confirmation prompt 208 is received, the aircraft is controlled to fly on the planned route 204 according to the return command to return to the return point position. The confirmation prompt 208 may actually be provided to the user in the form of a slide, virtual button, etc., as shown in fig. 2. Further, if the user believes that the planned route is not to be used to control the flight of the aircraft, the user may also click on the "cancel" button shown in FIG. 2, and the aircraft will not be controlled to fly along the planned route to facilitate resetting of the return route, and the user may re-designate the target location on the flight indication area 201 to facilitate planning a new planned route significantly away from the target flight restriction area 205. Immediately (or within a preset time interval) after determining that the planned route is in the first state, the first reminder message 206 is initiated to be displayed. The first prompt 206 may be dismissed after a preset duration.

Referring again to FIG. 3, the display interface 200 is also shown in FIG. 3, which differs from FIG. 2 in that the planned flight path 301 in FIG. 3 has been partially located in the target flight-limiting zone 302, and the distance between the planned flight path 301 and the target flight-limiting zone 302 is not greater than the second distance threshold, so that the flight-limiting status of the planned flight path 301 is the second status. In the second state, the second prompt message 303 is displayed in the display interface 200 of fig. 3, and in the embodiment of the present invention, the user is reminded in a text manner. The second prompt message 303 includes a flight prompt message for prompting to limit flight, and the main user prompts the user to enter a flight-limiting area if the user returns according to a planned route, so that the flight is blocked or a flight danger or other warnings are given. Of course, the second prompt message 303 may be displayed only when a flight command for the aircraft is detected, for example, a return command is issued by clicking the return button 207 of the display interface 200. Immediately (or within a preset time interval) after the planned route 301 is determined to be in the second state, the second prompting message 303 is displayed. The second prompting message 303 may be cancelled after a preset time period is displayed.

In one embodiment, the flight limiting area database, the query module and the prompt module are included in the aircraft or the ground control terminal. The flight limiting area database stores flight limiting area information. Other modules may query the flight-restricted zone information. And the query module calculates a return flight route according to the current flight height, the return flight height set by the user, the current position and the return flight point position in the flight process, and determines the flight limit state of the aircraft according to the return flight route and the queried flight limit area information. And the flight limiting state is pushed to a prompting module. The prompting module prompts the current return state of the user. In one embodiment, the flight-restricted state can be divided into the following 4 types:

0: and in the return flight height, an infinite flight area is formed in a range of 50m around the linear return flight line.

1: in the return flight height, a limited flight area is arranged in a range of 50m around the linear return flight line, and an unlimited flight area is arranged in a range of 30 m; wherein the 30m may correspond to the second distance threshold.

2: in the return flight height, a limited flight area is arranged within 20m and an unlimited flight area is arranged within 10m around the linear return flight line; wherein the 10m may correspond to a first distance threshold.

3: and in the return flight height, a flight-limited area is arranged in a range of 10m around the linear return flight line.

Wherein 0, 1 represents the current location return safety, which may correspond to the third state described above; 2, the current location return hazard, please the user's attention, may correspond to the first state described above; and 3, the current position cannot return, and the user is noticed that if the aircraft moves back to the returnable area in order to return, the second state can be corresponded to.

A flight processing method according to an embodiment of the present invention is described below.

Referring to fig. 4, a flow chart of a flight processing method according to an embodiment of the present invention is schematically shown, and the flight processing method according to the embodiment of the present invention may be executed at an aircraft end, specifically, by a controller disposed in the aircraft. The method may actually be performed by a ground control terminal. The method may specifically comprise the following steps.

S401: and acquiring a planned route from the flight position of the aircraft to a preset target position. The flight position of the aircraft may be a current position of the aircraft in a flight process, and the corresponding target position may be a position of a certain destination to which the aircraft needs to fly, or a return point position, which may be a position during flying and takeoff. The flight position of the aircraft may also be a takeoff position of the aircraft when the aircraft takes off, and the target position may be a position of a certain destination to which the aircraft needs to fly. The flight position of the aircraft may also be one location specified by the user on a map, and the target location may be another location specified by the user on the map. In the embodiment of the invention, the planned route is a straight line segment or an approximate straight line segment from the flight position to the target position on the map, and can also be a combination of a curve segment and the straight line segment.

S402: determining a flight limit state of the planned flight path, the flight limit state being determined according to a distance between the planned flight path and a target flight limit zone. The target flight limiting area is a flight limiting area with a distance smaller than a specific distance from the planned route in a preset flight limiting area set. The distance between the flight control area in the flight control area set and the planned route may be the shortest distance between the flight control area and the planned route. The planning route comprises a plurality of waypoints, the distance from a position point on the boundary of each flight-limiting area in the flight-limiting area set to each waypoint on the planning route can be calculated, and a shortest distance is determined as the distance from the corresponding flight-limiting area to the planning route. And taking the flight limiting areas with the distances from the flight limiting areas to the planned routes smaller than a specific distance as target flight limiting areas. In one embodiment, a part of the flight-restricted areas which are determined to be the same as or close to the administrative district where the aircraft is currently located can be screened from the set of flight-restricted areas according to the administrative division (for example, administrative districts in cities), and then calculation is performed based on the part of the flight-restricted areas.

In an embodiment of the invention, the flight-restricted state comprises at least a first state and a second state, each state corresponding to a different processing rule for performing a flight process with respect to the aircraft. The first state corresponds to first prompt information, and the second state corresponds to second prompt information. Other flight-restricted states may also be included, for example, a third state in which the planned flight path of the aircraft is not adjacent to any flight-restricted area, may be flown safely, may not require prompting, or prompts the user to be able to safely fly along the planned flight path.

S403: performing flight processing with respect to the aircraft according to the flight-restricted status. In the embodiment of the invention, the flight processing of the aircraft mainly comprises issuing different prompts to the user based on different flight-limiting states. The specific prompting mode comprises any one or more of text prompting information, image prompting information, voice prompting information, vibration prompting information and the like. A display interface as shown in fig. 2 and 3 may be provided to prompt the user. In the display interface, the relative position between a planned flight path and the target flight-limiting area can be displayed, and the relative position between the flight position and the target flight-limiting area can also be displayed on the display interface.

Referring to fig. 5, it is a schematic flow chart of another flight processing method according to an embodiment of the present invention, where the flight processing method according to the embodiment of the present invention may be executed at an aircraft end, and specifically executed by a controller disposed in the aircraft. The method may actually be performed by a ground control terminal. The method may specifically comprise the following steps.

S501: and acquiring a planned route from the flight position of the aircraft to a preset target position. The planned route may be planned in real time or at a certain time interval during the flight of the aircraft, and after the planned route is planned, the following step of confirming the flight-restricted state of S502 is performed.

S502: determining a flight limit state of the planned flight path, the flight limit state being determined according to a distance between the planned flight path and a target flight limit zone.

S503: if the flight limiting state is a first state, sending first prompt information on a display interface according to a processing rule corresponding to the first state; the first prompt message comprises a flight prompt message for prompting that the flight restriction area needs attention.

The first state mainly refers to that the aircraft approaches the target flight limiting area, and the first prompt message is mainly used for reminding a user of flying. The reminding manner of the first prompt message may refer to the description of the content corresponding to fig. 2 in the foregoing embodiment.

In an optional embodiment, the first prompt message is issued on the display interface after receiving a flight instruction for the aircraft; the target position is a return flight point position, the flight instruction comprises a return flight instruction, and the return flight instruction is used for indicating the aircraft to return to the return flight point position according to the planned route. That is, after the flight-restricted state is determined, the first prompt message may not be displayed, but may be displayed when the user desires the aircraft to fly according to the planned route, such as when the user returns according to the return route, so as to notify the user of the flight-restricted state of the aircraft currently, and notify the user that the current flight is close to the flight-restricted area and needs to fly with caution.

S504: and displaying a confirmation prompt on a display interface, and controlling the aircraft to fly on the planned route according to the return flight instruction to return to the return flight point position when a confirmation operation sent to the confirmation prompt is received. S504 is an optional step, and in an embodiment, after receiving a flight instruction for controlling the aircraft to fly according to the planned route, for example, after receiving the return flight instruction, the S504 displays a confirmation prompt on the display interface so as to confirm to the user whether to respond to the flight instruction to control the aircraft to fly according to the planned route. The form of the confirmation prompt may refer to the description of the embodiment corresponding to fig. 2.

S505: and if the flight limiting state is a second state, sending second prompt information on a display interface according to a processing rule corresponding to the second state, wherein the second prompt information comprises flight prompt information for prompting flight limitation. The second state mainly indicates that the planned flight path of the aircraft approaches to or partially or completely enters the flight limiting area, and the user needs to be sent that the flight according to the planned flight path is blocked, so that the flight is dangerous. The form of the second prompt message in the second state may refer to the corresponding description in fig. 3. In the second state, the aircraft can be controlled to hover so as to wait for receiving a control command sent by the ground control end to be far away from the flight limiting area.

S506: and switching a control icon for controlling the flight of the aircraft on a display interface from the first display mode to the second display mode. The control icon refers to an icon for controlling the aircraft to fly according to a planned route, such as a return button shown in fig. 2. The step S506 is an optional step, and the purpose of the step S506 is to prohibit the user from controlling the aircraft to fly according to the planned flight path, since the aircraft would enter the flight-limiting zone if flying according to the planned flight path. The first display mode and the second display mode may be different in display color, for example, the control icon displays white in the first display mode, and displays gray in the second display mode, and the control icon in gray does not receive and respond to the click operation of the user.

In addition, performing flight processing with respect to the aircraft according to the flight restriction state may further include: and when the flight limiting state is in the second state, sending out a prompt of flying in the direction away from the target flight limiting area. The prompt of flying in the direction away from the target flight-limiting area can be a text or language prompt, and can also be a prompt in the form of an icon, wherein the icon can be an arrow icon used for indicating the moving direction and indicating a specific away direction, and prompts a user to control the aircraft to fly in the direction.

The display interface of the embodiment of the invention is displayed to a user by the ground control terminal. When the flight processing method of the embodiment of the invention is executed by the aircraft, the aircraft sends the corresponding control message to the ground control terminal, and the ground control terminal sends the corresponding prompt on the display interface according to the indication of the control message after receiving the aircraft control message. The control message has the purposes of controlling the ground control terminal to display first prompt information, second prompt information, confirmation prompt and control to switch the control icon from the first display mode to the second display mode. When the flight processing method of the embodiment of the invention is executed by the ground control end, the ground control end directly sends out a corresponding prompt on the display interface. The form of the display interface is shown in fig. 2.

Fig. 6 is a schematic flow chart illustrating a method for determining a flight-restricted status according to an embodiment of the present invention. In the embodiment of the present invention, a distance threshold for performing flight-restriction status confirmation is configured, and the distance threshold may include a plurality of thresholds, for example, a first distance threshold and a second distance threshold. The method for determining the flight limiting state of the aircraft comprises the following steps.

S601: and acquiring a target flight limiting area, wherein the target flight limiting area is a flight limiting area with a distance smaller than a specific distance from the planned route in a preset flight limiting area set.

S602: and comparing the distance between the planned route and the target flight limiting area with the distance threshold, and determining the flight limiting state of the planned route according to the comparison result. The distance between the planned flight path and the target flight limiting area can be obtained by calculation according to the position coordinates of a plurality of waypoints on the planned flight path and the position coordinates of a plurality of position points on a boundary line close to the planned flight path in the target flight limiting area. The distance between the planned route and the target flight limiting area is the shortest distance obtained through calculation, and the shortest distance is compared with a distance threshold value so as to determine the flight limiting state of the planned route.

In an embodiment, the S602 may specifically refer to: and comparing the distance between the planned route and the target flight limiting area in the horizontal direction with the distance threshold, and determining the flight limiting state of the planned route according to the comparison result. That is, at the same altitude, the distance between the planned route and the flight-limiting area at the altitude is obtained, the obtained distance is the distance in one horizontal direction, and the flight-limiting state is determined based on the distance and the distance threshold.

In one embodiment, there may be flight-restricted zones above or below the planned route, for example, in some flight-restricted areas, which are allowed to fly within a certain height, for example, the airspace within 20m of the area is allowed to fly, and then the step S602 includes: and comparing the distance between the planned route and the target flight limiting area in the vertical direction with the distance threshold, and determining the flight limiting state of the planned route according to the comparison result.

In one embodiment, the S602 includes: comparing the distance between the planned flight path and the target flight limiting area in the vertical direction with the distance threshold, comparing the distance between the planned flight path and the target flight limiting area in the horizontal direction with the distance threshold, and determining the flight limiting state of the planned flight path according to the comparison result.

Fig. 7 is a flowchart illustrating a method for determining a flight-restricted status according to a distance according to an embodiment of the present invention. The method of the embodiment of the present invention corresponds to S602 in the embodiment corresponding to fig. 6. Specifically, the method may include the following steps.

S701: and determining a flight area according to the planned route and the distance threshold. The determined flight zone comprises at least a first zone and a second zone; the first area is obtained according to the planned route and a preset first distance threshold, and the planned route is included in the first area; the second area is obtained according to the planned route and a preset second distance threshold, and the planned route is included in the second area; the first distance threshold is greater than the second distance threshold.

S702: and judging whether the flight area is intersected with the target flight limiting area.

S703: and determining the flight limiting state of the planned route according to the judgment result.

In the embodiment of the invention, when the target flight limiting area is judged to be only intersected with the first area, the planned route is determined to be in a first state; and when the target flight limiting area and the second area are judged, determining that the planned route is in a second state. As shown in fig. 8, the preset distance thresholds include a first distance threshold d1 and a second distance threshold d2, and one relationship among the planned route 801, the first zone 802, the second zone 803, and the target flight restriction zone 804 is shown in fig. 8. The first zone 802 and the second zone 803 may be of a regular geometric shape, here rectangular, while the boundary line 805 of the flight-limiting zone near the planned route 801 is a straight line segment. According to the boundary coordinates of the first area 802 and the coordinates of the boundary line 805 of the target flight-limiting area, whether the target flight-limiting area 804 intersects with the first area 802 can be judged by calculating whether a straight line intersects with a rectangle under a world coordinate system. Similarly, based on the boundary line 805 of the target flight restriction zone 804 and the rectangle in which the second zone 803 is located, it can be determined whether the target flight restriction zone 804 intersects the second zone 803.

If the target flight-limiting zone is judged to intersect only the first zone and not the second zone, then it can be determined that the distance between the planned flight path and the flight-limiting zone is greater than the second distance threshold and not greater than the first distance threshold, and the planned flight path is in the first state. And if the distance between the planned route and the target flight-limiting area is intersected with the second area, the distance between the planned route and the target flight-limiting area can be considered to be smaller than a second distance threshold value, and the planned route is in a second state. Whether the target flight-limiting area intersects with the first area or the second area can be determined by judging whether a boundary line 805 of the target flight-limiting area in fig. 8 intersects with the first area or the second area, specifically, whether a straight line in which the boundary line 805 is located intersects with a rectangle of the first area or a rectangle of the second area in a world coordinate system, and further, whether the target flight-limiting area intersects with the first area or the second area is determined. For example, a linear equation may be determined from a plurality of position coordinates on a straight line, and vertex position coordinates of the first or second region may be determined, and whether the straight line intersects the first or second region may be determined from the linear equation and the vertex position coordinates.

The schematic diagram of fig. 8 is merely an example, and in other embodiments, the flight-limiting region may be an elliptical plane, such as the flight-limiting region shown in fig. 2, and it is necessary to calculate the manner in which a curve intersects a rectangle in the world coordinate system to determine whether the target flight-limiting region intersects the first region or the second region.

The horizontal distance between the planned route and the target flight-limiting area and the vertical distance between the planned route and the target flight-limiting area can also be calculated respectively based on the calculation mode corresponding to the schematic diagram shown in fig. 8.

According to the embodiment of the invention, the planned route is adjusted, different flight areas are generated based on the distance threshold, and the position relation between the planned route and the flight-limiting area can be quickly determined by judging whether the flight area and the flight-limiting area intersect or not, so that the state of the planned route is determined. The position relation between each navigation point and the flight limiting area on the planning route does not need to be calculated, so that the calculation cost is saved, and the efficiency is improved.

Fig. 9 is a flowchart illustrating a method for determining a flight-restricted status according to a distance according to an embodiment of the present invention. The method of the embodiment of the present invention corresponds to S602 in the embodiment corresponding to fig. 6. Specifically, the method may include the following steps.

S901: determining a target boundary line from the target flight limiting area; the target boundary line refers to a boundary line close to one side of the planned route in the target flight limiting area, and the boundary line close to one side of the planned route can be determined based on the position coordinates of the waypoints on the planned route and the area coordinates of the flight limiting area, so that the target boundary line is obtained. The obtained target boundary line is a line segment under the world coordinate system.

S902: and obtaining an indicating line according to the target boundary line and the distance threshold. The indicator line includes: and obtaining a first indicating line according to the boundary line and a preset third distance threshold value, and obtaining a second indicating line according to the boundary line and a preset fourth distance threshold value. The third distance threshold may correspond to the first distance threshold described above, which is the same as the first distance threshold. The fourth distance threshold may correspond to the second distance threshold described above, which is the same as the second distance threshold.

S903: and judging whether the planned route and the indication line intersect or not. And calculating whether the planned route intersects with the first indicator line and the second indicator line under the world coordinate system.

S904: and determining the flight limiting state of the planned route according to the judgment result. When the planned route is judged to be only intersected with a first indicating line, determining that the planned route is in a first state; when it is determined that the planned route intersects a second indicator line, the planned route may be determined to be in a second state.

As shown in fig. 10, the relationship between a planned route 1001, a first indicator line 1002, a second indicator line 1003, and a target boundary line 1004 of a target flight-limiting zone is shown. The distance between the first indicator line 1002 and the target boundary line 1004 is d3, and the distance between the second indicator line 1003 and the target boundary line 1004 is d 4.

If the planned flight path is determined to intersect only the first indicator line and not the second indicator line, then it may be determined that the distance between the planned flight path and the target flight limit is greater than a fourth distance threshold and not greater than a third distance threshold, and is in the first state. And if the planned route intersects the second indicator line, the distance between the planned route and the target flight limiting zone can be considered to be not greater than a fourth threshold, and the planned route is in a second state.

The horizontal distance between the planned route and the target flight-limiting area and the vertical distance between the planned route and the target flight-limiting area can also be calculated respectively based on the calculation mode corresponding to the schematic diagram shown in fig. 10.

According to the embodiment of the invention, the boundary line of the flight limiting area is adjusted, different indicating lines are generated based on the distance threshold, and the position relation between the planned route and the flight limiting area can be quickly determined by judging whether the planned route and the indicating lines intersect or not, so that the state of the planned route is determined. The position relation between each navigation point and the flight limiting area on the planning route does not need to be calculated, so that the calculation cost is saved, and the efficiency is improved.

Referring to fig. 11, it is a schematic flow chart of another flight processing method according to an embodiment of the present invention, where the flight processing method according to the embodiment of the present invention may be executed at an aircraft end, and specifically executed by a controller disposed in the aircraft. The method may actually be performed by a ground control terminal. The method may specifically comprise the following steps.

S1101: according to the flight position and the current flight speed of the aircraft, carrying out flight prediction to obtain a predicted time value, wherein the predicted time value obtained by carrying out flight prediction refers to: predicting a resulting time interval for entering the target flight-limiting zone. The smaller the predicted time value is, the shorter the predicted time value is, the aircraft can enter the flight limiting area, and the larger the predicted time value is, the longer the aircraft can enter the flight limiting area.

S1102: performing flight processing with respect to the aircraft according to the predicted time value. In one embodiment, the flight guidance process for the aircraft may be performed based only on the predicted time value obtained in S1101. In another embodiment, the flight prompting processing about the aircraft can also be performed according to the predicted time value and the obtained flight limiting state of the aircraft.

The resulting predicted time value may be divided into at least two levels, each level corresponding to a different processing rule for performing flight processing with respect to the aircraft. For example, when the predicted time value is not greater than a first level at which the first time value is located, selecting a first processing rule to perform a flight process with respect to the aircraft; selecting a second processing rule to perform a flight process with respect to the aircraft at a second level at which the predicted time value is not greater than a second time value.

In one embodiment, the prompt message based on the processing rule corresponding to the predicted time value can be displayed simultaneously when the prompt message is sent out on the display interface based on the flight-limited state of the planned route determined in the above embodiment. Two prompt messages may be displayed based on the two fly-window windows, respectively.

In one embodiment, flight handling with respect to the aircraft may also be determined based on a limited-flight state and a predicted time value. In the first state, if the predicted time value is less than the second time value, a corresponding flight handling prompt for the aircraft may be issued, e.g., "speed too fast, please fly cautiously". In the second state, if the predicted time value is greater than the second time value and less than the first time value, a corresponding flight handling prompt about the aircraft may be issued, for example, a prompt to "flight will be limited after N seconds" may be issued. The aircraft may be further controlled to hover to avoid entering the target flight-limiting zone.

That is, based on the combination of different flight-restricted states and different predicted time values, different processing rules may be preset as necessary to perform flight processing with respect to the aircraft.

An embodiment of the present invention further provides a computer storage medium, in which program instructions are stored. When the program instructions are executed, the corresponding methods in the above embodiments, the corresponding display interfaces, and the like can be implemented.

Referring to fig. 12, a schematic structural diagram of a flight processing device according to an embodiment of the present invention is shown, where the flight processing device according to an embodiment of the present invention may operate in an aircraft or a ground control end. The flight processing device can specifically operate the following modules:

an obtaining module 1201, configured to obtain a planned route from a flight position of an aircraft to a preset target position; a determining module 1202 for determining a flight-restriction status of the planned route, the flight-restriction status being determined according to a distance between the planned route and a target flight-restriction zone; a processing module 1203 configured to perform a flight process with respect to the aircraft according to the flight-restricted status.

Optionally, the flight-restricted state comprises at least a first state and a second state, each state corresponding to a different processing rule for performing a flight procedure with respect to the aircraft.

Optionally, in an implementation manner of this embodiment, the processing module 1203 is specifically configured to, if the flight-limiting state is a first state, send a first prompt message on a display interface according to a processing rule corresponding to the first state; the first prompt message comprises a flight prompt message for prompting that the flight restriction area needs attention.

Optionally, the first prompt message is sent out on the display interface after receiving a flight instruction for the aircraft; the target position is a return flight point position, the flight instruction comprises a return flight instruction, and the return flight instruction is used for indicating the aircraft to return to the return flight point position according to the planned route.

Optionally, the processing module 1203 is further configured to display a confirmation prompt on a display interface, and when a confirmation operation sent to the confirmation prompt is received, control the aircraft to fly on the planned route according to the return instruction to return to the return point position.

Optionally, in another implementation manner of this embodiment, the processing module 1203 is specifically configured to, if the flight restriction state is the second state, send a second prompt message on a display interface according to a processing rule corresponding to the second state, where the second prompt message includes flight prompt information for prompting to restrict flight.

Optionally, the processing module 1203 is further configured to switch a control icon for controlling the flight of the aircraft on the display interface from the first display mode to the second display mode.

Optionally, at least one distance threshold is preset, and the determining module 1202 is specifically configured to obtain a target flight-limiting area, where the target flight-limiting area is a flight-limiting area in a preset set of flight-limiting areas, where a distance between the planned route and the target flight-limiting area is less than a specific distance, compare the distance between the planned route and the target flight-limiting area with the distance threshold, and determine a flight-limiting state of the planned route according to a comparison result.

Optionally, in an implementation manner of this embodiment, the determining module 1202 is specifically configured to determine the flight-restriction state of the planned route according to whether a distance between the planned route and the target flight-restriction region in the horizontal direction is smaller than the distance threshold.

Optionally, in another implementation manner of this embodiment, the determining module 1202 is specifically configured to determine a flight zone according to the planned route and the distance threshold; judging whether the flight area is intersected with the target flight limiting area; and determining the flight limiting state of the planned route according to the judgment result.

Optionally, the determined flight zone comprises at least a first zone and a second zone; when it is determined that the target flight-limiting zone intersects only the first zone, the determination module 1202 determines that the planned route is in a first state; when the target flight restriction zone and the second zone are determined, the determination module 1202 determines that the planned route is in a second state.

Optionally, the first area is obtained according to the planned route and a preset first distance threshold, and the planned route is included in the first area; the second area is obtained according to the planned route and a preset second distance threshold, and the planned route is included in the second area; the first distance threshold is greater than the second distance threshold.

Optionally, in yet another implementation manner of this embodiment, the determining module 1202 is specifically configured to determine a target boundary line from the target flight-limiting area, obtain an indicator line according to the target boundary line and the distance threshold, and determine whether the planned route intersects with the indicator line; and determining the flight limiting state of the planned route according to the judgment result.

Optionally, the indicator line comprises: obtaining a first indicating line according to the boundary line and a preset third distance threshold value, and obtaining a second indicating line according to the boundary line and a preset fourth distance threshold value; when the planned route is determined to intersect only with a first indicator line, the determination module 1202 determines that the planned route is in a first state; when it is determined that the planned route intersects a second indicator line, the determination module 1202 determines that the planned route is in a second state.

Optionally, the flight processing device may further operate the following modules: a display module 1204, configured to display, in a preset display interface, a relative position between the planned route and the target flight-limiting zone.

Optionally, the display module 1204 is further configured to display the relative position of the flight position and the target flight-limiting zone on a display interface.

Optionally, the processing module 1203 is further configured to perform flight prediction according to the flight position and the current flight speed of the aircraft to obtain a predicted time value, where the predicted time value obtained by performing flight prediction is: predicting the obtained time interval for entering the target flight limiting area; and performing flight processing with respect to the aircraft based on the predicted time value.

Optionally, the processing module 1203 is specifically configured to select a first processing rule to execute flight processing on the aircraft if the predicted time value is not greater than a first time value; selecting a second processing rule to perform flight processing with respect to the aircraft if the predicted time value is not greater than a second time value; the first time value is different from the second time value, and the first processing rule is different from the second processing rule.

Optionally, the processing module 1203 is further configured to issue a prompt for flying in a direction away from the target flight-limiting area.

Referring to fig. 13 again, it is a schematic structural diagram of a control device according to an embodiment of the present invention, where the control device includes: communication interface 1301, processor 1302, and memory 1303. In one embodiment, the control device may be an aircraft, and in addition to the communication interface 1301, the processor 1302 and the memory 1303, the control device further includes a power assembly, an electronic governor, a power supply, and other structures.

In one embodiment, the control device may also be an intelligent terminal, such as a smart phone, a tablet computer, and the like, and may further include a user interface, a display, a power supply, and other structures besides the communication interface 1301, the processor 1302, and the memory 1303.

The memory 1303 may include a volatile memory (RAM), such as a random-access memory (RAM); the memory 1303 may also include a non-volatile memory (non-volatile memory), such as a flash memory (flash memory), a Hard Disk Drive (HDD) or a solid-state drive (SSD); the memory 1303 may also comprise a combination of the above-mentioned kinds of memories.

The processor 1302 may be a Central Processing Unit (CPU). The processor 1302 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), a General Array Logic (GAL), or any combination thereof.

The memory 1303 is also used for storing program instructions. The processor 1302 may call the program instructions to implement the related methods in the above embodiments, including the mentioned flight processing method, flight-limit state determining method, distance calculating method, and the like. .

The communication interface 1301 is used for data communication, and the processor 1302 is used for acquiring a planned route from a flight position of the aircraft to a preset target position; determining a flight limit state of the planned flight path, the flight limit state being determined according to a distance between the planned flight path and a target flight limit zone; performing flight processing with respect to the aircraft according to the flight-restricted status.

In an alternative embodiment, the flight-restricted state includes at least a first state and a second state, each state corresponding to a different process rule for performing a flight process with respect to the aircraft.

In an optional embodiment, when the processor 1302 is configured to execute the flight processing on the aircraft according to the flight restriction state, specifically, if the flight restriction state is a first state, send a first prompt message on a display interface according to a processing rule corresponding to the first state; the first prompt message comprises a flight prompt message for prompting that the flight restriction area needs attention.

In an optional embodiment, the first prompt message is issued on the display interface after receiving a flight instruction for the aircraft; the target position is a return flight point position, the flight instruction comprises a return flight instruction, and the return flight instruction is used for indicating the aircraft to return to the return flight point position according to the planned route.

In an optional embodiment, the processor 1302, when configured to execute the flight processing regarding the aircraft according to the flight limiting state, is further configured to display a confirmation prompt on a display interface, and when receiving a confirmation operation issued on the confirmation prompt, control the aircraft to fly on the planned route to return to the return point position according to the return instruction.

In an optional embodiment, when the processor 1302 is configured to execute the flight processing on the aircraft according to the flight restriction state, if the flight restriction state is the second state, sending a second prompt message on a display interface according to a processing rule corresponding to the second state, where the second prompt message includes a flight prompt message for prompting to restrict the flight.

In an optional embodiment, the processor 1302, when configured to execute the flight processing regarding the aircraft according to the flight restriction state, is further configured to switch a control icon for controlling the flight of the aircraft on the display interface from a first display mode to a second display mode.

In an optional embodiment, at least one distance threshold is preset, and the processor 1302, when configured to determine a flight-limiting state of the planned route, is configured to obtain a target flight-limiting zone, where the target flight-limiting zone is a flight-limiting zone in a preset set of flight-limiting zones, where a distance from the planned route is less than a specific distance; and comparing the distance between the planned route and the target flight limiting area with the distance threshold, and determining the flight limiting state of the planned route according to the comparison result.

In an optional embodiment, the processor 1302, when configured to compare the distance between the planned route and the target flight-limiting area with the distance threshold and determine the flight-limiting state of the planned route according to the comparison result, is configured to determine the flight-limiting state of the planned route according to whether the distance between the planned route and the target flight-limiting area in the horizontal direction is smaller than the distance threshold.

In an optional embodiment, the processor 1302, when configured to compare the distance between the planned route and the target flight-limiting zone with the distance threshold and determine the flight-limiting state of the planned route according to the comparison result, is configured to determine the flight zone according to the planned route and the distance threshold; judging whether the flight area is intersected with the target flight limiting area; and determining the flight limiting state of the planned route according to the judgment result.

In an alternative embodiment, the determined flight zone includes at least a first zone and a second zone; when the target flight limiting area is judged to be only intersected with the first area, determining that the planned route is in a first state; and when the target flight limiting area and the second area are judged, determining that the planned route is in a second state.

In an alternative embodiment, the first zone is obtained according to the planned route and a preset first distance threshold, the planned route being included in the first zone; the second area is obtained according to the planned route and a preset second distance threshold, and the planned route is included in the second area; the first distance threshold is greater than the second distance threshold.

In an optional embodiment, the processor 1302 is specifically configured to determine a target boundary line from the target flight-limiting area when the processor is configured to compare the distance between the planned route and the target flight-limiting area with the distance threshold and determine the flight-limiting state of the planned route according to the comparison result; obtaining an indicator line according to the target boundary line and the distance threshold; judging whether the planned route intersects with the indicating line; and determining the flight limiting state of the planned route according to the judgment result.

In an alternative embodiment, the indicator line comprises: obtaining a first indicating line according to the boundary line and a preset third distance threshold value, and obtaining a second indicating line according to the boundary line and a preset fourth distance threshold value; when the planned route is judged to be only intersected with a first indicating line, determining that the planned route is in a first state; and when the planned route is judged to be intersected with the second indication line, determining that the planned route is in a second state.

In an optional embodiment, the processor 1302 is further configured to display the relative position between the planned flight path and the target flight-limiting zone in a preset display interface.

In an alternative embodiment, the processor 1302 is further configured to display the relative position of the flight location and the target flight-limiting zone on a display interface.

In an optional embodiment, the processor 1302 is further configured to perform flight prediction according to the flight position and according to the current flight speed of the aircraft to obtain a predicted time value, where the predicted time value obtained by performing flight prediction is: predicting the obtained time interval for entering the target flight limiting area; performing flight processing with respect to the aircraft according to the predicted time value.

In an alternative embodiment, the processor 1302, when configured to perform flight processing with respect to the aircraft based on the predicted time value, is further configured to select a first processing rule to perform flight processing with respect to the aircraft if the predicted time value is not greater than a first time value; selecting a second processing rule to perform flight processing with respect to the aircraft if the predicted time value is not greater than a second time value; the first time value is different from the second time value, and the first processing rule is different from the second processing rule.

In an optional embodiment, the processor 1302, when configured to perform the flight processing for the aircraft according to the flight restriction state, is further configured to issue a prompt to fly in a direction away from the target flight restriction region.

The above disclosure is intended to be illustrative of only some embodiments of the invention, and is not intended to limit the scope of the invention.

Claims

1. A flight handling method, comprising:

acquiring a planned route from a flight position of an aircraft to a preset target position, wherein the preset target position comprises one or more position coordinates;

determining a flight-limiting state of the planned route, the flight-limiting state being determined according to a distance between the planned route and a target flight-limiting zone, the flight-limiting state including at least a first state and a second state;

performing flight processing with respect to the aircraft in accordance with the flight-restricted status;

the executing of flight processing with respect to the aircraft in accordance with the flight-restricted status includes:

sending flight prompt information needing to pay attention to the flight-limiting area to a user in the first state;

and in the second state, prompting the user to modify parameters to re-plan to obtain a new planned route to avoid the target flight-limiting area, or automatically re-plan to obtain a new planned route to avoid the target flight-limiting area, or sending a direction instruction to inform the user of flying according to the direction indicated by the direction instruction.

2. The method of claim 1, wherein each condition corresponds to a different process rule for performing flight processes with respect to the aircraft.

3. The method of claim 2, wherein the performing flight processing with respect to the aircraft in accordance with the limited-flight state comprises:

if the flight limiting state is a first state, sending first prompt information on a display interface according to a processing rule corresponding to the first state; the first prompt message comprises a flight prompt message for prompting that the flight restriction area needs attention.

4. The method of claim 3, wherein the first alert is issued on the display interface upon receipt of a flight instruction for the aircraft;

the target position is a return flight point position, the flight instruction comprises a return flight instruction, and the return flight instruction is used for indicating the aircraft to return to the return flight point position according to the planned route.

5. The method of claim 4, wherein the performing flight processing with respect to the aircraft in accordance with the limited-flight state further comprises:

and displaying a confirmation prompt on a display interface, and controlling the aircraft to fly on the planned route according to the return flight instruction to return to the return flight point position when a confirmation operation sent to the confirmation prompt is received.

6. The method of claim 2, wherein the performing flight processing with respect to the aircraft in accordance with the limited-flight state comprises:

and if the flight limiting state is a second state, sending second prompt information on a display interface according to a processing rule corresponding to the second state, wherein the second prompt information comprises flight prompt information for prompting flight limitation.

7. The method of claim 6, wherein the performing flight processing with respect to the aircraft in accordance with the limited-flight state further comprises:

and switching a control icon for controlling the flight of the aircraft on a display interface from the first display mode to the second display mode.

8. The method of any one of claims 1 to 7, wherein at least one distance threshold is preset, and wherein said determining a flight limit status of the planned route comprises:

acquiring a target flight limiting area, wherein the target flight limiting area is a flight limiting area with a distance smaller than a specific distance from the planned route in a preset flight limiting area set;

and comparing the distance between the planned route and the target flight limiting area with the distance threshold, and determining the flight limiting state of the planned route according to the comparison result.

9. The method of claim 8, wherein determining the flight-limiting status of the planned route based on the comparison of the distance of the planned route from the target flight-limiting zone to the distance threshold comprises:

and comparing the distance between the planned route and the target flight limiting area in the horizontal direction with a preset distance threshold, and determining the flight limiting state of the planned route according to the comparison result.

10. The method of claim 8, wherein determining the flight-limiting status of the planned route based on the comparison of the distance of the planned route from the target flight-limiting zone to the distance threshold comprises:

determining a flight area according to the planned route and the distance threshold;

judging whether the flight area is intersected with the target flight limiting area;

and determining the flight limiting state of the planned route according to the judgment result.

11. The method of claim 10, wherein the determined flight zones include at least a first zone and a second zone; when the target flight limiting area is judged to be only intersected with the first area, determining that the planned route is in a first state; and when the target flight limiting area and the second area are judged, determining that the planned route is in a second state.

12. The method of claim 11, wherein the first region is derived from the planned route and a preset first distance threshold, the planned route being included in the first region;

the second area is obtained according to the planned route and a preset second distance threshold, and the planned route is included in the second area;

the first distance threshold is greater than the second distance threshold.

13. The method of claim 8, wherein determining the flight-limiting status of the planned route based on the comparison of the distance of the planned route from the target flight-limiting zone to the distance threshold comprises:

determining a target boundary line from the target flight limiting area;

obtaining an indicator line according to the target boundary line and the distance threshold;

judging whether the planned route intersects with the indicating line;

14. The method of claim 13, wherein the indicator line comprises: obtaining a first indicating line according to the target boundary line and a preset third distance threshold value, and obtaining a second indicating line according to the target boundary line and a preset fourth distance threshold value; when the planned route is judged to be only intersected with a first indicating line, determining that the planned route is in a first state; and when the planned route is judged to be intersected with the second indication line, determining that the planned route is in a second state.

15. The method of any of claims 1 to 14, further comprising:

and displaying the relative position between the planned route and the target flight limiting area in a preset display interface.

16. The method of any one of claims 1 to 15, further comprising:

and displaying the relative position of the flight position and the target flight limiting area on a display interface.

17. The method of any one of claims 1 to 16, further comprising:

according to the flight position and the current flight speed of the aircraft, carrying out flight prediction to obtain a predicted time value, wherein the predicted time value obtained by carrying out flight prediction refers to: predicting the obtained time interval for entering the target flight limiting area;

performing flight processing with respect to the aircraft according to the predicted time value.

18. The method of claim 17, wherein said performing flight processing with respect to the aircraft based on the predicted time value comprises:

selecting a first processing rule to perform a flight process with respect to the aircraft if the predicted time value is not greater than a first time value;

selecting a second processing rule to perform flight processing with respect to the aircraft if the predicted time value is not greater than a second time value;

the first time value is different from the second time value, and the first processing rule is different from the second processing rule.

19. The method of claim 8, wherein the performing flight processing with respect to the aircraft in accordance with the limited-flight state further comprises:

and sending out a prompt of flying in the direction far away from the target flight limiting area.

20. A control apparatus, characterized by comprising: a communication interface and a processor; wherein

The communication interface is used for data communication;

the processor is used for acquiring a planned route from a flight position of the aircraft to a preset target position, and the preset target position comprises one or more position coordinates; determining a flight-limiting state of the planned route, the flight-limiting state being determined according to a distance between the planned route and a target flight-limiting zone, the flight-limiting state including at least a first state and a second state;