CN108700882A - Flight control method and device, monitoring method and device, storage medium - Google Patents
Flight control method and device, monitoring method and device, storage medium Download PDFInfo
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- CN108700882A CN108700882A CN201780004886.9A CN201780004886A CN108700882A CN 108700882 A CN108700882 A CN 108700882A CN 201780004886 A CN201780004886 A CN 201780004886A CN 108700882 A CN108700882 A CN 108700882A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 17
- 230000007613 environmental effect Effects 0.000 claims description 12
- 230000006870 function Effects 0.000 claims description 4
- 238000012806 monitoring device Methods 0.000 claims description 4
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
- G05D1/1064—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones specially adapted for avoiding collisions with other aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Automation & Control Theory (AREA)
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Abstract
A kind of UAV Flight Control method and device, flight monitoring method and device, machine readable storage medium, flight control method include:Obtain the flight range (step 10) of unmanned plane;Flight environment of vehicle information (the step 11) of unmanned plane is obtained according to flight range;It is determined there are when security threat according to the flight environment of vehicle information of unmanned plane, generates warning message (step 12).
Description
Technical field
The present invention relates to air vehicle technique field more particularly to a kind of UAV Flight Control method and device, monitoring sides
Method and device, storage medium.
Background technology
With extensive use of the unmanned plane in every field, safety problem when unmanned plane during flying also becomes increasingly conspicuous, special
It is not to operate the user of unmanned plane when unmanned plane is in high-speed motion only to be difficult to grasp flight shape around unmanned plane by human eye
Condition, therefore can not ensure the safety in unmanned plane during flying.
Invention content
The present invention provides UAV Flight Control method and device, flight monitoring method and device and machine readable storage and is situated between
Matter.
According to a first aspect of the embodiments of the present invention, a kind of UAV Flight Control method is provided, server, institute are applied to
The method of stating includes:
Obtain the flight range of unmanned plane;
The flight environment of vehicle information of the unmanned plane is obtained according to the flight range;
It is determined there are when security threat according to the flight environment of vehicle information of the unmanned plane, generates warning message.
According to a second aspect of the embodiments of the present invention, a kind of unmanned plane during flying monitoring method is provided, including:
Obtain the flight range of unmanned plane;
The flight range of the unmanned plane is sent to server.
According to a third aspect of the embodiments of the present invention, a kind of machine readable storage medium is provided, it is executable to be stored with machine
Instruction, when being called and being executed by processor, the machine-executable instruction promotes the processor to execute described above fly
Row control method.
According to a fourth aspect of the embodiments of the present invention, a kind of UAV Flight Control device is provided, including processor and is deposited
Reservoir, the memory are stored with machine-executable instruction, and when being called and being executed by processor, the processor is for executing
Flight control method described above.
According to a fifth aspect of the embodiments of the present invention, a kind of unmanned plane during flying monitoring device is provided, including processor and is deposited
Reservoir, the memory are stored with machine-executable instruction, and when being called and being executed by processor, the monitoring device is executable
Instruction promotes the processor to execute flight monitoring method described above.
The UAV Flight Control method of the embodiment of the present invention, the flight environment of vehicle of unmanned plane can be obtained by flight range
Information, and then judge to whether there is security threat in flight range, when there are security threat, warning message is produced, is improved
The safety of unmanned plane during flying.
It should be understood that above general description and following detailed description is only exemplary and explanatory, not
It can the limitation present invention.
Description of the drawings
Fig. 1 is the flow chart of UAV Flight Control method in one embodiment of the application;
Fig. 2 is the flow chart of UAV Flight Control method in another embodiment of the application;
Fig. 3 is the flow chart of UAV Flight Control method in the another embodiment of the application;
Fig. 4 is the flow chart of UAV Flight Control method in another embodiment of the application;
Fig. 5 is the flow chart of UAV Flight Control method in the another embodiment of the application;
Fig. 6 is the flow chart of UAV Flight Control method in another embodiment of the application;
Fig. 7 a- Fig. 7 e are the flight range of the flight range and other flying objects of current unmanned plane in one embodiment of the application
Overlap situation schematic diagram;
Fig. 8 is the flow chart of unmanned plane during flying monitoring method in one embodiment of the application;
Fig. 9 is the flow chart of unmanned plane during flying monitoring method in another embodiment of the application;
Figure 10 is the flow chart of unmanned plane during flying monitoring method in the another embodiment of the application;
Figure 11 is the flow chart of unmanned plane during flying monitoring method in another embodiment of the application;
Figure 12 is the flow chart of unmanned plane during flying monitoring method in the another embodiment of the application;
Figure 13 is the block diagram of server in one embodiment of the application;
Figure 14 is the work flow diagram that server interacts process with terminal or unmanned plane in one embodiment of the application;
Figure 15 is the workflow that server interacts process with terminal or unmanned plane in another embodiment of the application
Figure;
Figure 16 is the workflow that server interacts process with terminal or unmanned plane in the another embodiment of the application
Figure.
Specific implementation mode
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent and the consistent all embodiments of the present invention.On the contrary, they be only with it is such as appended
The example of the consistent device of some aspects being described in detail in claims, of the invention, system, apparatus and method.
It is the purpose only merely for description specific embodiment in terminology used in the present invention, is not intended to limit the invention.
It is also intended to including majority in the present invention and "an" of singulative used in the attached claims, " described " and "the"
Form, unless context clearly shows that other meanings.It is also understood that term "and/or" used herein refers to and wraps
Containing one or more associated list items purposes, any or all may be combined.
An embodiment of the present invention provides a kind of UAV Flight Control methods, are applied to server, for the class of server
The type embodiment of the present invention does not limit, and can be the various servers for having computing capability.
Shown in referring to Fig.1, this approach includes the following steps:
Step 10, the flight range for obtaining unmanned plane.
The flight range of unmanned plane refers to the range or awing need to guard against that unmanned plane may awing fly
Range.In some embodiments, which is before unmanned plane takes off or in-flight by estimating the unmanned plane
It is obtained in the range that this may in-flight fly.In some embodiments, which is the root in unmanned plane during flying
A range currently being guarded against according to current state estimation.The range can be plane space or solid space, before taking off
Flight range and flight range in-flight may be the same or different.
The flight range of different type unmanned plane may be different, type which can be according to unmanned plane, unmanned plane
The flight environment of vehicle at place, state of flight of unmanned plane etc. determine.
Flight range can be terminal or unmanned plane is sent to server, wherein the terminal is provided with and the unmanned plane
The application program of communication;Or server calculates flight range according to the flying quality oneself of the unmanned plane received.
Terminal be may include various terminals, such as can be mobile phone, tablet computer, laptop, desktop computer etc..
Step 11, the flight environment of vehicle information that unmanned plane is obtained according to flight range.
Flight environment of vehicle information refers to a certain range of various environmental factors that may influence unmanned plane normal flight, this is certain
As long as range includes flight range, can be less than, equal to or more than the range of flight range, flight environment of vehicle information can
To include but not limited to:The temperature of flight environment of vehicle, humidity, air pressure, orographic condition, meteorological condition or unmanned plane flight range be
The no information such as at least partly overlap with the flight range of other flying objects.
The environmental factors such as temperature, humidity, air pressure, orographic condition or the meteorological condition of flight environment of vehicle, usually certain big
Variation is smaller in range, and therefore, the flight environment of vehicle information of current unmanned plane can be in the wide range for cover flight range
Temperature, humidity, air pressure, orographic condition or meteorological condition etc. may not need to be accurate to flight range.
With the flight range of other flying objects at least partly overlap flight range including current unmanned plane and other other
It may include other unmanned planes or aircraft etc. that the flight range of flying object, which partially overlaps and either all overlaps other flying objects,.
Step 12 is determined according to the flight environment of vehicle information of unmanned plane there are when security threat, generates warning message.
Security threat is further determined whether there is by flight environment of vehicle information, if there are security threats can be by flying
Row environmental information judges whether unmanned plane meets pre-set flight condition, when not meeting pre-set flight condition, illustrates that unmanned plane is deposited
In security threat, warning message is generated.Warning message can be returned to terminal or unmanned plane by server, and warning message can wrap
Multiple types are included, for example, can be the warning message for including different safety class, when terminal receives warning message, explanation be worked as
There are security threats for preceding unmanned plane, and prompting user to execute, corresponding flight control operates or unmanned plane directly receives police
Information is accused, the flight to unmanned plane automatically generated controls operation, and relevant operation, flight control operation are manually performed without user
The state of flight of controllable unmanned plane, for example, stopping taking off, forcing landing, limitation or change the flight range of unmanned plane, make
Unmanned plane is in floating state etc., in turn, can avoid unmanned plane and flies under unsafe conditions.
In the present embodiment, the flight environment of vehicle information of unmanned plane can be obtained by flight range, and then is judged in flight range
With the presence or absence of security threat, when there are security threat, warning message is produced, the safety of unmanned plane during flying is improved, it can be
Executable instruction is stored in the machine readable storage medium of server, when being called and being executed by the processor of server, is promoted
The method that processor executes this implementation can also detect surrounding ring on unmanned plane without installing sensor hardware additional
Therefore the cost of unmanned plane can be not only reduced, but also can be to avoid the sensor hardware of installation with the presence or absence of security threat in border
The compatibility issue with unmanned plane Current hardware and software that will produce.
In an optional embodiment, as shown in Fig. 2, the flight range packet of the acquisition unmanned plane of above-mentioned steps 10
It includes:
The flight range for the unmanned plane that step 101, reception are sent before unmanned plane takes off.
In the present embodiment, flight range is sent before take-off by terminal or unmanned plane, before unmanned plane takes off to
Server declares the flight range, which can be the flight range that unmanned plane is estimated before flight, for example, should
Flight range may include:Position before being taken off using unmanned plane covers the pre-set space range of reference point as reference point, this is default
Spatial dimension can determine or by using nothing according to the inherent parameters (for example, unmanned plane model and unmanned plane type) of unmanned plane
Man-machine user setting.
In some embodiments, flight range may include using the position before the taking off of unmanned plane as the center of circle, to estimate
Flying radius is the circular scope of radius, if unmanned plane is by the amusement use of user's operation or civilian unmanned plane, due to
The application program with UAV Communication is provided in terminal, can by the interface of application program by unmanned plane operating personnel according to from
Body situation inputs this and estimates flying radius, or by unmanned plane operating personnel in the remote control dedicated for controlling unmanned plane
This is inputted on interface estimates flying radius.In some embodiments, it can be default value, the default value that this, which estimates flying radius,
Can operate unmanned plane user to be capable of the maximum visual range of safety operation, such as 500 meters;If unmanned plane is without user
The industrial unmanned plane of operation, estimating flying radius can determine according to the model of unmanned plane, such as according to the model of unmanned plane
Determining maximum flying radius.
The flight range for receiving the unmanned plane sent before unmanned plane takes off, can tentatively detect nothing before unmanned plane takes off
Flight condition around man-machine, knows the spatial domain ambient conditions of the flight range residing for flight range, and be also in advance accordingly
Next flight marks one piece of warning region in advance, and server or user can determine whether working as by flight environment of vehicle information
It takes off front position.
In a kind of optional embodiment, the flight range of the acquisition unmanned plane of above-mentioned steps 10 includes:
The flight range for the unmanned plane that step 102, reception are sent in unmanned plane during flying.
In the present embodiment, flight range is awing sent by terminal or unmanned plane, which is nobody
Flight range of the machine under the motion state of flight is usually different with the flight range before taking off, due to unmanned plane during flying
In flight position be typically dynamic change, therefore, which is dynamic change, can with the movement of flight position and
It is mobile.The flying speed of unmanned plane is different, and the size of the flight range can be different, for example, when unmanned plane high-speed motion, it should
Flight range can suitably expand, and when unmanned plane low-speed motion or hovering, which can should suitably reduce.
The flight range for receiving the unmanned plane sent in unmanned plane during flying, can grasp nothing in real time in unmanned plane during flying
Flight condition around man-machine, knows the spatial domain ambient conditions of the flight range residing for flight range, and be also in real time accordingly
One piece of warning region, the flight environment of vehicle that server or user can be determined by real-time flight range are marked when unmanned plane during flying
Information determines that unmanned plane whether there is security threat.
Terminal or unmanned plane are in-flight sent to server there are two types of flight ranges, the acquisition nothing of corresponding above-mentioned steps 10
Man-machine flight range includes following two situations:
The first situation, terminal or unmanned plane directly transmit flight range to server, for server, such as Fig. 3
Shown, the flight range of the acquisition unmanned plane described in step 10 includes:
Step 103 receives the flight position sent in unmanned plane during flying and warning radius, i.e., flight range at this time is specific
Including flight position and warning radius, flight range can be using flight position as the center of circle, to guard against circle of the radius as radius
Region, the warning radius are calculated by terminal or unmanned plane according to the flight multidate information of unmanned plane.Flight dynamic is believed
Breath may include flying speed, flying height, flight angle (for example, the pitch angle of unmanned plane, roll angle and course angle) and fly
Row posture (such as hovering) etc..
The second situation, terminal or unmanned plane send flight position and flight multidate information to server, for server
For, as shown in figure 4, the flight range of the acquisition unmanned plane described in above-mentioned steps 10 includes:
The flight position and flight multidate information that step 104, reception are sent in unmanned plane during flying;
Step 105, using flight position as reference point, according to flight multidate information determine covering reference point flight range.
In an optional embodiment, as shown in figure 5, described in step 105 using flight position as reference point, according to
Flight multidate information determines the flight range of covering reference point, including:
Step 1051 determines warning radius according to flight multidate information;
Step 1052, the flight range for determining unmanned plane, the flight range include using flight position as the center of circle, with warning half
Diameter is the border circular areas of radius.
Warning radius is calculated according to the flight multidate information received by server in the present embodiment, and then according to flight
Position and the available flight range in-flight of warning radius.
In a kind of optional embodiment, the size for guarding against radius is sent out according to the variation of the flight multidate information of unmanned plane
Changing, warning radius can characterize the flight range for needing to guard against in unmanned plane during flying, and the bigger flight range of warning radius is more
Greatly, the warning smaller flight range of radius is smaller, and the size for guarding against radius is determined according to flight multidate information, and warning radius is dynamic
Variation, it therefore, can the more flight range of accurate response unmanned plane and residing flight environment of vehicle.Guarding against radius can be with winged
The variation of Mobile state information and change, for example, the flying speed of unmanned plane and flying height are different, the warning radius it is big
It is small can be different, for example, when unmanned plane high-speed motion and when in higher flying height, which can suitably expand, and
When unmanned plane low-speed motion or hovering and in relatively low flying height when, which can suitably reduce.
The size of warning radius can represent the size for the flight range for needing to guard against, which can indicate unmanned plane
Safe flight range, need to keep certain safe distance with other flying objects in unmanned plane during flying, avoid having it with surrounding
He collides at flying object, in the case where unmanned plane is in high-speed motion state, needs to keep larger safe distance, therefore the warning
Radius is larger, and in the case where unmanned plane is in low-speed motion or floating state, safe distance can be smaller, therefore the warning radius
Can suitably it reduce.
In an optional embodiment, being deposited according to the determination of the flight environment of vehicle information of unmanned plane described in above-mentioned steps 12
In security threat, warning message is generated, may include:
When step 121, current flight environmental information do not meet pre-set flight condition, warning message is generated.
Above-mentioned pre-set flight condition may include:Pre-set flight environmental condition and/or pre-set flight range of condition.
Pre-set flight environmental condition can be the safe flight environmental condition being arranged in server, when flight environment of vehicle information not
When meeting pre-set flight environmental condition, it may be determined that there are security threats, generate warning message at this time, specifically, pre-set flight
Environmental condition may include:Temperature, humidity, the air pressure etc. of default meteorological condition, default orographic condition or pre-set flight environment.
For example, the meteorological condition (hereinafter referred to as current weather condition) in the flight environment of vehicle information of current unmanned plane is wind-force
6 grades, and default meteorological condition is 5 grades of wind-force, the wind-force of current weather condition is more than the wind-force of default meteorological condition, and determination is not inconsistent
It closes and presets meteorological condition;Or the orographic condition (hereinafter referred to as current orographic condition) in the flight environment of vehicle information of current unmanned plane
It includes a certain number of barriers to be, and default orographic condition is there is no any barrier, and determination does not meet default landform item
Part, either temperature, humidity or the air pressure in the flight environment of vehicle information of current unmanned plane are more than preset temperature, humidity or air pressure
When, determination does not meet pre-set flight environmental condition.
Pre-set flight range of condition can be the safe flight range of condition being arranged in server, believe when according to flight environment of vehicle
When breath is judged at least partly to overlap with the flight range of other flying objects, determination does not meet pre-set flight range of condition, accordingly
It determines there are security threat, generates warning message.
Here other flying objects can be other unmanned planes or aircraft etc., when the flight environment of vehicle according to current unmanned plane
Information is known when at least partly being overlapped with the flight range of other flying objects, is considered as that there are security threats, it is, it is current nobody
There are overlapping region or coincidence point, current unmanned planes in spatial dimension with the flight range of other flying objects for the flight range of machine
Flight range include other flying objects flight range or other flying objects flight range cover current unmanned plane fly
Line range, with reference to shown in 7a- Fig. 7 e, flight range 1 is the flight range of current unmanned plane, and flight range 2 is other flying objects
Flight range, if there are overlapping region or coincidence points with flight range 2 for flight range 1 in Fig. 7 a and Fig. 7 b, as shown in Figure 7 c,
Flight range 1 includes flight range 2, and as shown in figure 7d, flight range 2 covers flight range 1.
Know with the flight range of other flying objects there is no any heavy when according to the flight environment of vehicle information of current unmanned plane
When conjunction, it is considered as that there is no security threats, it is, the flight range of the flight range of current unmanned plane and other flying objects is in sky
Between overlapping region or coincidence point are not present in range, as shown in figure 7e, overlapping region is not present with flight range 2 in flight range 1
Or coincidence point.
Unmanned plane is not included into civil aviaton's airspace management system and is managed collectively at present, may in its flight course
The case where being overlapped with the flight range of aircarrier aircraft, there are one fence coverages for bright boat aircraft usually tool, can be expressed as a circle
Shape region, wherein the center of circle is the position where aircraft, and radius is warning radius, which is determined by aircraft model, example
Such as, the faster aircraft of flying speed has the fence coverage of bigger.The flight range of other above-mentioned flying objects can be bright boat
The fence coverage of aircraft.
In an optional embodiment, as shown in fig. 6, obtaining nobody according to flight range described in above-mentioned steps 10
It is further comprising the steps of after the flight environment of vehicle information of machine:
Step 110 obtains the cartographic information at least covering flight range;
Step 111 is generated using cartographic information as the graphical information of the flight range of background.
In order to intuitively indicate flight range, to facilitate server end consistency operation user or operate the user of unmanned plane
Observation, can indicate the flight range on the interface of server, terminal or unmanned plane with patterned form, for example, should
Flight range be to cover the map of flight range as background, on map be with unmanned plane position (including take off front position or
In-flight position) it is the center of circle, to estimate flying radius or guard against the circular scope that radius is radius, when unmanned plane is static
(such as before taking off), the circular scope remain static on map, when unmanned plane moves (such as in-flight), the circle
Range moves on map.
The form that certain flight range can also intuitively be changed with other indicates that this implementation does not limit this.
Present invention implementation also provides a kind of unmanned plane aircraft monitoring method, terminal or unmanned plane is can be applied to, such as Fig. 8 institutes
Show, this approach includes the following steps:
Step 20, the flight range for obtaining unmanned plane;
The flight range of unmanned plane is sent to server by step 21.
In one embodiment, the flight range of unmanned plane is sent to server can wrap described in above-mentioned steps 21
Include two kinds of situations:
The first situation sends the flight range of unmanned plane to server before unmanned plane takes off.In such situation, it is
It position according to the position before taking off, or before taking off and estimates flying radius and determines flight range, which is to take off
Preceding flight range, the flight range of the acquisition unmanned plane described in step 20, can pass through two ways:
As shown in figure 9, one way in which specifically includes following steps:
Step 201 obtains the position before unmanned plane takes off;
Step 202 determines flight range, which includes position before being taken off using unmanned plane as reference point, covering
The pre-set space range of reference point.
As shown in Figure 10, another way specifically includes following steps:
Step 203 obtains the position before unmanned plane takes off and estimates flying radius;
Step 204, the flight range for determining unmanned plane, the flight range include that the position before being taken off with unmanned plane is circle
The heart, to estimate border circular areas of the flying radius as radius.
The second situation sends the flight range of unmanned plane to server in unmanned plane during flying.In such situation, by nothing
Man-machine or terminal calculates flight range according to flight position and warning radius and is then issued to server, which is nobody
The flight range of machine in-flight, as shown in figure 11, described in above-mentioned steps 20 acquisition unmanned plane flight range, specifically include with
Lower step:
Step 205 obtains the flight position in unmanned plane during flying and guards against radius, and flight range includes being with flight position
The center of circle, to guard against border circular areas of the radius as radius.
The method for wherein obtaining warning radius can specifically include following steps:
Flight multidate information in step 206, the unmanned plane during flying obtained;
Step 207 determines warning radius according to flight multidate information.
In some instances, the size for guarding against radius changes according to the variation of the flight multidate information of unmanned plane, tool
For body, flight multidate information includes flying speed, and warning radius is determined by following methods:
The first embodiment:First flying speed of unmanned plane corresponds to the first warning radius, the second flight of unmanned plane
Speed corresponds to the second warning radius, and the first flying speed is more than second flying speed, and the first warning radius is more than described
Second warning radius.
In present embodiment, determine that warning radius, flying speed have mapping corresponding with warning radius according to flying speed
Relationship, and warning radius when flying speed is very fast be more than flying speed it is slower when warning radius.
Second of embodiment:According to the comparison result of flight multidate information and preset condition, default warning radius is increased
Greatly or reduce, to obtain the warning radius, may include specifically:
When flying speed is more than pre-set velocity, default warning radius is increased into preset value as warning radius, works as flight
When speed is less than pre-set velocity, default warning radius is reduced into preset value as flight security radius.
In present embodiment, the flying speed of current unmanned plane is compared with pre-set flight speed, is tied according to comparing
Fruit determines warning radius in-flight, and pre-set flight speed can be rule of thumb arranged with the flight environment of vehicle of unmanned plane, with above-mentioned one
It is different in kind of embodiment, the warning radius of present embodiment with flying speed be not it is completely corresponding, need not be according to winged
Scanning frequency degree real-time change and change, can suitably reduce calculate warning radius operation pressure, improve calculating speed, and then improve pair
The real-time of unmanned plane during flying monitoring.
It should be noted that the position before taking off and position in-flight refer to the position at place under unmanned plane current state,
The position can be the latitude and longitude coordinates of unmanned plane present position, may include the latitude and longitude coordinates of multiple points, such as unmanned plane
The latitude and longitude coordinates of centerbody present position, the latitude and longitude coordinates of rack present position of unmanned plane, unmanned plane horn institute
Locate the latitude and longitude coordinates etc. of position.
GPS, ultrasonic sensor or the visual sensor etc. that the position can be mounted on unmanned plane by processing obtain
The data obtained obtain, and usual unmanned plane itself can obtain these data, be then sent to server end.
In some examples, the sending method that flight range to the server of unmanned plane are sent in unmanned plane during flying can be with
For:
Fly every the flight range of identical duration transmission unmanned plane to server or in unmanned plane in unmanned plane during flying
Every the flight range of different durations transmission unmanned plane to server in row.
Terminal or unmanned plane can periodically be sent when flight range is sent to server, by flight range with
Certain time interval is uploaded to server, i.e., updates flight range every identical duration and be sent to server, server can
Corresponding flight environment of vehicle information is obtained according to newer flight range, discovers whether that there are security threats in time.
Another way is, the time interval that flight range is reported to server by terminal or unmanned plane is dynamic according to flight
State information dynamic change updates flight range every different durations and is sent to server, for example, when in flight multidate information
Flying speed it is very fast when, which can suitably reduce, and can the flight range of acquisition more timely be reported service
Device improves the flight safety of unmanned plane under high-speed flight state so that server determines whether there is security threat in time;When
When flying speed is relatively slow or hovers, which can be appropriately extended reports flight range to open network communication to save
Pin.
In another embodiment, as shown in figure 12, after above-mentioned steps 21, can also include the following steps:
Step 22 receives warning message.
When server determine there are when security threat, the alert message of generation can be sent to unmanned plane or terminal, should
Alert message can be a variety of situations, for example, the alert message is that there are the prompt messages of security threat for prompting, or including working as
It, can be according to the alert message after the message of the flight environment of vehicle information of preceding unmanned plane, terminal or unmanned plane receive warning message
It executes the corresponding flight to unmanned plane and controls operation.
Warning message in above-described embodiment can have different brackets, at this point, can also include following as shown in figure 12
Step:
Step 23 executes flight control operation corresponding with the grade of warning message.
The different brackets of warning message refers to according to there are the different warning messages that the degree of security threat generates, for example,
One grade warning message represents slight security threat, and the second grade warning message represents medium security threat, and the tertiary gradient represents
Severe safety hazards etc..It in some embodiments, can be according to the flight of the flight range and other flying objects of current unmanned plane
The size of the overlapping region of range determines the grade of warning message, and the higher grade of the more big corresponding warning message in overlapping region,
Illustrate that security threat degree is higher, and then corresponding flight control operation is executed according to the grade of warning message.
After unmanned plane or terminal receive warning message, the user of operation unmanned plane can be reminded, by user's execution pair
The flight control operation of unmanned plane or unmanned plane execute corresponding flight control behaviour automatically according to different grades of warning message
Make.Flight control operation can include but is not limited to:Maximum height limit limits farthest flying distance, forces landing or limitation
The specific function of unmanned plane is (for example, the flight range of limitation unmanned plane, the flying speed for limiting unmanned plane or limitation unmanned plane
The functions such as spray insecticide, put out a fire of executing), unmanned plane can be made to exclude current peace by executing corresponding flight and controlling to operate
It is complete to threaten, flight safety is improved, these flight control operations can be corresponded to according to the grade of warning message to be executed, for example, if
It is that the first estate warning message can be to unmanned plane maximum height limit or the farthest flying distance of limitation, if it is the warning of the second grade
Information can limit the specific function of unmanned plane, can force to land to unmanned plane if it is the alert message of the tertiary gradient.
It in some embodiments, can answering in terminal and UAV Communication for the ease of user's observation flight range
With showing the flight range on program interface or on the interface of the remote control of unmanned plane, and patterned form can be used
Show flight range, if for example, flight range is with unmanned plane position (including take off front position or in-flight position) for the center of circle,
To estimate flying radius or warning radius as the circular scope of radius, the flight range can be shown on interface, and can
Using the map for covering flight range as background, flight range is indicated with a circle, (the example when unmanned plane is opposing stationary on map
Before such as taking off or when hovering), which remains static on map, when unmanned plane moves (such as in-flight), it should
Circle circle moves on map.
In some embodiments, it may be possible to be to receive warning message before unmanned plane takes off, at this point, can also include following step
Suddenly:
Step 24 is taken off according to warning message limitation unmanned plane.
It, can basis when terminal or unmanned plane are connected to the warning message of server transmission before take-off in the present embodiment
Alert message limitation unmanned plane takes off, and reduces security threat to greatest extent.
The embodiment of the present invention also provides a kind of machine readable storage medium, is stored with machine-executable instruction, is being handled
When device is called and executed, machine-executable instruction promotes processor to execute the UAV Flight Control described in any of the above-described embodiment
Method.
The embodiment of the present invention also provides a kind of UAV Flight Control device, including processor and memory, memory are deposited
Machine-executable instruction is contained, when being called and being executed by processor, control device executable instruction promotes processor to execute
It states and implements the flight control method.The control device can be server.
As shown in figure 13, above-mentioned server can be thought as personal computer, PC or tablet computer etc., service
Device may include processor and machine readable storage medium, the storage medium can be nonvolatile memory (such as hard disk or
Person's disk), it can also include memory and internal bus etc., a plurality of instruction be stored in storage medium, processor will can accordingly refer to
It enables reading in memory and then run to execute above-mentioned UAV Flight Control method.
The embodiment of the present invention also provides a kind of unmanned plane during flying monitoring device, including processor and memory, the storage
Device is stored with machine-executable instruction, and when being called and being executed by processor, which promotes processor
Execute the unmanned plane during flying monitoring method described in any of the above-described embodiment.The control device can be terminal or unmanned plane.
Above-described embodiment server side and terminal or the mutual work of unmanned plane top-cross are described below in conjunction with concrete application scene
Workflow when making, the application scenarios are scenes before unmanned plane takes off, and unmanned plane or terminal can be communicated with server,
Communication network can be the existing various networks that can carry out data transmission, and the present embodiment do not limit this, referring to Fig.1 4
Shown, when unmanned plane standby for takeoff, which includes the following steps:
Step 203 obtains the position before unmanned plane takes off and estimates flying radius;
Step 204, the flight range for determining unmanned plane;
Step 21 sends the flight range of unmanned plane to server before unmanned plane takes off;
The flight range for the unmanned plane that step 101, reception are sent before unmanned plane takes off;
Step 11, the flight environment of vehicle information that unmanned plane is obtained according to flight range;
Step 12 is determined according to the flight environment of vehicle information of unmanned plane there are when security threat, generates warning message;
Step 22 receives warning message;
Step 24 is taken off according to warning message limitation unmanned plane.
Following application scenarios are the scenes in unmanned plane during flying, and unmanned plane or terminal can be communicated with server,
Referring to Fig.1 shown in 5, which includes the following steps:
Step 205 obtains the flight position in unmanned plane during flying and guards against radius;
Step 210 sends flight position and warning radius to server in unmanned plane during flying;
The flight position and warning radius that step 103, reception are sent in unmanned plane during flying, flight range include to fly
Position is the center of circle, and warning radius is the border circular areas of radius;
Step 11, the flight environment of vehicle information that unmanned plane is obtained according to flight range;
Step 12 is determined according to the flight environment of vehicle information of unmanned plane there are when security threat, generates warning message;
Step 22 receives warning message;
Step 23 executes flight control operation corresponding with the grade of warning message.
Following application scenarios are another scenes in unmanned plane during flying, and unmanned plane or terminal can be carried out with server
Communication, referring to Fig.1 shown in 6, which includes the following steps:
Step 208, the flight position in acquisition unmanned plane during flying and flight multidate information;
Step 209 sends flight position and flight multidate information to server in unmanned plane during flying;
The flight position and flight multidate information that step 104, reception are sent in unmanned plane during flying;
Step 105, using flight position as reference point, according to flight multidate information determine covering reference point flight range;
Step 11, the flight environment of vehicle information that unmanned plane is obtained according to flight range;
Step 12 is determined according to the flight environment of vehicle information of unmanned plane there are when security threat, generates warning message;
Step 22 receives warning message;
Step 23 executes flight control operation corresponding with the grade of warning message.
The method that the above embodiments of the present application provide, can be by installing software additional on server, terminal or unmanned plane
The mode of program realizes that above-described embodiment provides the system architecture using center service mode, includes as server-side
The related data or information that server and terminal or unmanned plane as opposite end, i.e. unmanned plane generate can be sent to server,
Server carries out calculation processing, and warning message is finally returned to unmanned plane or terminal.
In other embodiment, can also system be built using decentralization method of service, at this point, each unmanned plane
Or the related data that terminal generates can carry out the interaction of data, can also realize without being sent to server between unmanned plane
State the flight control method in embodiment.
The scheme of the present embodiment can store executable instruction in the machine readable storage medium of server, serviced
When the processor of device is called and is executed, the method which executes this implementation, therefore can be real by way of software program
It is existing, it can also be detected on unmanned plane without installing sensor hardware additional in ambient enviroment and whether there is safe prestige
The side of body, therefore, can not only reduce the cost of unmanned plane, but also what can be will produce to avoid the sensor hardware of installation works as with unmanned plane
The compatibility issue of preceding hardware and software.
The scheme for being implemented the present embodiment using software program mode, is had further the advantage that:The first, existing operation is utilized
Quotient's network, without additionally increasing hardware;
The second, in the case where keeping software protocol constant, software can be accomplished to be compatible with forward, meanwhile, it is assisted in Freeware
In the case of view, the product of different vendor can carry out seamless access;
Third, software program are easier to make for subsequent upgrade and are safeguarded compared with hardware, pinpoint the problems when software program or
When having new version, it is only necessary to carry out online upgrading in the place that can be networked, which intervenes without professional, non-
Professional can voluntarily complete;
4th, due to installing the limitation of sensor hardware and the modularized design characteristic of the current various hardware of unmanned plane additional,
Sensor hardware is newly increased to be easily removable or damage, and software program can carry out height collection with unmanned aerial vehicle control system
At ordinary user is difficult targetedly to be destroyed;
5th, realized by way of software program it is more flexible, such as dynamic calculate warning radius when, respective algorithms
It can be adjusted by server.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent substitution, improvement and etc. done should be included within the scope of protection of the invention god.
Claims (37)
1. a kind of UAV Flight Control method is applied to server, which is characterized in that the method includes:
Obtain the flight range of unmanned plane;
The flight environment of vehicle information of the unmanned plane is obtained according to the flight range;
It is determined there are when security threat according to the flight environment of vehicle information of the unmanned plane, generates warning message.
2. according to the method described in claim 1, it is characterized in that, it is described obtain unmanned plane flight range, including:
Receive the flight range of the unmanned plane sent before the unmanned plane takes off.
3. according to the method described in claim 2, it is characterized in that, the flight range includes:
Position before being taken off using the unmanned plane covers the pre-set space range of the reference point as reference point.
4. according to the method described in claim 1, it is characterized in that, it is described obtain unmanned plane flight range, including:
Receive the flight range of the unmanned plane sent in the unmanned plane during flying.
5. according to the method described in claim 4, it is characterized in that, it is described obtain unmanned plane flight range, including:
The flight position sent in the unmanned plane during flying and warning radius are received, the flight range includes with the flight
Position is the center of circle, and the warning radius is the border circular areas of radius.
6. according to the method described in claim 4, it is characterized in that, it is described obtain unmanned plane flight range, including:
Receive the flight position sent in the unmanned plane during flying and flight multidate information;
Using the flight position as reference point, the flight range for covering the reference point is determined according to the flight multidate information.
7. according to the method described in claim 6, it is characterized in that, described using the flight position as reference point, according to described
Flight multidate information determines the flight range for covering the reference point, including:
Warning radius is determined according to the flight multidate information;
Determine that the flight range of the unmanned plane, the flight range include using the flight position as the center of circle, with the warning
Radius is the border circular areas of radius.
8. the method according to the description of claim 7 is characterized in that the size of the warning radius flies according to the unmanned plane
The variation of Mobile state information changes.
9. according to claim 1-8 any one of them methods, which is characterized in that
The flight environment of vehicle information includes at least one of following:The temperature of flight environment of vehicle, humidity, air pressure, orographic condition, meteorological item
Part, the unmanned plane flight range whether at least partly overlapped with the flight range of other flying objects.
10. according to claim 1-9 any one of them methods, which is characterized in that the flying ring according to the unmanned plane
Border information is determined there are when security threat, is generated warning message, is specifically included:
When the flight environment of vehicle information does not meet pre-set flight condition, warning message is generated.
11. according to the method described in claim 10, it is characterized in that, the pre-set flight condition specifically includes:
Pre-set flight environmental condition and/or pre-set flight range of condition.
12. according to the method described in claim 10, it is characterized in that, described ought judge not according to the flight environment of vehicle information
When meeting pre-set flight condition, warning message is generated, is specifically included:
When the flight environment of vehicle information does not meet pre-set flight environmental condition, warning message is generated;
Or when judging with the flight range of other flying objects in the presence of overlapping according to flight environment of vehicle information, generate warning letter
Breath.
13. according to claim 1-12 any one of them methods, which is characterized in that described to obtain nothing according to the flight range
After man-machine flight environment of vehicle information, further include:
Obtain the cartographic information at least covering the flight range;
It generates using the cartographic information as the graphical information of the flight range of background.
14. according to claim 7 or 8 any one of them methods, which is characterized in that the flight multidate information includes:Flight
Highly, flying speed, flight angle and/or flight attitude.
15. a kind of unmanned plane during flying monitoring method, which is characterized in that
Obtain the flight range of unmanned plane;
The flight range of the unmanned plane is sent to server.
16. according to the method for claim 15, which is characterized in that the flight range by the unmanned plane is sent to clothes
Business device, specifically includes:
The flight range of the unmanned plane is sent before the unmanned plane takes off to server.
17. according to the method for claim 16, which is characterized in that the flight range for obtaining unmanned plane specifically includes:
Obtain the position before unmanned plane takes off;
Determine the flight range of unmanned plane, the flight range includes position before taking off using the unmanned plane as reference point, is covered
Cover the pre-set space range of the reference point.
18. according to the method for claim 16, which is characterized in that the flight range for obtaining unmanned plane specifically includes:
It obtains the position before the unmanned plane takes off and estimates flying radius, the flight range includes being taken off with the unmanned plane
Preceding position is the center of circle, using the circular space range estimated flying radius and formed as radius.
19. according to the method for claim 15, which is characterized in that the flight range by the unmanned plane is sent to clothes
Business device, specifically includes:
The flight range of the unmanned plane is sent in the unmanned plane during flying to server.
20. according to the method for claim 19, which is characterized in that the flight range for obtaining unmanned plane specifically includes:
Obtain the flight position and warning radius in the unmanned plane during flying;
Determine that the flight range of unmanned plane, the flight range include using the flight position as the center of circle, with the warning radius
For the border circular areas of radius.
21. according to the method for claim 20, which is characterized in that the warning radius in-flight for obtaining unmanned plane,
It specifically includes:
Obtain the flight multidate information in the unmanned plane during flying;
Warning radius is determined according to the flight multidate information.
22. according to the method for claim 22, which is characterized in that the size of the warning radius is according to the unmanned plane
The variation of flight multidate information changes.
23. according to the method for claim 22, which is characterized in that flight multidate information includes flying speed;
The size of the warning radius changes according to the variation of the flight multidate information of the unmanned plane, specifically includes:
First flying speed of the unmanned plane corresponds to the first warning radius, and the second flying speed of the unmanned plane corresponds to second
Radius is guarded against, first flying speed is more than second flying speed, and the first warning radius is more than described second
Guard against radius.
24. the method according to claim 21 or 22, which is characterized in that
It is described that warning radius is determined according to the flight multidate information, it specifically includes:
According to the comparison result of the flight multidate information and preset condition, default warning radius is increased or reduced, to obtain
The warning radius.
25. according to the method for claim 24, which is characterized in that the flight multidate information includes flying speed;
The comparison result according to the flight multidate information and preset condition increases or reduces default warning radius, with
The warning radius is obtained, is specifically included:
When the flying speed is more than pre-set velocity, will the default warning radius increase preset value as guarding against radius, when
When the flying speed is less than pre-set velocity, the default warning radius is reduced into preset value as warning radius.
26. according to the method for claim 19, which is characterized in that it is described sent in the unmanned plane during flying it is described nobody
The flight range of machine is specifically included to server:
The flight range of the unmanned plane is sent every identical duration in the unmanned plane during flying to server.
27. according to the method for claim 21, which is characterized in that it is described sent in the unmanned plane during flying it is described nobody
The flight range of machine is specifically included to server:
The flight range of the unmanned plane is sent every different durations in the unmanned plane during flying to server.
28. according to the method for claim 27, which is characterized in that when being dynamically determined described according to the flight multidate information
It is long.
29. according to claim 15-28 any one of them methods, which is characterized in that by the flight range of the unmanned plane
It is sent to after server, further includes:
Receive warning message.
30. according to the method for claim 29, which is characterized in that the warning message has different brackets;The method
Further include:
Execute flight control operation corresponding with the grade of the warning message.
31. according to the method for claim 30, which is characterized in that the flight control operation includes following at least one:
Maximum height limit;
Limit farthest flying distance;
Force landing;
Limit the specific function of the unmanned plane.
32. according to claim 16-18 any one of them methods, which is characterized in that
The reception warning message is included in before the unmanned plane takes off and receives warning message;
The method further includes:
The unmanned plane is limited according to the warning message to take off.
33. a kind of machine readable storage medium, which is characterized in that be stored with machine-executable instruction, by processor call and
When execution, the machine-executable instruction promotes the processor perform claim to require 1-14 any one of them methods.
34. a kind of UAV Flight Control device, including processor and memory, which is characterized in that the memory is stored with
Machine-executable instruction, when being called and being executed by processor, the processor requires any one of 1-14 institutes for perform claim
The flight control method stated.
35. device according to claim 34, which is characterized in that described device is server.
36. a kind of unmanned plane during flying monitoring device, including processor and memory, which is characterized in that the memory is stored with
Machine-executable instruction, when being called and being executed by processor, the processor requires any one of 15-32 institutes for perform claim
The flight monitoring method stated.
37. device according to claim 36, which is characterized in that described device is terminal or unmanned plane.
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| CN115440090B (en) * | 2022-08-31 | 2024-05-28 | 亿航智能设备（广州）有限公司 | Method and equipment for protecting faults of aircraft and computer readable storage medium |
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| Publication number | Publication date |
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| CN114779796A (en) | 2022-07-22 |
| WO2019000424A1 (en) | 2019-01-03 |
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