CN110024013A

CN110024013A - Air traffic control method, equipment and the unmanned vehicle of unmanned vehicle

Info

Publication number: CN110024013A
Application number: CN201780073593.6A
Authority: CN
Inventors: 王庶; 朱锐意; 邓任钦; 王乃博
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2017-11-08
Filing date: 2017-11-08
Publication date: 2019-07-16
Also published as: WO2019090512A1

Abstract

A kind of air traffic control method, equipment and the unmanned vehicle of unmanned vehicle, which comprises generate air traffic control information；The air traffic control information is sent so that the unmanned vehicle for receiving the control information executes air traffic control operation.Air traffic control equipment sends air traffic control information, unmanned vehicle is receiving the execution air traffic control operation of air traffic control information, in this way, it can be in the location information for not exposing concerning security matters place, air traffic control is carried out to unmanned vehicle, even if being updated in addition, the user of unmanned vehicle does not fly data to limit, the air traffic control to unmanned vehicle still may be implemented.

Description

Air traffic control method, equipment and the unmanned vehicle of unmanned vehicle

Technical field

The present embodiments relate to unmanned vehicle technical field more particularly to air traffic control method, equipment and the unmanned vehicles of a kind of unmanned vehicle.

Background technique

The fast development of unmanned vehicle industry causes the either inadvertent or intentional operation unmanned vehicle of more and more users to fly into or close to airport, military restricted zone or the crowd is dense area etc. limitation flight range.The generation of such dangerous situation in order to prevent, traditional method are that limitation flight range is arranged to unmanned vehicle using geography fence (also known as fence) technology.This method relies on the global position system of unmanned vehicle and Inertial Measurement Unit to judge whether the position of unmanned vehicle is close or enters limitation flight range, and corresponding flight restriction is carried out to unmanned vehicle by flight controller, prevent unmanned vehicle from carrying out limitation flight range.

Under normal conditions, limitation flight range can be shown on the interactive interface for the controlling terminal that user uses and is prompted.But it since limitation flight range information usually requires Online release, and is openly shown on map, therefore the geographical coordinate of corresponding area can be exposed.If the limitation flight range includes concerning security matters place, it is easy the location drawing for allowing malicious person's traversal queries on network to draw concerning security matters place, is likely to result in the risk divulged a secret.In addition, the update of limitation flight range tends to rely on the updating operation that user flies data (such as location information, time of limitation flight of limitation flight range etc.) to the limit of unmanned vehicle, therefore it is adjusted in the presence of limitation flight range manager to winged data are limited, and user for various reasons not to the limit of unmanned vehicle fly data accordingly upgraded the case where, may cause in this way unmanned vehicle close to or enter limit flight range.In this way, geographical location information for concerning security matters place can not be disclosed or upgrading the case where limit of unmanned vehicle flies data not in time for user, unmanned vehicle cannot be prevented close by existing technical solution or fly into limitation flight range.

Summary of the invention

The embodiment of the present invention provides air traffic control method, equipment and the unmanned vehicle of a kind of unmanned vehicle, to realize effective control to unmanned vehicle.

The first aspect of the embodiment of the present invention is to provide a kind of air traffic control method of unmanned vehicle, the air traffic control equipment applied to the unmanned vehicle, comprising:

Generate air traffic control information；

The air traffic control information is sent so that the unmanned vehicle for receiving the control information executes air traffic control operation.

The second aspect of the embodiment of the present invention is to provide a kind of method of control of unmanned vehicle, is applied to the unmanned vehicle, comprising:

Receive the air traffic control information that unmanned flight's control equipment is sent；

After receiving the air traffic control information, air traffic control operation is executed.

The third aspect of the embodiment of the present invention is to provide a kind of air traffic control method of unmanned vehicle, the air traffic control equipment applied to the unmanned vehicle, comprising:

Obtain the planning installation site information of the air traffic control equipment；

Air traffic control information is generated according to the planning installation site information；

The air traffic control information is sent when so as to receive the unmanned vehicle of the air traffic control information within the first predeterminable area that the location information for determining itself is in the planning installation site information instruction and executes air traffic control operation.

The fourth aspect of the embodiment of the present invention is to provide a kind of method of control of unmanned vehicle, is applied to the unmanned vehicle, comprising:

Receive the control information that the control equipment of unmanned vehicle is sent；

The control information is parsed to obtain the planning installation site information of the control equipment；

Obtain the location information of unmanned vehicle；

Air traffic control operation is executed when within the first predeterminable area that the location information is in the planning installation site information instruction.

5th aspect of the embodiment of the present invention is to provide a kind of air traffic control equipment of unmanned vehicle, comprising: memory and processor,

The memory, for storing program code；

The processor calls said program code, when program code is performed, for performing the following operations:

Generate air traffic control information；

6th aspect of the embodiment of the present invention is to provide a kind of unmanned vehicle, comprising: memory and processor,

The memory, for storing program code；

Receive the air traffic control information that air traffic control equipment is sent；

7th aspect of the embodiment of the present invention is to provide a kind of air traffic control equipment of unmanned vehicle, comprising: memory and processor,

The memory, for storing program code；

The eighth aspect of the embodiment of the present invention is to provide a kind of unmanned vehicle, comprising: memory and processor,

The memory, for storing program code；

Obtain the location information of unmanned vehicle；

9th aspect of the embodiment of the present invention is to provide a kind of air traffic control system of unmanned vehicle, unmanned vehicle described in air traffic control equipment and the 6th aspect including unmanned vehicle described in the 5th aspect.

Tenth aspect of the embodiment of the present invention is to provide a kind of air traffic control system of unmanned vehicle, unmanned vehicle described in air traffic control equipment and eighth aspect including unmanned vehicle described in the 7th aspect.

In the embodiment of the present invention, air traffic control equipment sends the air traffic control information of generation, unmanned vehicle is when receiving the air traffic control information, execute air traffic control operation, it in this way can be under the premise of not announcing the geographical location information in concerning security matters place, realize the air traffic control to unmanned vehicle, simultaneously, upgrade regardless of whether user flies data to the limit of unmanned vehicle, air traffic control equipment can carry out air traffic control to unmanned vehicle, improve the validity and convenience of air traffic control.

Detailed description of the invention

To describe the technical solutions in the embodiments of the present invention more clearly, attached drawing needed in describing below to embodiment is briefly described, apparently, drawings in the following description are some embodiments of the invention, for those of ordinary skill in the art, without any creative labor, it is also possible to obtain other drawings based on these drawings.

Fig. 1 is the flow chart of air traffic control method provided in an embodiment of the present invention；

Fig. 2 is the application scenarios schematic diagram of air traffic control method provided in an embodiment of the present invention；

Fig. 3 is the another application schematic diagram of a scenario of air traffic control method provided in an embodiment of the present invention；

Fig. 4 is the another application schematic diagram of a scenario of air traffic control method provided in an embodiment of the present invention；

Fig. 5 be another embodiment of the present invention provides air traffic control method flow chart；

Fig. 6 be another embodiment of the present invention provides air traffic control method flow chart；

Fig. 7 is the another application schematic diagram of a scenario of air traffic control method provided in an embodiment of the present invention；

Fig. 8 is the another application schematic diagram of a scenario of air traffic control method provided in an embodiment of the present invention；

Fig. 9 be another embodiment of the present invention provides air traffic control method flow chart；

Figure 10 is the structure chart of air traffic control equipment provided in an embodiment of the present invention or unmanned vehicle.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is explicitly described, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, every other embodiment obtained by those of ordinary skill in the art without making creative efforts, shall fall within the protection scope of the present invention.

It should be noted that it can be directly on another component or there may also be components placed in the middle when component is referred to as " being fixed on " another component.When a component is considered as " connection " another component, it can be directly to another component or may be simultaneously present component placed in the middle.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.Term as used herein in the specification of the present invention, which is only for the purpose of describing specific embodiments, is not intended to limit the present invention.Term " and or " used herein includes the arbitrary of one or more relevant listed items With all combinations.

With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, the feature in following embodiment and embodiment can be combined with each other.

The embodiment of the present invention provides a kind of air traffic control method of unmanned vehicle.Fig. 1 is the flow chart of the air traffic control method of unmanned vehicle provided in an embodiment of the present invention.As shown in Figure 1, the method in the present embodiment, may include:

Step S101, air traffic control information is generated.

Specifically, as shown in Figure 2, the executing subject of the present embodiment method can be the air traffic control equipment 201 of unmanned vehicle, further, the executing subject can be the processor of air traffic control equipment, the air traffic control equipment 201 may be mounted on ground, can also be erected on the supporting element on ground.Air traffic control information can be generated in the air traffic control equipment 201.

Step S102, the air traffic control information is sent so that the unmanned vehicle for receiving the control information executes air traffic control operation.

Specifically, after generating the air traffic control information, air traffic control equipment 201 can send the air traffic control information, further, the processor of air traffic control equipment can control communication interface and send the air traffic control information, unmanned vehicle 202 can execute corresponding air traffic control operation when receiving the air traffic control information.In this way, air traffic control equipment can be thus achieved by transmission air traffic control information carries out air traffic control to the unmanned vehicle of the air traffic control information received.

In certain embodiments, described to send the air traffic control information so that it includes: the broadcast air traffic control information so that the unmanned vehicle for receiving the control information executes air traffic control operation that the unmanned vehicle for receiving the control information, which executes air traffic control operation,.Specifically, air traffic control equipment can periodically or aperiodicity broadcasts the air traffic control information, when unmanned vehicle is close to air traffic control equipment, unmanned vehicle can receive the air traffic control information of air traffic control device broadcasts, unmanned vehicle executes air traffic control operation when receiving air traffic control information.

In certain embodiments, unmanned vehicle detection information is broadcasted；It is described to send the air traffic control information so as to receive the pipe It includes: to send the air traffic control information to the unmanned vehicle for sending the probe response information so that the unmanned vehicle executes air traffic control operation after the unmanned vehicle probe response information for receiving unmanned vehicle transmission that the unmanned vehicle of information processed, which executes air traffic control operation,.Specifically, as shown in Figure 3, air traffic control equipment can periodically or aperiodicity broadcasts unmanned vehicle detection information, it whether there is the unmanned vehicle in state of flight to have around survey mission control equipment, when unmanned vehicle is close to air traffic control equipment, after unmanned vehicle receives the detection information of air traffic control device broadcasts, unmanned vehicle can send probe response information to air traffic control equipment, air traffic control equipment is after receiving the probe response information, air traffic control information can be sent to the unmanned vehicle, unmanned vehicle is when receiving air traffic control information, execute air traffic control operation.Further, it may include the identity information or operation information of unmanned vehicle in the probe response information, wherein, the identity information may include one of the manufacturer of unmanned vehicle, model, purposes, sequence number or a variety of, the operation information may include the location information of unmanned vehicle, flying height, flying speed, one of heading or a variety of.

In certain embodiments, described to send the air traffic control information so that it includes: to send the air traffic control information so that the unmanned vehicle for receiving the air traffic control information executes operation of making a return voyage, landing operation or hovering operation that the unmanned vehicle for receiving the control information, which executes air traffic control operation,.Specifically, unmanned vehicle is receiving the air traffic control information, can execute operation of making a return voyage, that is, return to the takeoff setting point of unmanned vehicle, perhaps back to the location point where the controlling terminal of unmanned vehicle or the location point specified back to user by the controlling terminal；Optionally, unmanned vehicle is receiving the air traffic control information, can execute hovering operation, and send the instruction information that expression unmanned vehicle is currently at floating state to the controlling terminal of unmanned vehicle；Optionally, unmanned vehicle is receiving the air traffic control information, can execute landing operation, wherein the landing place of unmanned vehicle can be is specified by air traffic control information.In this way, operation of the user to unmanned vehicle can be limited, prevent user's control unmanned vehicle close or enters limitation flight range.

Further, described to send the air traffic control information so that it includes: the transmission air traffic control information so that the unmanned vehicle for receiving the control information executes operation of making a return voyage, landing operation or hovering operation when the limitation flight range for location information and air traffic control the information instruction for determining itself meets preset positional relationship that the unmanned vehicle for receiving the control information, which executes operation of making a return voyage, landing operation or hovering operation,.Specifically, as shown in Figure 4, unmanned vehicle is after receiving the air traffic control information, unmanned vehicle can determine the location information 401 of itself according to airborne alignment sensor (such as satellite positioning receiver), in addition, the air traffic control information can be parsed, the limitation flight range 402 of limitation unmanned vehicle flight can be determined by parsing, then, whether the location information 401 of itself and the limitation flight range 402 described in determining meet preset positional relationship, when determining When whether the location information 401 and the limitation flight range 402 for stating itself meet preset positional relationship, unmanned vehicle executes operation of making a return voyage, landing operation or hovering operation；When determine it is described itself location information 401 and the limitation flight range 402 be unsatisfactory for preset positional relationship when, unmanned vehicle can not execute air traffic control operation, operation of making a return voyage, landing operation or hovering operation can not be executed, user can continue to use controlling terminal and carry out free operation to unmanned vehicle.Such as, whether the distance between the location information 401 of itself and the limitation flight range 402 described in determining are less than or equal to preset distance threshold, when determine it is described itself location information 401 and the distance between the limitation flight range 402 whether be less than or equal to preset distance threshold when, make a return voyage operation, landing operation or hover of unmanned vehicle execution operates；When determine it is described itself location information 401 and the distance between the limitation flight range 402 be greater than preset distance threshold when unmanned vehicle can not execute air traffic control operation, it can not execute operation of making a return voyage, landing operation or hover and operate.

In certain embodiments, described to send the air traffic control information so that it includes: to send the air traffic control information so that the limitation flight range flight that the unmanned vehicle for receiving the control information is indicated to the separate air traffic control information that the unmanned vehicle for receiving the control information, which executes air traffic control operation,.Specifically, unmanned vehicle is after receiving the air traffic control information, the air traffic control information can be parsed, the region of limitation unmanned vehicle flight can be determined by parsing, unmanned vehicle can fly towards the direction far from the limitation flight range, the limitation flight range that can prevent unmanned vehicle from indicating near and into air traffic control information in this way, meanwhile unmanned vehicle can also send unmanned vehicle in the prompting message to fly to the direction far from the limitation flight range to controlling terminal.

Further, described to send the air traffic control information so that it includes: to send the air traffic control information so that the unmanned vehicle for receiving the control information flies when the limitation flight range for location information and air traffic control the information instruction for determining itself meets preset positional relationship to the limitation flight range indicated far from the air traffic control information that the unmanned vehicle for receiving the control information, which executes operation of making a return voyage, landing operation or hovering operation,.Specifically, unmanned vehicle can determine the location information of itself according to airborne alignment sensor (such as satellite positioning receiver), then, whether the location information of itself and the limitation flight range described in determining meet preset positional relationship, when determine it is described itself location information and the limitation flight range whether meet preset positional relationship when, unmanned vehicle flies to the limitation flight range indicated far from the air traffic control information；When determine it is described itself location information and the limitation flight range be unsatisfactory for preset positional relationship when, unmanned vehicle can not execute air traffic control operation, controlling terminal can not being continued to use to the limitation flight range flight indicated far from the air traffic control information, user, free operation is carried out to unmanned vehicle.For example, determining whether the distance between unmanned vehicle and the limitation flight range are less than according to itself the location information Or be equal to preset distance threshold, when determine it is described itself location information and the distance between the limitation flight range whether be less than or equal to preset distance threshold when, unmanned vehicle flies to the limitation flight range far from air traffic control information instruction；When determine it is described itself location information and the distance between the limitation flight range be greater than preset distance threshold when unmanned vehicle can not execute air traffic control operation, it can not fly to the limitation flight range far from air traffic control information instruction.

In certain embodiments, the location information for being used to indicate the limitation flight range is obtained；The generation air traffic control information includes: to generate air traffic control information according to the positional information.Specifically, the limitation flight range can be as indicated by the location information of limitation flight range, that is limitation flight range can be set by location information, the available location information for being used to indicate limitation flight range of air traffic control equipment, then air traffic control information is generated according to the location information got, such as the location information can be inserted into the preset field in air traffic control information, then air traffic control information can indicate limitation flight range, further, the location information instruction limitation flight range that preset field stores in air traffic control information.Unmanned vehicle can parse the location information of instruction limitation flight range when receiving the air traffic control information from air traffic control information, it can the limitation flight range to determine the instruction of air traffic control information is parsed to air traffic control information.

In certain embodiments, the location information for being used to indicate limitation flight range includes: to limit to fly any of location information, the planning installation site information of the air traffic control equipment or location information of the control equipment.Wherein, it is described to limit the location information for flying the limitation flight range for manager's expectation setting that location information can be arrangement air traffic control equipment, fly location information by setting described limit, the manager of arrangement air traffic control equipment can set the limitation flight range of air traffic control information instruction；Alternatively, the limit, which flies location information, can be the corresponding location information of limitation flight range of the regulatory agencies such as government, military publication.The location information of the instruction limitation flight range can be the location information of the air traffic control equipment, that is the location of air traffic control equipment, air traffic control equipment can determine the position being presently in by the alignment sensor configured, air traffic control equipment can generate air traffic control information according to the positional information, i.e. the limitation flight range of air traffic control information instruction is determined by the location information of air traffic control equipment.The location information of the instruction limitation flight range can be the planning installation site information of the air traffic control equipment, wherein, the planning installation site information is installation site information expected from the air traffic control equipment, in practical applications, the planning installation site information may be different from the location information of air traffic control equipment, in some cases, when the air traffic control equipment is moved, the planning installation site information may there may be larger differences with the location information of air traffic control equipment, air traffic control equipment can generate air traffic control information according to the planning installation site information, that is the limitation flight range of air traffic control information instruction is determined by the planning installation site information of air traffic control equipment.

Further, it includes: the location information for being used to indicate limitation flight range that receiving terminal apparatus is sent that the acquisition, which is used to indicate the location information of limitation flight range,.Specifically, the manager for arranging air traffic control equipment can indicate setting that the mode of the location information of limitation flight range limits flight range to set corresponding instruction, manager can be in the location information of terminal setting limitation flight range, the location information can be sent to air traffic control equipment by terminal device, and air traffic control equipment can generate air traffic control information according to the positional information.

Further, it includes: that the location information for being used to indicate limitation flight range is obtained from preset storage device that the acquisition, which is used to indicate the location information of limitation flight range,.Specifically, the location information of limitation flight range can store on the storage device of air traffic control device configuration, the processor of air traffic control device can read the location information from storage device, and then, processor can generate air traffic control information according to the positional information.

Corresponding with the air traffic control method of unmanned vehicle that Fig. 1 is provided, another embodiment of the present invention provides a kind of air traffic control methods of unmanned vehicle.Fig. 5 is the flow chart of the air traffic control method of unmanned vehicle provided in an embodiment of the present invention.As shown in figure 5, the method in the present embodiment, may include:

Step S501, the air traffic control information that air traffic control equipment is sent is received.

Step S502, after receiving the air traffic control information, air traffic control operation is executed.

Specifically, the executing subject of the present embodiment method can be unmanned vehicle, and further, the executing subject can be the processor of unmanned vehicle.

In certain embodiments, the method also includes: receive the unmanned vehicle detection information that the control equipment sends, after receiving the detection information, Xiang Suoshu control equipment sends unmanned vehicle probe response information；The air traffic control information for receiving the transmission of unmanned flight's control equipment includes: to receive the air traffic control information that unmanned flight's control equipment is sent after sending the probe response information.

In certain embodiments, execution air traffic control operation includes: that execution is maked a return voyage operation, landing operation or hovering operation.

In certain embodiments, it is described execution make a return voyage operation, landing operation or hovering operation include: when the location information of unmanned vehicle and air traffic control information instruction limitation flight range meet preset positional relationship when execute make a return voyage operation, landing operation or hovering operate.

In certain embodiments, the execution air traffic control, which operates, includes:

To the limitation flight range flight indicated far from the air traffic control information.

In certain embodiments, it is described execution make a return voyage operation, landing operation or hovering operation include:

It flies when the limitation flight range of the location information of unmanned vehicle and the instruction of air traffic control information meets preset positional relationship to the limitation flight range indicated far from the air traffic control information.

In certain embodiments, the method also includes: parse from the air traffic control information location information for being used to indicate limitation flight range.

Specifically, the concrete principle of the method for the present embodiment and explanation refer to preceding sections, and details are not described herein again.

The present embodiment provides middle air traffic control equipment to send the air traffic control information of generation, unmanned vehicle is when receiving the air traffic control information, execute air traffic control operation, it in this way can be under the premise of not announcing concerning security matters geographical location information, realize the air traffic control to unmanned vehicle, meanwhile, upgrade regardless of whether user flies data to the limit of unmanned vehicle, air traffic control equipment can carry out air traffic control to unmanned vehicle, improve the validity and convenience of air traffic control.

The embodiment of the present invention provides a kind of air traffic control method of unmanned vehicle.Fig. 6 is the flow chart of the air traffic control method of unmanned vehicle provided in an embodiment of the present invention.As shown in fig. 6, the method in the present embodiment, may include:

Step S601, the planning installation site information of the air traffic control equipment is obtained.

Specifically, the executing subject of the present embodiment method can be the air traffic control equipment of unmanned vehicle, further, the executing subject can be the processor of air traffic control equipment, the planning installation site information of the available air traffic control equipment of processor, wherein, the planning installation site information is to arrange that the manager of air traffic control equipment wishes the mounted position of the air traffic control equipment, and specific explanations refer to preceding sections.

In certain embodiments, the planning installation site information for obtaining the air traffic control equipment includes: the planning installation site information for the air traffic control equipment that receiving terminal apparatus is sent.Specifically, the manager of arrangement air traffic control equipment can set the planning installation site information of air traffic control, such as manager can be in the planning installation site information of terminal setting air traffic control, the planning installation site information of the air traffic control can be sent to air traffic control equipment by terminal device, and air traffic control equipment can obtain the planning installation site information of terminal device transmission.

In certain embodiments, the planning installation site information for obtaining the air traffic control equipment includes: that the planning installation site information of air traffic control equipment is obtained from preset storage device.Specifically, the planning installation site information of air traffic control equipment can be with It is stored on the storage device of air traffic control device configuration, the processor of air traffic control device can read the location information from storage device.

Step S602, air traffic control information is generated according to the planning installation site information.

Specifically, after getting the planning installation site information, air traffic control information is generated according to the planning installation site information, further, the planning installation site information can be inserted into the preset field in air traffic control information, i.e., the air traffic control information that air traffic control equipment is sent is to plan that installation site information is bound with it.Unmanned vehicle is when receiving the air traffic control information, the planning installation site information of air traffic control equipment can be parsed from air traffic control information, further, planning installation site information can be obtained from the preset field of air traffic control information, wherein, the planning installation site information is used to indicate the planning installation site of air traffic control equipment, when then unmanned vehicle is to the air traffic control information received, so that it may determine the planning installation site of air traffic control equipment by parsing air traffic control information.

Step S603, the air traffic control information, which is sent, when so as to receive the unmanned vehicle of the air traffic control information within the first predeterminable area that the location information for determining itself is in the planning installation site information instruction executes air traffic control operation.

Specifically, air traffic control equipment sends the air traffic control information, and further, the processor control communication interface of air traffic control equipment sends the air traffic control information.As shown in Figure 7, unmanned vehicle is when receiving air traffic control information, air traffic control information can be parsed to obtain the planning installation site information 701 of air traffic control equipment, the airborne alignment sensor of unmanned vehicle can measure itself current location information 702, plan that installation site information 701 is compared in the location information 702 and air traffic control information that unmanned vehicle is presently in, such as, determine it is current itself the location of information 702 whether in the first predeterminable area 703 indicated by the planning installation site information, wherein, first predeterminable area 703 is bound with the installation site information 701 of air traffic control equipment, it is the air traffic control range of air traffic control equipment, it is no variation in.When unmanned vehicle is within the first predeterminable area that the location information 702 for determining itself is in the planning installation site information instruction, unmanned vehicle can execute air traffic control operation.In practical applications, air traffic control equipment may be maliciously moved to other positions 704, or air traffic control equipment may be mistakenly installed to other positions 704, when unmanned vehicle is close to air traffic control equipment and receives air traffic control information, presently described location information 705 is measured by airborne alignment sensor, the location of itself information 705 is compared by unmanned vehicle with the planning installation site 701 in air traffic control information, further, determine it is current itself the location of information 705 whether in the first predeterminable area 703 indicated by the planning installation site information, itself current location information 705 of unmanned vehicle can be determined or not in the first predeterminable area 703 at this time, i.e. at this time unmanned vehicle not in the flight of air traffic control equipment Control range, unmanned vehicle can not execute air traffic control operation.It can thus be appreciated that, it is bound with planning installation site information in the air traffic control region of air traffic control equipment, when air traffic control equipment is moved to other positions, even if unmanned vehicle is close to air traffic control equipment and receives air traffic control information, unmanned vehicle still determines current not in the air traffic control region of air traffic control equipment, air traffic control operation can not be executed, i.e. when air traffic control equipment is moved, air traffic control equipment cannot play the role of air traffic control to unmanned vehicle, it may insure that the unmanned vehicle of air traffic control equipment fixed area implements air traffic control in this way, the air traffic control effect to unmanned vehicle is just lost when being moved to other positions.

In the embodiment of the present invention, by generating air traffic control information according to the planning installation site information of air traffic control equipment, air traffic control operation is executed when receiving the unmanned vehicle of the air traffic control information within the first predeterminable area that the location information for determining itself is in the planning installation site information instruction, the air traffic control region of air traffic control equipment and planning installation site information binding in this way, only when air traffic control equipment is mounted to planning installation site, air traffic control equipment could carry out air traffic control to unmanned vehicle, prevent in this way air traffic control equipment by mistakenly or be maliciously installed to other positions and cause air traffic control confusion or interfere unmanned vehicle normal operation.

In certain embodiments, described to send the air traffic control information so that execution air traffic control operation includes: to send the air traffic control information when so as to receive the unmanned vehicle of the air traffic control information within the first predeterminable area that the location information for determining itself is in that the planning installation site information indicates to execute operation of making a return voyage, landing operation or hovering operation when receiving the unmanned vehicle of the air traffic control information within the first predeterminable area that the location information for determining itself is in the planning installation site information instruction.Specifically, unmanned vehicle is receiving the air traffic control information, unmanned vehicle can be parsed out the planning installation site information in air traffic control information, when unmanned vehicle determines within currently the first predeterminable area of the location information in the planning installation site information instruction of itself, operation of making a return voyage can be executed, return to the takeoff setting point of unmanned vehicle, perhaps back to the location point where the controlling terminal of unmanned vehicle or the location point specified back to user by the controlling terminal；Optionally, when unmanned vehicle determines within the first predeterminable area that itself current location information of unmanned vehicle is in the planning installation site information instruction, hovering operation can be executed, and sends the instruction information that expression unmanned vehicle is currently at floating state to the controlling terminal of unmanned vehicle；Optionally, when unmanned vehicle determines within the first predeterminable area that itself current location information is in the planning installation site information instruction, landing operation can be executed, wherein the landing place of unmanned vehicle can be is specified by air traffic control information.In this way, operation of the user to unmanned vehicle can be limited, prevents user's control unmanned vehicle winged close to or into limit Row region.

Further, it is described to send the air traffic control information so that the unmanned vehicle for receiving the air traffic control information executes operation of making a return voyage when the location information for determining itself is within first predeterminable area for planning the instruction of installation site information, landing operation or hovering operation include: send the air traffic control information so that receive the unmanned vehicle of the air traffic control information within the first predeterminable area that the location information for determining itself is in the planning installation site information instruction and it is described itself location information and the instruction of institute's air traffic control information limitation flight range between execute operation of making a return voyage when meeting preset positional relationship, landing operation or hovering operation, wherein, first predeterminable area includes the limitation flight range.Specifically, as shown in Figure 8, unmanned vehicle is after receiving the air traffic control information, the air traffic control information can be parsed, parse the planning installation site information in air traffic control information, in addition it can determine the limitation flight range 804 of air traffic control information instruction, unmanned vehicle can determine the location of itself information 802 according to airborne alignment sensor (such as satellite positioning receiver), then, when determining that itself the location information 802 is located in the first predeterminable area 803 of instruction described in the planning installation site information 801, may further determine that it is described itself the location of 802 information whether with the limitation flight range 804 whether meet preset positional relationship, wherein, first predeterminable area 803 includes limitation flight range 80 4, when determining whether itself the location information 802 and the limitation flight range 804 meet preset positional relationship, when the location of itself the distance between information 802 and the limitation flight range 804 described in such as are less than or equal to preset distance threshold, unmanned vehicle executes operation of making a return voyage, landing operation or hovering and operates；When determining that itself the location information 802 and the limitation flight range 804 are unsatisfactory for preset positional relationship, unmanned vehicle can not execute air traffic control operation, operation of making a return voyage, landing operation or hovering operation, user, which can not be executed, can continue to use controlling terminal and freely operate to unmanned vehicle.Such as, when determining that the location of unmanned vehicle itself the distance between information 802 and the limitation flight range 804 are greater than preset distance threshold, unmanned vehicle can not execute air traffic control operation, it can not execute operation of making a return voyage, landing operation or hovering operation.

In certain embodiments, it is described to send the air traffic control information so that it includes: to send the air traffic control information when so as to receive the unmanned vehicle of the air traffic control information within the first predeterminable area that the location information for determining itself is in the planning installation site information instruction to fly towards the limitation flight range far from control information instruction that the unmanned vehicle for receiving the air traffic control information, which executes air traffic control operation when the location information for determining itself is located at in the first area of the planning installation site information instruction, wherein, first predeterminable area includes the limitation flight range.Specifically, unmanned vehicle is receiving the air traffic control information, and it is winged that unmanned vehicle can be parsed out limitation indicated by planning installation site information and air traffic control information in air traffic control information Row region, when unmanned vehicle determines within currently the first predeterminable area of the location information in the planning installation site information instruction of itself, unmanned vehicle can fly towards the direction far from the limitation flight range, the limitation flight range that can prevent unmanned vehicle from indicating near and into air traffic control information in this way, meanwhile unmanned vehicle can also send unmanned vehicle in the prompting message to fly to the direction far from the limitation flight range to controlling terminal.

Further, it is described send the air traffic control information so that when receiving the unmanned vehicle of the air traffic control information within the first predeterminable area that the location information for determining itself is in the planning installation site information instruction towards the limitation flight range flight far from control information instruction include: send the air traffic control information so that receive the unmanned vehicle of the air traffic control information within the first predeterminable area that the location information for determining itself is in the planning installation site information instruction and it is described itself location information and control information instruction limitation flight range between meet preset positional relationship when towards far from limitation flight range flight.Specifically, unmanned vehicle is after receiving the air traffic control information, the air traffic control information can be parsed, parse the planning installation site information in air traffic control information, in addition it can parse the limitation flight range of air traffic control information instruction, unmanned vehicle can determine the location information of itself according to airborne alignment sensor (such as satellite positioning receiver), then, when the location information of itself described in determining is located in the first predeterminable area of instruction described in the planning installation site information, it may further determine that whether itself the location information with the limitation flight range meet preset positional relationship, wherein, first predeterminable area includes limitation flight range, when determine it is described itself location information and the limitation flight range whether meet preset positional relationship when, such as Itself the location information and the distance between limitation flight range when being less than or equal to preset distance threshold, unmanned vehicle is towards the limitation flight range flight far from control information instruction；When determine it is described itself location information and the limitation flight range be unsatisfactory for preset positional relationship when, unmanned vehicle can not execute air traffic control operation, it can not can continue to use controlling terminal towards the limitation flight range flight far from control information instruction, user and unmanned vehicle is freely operated.Such as, when the distance between the location information and the limitation flight range that determine unmanned vehicle itself are greater than preset distance threshold, unmanned vehicle can not execute air traffic control operation, it can not towards the limitation flight range flight far from control information instruction.

In certain embodiments, it obtains the planning installation site information of the control equipment and is used to indicate the location information of limitation flight range；It is described to plan that installation site information generation air traffic control information includes: according to the planning installation site information and the location information generation air traffic control information for being used to indicate limitation flight range according to described.Specifically, the limitation flight range can be as indicated by the location information of limitation flight range, that is limitation flight range can be set by location information, first predeterminable area can be set by the planning installation site information of air traffic control equipment, the available location information for being used to indicate limitation flight range of air traffic control equipment With planning installation site information, then air traffic control information is generated according to the location information of the instruction limitation flight range got and planning installation site information, such as instruction can be limited in the preset field in the location information and planning installation site information insertion air traffic control information of flight range, then air traffic control information can indicate the first predeterminable area and limitation flight range, further, the location information and planning installation site information for the instruction limitation flight range that preset field stores in air traffic control information can indicate limitation flight range and the first predeterminable area respectively.Unmanned vehicle is when receiving the air traffic control information, it can the limitation flight range and the first predeterminable area to determine the instruction of air traffic control information are parsed to air traffic control information.

In certain embodiments, the location information for being used to indicate limitation flight range includes the location information for limiting winged location information or the air traffic control equipment.Wherein, described to limit the location information for flying the limitation flight range that location information it is expected setting with user, fly location information by setting described limit, manager can set the limitation flight range of air traffic control information instruction；Alternatively, the limit, which flies location information, can be the corresponding location information of limitation flight range of the regulatory agencies such as government, military publication.The location information of the instruction limitation flight range can be the location information of the air traffic control equipment, that is the location of air traffic control equipment, air traffic control equipment can determine the position being presently in by the alignment sensor configured, air traffic control equipment can generate air traffic control information according to the positional information, i.e. the limitation flight range of air traffic control information instruction is determined by the location information of air traffic control equipment.

In certain embodiments, the planning installation site information for obtaining the control equipment includes: the planning installation site information that receiving terminal apparatus is sent.Specifically, manager can plan the mode of installation site information to setting to set the first predeterminable area, manager can be in the planning installation site information of terminal setting air traffic control equipment, planning installation site information can be sent to the air traffic control equipment by terminal device, and air traffic control equipment can generate air traffic control information according to the planning installation site information.

Further, the planning installation site information for obtaining the control equipment includes: that planning installation site information is obtained from preset storage device.Specifically, planning installation site information can store on the storage device of air traffic control device configuration, the processor of air traffic control device can read the location information from storage device, and then, processor can generate air traffic control information according to the positional information.

Corresponding with the air traffic control method of unmanned vehicle that Fig. 6 is provided, another embodiment of the present invention provides a kind of air traffic control methods of unmanned vehicle.Fig. 9 is the flow chart of the air traffic control method of unmanned vehicle provided in an embodiment of the present invention.As shown in figure 9, the method in the present embodiment, may include:

Step S901, the control information that the control equipment of unmanned vehicle is sent is received；

Step S902, the control information is parsed to obtain the planning installation site information of the control equipment；

Step S903, the location information of unmanned vehicle is obtained；

Step S904, air traffic control operation is executed when within the first predeterminable area that the location information is in the planning installation site information instruction.

Specifically, the executing subject of the present embodiment method can be unmanned vehicle, and further, the executing subject can be the processor of unmanned vehicle.Wherein, the execution sequence of step S901 and step S903 can be executed successively, are sequentially not construed as limiting, also be may be performed simultaneously.

Executing air traffic control operation when in certain embodiments, within first predeterminable area for being in the planning installation site information instruction when the location information includes:

It is executed when within the first predeterminable area that the location information is in the planning installation site information instruction and operates operation of making a return voyage, landing operation or hovering operation.

In certain embodiments, the execution when the location information is within first predeterminable area for planning the instruction of installation site information, which operates operation of making a return voyage, landing operation or hovering and operates, includes:

Execution operates operation of making a return voyage, landing operation or hovering and operates when within first predeterminable area of the location information in the planning installation site information instruction and meeting preset positional relationship between the location information and the limitation flight range of control information instruction, wherein, first predeterminable area includes the limitation flight range.

Towards the limitation flight range flight far from air traffic control information instruction within the first predeterminable area that the location information is in the planning installation site information instruction, wherein first predeterminable area includes the limitation flight range.

In certain embodiments, include: towards the limitation flight range flight far from air traffic control information instruction within first predeterminable area for being in the planning installation site information instruction when the location information

It flies when within the first predeterminable area that the location information is in the planning installation site information instruction and meeting preset positional relationship between the location information and the limitation flight range of control information instruction towards the limitation flight range far from air traffic control information instruction.

In certain embodiments, the location information for being used to indicate limitation flight range is parsed from the air traffic control information.

The embodiment of the present invention provides a kind of air traffic control equipment of unmanned vehicle.Figure 10 is the structure chart of air traffic control equipment provided in an embodiment of the present invention.As shown in Figure 10, the air traffic control equipment in the present embodiment, may include: memory 1001 and processor 1002,

The memory 1001, for storing program code；

The processor 1002 calls said program code, when program code is performed, for performing the following operations:

Generate air traffic control information；

In certain embodiments, when the processor 1002 sends the air traffic control information so that the unmanned vehicle for receiving the control information executes air traffic control operation, it is specifically used for:

The air traffic control information is broadcasted so that the unmanned vehicle for receiving the control information executes air traffic control operation.

In certain embodiments, the processor 1002, is also used to:

Broadcast unmanned vehicle detection information；

When the processor 1002 sends the air traffic control information so that the unmanned vehicle for receiving the control information executes air traffic control operation, it is specifically used for:

After the unmanned vehicle probe response information for receiving unmanned vehicle transmission, the air traffic control information is sent to the unmanned vehicle for sending the probe response information so that the unmanned vehicle executes air traffic control operation.

Sending the air traffic control information, operation, landing operation or hovering operate so that the unmanned vehicle execution for receiving the control information is maked a return voyage.

In certain embodiments, the processor 1002 sends the air traffic control information and when operation, landing operation or hovering operation, is specifically used for so that the unmanned vehicle execution for receiving the control information is maked a return voyage:

The air traffic control information is sent so that the unmanned vehicle for receiving the control information executes operation of making a return voyage, landing operation or hovering operation when the limitation flight range for location information and air traffic control the information instruction for determining itself meets preset positional relationship.

The air traffic control information is sent so that the unmanned vehicle for receiving the control information flies to the limitation flight range indicated far from the air traffic control information.

In certain embodiments, the processor 1002 sends the air traffic control information so that the unmanned vehicle for receiving the control information is specifically used for when the limitation flight range flight indicated far from the air traffic control information:

The air traffic control information is sent so that the unmanned vehicle for receiving the control information flies when the limitation flight range for location information and air traffic control the information instruction for determining itself meets preset positional relationship to the limitation flight range indicated far from the air traffic control information.

In certain embodiments, the processor 1002 is also used to:

Obtain the location information for being used to indicate the limitation flight range；

When the processor 1002 generates air traffic control information, it is specifically used for:

Air traffic control information is generated according to the positional information.

In certain embodiments, the location information for being used to indicate limitation flight range includes: to limit to fly any of location information, the planning installation site information of the air traffic control equipment or location information of the control equipment.

In certain embodiments, when the processor 1002 obtains the location information for being used to indicate limitation flight range, it is specifically used for:

What receiving terminal apparatus was sent is used to indicate the location information of limitation flight range.

The location information for being used to indicate limitation flight range is obtained from preset storage device.

The air traffic control equipment of the embodiment of the present invention can execute air traffic control method as shown in Figure 1, and concrete principle and explanation refer to Preceding sections.

The embodiment of the present invention provides a kind of unmanned vehicle.Figure 10 is the structure chart of unmanned vehicle provided in an embodiment of the present invention.As shown in Figure 10, the unmanned vehicle in the present embodiment, may include: memory 1001 and processor 1002,

The memory 1001, for storing program code；

In certain embodiments, the processor 1002 is also used to:

Receive the unmanned vehicle detection information that the control equipment is sent；

After receiving the detection information, Xiang Suoshu air traffic control equipment sends unmanned vehicle probe response information；

When the processor 1002 receives the air traffic control information that unmanned flight's control equipment is sent, it is specifically used for:

After sending the probe response information, the air traffic control information that unmanned flight's control equipment is sent is received.

In certain embodiments, when the processor 1002 executes air traffic control operation, it is specifically used for:

Execution make a return voyage operation, landing operation or hovering operation.

In certain embodiments, when the processor 1002 executes operation of making a return voyage, landing operation or hovering operation, it is specifically used for:

Operation of making a return voyage, landing operation or hovering is executed when the limitation flight range of the location information of unmanned vehicle and the instruction of air traffic control information meets preset positional relationship to operate.

When the limitation flight range of the location information of unmanned vehicle and the instruction of air traffic control information meets preset positional relationship

In certain embodiments, the processor 1002 is also used to:

The location information for being used to indicate limitation flight range is parsed from the air traffic control information.

The unmanned vehicle of the embodiment of the present invention can execute air traffic control method as shown in Figure 5, before concrete principle and explanation refer to State part.

The embodiment of the present invention provides a kind of air traffic control system of unmanned vehicle, air traffic control equipment and foregoing unmanned vehicle including foregoing unmanned vehicle.

The memory 1001, for storing program code；

In certain embodiments, the processor 1002 sends the air traffic control information so that when receiving the unmanned vehicle of the air traffic control information within the first predeterminable area that the location information for determining itself is in the planning installation site information instruction when execution air traffic control operation, is specifically used for:

The air traffic control information is sent when so as to receive the unmanned vehicle of the air traffic control information within the first predeterminable area that the location information for determining itself is in the planning installation site information instruction and executes operation of making a return voyage, landing operation or hovering operation.

In certain embodiments, when the processor 1002 sends the air traffic control information so that the unmanned vehicle for receiving the air traffic control information executes operation of making a return voyage, landing operation or hovering operation when the location information for determining itself is within first predeterminable area for planning the instruction of installation site information, it is specifically used for:

Send the air traffic control information so that receive the unmanned vehicle of the air traffic control information within the first predeterminable area that the location information for determining itself is in the planning installation site information instruction and it is described itself location information and control information instruction limitation flight range between execute operation of making a return voyage, landing operation or hovering when meeting preset positional relationship and operate, wherein, first predeterminable area includes the limitation flight range.

In certain embodiments, the processor 1002 sends the air traffic control information so that the unmanned vehicle for receiving the air traffic control information executes air traffic control when the location information for determining itself is located at in the first area of the planning installation site information instruction When operation, it is specifically used for:

The air traffic control information is sent so that towards the limitation flight range flight far from the control information instruction when receiving the unmanned vehicle of the air traffic control information within the first predeterminable area that the location information for determining itself is in the planning installation site information instruction, wherein, first predeterminable area includes the limitation flight range.

In certain embodiments, the processor 1002 sends the air traffic control information so that towards when the limitation flight range flight far from the control information instruction when receiving the unmanned vehicle of the air traffic control information within the first predeterminable area that the location information for determining itself is in the planning installation site information instruction, is specifically used for:

Send the air traffic control information so that receive the unmanned vehicle of the air traffic control information within the first predeterminable area that the location information for determining itself is in the planning installation site information instruction and it is described itself location information and control information instruction limitation flight range between when meeting preset positional relationship towards far from limitation flight range flight.

In certain embodiments, the processor 1002 is also used to:

It obtains the planning installation site information of the control equipment and is used to indicate the location information of limitation flight range；

When the processor generates air traffic control information according to the planning installation site information, it is specifically used for:

Air traffic control information is generated according to the planning installation site information and the location information for being used to indicate limitation flight range.

In certain embodiments, the location information for being used to indicate limitation flight range includes the location information for limiting winged location information or the air traffic control equipment.

In certain embodiments, when the processor 1002 obtains the planning installation site information of the control equipment, it is specifically used for:

The planning installation site information that receiving terminal apparatus is sent.

Planning installation site information is obtained from preset storage device.

The air traffic control equipment of the embodiment of the present invention can execute air traffic control method as shown in FIG. 6, and concrete principle and explanation refer to preceding sections.

The memory 1001, for storing program code；

Obtain the location information of unmanned vehicle；

In certain embodiments, when the processor 1002 executes air traffic control operation when being within the first predeterminable area of the planning installation site information instruction when the location information, it is specifically used for:

In certain embodiments, the processor 1002 is specifically used for when the location information is within the first predeterminable area that the planning installation site information indicates, execution operates operation of making a return voyage, landing operation or hovering operation:

In certain embodiments, the processor 1002 is being within the first predeterminable area of the planning installation site information instruction towards when the limitation flight range flight far from air traffic control information instruction when the location information, is specifically used for:

In certain embodiments, the processor 1002 is also used to:

The unmanned vehicle of the embodiment of the present invention can execute air traffic control method as shown in Figure 9, before concrete principle and explanation refer to State part.

In several embodiments provided by the present invention, it should be understood that disclosed device and method may be implemented in other ways.Such as, the apparatus embodiments described above are merely exemplary, such as, the division of the unit, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed mutual coupling, direct-coupling or communication connection can be through some interfaces, the indirect coupling or communication connection of device or unit, can be electrical property, mechanical or other forms.

The unit as illustrated by the separation member may or may not be physically separated, and component shown as a unit may or may not be physical unit, it can and it is in one place, or may be distributed over multiple network units.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.

In addition, the functional units in various embodiments of the present invention may be integrated into one processing unit, it is also possible to each unit and physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated unit both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.

The above-mentioned integrated unit being realized in the form of SFU software functional unit, can store in a computer readable storage medium.Above-mentioned SFU software functional unit is stored in a storage medium, it uses including some instructions so that a computer equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute the part steps of each embodiment the method for the present invention.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), the various media that can store program code such as random access memory (Random Access Memory, RAM), magnetic or disk.

Those skilled in the art can be understood that, for convenience and simplicity of description, only the example of the division of the above functional modules, in practical application, it can according to need and be completed by different functional modules above-mentioned function distribution, the internal structure of device is divided into different functional modules, to complete all or part of the functions described above.The specific work process of the device of foregoing description, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；Although referring to before Stating each embodiment, invention is explained in detail, those skilled in the art should understand that: it is still possible to modify the technical solutions described in the foregoing embodiments, or equivalent substitution of some or all of the technical features；And these are modified or replaceed, the range for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.

Claims

A kind of air traffic control method of unmanned vehicle, the air traffic control equipment applied to the unmanned vehicle characterized by comprising

Generate air traffic control information；

The air traffic control information is sent so that the unmanned vehicle for receiving the control information executes air traffic control operation.
The method according to claim 1, wherein

It is described to send the air traffic control information so that the unmanned vehicle execution air traffic control operation for receiving the control information includes:

The air traffic control information is broadcasted so that the unmanned vehicle for receiving the control information executes air traffic control operation.
The method according to claim 1, wherein the method also includes:

Broadcast unmanned vehicle detection information；

It is described to send the air traffic control information so that the unmanned vehicle execution air traffic control operation for receiving the control information includes:

After the unmanned vehicle probe response information for receiving unmanned vehicle transmission, the air traffic control information is sent to the unmanned vehicle for sending the probe response information so that the unmanned vehicle executes air traffic control operation.
The method according to claim 1, wherein

It is described to send the air traffic control information so that the unmanned vehicle execution air traffic control operation for receiving the control information includes:

Sending the air traffic control information, operation, landing operation or hovering operate so that the unmanned vehicle execution for receiving the control information is maked a return voyage.
According to the method described in claim 4, it is characterized in that,

It is described to send the air traffic control information so that the unmanned vehicle for receiving the control information executes operation of making a return voyage, landing operation or operation of hovering includes:

The air traffic control information is sent so that the unmanned vehicle for receiving the control information executes operation of making a return voyage, landing operation or hovering operation when the limitation flight range for location information and air traffic control the information instruction for determining itself meets preset positional relationship.
The method according to claim 1, wherein

It is described to send the air traffic control information so that the unmanned vehicle execution air traffic control operation for receiving the control information includes:

The air traffic control information is sent so that the unmanned vehicle for receiving the control information flies to the limitation flight range indicated far from the air traffic control information.
According to the method described in claim 6, it is characterized in that,

It is described to send the air traffic control information so that the unmanned vehicle for receiving the control information includes: to the limitation flight range flight indicated far from the air traffic control information

The air traffic control information is sent so that the unmanned vehicle for receiving the control information flies when the limitation flight range for location information and air traffic control the information instruction for determining itself meets preset positional relationship to the limitation flight range indicated far from the air traffic control information.
According to the described in any item methods of claim 5-7, which is characterized in that the method also includes:

Obtain the location information for being used to indicate the limitation flight range；

The generation air traffic control information includes:

Air traffic control information is generated according to the positional information.
According to the method described in claim 8, it is characterized in that,

The location information for being used to indicate limitation flight range includes: to limit to fly any of location information, the planning installation site information of the air traffic control equipment or location information of the control equipment.
According to the method described in claim 8, it is characterized in that,

It is described acquisition be used to indicate limitation flight range location information include:

What receiving terminal apparatus was sent is used to indicate the location information of limitation flight range.
According to the method described in claim 8, it is characterized in that,

It is described acquisition be used to indicate limitation flight range location information include:

The location information for being used to indicate limitation flight range is obtained from preset storage device.
A kind of method of control of unmanned vehicle is applied to the unmanned vehicle characterized by comprising

Receive the air traffic control information that unmanned flight's control equipment is sent；

After receiving the air traffic control information, air traffic control operation is executed.
According to the method for claim 12, which is characterized in that the method also includes:

Receive the unmanned vehicle detection information that the control equipment is sent；

After receiving the detection information, Xiang Suoshu air traffic control equipment sends unmanned vehicle probe response information；

It is described receive unmanned flight's control equipment send air traffic control information include:

After sending the probe response information, the air traffic control information that unmanned flight's control equipment is sent is received.
According to the method for claim 12, which is characterized in that

The execution air traffic control operates

Execution make a return voyage operation, landing operation or hovering operation.
According to the method for claim 14, which is characterized in that

It is described execution make a return voyage operation, landing operation or hovering operation include:

Operation of making a return voyage, landing operation or hovering is executed when the limitation flight range of the location information of unmanned vehicle and the instruction of air traffic control information meets preset positional relationship to operate.
According to the method for claim 12, which is characterized in that

The execution air traffic control operates

To the limitation flight range flight indicated far from the air traffic control information.
According to the method for claim 16, which is characterized in that

It is described execution make a return voyage operation, landing operation or hovering operation include:

When the limitation flight range of the location information of unmanned vehicle and the instruction of air traffic control information meets preset positional relationship

To the limitation flight range flight indicated far from the air traffic control information.
The described in any item methods of 5-17 according to claim 1, which is characterized in that the method also includes:

The location information for being used to indicate limitation flight range is parsed from the air traffic control information.
A kind of method of control of unmanned vehicle, for the air traffic control equipment with unmanned vehicle characterized by comprising

Obtain the planning installation site information of the air traffic control equipment；

Air traffic control information is generated according to the planning installation site information；

The air traffic control information is sent when so as to receive the unmanned vehicle of the air traffic control information within the first predeterminable area that the location information for determining itself is in the planning installation site information instruction and executes air traffic control operation.
According to the method for claim 19, which is characterized in that

It is described to send the air traffic control information so that execution air traffic control operation includes: when receiving the unmanned vehicle of the air traffic control information within the first predeterminable area that the location information for determining itself is in the planning installation site information instruction

The air traffic control information is sent when so as to receive the unmanned vehicle of the air traffic control information within the first predeterminable area that the location information for determining itself is in the planning installation site information instruction and executes operation of making a return voyage, landing operation or hovering operation.
According to the method for claim 20, which is characterized in that

It is described to send the air traffic control information so that the unmanned vehicle for receiving the air traffic control information executes operation of making a return voyage, landing operation or hovering operation when the location information for determining itself is within first predeterminable area for planning the instruction of installation site information Include:

Send the air traffic control information so that receive the unmanned vehicle of the air traffic control information within the first predeterminable area that the location information for determining itself is in the planning installation site information instruction and it is described itself location information and control information instruction limitation flight range between execute operation of making a return voyage, landing operation or hovering when meeting preset positional relationship and operate, wherein, first predeterminable area includes the limitation flight range.
According to the method for claim 19, which is characterized in that

The transmission air traffic control information is so that the unmanned vehicle for receiving the air traffic control information executes air traffic control and operate and includes: when the location information for determining itself is located at in the first area of the planning installation site information instruction

The air traffic control information is sent so that towards the limitation flight range flight far from the control information instruction when receiving the unmanned vehicle of the air traffic control information within the first predeterminable area that the location information for determining itself is in the planning installation site information instruction, wherein, first predeterminable area includes the limitation flight range.
According to the method for claim 22, which is characterized in that

It is described to send the air traffic control information so as to include: towards the limitation flight range flight far from the control information instruction when receiving the unmanned vehicle of the air traffic control information within the first predeterminable area that the location information for determining itself is in the planning installation site information instruction

Send the air traffic control information so that receive the unmanned vehicle of the air traffic control information within the first predeterminable area that the location information for determining itself is in the planning installation site information instruction and it is described itself location information and control information instruction limitation flight range between when meeting preset positional relationship towards far from limitation flight range flight.
According to the described in any item methods of claim 21-23, which is characterized in that the method also includes:

It obtains the planning installation site information of the control equipment and is used to indicate the location information of limitation flight range；

It is described to include: according to planning installation site information generation air traffic control information

Air traffic control information is generated according to the planning installation site information and the location information for being used to indicate limitation flight range.
The described in any item methods of the 21-23 according to claim, which is characterized in that the location information for being used to indicate limitation flight range includes the location information for limiting winged location information or the air traffic control equipment.
The described in any item methods of 9-25 according to claim 1, which is characterized in that

The planning installation site information for obtaining the control equipment includes: the planning installation site information that receiving terminal apparatus is sent.
The described in any item methods of 9-25 according to claim 1, which is characterized in that

The planning installation site information for obtaining the control equipment includes: that planning installation site information is obtained from preset storage device.
A kind of method of control of unmanned vehicle, is used for and unmanned vehicle characterized by comprising

Receive the control information that the control equipment of unmanned vehicle is sent；

The control information is parsed to obtain the planning installation site information of the control equipment；

Obtain the location information of unmanned vehicle；

Air traffic control operation is executed when within the first predeterminable area that the location information is in the planning installation site information instruction.
According to the method for claim 28, which is characterized in that

Executing air traffic control operation when within first predeterminable area for being in the planning installation site information instruction when the location information includes:

It is executed when within the first predeterminable area that the location information is in the planning installation site information instruction and operates operation of making a return voyage, landing operation or hovering operation.
According to the method for claim 29, which is characterized in that

The execution when the location information is within the first predeterminable area that the planning installation site information indicates operates operation of making a return voyage, landing operation or hovering operation and includes:

When the location information be in it is described planning installation site information instruction the first predeterminable area within and the location information with it is described It is executed when meeting preset positional relationship between the limitation flight range of control information instruction and operates operation of making a return voyage, landing operation or hovering operation, wherein first predeterminable area includes the limitation flight range.
According to the method for claim 28, which is characterized in that

Executing air traffic control operation when within first predeterminable area for being in the planning installation site information instruction when the location information includes:

Towards the limitation flight range flight far from air traffic control information instruction within the first predeterminable area that the location information is in the planning installation site information instruction, wherein first predeterminable area includes the limitation flight range.
According to the method for claim 31, which is characterized in that

Include: towards the limitation flight range flight far from air traffic control information instruction within first predeterminable area for being in the planning installation site information instruction when the location information

It flies when within the first predeterminable area that the location information is in the planning installation site information instruction and meeting preset positional relationship between the location information and the limitation flight range of control information instruction towards the limitation flight range far from air traffic control information instruction.
According to the described in any item methods of claim 30-32, which is characterized in that the method also includes:

The location information for being used to indicate limitation flight range is parsed from the air traffic control information.
A kind of air traffic control equipment of unmanned vehicle characterized by comprising memory and processor,

The memory, for storing program code；

The processor calls said program code, when program code is performed, for performing the following operations:

Generate air traffic control information；

The air traffic control information is sent so that the unmanned vehicle for receiving the control information executes air traffic control operation.
Equipment according to claim 34, which is characterized in that

When the processor sends the air traffic control information so that the unmanned vehicle for receiving the control information executes air traffic control operation, it is specifically used for:

The air traffic control information is broadcasted so that the unmanned vehicle for receiving the control information executes air traffic control operation.
Equipment according to claim 34, which is characterized in that the processor is also used to:

Broadcast unmanned vehicle detection information；

When the processor sends the air traffic control information so that the unmanned vehicle for receiving the control information executes air traffic control operation, it is specifically used for:

After the unmanned vehicle probe response information for receiving unmanned vehicle transmission, the air traffic control information is sent to the unmanned vehicle for sending the probe response information so that the unmanned vehicle executes air traffic control operation.
Equipment according to claim 34, which is characterized in that

When the processor sends the air traffic control information so that the unmanned vehicle for receiving the control information executes air traffic control operation, it is specifically used for:

Sending the air traffic control information, operation, landing operation or hovering operate so that the unmanned vehicle execution for receiving the control information is maked a return voyage.
The equipment according to claim 37, which is characterized in that

The processor sends the air traffic control information and when operation, landing operation or hovering operation, is specifically used for so that the unmanned vehicle execution for receiving the control information is maked a return voyage:

The air traffic control information is sent so that the unmanned vehicle for receiving the control information executes operation of making a return voyage, landing operation or hovering operation when the limitation flight range for location information and air traffic control the information instruction for determining itself meets preset positional relationship.
Equipment according to claim 34, which is characterized in that

When the processor sends the air traffic control information so that the unmanned vehicle for receiving the control information executes air traffic control operation, it is specifically used for:

The air traffic control information is sent so that the unmanned vehicle for receiving the control information flies to the limitation flight range indicated far from the air traffic control information.
Equipment according to claim 39, which is characterized in that

The processor sends the air traffic control information so that the unmanned vehicle for receiving the control information is specifically used for when the limitation flight range flight indicated far from the air traffic control information:

The air traffic control information is sent so that the unmanned vehicle for receiving the control information flies when the limitation flight range for location information and air traffic control the information instruction for determining itself meets preset positional relationship to the limitation flight range indicated far from the air traffic control information.
According to the described in any item equipment of claim 38-40, which is characterized in that the processor is also used to:

Obtain the location information for being used to indicate the limitation flight range；

When the processor generates air traffic control information, it is specifically used for:

Air traffic control information is generated according to the positional information.
Equipment according to claim 41, which is characterized in that

The location information for being used to indicate limitation flight range includes: to limit to fly any of location information, the planning installation site information of the air traffic control equipment or location information of the control equipment.
Equipment according to claim 41, which is characterized in that

When the processor obtains the location information for being used to indicate limitation flight range, it is specifically used for:

What receiving terminal apparatus was sent is used to indicate the location information of limitation flight range.
Equipment according to claim 41, which is characterized in that

When the processor obtains the location information for being used to indicate limitation flight range, it is specifically used for:

The location information for being used to indicate limitation flight range is obtained from preset storage device.
A kind of unmanned vehicle characterized by comprising memory and processor,

The memory, for storing program code；

The processor calls said program code, when program code is performed, for performing the following operations:

Receive the air traffic control information that air traffic control equipment is sent；

After receiving the air traffic control information, air traffic control operation is executed.
Unmanned vehicle according to claim 45, which is characterized in that the processor is also used to:

Receive the unmanned vehicle detection information that the control equipment is sent；

After receiving the detection information, Xiang Suoshu air traffic control equipment sends unmanned vehicle probe response information；

When the processor receives the air traffic control information that unmanned flight's control equipment is sent, it is specifically used for:

After sending the probe response information, the air traffic control information that unmanned flight's control equipment is sent is received.
Unmanned vehicle according to claim 45, which is characterized in that

When the processor executes air traffic control operation, it is specifically used for:

Execution make a return voyage operation, landing operation or hovering operation.
Unmanned vehicle according to claim 47, which is characterized in that

When the processor executes operation of making a return voyage, landing operation or hovering operation, it is specifically used for:

Operation of making a return voyage, landing operation or hovering is executed when the limitation flight range of the location information of unmanned vehicle and the instruction of air traffic control information meets preset positional relationship to operate.
Unmanned vehicle according to claim 45, which is characterized in that

When the processor executes air traffic control operation, it is specifically used for:

To the limitation flight range flight indicated far from the air traffic control information.
Unmanned vehicle according to claim 49, which is characterized in that

When the processor executes operation of making a return voyage, landing operation or hovering operation, it is specifically used for:

When the limitation flight range of the location information of unmanned vehicle and the instruction of air traffic control information meets preset positional relationship

To the limitation flight range flight indicated far from the air traffic control information.
According to the described in any item unmanned vehicles of claim 48-50, which is characterized in that the processor is also used to:

The location information for being used to indicate limitation flight range is parsed from the air traffic control information.
A kind of air traffic control equipment of unmanned vehicle characterized by comprising memory and processor,

The memory, for storing program code；

The processor calls said program code, when program code is performed, for performing the following operations:

Obtain the planning installation site information of the air traffic control equipment；

Air traffic control information is generated according to the planning installation site information；

The air traffic control information is sent when so as to receive the unmanned vehicle of the air traffic control information within the first predeterminable area that the location information for determining itself is in the planning installation site information instruction and executes air traffic control operation.
Equipment according to claim 52, which is characterized in that

The processor sends the air traffic control information so that when receiving the unmanned vehicle of the air traffic control information within the first predeterminable area that the location information for determining itself is in the planning installation site information instruction when execution air traffic control operation, is specifically used for:

The air traffic control information is sent when so as to receive the unmanned vehicle of the air traffic control information within the first predeterminable area that the location information for determining itself is in the planning installation site information instruction and executes operation of making a return voyage, landing operation or hovering operation.
Equipment according to claim 53, which is characterized in that

When the processor sends the air traffic control information so that the unmanned vehicle for receiving the air traffic control information executes operation of making a return voyage, landing operation or hovering operation when the location information for determining itself is within first predeterminable area for planning the instruction of installation site information, it is specifically used for:

Send the air traffic control information so that receive the unmanned vehicle of the air traffic control information within the first predeterminable area that the location information for determining itself is in the planning installation site information instruction and it is described itself location information and control information instruction limitation flight range between execute operation of making a return voyage, landing operation or hovering when meeting preset positional relationship and operate, wherein, first predeterminable area includes the limitation flight range.
Equipment according to claim 52, which is characterized in that

When the processor sends the air traffic control information so that the unmanned vehicle for receiving the air traffic control information executes air traffic control operation when the location information for determining itself is located at in the first area of the planning installation site information instruction, it is specifically used for:

The air traffic control information is sent so that towards the limitation flight range flight far from the control information instruction when receiving the unmanned vehicle of the air traffic control information within the first predeterminable area that the location information for determining itself is in the planning installation site information instruction, wherein, first predeterminable area includes the limitation flight range.
Equipment according to claim 55, which is characterized in that

The processor sends the air traffic control information so that towards when the limitation flight range flight far from the control information instruction when receiving the unmanned vehicle of the air traffic control information within the first predeterminable area that the location information for determining itself is in the planning installation site information instruction, is specifically used for:

Send the air traffic control information so that receive the unmanned vehicle of the air traffic control information within the first predeterminable area that the location information for determining itself is in the planning installation site information instruction and it is described itself location information and control information instruction limitation flight range between when meeting preset positional relationship towards far from limitation flight range flight.
According to the described in any item equipment of claim 54-56, which is characterized in that the processor is also used to:

It obtains the planning installation site information of the control equipment and is used to indicate the location information of limitation flight range；

When the processor generates air traffic control information according to the planning installation site information, it is specifically used for:

Air traffic control information is generated according to the planning installation site information and the location information for being used to indicate limitation flight range.
The described in any item equipment of the 54-56 according to claim, which is characterized in that described to be used to indicate limitation movement area The location information in domain includes the location information for limiting winged location information or the air traffic control equipment.
According to the described in any item equipment of claim 52-58, which is characterized in that

When the processor obtains the planning installation site information of the control equipment, it is specifically used for:

The planning installation site information that receiving terminal apparatus is sent.
According to the described in any item equipment of claim 52-58, which is characterized in that

When the processor obtains the planning installation site information of the control equipment, it is specifically used for:

Planning installation site information is obtained from preset storage device.
A kind of unmanned vehicle characterized by comprising memory and processor,

The memory, for storing program code；

The processor calls said program code, when program code is performed, for performing the following operations:

Receive the control information that the control equipment of unmanned vehicle is sent；

The control information is parsed to obtain the planning installation site information of the control equipment；

Obtain the location information of unmanned vehicle；

Air traffic control operation is executed when within the first predeterminable area that the location information is in the planning installation site information instruction.
Unmanned vehicle according to claim 61, which is characterized in that

When the processor executes air traffic control operation when being within the first predeterminable area of the planning installation site information instruction when the location information, it is specifically used for:

It is executed when within the first predeterminable area that the location information is in the planning installation site information instruction and operates operation of making a return voyage, landing operation or hovering operation.
Unmanned vehicle according to claim 29, which is characterized in that

The processor executes behaviour when being within the first predeterminable area of the planning installation site information instruction when the location information Make a return voyage operation, landing operation or hovering operation when, be specifically used for:

Execution operates operation of making a return voyage, landing operation or hovering and operates when within first predeterminable area of the location information in the planning installation site information instruction and meeting preset positional relationship between the location information and the limitation flight range of control information instruction, wherein, first predeterminable area includes the limitation flight range.
Unmanned vehicle according to claim 61, which is characterized in that

When the processor executes air traffic control operation when being within the first predeterminable area of the planning installation site information instruction when the location information, it is specifically used for:

Towards the limitation flight range flight far from air traffic control information instruction within the first predeterminable area that the location information is in the planning installation site information instruction, wherein first predeterminable area includes the limitation flight range.
Unmanned vehicle according to claim 64, which is characterized in that

The processor is being within the first predeterminable area of the planning installation site information instruction towards when the limitation flight range flight far from air traffic control information instruction when the location information, is specifically used for:

It flies when within the first predeterminable area that the location information is in the planning installation site information instruction and meeting preset positional relationship between the location information and the limitation flight range of control information instruction towards the limitation flight range far from air traffic control information instruction.
According to the described in any item unmanned vehicles of claim 63-65, which is characterized in that the processor is also used to:

The location information for being used to indicate limitation flight range is parsed from the air traffic control information.
A kind of air traffic control system of unmanned vehicle, air traffic control equipment and the described in any item unmanned vehicles of claim 45-51 including the described in any item unmanned vehicles of claim 34-44.
A kind of air traffic control system of unmanned vehicle, air traffic control equipment and the described in any item unmanned vehicles of claim 61-66 including the described in any item unmanned vehicles of claim 52-60.