CN110444049A - A kind of winged method and device of unmanned plane limit based on view networking - Google Patents

Abstract

It is limited the present invention provides a kind of unmanned plane based on view networking and flies method and device, including, when detecting view networked clients and unmanned plane successful connection, the flight constraints area information and three dimensional local information that unmanned plane is sent are obtained depending on networked clients, and send it to view networked server；Depending on networked server according to three dimensional local information and flight constraints area information, flight constraints action type is determined, and send it to view networked clients；Flight constraints action type is sent to unmanned plane depending on networked clients, so that unmanned plane executes flight constraints operation according to flight constraints action type, in the present invention, depending on networked clients by three dimensional local information and flight constraints area information, based on being sent to view networked server depending on networking protocol, by the flight constraints action type that unmanned plane is calculated and determined depending on networked server, so that the determination process of the flight constraints action type of unmanned plane is more stable and real-time, so that it is guaranteed that the safety of unmanned plane during flying.

Description

A kind of winged method and device of unmanned plane limit based on view networking

Technical field

The present invention relates to view networking technology fields, limit more particularly to a kind of unmanned plane based on view networking and fly method and dress It sets.

Background technique

With the fast development of unmanned air vehicle technique, the application field of unmanned plane is more and more extensive, the quantity and need of unmanned plane Ask also growing.However, unmanned plane quantity quicklys increase, huge security risk can be caused, to ensure airspace safety, root According to International Civil Aviation Organization and various countries' blank pipe to the regulation of airspace control, and to the administrative provisions of unmanned plane, unmanned plane must be It flies in defined airspace.

Existing unmanned plane limits the mode of flying, and is that client obtains unmanned plane real-time position information and unmanned plane restricted area domain column Table, restricted area domain list include that restricted area domain boundary information, limit fly the information such as height, and client is by unmanned plane real-time position information And unmanned plane restricted area domain list is based on IP (Internet Protocol, the agreement interconnected between network) fidonetFido and is sent to Server, and then server passes through the unmanned plane restricted area domain list received and unmanned plane real-time position information, can calculate The positional relationship of unmanned plane and restricted area domain out, so that it is determined that corresponding unmanned plane limit flies strategy.

But in the case where IP network network condition is bad, may cause server can not timely receive unmanned plane Real-time position information and unmanned plane restricted area domain list, so that the position that can not calculate unmanned plane and restricted area domain in real time is closed System causes unmanned plane limit to fly the determination of strategy and implement not in time, to cause unmanned plane during flying safety problem.

Summary of the invention

In view of the above problems, it proposes the embodiment of the present invention and overcomes the above problem or at least partly in order to provide one kind A kind of unmanned plane based on view networking to solve the above problems, which limits, flies method and apparatus.

To solve the above-mentioned problems, it is limited the embodiment of the invention discloses a kind of unmanned plane based on view networking and flies method, packet It includes:

When detecting view networked clients and unmanned plane successful connection, the view networked clients obtain the unmanned plane The flight constraints area information of transmission；

It is described that the three dimensional local information that the unmanned plane is sent is obtained depending on networked clients；

The view networked clients are by the three dimensional local information and the flight constraints area information according to view networking association View is added to view networking protocol data packet, and is sent to view networked server depending on networking protocol data packet for described；

The view networked server is according to the three dimensional local information regarded in networking protocol data packet and flight constraints area Domain information determines the flight constraints action type of the unmanned plane, and the flight constraints action type is sent to the view Networked clients；

It is described that the flight constraints action type is sent to the unmanned plane depending on networked clients, for the unmanned plane Flight constraints operation is executed according to the flight constraints action type.

To solve the above-mentioned problems, it is limited the embodiment of the invention also discloses a kind of unmanned plane based on view networking and flies device, Include:

First obtains module, for when detecting view networked clients and unmanned plane successful connection, the view networking to be objective Family end obtains the flight constraints area information that the unmanned plane is sent；

Second obtains module, and the three dimensional local information that the unmanned plane is sent is obtained depending on networked clients for described；

First sending module is used for the view networked clients for the three dimensional local information and the flight constraints region Information is added to view networking protocol data packet according to depending on networking protocol, and is sent to view networking depending on networking protocol data packet for described Server；

Determining module, for the view networked server according to the three dimensional local information in the view networking protocol data packet With flight constraints area information, the flight constraints action type of the unmanned plane is determined, and by the flight constraints action type It is sent to the view networked clients；

Second sending module, for it is described depending on networked clients by the flight constraints action type be sent to it is described nobody Machine, so that the unmanned plane executes flight constraints operation according to the flight constraints action type.

The embodiment of the present invention includes following advantages:

A kind of unmanned plane based on view networking provided in an embodiment of the present invention, which limits, flies method and device, comprising: when detecting Depending on networked clients and when unmanned plane successful connection, view networked clients obtain flight constraints area information that unmanned plane is sent with Three dimensional local information, and send it to view networked server；Depending on networked server according to three dimensional local information and flight constraints Area information, determines the flight constraints action type of unmanned plane, and sends it to view networked clients；It will depending on networked clients Flight constraints action type is sent to unmanned plane, so that unmanned plane executes flight constraints operation according to flight constraints action type, In the present invention, depending on networked clients by three dimensional local information and flight constraints area information, based on being sent to view depending on networking protocol Networked server, by the flight constraints action type of unmanned plane is calculated and determined depending on networked server, so that the flight of unmanned plane The determination process of constraint manipulation type is more stable and real-time, so that it is guaranteed that the safety of unmanned plane during flying.

Detailed description of the invention

Fig. 1 is a kind of networking schematic diagram of view networking of the invention；

Fig. 2 is a kind of hardware structural diagram of node server of the invention；

Fig. 3 is a kind of hardware structural diagram of access switch of the invention；

Fig. 4 is the hardware structural diagram that a kind of Ethernet association of the invention turns gateway；

Fig. 5 is that a kind of unmanned plane based on view networking of the invention limits the step flow chart for flying method；

Fig. 6 is that a kind of unmanned plane based on view networking of the invention limits the structure chart for flying system；

Fig. 7 is a kind of flight restriction region schematic diagram of the invention；

Fig. 8 is that a kind of unmanned plane based on view networking of the invention limits the specific steps flow chart for flying method；

Fig. 9 is a kind of schematic diagram of information warning that view networked clients are shown of the invention；

Figure 10 is that a kind of unmanned plane based on view networking of the invention limits the structure chart for flying device.

Specific embodiment

In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real Applying mode, the present invention is described in further detail.

It is the important milestone of network Development depending on networking, is a real-time network, can be realized HD video real-time Transmission, Push numerous Internet applications to HD video, high definition is face-to-face.

Real-time high-definition video switching technology is used depending on networking, it can be such as high in a network platform by required service Clear video conference, Intellectualized monitoring analysis, emergency command, digital broadcast television, delay TV, the Web-based instruction, shows video monitoring Field live streaming, VOD program request, TV Mail, individual character records (PVR), Intranet (manages) channel by oneself, intelligent video Broadcast Control, information publication All be incorporated into a system platform etc. services such as tens of kinds of videos, voice, picture, text, communication, data, by TV or Computer realizes that high-definition quality video plays.

Embodiment in order to enable those skilled in the art to better understand the present invention is introduced to depending on networking below:

Depending on networking, applied portion of techniques is as described below:

Network technology (Network Technology)

Traditional ethernet (Ethernet) is improved depending on the network technology innovation networked, with potential huge on network Video flow.(Circuit is exchanged different from simple network packet packet switch (Packet Switching) or lattice network Switching), Streaming demand is met using Packet Switching depending on networking technology.Has grouping depending on networking technology Flexible, the simple and low price of exchange, is provided simultaneously with the quality and safety assurance of circuit switching, it is virtually electric to realize the whole network switch type The seamless connection of road and data format.

Switching technology (Switching Technology)

Two advantages of asynchronous and packet switch that Ethernet is used depending on networking eliminate Ethernet under the premise of complete compatible and lack It falls into, has the end-to-end seamless connection of the whole network, direct user terminal, directly carrying IP data packet.User data is in network-wide basis It is not required to any format conversion.It is the more advanced form of Ethernet depending on networking, is a real-time exchange platform, can be realized at present mutually The whole network large-scale high-definition realtime video transmission that networking cannot achieve pushes numerous network video applications to high Qinghua, unitizes.

Server technology (Server Technology)

It is different from traditional server, its Streaming Media depending on the server technology in networking and unified video platform Transmission be built upon it is connection-oriented on the basis of, data-handling capacity is unrelated with flow, communication time, single network layer energy Enough transmitted comprising signaling and data.For voice and video business, handled depending on networking and unified video platform Streaming Media Complexity many simpler than data processing, efficiency substantially increase hundred times or more than traditional server.

Reservoir technology (Storage Technology)

The ultrahigh speed reservoir technology of unified video platform in order to adapt to the media content of vast capacity and super-flow and Using state-of-the-art real time operating system, the programme information in server instruction is mapped to specific hard drive space, media Content is no longer pass through server, and moment is directly delivered to user terminal, and user waits typical time less than 0.2 second.It optimizes Sector distribution greatly reduces the mechanical movement of hard disc magnetic head tracking, and resource consumption only accounts for the 20% of the internet ad eundem IP, but The concurrent flow greater than 3 times of traditional disk array is generated, overall efficiency promotes 10 times or more.

Network security technology (Network Security Technology)

Depending on the structural design networked by servicing independent licence system, equipment and the modes such as user data is completely isolated every time The network security problem that puzzlement internet has thoroughly been eradicated from structure, does not need antivirus applet, firewall generally, has prevented black The attack of visitor and virus, structural carefree secure network is provided for user.

It services innovative technology (Service Innovation Technology)

Business and transmission are fused together by unified video platform, whether single user, private user or a net The sum total of network is all only primary automatic connection.User terminal, set-top box or PC are attached directly to unified video platform, obtain rich The multimedia video service of rich colorful various forms.Unified video platform is traditional to substitute with table schema using " menu type " Complicated applications programming, considerably less code, which can be used, can be realized complicated application, realize the new business innovation of " endless ".

Networking depending on networking is as described below:

It is a kind of central controlled network structure depending on networking, which can be Tree Network, Star network, ring network etc. class Type, but centralized control node is needed to control whole network in network on this basis.

As shown in Figure 1, being divided into access net and Metropolitan Area Network (MAN) two parts depending on networking.

The equipment of access mesh portions can be mainly divided into 3 classes: node server, access switch, terminal (including various machines Top box, encoding board, memory etc.).Node server is connected with access switch, and access switch can be with multiple terminal phases Even, and it can connect Ethernet.

Wherein, node server is the node that centralized control functions are played in access net, can control access switch and terminal. Node server can directly be connected with access switch, can also directly be connected with terminal.

Similar, the equipment of metropolitan area mesh portions can also be divided into 3 classes: metropolitan area server, node switch, node serve Device.Metropolitan area server is connected with node switch, and node switch can be connected with multiple node servers.

Wherein, node server is the node server for accessing mesh portions, i.e. node server had both belonged to access wet end Point, and belong to metropolitan area mesh portions.

Metropolitan area server is the node that centralized control functions are played in Metropolitan Area Network (MAN), can control node switch and node serve Device.Metropolitan area server can be directly connected to node switch, can also be directly connected to node server.

It can be seen that be entirely a kind of central controlled network structure of layering depending on networking network, and node server and metropolitan area The network controlled under server can be the various structures such as tree-shaped, star-like, cyclic annular.

Visually claim, access mesh portions can form unified video platform (part in virtual coil), and multiple unified videos are flat Platform can form view networking；Each unified video platform can be interconnected by metropolitan area and wide area depending on networking.

Classify depending on networked devices

1.1 embodiment of the present invention can be mainly divided into 3 classes: server depending on the equipment in networking, interchanger (including ether Net gateway), terminal (including various set-top boxes, encoding board, memory etc.).Depending on networking can be divided on the whole Metropolitan Area Network (MAN) (or National net, World Wide Web etc.) and access net.

1.2 equipment for wherein accessing mesh portions can be mainly divided into 3 classes: node server, access switch (including ether Net gateway), terminal (including various set-top boxes, encoding board, memory etc.).

The specific hardware structure of each access network equipment are as follows:

Node server:

As shown in Fig. 2, mainly including Network Interface Module 201, switching engine module 202, CPU module 203, disk array Module 204；

Wherein, Network Interface Module 201, the Bao Jun that CPU module 203, disk array module 204 are come in enter switching engine Module 202；Switching engine module 202 look into the operation of address table 205 to the packet come in, to obtain the navigation information of packet； And the packet is stored according to the navigation information of packet the queue of corresponding pack buffer 206；If the queue of pack buffer 206 is close It is full, then it abandons；All pack buffer queues of 202 poll of switching engine mould, are forwarded: 1) port if meeting the following conditions It is less than to send caching；2) the queue package counting facility is greater than zero.Disk array module 204 mainly realizes the control to hard disk, including The operation such as initialization, read-write to hard disk；CPU module 203 is mainly responsible between access switch, terminal (not shown) Protocol processes, to address table 205 (including descending protocol packet address table, uplink protocol package address table, data packet addressed table) Configuration, and, the configuration to disk array module 204.

Access switch:

As shown in figure 3, mainly including Network Interface Module (downstream network interface module 301, uplink network interface module 302), switching engine module 303 and CPU module 304；

Wherein, the packet (upstream data) that downstream network interface module 301 is come in enters packet detection module 305；Packet detection mould Whether mesh way address (DA), source address (SA), type of data packet and the packet length of the detection packet of block 305 meet the requirements, if met, It then distributes corresponding flow identifier (stream-id), and enters switching engine module 303, otherwise abandon；Uplink network interface mould The packet (downlink data) that block 302 is come in enters switching engine module 303；The data packet that CPU module 204 is come in enters switching engine Module 303；Switching engine module 303 look into the operation of address table 306 to the packet come in, to obtain the navigation information of packet； If the packet into switching engine module 303 is that downstream network interface is gone toward uplink network interface, in conjunction with flow identifier (stream-id) packet is stored in the queue of corresponding pack buffer 307；If the queue of the pack buffer 307 is close full, It abandons；If the packet into switching engine module 303 is not that downstream network interface is gone toward uplink network interface, according to packet Navigation information is stored in the data packet queue of corresponding pack buffer 307；If the queue of the pack buffer 307 is close full, Then abandon.

All pack buffer queues of 303 poll of switching engine module, are divided to two kinds of situations in embodiments of the present invention:

If the queue is that downstream network interface is gone toward uplink network interface, meets the following conditions and be forwarded: 1) It is less than that the port sends caching；2) the queue package counting facility is greater than zero；3) token that rate control module generates is obtained；

If the queue is not that downstream network interface is gone toward uplink network interface, meets the following conditions and is forwarded: 1) it is less than to send caching for the port；2) the queue package counting facility is greater than zero.

Rate control module 308 is configured by CPU module 304, to all downlink networks in programmable interval Interface generates token toward the pack buffer queue that uplink network interface is gone, to control the code rate of forwarded upstream.

CPU module 304 is mainly responsible for the protocol processes between node server, the configuration to address table 306, and, Configuration to rate control module 308.

Ethernet association turns gateway:

As shown in figure 4, mainly including Network Interface Module (downstream network interface module 401, uplink network interface module 402), switching engine module 403, CPU module 404, packet detection module 405, rate control module 408, address table 406, Bao Huan Storage 407 and MAC adding module 409, MAC removing module 410.

Wherein, the data packet that downstream network interface module 401 is come in enters packet detection module 405；Packet detection module 405 is examined Ethernet mac DA, ethernet mac SA, Ethernet length or frame type, the view networking mesh way address of measured data packet DA, whether meet the requirements depending on networking source address SA, depending on networking data Packet type and packet length, corresponding stream is distributed if meeting Identifier (stream-id)；Then, MAC DA, MAC SA, length or frame type are subtracted by MAC removing module 410 (2byte), and enter corresponding receive and cache, otherwise abandon；

Downstream network interface module 401 detects the transmission caching of the port, according to the view of packet networking mesh if there is Bao Ze Address D A knows the ethernet mac DA of corresponding terminal, adds the ethernet mac DA of terminal, Ethernet assists the MAC for turning gateway SA, Ethernet length or frame type, and send.

The function that Ethernet association turns other modules in gateway is similar with access switch.

Terminal:

It mainly include Network Interface Module, Service Processing Module and CPU module；For example, set-top box mainly connects including network Mouth mold block, video/audio encoding and decoding engine modules, CPU module；Encoding board mainly includes Network Interface Module, video encoding engine Module, CPU module；Memory mainly includes Network Interface Module, CPU module and disk array module.

The equipment of 1.3 metropolitan area mesh portions can be mainly divided into 2 classes: node server, node switch, metropolitan area server. Wherein, node switch mainly includes Network Interface Module, switching engine module and CPU module；Metropolitan area server mainly includes Network Interface Module, switching engine module and CPU module are constituted.

2, networking data package definition is regarded

2.1 access network data package definitions

Access net data packet mainly include following sections: destination address (DA), source address (SA), reserve bytes, payload(PDU)、CRC。

As shown in the table, the data packet for accessing net mainly includes following sections:

DA

SA

Reserved

Payload

CRC

Wherein:

Destination address (DA) is made of 8 bytes (byte), and first character section indicates type (such as the various associations of data packet Discuss packet, multicast packet, unicast packet etc.), be up to 256 kinds of possibility, the second byte to the 6th byte is metropolitan area net address, Seven, the 8th bytes are access net address；

Source address (SA) is also to be made of 8 bytes (byte), is defined identical as destination address (DA)；

Reserve bytes are made of 2 bytes；

The part payload has different length according to the type of different datagrams, is if it is various protocol packages 64 bytes are 32+1024=1056 bytes if it is single group unicast packets words, are not restricted to above 2 kinds certainly；

CRC is made of 4 bytes, and calculation method follows the Ethernet CRC algorithm of standard.

2.2 Metropolitan Area Network (MAN) packet definitions

The topology of Metropolitan Area Network (MAN) is pattern, may there is 2 kinds, connection even of more than two kinds, i.e. node switching between two equipment It can all can exceed that 2 kinds between machine and node server, node switch and node switch, node switch and node server Connection.But the metropolitan area net address of metropolitan area network equipment is uniquely, to close to accurately describe the connection between metropolitan area network equipment System, introduces parameter in embodiments of the present invention: label, uniquely to describe a metropolitan area network equipment.

(Multi-Protocol Label Switch, multiprotocol label are handed over by the definition of label and MPLS in this specification Change) label definition it is similar, it is assumed that between equipment A and equipment B there are two connection, then data packet from equipment A to equipment B just There are 2 labels, data packet also there are 2 labels from equipment B to equipment A.Label is divided into label, outgoing label, it is assumed that data packet enters The label (entering label) of equipment A is 0x0000, and the label (outgoing label) when this data packet leaves equipment A may reform into 0x0001.The networking process of Metropolitan Area Network (MAN) is to enter network process under centralized control, also means that address distribution, the label of Metropolitan Area Network (MAN) Distribution be all to be dominated by metropolitan area server, node switch, node server be all passively execute, this point with The label distribution of MPLS is different, and the distribution of the label of MPLS is the result that interchanger, server are negotiated mutually.

As shown in the table, the data packet of Metropolitan Area Network (MAN) mainly includes following sections:

DA

SA

Reserved

Label

Payload

CRC

That is destination address (DA), source address (SA), reserve bytes (Reserved), label, payload (PDU), CRC.Its In, the format of label, which can refer to, such as gives a definition: label is 32bit, wherein high 16bit retains, only with low 16bit, its position Set is between the reserve bytes and payload of data packet.

Based on the above-mentioned characteristic of view networking, one of the core concepts of the embodiments of the present invention is proposed, it then follows regard the association of networking View, is added to view networking protocol by the no-manned plane three-dimensional location information and flight constraints area information that will acquire depending on networked clients It in data packet, and is sent to described in view networked server depending on networking protocol data packet, so that view networked server is according to view No-manned plane three-dimensional location information and flight constraints area information in networking protocol data packet, determine the flight of the unmanned plane about Beam action type, and the flight constraints action type is sent to view networked clients, allow view networked clients into The flight constraints action type is sent to unmanned plane by one step, so that unmanned plane be allow to execute corresponding flight constraints behaviour Make, to avoid that flight safety problem occurs.

Referring to Fig. 5, shows a kind of unmanned plane based on view networking of the invention and limit the step process for flying embodiment of the method Figure, this method can be applied in view networking, can specifically include:

Step 501, when detecting view networked clients and when unmanned plane successful connection, view networked clients acquisition institute State the flight constraints area information of unmanned plane transmission.

In this step, when detecting view networked clients and unmanned plane successful connection depending on networked clients, the view Networked clients obtain the flight constraints area information that the unmanned plane is sent.

Specifically, show a kind of unmanned plane based on view networking of the present invention referring to Fig. 6 and limit the structure chart for flying system, In, it is to provide the equipment of the service of calculating in view networking depending on networked server 10, can receive view networking association depending on networked server 10 Data packet is discussed, and the data in view networking protocol data packet can be obtained according to view networking protocol, parsing.Implement in the present invention In example, when receiving the view networking protocol data packet comprising three dimensional local information and flight constraints area information depending on networked server Afterwards, can parse to obtain the three dimensional local information and flight constraints area information of unmanned plane, and can by calculating accordingly, from And determine flight restriction action type；Regard networked clients 20 be regard in networking as client to provide the equipment of local service, such as The terminal devices such as mobile phone, tablet computer can be used for and view networked server and no-manned machine distant control hand in embodiments of the present invention The transmission of data is carried out between handle；No-manned machine distant control handle 30 be to certain distance outside unmanned plane carry out manually handle remote control Device can be used for and regard the transmission that data are carried out between networked clients and unmanned plane in embodiments of the present invention；Unmanned plane 40 be using radio robot and provide for oneself presetting apparatus manipulation not manned aircraft, have small in size, low cost, It is easy to use, low advantage is required to operational environment, be widely applied to take photo by plane at present, agricultural, express transportation, disaster relief, The fields such as mapping.

In embodiments of the present invention, depending on passing through universal serial bus between networked clients 20 and no-manned machine distant control handle 30 (universal serial bus, usb) connection, carries out the transmission of data；Between no-manned machine distant control handle 30 and unmanned plane 40 It is connected by global positioning system (global position system, GPS), carries out the transmission of data, when view networked client By usb successful connection between end 20 and no-manned machine distant control handle 30, and between no-manned machine distant control handle 30 and unmanned plane 40 By GPS successful connection, then view networked clients 20 and 40 successful connection of unmanned plane can be determined.

It further, can be by sending a detection signal to unmanned plane 40, if receiving nothing depending on networked clients 20 Man-machine 40 return signals for the detection signal returned, then can determine that view networked clients 20 are connect with unmanned plane 40 Success.

In embodiments of the present invention, the flight constraints area information may include: flight constraints area identification, type, Range etc., the type in the flight constraints region have no-fly region and restricted area domain, unmanned plane nothing in the range of no-fly region Method flight, in the range of restricted area domain when flight, flying height is restricted unmanned plane, and the flying height of unmanned plane must be small Limit in restricted area domain flies height.

Specifically, showing a kind of flight restriction region schematic diagram of the invention, unmanned plane is in no-fly region referring to Fig. 7 Range 50 in can not fly, in the range 60 in restricted area domain when flight, the flying height of unmanned plane is necessarily less than unmanned plane The limit in the restricted area domain flies 120 meters of height.

Step 502, the three dimensional local information that the unmanned plane transmission is obtained depending on networked clients.

In this step, unmanned plane detects its three dimensional local information, and is transmitted by GPS data by the three-dimensional of unmanned plane Location information is sent to no-manned machine distant control handle, and no-manned machine distant control handle is again believed the three-dimensional position of unmanned plane by usb connection Breath is sent to view networked clients, to make the three dimensional local information for getting unmanned plane depending on networked clients.Specifically, described Three-dimensional in three dimensional local information refers to the left and right, front and back, vertical three directions of unmanned plane.

In embodiments of the present invention, the three dimensional local information of the unmanned plane includes: the present bit position of unmanned plane, flight Highly, three-dimensional flying speed and flight course.

Specifically, the current location of unmanned plane can determine that positioning accuracy is substantially 3 by GPS or BEI-DOU position system In rice；The flying height of unmanned plane can determine by the pressure sensor in unmanned plane Inertial Measurement Unit, pressure sensing Device, in the air pressure of different height, calculates pressure difference by measurement unmanned plane to obtain the current flying height of unmanned plane；Unmanned plane Three-dimensional flying speed can be determined by 3-axis acceleration sensor, 3-axis acceleration sensor acquisition unmanned plane flying Then the three-dimensional component of acceleration in the process carries out quadratic integral processing to the three-dimensional component of acceleration, so that it may obtain nobody The three-dimensional flying speed of machine；The flight course of unmanned plane can determine that geomagnetic sensor is exactly one by geomagnetic sensor Electronic compass is assured that the head direction of unmanned plane by the direction of geomagnetic sensor, so that it is determined that unmanned plane flies Row course.

Step 503, the view networked clients by the three dimensional local information and the flight constraints area information according to It is added to view networking protocol data packet depending on networking protocol, and is sent to view networked server depending on networking protocol data packet for described.

In this step, depending on networked clients obtain unmanned plane three dimensional local information and flight constraints area information it Afterwards, it then follows the three dimensional local information of the unmanned plane and flight constraints area information are added to view networking association by view networking protocol It discusses in data packet, and is sent to view networked server depending on networking protocol data packet for described.

Specifically, referring to Fig. 6, depending between networked server 10 and view networked clients 20 based on view networking protocol, can be with The transmitted in both directions that data are carried out by way of data packet believes the three-dimensional position of the unmanned plane received depending on networked clients 20 Breath is added to according to view networking protocol with flight constraints area information and regards in networking protocol data packet, and by the view networking protocol Data packet is sent to view networked server 10.

Step 504, the view networked server according to the three dimensional local information in the view networking protocol data packet and fly Row constraint information determines the flight constraints action type of the unmanned plane, and the flight constraints action type is sent To the view networked clients.

In this step, the view networking protocol data packet that view networked clients are sent, the view are received depending on networked server Include the three dimensional local information and flight constraints area information of unmanned plane in networking protocol data packet, utilizes nothing depending on networked server Man-machine three dimensional local information and flight constraints area information can determine that the relative position in unmanned plane and flight constraints region is closed System, the requirement in conjunction with flight constraints region to unmanned plane during flying, so as to determine corresponding flight constraints behaviour for unmanned plane Make type, and the flight constraints action type is sent to view networked clients.

In embodiments of the present invention, the flight constraints action type may include: forbid taking off type, limit for height type, Speed limit type, hovering type.Specifically, described forbid type of taking off, refers to and unmanned plane is forbidden to take off；The limit for height type is Referring to control unmanned plane reduces flying height until being less than limit flies height；The speed limit type refers to the flight speed of limitation unmanned plane Degree is less than or equal to pre-set velocity threshold value；The hovering type refers to that limitation unmanned plane keeps three-dimensional position basic in the air Constant state of flight.

Step 505, it is described the flight constraints action type is sent to the unmanned plane depending on networked clients, for institute It states unmanned plane and flight constraints operation is executed according to the flight constraints action type.

In this step, it will be sent to from the flight constraints action type received depending on networked server depending on networked clients Unmanned plane operates so that unmanned plane executes corresponding flight constraints according to the flight constraints action type.Specifically, if described Flight constraints action type is to forbid type of taking off, then unmanned plane is restricted from takes off at this time；If the flight constraints operation Type is limit for height type, then unmanned plane executes step-down operation at this time, until the flying height of unmanned plane is less than the limit and flies height； If the flight constraints action type is speed limit type, unmanned plane reduces speed at this time until the flying speed of unmanned plane is less than Or it is equal to pre-set velocity threshold value；If the flight constraints action type is hovering type, unmanned plane keeps three-dimensional position at this time It is constant.

In conclusion a kind of unmanned plane based on view networking provided in an embodiment of the present invention limits and flies method, comprising: work as detection When to view networked clients with unmanned plane successful connection, the flight constraints region letter that unmanned plane is sent is obtained depending on networked clients Breath；The three dimensional local information that unmanned plane is sent is obtained depending on networked clients；It by three dimensional local information and flies depending on networked clients Constraint information is added to view networking protocol data packet according to depending on networking protocol, and will be sent to view depending on networking protocol data packet Networked server；Depending on networked server according to the three dimensional local information and flight constraints region letter in view networking protocol data packet Breath, determines the flight constraints action type of unmanned plane, and flight constraints action type is sent to view networked clients；Depending on networking Flight constraints action type is sent to unmanned plane by client, so that unmanned plane executes flight about according to flight constraints action type Beam operates, in the present invention, depending on networked clients by three dimensional local information and flight constraints area information, based on view networking protocol hair It send to view networked server, by the flight constraints action type of unmanned plane is calculated and determined depending on networked server, since view is networked For internet, data transmission procedure is more real-time and efficient, thus regards networking protocol transmission by network environment Constraint is smaller, so that the determination process of the unmanned plane during flying constraint manipulation type based on view networking is more stable and real-time, thus Ensure the safety of unmanned plane during flying.

Referring to Fig. 8, shows a kind of unmanned plane based on view networking of the invention and limit the specific steps for flying embodiment of the method Flow chart, method include:

Step 601, when detecting view networked clients and when unmanned plane successful connection, view networked clients acquisition institute State the flight constraints area information of unmanned plane transmission.

The step is specifically referred to above-mentioned steps 501, and details are not described herein again.

Step 602, the three dimensional local information that the unmanned plane transmission is obtained depending on networked clients.

The step is specifically referred to above-mentioned steps 502, and details are not described herein again.

Step 603, the view networked clients by the three dimensional local information and the flight constraints area information according to It is added to view networking protocol data packet depending on networking protocol, and is sent to view networked server depending on networking protocol data packet for described.

The step is specifically referred to above-mentioned steps 503, and details are not described herein again.

Step 604, the view networked server receive the view networking protocol data packet.

After step 604, step 605 can be executed, step 607 can also be executed.

Step 605, the unmanned plane be in takeoff condition in the case where, according to the three-dimensional position of the unmanned plane believe Breath and flight constraints area information, judge whether the unmanned plane is in the range of the no-fly region.

In this step, it is necessary first to determine that unmanned plane is in takeoff condition, it can be with the following method: if the view In the view networking protocol data packet that networked server receives, the flying height in the three dimensional local information of unmanned plane is 0 meter, and Flying speed of the unmanned plane on three-dimensional is 0 meter per second, then can determine that unmanned plane is now in takeoff condition.

Further, in the case that the unmanned plane is in takeoff condition, according to the current location of the unmanned plane With the range in no-fly region, can determine whether unmanned plane is in the range of the no-fly region at this time, if unmanned plane is at this time In the range of the no-fly region, step 606 is executed, if unmanned plane is not at this time in the range of the no-fly region, Any step is not executed depending on networked server.

If step 606, the unmanned plane are in the range of the no-fly region, it is determined that the flight of the unmanned plane is about Beam action type is to forbid type of taking off.

In this step, if view networked server judges that unmanned plane is in the range of the no-fly region, it is determined that nothing Man-machine flight constraints action type is to forbid type of taking off.

Specifically, referring to Fig. 7, if detecting, the current location of unmanned plane is in the range 50 in no-fly zone domain, depending on connection Network server can determine that the flight constraints action type of unmanned plane is to forbid type of taking off, i.e., in the area, unmanned plane is not It can take off.

Step 607, in the case where the unmanned plane is in state of flight, according to the three dimensional local information of the unmanned plane With flight constraints area information, judge whether the unmanned plane is in the range of the restricted area domain.

In this step, it is necessary first to determine that unmanned plane is in state of flight, it can be with the following method: if the view joins In the three dimensional local information for the unmanned plane that network server receives, flying speed of the unmanned plane in either direction be not 0 meter/ Second, then it can determine that unmanned plane is now in state of flight.

Further, in the case that the unmanned plane is in state of flight, according to the current location of the unmanned plane with The range in restricted area domain can determine whether unmanned plane is in the range of the restricted area domain at this time, if unmanned plane is located at this time In the range of the restricted area domain, step 608 is executed, if unmanned plane is not at this time in the range of the restricted area domain, depending on Networked server does not execute any step.

If step 608, the unmanned plane are in the range of the restricted area domain, according to the three-dimensional position of the unmanned plane Confidence breath and flight constraints area information, judge whether the flying height of the unmanned plane is greater than or equal to the limit and flies height.

It in this step, can root depending on networked server after in the range of judging that unmanned plane is in the restricted area domain Fly height according to the flying height of the unmanned plane and the limit in restricted area domain, determine the flying height of unmanned plane at this time whether be greater than or Fly height equal to the limit, if the flying height of unmanned plane at this time is greater than or equal to the limit and flies height, executes step 609, if The flying height of unmanned plane at this time is less than the limit and flies height, executes step 610.

If step 609, the flying height of the unmanned plane, which are greater than or equal to the limit, flies height, it is determined that the flight is about Beam action type is limit for height type.

In this step, if the flying height of the unmanned plane is greater than or equal to the limit and flies height, it is determined that described to fly Row constraint manipulation type is limit for height type.

Specifically, if detecting, the current location of unmanned plane is in the range 60 in restricted area domain referring to Fig. 7, and nobody The limit that the flying height of machine is greater than or equal to restricted area domain flies 120 meters of height, then can determine unmanned plane depending on networked server Flight constraints action type is limit for height type, i.e., in the area, unmanned plane executes step-down operation, until the flight of unmanned plane is high Degree is less than the limit and flies height.

If step 610, the flying height of the unmanned plane, which are less than the limit, flies height, according to the three-dimensional of the unmanned plane Location information and flight constraints area information determine the distance between the unmanned plane and the no-fly region.

In this step, in the range of judging that unmanned plane is in restricted area domain, and the flying height of unmanned plane is less than After the limit flies height, nobody can be determined according to the current location of unmanned plane and the range in no-fly region depending on networked server The distance between machine and no-fly region.

If the distance between step 611, the unmanned plane and the no-fly region are less than or equal to the first pre-determined distance value, And it is greater than or equal to the second pre-determined distance value, it is determined that the flight constraints action type is speed limit type, and described first is default Distance value is greater than the second pre-determined distance value.

In this step, it can be calculated depending on networked server according to the current location of unmanned plane and the range in no-fly region The distance between unmanned plane and no-fly region out, then by comparing the distance between unmanned plane and no-fly region with first preset away from Size from value and the second pre-determined distance value determines the distance between unmanned plane and no-fly region and the first pre-determined distance value and the The size relation of two pre-determined distance values may thereby determine that flight constraints action type, the first pre-determined distance value are greater than institute State the second pre-determined distance value.

Specifically, if the distance between unmanned plane and no-fly region be greater than the first pre-determined distance value, it can be said that it is bright at this time Farther out apart from no-fly region, the flight that unmanned plane can be safe in current location does not execute any unmanned plane depending on networked server Step；If the distance between unmanned plane and no-fly region are less than or equal to the first pre-determined distance value, and it is pre- to be greater than or equal to second If distance value, it can be said that bright unmanned plane at this time is closer apart from no-fly region, if unmanned plane continues with present speed close to no-fly Region, then unmanned plane will enter in the range of no-fly region in a relatively short period of time, therefore can determine depending on networked server Flight constraints action type is speed limit type, i.e., unmanned plane reduces flying speed up to the flying speed of unmanned plane in the area Less than or equal to pre-set velocity threshold value.

Preferably, the first pre-determined distance value and the second pre-determined distance value can be a pre-set fixed range Value, such as the first pre-determined distance value can be 200 meters, 300 meters, and the second pre-determined distance value can be 20 meters, 30 meters.

Preferably, the pre-set velocity threshold value can be a pre-set fixed velocity amplitude, such as 5 meter per seconds, 10 Meter per second.

If the distance between step 612, the unmanned plane and the no-fly region are less than the second pre-determined distance value, Determine the flight constraints action type for hovering type.

Specifically, if the distance between unmanned plane and no-fly region less than the second pre-determined distance value, it can be said that it is bright at this time Unmanned plane is close apart from no-fly region, if unmanned plane continues close to no-fly region, unmanned plane will be entered in no-fly region, can It can cause unmanned plane during flying safety problem, therefore regarding networked server can determine flight constraints action type as class of hovering Type, unmanned plane keep three-dimensional position constant at this time, until unmanned operators execute other flight operations.

Step 613, it is described the flight constraints action type is sent to the unmanned plane depending on networked clients, for institute It states unmanned plane and flight constraints operation is executed according to the flight constraints action type.

The step is specifically referred to above-mentioned steps 505, and details are not described herein again.

Step 614, the view networked clients generate corresponding police according to the flight constraints action type of the unmanned plane Show that information is shown.

In this step, after the flight constraints action type that unmanned plane has been determined depending on networked clients, depending on networking visitor Information warning corresponding with the flight constraints action type of unmanned plane can be generated in family end, and shows to the information warning Show, to remind the unmanned operators flight constraints action type that unmanned plane is carrying out at this time, it is ensured that unmanned plane during flying safety.

Optionally, the information warning can also include the no-fly region and unmanned plane nearest apart from unmanned plane at this time With nearest the distance between no-fly region, with remind unmanned operators pay attention to unmanned plane grasp, it is ensured that unmanned plane during flying safety.

Specifically, being a kind of signal of information warning for generating and showing depending on networked clients of the invention referring to Fig. 9 Figure, the information warning can be with are as follows: " warning！Unmanned plane is carrying out the operation of ×× flight constraints at this time.Nearest no-fly zone is ×××, it is noted that flight.The current distance no-fly zone about ×× rice.".Operator is receiving and is reading the information warning Afterwards, " being aware of " in interface can be clicked, to close the information warning display interface, returns to unmanned plane operation interface.

In conclusion a kind of unmanned plane based on view networking provided in an embodiment of the present invention limits and flies method, comprising: work as detection When to view networked clients with unmanned plane successful connection, the flight constraints region letter that unmanned plane is sent is obtained depending on networked clients Breath；The three dimensional local information that unmanned plane is sent is obtained depending on networked clients；It by three dimensional local information and flies depending on networked clients Constraint information is added to view networking protocol data packet according to depending on networking protocol, and will be sent to view depending on networking protocol data packet Networked server；Depending on networked server according to the three dimensional local information and flight constraints region letter in view networking protocol data packet Breath, determines the flight constraints action type of unmanned plane, and flight constraints action type is sent to view networked clients；Depending on networking Flight constraints action type is sent to unmanned plane by client, so that unmanned plane executes flight about according to flight constraints action type Beam operates, in the present invention, depending on networked clients by three dimensional local information and flight constraints area information, based on view networking protocol hair It send to view networked server, by the flight constraints action type of unmanned plane is calculated and determined depending on networked server, since view is networked For internet, data transmission procedure is more real-time and efficient, thus regards networking protocol transmission by network environment Constraint is smaller, so that the determination process of the flight constraints action type of the unmanned plane based on view networking is more stable and real-time, from And ensure the safety of unmanned plane during flying.

Referring to Fig.1 0, it shows a kind of unmanned plane based on view networking of the invention and limits the structural block diagram for flying device, specifically May include:

First obtains module 701, for when detecting view networked clients and unmanned plane successful connection, the view to be networked Client obtains the flight constraints area information that the unmanned plane is sent；

Second obtains module 702, and the three dimensional local information that the unmanned plane is sent is obtained depending on networked clients for described；

First sending module 703 is used for the view networked clients for the three dimensional local information and the flight constraints Area information is added to view networking protocol data packet according to depending on networking protocol, and is sent to view depending on networking protocol data packet for described Networked server；

Determining module 704, for the view networked server according to the three-dimensional position in the view networking protocol data packet Information and flight constraints area information, determine the flight constraints action type of the unmanned plane, and the flight constraints are operated Type is sent to the view networked clients；

Optionally, the flight constraints area information includes: the range in no-fly region, determining module 704, comprising:

First judging submodule is used in the case where the unmanned plane is in takeoff condition, according to the unmanned plane Three dimensional local information and flight constraints area information, judge whether the unmanned plane is in the range of the no-fly region；

First determines submodule, if being in the range of the no-fly region for the unmanned plane, it is determined that the nothing Man-machine flight constraints action type is to forbid type of taking off.

Optionally, the flight constraints area information includes: that the range in restricted area domain and limit fly highly, determining module 704, Can also include:

Second judgment submodule is used in the case where the unmanned plane is in state of flight, according to the unmanned plane Three dimensional local information and flight constraints area information, judge whether the unmanned plane is in the range of the restricted area domain；

Third judging submodule, if being in the range of the restricted area domain for the unmanned plane, according to the nothing Man-machine three dimensional local information and flight constraints area information, judges whether the flying height of the unmanned plane is greater than or equal to institute It states limit and flies height；

Second determines submodule, if the flying height for the unmanned plane is greater than or equal to the limit and flies height, really The fixed flight constraints action type is limit for height type.

Optionally, the flight constraints area information includes: the range in no-fly region, and determining module 704 can also wrap It includes:

Third determines submodule, if the flying height for the unmanned plane is less than the limit and flies height, according to The three dimensional local information and flight constraints area information of unmanned plane, determine between the unmanned plane and the no-fly region away from From；

4th determines submodule, if being less than or equal to first for the distance between the unmanned plane and the no-fly region Pre-determined distance value, and it is greater than or equal to the second pre-determined distance value, it is determined that the flight constraints action type is speed limit type, institute The first pre-determined distance value is stated greater than the second pre-determined distance value；

5th determines submodule, if it is pre- to be less than described second for the distance between the unmanned plane and the no-fly region If distance value, it is determined that the flight constraints action type is hovering type.

Second sending module 705, for it is described depending on networked clients the flight constraints action type is sent to it is described Unmanned plane, so that the unmanned plane executes flight constraints operation according to the flight constraints action type.

Optionally, a kind of unmanned plane based on view networking of the present invention, which limits, flies device, can also include:

Display module, for the view networked clients according to the flight constraints action type of the unmanned plane, generation pair The information warning answered is shown.

In conclusion a kind of unmanned plane based on view networking provided in an embodiment of the present invention limits and flies device, comprising: work as detection When to view networked clients with unmanned plane successful connection, the flight constraints region letter that unmanned plane is sent is obtained depending on networked clients Breath；The three dimensional local information that unmanned plane is sent is obtained depending on networked clients；It by three dimensional local information and flies depending on networked clients Constraint information is added to view networking protocol data packet according to depending on networking protocol, and will be sent to view depending on networking protocol data packet Networked server；Depending on networked server according to the three dimensional local information and flight constraints region letter in view networking protocol data packet Breath, determines the flight constraints action type of unmanned plane, and flight constraints action type is sent to view networked clients；Depending on networking Flight constraints action type is sent to unmanned plane by client, so that unmanned plane executes flight about according to flight constraints action type Beam operates, in the present invention, depending on networked clients by three dimensional local information and flight constraints area information, based on view networking protocol hair It send to view networked server, by the flight constraints action type of unmanned plane is calculated and determined depending on networked server, since view is networked For internet, data transmission procedure is more real-time and efficient, thus regards networking protocol transmission by network environment Constraint is smaller, so that the determination process of the flight constraints action type of the unmanned plane based on view networking is more stable and real-time, from And ensure the safety of unmanned plane during flying.

All the embodiments in this specification are described in a progressive manner, the highlights of each of the examples are with The difference of other embodiments, the same or similar parts between the embodiments can be referred to each other.

It should be understood by those skilled in the art that, the embodiment of the embodiment of the present invention can provide as method, apparatus or calculate Machine program product.Therefore, the embodiment of the present invention can be used complete hardware embodiment, complete software embodiment or combine software and The form of the embodiment of hardware aspect.Moreover, the embodiment of the present invention can be used one or more wherein include computer can With in the computer-usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) of program code The form of the computer program product of implementation.

The embodiment of the present invention be referring to according to the method for the embodiment of the present invention, terminal device (system) and computer program The flowchart and/or the block diagram of product describes.It should be understood that flowchart and/or the block diagram can be realized by computer program instructions In each flow and/or block and flowchart and/or the block diagram in process and/or box combination.It can provide these Computer program instructions are set to general purpose computer, special purpose computer, Embedded Processor or other programmable data processing terminals Standby processor is to generate a machine, so that being held by the processor of computer or other programmable data processing terminal devices Capable instruction generates for realizing in one or more flows of the flowchart and/or one or more blocks of the block diagram The device of specified function.

These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing terminal devices In computer-readable memory operate in a specific manner, so that instruction stored in the computer readable memory generates packet The manufacture of command device is included, which realizes in one side of one or more flows of the flowchart and/or block diagram The function of being specified in frame or multiple boxes.

These computer program instructions can also be loaded into computer or other programmable data processing terminal devices, so that Series of operation steps are executed on computer or other programmable terminal equipments to generate computer implemented processing, thus The instruction executed on computer or other programmable terminal equipments is provided for realizing in one or more flows of the flowchart And/or in one or more blocks of the block diagram specify function the step of.

Although the preferred embodiment of the embodiment of the present invention has been described, once a person skilled in the art knows bases This creative concept, then additional changes and modifications can be made to these embodiments.So the following claims are intended to be interpreted as Including preferred embodiment and fall into all change and modification of range of embodiment of the invention.

Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning Covering non-exclusive inclusion, so that process, method, article or terminal device including a series of elements not only wrap Those elements are included, but also including other elements that are not explicitly listed, or further includes for this process, method, article Or the element that terminal device is intrinsic.In the absence of more restrictions, being wanted by what sentence "including a ..." limited Element, it is not excluded that there is also other identical elements in process, method, article or the terminal device for including the element.

Above to a kind of winged method and device of unmanned plane limit based on view networking provided by the present invention, detailed Jie has been carried out It continues, used herein a specific example illustrates the principle and implementation of the invention, and the explanation of above embodiments is only It is to be used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, according to this hair Bright thought, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification should not manage Solution is limitation of the present invention.

Claims (10)

1. a kind of unmanned plane based on view networking, which limits, flies method, which is characterized in that the method is applied in view networking, the side Method includes:

When detecting view networked clients and unmanned plane successful connection, the view networked clients obtain the unmanned plane and send Flight constraints area information；

It is described that the three dimensional local information that the unmanned plane is sent is obtained depending on networked clients；

It is described to add the three dimensional local information according to depending on networking protocol with the flight constraints area information depending on networked clients View networking protocol data packet is added to, and is sent to view networked server depending on networking protocol data packet for described；

The view networked server is according to the three dimensional local information and flight constraints region letter in the view networking protocol data packet Breath determines the flight constraints action type of the unmanned plane, and the flight constraints action type is sent to the view and is networked Client；

It is described that the flight constraints action type is sent to the unmanned plane depending on networked clients, for the unmanned plane according to The flight constraints action type executes flight constraints operation.

2. the method according to claim 1, wherein the flight constraints area information includes: no-fly region Range, the view networked server is according to the three dimensional local information and flight constraints region letter in the view networking protocol data packet The step of ceasing, determining the flight constraints action type of the unmanned plane, comprising:

In the case where the unmanned plane is in takeoff condition, according to the three dimensional local information and flight constraints of the unmanned plane Area information, judges whether the unmanned plane is in the range of the no-fly region；

If the unmanned plane is in the range of the no-fly region, it is determined that the flight constraints action type of the unmanned plane is Forbid type of taking off.

3. the method according to claim 1, wherein the flight constraints area information includes: restricted area domain Range and limit fly height, and the view networked server is according to the three dimensional local information regarded in networking protocol data packet and flight Constraint information, the step of determining the flight constraints action type of the unmanned plane, comprising:

In the case where the unmanned plane is in state of flight, according to the three dimensional local information of the unmanned plane and flight constraints area Domain information, judges whether the unmanned plane is in the range of the restricted area domain；

If the unmanned plane is in the range of the restricted area domain, according to the three dimensional local information of the unmanned plane and flight Constraint information, judges whether the flying height of the unmanned plane is greater than or equal to the limit and flies height；

If the flying height of the unmanned plane, which is greater than or equal to the limit, flies height, it is determined that the flight constraints action type is Limit for height type.

4. according to the method described in claim 3, it is characterized in that, the flight constraints area information further include: no-fly region Range, if in the range of the unmanned plane is in the restricted area domain, according to the three-dimensional position of the unmanned plane Information and flight constraints area information, judge whether the flying height of the unmanned plane is greater than or equal to the step for limiting and flying height After rapid, the method also includes:

If the flying height of the unmanned plane, which is less than the limit, flies height, according to the three dimensional local information of the unmanned plane and fly Row constraint information determines the distance between the unmanned plane and the no-fly region；

If the distance between the unmanned plane and the no-fly region are less than or equal to the first pre-determined distance value, and are greater than or equal to Second pre-determined distance value, it is determined that the flight constraints action type is speed limit type, and the first pre-determined distance value is greater than institute State the second pre-determined distance value；

If the distance between the unmanned plane and the no-fly region are less than the second pre-determined distance value, it is determined that the flight Constraint manipulation type is hovering type.

5. the method according to claim 1, wherein the flight constraints are operated depending on networked clients described Type is sent to the unmanned plane, so that the unmanned plane executes flight constraints operation according to the flight constraints action type After step, the method also includes:

The view networked clients generate corresponding information warning and are shown according to the flight constraints action type of the unmanned plane Show.

6. a kind of unmanned plane based on view networking, which limits, flies device, which is characterized in that described device includes:

First obtains module, for when detecting view networked clients and when unmanned plane successful connection, the view networked clients Obtain the flight constraints area information that the unmanned plane is sent；

Second obtains module, and the three dimensional local information that the unmanned plane is sent is obtained depending on networked clients for described；

First sending module is used for the view networked clients for the three dimensional local information and the flight constraints area information It is added to view networking protocol data packet according to depending on networking protocol, and is sent to view the Internet services depending on networking protocol data packet for described Device；

Determining module according to the three dimensional local information in the view networking protocol data packet and flies for the view networked server Row constraint information determines the flight constraints action type of the unmanned plane, and the flight constraints action type is sent To the view networked clients；

The flight constraints action type is sent to the unmanned plane depending on networked clients for described by the second sending module, So that the unmanned plane executes flight constraints operation according to the flight constraints action type.

7. device according to claim 6, which is characterized in that the flight constraints area information includes: no-fly region Range, the determining module, comprising:

First judging submodule is used in the case where the unmanned plane is in takeoff condition, according to the three of the unmanned plane Location information and flight constraints area information are tieed up, judges whether the unmanned plane is in the range of the no-fly region；

First determines submodule, if being in the range of the no-fly region for the unmanned plane, it is determined that the unmanned plane Flight constraints action type be forbid type of taking off.

8. device according to claim 6, which is characterized in that the flight constraints area information includes: restricted area domain Range and limit fly height, the determining module, further includes:

Second judgment submodule is used in the case where the unmanned plane is in state of flight, according to the three-dimensional of the unmanned plane Location information and flight constraints area information, judge whether the unmanned plane is in the range of the restricted area domain；

Third judging submodule, if being in the range of the restricted area domain for the unmanned plane, according to the unmanned plane Three dimensional local information and flight constraints area information, judge whether the flying height of the unmanned plane is greater than or equal to the limit Fly height；

Second determines submodule, if the flying height for the unmanned plane is greater than or equal to the limit and flies height, it is determined that institute Stating flight constraints action type is limit for height type.

9. according to right want 8 described in device, which is characterized in that the flight constraints area information further include: no-fly region Range, the determining module, further includes:

Third determines submodule, if for the unmanned plane flying height be less than it is described limit fly height, according to it is described nobody The three dimensional local information and flight constraints area information of machine, determine the distance between the unmanned plane and the no-fly region；

4th determines submodule, if it is default to be less than or equal to first for the distance between the unmanned plane and the no-fly region Distance value, and be greater than or equal to the second pre-determined distance value, it is determined that the flight constraints action type is speed limit type, described the One pre-determined distance value is greater than the second pre-determined distance value；

5th determine submodule, if for the distance between the unmanned plane and the no-fly region be less than described second preset away from From value, it is determined that the flight constraints action type is hovering type.

10. device according to claim 6, which is characterized in that described device further include:

Display module generates corresponding for the view networked clients according to the flight constraints action type of the unmanned plane Information warning is shown.