TWI587899B - UAV system - Google Patents

Description

UAV system

The invention relates to an unmanned aerial vehicle system, in particular to an unmanned aerial vehicle system in which the unmanned aerial vehicle has a positioning module.

Existing drones are often used for cargo transportation, aerial photography or environmental monitoring. In the regulations related to drones formulated by the government, the no-fly zone inaccessible to drones is regulated. However, if the user of the drone is not operating properly or encounters a gust of wind, the drone will break into the no-fly zone, which will not only endanger the safety, but also impose a huge penalty on the user. Therefore, how to develop a new type of drone can avoid the above-mentioned situation and become a subject to be further explored by the present invention.

Accordingly, it is an object of the present invention to provide an unmanned aerial vehicle system that is capable of improving the aforementioned disadvantages of the prior art.

Thus, the drone system of the present invention comprises a server, a controller and a drone. The server comprises a communication unit, a storage unit, and a processing unit connected to the communication unit and the storage unit. The storage unit stores a map, the map includes a no-fly zone data, and the no-fly zone data includes locations of the no-fly zone. The controller includes an input device, a communication device, and a processing device that connects the input device to the communication device. The drone includes a communication module, a positioning module, and a processing module connected to the communication module and the positioning module. The communication module is connected to the communication unit of the server and the communication device of the controller. The positioning module is used to calculate the current position of the drone.

When the processing device of the controller receives a specified flight rate via the input device, the processing device transmits the designated flight rate to the drone via the communication device.

When the processing module of the drone receives the specified flight rate via the communication module, the processing module transmits the specified flight rate to the server via the communication module.

When the processing unit of the server receives the specified flight rate via the communication unit, the processing unit calculates a warning zone data according to the specified flight rate and the map, and the warning zone data includes a plurality of corresponding corresponding bans. The location of the warning zone of the flight zone.

When the drone is in a flight state, when the processing unit of the server receives the current location of the drone via the communication unit, the processing unit determines whether the current location of the drone is located in one of the warning zones, when the process The unit determines that the current location of the drone is located in one of the warning zones, and the processing unit calculates an adjustment path that flies away from the one of the warning zones, and transmits the adjustment path to the control zone via the communication unit The drone, when the processing module of the drone receives the adjustment path via the communication module, the drone flies according to the adjustment path to fly away from the one warning zone.

In some implementations, when the UAV receives the current location of the UAV via the communication unit in an activated state, the processing unit determines whether the current location of the UAV is located in one of the UAVs. In the warning area, when the processing unit determines that the current location of the drone is located in one of the warning zones, the processing unit transmits a flight stop command to the drone via the communication unit, and the processing module of the drone The flight stop command is received via the communication module, and the drone stops operating.

In some embodiments, each of the warning zones extends outwardly from a boundary outside of its corresponding no-fly zone.

In some implementations, the specified flight rate is N unit distance/unit time, and each of the warning zones extends 2N unit distance outward from the outer boundary of the corresponding no-fly zone.

In some implementations, the no-fly zone data and the warning zone data are three-dimensional data.

In some embodiments, the drone further includes a storage module connected to the processing module. When the drone is in the flight state, the processing module adds the current location of the drone to the storage module. In a path record of the group, when the communication between the drone and the server is interrupted, the drone records a reverse flyback according to the path.

In some implementations, the UAV further includes a radar module coupled to the processing module, wherein the processing module detects the radar module via the communication module during the flight state The result is transmitted to the server, and when the processing unit of the server receives the detection result of the radar module via the communication unit, the processing unit determines whether there is an object in front of the drone, and when the processing unit determines the drone There is an object in front of the processing unit, and the processing unit calculates an avoidance path for avoiding the object, and transmits the avoidance path to the drone via the communication unit, when the processing module of the drone receives the device via the communication module. The avoidance path, the drone flies according to the avoidance path.

In some embodiments, the drone further includes a battery module, and a power detecting module connected to the processing module and the battery module, wherein the power detecting module is configured to detect the battery module The power of the group, when the UAV is in the flight state, when the processing module determines that the battery module is lower than a low battery threshold, the processing module transmits the current location of the UAV via the communication module. Giving the server, when the processing unit of the server receives the current location of the drone via the communication unit, the processing unit determines whether the current location of the drone is located in one of the warning zones, and when the processing unit determines the unmanned The current location of the machine is located in one of the warning zones, and the processing unit calculates a landing site outside the warning zones and the no-fly zones, and a landing path to the landing site, and via the communication The unit transmits the landing location and the landing path to the drone, and the processing module of the drone receives the same via the communication module A landing path, the drone flies to the landing site and falls according to the landing path.

In some implementations, when the processing device of the controller receives a landing command via the input device, the processing device transmits the landing command to the drone via the communication device, when the processing module of the drone is The communication module receives the landing command, and the processing module transmits the current location of the drone to the server via the communication module, and the processing unit of the server receives the current current of the drone via the communication unit. Positioning, the processing unit determines whether the current location of the drone is located in one of the warning zones, and when the processing unit determines that the current location of the drone is located in the one of the warning zones, the processing unit calculates a warning in the warning zone a landing site outside the no-fly zone and a landing route to the landing site, and transmitting the landing site and the landing path to the drone via the communication unit, when the UAV processing module The landing site and the landing path are received via the communication module, and the drone flies to the landing site and falls according to the landing path.

In some implementations, when the drone falls behind, the processing module transmits the current location of the drone to the controller via the communication module.

In some implementations, when the processing device of the controller receives a destination via the input device, the processing device transmits to the drone via the communication device. When the processing module of the drone receives the destination via the communication module, the processing module is transmitted to the server via the communication module. When the processing unit of the server receives the destination via the communication unit, the processing unit determines whether the destination is located therein In a no-fly zone or warning zone, when the processing unit determines that the destination is located in one of the no-fly zone or the warning zone, the processing unit calculates a new one outside the warning zone and the no-fly zone a destination, and an automatic flight path to the new destination, and transmitting the new destination and the automatic flight path to the drone and the controller via the communication unit. When the processing module of the drone receives the new destination and the automatic flight path via the communication module, the drone flies to the new destination according to the automatic flight path.

The effect of the invention is that the warning zone data is calculated by the server according to the specified flight rate, and when the drone flies into the warning zone, the adjustment path can be calculated by the server for the drone to fly away from the warning zone, thereby It can effectively prevent drones from flying into the no-fly zone.

100‧‧‧Unmanned aerial vehicle system

1‧‧‧Server

11‧‧‧Communication unit

12‧‧‧ storage unit

13‧‧‧Processing unit

2‧‧‧ Controller

21‧‧‧ Input device

22‧‧‧Communication device

23‧‧‧Display device

24‧‧‧Processing device

3‧‧‧Unmanned aerial vehicles

31‧‧‧Communication module

32‧‧‧ Positioning Module

33‧‧‧ storage module

34‧‧‧ radar module

35‧‧‧Battery module

36‧‧‧Power Detection Module

37‧‧‧Processing module

200‧‧‧Communication network

300‧‧‧No-fly zone

400‧‧‧Warning area

S01~S46‧‧‧ Process steps

Other features and effects of the present invention will be apparent from the following description of the drawings. FIG. 1 is a schematic diagram of a hardware connection relationship of an embodiment of the UAV system of the present invention; The flow of the embodiment of the unmanned aerial vehicle in an activated state; FIG. 3 is a flow chart illustrating the flow of the embodiment of the unmanned aerial vehicle in a flight state; 4 is a schematic view of a no-fly zone and a warning zone of the embodiment.

Before the present invention is described in detail, it should be noted that in the following description, similar elements are denoted by the same reference numerals.

Referring to FIG. 1, a first embodiment of the drone 3 system 100 of the present invention includes a server 1, a controller 2, and a drone 3.

The server 1 includes a communication unit 11, a storage unit 12, and a processing unit 13 connected to the communication unit 11 and the storage unit 12. The communication unit 11 is wirelessly connected to a communication network 200. The storage unit 12 stores a map, the map includes a no-fly zone data, and the no-fly zone data includes locations of the no-fly zone 300 (see FIG. 4). The no-fly zone 300 is an area where the drone is not allowed to fly by the government decree.

The controller 2 includes an input device 21, a communication device 22, a display device 23, and a processing device 24 that connects the input device 21, the communication device 22, and the display device 23. The communication device 22 is connected to the communication network 200. The controller 2 of this embodiment is a tablet computer, but is not limited thereto.

The UAV 3 includes a communication module 31, a positioning module 32, a storage module 33, a radar module 34, a battery module 35, a battery detection module 36, and a connection to the communication module 31. The processing module 37 of the positioning module 32, the storage module 33, the radar module 34 and the power detecting module 36.

The communication module 31 is connected to the communication network 200 to be connected to the communication unit 11 of the server 1 and the communication device 22 of the controller 2 via the communication network 200. The positioning module 32 is configured to calculate the current position of the drone 3 based on the GPS satellite signal. The radar module 34 of this embodiment is an infrared radar module 34. The battery module 35 is used to supply power required for the operation of the drone 3. The battery detection module 36 is connected to the battery module 35 and is used to detect the power of the battery module 35.

Referring to Figures 1, 2 and 4, the control method of the drone 3 system 100 will be described below when the drone 3 is in the starting state before flying together.

First, as shown in step S01, the processing module 37 of the drone 3 establishes a connection with the controller 2 via the communication module 31. Next, as shown in step S02, the processing module 37 of the drone 3 determines whether the connection with the controller 2 is successful, and if so, proceeds to step S05, and if not, proceeds to step S03. In step S03, the processing module 37 determines whether the number of consecutive failures of the connection controller 2 has reached a predetermined number of times (for example, five times). If not, step S01 is performed again, and if yes, step S04 is performed. Step S04 is that the drone 3 stops operating. That is to say, unless the drone 3 and the controller 2 are successfully connected, the subsequent process steps related to the takeoff will be executed, otherwise the drone 3 will stop operating.

In step S05, the processing module 37 of the drone 3 establishes a connection with the server 1 via the communication module 31. Next, as shown in step S06, the processing module 37 of the drone 3 determines whether the connection with the server 1 is successful, and if so, proceeds to step S09, and if not, proceeds to step S07. Step S07 is a processing module 37 determining that the connection server 1 fails. Whether the number of consecutive times has reached a predetermined number of times (for example, five times), and if not, step S05 is performed again, and if so, step S08 is performed. Step S08 is that the drone 3 stops operating. That is to say, unless the drone 3 and the server 1 are successfully connected, the subsequent flow steps related to the takeoff will be executed, otherwise the drone 3 will stop operating.

Step S09 is to determine whether the processing module 37 of the drone 3 receives a specified flight rate from the controller 2 (the processing device 24 of the controller 2 can receive the specified flight rate via the input device 21, and the processing device 24 can The communication device 22 transmits the designated flight rate to the drone 3), and if so, proceeds to step S10, and if not, proceeds to step S11. In step S10, the processing module 37 of the drone 3 transmits the current position of the drone 3 and the specified flight rate to the server 1. In step S11, the processing module 37 of the drone 3 transmits the current position of the drone 3 and a preset flight rate to the server 1. In addition, in the present embodiment, the user can input a specified flight rate via the input device 21 of the controller 2 to control the drone 3 to fly at the specified flight rate, and the preset flight rate is the drone 3 The maximum flight rate (17 m/s in this embodiment).

Then, as shown in step S12, when the processing unit 13 of the server 1 receives the specified flight rate/the preset flight rate via the communication unit 11, the processing unit 13 according to the specified flight rate/the preset flight rate and the Figure, calculate a warning zone data. The warning zone data contains a plurality of locations corresponding to the warning zone 400 of the no-fly zone 300, respectively. In this embodiment, the no-fly zone data and the warning zone data are three-dimensional The data, and each warning zone 400 extends outward from the outer boundary of its corresponding no-fly zone 300 (as shown in Figure 4). In addition, if the specified flight rate/the preset flight rate is N unit distance/unit time, each of the warning zones 400 extends outward by 2N unit distance from the outer boundary of the corresponding no-fly zone 300. It is worth mentioning that the range size of the no-fly zone 300 of the present embodiment is positively correlated with the specified flight rate, whereby when the drone 3 is flying at a relatively high speed, the calculated warning zone 400 has a larger range. The flow steps described later can effectively prevent the drone 3 from flying into the no-fly zone 300.

Then, as shown in step S13, the processing unit 13 of the server 1 determines whether the current location of the drone 3 is located in one of the warning zone 400 or the no-fly zone 300. If yes, step S14 is performed, and if no, step S16 is performed. .

Step S14 is that the processing unit 13 of the server 1 transmits a stall instruction to the drone 3 via the communication unit 11. Next, as shown in step S15, the processing module 37 of the drone 3 receives the grounding command via the communication module 31, and the drone 3 stops operating according to the grounding command. Thereby, the drone 3 can be effectively prevented from taking off from the no-fly zone 300 or the warning zone 400, flying in the no-fly zone 300, or flying into the no-fly zone 300 by the warning zone 400.

On the other hand, in step S16, the processing unit 13 of the server 1 transmits the flight instruction to the drone 3 via the communication unit 11. Next, as shown in step S17, the processing module 37 of the drone 3 receives the takeoff command via the communication module 31, and the drone 3 takes off according to the takeoff command.

Referring to Figures 1, 3 and 4, the flight of the drone 3 after flying together In the state, the control method of the drone 3 system 100 is explained as follows.

First, as shown in step S18, the drone 3 flies according to a flight instruction from the controller 2, for example, the drone 3 flies forward, flies upward, etc. according to the flight instruction. In the present embodiment, the user operates the control unit to immediately control the flight direction of the drone 3, and in the second embodiment, an embodiment in which the drone 3 automatically flies to the destination will be described.

Next, as shown in step S19, the processing module 37 adds the current location of the drone 3 to a path record stored in the storage module 33 to record the flight path of the drone 3.

Next, as shown in step S20, the processing module 37 of the drone 3 transmits the current position of the drone 3 to the server 1 via the communication module 31.

Next, as shown in step S21, the processing module 37 of the drone 3 determines whether the current position of the drone 3 is successfully transmitted to the server 1, and if so, executes step S24, and if not (ie, the drone 3 and the server) If the communication of 1 is interrupted, step S22 is performed.

In step S22, the drone 3 records the reverse flight back to the takeoff position according to the path. Next, as shown in step S23, the drone 3 landed. Thereby, when the communication between the drone 3 and the server 1 is interrupted, the drone 3 can automatically return to the air.

On the other hand, step S24 is that the processing unit 13 of the server 1 receives the current position of the drone 3 via the communication unit 11. Next, as shown in step S25, the processing unit 13 determines whether the current location of the drone 3 is located in one of the warning zones 400 or the no-fly zone. If it is, then step S26 is performed, and if not, step S28 is performed.

Step S26 is that the processing unit 13 of the server 1 calculates an adjustment path that leaves the warning zone 400 or the no-fly zone 300, and transmits the adjustment path to the drone 3 via the communication unit 11. Then, as shown in step S27, the processing module 37 of the drone 3 receives the adjustment path via the communication module 31, and the drone 3 flies according to the adjustment path to fly away from the one warning zone 400 or no fly. Zone 300. Thereby, when the drone 3 enters the warning zone 400 or the no-fly zone 300 due to improper operation of the user or due to gusts of wind, the drone 3 can automatically fly away from the warning zone 400 or the no-fly zone 300.

Then, as shown in step S28, the processing module 37 of the drone 3 transmits the detection result of the radar module 34 to the server 1 via the communication module 31. Then, as shown in step S29, the processing module 37 of the drone 3 determines whether the detection result of the radar module 34 is successfully transmitted to the server 1, and if so, proceeds to step S32, and if not (ie, the drone 3 and If the communication of the server 1 is interrupted, step S30 is performed.

In step S30, the drone 3 records the reverse flight back to the takeoff position according to the path. Next, as shown in step S31, the drone 3 landed.

On the other hand, in step S32, the processing unit 13 of the server 1 receives the detection result of the radar module 34 via the communication unit 11. Next, as shown in step S33, the processing unit 13 of the server 1 determines whether there is an object in front of the drone 3, and if so, proceeds to step S34, and if not, proceeds to step S36.

Step S34 is that the processing unit 13 of the server 1 calculates an avoidance to the said The avoidance path of the object is transmitted to the drone 3 via the communication unit 11. Next, as shown in step S35, the processing module 37 of the drone 3 receives the avoidance path via the communication module 31, and the drone 3 flies according to the avoidance path, thereby avoiding collision with the object.

Next, as shown in step S36, the processing module 37 of the drone 3 determines whether a new designated flight rate from the controller 2 is received (the user can input a new designation through the input device 21 of the controller 2 at any time in the flight state. The flight rate is adjusted to adjust the flight rate of the drone 3, and if so, step S37 is performed, and if not, step S39 is performed. In step S37, the processing module 37 of the drone 3 transmits the new specified flight rate to the server 1 via the communication module 31. Next, as shown in step S38, the processing unit 13 calculates a new warning zone data based on the new specified flight rate and the map. Thereby, the server 1 can calculate the size range of the adjustment warning zone 400 in real time.

Then, as shown in step S39, the processing module 37 of the drone 3 determines whether the battery module 35 is lower than a low battery threshold according to the detection result of the power detecting module 36. If yes, step S41 is performed. Steps S41 to S45 are the landing flow of the drone 3), and if not, step S40 is performed.

Step S40 is to determine whether the processing module 37 of the drone 3 receives a landing command from the controller 2 via the communication module 31 (the user can input the landing command through the input device 21 of the controller 2, and the processing of the controller 2 The device 24 can transmit the landing command to the drone 3 via the communication device 22, and if yes, execute step S41 (step Steps S41 to S45 are the landing flow of the drone 3, and if not, step S18 is performed.

In step S41, the processing module 37 of the drone 3 transmits the current position of the drone 3 to the server 1 via the communication module 31. Then, as shown in step S42, the processing unit 13 of the server 1 determines whether the current location of the drone 3 is located in one of the warning zone 400 or the no-fly zone 300. If yes, step S43 is performed, and if no, step S45 is performed. .

Step S43 is that the processing unit 13 of the server 1 calculates a landing location outside the warning zone 400 and the no-fly zone 300 and adjacent to the current location of the drone 3, and a landing path to the landing site. The landing site and the landing path are transmitted to the drone 3 via the communication unit 11. Next, as shown in step S44, the processing module 37 of the drone 3 receives the landing site and the landing path via the communication module 31, and the drone 3 flies to the landing site according to the landing path. Next, as shown in step S45, the drone 3 performs a landing to land at the landing site. Finally, as shown in step S46, when the drone 3 falls, the processing module 37 of the drone 3 transmits the current position of the drone 3 to the controller 2 via the communication module 31, and the controller 2 displays via the display device 23. The current location of drone 3. Thereby, when the drone 3 is insufficient in power and needs to land immediately, or when the user inputs the landing command through the input device 21 of the controller 2, steps S41 to S46 enable the drone 3 not to land in the warning zone 400 or no fly. Zone 300.

The second embodiment of the drone 3 system 100 of the present invention is similar to the first embodiment, except that in the present embodiment, the drone 3 is not manually operated by the user, but instead Automatically fly to a destination set by the user.

When the drone 3 is in the activated state or the flight state, the processing device 24 of the controller 2 can receive the destination via the input device 21 and transmit it to the drone 3 via the communication device 22. The processing module 37 of the drone 3 can receive the destination via the communication module 31 and transmit it to the server 1 via the communication module 31. The processing unit 13 of the server 1 can receive the destination via the communication unit 11, and determine whether the destination is located in one of the no-fly zone 300 or the warning zone 400, and if so, the processing unit 13 can calculate a warning zone in the warning zone 400 and a new destination outside the no-fly zone 300 and adjacent to the destination, and an automatic flight path to the new destination, and the new destination and the automatic flight via the communication unit 11 The path is transmitted to the drone 3 and the controller 2. The processing module 37 of the drone 3 receives the new destination and the automatic flight path via the communication module 31, and the drone 3 flies to the new destination and falls according to the automatic flight path. Thereby, when the destination set by the user is located in the warning area 400 and the no-fly area 300, the server 1 can automatically adjust and provide a new destination.

In summary, the drone 3 system 100 of the present invention calculates the warning zone data by the server 1 according to the specified flight rate, and can calculate the adjustment path by the server 1 when the drone 3 flies into the warning zone 400. The drone 3 is allowed to fly away from the warning zone 400, so that the drone 3 can be effectively prevented from flying into the no-fly zone 300, so that the object of the present invention can be achieved.

However, the above is only an embodiment of the present invention, when The scope of the present invention is defined by the scope of the invention, and the equivalent equivalents and modifications of the scope of the invention are still within the scope of the invention.

100‧‧‧Unmanned aerial vehicle system

1‧‧‧Server

11‧‧‧Communication unit

12‧‧‧ storage unit

13‧‧‧Processing unit

2‧‧‧ Controller

21‧‧‧ Input device

22‧‧‧Communication device

23‧‧‧Display device

24‧‧‧Processing device

3‧‧‧Unmanned aerial vehicles

31‧‧‧Communication module

32‧‧‧ Positioning Module

33‧‧‧ storage module

34‧‧‧ radar module

35‧‧‧Battery module

36‧‧‧Power Detection Module

37‧‧‧Processing module

200‧‧‧Communication network

Claims (11)

An unmanned aerial vehicle system includes: a server, a communication unit, a storage unit, and a processing unit connected to the communication unit and the storage unit, the storage unit stores a map, and the map includes a no-fly Zone data, the no-fly zone data includes a plurality of no-fly zone locations; a controller comprising an input device, a communication device, and a processing device connecting the input device and the communication device; and a drone comprising a communication module, a positioning module, and a processing module connected to the communication module and the positioning module, the communication module is connected to the communication unit of the server and the communication device of the controller, the positioning module The group is configured to calculate a current location of the drone; and when the processing device of the controller receives a specified flight rate input by the user via the input device, the processing device transmits the specified flight rate to the device via the communication device a drone; when the processing module of the drone receives the specified flight rate via the communication module, the processing module transmits the specified flight rate via the communication module Giving the server; when the processing unit of the server receives the specified flight rate via the communication unit, the processing unit calculates a warning zone data according to the specified flight rate and the map, the warning zone data includes multiple a position corresponding to the warning zone of the no-fly zone; when the drone is in a flight state, when the processing unit of the server receives the current position of the drone via the communication unit, the processing unit judges Determining whether the current position of the drone is located in one of the warning zones. When the processing unit determines that the current location of the drone is located in one of the warning zones, the processing unit calculates an adjustment path that flies away from the one of the warning zones. Transmitting the adjustment path to the drone via the communication unit, and when the processing module of the drone receives the adjustment path via the communication module, the drone flies according to the adjustment path to fly away from the A warning area. The unmanned aerial vehicle system according to claim 1, wherein the processing unit determines the current position of the drone when the processing unit of the server receives the current position of the drone via the communication unit in an activated state, and the processing unit determines the unmanned aerial vehicle Whether the current location is located in one of the warning zones, and when the processing unit determines that the current location of the drone is located in the one of the warning zones, the processing unit transmits a flight stop command to the drone via the communication unit, when the The processing module of the drone receives the flight stop command via the communication module, and the drone stops operating. The drone system of claim 1, wherein each of the warning zones extends outwardly from a boundary outside the corresponding no-fly zone. The drone system of claim 3, wherein the designated flight rate is N unit distance/unit time, and each of the warning zones extends outward by a 2N unit distance from a boundary outside the corresponding no-fly zone. The unmanned aerial vehicle system of claim 1, wherein the no-fly zone data and the warning zone data are three-dimensional data. The UAV system of claim 1, wherein the UAV further comprises a storage module connected to the processing module, wherein the UAV is in the flight state, the processing module is the current location of the UAV Add to store in this store In a path record of the module, when the communication between the drone and the server is interrupted, the drone records a reverse flyback according to the path. The UAV system of claim 1, wherein the UAV further includes a radar module connected to the processing module, wherein the UAV is in the flight state, the processing module is configured by the communication module The detection result of the radar module is transmitted to the server, and when the processing unit of the server receives the detection result of the radar module via the communication unit, the processing unit determines whether there is an object in front of the drone, when the The processing unit determines that there is an object in front of the drone, and the processing unit calculates an avoidance path for avoiding the object, and transmits the avoidance path to the drone via the communication unit, when the processing module of the drone passes the The communication module receives the avoidance path, and the drone flies according to the avoidance path. The drone system of claim 1, wherein the drone further comprises a battery module, and a power detecting module connected to the processing module and the battery module, wherein the power detecting module is used Detecting the power of the battery module, when the UAV is in the flight state, when the processing module determines that the battery module is lower than a low battery threshold, the processing module passes the communication module The current position of the drone is transmitted to the server. When the processing unit of the server receives the current location of the drone via the communication unit, the processing unit determines whether the current location of the drone is located in one of the warning zones. The processing unit determines that the current location of the drone is located in the one of the warning zones, and the processing unit calculates a landing location outside the warning zones and the no-fly zones, and a landing to the landing site a path, and transmitting the landing location and the landing path to the no-via via the communication unit a human machine, when the processing module of the drone receives the landing path via the communication module, the drone flies to the landing site and falls according to the landing path. The drone system of claim 1, wherein when the processing device of the controller receives a landing command via the input device, the processing device transmits the landing command to the drone via the communication device when the unmanned The processing module of the machine receives the landing command via the communication module, and the processing module transmits the current location of the drone to the server via the communication module, and the processing unit of the server receives the communication unit through the communication unit. Go to the current location of the drone, the processing unit determines whether the current location of the drone is located in one of the warning zones, and when the processing unit determines that the current location of the drone is located in the one of the warning zones, the processing unit calculates a landing site outside the no-fly zone and a landing route to the landing site, and transmitting the landing site and the landing path to the drone via the communication unit, when The processing module of the drone receives the landing site and the landing path via the communication module, and the drone flies to the landing site according to the landing path. And landed. The UAV system of claim 8 or 9, wherein the processing module transmits the current location of the drone to the controller via the communication module when the drone falls behind. The UAV system of claim 1, wherein when the processing device of the controller receives a destination via the input device, the processing device transmits the UAV to the UAV; and when the UAV processing module Receiving the purpose via the communication module The processing module is transmitted to the server via the communication module; when the processing unit of the server receives the destination via the communication unit, the processing unit determines whether the destination is located in one of the no-fly zone or the warning zone Inside, when the processing unit determines that the destination is located in one of the no-fly zone or the warning zone, the processing unit calculates a new destination outside the warning zone and the no-fly zone, and a flight to An automatic flight path of the new destination, and the new destination and the automatic flight path are transmitted to the drone and the controller via the communication unit; when the processing module of the drone is received via the communication module The new destination and the automatic flight path, the drone flying to the new destination according to the automatic flight path.