WO2017016398A1

WO2017016398A1 - Flight route setting method and device for aircraft

Info

Publication number: WO2017016398A1
Application number: PCT/CN2016/090183
Authority: WO
Inventors: 冯银华
Original assignee: 深圳市道通智能航空技术有限公司
Priority date: 2015-07-24
Filing date: 2016-07-15
Publication date: 2017-02-02
Also published as: CN106373433A

Abstract

Disclosed are a flight route setting method and device for an aircraft. The setting method comprises: firstly receiving geographic position information and a surrounding environment image of the position of a testing aircraft flying within a selected area, and establishing a first correlation between the geographic position information and the surrounding environment image acquired at the same time (S11); then analysing the surrounding environment image according to a predetermined flight restriction area judgement standard to obtain flight restriction area information within the selected area (S12); subsequently, establishing a second correlation between the flight restriction area information and the corresponding geographic position information according to the first correlation (S13); and finally, setting a flight route in the selected area for the aircraft according to the second correlation (S14). The flight route setting method and device for an aircraft can acquire a flight route for the safe flight of the aircraft in real time, so as to avoid areas where a flight is restricted, provide a reliable basis for an aircraft user to set an accurate flight route and guarantee the rationality of a flight route setting.

Description

Method and device for setting flight path of aircraft

[Technical Field]

The present application relates to the field of aircraft technology, and in particular, to a flight path setting method and apparatus for an aircraft.

【Background technique】

Aircraft such as drones, referred to as "UAVs", abbreviated as "UAV", are unmanned aircraft operated by radio remote control equipment and self-contained program control devices. It first appeared in the 1920s and was used as a target machine for training. At present, drones have been widely used in aerial photography, agriculture, surveying and mapping, disaster relief and other fields. Therefore, the flight safety and legality of drones have attracted more and more attention. Limiting the flight area of the drone by setting the flight path of the drone is an important method to improve the flight safety of the drone, and is also a necessary measure to comply with the laws and regulations governing the drone.

In the process of implementing this application, the applicant found that the related technology has the following problems: With the advancement of urbanization, the population density is increasing, and there are more and more high-rise buildings, especially in large cities with high population density and high-rise buildings. There are many areas that are restricted or unsuitable for flying. At present, people are based on the geographical information previously marked on the map to obtain various flight-restricted area information related to the drone (such as which areas in the UAV flight area are restricted flight areas or unsuitable flight areas, etc.). Set the flight path of the drone so that the drone avoids the restricted or unsuitable area, but if the map cannot be updated in time or some areas of the drone's flight area are not marked on the map, the limited flight will be obtained. The regional information does not match the actual situation, which may make the flight route setting unreasonable.

[Summary of the Invention]

Therefore, the technical problem to be solved by the present application is that in the prior art, people obtain the information of various flight-restricted areas related to the drone according to the geographical information previously marked on the map, and accordingly set the flight of the drone. Route, if the map cannot be updated in time or some areas of the drone flight area are not on the map Marked in, it may make the flight route set unreasonable.

In order to solve the above technical problem, the technical solution of the present application is as follows:

The application provides a flight path setting method for an aircraft, including:

Receiving geographical location information of the location where the test aircraft is flying in the selected area and the surrounding environment image, and establishing a first correspondence between the geographical location information collected at the same time and the surrounding environment image;

Performing analysis on the surrounding environment image according to a predetermined flight limited area determination criterion to obtain limited flight area information in the selected area;

Establishing, according to the first correspondence, a second correspondence between the limited flight area information and corresponding geographic location information;

A flight path of the aircraft within the selected area is set according to the second correspondence.

The method for setting a flight path of an aircraft according to the present application, the analyzing the image of the surrounding environment according to a predetermined flight limitation area determination standard, and obtaining the information of the limited flight area in the selected area includes:

Identifying all geographic object information in the surrounding environment image;

Comparing each of the identified geographic object information with the specific geographic object information in the predetermined flight limited area determination standard one by one;

If the matching is performed, extracting the restricted flight category corresponding to the specific geographic object information that matches the geographic object information from the limited flight area determining criterion; and limiting the flying type corresponding to the geographic object information and the specific geographic object information matched thereto As the flight limited area information in the selected area.

The method for setting a flight path of an aircraft according to the present application, the specific geographic object includes at least one of an artificially set area, a military restricted area, a water surface, a base station transmission tower, a densely populated area, or a densely populated area.

In the method for setting a flight path of an aircraft according to the present application, the flight restriction category includes at least one of a no-fly zone, an unsuitable landing zone, a strong magnetic interference zone, and an unsuitable flight zone.

The flight path setting method of the aircraft according to the present application, the setting according to the second correspondence relationship Before the steps of setting the flight path of the aircraft, it also includes:

After receiving the geographical location information and the limited flight area information after the second correspondence is established, determining whether the limited flight area information corresponding to the received geographical location information is stored;

When the storage is sometimes performed, the previously stored limited flight area information is updated with the newly received limited flight area information corresponding to the geographical location information;

When there is no storage, the newly received limited flight area information corresponding to the geographical location information is saved.

The method for setting a flight path of an aircraft according to the present application, the step of setting a flight path of the aircraft in the selected area according to the second correspondence relationship includes:

Acquiring, according to the second correspondence, the flight restriction category included in the limited flight area information in the selected area and the corresponding geographical location information;

The flight path of the aircraft in the selected area is set according to the flight restriction category and its corresponding geographical location information.

The application also provides a method for setting a flight limited area, comprising:

Acquiring an image of the surrounding environment captured by the aircraft in the selected area and geographic location information of the aircraft when the surrounding environment image is captured;

Determining a correspondence between the flight limited area information and the geographic location information.

When the method for setting a flight limited area according to the present application is executed by a server, the aircraft is a test aircraft, the image of the surrounding environment captured by the aircraft in the selected area is acquired, and the aircraft is photographed when the surrounding environment image is captured. The geographical location information is specifically: receiving an image of the surrounding environment photographed by the test aircraft in the selected area and the geographical location of the test aircraft when the surrounding environment image is captured. information.

Optionally, it also includes:

And storing a correspondence between the limited flight area information and the geographical location information;

A message for updating the map is sent to the aircraft, the message including the flight limited area information and the geographic location information.

In another aspect, the method of setting a fly-limited area described herein can be performed by an aircraft. Further, the flight limited area is displayed at a geographical location indicated by the geographical location information in the map.

A flight route within the selected area is set according to a correspondence between the flight limited area information and the geographic location information.

And storing a correspondence between the flight limited area information and the geographical location information.

The application also provides a flight path setting device for an aircraft, comprising:

And an acquisition unit, configured to receive geographic location information and a surrounding environment image of the location of the test aircraft when flying in the selected area, and establish a first correspondence between the geographical location information acquired at the same time and the surrounding environment image relationship;

An analyzing unit, configured to analyze the surrounding environment image according to a predetermined flight limited area determination criterion, to obtain limited flight area information in the selected area;

And an association unit, configured to establish, according to the first correspondence, a second correspondence between the information about the limited flight area and the corresponding geographic location information;

And a setting unit, configured to set a flight path of the aircraft in the selected area according to the second correspondence.

The flight path setting device of the aircraft of the present application, the analyzing unit includes:

An identification module, configured to identify all geographic object information in the surrounding environment image;

a comparison module, configured to compare each of the identified geographic object information with the specific geographic object information in the predetermined flight limited area determination standard;

An information generating module, configured to: when the comparison result of the comparison module is a match, extract, from the flight limitation area determination criterion, a flight restriction category corresponding to specific geographic object information that matches the geographic object information; The restricted object category corresponding to the geographic object information and the specific geographic object information matched thereto is used as the limited flying area information in the selected area.

The flight path setting device of the aircraft of the present application further includes:

The receiving determining unit is configured to: after receiving the geographical location information and the limited flight area information after the second correspondence is established, determine whether the limited flight area information corresponding to the received geographical location information is stored ;

And an updating unit, configured to: when the determination result of the receiving determining unit is a storage, update the originally stored limited flight area information by using the newly received limited flight area information corresponding to the geographical location information;

The storage unit is configured to save the newly received limited flight area information corresponding to the geographical location information when the determination result of the receiving determining unit is not stored.

The flight path setting device of the aircraft of the present application, the setting unit includes:

a flight-defining information acquiring module, configured to acquire, according to the second correspondence, a flight-limit category included in the limited-flying area information in the selected area and corresponding geographic location information;

a route setting module, configured to set a flight path of the aircraft in the selected area according to the flight limit category and its corresponding geographical location information.

The application also provides a server for setting a flight limited area, including:

And a receiving module, configured to receive a surrounding environment image captured by the test aircraft in the selected area and a geographic location information of the test aircraft when the surrounding environment image is captured.

An analysis module, configured to analyze the surrounding environment image according to a predetermined flight limited area determination criterion, to obtain limited flight area information in the selected area;

The correspondence determining module is configured to determine a correspondence between the flight limited area information and the geographic location information.

Optionally, it also includes:

And a sending module, configured to send, to the aircraft, a message for updating the map, where the message includes the limited flight area information and the geographic location information.

And a storage module, configured to store a correspondence between the flight limited area information and the geographic location information.

The application also provides an aircraft for setting a flight limited area, comprising:

An acquisition module, configured to acquire an image of a surrounding environment photographed by the test aircraft in the selected area and geographic location information of the aircraft when the surrounding environment image is captured;

Optionally, it also includes:

And a display module, configured to display the limited flight area at a geographic location indicated by the geographic location information in the map.

a flight path setting unit configured to set a flight route in the selected area according to a correspondence between the flight limited area information and the geographic location information.

And a storage unit, configured to store a correspondence between the flight limited area information and the geographic location information.

The above technical solution of the present application has the following advantages over the prior art:

(1) The present application provides a flight path setting method and apparatus for an aircraft, which first receives geographic location information of a location where the test aircraft is flying in a selected area and an image of the surrounding environment, and establishes the same time collection a first correspondence between the geographic location information and the surrounding environment image; and analyzing the surrounding environment image according to a predetermined limited flight area determination criterion to obtain the limited flight area information in the selected area; The first correspondence relationship establishes a second correspondence between the flight limited area information and the corresponding geographical location information; and finally, the flight path of the aircraft in the selected area is set according to the second correspondence relationship. The method and device for setting the flight path of the aircraft according to the present application can analyze the surrounding environment image according to the predetermined flight limit area determination standard, and the limited flight area information in the selected area can be obtained, because the selected area has been established in advance. The first correspondence between the geographical location information and the surrounding environment image, so that the geographical location information corresponding to the limited flight area information can be easily queried according to the first correspondence relationship and the second correspondence between the two is established, because The above data is obtained by real-time field measurement of the test aircraft, ensuring the real-time and accuracy of the data. The user setting of the accurate flight path provides a reliable basis for ensuring the rationality of the flight path setting.

(2) The method and apparatus for setting a flight path of an aircraft according to the present application, after receiving one or more pieces of geographical location information and flight limited area information after establishing a second correspondence, determining whether the stored and received The limited-flying area information corresponding to the geographical location information; when the storage is sometimes, the newly-received limited-flying area information corresponding to the geographically-position information is updated, and the newly-received limited-flying area information is saved; when there is no storage, the latest received is saved. The limited flight area information corresponding to the geographical location information. Because the information of the limited flight area may change with time, the information of the limited flight area can be updated in time by updating the information of the limited flight area stored in the newly received limited flight area information corresponding to the geographical location information. It ensures the accuracy of the information of the limited flight area corresponding to the stored geographical location information, and provides a reliable basis for the aircraft user to set an accurate flight route.

(3) The method, the aircraft and the server for setting a flight limited area according to the present application, acquiring an image of the surrounding environment photographed by the aircraft in the selected area and geographic location information of the aircraft when the surrounding environment image is taken; The limited flight area determination criterion analyzes the surrounding environment image to obtain the limited flight area information in the selected area; and determines a correspondence between the limited flight area information and the geographical location information. Because the correspondence between the flight limited area information and the geographical location information is obtained by real-time physical measurement of the test aircraft or the user aircraft, the real-time and accuracy of the data is ensured, and an accurate flight route or avoidance is set for the aircraft user. The flight limited area provides a reliable basis for ensuring the safety and compliance of the flight path settings.

[Description of the Drawings]

In order to make the content of the present application easier to understand, the present application will be further described in detail below in accordance with the specific embodiments of the present application and the accompanying drawings.

1 is a flow chart of a method for setting a flight path of an aircraft according to the present application;

2 is a flow chart of a specific embodiment of a flight path setting method for an aircraft according to the present application;

3 is a flow chart of step S12 in the flight path setting method of the aircraft according to the present application;

4 is a flow chart of step S14 in the flight path setting method of the aircraft according to the present application;

5 is a structural block diagram of a flight path setting device of the aircraft according to the present application;

FIG. 6 is a schematic structural diagram of an electronic device according to still another embodiment of the present application.

Reference numerals in the figures are denoted as: 11-acquisition unit, 12-analysis unit, 13-association unit, 14-setting unit, a-reception judging unit, b-update unit, c-storage unit, 121-identification module, 122 - comparison module, 123 - information generation module, 141 - flight limited information acquisition module, 142 - route setting module.

【detailed description】

Example 1

The embodiment provides a method for setting a flight path of an aircraft, as shown in FIG. 1 , including:

S11. Receive geographic location information of the location where the test aircraft is flying in the selected area and the surrounding environment image, and establish a first correspondence between the geographical location information collected at the same time and the surrounding environment image.

S12. Analyze the surrounding environment image according to a predetermined flight limited area determination standard, and obtain the limited flight area information in the selected area.

S13. Establish a second correspondence between the limited flight area information and corresponding geographic location information according to the first correspondence.

S14. Set a flight path of the aircraft in the selected area according to the second correspondence.

Specifically, when an aircraft such as a drone is applied to the fields of disaster relief, agriculture, etc., the setting of the flight route has a high accuracy requirement, because once the setting is unreasonable, it is possible to cause a huge loss. In order to ensure the flight safety of the drone, in step S11, one or more test aircraft (for example, a small drone) may be selected for information collection of the selected area. The geographical location information of the location of the test aircraft when flying in the selected area can be obtained by the GPS module disposed on the aircraft, and the latitude and longitude coordinate information of the position of the aircraft can be collected by the GPS module as the geographical location information; You can collect images of the surrounding environment when the aircraft is flying by setting one or more cameras under the aircraft. For example, one or more cameras can be set under the aircraft. The head image is used to collect the top view image below the flight area of the aircraft, and one or more cameras may be disposed around the exterior of the aircraft to obtain images of the front, the rear, the bottom or any one or more angles outside the aircraft, and the image is By splicing the image stitching method, the flight environment of the aircraft can be restored, and the surrounding environment image of the location where the aircraft is flying in the selected area is obtained. In addition, during the flight of the aircraft, the surrounding environment image and geographic location information (such as the latitude and longitude coordinates collected by the GPS module) can be collected simultaneously at each time point, so each of the same time points (represented by the same time) a time-to-one correspondence between the collected address location information and the surrounding environment image, according to which the first correspondence between the geographical location information at the same time and the surrounding environment image can be established, such that the fixed correspondence is The geographical location information can be queried to the corresponding surrounding environment image, of course, the corresponding geographical location information can also be obtained through the surrounding environment image.

In step S12, the predetermined flight limit area determination criterion includes specific geographic object information and its corresponding flight restriction category, and the specific geographic object includes at least an artificially set area (such as a certain flight-defining area defined by a special time or a user's own One of the designated areas where the aircraft is prohibited from flying, the military restricted area, the water surface, the base station launch tower, the densely populated area or the densely populated area. The restricted flight category includes at least the no-fly zone, the unsuitable landing zone, and the strong magnetic interference zone. And one of the areas that are not suitable for flight. Specifically, the predetermined flight limitation area determination standard may set the flight restriction category of the military restricted zone as the no-fly zone, and define the flight restriction category of the water surface as the unsuitable landing zone, and set the flight restriction category of the base station transmission tower as the strong magnetic interference zone. The densely populated area or the densely populated area is designated as an unsuitable flight area. Except for the above areas, other areas in the selected area are suitable for the flight area. According to the predetermined limit flight area judgment standard, the surrounding environment image is analyzed, and the limited flight area information in the selected area can be obtained by referring to the judgment standard. When the aircraft route is formulated, the above-mentioned limited flight area can be avoided.

Optionally, as shown in FIG. 3, step S12 may include:

S121. Identify all geographic object information in the surrounding environment image.

S122. Compare each of the identified geographic object information with the specific geographic object information in the predetermined flight limited area determination standard one by one.

S123. If matching, extracting, matching the geographic object information from the flight limitation area determination criterion The restricted flight category corresponding to the specific geographic object information; the restricted flying category corresponding to the geographic object information and the specific geographic object information matched thereto is used as the limited flying area information in the selected area.

Specifically, image recognition technology may be used to identify all geographic object information in the surrounding environment image, and the geographic object information is information of an object that can be recognized in the three-dimensional space, for example, the identified object is a ground building such as a house, or is a mountain, Natural landscapes such as rivers. The geographic object information can clearly describe the ground attachments and other information in the surrounding environment image, so that people can clearly know the three-dimensional spatial three-dimensional structure in the selected area contained in the surrounding environment image, and understand the flight environment in the selected area. . By comparing each geographic object information with a specific geographic object information in a predetermined flight area determination standard, if one or more of the specific geographic objects are included, the presence and specific geographic object information in the geographic object information is indicated. Corresponding geographical object information, it can be determined that the geographic object information of the surrounding environment image includes one or more of the above specific geographical objects, there is a limited flight area, and because of the specific geographic object information in the judgment standard There is a corresponding relationship between the flight categories, so it is easy to know the restricted flight category corresponding to the matching geographic object information, and obtain the limited flight area information (geographic object information and its flight restriction category). Optionally, for the strong magnetic interference zone, in addition to the image recognition technology can be used to identify the base station transmitting tower and the television transmitting tower with strong magnetic interference performance, the strong magnetic field can also be identified by installing a compass on the test aircraft. Because the pointer of the compass is magnetic, if the test aircraft enters the strong magnetic interference zone, the pointer of the compass will fluctuate, and it can be determined that the surrounding area has strong magnetic interference and locks the geographical location information of the interference area, and the determination process is simple and quick.

In step S13, since the limited flight area information in the selected area is obtained by analyzing the surrounding environment image according to the predetermined limited flight area determination standard, the limited flight area information is a description of the limited flying area in the surrounding environment image. The information has a first correspondence between the surrounding environment image and the geographical location information. Therefore, according to the first correspondence, the second correspondence between the limited flight area information and the corresponding geographical location information can be established. The second correspondence between the flight limited area information and the corresponding geographical location information, one can know which location (latitude and longitude coordinate information) has a limited flight area (such as a military restricted zone, a water surface, a base station transmission tower, a densely populated area or a building) Dense area, user root What is the specific geographic object such as the prohibited flight area that is delineated according to demand; and what is the category of the flight-restricted area. For example, if there is a water surface in the selected area, people can obtain which latitude and longitude has a water surface, which is similar information for the unsuitable landing area. When the aircraft flight route and control instructions are set, the aircraft cannot be allowed to land when flying to the surface.

Optionally, as shown in FIG. 4, step S14 may include:

S141. Acquire, according to the second correspondence, the restricted fly type included in the limited flight area information in the selected area and the corresponding geographical location information.

S142. Set a flight path of the aircraft in the selected area according to the restricted flight category and its corresponding geographical location information.

Specifically, in steps S141 and S142, because the second correspondence includes the limited flight area information and the corresponding geographical location information, the limited flight area information includes a flight limited category (no-fly zone, unsuitable landing zone, strong magnetic interference zone, It is not suitable for the flight area, etc.), so according to the second correspondence, it can be known which specific area in the selected area has a military restricted area, the restricted flying category is the no-flying area, which area has the base station, and the restricted flying category is the strong magnetic interference. The zone can set the flight path of the aircraft in the selected area according to the above-mentioned flight restriction category and its corresponding geographical location information (latitude and longitude). In a specific application, the controller on the test aircraft can send the collected data information to the user end (for example, an intelligent terminal installed with an APP that can perform steps S12-S14), through the operation interface of the APP (can be provided with map information) ), the user can edit one or more restrictions on the map, such as limiting the range of the flight area and limiting the maximum flight altitude of the flight area (when the maximum flight height is set to 0, the aircraft cannot enter the area). For example, when the flight restricted area is in the A area (such as densely populated area or densely populated area), the flight route can be set to bypass the A area and then fly to the next target if the aircraft is close to the A area. point. Meet the individual needs of different users.

Optionally, as shown in FIG. 2, before the step S14, the method may further include:

After receiving the geographical location information and the limited flight area information after the second correspondence is established, the Sa. determining whether the limited flight area information corresponding to the received geographical location information is stored is stored.

Sb. When storing, sometimes using the latest received limited flight area information corresponding to the geographical location information Update the original limited flight area information.

Specifically, by updating the originally stored flight limited area information with the newly received limited flight area information corresponding to the geographical location information, the limited flight area information can be updated in time to ensure the limited flight area corresponding to the stored geographical location information. The accuracy of the information provides a reliable basis for aircraft users to set accurate flight routes.

In the method for setting a flight path of the aircraft according to the embodiment, the image of the surrounding environment is analyzed according to a predetermined limit flight area determination standard, and the information of the limited flight area in the selected area is obtained, because the selected area is established in advance. The first correspondence between the geographical location information and the surrounding environment image, so that the geographical location information corresponding to the limited flight area information can be easily queried according to the first correspondence relationship and the second correspondence relationship between the two is established, because the above The data is obtained by real-time field measurement of the test aircraft, ensuring the real-time and accuracy of the data, providing a reliable basis for the aircraft user to set an accurate flight route or avoiding the flight-limited area, ensuring the safety and coordination of the flight route setting. Regulatory.

Example 2

This embodiment provides a method for setting a fly-limited area, including:

Obtaining an image of the surrounding environment photographed by the aircraft in the selected area and geographic location information of the aircraft when the surrounding environment image is taken.

The surrounding environment image is analyzed according to a predetermined flight limited area determination standard, and the limited flight area information in the selected area is obtained.

Determining a correspondence between the flight limited area information and the geographic location information. Specifically, determining the correspondence between the flight limited area information and the geographic location information refers to determining location information of the limited flight area.

The embodiment provides a method for setting a fly-limited area, which may be performed by a server. In this case, the server receives an image of the surrounding environment of the test aircraft transmitted in the selected area by one or more test aircrafts. And the geography of the test aircraft when the surrounding environment image is taken location information.

Optionally, after the server determines the correspondence between the flight limited area information and the geographic location information, storing a correspondence between the limited flight area information and the geographical location information; specifically, storing The correspondence between the flight limited area information and the geographical location information refers to storing location information of the limited flight area, and the geographic location information may be acquired by a GPS module disposed on the aircraft, and the aircraft may be collected by the GPS module. The latitude and longitude coordinate information of the location is used as the geographical location information.

Optionally, the server may further send a message to the aircraft for updating the map, including the limited flight area information and the geographic location information.

The embodiment provides that the method of setting the flight limited area can also be performed by the aircraft. In this case, the aircraft can also display the limited flight at the geographical location indicated by the geographical location information in the map of the aircraft control device. region. A flight route within the selected area is set according to the correspondence between the flight limited area information and the geographical location information.

And storing a correspondence between the flight limited area information and the geographical location information. Specifically, storing the correspondence between the flight limited area information and the geographical location information refers to storing location information of the limited flight area.

The method for setting the flight limited area in the embodiment can obtain the latest limited flight area information in real time, ensure the real-time and accuracy of the data, and provide an accurate flight route or avoid the fly-limited area for the aircraft user. A reliable basis ensures the safety and compliance of flight route settings.

Example 3

This embodiment provides a server for setting a flight limited area, including:

An analysis module, configured to divide the surrounding environment image according to a predetermined flight limit area determination criterion Analysis, obtaining the flight limited area information in the selected area.

The correspondence determining module is configured to determine a correspondence between the flight limited area information and the geographic location information. Specifically, determining the correspondence between the flight limited area information and the geographic location information refers to determining location information of the limited flight area.

Optionally, it also includes:

And a storage module, configured to store a correspondence between the flight limited area information and the geographic location information. Specifically, storing the correspondence between the flight limited area information and the geographical location information refers to storing location information of the limited flight area, and the location information may be coordinate information or latitude and longitude information thereof.

The server for setting the flight limited area in the embodiment can obtain the latest limited flight area information in real time and send it to the aircraft, ensuring the real-time and accuracy of the data, and setting an accurate flight route or avoidance for the aircraft user. The open fly zone provides a reliable basis for ensuring the safety and compliance of the flight path setup.

Example 4

The embodiment further provides an aircraft for setting a flight limited area, comprising:

Optionally, it also includes:

And a storage unit, configured to store a correspondence between the flight limited area information and the geographic location information. Specifically, storing the correspondence between the flight limited area information and the geographical location information refers to storing location information of the limited flight area, and the location information may be coordinate information or latitude and longitude information thereof.

In the embodiment, the aircraft in the fly-limited area can obtain the latest flight-limited area information in real time, ensuring the real-time and accuracy of the data, and providing a reliable flight path for the aircraft user or avoiding the fly-limited area. The basis ensures the safety and compliance of the flight path settings.

Example 5

The embodiment provides a flight path setting device for an aircraft, as shown in FIG. 5, including:

The collecting unit 11 is configured to receive geographic location information and a surrounding environment image of the location where the test aircraft is flying in the selected area, and establish the first location between the geographic location information collected at the same time and the surrounding environment image. Correspondence relationship.

The analyzing unit 12 is configured to analyze the surrounding environment image according to a predetermined flight limited area determining standard, and obtain the limited flying area information in the selected area.

The association unit 13 is configured to establish a second correspondence between the flight limited area information and the corresponding geographical location information according to the first correspondence.

The setting unit 14 is configured to set a flight path of the aircraft in the selected area according to the second correspondence.

Optionally, the analyzing unit 12 may include:

The identification module 121 is configured to identify all geographic object information in the surrounding environment image.

The comparison module 122 is configured to compare each of the identified geographic object information with the specific geographic object information in the predetermined flight limited area determination standard.

The information generating module 123 is configured to: when the comparison result of the comparison module 122 is matched, extract a flight limited category corresponding to the specific geographic object information that matches the geographic object information from the limited flight area determination criterion; a limited flight class corresponding to the geographic object information and specific geographic object information matched thereto Do not serve as the flight limited area information in the selected area.

Optionally, the setting unit 14 may include:

The flight restriction information obtaining module 141 is configured to acquire, according to the second correspondence, the flight restriction category included in the limited flight area information in the selected area and the corresponding geographical location information.

The route setting module 142 is configured to set a flight path of the aircraft in the selected area according to the restricted flight category and its corresponding geographical location information.

Optionally, the flight path setting device of the aircraft may further include:

The receiving determining unit a is configured to receive, after receiving one or more pieces of the geographical location information and the limited flight area information after establishing the second corresponding relationship, determining whether the limited flying area corresponding to the received geographical location information is stored information.

The updating unit b is configured to update the originally stored flight limited area information with the latest received limited flight area information corresponding to the geographical location information when the determination result of the receiving determining unit a is stored.

The storage unit c is configured to save the newly received limited flight area information corresponding to the geographical location information when the determination result of the receiving determination unit a is not stored.

In the flight path setting device of the aircraft according to the embodiment, the surrounding environment image is analyzed according to the predetermined flight limit area determination standard, and the limited flight area information in the selected area is obtained, because the selected area is established in advance. The first correspondence between the geographical location information and the surrounding environment image, so that the geographical location information corresponding to the limited flight area information can be easily queried according to the first correspondence relationship and the second correspondence relationship between the two is established, because the above The data is obtained by real-time field measurement of the test aircraft, ensuring the real-time and accuracy of the data, providing a reliable basis for the aircraft user to set an accurate flight route or avoiding the flight-limited area, ensuring the safety and coordination of the flight route setting. Regulatory.

In summary, the flight path setting method and device for the aircraft described in Embodiments 1 to 5, and the method, server, and aircraft for setting the flight limited area can acquire the flight path of the aircraft safe flight in real time, avoiding the restriction. The flight area provides a reliable basis for aircraft users to set accurate flight routes.

Please refer to FIG. 6. FIG. 6 is a schematic diagram showing the hardware structure of an electronic device for performing a method for setting a fly-limited area according to another embodiment of the present application. As shown in FIG. 6, the device includes:

One or more processors 610 and memory 620, one processor 610 is taken as an example in FIG.

The processor 610, the memory 620, the input device 630, and the output device 640 may be connected by a bus or other means, as exemplified by a bus connection in FIG.

The memory 620 is used as a non-volatile computer readable storage medium, and can be used for storing a non-volatile software program, a non-volatile computer executable program, and a module, as in the UAV control method in the embodiment of the present application. Program instructions/modules (for example, the receiving unit 31, the second executing unit 34, the judging unit 32, and the first executing unit 33 shown in FIG. 3). The processor 610 executes various functional applications of the server and data processing by executing non-volatile software programs, instructions, and modules stored in the memory 620, that is, a processing method for implementing the operation of the list item operations of the above method embodiments.

The memory 620 may include a storage program area and an storage data area, wherein the storage program area may store an operating system, an application required for at least one function; the storage data area may store data created by use of the processing device operated according to the list item, and the like. . Moreover, memory 620 can include high speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 620 can optionally include memory remotely located relative to processor 610 that can be connected to the processing device of the list item operation over a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The one or more modules are stored in the memory 620, and when executed by the one or more processors 610, perform the drone control method in any of the above method embodiments.

The above products can perform the methods provided by the embodiments of the present application, and have the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the method provided by the embodiments of the present application.

The electronic device of the embodiment of the present application exists in various forms, including but not limited to:

(1) Mobile communication devices: These devices are characterized by mobile communication functions and provide voice, Data communication is the main goal. Such terminals include: smart phones (such as iPhone), multimedia phones, functional phones, and low-end phones.

(2) Ultra-mobile personal computer equipment: This type of equipment belongs to the category of personal computers, has computing and processing functions, and generally has mobile Internet access. Such terminals include: PDAs, MIDs, and UMPC devices, such as the iPad.

(3) Portable entertainment devices: These devices can display and play multimedia content. Such devices include: audio, video players (such as iPod), handheld game consoles, e-books, and smart toys and portable car navigation devices.

(4) Server: A device that provides computing services. The server consists of a processor, a hard disk, a memory, a system bus, etc. The server is similar to a general-purpose computer architecture, but because of the need to provide highly reliable services, processing power and stability High reliability in terms of reliability, security, scalability, and manageability.

(5) Other electronic devices with data interaction functions.

The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

Through the description of the above embodiments, those skilled in the art can clearly understand that the various embodiments can be implemented by means of software plus a general hardware platform, and of course, by hardware. Based on such understanding, the above technical solutions may be embodied in the form of software products in essence or in the form of software products, which may be stored in a computer readable storage medium such as a ROM/RAM or a disk. , an optical disk, etc., includes instructions for causing a computer device (which may be a personal computer, server, or network device, etc.) to perform the methods described in various embodiments or portions of the embodiments.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions described in the foregoing embodiments may be modified or equivalently replaced. The modifications and substitutions of the present invention do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

A method for setting a flight path of an aircraft, comprising:

Receiving geographical location information of the location where the test aircraft is flying in the selected area and the surrounding environment image, and establishing a first correspondence between the geographical location information collected at the same time and the surrounding environment image;

Performing analysis on the surrounding environment image according to a predetermined flight limited area determination criterion to obtain limited flight area information in the selected area;

Establishing, according to the first correspondence, a second correspondence between the limited flight area information and corresponding geographic location information;

A flight path of the aircraft within the selected area is set according to the second correspondence.
The method for setting a flight path of an aircraft according to claim 1, wherein the analyzing the image of the surrounding environment according to a predetermined flight limitation area determination standard, and obtaining the information of the limited flight area in the selected area The steps include:

Identifying all geographic object information in the surrounding environment image;

Comparing each of the identified geographic object information with the specific geographic object information in the predetermined flight limited area determination standard one by one;

If the matching is performed, extracting the restricted flight category corresponding to the specific geographic object information that matches the geographic object information from the limited flight area determining criterion; and limiting the flying type corresponding to the geographic object information and the specific geographic object information matched thereto As the flight limited area information in the selected area.
The flight path setting method for an aircraft according to claim 2, wherein the specific geographic object includes at least an artificially set area, a military restricted area, a water surface, a base station transmission tower, a densely populated area, or a densely populated area. One.
The flight path setting method of an aircraft according to claim 2, wherein the flight restriction category comprises at least one of a no-fly zone, an unsuitable landing zone, a strong magnetic interference zone, and an unsuitable flight zone.
A flight path setting method for an aircraft according to any one of claims 1 to 4, characterized in that Before the step of setting the flight path of the aircraft according to the second correspondence, the method further includes:

After receiving the geographical location information and the limited flight area information after the second correspondence is established, determining whether the limited flight area information corresponding to the received geographical location information is stored;

When the storage is sometimes performed, the previously stored limited flight area information is updated with the newly received limited flight area information corresponding to the geographical location information;

When there is no storage, the newly received limited flight area information corresponding to the geographical location information is saved.
The flight path setting method of an aircraft according to claim 2, wherein the step of setting a flight path of the aircraft in the selected area according to the second correspondence relationship comprises:

Acquiring, according to the second correspondence, the flight restriction category included in the limited flight area information in the selected area and the corresponding geographical location information;

The flight path of the aircraft in the selected area is set according to the flight restriction category and its corresponding geographical location information.
A method for setting a flight limited area, comprising:

Acquiring an image of the surrounding environment captured by the aircraft in the selected area and geographic location information of the aircraft when the surrounding environment image is captured;

Performing analysis on the surrounding environment image according to a predetermined flight limited area determination criterion to obtain limited flight area information in the selected area;

Determining a correspondence between the flight limited area information and the geographic location information.
The method according to claim 7, wherein the method is performed by a server, and the aircraft is a test aircraft, wherein the acquiring an image of a surrounding environment photographed by an aircraft in a selected area and photographing the surrounding environment The geographical location information of the aircraft when the image is included, including:

Receiving, by the test aircraft, a surrounding environment image taken by the test aircraft in a selected area and geographic location information of the test aircraft when the surrounding environment image is captured.
The method of claim 8 further comprising:

A message for updating the map is sent to the aircraft, the message including the flight limited area information and the geographic location information.
The method of claim 7 wherein said method is performed by said aircraft.
The method of claim 10, wherein the method further comprises:

The flight limited area information is displayed at a geographic location indicated by the geographic location information in the map.
The method according to claim 10 or 11, wherein the method further comprises:

A flight route within the selected area is set according to a correspondence between the flight limited area information and the geographic location information.
The method according to any one of claims 7 to 12, wherein the method further comprises:

And storing a correspondence between the flight limited area information and the geographical location information.
The method of any of claims 7-13, wherein the method further comprises:

Establishing a first correspondence between the geographical location information and the surrounding environment image;

Then, the determining the correspondence between the flight limited area information and the geographic location information includes:

Determining, according to the first correspondence, a second correspondence between the flight limited area information and the geographic location information.
The method according to any one of claims 7-14, wherein the analyzing the surrounding environment image according to a predetermined flight limited area determination standard, and obtaining the limited flight area information in the selected area, include:

Identifying all geographic object information in the surrounding environment image;

Comparing each of the identified geographic object information with the specific geographic object information in the predetermined flight limited area determination standard one by one;

If the matching is performed, extracting the restricted flight category corresponding to the specific geographic object information that matches the geographic object information from the limited flight area determining criterion; and limiting the flying type corresponding to the geographic object information and the specific geographic object information matched thereto As the flight limited area information in the selected area.
The method of claim 15 wherein said particular geographic object comprises at least one of an artificially set area, a military restricted area, a water surface, a base station transmission tower, a densely populated area, or a densely populated area.
The flight path setting method of an aircraft according to claim 15, wherein the flight restriction category comprises at least one of a no-fly zone, an unsuitable landing zone, a strong magnetic interference zone, and an unsuitable flight zone.
A flight path setting device for an aircraft, comprising:

The collecting unit (11) is configured to receive geographical location information and a surrounding environment image of the location where the test aircraft is flying in the selected area, and establish the geographic location information and the surrounding environment image acquired at the same time First correspondence

The analyzing unit (12) is configured to analyze the surrounding environment image according to a predetermined flight limited area determining standard, and obtain the limited flying area information in the selected area;

An association unit (13), configured to establish, according to the first correspondence, a second correspondence between the flight limited area information and corresponding geographic location information;

A setting unit (14) is configured to set a flight path of the aircraft in the selected area according to the second correspondence.
The flight path setting device of the aircraft according to claim 18, wherein the analysis unit (12) comprises:

An identification module (121) for identifying all geographic object information in the surrounding environment image;

The comparison module (122) is configured to compare each of the identified geographic object information with the specific geographic object information in the predetermined flight limited area determination standard one by one;

An information generating module (123), configured to: when the comparison result of the comparison module (122) is matched, extract corresponding to the specific geographic object information that matches the geographic object information from the limited flight area determination criterion a flight restriction category; the restricted flight category corresponding to the geographic object information and the specific geographic object information matched thereto is used as the limited flight area information in the selected area.
The flight path setting device of the aircraft according to claim 18, further comprising:

The receiving determining unit (a) is configured to: after receiving the geographical location information and the limited flight area information after the second correspondence is established, determine whether a limit corresponding to the received geographical location information is stored Flying area information;

The updating unit (b) is configured to update the originally stored flight limited area information with the newly received limited flight area information corresponding to the geographical location information when the determination result of the receiving determining unit (a) is storage;

The storage unit (c) is configured to save the newly received limited flight area information corresponding to the geographical location information when the determination result of the reception determining unit (a) is not stored.
The flight path setting device of the aircraft according to claim 19, wherein the setting unit (14) comprises:

The flight restriction information acquisition module (141) is configured to acquire, according to the second correspondence, the flight restriction category included in the limited flight area information in the selected area and the corresponding geographical location information;

The route setting module (142) is configured to set a flight path of the aircraft in the selected area according to the flight limit category and its corresponding geographical location information.
A server for setting a flight limited area, comprising:

And a receiving module, configured to receive a surrounding environment image captured by the test aircraft in the selected area and a geographic location information of the test aircraft when the surrounding environment image is captured.

An analysis module, configured to analyze the surrounding environment image according to a predetermined flight limited area determination criterion, to obtain limited flight area information in the selected area;

The correspondence determining module is configured to determine a correspondence between the flight limited area information and the geographic location information.
The server according to claim 22, further comprising:

And a sending module, configured to send, to the aircraft, a message for updating the map, where the message includes the limited flight area information and the geographic location information.
The server according to claims 22 and 23, further comprising:

And a storage module, configured to store a correspondence between the flight limited area information and the geographic location information.
An aircraft for setting a flight limited area, comprising:

An acquisition module, configured to acquire an image of a surrounding environment photographed by the test aircraft in the selected area and geographic location information of the aircraft when the surrounding environment image is captured;

An analysis module, configured to analyze the surrounding environment image according to a predetermined flight limited area determination criterion, to obtain limited flight area information in the selected area;

The correspondence determining module is configured to determine a correspondence between the flight limited area information and the geographic location information.
The aircraft of claim 25, further comprising:

And a display module, configured to display the limited flight area at a geographic location indicated by the geographic location information in the map.
The aircraft of claim 25 or 26, further comprising:

a flight path setting unit configured to set a flight route in the selected area according to a correspondence between the flight limited area information and the geographic location information.