WO2019006766A1 - 一种无人机的飞行限制方法及装置 - Google Patents

一种无人机的飞行限制方法及装置 Download PDF

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Publication number
WO2019006766A1
WO2019006766A1 PCT/CN2017/092293 CN2017092293W WO2019006766A1 WO 2019006766 A1 WO2019006766 A1 WO 2019006766A1 CN 2017092293 W CN2017092293 W CN 2017092293W WO 2019006766 A1 WO2019006766 A1 WO 2019006766A1
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Prior art keywords
flight
sub
drone
sensitive
zone
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PCT/CN2017/092293
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English (en)
French (fr)
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杨顺伟
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杨顺伟
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Publication of WO2019006766A1 publication Critical patent/WO2019006766A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • the invention relates to a drone flight control technology, in particular to a flight restriction method and device for a drone.
  • the invention provides a flight restriction method for a drone, which is applied to a remote control terminal to determine whether a drone enters a sensitive flight zone, wherein the sensitive flight zone includes at least two types of sub-sensitive flight zones, and different levels of The sub-sensitive flight zone corresponds to different sensitivity levels;
  • the drone enters the sub-sensing flight zone of the target level, determining a target corresponding to the sub-sensitive flight zone of the target level according to a preset correspondence between the preset sub-sensitive flight zone and the restricted flight mode Limit flight method;
  • the drone is controlled to fly in a target limited flight mode.
  • the correspondence between the preset sub-sensitive flight zones and the restricted flight mode includes:
  • the restricted flight mode is to fly at a flight speed lower than a preset speed threshold and/or to fly at a height lower than a preset altitude threshold;
  • the restricted flight mode is hovering
  • the restricted flight mode is forced landing.
  • the remote control terminal prestores geographical location data of at least two types of sub-sensitive flight zones
  • the sub-sensitive flight zone that determines whether the drone enters a target level includes:
  • the UAV Determining, according to the matching result, the UAV enters a sub-sensing flight zone of a target level.
  • the determining, by the judging whether the drone enters a target level of the sub-sensitive flight zone comprises:
  • the method further includes:
  • the drone If the drone enters the sub-sensitive flight zone, the drone is controlled to perform a second alarm mode, wherein different levels of sub-sensitive flight zones correspond to different second alarm modes.
  • a flight restriction device for a drone, applied to a remote control terminal comprising:
  • a first determining unit configured to determine whether the drone enters the sensitive flight zone, wherein the sensitive flight zone includes at least two types of sub-sensitive flight zones, and different levels of sub-sensitive flight zones correspond to different sensitivity levels;
  • a second determining unit configured to determine whether the drone enters a sub-sensitive flight zone of a target level if the drone enters the sensitive flight zone
  • a determining unit configured to determine a sub-sensitivity with the target level according to a preset correspondence between a sub-sensitive flight zone and a restricted flight mode of each level if the UAV enters a sub-sensing flight zone of a target level The target corresponding to the flight zone limits the flight mode;
  • a first control unit configured to control the drone to fly in a target limited flight mode.
  • the correspondence between the preset sub-sensitive flight zones and the restricted flight mode includes:
  • the restricted flight mode is to fly at a flight speed lower than a preset speed threshold and/or to fly at a height lower than a preset altitude threshold;
  • the restricted flight mode is hovering
  • the restricted flight mode is forced landing.
  • the remote control terminal prestores geographical location data of at least two types of sub-sensitive flight zones; the second determining unit includes:
  • a second acquiring module configured to acquire location information of the drone if the drone enters the sensitive flight zone
  • a second query module configured to query geographic location data of the pre-stored at least two types of sub-sensitive flight zones
  • a matching module configured to match location information of the UAV with geographical location data of the pre-stored at least two types of sub-sensitive flight zones to obtain a matching result
  • a third determining module configured to determine, according to the matching result, that the drone enters a sub-sensing flight zone of a target level.
  • the second determining unit includes:
  • a second determining module configured to determine whether a second control instruction of the user is received, where the second control instruction is used to indicate that the current location of the drone is at a sub-sensitive flight zone of a target level;
  • the fourth confirmation module is configured to, when receiving the second control instruction of the user, determine that the drone enters the sub-sensitive flight zone of the target level.
  • a first alarm unit configured to control the drone if the drone enters the sensitive flight zone
  • the first alarm mode is used for warning
  • a second alarm unit configured to: if the drone enters the sub-sensitive flight zone, control the drone to perform a warning by using a second alarm mode, wherein different levels of sub-sensitive flight zones correspond to different second alarm modes .
  • the drone determines whether the drone enters the sensitive flight zone, wherein the sensitive flight zone includes at least two types of sub-sensitive flight zones, and different levels of sub-sensitive flight zones correspond to different sensitivity levels.
  • the embodiment of the present invention divides the sensitive flight zone into multiple sensitive levels, and provides a differentiated restricted flight mode for the different sub-sensitive flight zones of the drone in the sensitive flight zone, which can effectively reduce the drone.
  • the flight safety hazard provides a safer flight environment for drones.
  • FIG. 1 is a schematic diagram of an embodiment of a flight restriction method for a drone according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of another embodiment of a flight restriction method for a drone according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of an embodiment of a flight restriction device of a drone according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of another embodiment of a flight restriction device of a drone according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of another embodiment of a flight restriction device for a drone according to an embodiment of the present invention.
  • the embodiment of the invention provides a flight restriction method and device for a drone, which can effectively reduce the flight safety hazard of the drone and provide a safer flight environment for the drone, which will be described in detail below.
  • the flight restriction method of the UAV and the flight restriction device of the UAV in the embodiment of the present invention can be applied to an operation terminal that establishes a communication connection with the UAV, and the operation terminal is configured to interact with the user. Operation interface.
  • an embodiment of a flight restriction method for a drone includes:
  • step 101 determining whether the drone enters the sensitive flight zone, and if so, executing step 102;
  • different sensitive levels may be assigned to certain small areas in the sensitive flight zone according to actual needs, so as to establish at least two types of sub-sensitive flight zones in the sensitive flight zone, and different levels of sub-sensitive flight zones correspond to Different levels of sensitivity.
  • the sensitive flight zone M is within 1 km of the target A, and the sensitive flight zone may include two sub-sensitive flight zones (X, Y), wherein the sub-sensitive flight zone X may be centered on the target A 500.
  • the sub-sensitive flight zone Y may be an area within a range of 500 meters centered on the target A, thereby constructing a sub-sensitive flight zone that is closer to the target A sensitive level.
  • the sensitive flight zone M is within 1 km of the target A, and the sensitive flight zone may include two sub-sensitive flight zones (X, Y), wherein the two sub-sensitive flight zones (X, Y) may be Any specified small area within a range of 1 km from the target A, and the area of each sub-sensitive flight area may be the same or different, and is not limited herein.
  • step 103 determining whether the drone enters the sub-sensing flight zone of the target level, and if so, executing step 103;
  • the drone can continue to fly. At this time, it is necessary to further determine whether the drone enters the target-level sub-sensitive flight zone, that is, it is necessary to determine where the drone is currently entering. A level of sub-sensitive flight zone. Understandably, after the drone enters the sensitive flight zone, the drone can fly at the original speed or enter the restricted flight mode, for example, Flight at a flight speed below a certain speed threshold and/or at a height below a certain height threshold.
  • each sub-sensitive flight zone of the same level has a corresponding restricted flight mode.
  • the drone first, it is determined whether the drone enters the sensitive flight zone, wherein the sensitive flight zone includes at least two types of sub-sensitive flight zones, and different levels of sub-sensitive flight zones correspond to different sensitivity levels.
  • the embodiment of the present invention divides the sensitive flight zone into multiple sensitive levels, and provides a differentiated restricted flight mode for the different sub-sensitive flight zones of the drone in the sensitive flight zone, which can effectively reduce the drone.
  • the flight safety hazard provides a safer flight environment for drones. See
  • another embodiment of a flight restriction method for a drone in an embodiment of the present invention includes:
  • step 102 determining whether the drone enters the sensitive flight zone, and if so, executing step 102;
  • different sensitive levels may be assigned to certain small areas in the sensitive flight zone according to actual needs, so as to establish at least two types of sub-sensitive flight zones in the sensitive flight zone, and different levels of sub-sensitive flight zones correspond to Different levels of sensitivity.
  • the sensitive flight zone M is within 1 km of the target A, and the sensitive flight zone may include two sub-sensitive flight zones (X, Y), wherein the sub-sensitive flight zone X may be centered on the target A 500.
  • the sub-sensitive flight zone Y may be an area within a range of 500 meters centered on the target A, thereby constructing a sub-sensitive flight zone that is closer to the target A sensitive level.
  • the sensitive flight zone M is sensitive flight.
  • the zone may include two sub-sensitive flight zones (X, Y), wherein the two sub-sensitive flight zones (X, Y) may be any specified small zone within a range of 1 km centered on the target A, and each sub-zone
  • the area of the sensitive flight zone may be the same or different, and is not limited herein.
  • whether the drone enters the sensitive flight zone can be determined by:
  • the remote control terminal pre-stores the geographical location data of the sensitive flight zone, thereby determining whether the drone enters the sensitive flight zone may include:
  • the location information of the drone can be matched with the geographical location data pre-stored with the sensitive flight zone to determine whether the drone enters the sensitive flight zone.
  • the location information of the drone can be acquired by the GPS positioning device in the drone.
  • the flight zone includes:
  • the user's control command can be used to determine whether the drone enters the sensitive flight zone.
  • the user can view the flight environment where the drone is located by operating the user interface of the terminal, and customize whether the flight environment is a sensitive flight zone.
  • the drone includes an imaging device, and determining whether the drone enters the sensitive flight zone includes:
  • the drone is determined to enter the sensitive flight zone.
  • the image information is analyzed and processed to determine the scene in which the drone is located, thereby determining whether the drone enters the sensitive flight zone. For example, through image information analysis, the current drone is at the airport field. Scene, then determine the drone to carry out the sensitive flight zone. It can be understood that some special scenarios, such as an airport, include some special scene identifiers. In this embodiment, the scene identifiers can be obtained by performing scene analysis on the image information, and then matched with the pre-stored scene identification information. In order to get a match.
  • the above-mentioned method for determining the sensitive flight zone of the drone by way of example only
  • the format can include audio and/or lighting.
  • step 204 determining whether the drone enters the sub-sensing flight zone of the target level, and if so, executing step 204;
  • the drone can continue to fly. At this time, it is necessary to further determine whether the drone enters the target-level sub-sensitive flight zone, that is, it is necessary to determine where the drone is currently entering.
  • a level of sub-sensitive flight zone It can be understood that after the drone enters the sensitive flight zone, the drone can fly at the original speed or enter the restricted flight mode, for example, flying at a flight speed below a certain speed threshold and/or at a low speed. Flying at a height of a certain height threshold.
  • the remote control terminal prestores geographical location data of at least two types of sub-sensitive flight zones, thereby determining whether the drone enters the target level of the sub-sensitive flight zone may include:
  • the location information is matched with the pre-stored geographical location data of at least two types of sub-sensitive flight zones to obtain a matching result
  • the sub-sensing flight zone of the target level is determined according to the matching result. That can pass
  • the location information of the drone is matched with the pre-stored geographic location data of at least two types of sub-sensitive flight zones to determine whether the drone enters the target-level sub-sensitive flight zone.
  • the location information of the drone can be acquired by the GPS positioning device in the drone.
  • the sub-sensitive flight zone that determines whether the drone enters the target level includes:
  • the drone is determined to enter the sub-sensitive flight zone of the target level. That is, through the user's
  • Control commands to determine if the drone is entering a sub-sensitive flight zone at the target level In the actual application process, the user can view the flight environment where the drone is located by operating the user interface of the terminal, and customize which level of the sub-sensitive flight zone the flight environment is.
  • the drone includes an imaging device, and determining whether the drone enters the target level of the sub-sensitive flight zone includes:
  • the image information is analyzed and processed to determine the scene in which the drone is located, thereby determining whether the drone enters the sensitive flight zone. For example, by analyzing the current drone in the airport scene by image information, it is determined that the drone is performing a sensitive flight zone. It can be understood that some special scenarios, such as an airport, include some special scene identifiers.
  • the scene identifiers included in the image may be obtained by performing scene analysis on the image information, and then the pre-stored scene identifiers are used. The information is matched to get a match.
  • scene identification information contained in different levels of sub-sensitive flight zones may be pre-stored.
  • the method for determining the target-level sub-sensitive flight zone of the UAV is described by way of example. In the actual application process, one of the methods may be selected, and the above-mentioned manner may be used in combination. .
  • the correspondence between the sub-sensitive flight zones of each level and the restricted flight mode is pre-stored on the remote control terminal, that is, each sub-sensitive flight zone of the same level has a corresponding restricted flight mode. After determining which level of sub-sensing flight zone the UAV is currently entering, it is possible to further determine the target restricted flight mode corresponding to the sub-sensitive flight zone of that level.
  • the correspondence between the preset sub-sensitive flight zones and the restricted flight modes is preset.
  • the relationship may include: when the drone enters the first level of sub-sensing flight zone, the restricted flight mode is to fly at a flight speed lower than a preset speed threshold and/or to fly at a height below a preset altitude threshold; When the aircraft enters the second-level sub-sensing flight zone, the restricted flight mode is hovering;
  • the restricted flight mode is forced landing.
  • the position of hovering and landing is further limited.
  • the drone after determining which level of the sub-sensitive flight zone the drone enters, it will fly in a restricted flight mode corresponding to the sub-sensitive flight zone of the level.
  • the direction of the drone is automatically adjusted to the direction set at the time of takeoff when returning, which is convenient for control.
  • the drone When returning to the take-off point after returning, the drone is automatically adjusted to the position corresponding to the direction of the controller, so that it can control the limited flight method of setting one or more small no-fly zones in the large no-fly zone. Accurate control in the no-fly zone so that it does not shift out of the no-fly zone
  • the first alarm mode is different from the second alarm mode, for example, the first alarm mode is audio, the second alarm mode is light, or the first alarm mode is first audio.
  • the second alarm mode is the second audio mode, which is not limited herein.
  • the drone determines whether the drone enters the sensitive flight zone, wherein the sensitive flight zone includes at least two types of sub-sensitive flight zones, and different levels of sub-sensitive flight zones correspond to different sensitivity levels. After determining that the drone enters the sensitive flight zone, further determining whether the drone enters the target-level sub-sensitive flight zone, and if so, according to the preset correspondence between the sub-sensitive flight zone and the restricted flight mode of each level, A target limited flight mode corresponding to the sub-sensing flight zone of the target level is determined, and the drone is controlled to fly in a target limited flight mode.
  • the embodiment of the present invention divides the sensitive flight zone into multiple sensitive levels, and provides a differentiated restricted flight mode for the different sub-sensitive flight zones of the drone in the sensitive flight zone, which can effectively reduce the drone.
  • the flight safety hazard provides a safer flight environment for drones.
  • the flight restriction method of the UAV in the embodiment of the present invention is described above.
  • the flight restriction device of the UAV in the embodiment of the present invention is described below. Referring to FIG. 3, the flight of the UAV in the embodiment of the present invention is described.
  • An embodiment of the restriction device includes:
  • the first determining unit 301 is configured to determine whether the drone enters the sensitive flight zone, wherein the sensitive flight zone includes at least two types of sub-sensitive flight zones, and different levels of sub-sensitive flight zones correspond to different sensitivity levels;
  • a second determining unit 302 configured to determine, if the drone enters the sensitive flight zone, whether the drone enters a target-level sub-sensitive flight zone;
  • a determining unit 303 configured to determine, if the UAV enters a sub-sensing flight zone of a target level, according to a preset correspondence between the sub-sensitive flight zones of each level and the restricted flight mode, The target corresponding to the sensitive flight zone limits the flight mode;
  • the first control unit 304 is configured to control the drone to fly in a target restricted flight mode.
  • the first determining unit 301 determines whether the drone enters the sensitive flight zone, wherein the sensitive flight zone includes at least two types of sub-sensitive flight zones, and different levels of sub-sensitive flight. The area corresponds to different sensitivity levels.
  • the second determining unit 302 further determines whether the drone enters the sub-sensing flight zone of the target level, and if so, the determining unit 303 is configured according to the preset.
  • the flight safety hazard provides a safer flight environment for drones.
  • the first determining unit 401 is configured to determine whether the drone enters the sensitive flight zone, wherein the sensitive flight zone includes at least two types of sub-sensitive flight zones, and different levels of sub-sensitive flight zones correspond to different sensitivity levels;
  • the first alarm unit 402 is configured to control the drone to perform a warning in a first alarm mode if the drone enters the sensitive flight zone;
  • a second determining unit 403 configured to determine that the drone enters the sensitive flight zone Whether the man-machine enters the target-level sub-sensitive flight zone;
  • a determining unit 404 configured to determine, according to a preset correspondence between the sub-sensitive flight zone and the restricted flight mode of each level, if the UAV enters the sub-sensing flight zone of the target level The target corresponding to the sensitive flight zone limits the flight mode;
  • the first control unit 405 is configured to control the drone to fly in a target limited flight mode.
  • a second alarm unit 406 configured to: if the drone enters the sub-sensitive flight zone, control the drone to perform a second alarm mode, wherein different levels of sub-sensitive flight zones correspond to different second alarms the way.
  • the correspondence between the preset sub-sensitive flight zones and the restricted flight modes includes:
  • the restricted flight mode is to fly at a flight speed lower than a preset speed threshold and/or to fly at a height lower than a preset height threshold; when the drone
  • the restricted flight mode is hovering
  • the restricted flight mode is forced landing.
  • a first acquiring module configured to acquire location information of the drone
  • a first query module configured to query geographic location data of the pre-stored sensitive flight zone; and a first determining module, configured to: if location information of the drone is included in geographic location data of the pre-stored sensitive flight zone And determining that the drone enters the sensitive flight zone.
  • the first determining unit includes: a first determining module, configured to:
  • the second determining module is configured to determine that the drone enters the sensitive flight zone if receiving the first control instruction of the user.
  • the remote control terminal prestores the geographic location data of the at least two types of sub-sensitive flight zones;
  • the second determining unit includes: a second acquiring module, if
  • the drone enters the sensitive flight zone to obtain location information of the drone
  • a second query module configured to query the pre-stored at least two types of sub-sensitive flight areas Location data
  • a matching module configured to match location information of the UAV with geographical location data of the pre-stored at least two types of sub-sensitive flight zones to obtain a matching result
  • the second determining unit includes:
  • a second determining module configured to determine whether a second control instruction of the user is received, where the second control instruction is used to indicate that the current location of the drone is at a sub-sensitive flight zone of a target level;
  • a fourth confirmation module configured to, when receiving the second control instruction of the user, determine that the drone enters the sub-sensitive flight zone of the target level.
  • the device further includes: a first alarm unit, configured to: when the drone enters the sensitive flight zone, control the drone to perform a warning by using a first alarm mode ;
  • a second alarm unit configured to: if the drone enters the sub-sensitive flight zone, control the drone to perform a warning by using a second alarm mode, wherein different levels of sub-sensitive flight zones correspond to different second alarm modes .
  • the first determining unit 301 determines whether the drone enters the sensitive flight zone, wherein the sensitive flight zone includes at least two types of sub-sensitive flight zones, and different levels of sub-sensitive flight. The area corresponds to different sensitivity levels.
  • the second determining unit 302 further determines whether the drone enters the sub-sensing flight zone of the target level, and if so, the determining unit 303 is configured according to the preset.
  • the flight safety hazard provides a safer flight environment for drones.
  • a processor for executing instructions stored in a memory;
  • the processor is configured to implement the flight limitation method of the unmanned aerial vehicle provided by the embodiment of the present invention.
  • the operation terminal 500 can be a mobile phone, a computer, a digital broadcast terminal, a messaging device , game consoles, tablet devices, personal digital assistants, etc.
  • another embodiment of the flight restriction device of the UAV in the embodiment of the present invention includes:
  • the flight restriction device 500 of the drone may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a personal digital assistant, or the like.
  • the flight restriction device 500 of the drone may include one or more of the following components: processing component 502, memory 504, power component 506, multimedia component 508, audio component 510, input/output (I/O) interface 512, sensor component 514, and communication component 516.
  • Processing component 502 typically controls the overall operation of flight control device 500 of the drone, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations.
  • Processing component 502 can include one or more processors 520 to execute instructions.
  • processing component 502 can include one or more modules to facilitate interaction between component 502 and other components.
  • processing component 502 can include a multimedia module to facilitate interaction between multimedia component 508 and processing component 502.
  • the memory 504 is configured to store various types of data to support operation of the flight restriction device 500 at the drone. Examples of such data include instructions for any application or method operating on the flight restriction device 500 of the drone, contact data, phone book data, messages, pictures, videos, and the like.
  • the memory 504 can be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable. Programmable Read Only Memory (EPROM), Programmable Read Only Memory (PROM), Read Only Memory (ROM), Magnetic Memory, Flash Memory, Disk or Optical Disk.
  • Power supply assembly 506 provides power to various components of flight control device 500 of the drone. Power component 506 can include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power to flight limiter 500 of the drone.
  • the multimedia component 508 includes a screen that provides an output interface between the flight restriction device 500 of the drone and the user.
  • the screen can include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive input signals from the user.
  • the touch panel includes one or more touch sensors to sense touches, slides, and gestures on the touch panel. The touch sensor can sense not only touch or sliding motion The boundaries, but also the duration and pressure associated with the touch or slide operation.
  • the multimedia component 508 includes a front camera and/or a rear camera.
  • the front camera and/or the rear camera can receive external multimedia data.
  • Each front and rear camera can be a fixed optical lens system or have focal length and optical zoom capabilities.
  • the audio component 510 is configured to output and/or input an audio signal.
  • the audio component 510 includes a microphone (MIC) that is configured to receive an external audio signal when the flight restriction device 500 of the drone is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode.
  • the received audio signal may be further stored in memory 504 or transmitted via communication component 516.
  • audio component 510 also includes a speaker for outputting an audio signal.
  • the I/O interface 512 provides an interface between the processing component 502 and the peripheral interface module, which may be a keyboard, a click wheel, a button, or the like. These buttons may include, but are not limited to, a home button, a volume button, a start button, and a lock button.
  • Sensor assembly 514 includes one or more sensors for providing various aspects of state assessment for flight control device 500 of the drone.
  • the sensor assembly 514 can detect the open/closed state of the flight restriction device 500 of the drone, the relative positioning of the components, such as the display and keypad of the flight restriction device 500 of the drone, and the sensor assembly 514
  • the positional change of one component of the flight restriction device 500 of the drone or the flight restriction device 500 of the drone, the presence or absence of contact of the user with the flight restriction device 500 of the drone, and the flight restriction device 500 of the drone may be detected.
  • Sensor group The piece 514 can include a proximity sensor configured to detect the presence of nearby objects without any physical contact.
  • Sensor assembly 514 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications.
  • the sensor component 514 can also include an acceleration sensor, a gyro sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
  • the communication component 516 is configured to facilitate wired or wireless communication between the flight restriction device 500 of the drone and other devices.
  • the flight restriction device 500 of the drone can access a wireless network based on a communication standard such as WiFi, 2G or 3G, or a combination thereof.
  • communication component 516 receives broadcast signals or broadcast associated information from an external broadcast management system via a broadcast channel.
  • the communication component 516 also includes a near field communication (NFC) module to facilitate short range communication.
  • the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
  • RFID radio frequency identification
  • IrDA infrared data association
  • UWB ultra-wideband
  • Bluetooth Bluetooth
  • the drone's flight restriction device 500 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices ( PLD), Field Programmable Gate Array (FPGA), controller, microcontroller, microprocessor or other electronic component implementation.
  • ASICs application specific integrated circuits
  • DSPs digital signal processors
  • DSPDs digital signal processing devices
  • PLD programmable logic devices
  • FPGA Field Programmable Gate Array
  • controller microcontroller, microprocessor or other electronic component implementation.
  • the embodiment of the present invention further provides a computer readable storage medium, which may be a computer readable storage medium included in the memory in the above embodiment; or may exist separately and not assembled into the terminal.
  • Computer readable storage medium stores one or more programs, and the one or more programs are used by one or more processors to perform the flight restriction method of the drone provided by the embodiment shown in FIG. 1 and FIG. .
  • a person skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working process of the system, the device and the unit described above can refer to the corresponding process in the foregoing method embodiment, and details are not described herein again.
  • the disclosed system, apparatus, and method may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be used. Combinations can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium.
  • the technical solution of the present invention which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium.
  • a number of instructions are included to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like. .

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

一种无人机的飞行限制方法及装置，可有效降低无人机的飞行安全隐患，为无人机提供更安全的飞行环境，方法包括：判断无人机是否进入敏感飞行区（101），其中，敏感飞行区包括至少两类级别的子敏感飞行区，且不同级别的子敏感飞行区对应不同的敏感级别；若无人机进入敏感飞行区，判断无人机是否进入目标级别的子敏感飞行区（102）；若无人机进入目标级别的子敏感飞行区，则根据预设的各级别子敏感飞行区与限制飞行方式之间的对应关系，确定与目标级别的子敏感飞行区对应的目标限制飞行方式（103）；控制无人机以目标限制飞行方式飞行（104）。

Description

一种无人机的飞行限制方法及装置 技术领域
本发明涉及无人机飞控技术，尤其涉及无人机的飞行限制方法及装置。
背景技术
随着无人机市场的火爆，无人机的厂商也越来越多并因此产生了一个新的问题——无人机的安全问题。日前，国内连续发生多起无人机威胁或干扰民航班机起降的事件，带来了巨大的安全隐患。
发明内容
本发明提供一种无人机的飞行限制方法，应用于遥控终端，判断无人机是否进入敏感飞行区，其中，所述敏感飞行区包括至少两类级别的子敏感飞行区，且不同级别的子敏感飞行区对应不同的敏感级别；
若所述无人机进入所述敏感飞行区，判断所述无人机是否进入目标级别的子敏感飞行区；
若所述无人机进入目标级别的子敏感飞行区，则根据预设的各级别子敏感飞行区与限制飞行方式之间的对应关系，确定与所述目标级别的子敏感飞行区对应的目标限制飞行方式；
控制所述无人机以目标限制飞行方式飞行。
可选地，所述预设的各级别子敏感飞行区与限制飞行方式之间的对应关系包括：
当无人机进入第一级别子敏感飞行区时，所述限制飞行方式为以低于预设速度阈值的飞行速度飞行和/或以低于预设高度阈值的高度飞行；
当无人机进入第二级别子敏感飞行区时，所述限制飞行方式为悬停；
当无人机进入第三级别子敏感飞行区时，所述限制飞行方式为迫降。
可选地，所述遥控终端预存有至少两类级别的子敏感飞行区的地理位置数据；
所述判断所述无人机是否进入目标级别的子敏感飞行区包括：
获取所述无人机的位置信息；
查询所述预存的至少两类级别的子敏感飞行区的地理位置数据；
将所述无人机的位置信息与所述预存的至少两类级别的子敏感飞行区的地理位置数据进行匹配，得到匹配结果；
根据所述匹配结果确定所述无人机进入目标级别的子敏感飞行区。
可选地，所述判断所述无人机是否进入目标级别的子敏感飞行区包括：
判断是否接收到用户的第二控制指令，其中，所述第二控制指令用于指示无人机的当前位置位于目标级别的子敏感飞行区；
若是，则确定所述无人机进入目标级别的子敏感飞行区。
可选地，所述方法还包括：
若所述无人机进入所述敏感飞行区，则控制所述无人机以第一报警方式进行警示；
若所述无人机进入子敏感飞行区，则控制所述无人机以第二报警方式进行警示，其中，不同级别的子敏感飞行区对应不同的第二报警方式。
一种无人机的飞行限制装置，应用于遥控终端，包括：
第一判断单元，用于判断无人机是否进入敏感飞行区，其中，所述敏感飞行区包括至少两类级别的子敏感飞行区，且不同级别的子敏感飞行区对应不同的敏感级别；
第二判断单元，用于若所述无人机进入所述敏感飞行区，判断所述无人机是否进入目标级别的子敏感飞行区；
确定单元，用于若所述无人机进入目标级别的子敏感飞行区，则根据预设的各级别子敏感飞行区与限制飞行方式之间的对应关系，确定与所述目标级别的子敏感飞行区对应的目标限制飞行方式；
第一控制单元，用于控制所述无人机以目标限制飞行方式飞行。
可选地，所述预设的各级别子敏感飞行区与限制飞行方式之间的对应关系包括：
当无人机进入第一级别子敏感飞行区时，所述限制飞行方式为以低于预设速度阈值的飞行速度飞行和/或以低于预设高度阈值的高度飞行；
当无人机进入第二级别子敏感飞行区时，所述限制飞行方式为悬停；
当无人机进入第三级别子敏感飞行区时，所述限制飞行方式为迫降。
可选地，所述遥控终端预存有至少两类级别的子敏感飞行区的地理位置数据；所述第二判断单元包括：
第二获取模块，用于若所述无人机进入所述敏感飞行区，获取所述无人机的位置信息；
第二查询模块，用于查询所述预存的至少两类级别的子敏感飞行区的地理位置数据；
匹配模块，用于将所述无人机的位置信息与所述预存的至少两类级别子敏感飞行区的地理位置数据进行匹配，得到匹配结果；
第三确定模块，用于根据所述匹配结果确定所述无人机进入目标级别的子敏感飞行区。
可选地，所述第二判断单元包括：
第二判断模块，用于判断是否接收到用户的第二控制指令，其中，所述第二控制指令用于指示无人机的当前位置位于目标级别的子敏感飞行区；
第四确认模块，用于当接收到用户的第二控制指令时，确定所述无人机进入目标级别的子敏感飞行区。
10、如权利要求6至9中任意一项所述的无人机的飞行限制装置，其特征在于，所述装置还包括：
第一报警单元，用于若所述无人机进入所述敏感飞行区，则控制所述无人机以 第一报警方式进行警示；
第二报警单元，用于若所述无人机进入子敏感飞行区，则控制所述无人机以第二报警方式进行警示，其中，不同级别的子敏感飞行区对应不同的第二报警方式。本发明实施例提供的技术方案中，首先判断无人机是否进入敏感飞行区，其中，敏感飞行区包括至少两类级别的子敏感飞行区，且不同级别的子敏感飞行区对应不同的敏感级别，在确定无人机进入敏感飞行区之后，再进一步确定无人机是否进入目标级别的子敏感飞行区，若是，根据预设的各级别子敏感飞行区与限制飞行方式之间的对应关系，确定与该目标级别的子敏感飞行区对应的目标限制飞行方式，并控制无人机以目标限制飞行方式飞行。因此相对于现有技术，本发明实施例对敏感飞行区进行多敏感级别划分，为无人机在敏感飞行区内的不同子敏感飞行区提供差异化的限制飞行方式，可有效降低无人机的飞行安全隐患，为无人机提供更安全的飞行环境。
附图说明
图1为本发明实施例中无人机的飞行限制方法一个实施例示意图；
图2为本发明实施例中无人机的飞行限制方法另一实施例示意图；
图3为本发明实施例中无人机的飞行限制装置一个实施例示意图；
图4为本发明实施例中无人机的飞行限制装置另一实施例示意图；
图5为本发明实施例中无人机的飞行限制装置另一实施例示意图。
具体实施方式
本发明实施例提供了一种无人机的飞行限制方法及装置，可有效降低无人机的飞行安全隐患，为无人机提供更安全的飞行环境，以下分别进行详细说明。
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”、“第三”“第四”等(如果存在)是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换， 以便这里描述的实施例能够以除了在这里图示或描述的内容以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
可以理解的是，本发明实施例中的无人机的飞行限制方法和无人机的飞行限制装置可以应用于与无人机建立有通信连接的操作终端，且该操作终端设置有与用户交互的操作界面。
请参阅图1，本发明实施例中无人机的飞行限制方法一个实施例包括：
101、判断无人机是否进入敏感飞行区，若是，则执行步骤102；
在本实施例中，可以预先根据实际需求对敏感飞行区内的某些小区域赋予不同敏感级别，以便在敏感飞行区建立至少两类级别的子敏感飞行区，且不同级别的子敏感飞行区对应不同的敏感级别。
比如，以目标A为中心1千米的范围内为敏感飞行区M，敏感飞行区可以包括两个子敏感飞行区(X，Y)，其中，子敏感飞行区X可以为以目标A为中心500米的范围内的区域，子敏感飞行区Y可以为以目标A为中心500米的范围内的区域，以此构建越靠近目标A敏感级别越高的子敏感飞行区。
又比如，以目标A为中心1千米的范围内为敏感飞行区M，敏感飞行区可以包括两个子敏感飞行区(X，Y)，其中，两个子敏感飞行区(X，Y)可以为以目标A为中心1千米的范围内的任意某个指定小区域，且各子敏感飞行区的面积范围可以相同，也可以不同，具体此处不做限定。
102、判断无人机是否进入目标级别的子敏感飞行区，若是，则执行步骤103；
在本实施例中，在无人机进入敏感飞行区后，无人机可以继续飞行，此时需进一步判断无人机是否进入目标级别的子敏感飞行区，即需要确定无人机当前进入哪一级别的子敏感飞行区。可以理解的是，在无人机进入敏感飞行区后，无人机可以保持原有速度飞行，也可以进入限制飞行模式，比如， 以低于某一速度阈值的飞行速度飞行和/或以低于某一高度阈值的高度飞行。
103、根据预设的各级别子敏感飞行区与限制飞行方式之间的对应关系，确定与目标级别的子敏感飞行区对应的目标限制飞行方式；
在本实施例中，遥控终端上预先保存有各级别子敏感飞行区与限制飞行方式之间的对应关系，即每一个级别的子敏感飞行区有具有对应的限制飞行方式。在确定无人机当前进入哪一级别的子敏感飞行区后，就可以进一步确定与该级别的子敏感飞行区对应的目标限制飞行方式。
104、控制无人机以目标限制飞行方式飞行。即在确定无人机进入到哪个级别的子敏感飞行区后，就以该级别的子敏感飞行区对应的限制飞行方式飞行。本发明实施例提供的技术方案中，首先判断无人机是否进入敏感飞行区，其中，敏感飞行区包括至少两类级别的子敏感飞行区，且不同级别的子敏感飞行区对应不同的敏感级别，在确定无人机进入敏感飞行区之后，再进一步确定无人机是否进入目标级别的子敏感飞行区，若是，根据预设的各级别子敏感飞行区与限制飞行方式之间的对应关系，确定与该目标级别的子敏感飞行区对应的目标限制飞行方式，并控制无人机以目标限制飞行方式飞行。因此相对于现有技术，本发明实施例对敏感飞行区进行多敏感级别划分，为无人机在敏感飞行区内的不同子敏感飞行区提供差异化的限制飞行方式，可有效降低无人机的飞行安全隐患，为无人机提供更安全的飞行环境。请参阅
图2，本发明实施例中无人机的飞行限制方法另一实施例包括：
201、判断无人机是否进入敏感飞行区，若是，则执行步骤102；
在本实施例中，可以预先根据实际需求对敏感飞行区内的某些小区域赋予不同敏感级别，以便在敏感飞行区建立至少两类级别的子敏感飞行区，且不同级别的子敏感飞行区对应不同的敏感级别。
比如，以目标A为中心1千米的范围内为敏感飞行区M，敏感飞行区可以包括两个子敏感飞行区(X，Y)，其中，子敏感飞行区X可以为以目标A为中心500米的范围内的区域，子敏感飞行区Y可以为以目标A为中心500米的范围内的区域，以此构建越靠近目标A敏感级别越高的子敏感飞行区。
又比如，以目标A为中心1千米的范围内为敏感飞行区M，敏感飞行 区可以包括两个子敏感飞行区(X，Y)，其中，两个子敏感飞行区(X，Y)可以为以目标A为中心1千米的范围内的任意某个指定小区域，且各子敏感飞行区的面积范围可以相同，也可以不同，具体此处不做限定。
可选地，在本实施例中，可以通过以下方式判断无人机是否进入敏感飞行区：
一、预存敏感飞行区的地理位置数据在这种方式下，遥控终端预存有敏感飞行区的地理位置数据，由此，判断无人机是否进入敏感飞行区可以包括：
获取无人机的位置信息；
查询预存的敏感飞行区的地理位置数据；若无人机的位置信息包含在预存的敏感飞行区的地理位置数据中，则确定所述无人机进入敏感飞行区。
即可以通过无人机的位置信息与预存有敏感飞行区的地理位置数据进行匹配来确定无人机是否进入敏感飞行区。可选地，在本实施例中，可以通过无人机中的GPS定位装置获取无人机的位置信息。
二、指令控制在这种方式下，判断无人机是否进入敏
感飞行区包括：
判断是否接收到用户的第一控制指令，其中，第一控制指令用于指示无人机的当前位置位于敏感飞行区；若是，则确定无人机进入敏感飞行。
即可以通过用户的控制指令来确定无人机是否进入敏感飞行区。在实际应用过程中，用户可以通过操作终端的用户界面观看无人机所在的飞行环境，自定义该飞行环境是否为敏感飞行区。
三、软件识别
在这种方式下，所述无人机包括成像装置，判断无人机是否进入敏感飞行区包括：
获取成像装置拍摄的图像信息；
对图像信息进行场景分析，判断是否包括预设的场景标识信息；
若是，则确定无人机进入敏感飞行区。
即对图像信息进行分析处理，判断无人机所处的场景，由此来确定无人机是否进入了敏感飞行区。例如，通过图像信息分析当前无人机处于机场场 景，则确定无人机进行敏感飞行区。可以理解的是，一些特殊场景，比如机场等均包含有一些特殊的场景标识，在本实施例中，可以通过对图像信息进行场景分析获取到这些场景标识，再与预存的场景标识信息进行匹配，以便得到匹配结果。上述仅以举例的方式对无人机进行敏感飞行区的确定方式进
行描述，实际应用过程中，可以选取其中的一种，也可以对上述方式结合
使用，具体此处不做限定。
202、控制无人机以第一报警方式进行警示；在本实施例中，第一报警方
式可以包括音频和/或灯光等方式。
203、判断无人机是否进入目标级别的子敏感飞行区，若是，则执行步骤204；
在本实施例中，在无人机进入敏感飞行区后，无人机可以继续飞行，此时需进一步判断无人机是否进入目标级别的子敏感飞行区，即需要确定无人机当前进入哪一级别的子敏感飞行区。可以理解的是，在无人机进入敏感飞行区后，无人机可以保持原有速度飞行，也可以进入限制飞行模式，比如，以低于某一速度阈值的飞行速度飞行和/或以低于某一高度阈值的高度飞行。
相应地，在本实施例中，可以通过以下方式判断无人机是否进入目标级别的子敏感飞行区：
一、预存至少两类级别的子敏感飞行区的地理位置数据
在这种方式下，遥控终端预存有至少两类级别的子敏感飞行区的地理位置数据，由此，判断无人机是否进入目标级别的子敏感飞行区可以包括：
获取无人机的位置信息；
查询预存的至少两类级别的子敏感飞行区的地理位置数据；将无人机的
位置信息与预存的至少两类级别的子敏感飞行区的地理位置数据进行匹配，得到匹配结果；
根据匹配结果确定所述无人机进入目标级别的子敏感飞行区。即可以通
过无人机的位置信息与预存的至少两类级别的子敏感飞行区的地理位置数据进行匹配来确定无人机是否进入目标级别的子敏感飞行区。可选地，在本实施例中，可以通过无人机中的GPS定位装置获取无人机的位置信息。
二、指令控制
在这种方式下，判断无人机是否进入目标级别的子敏感飞行区包括：
判断是否接收到用户的第二控制指令，其中，第二控制指令用于指示无人机的当前位置位于目标级别的子敏感飞行区；
若是，则确定无人机进入目标级别的子敏感飞行区。即可以通过用户的
控制指令来确定无人机是否进入目标级别的子敏感飞行区。在实际应用过程中，用户可以通过操作终端的用户界面观看无人机所在的飞行环境，自定义该飞行环境为哪一级别的子敏感飞行区。
三、软件识别
在这种方式下，所述无人机包括成像装置，判断无人机是否进入目标级别的子敏感飞行区包括：
获取成像装置拍摄的图像信息；
对图像信息进行场景分析，判断是否包括预设的场景标识信息；若是，
则确定无人机进入目标级别的子敏感飞行区。
即对图像信息进行分析处理，判断无人机所处的场景，由此来确定无人机是否进入了敏感飞行区。例如，通过图像信息分析当前无人机处于机场场景，则确定无人机进行敏感飞行区。可以理解的是，一些特殊场景，比如机场等均包含有一些特殊的场景标识，在本实施例中，可以通过对图像信息进行场景分析获取图像中所包含的场景标识，再与预存的场景标识信息进行匹配，以便得到匹配结果。在实施例中，可以对不同级别的子敏感飞行区所包含的场景标识信息进行预存。
上述仅以举例的方式对无人机进行目标级别的子敏感飞行区的确定方式进行描述，实际应用过程中，可以选取其中的一种，也可以对上述方式结合使用，具体此处不做限定。
204、根据预设的各级别子敏感飞行区与限制飞行方式之间的对应关系，确定与目标级别的子敏感飞行区对应的目标限制飞行方式；
在本实施例中，遥控终端上预先保存有各级别子敏感飞行区与限制飞行方式之间的对应关系，即每一个级别的子敏感飞行区有具有对应的限制飞行方式。在确定无人机当前进入哪一级别的子敏感飞行区后，就可以进一步确定与该级别的子敏感飞行区对应的目标限制飞行方式。在本实施例中，预设的各级别子敏感飞行区与限制飞行方式之间的对应 关系可以包括：当无人机进入第一级别子敏感飞行区时，限制飞行方式为以低于预设速度阈值的飞行速度飞行和/或以低于预设高度阈值的高度飞行；当无人机进入第二级别子敏感飞行区时，限制飞行方式为悬停；
当无人机进入第三级别子敏感飞行区时，限制飞行方式为迫降。在实际应用过程中，还可以进一步对悬停、迫降的位置进行限定。
205、控制无人机以目标限制飞行方式飞行。
即在确定无人机进入到哪个级别的子敏感飞行区后，就以该级别的子敏感飞行区对应的限制飞行方式飞行。
返航时无人机方向自动调整为起飞时设置的方向，便于控制
返航后到达起飞点时，将无人机自动调整为与操控人的位置方向相对应的位置，便于其控制在大的禁飞区域内设置一个或多个小的禁飞区域的限制飞行方法实现在禁飞区域内准确控制的方法，使其不会偏移出禁飞区域
206、控制无人机以第一报警方式进行警示；在本实施例中，第二报警方式可以包括音频和/或灯光等方式。
需要说明的是，在本实施例中，第一报警方式不同与第二报警方式，比如，第一报警方式为音频，第二报警方式为灯光，也可以是，第一报警方式为第一音频方式，第二报警方式为第二音频方式，具体此处不做限定。
本发明实施例提供的技术方案中，首先判断无人机是否进入敏感飞行区，其中，敏感飞行区包括至少两类级别的子敏感飞行区，且不同级别的子敏感飞行区对应不同的敏感级别，在确定无人机进入敏感飞行区之后，再进一步确定无人机是否进入目标级别的子敏感飞行区，若是，根据预设的各级别子敏感飞行区与限制飞行方式之间的对应关系，确定与该目标级别的子敏感飞行区对应的目标限制飞行方式，并控制无人机以目标限制飞行方式飞行。因此相对于现有技术，本发明实施例对敏感飞行区进行多敏感级别划分，为无人机在敏感飞行区内的不同子敏感飞行区提供差异化的限制飞行方式，可有效降低无人机的飞行安全隐患，为无人机提供更安全的飞行环境。
上面对本发明实施例中的无人机的飞行限制方法进行了描述，下面对本发明实施例中的无人机的飞行限制装置进行描述，请参阅图3，本发明实施例中无人机的飞行限制装置一个实施例包括：
第一判断单元301，用于判断无人机是否进入敏感飞行区，其中，所述敏感飞行区包括至少两类级别的子敏感飞行区，且不同级别的子敏感飞行区对应不同的敏感级别；
第二判断单元302，用于若所述无人机进入所述敏感飞行区，判断所述无人机是否进入目标级别的子敏感飞行区；
确定单元303，用于若所述无人机进入目标级别的子敏感飞行区，则根据预设的各级别子敏感飞行区与限制飞行方式之间的对应关系，确定与所述目标级别的子敏感飞行区对应的目标限制飞行方式；
第一控制单元304，用于控制所述无人机以目标限制飞行方式飞行。本发明实施例提供的技术方案中，首先由第一判断单元301判断无人机是否进入敏感飞行区，其中，敏感飞行区包括至少两类级别的子敏感飞行区，且不同级别的子敏感飞行区对应不同的敏感级别，在确定无人机进入敏感飞行区之后，再进一步由第二判断单元302确定无人机是否进入目标级别的子敏感飞行区，若是，由确定单元303根据预设的各级别子敏感飞行区与限制飞行方式之间的对应关系，确定与该目标级别的子敏感飞行区对应的目标限制飞行方式，并由第一控制单元304控制无人机以目标限制飞行方式飞行。因此相对于现有技术，本发明实施例对敏感飞行区进行多敏感级别划分，为无人机在敏感飞行区内的不同子敏感飞行区提供差异化的限制飞行方式，可有效降低无人机的飞行安全隐患，为无人机提供更安全的飞行环境。
本发明实施例中无人机的飞行限制装置另一实施例包括：
第一判断单元401，用于判断无人机是否进入敏感飞行区，其中，所述敏感飞行区包括至少两类级别的子敏感飞行区，且不同级别的子敏感飞行区对应不同的敏感级别；
第一报警单元402，用于若所述无人机进入所述敏感飞行区，则控制所述无人机以第一报警方式进行警示；
第二判断单元403，用于若所述无人机进入所述敏感飞行区，判断所述无 人机是否进入目标级别的子敏感飞行区；
确定单元404，用于若所述无人机进入目标级别的子敏感飞行区，则根据预设的各级别子敏感飞行区与限制飞行方式之间的对应关系，确定与所述目标级别的子敏感飞行区对应的目标限制飞行方式；
第一控制单元405，用于控制所述无人机以目标限制飞行方式飞行。
第二报警单元406，用于若所述无人机进入子敏感飞行区，则控制所述无人机以第二报警方式进行警示，其中，不同级别的子敏感飞行区对应不同的第二报警方式。
可选地，在本实施例中，所述预设的各级别子敏感飞行区与限制飞行方式之间的对应关系包括：
当无人机进入第一级别子敏感飞行区时，所述限制飞行方式为以低于预设速度阈值的飞行速度飞行和/或以低于预设高度阈值的高度飞行；当无人机
进入第二级别子敏感飞行区时，所述限制飞行方式为悬停；
当无人机进入第三级别子敏感飞行区时，所述限制飞行方式为迫降。
可选地，在本实施例中，所述遥控终端预存有敏感飞行区的地理位置数据；所述第一判断单元包括：
第一获取模块，用于获取所述无人机的位置信息；
第一查询模块，用于查询所述预存的敏感飞行区的地理位置数据；第一确定模块，用于若所述无人机的位置信息包含在所述预存的敏感飞行区的地理位置数据中，则确定所述无人机进入敏感飞行区。
可选地，在本实施例中，所述第一判断单元包括：第一判断模块，用于
判断是否接收到用户的第一控制指令，其中，所述第一控制指令用于指示无人机的当前位置位于敏感飞行区；
第二确定模块，用于若接收到用户的第一控制指令，则确定所述无人机进入敏感飞行区。
可选地，在本实施例中，所述遥控终端预存有至少两类级别的子敏感飞行区的地理位置数据；所述第二判断单元包括：第二获取模块，用于若所述
无人机进入所述敏感飞行区，获取所述无人机的位置信息；
第二查询模块，用于查询所述预存的至少两类级别的子敏感飞行区的地 理位置数据；
匹配模块，用于将所述无人机的位置信息与所述预存的至少两类级别的子敏感飞行区的地理位置数据进行匹配，得到匹配结果；
第三确定模块，用于根据所述匹配结果确定所述无人机进入目标级别的子敏感飞行区。可选地，在本实施例中，所述第二判断单元包括：
第二判断模块，用于判断是否接收到用户的第二控制指令，其中，所述第二控制指令用于指示无人机的当前位置位于目标级别的子敏感飞行区；第
四确认模块，用于当接收到用户的第二控制指令时，确定所述无人机进入目标级别的子敏感飞行区。
可选地，在本实施例中，所述装置还包括：第一报警单元，用于若所述无人机进入所述敏感飞行区，则控制所述无人机以第一报警方式进行警示；
第二报警单元，用于若所述无人机进入子敏感飞行区，则控制所述无人机以第二报警方式进行警示，其中，不同级别的子敏感飞行区对应不同的第二报警方式。
本发明实施例提供的技术方案中，首先由第一判断单元301判断无人机是否进入敏感飞行区，其中，敏感飞行区包括至少两类级别的子敏感飞行区，且不同级别的子敏感飞行区对应不同的敏感级别，在确定无人机进入敏感飞行区之后，再进一步由第二判断单元302确定无人机是否进入目标级别的子敏感飞行区，若是，由确定单元303根据预设的各级别子敏感飞行区与限制飞行方式之间的对应关系，确定与该目标级别的子敏感飞行区对应的目标限制飞行方式，并由第一控制单元304控制无人机以目标限制飞行方式飞行。因此相对于现有技术，本发明实施例对敏感飞行区进行多敏感级别划分，为无人机在敏感飞行区内的不同子敏感飞行区提供差异化的限制飞行方式，可有效降低无人机的飞行安全隐患，为无人机提供更安全的飞行环境。本发明
实施例中无人机的飞行限制装置另一实施例包括：
处理器；用于存储所述处理器的可执行指令的存储器；
其中，所述处理器被配置为实现上述本发明实施例提供的无人机的飞行限制方法。
操作终端500可以是移动电话，计算机，数字广播终端，消息收发设备 ，游戏控制台，平板设备，个人数字助理等。
请参阅图5，本发明实施例中无人机的飞行限制装置另一实施例包括：
如图5所示，无人机的飞行限制装置500可以是移动电话，计算机，数字广播终端，消息收发设备，游戏控制台，平板设备，个人数字助理等。
参照图5，无人机的飞行限制装置500可以包括以下一个或多个组件：处理组件502，存储器504，电源组件506，多媒体组件508，音频组件510，输入/输出(I/O)的接口512，传感器组件514，以及通信组件516。
处理组件502通常控制无人机的飞行限制装置500的整体操作，诸如与显示，电话呼叫，数据通信，相机操作和记录操作相关联的操作。处理组件502可以包括一个或多个处理器520来执行指令。
此外，处理组件502可以包括一个或多个模块，便于处理组件502和其他组件之间的交互。例如，处理组件502可以包括多媒体模块，以方便多媒体组件508和处理组件502之间的交互。
存储器504被配置为存储各种类型的数据以支持在无人机的飞行限制装置500的操作。这些数据的示例包括用于在无人机的飞行限制装置500上操作的任何应用程序或方法的指令，联系人数据，电话簿数据，消息，图片，视频等。存储器504可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器(SRAM)，电可擦除可编程只读存储器(EEPROM)，可擦除可编程只读存储器(EPROM)，可编程只读存储器(PROM)，只读存储器(ROM)，磁存储器，快闪存储器，磁盘或光盘。电源组件506为无人机的飞行限制装置500的各种组件提供电力。电源组件506可以包括电源管理系统，一个或多个电源，及其他与为无人机的飞行限制装置500生成、管理和分配电力相关联的组件。
多媒体组件508包括在所述无人机的飞行限制装置500和用户之间的提供一个输出接口的屏幕。在一些实施例中，屏幕可以包括液晶显示器(LCD)和触摸面板(TP)。如果屏幕包括触摸面板，屏幕可以被实现为触摸屏，以接收来自用户的输入信号。触摸面板包括一个或多个触摸传感器以感测触摸、滑动和触摸面板上的手势。所述触摸传感器可以不仅感测触摸或滑动动作的 边界，而且还检测与所述触摸或滑动操作相关的持续时间和压力。在一些实施例中，多媒体组件508包括一个前置摄像头和/或后置摄像头。当无人机的飞行限制装置500处于操作模式，如拍摄模式或视频模式时，前置摄像头和/或后置摄像头可以接收外部的多媒体数据。每个前置摄像头和后置摄像头可以是一个固定的光学透镜系统或具有焦距和光学变焦能力。
音频组件510被配置为输出和/或输入音频信号。例如，音频组件510包括一个麦克风(MIC)，当无人机的飞行限制装置500处于操作模式，如呼叫模式、记录模式和语音识别模式时，麦克风被配置为接收外部音频信号。所接收的音频信号可以被进一步存储在存储器504或经由通信组件516发送。
在一些实施例中，音频组件510还包括一个扬声器，用于输出音频信号。
I/O接口512为处理组件502和外围接口模块之间提供接口，上述外围接口模块可以是键盘，点击轮，按钮等。这些按钮可包括但不限于：主页按钮、音量按钮、启动按钮和锁定按钮。
传感器组件514包括一个或多个传感器，用于为无人机的飞行限制装置500提供各个方面的状态评估。例如，传感器组件514可以检测到无人机的飞行限制装置500的打开/关闭状态，组件的相对定位，例如所述组件为无人机的飞行限制装置500的显示器和小键盘，传感器组件514还可以检测无人机的飞行限制装置500或无人机的飞行限制装置500一个组件的位置改变，用户与无人机的飞行限制装置500接触的存在或不存在，无人机的飞行限制装置500方位或加速/减速和无人机的飞行限制装置500的温度变化。传感器组 件514可以包括接近传感器，被配置用来在没有任何的物理接触时检测附近物体的存在。传感器组件514还可以包括光传感器，如CMOS或CCD图像传感器，用于在成像应用中使用。在一些实施例中，该传感器组件514还可以包括加速度传感器，陀螺仪传感器，磁传感器，压力传感器或温度传感器。
通信组件516被配置为便于无人机的飞行限制装置500和其他设备之间有线或无线方式的通信。无人机的飞行限制装置500可以接入基于通信标准的无线网络，如WiFi，2G或3G，或它们的组合。在一个示例性实施例中，通信组件516经由广播信道接收来自外部广播管理系统的广播信号或广播相关信息。在一个示例性实施例中，所述通信组件516还包括近场通信(NFC)模块，以促进短程通信。例如，在NFC模块可基于射频识别(RFID)技术，红外数据协会(IrDA)技术，超宽带(UWB)技术，蓝牙(BT)技术和其他技术来实现。
在示例性实施例中，无人机的飞行限制装置500可以被一个或多个应用专用集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理设备(DSPD)、可编程逻辑器件(PLD)、现场可编程门阵列(FPGA)、控制器、微控制器、微处理器或其他电子元件实现。
本发明实施例还提供一种计算机可读存储介质，该计算机可读存储介质可以是上述实施例中的存储器中所包含的计算机可读存储介质；也可以是单独存在，未装配入终端中的计算机可读存储介质。所述计算机可读存储介质存储有一个或者一个以上程序，所述一个或者一个以上程序被一个或者一个以上的处理器用来执行图1、图2所示实施例提供的无人机的飞行限制方法。所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统，装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。在本申请所提供的几个实施例中，应该理解到，所揭露的系统，装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以 结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述，以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。

Claims (10)

  1. 一种无人机的飞行限制方法，应用于遥控终端，其特征在于，包括：
    判断无人机是否进入敏感飞行区，其中，所述敏感飞行区包括至少两类级别的子敏感飞行区，且不同级别的子敏感飞行区对应不同的敏感级别；
    若所述无人机进入所述敏感飞行区，判断所述无人机是否进入目标级别的子敏感飞行区；
    若所述无人机进入目标级别的子敏感飞行区，则根据预设的各级别子敏感飞行区与限制飞行方式之间的对应关系，确定与所述目标级别的子敏感飞行区对应的目标限制飞行方式；
    控制所述无人机以目标限制飞行方式飞行。
  2. 如权利要求1所述的无人机的飞行限制方法，其特征在于，所述预设的各级别子敏感飞行区与限制飞行方式之间的对应关系包括：
    当无人机进入第一级别子敏感飞行区时，所述限制飞行方式为以低于预设速度阈值的飞行速度飞行和/或以低于预设高度阈值的高度飞行；
    当无人机进入第二级别子敏感飞行区时，所述限制飞行方式为悬停；
    当无人机进入第三级别子敏感飞行区时，所述限制飞行方式为迫降。
  3. 如权利要求1所述的无人机的飞行限制方法，其特征在于，所述遥控终端预存有至少两类级别的子敏感飞行区的地理位置数据；
    所述判断所述无人机是否进入目标级别的子敏感飞行区包括：
    获取所述无人机的位置信息；
    查询所述预存的至少两类级别的子敏感飞行区的地理位置数据；
    将所述无人机的位置信息与所述预存的至少两类级别的子敏感飞行区的地理位置数据进行匹配，得到匹配结果；
    根据所述匹配结果确定所述无人机进入目标级别的子敏感飞行区。
  4. 如权利要求1所述的无人机的飞行限制方法，其特征在于，所述判断所述无人机是否进入目标级别的子敏感飞行区包括：
    判断是否接收到用户的第二控制指令，其中，所述第二控制指令用于指示无人机的当前位置位于目标级别的子敏感飞行区；
    若是，则确定所述无人机进入目标级别的子敏感飞行区。
  5. 如权利要求1至4中任意一项所述的无人机的飞行限制方法，其特征 在于，所述方法还包括：
    若所述无人机进入所述敏感飞行区，则控制所述无人机以第一报警方式进行警示；
    若所述无人机进入子敏感飞行区，则控制所述无人机以第二报警方式进行警示，其中，不同级别的子敏感飞行区对应不同的第二报警方式。
  6. 一种无人机的飞行限制装置，应用于遥控终端，其特征在于，包括：
    第一判断单元，用于判断无人机是否进入敏感飞行区，其中，所述敏感飞行区包括至少两类级别的子敏感飞行区，且不同级别的子敏感飞行区对应不同的敏感级别；
    第二判断单元，用于若所述无人机进入所述敏感飞行区，判断所述无人机是否进入目标级别的子敏感飞行区；
    确定单元，用于若所述无人机进入目标级别的子敏感飞行区，则根据预设的各级别子敏感飞行区与限制飞行方式之间的对应关系，确定与所述目标级别的子敏感飞行区对应的目标限制飞行方式；
    第一控制单元，用于控制所述无人机以目标限制飞行方式飞行。
  7. 如权利要求6所述的无人机的飞行限制装置，其特征在于，所述预设的各级别子敏感飞行区与限制飞行方式之间的对应关系包括：
    当无人机进入第一级别子敏感飞行区时，所述限制飞行方式为以低于预设速度阈值的飞行速度飞行和/或以低于预设高度阈值的高度飞行；
    当无人机进入第二级别子敏感飞行区时，所述限制飞行方式为悬停；
    当无人机进入第三级别子敏感飞行区时，所述限制飞行方式为迫降。
  8. 如权利要求6所述的无人机的飞行限制装置，其特征在于，所述遥控终端预存有至少两类级别的子敏感飞行区的地理位置数据；所述第二判断单元包括：
    第二获取模块，用于若所述无人机进入所述敏感飞行区，获取所述无人机的位置信息；
    第二查询模块，用于查询所述预存的至少两类级别的子敏感飞行区的地理位置数据；
    匹配模块，用于将所述无人机的位置信息与所述预存的至少两类级别的 子敏感飞行区的地理位置数据进行匹配，得到匹配结果；
    第三确定模块，用于根据所述匹配结果确定所述无人机进入目标级别的子敏感飞行区。
  9. 如权利要求6所述的无人机的飞行限制装置，其特征在于，所述第二判断单元包括：
    第二判断模块，用于判断是否接收到用户的第二控制指令，其中，所述第二控制指令用于指示无人机的当前位置位于目标级别的子敏感飞行区；
    第四确认模块，用于当接收到用户的第二控制指令时，确定所述无人机进入目标级别的子敏感飞行区。
  10. 如权利要求6至9中任意一项所述的无人机的飞行限制装置，其特征在于，所述装置还包括：
    第一报警单元，用于若所述无人机进入所述敏感飞行区，则控制所述无人机以第一报警方式进行警示；
    第二报警单元，用于若所述无人机进入子敏感飞行区，则控制所述无人机以第二报警方式进行警示，其中，不同级别的子敏感飞行区对应不同的第二报警方式。
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