WO2019119232A1 - 无人机的作业区域解禁方法、装置及系统 - Google Patents

无人机的作业区域解禁方法、装置及系统 Download PDF

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Publication number
WO2019119232A1
WO2019119232A1 PCT/CN2017/117020 CN2017117020W WO2019119232A1 WO 2019119232 A1 WO2019119232 A1 WO 2019119232A1 CN 2017117020 W CN2017117020 W CN 2017117020W WO 2019119232 A1 WO2019119232 A1 WO 2019119232A1
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Prior art keywords
drone
area
flight
limited area
server
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PCT/CN2017/117020
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English (en)
French (fr)
Inventor
周毅
及子龙
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201780025866.XA priority Critical patent/CN109074099A/zh
Priority to PCT/CN2017/117020 priority patent/WO2019119232A1/zh
Publication of WO2019119232A1 publication Critical patent/WO2019119232A1/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

Definitions

  • the invention relates to a drone technology, in particular to a method, a device and a system for unblocking a work area of a drone.
  • drones are being applied in more and more fields.
  • the emergence of drones the labor force in the field of agricultural production has been further liberated.
  • the work area is planned first, and sometimes the planned work area will coincide with the fly-limited area.
  • an approval report needs to be submitted to the relevant part, and the work is started after the approval is passed.
  • the work to be performed by the drone is generally time-sensitive. If the prior art is used, the efficiency of the drone will miss the effective working time of the drone.
  • the invention provides a method, a device and a system for unblocking a work area of a drone, which are used for improving the operation efficiency of the drone.
  • the present invention provides a method for unblocking a work area of a drone, the drone being controlled by a ground control end, the method comprising:
  • the server acquires a working parameter of the drone when the working area of the drone has a coincident area with the fly-limited area;
  • the server sends the release permission information to the ground control terminal when the operation parameter of the drone meets the preset condition.
  • the present invention provides a method for unblocking a work area of a drone, the drone being controlled by a ground control end, the method comprising:
  • the ground control terminal receives the release permission information sent by the server when the operation parameter of the drone meets the preset condition
  • the ground control terminal controls the drone to fly in the flight limited area according to the release permission information.
  • the present invention provides a method for unblocking a work area of a drone, comprising:
  • the server acquires the operating parameters of the drone when there is a coincident area between the working area of the drone and the limited flying area;
  • the server sends the release permission information to the ground control terminal when the operation parameter of the drone meets the preset condition
  • the ground control terminal controls the drone to fly in the flight limited area according to the release permission information.
  • the present invention provides a work area lifting and unblocking device for a drone, comprising: a memory and a processor;
  • the memory is configured to store instructions
  • the processor is configured to invoke an instruction in the memory to perform the following method:
  • the present invention provides a work area lifting and unblocking device for a drone, comprising: a memory, a processor, and a display;
  • the memory is configured to store instructions
  • the processor is configured to invoke an instruction in the memory to perform the following method:
  • the present invention provides a work area lifting and unblocking system for a drone, including: a drone, a ground control end, and a server;
  • the ground control end is used to control the drone
  • the server includes the server of the fourth aspect, the ground control end comprising the ground control end as described in the fifth aspect.
  • the server acquires the operating parameters of the drone when the working area of the drone has a coincident area with the fly-limited area, and the server is in the drone
  • the release permission information is sent to the ground control terminal.
  • FIG. 1 is a schematic structural diagram of a work area lifting and unblocking system of a drone according to the present invention
  • FIG. 2 is a schematic flowchart of a method for lifting a work area of a drone according to an embodiment of the present invention
  • FIG. 3 is a schematic flowchart of a method for lifting a work area of a drone according to another embodiment of the present invention.
  • FIG. 4 is a schematic flowchart of a method for lifting a work area of a drone according to another embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a work area lifting and unblocking device of a drone according to an embodiment of the present invention
  • FIG. 6 is a schematic structural diagram of a work area lifting and unblocking device of a drone according to another embodiment of the present invention.
  • FIG. 1 is a schematic structural diagram of a work area lifting and unblocking system of a drone according to the present invention. As shown in FIG. 1, the system includes: a drone 01, a ground control terminal 02, and a server 03.
  • the ground control end may include at least one of the following: head-mounted display glasses (VR glasses, VR helmets, etc.), mobile phones, remote controls (such as remote controls with a display), smart bracelets, and tablets.
  • a remote controller with a display screen is taken as an example to describe data interaction between the ground control terminal 02 and the server 03 and the drone 01.
  • the remote controller with display provided in this embodiment is provided with a user interface.
  • the user can control the drone through the user interface, and the remote controller determines the control information input by the user according to the operation of the user interface.
  • control information may include at least one of the following: spray flow control information, spray direction control information, flight speed control information, flight altitude control information, nozzle control information, and route spacing control. Information, security distance control information, etc.
  • spray flow control information spray direction control information
  • flight speed control information flight speed control information
  • flight altitude control information flight altitude control information
  • nozzle control information flight altitude control information
  • route spacing control Information, security distance control information, etc.
  • the invention is not limited thereto.
  • the drone 01 performs a related operation under the control of the ground control terminal 02, and feeds back relevant data in the job to the ground control terminal 02.
  • the ground control terminal 02 transmits the data to the server 03, or the ground control terminal 02 transmits the processed delivery to the server 03.
  • the present invention provides a method for unblocking the working area of the drone.
  • FIG. 2 is a schematic flowchart of a method for lifting a work area of a drone according to an embodiment of the present invention. As shown in FIG. 2, the method includes:
  • the server acquires a working parameter of the drone when the working area of the drone and the fly-limited area have a coincident area.
  • the server sends the release permission information to the ground control terminal when the operation parameter of the drone meets the preset condition.
  • the preset condition may be applied in advance and configured. If there is a coincidence area between the work area and the fly-limited area, the server may determine whether the operating parameters of the drone meet the preset condition, and if satisfied, directly Send the banned permission information to the ground control terminal. In this way, it is not necessary to submit an approval report every time there is a coincidence area between the work area and the fly-limited area, which greatly improves the aging time of the drone.
  • the server acquires the operating parameters of the drone when the working area of the drone has a coincident area with the fly-limited area, and the server goes to the ground when the operating parameter of the drone meets the preset condition.
  • the control terminal sends the release permission information.
  • the foregoing release permission information may include: an unmanned aircraft identifier, an identifier of the flight limited area, and a release time information of the limited flight area.
  • the drone identifier may be the number, code, etc. of the drone, or may be the login account of the drone.
  • the ground control terminal logs in the account of the drone through an application (APP).
  • APP application
  • the ground control terminal sends login information to the server, and the login information includes: an account number and a password of the drone.
  • Each of the flight-restricted areas also has different identifiers.
  • each of the fly-limited areas is assigned an identifier such as a number or a code, and the server stores the identifier of each of the fly-limited areas and the position information of the fly-limited area corresponding to the mark of the fly-limited area.
  • the location information of the flight limited area may be recorded by coordinate information, which is not specifically limited by the present invention.
  • the release time information of the flight limited area is used to indicate the time period during which the flight limited area is released, that is, the time period during which the drone can operate in the flight limited area.
  • the information about the release time of the flight-defining area includes: a lifting start time point and a lifting time length; or, the lifting-free time information of the limited-flying area includes: a lifting start time point and a lifting prohibition time point.
  • the invention is not specifically limited.
  • the operating parameters of the drone may include one or more of the following: a historical operation duration of the drone, an activation duration of the login account corresponding to the drone, an area of the area requested to be released, and a duration of requesting the lifting.
  • the server records the operation duration of each drone according to the drone account registered by the ground control terminal.
  • the historical operation duration of the drone is the total working time accumulated by the above drone.
  • the UAV is activated when the login account is first logged in.
  • the activation time of the UAV login account refers to the total length of time when the UAV login account is activated from the first activation to the current server acquisition of the UAV.
  • the forbidden area which can be less than or equal to “the overlap area between the operating area of the drone and the fly-limited area”. For example, when there is a large overlap area between the working area of the drone and the limited flying area, it can be lifted several times. Assume that there is a 400-mu overlap between the operating area of the drone and the fly-limited area, and the preset conditions limit the maximum lifting of 200 acres per day, then you can work in two days and apply for 200 acres per day.
  • the operating parameters of the drone meet the preset conditions, which may refer to the duration of the historical operation of the drone, the activation time of the login account corresponding to the drone, the area of the area requested to be banned, and the combination of the length of the request for lifting the ban. Set conditions.
  • the area of the area requested for lifting the ban is less than or equal to the preset area
  • the duration of the historical operation of the drone is greater than or equal to the preset working time
  • the activation time of the corresponding login account of the drone is greater than or equal to the preset activation time
  • the length of the request for lifting the ban is less than or equal to the preset release time.
  • the server may actively determine whether the working area of the drone has a coincident area with the fly-limited area, or may determine when the ground control end requests the lifting of the ban.
  • the server receives the lifting application message sent by the ground control terminal after the drone enters the flight limited area.
  • the application for lifting the ban includes: an identifier of the drone, and an identifier of the flight-limited area.
  • the server acquires the operating parameters of the drone according to the unblocking application message.
  • the ground control terminal monitors that the drone enters the flight limited area, it actively sends a request for lifting the ban to the server, and informs the server of the identity of the restricted flight area in the ban application message. After receiving the message of lifting the ban, the server obtains the operating parameters of the drone and further determines whether the preset condition is met.
  • the server receives the work area information of the drone sent by the ground control terminal.
  • the pre-planned operation area of the drone can be transmitted to the server.
  • the server actively judges whether the unmanned aerial vehicle's working area and the fly-limited area have overlapping areas according to the operating area information of the drone, and acquires the unmanned area when there is a coincident area between the working area of the drone and the limited flying area.
  • Machine operating parameters If the operating parameters of the drone meet the preset conditions, the release permission information is directly sent, and the ground control terminal stores the release permission information, for example, in the list of the release certificate.
  • the ground control terminal may refresh whether the banned permission information is stored in the list of the banned voucher in real time or at a time. In this way, if the ground control terminal is not connected to the network, but the license information is received in advance, the operation can be smoothly performed.
  • the server may acquire the flight limited area information in the working area of the drone in real time or at a time, and store the limited flight area information.
  • the user may manually input the limited flight area information, or the server may obtain related flight limited area information through the network. And according to the working area of the unmanned aerial vehicle synchronized by the ground control terminal, the parts in the working area of the monitoring drone are the limited flying area.
  • FIG. 3 is a schematic flowchart of a method for unblocking a work area of a drone according to another embodiment of the present invention.
  • the method includes:
  • the ground control terminal receives the release permission information sent by the server when the operation parameter of the drone meets the preset condition.
  • the ground control terminal controls the drone to fly in the flight limited area according to the banned permission information.
  • the release permission information includes: a drone identifier, an identifier of the flight limited area, and a release time information of the flight limited area.
  • the ground control terminal controls the drone to fly in the flight limited area according to the information such as the area and time indicated by the banned permission information.
  • the ground control terminal receives the release permission information sent by the server when the operation parameter of the drone meets the preset condition, and controls the drone to fly in the flight limited area according to the release permission information.
  • the overlap area between the working area and the fly-limited area of the drone is realized, whether the lifting of the ban can be directly determined according to whether the operating parameters of the drone meet the preset conditions, and if the preset condition is met, the ban is directly lifted, thereby greatly improving the unmanned Machine work timeliness.
  • the operating parameters of the drone include one or more of the following: a historical operation duration of the drone, an activation duration of the login account corresponding to the drone, an area of the area requested to be lifted, Please solve the forbidden time.
  • the ground control terminal receives the release permission information sent by the server when the operation parameter of the drone meets the preset condition, and the ground control terminal determines that the drone enters the flight limited area.
  • the server sends a release application message.
  • the application for releasing the ban includes: an identifier of the drone, and an identifier of the flight limited area.
  • the ground control terminal determines that the drone enters the flight limited area, it checks whether the release prohibition certificate list contains the release permission information of the restricted flight area. If the unblocking permission information of the flight limited area is included in the list of the banned vouchers, the drone is controlled to fly in the flight limited area.
  • FIG. 4 is a schematic flowchart of a method for unblocking a work area of a drone according to another embodiment of the present invention. As shown in FIG. 4, on the basis of the foregoing embodiment, the process of releasing the ban method may include:
  • the server acquires a work area of the drone.
  • the ground control terminal directly sends the work area of the drone to the server after logging in the drone account;
  • the work area of the drone is stored in the server in advance by the staff. This application is not limited.
  • S402 The server acquires a working parameter of the drone when the working area of the drone and the fly-limited area have a coincident area.
  • the operating parameters of the drone may include one or more of the following: a historical operation duration of the drone, an activation duration of the login account corresponding to the drone, an area of the area requested to be released, and a duration of requesting the lifting.
  • the server before acquiring the operating parameters of the drone, the server receives the lifting application message sent by the ground control terminal after the drone enters the restricted flying area. The server obtains the operating parameters of the drone after receiving the application for lifting the ban.
  • the server receives the work area information of the drone sent by the ground control terminal.
  • the server actively judges whether the working area of the drone and the flight limited area have a coincident area according to the working area information of the drone, and obtains no if there is a coincident area between the working area of the drone and the fly-limited area.
  • the server determines whether the operating parameter of the drone meets the preset condition.
  • the operating parameters of the drone meet the preset conditions, which may refer to the duration of the historical operation of the drone, the activation time of the login account corresponding to the drone, the area of the area requested to be banned, and the combination of the length of the request for lifting the ban. Set conditions.
  • the area of the area requested for lifting the ban is less than or equal to the preset area
  • the duration of the historical operation of the drone is greater than or equal to the preset working time
  • the activation time of the corresponding login account of the drone is greater than or equal to the preset activation time
  • the length of the request for lifting the ban is less than or equal to the preset release time.
  • the server sends the release permission information to the ground control terminal when the operation parameter of the drone meets the preset condition.
  • the release permission information includes: a drone identifier, an identifier of the flight limited area, and a release time information of the flight limited area.
  • the ground control terminal controls the drone to fly in the flight limited area according to the lifting permission information.
  • the ground control terminal controls the drone to fly in the flight limited area according to the information such as the area and time indicated by the banned permission information.
  • FIG. 5 is a schematic structural diagram of a work area lifting and unblocking device of a drone according to an embodiment of the present invention, which may be integrated into a server.
  • the apparatus 500 includes a memory 501 and a processor 502.
  • the memory 501 is configured to store an instruction.
  • the processor 502 is configured to invoke an instruction in the memory 501 to perform the following method:
  • the dismantling permission information includes: the UAV identifier, the identifier of the flight limited area, and the release time information of the flight limited area.
  • the operating parameters of the unmanned aerial vehicle include one or more of the following: a history duration of the drone, an activation duration of the login account corresponding to the drone, an area of the area requested to be banned, and a time period for requesting the lifting of the ban .
  • the processor 502 is configured to receive, after the ground control terminal enters the flight limited area, the unblocking application message, where the unblocking application message includes: the unmanned aircraft identifier, the The identifier of the flight limited area; obtaining the operating parameters of the drone according to the unblocking application message.
  • the processor 502 is specifically configured to receive operation area information of the UAV sent by the ground control terminal, and determine the UAV according to the operation area information of the UAV. There is a coincidence area between the work area and the fly-limited area; and the operation parameters of the drone are obtained.
  • the processor 502 is further configured to acquire the limited flight area information in the working area of the drone in real time or timing, and store the limited flight area information.
  • the device is used to perform the foregoing method embodiments, and the implementation principle and technical effects are similar, and details are not described herein again.
  • FIG. 6 is a schematic structural diagram of a work area lifting and unblocking device of a drone according to another embodiment of the present invention, which may be integrated into the ground control end.
  • the apparatus 600 includes a memory 601, a processor 602, and a display 603.
  • the memory 601 is configured to store an instruction.
  • the processor 602 is configured to invoke an instruction in the memory 601 to perform the following method:
  • the display 603 is configured to display various data information and provide an operation interface and the like for the user.
  • the dismantling permission information includes: the UAV identifier, the identifier of the flight limited area, and the release time information of the flight limited area.
  • the operating parameters of the drone include one or more of the following: a history duration of the drone, an activation duration of the login account corresponding to the drone, an area requested to be banned, and a request The length of time for lifting the ban.
  • the processor 602 is further configured to: when determining that the drone enters the fly-limited area, send an unblocking application message to the server, where the unblocking application message includes: the drone identifier The identifier of the flight limited area.
  • the processor 602 is configured to: when determining that the UAV enters the flight limited area, whether the unblocking permission list includes the release permission information of the restricted flight area; After the release permission information of the flight limited area is included, the drone is controlled to fly in the flight limited area.
  • the device is used to perform the foregoing method embodiments, and the implementation principle and technical effects are similar, and details are not described herein again.
  • the foregoing program may be stored in a computer readable storage medium, and the program is executed when executed.
  • the foregoing steps include the steps of the foregoing method embodiments; and the foregoing storage medium includes: a medium that can store program codes, such as a ROM, a RAM, a magnetic disk, or an optical disk.

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Abstract

本申请实施例提供一种无人机的作业区域解禁方法、装置及系统，该方法包括：服务器在所述无人机的作业区域与限飞区域存在重合区域时，获取所述无人机的作业参数；服务器在所述无人机的作业参数满足预设条件时，向所述地面控制端发送解禁许可信息。实现了在无人机的作业区域与限飞区域存在重合区域时，可以根据无人机的作业参数是否满足预设条件来确定是否解禁，如果满足预设条件就直接解禁，大大提高了无人机作业时效。

Description

无人机的作业区域解禁方法、装置及系统 技术领域
本发明涉及无人机技术，尤其涉及一种无人机的作业区域解禁方法、装置及系统。
背景技术
随着无人机技术的不断发展，无人机在越来越多的领域被应用。其中，无人机的出现，农业生产领域的劳动力得到了进一步地解放。
如今的无人机，可以在农业领域执行农药、化肥喷洒，可以监测农田信息，还可以进行灾害勘察等作业。在使用无人机进行作业之前，会先规划作业区域，有时候规划的作业区域会与限飞区域存在重合。现有技术中，如果规划的作业区域会与限飞区域存在重合，需要向有关部分提交审批报告，审批通过后再开始作业。
但是，无人机所要执行的作业一般都具有较高的时效性，如果采用现有技术，效率低下，会错过无人机的有效作业时间。
发明内容
本发明提供一种无人机的作业区域解禁方法、装置及系统，用于提高无人机作业效率。
第一方面，本发明提供一种无人机的作业区域解禁方法，无人机由地面控制端控制，所述方法包括：
所述服务器在所述无人机的作业区域与限飞区域存在重合区域时，获取所述无人机的作业参数；
所述服务器在所述无人机的作业参数满足预设条件时，向所述地面控制端发送解禁许可信息。
第二方面，本发明提供一种无人机的作业区域解禁方法，无人机由地面控制端控制，所述方法包括：
所述地面控制端接收服务器在无人机的作业参数满足预设条件时发送 的解禁许可信息；
所述地面控制端根据所述解禁许可信息，控制所述无人机在限飞区域飞行。
第三方面，本发明提供一种无人机的作业区域解禁方法，包括：
服务器在无人机的作业区域与限飞区域存在重合区域时，获取所述无人机的作业参数；
所述服务器在所述无人机的作业参数满足预设条件时，向所述地面控制端发送解禁许可信息；
所述地面控制端根据所述解禁许可信息，控制所述无人机在限飞区域飞行。
第四方面，本发明提供一种无人机的作业区域解禁装置，包括：存储器和处理器；
所述存储器用于存储指令，所述处理器用于调用所述存储器中的指令，执行下述方法：
在所述无人机的作业区域与限飞区域存在重合区域时，获取所述无人机的作业参数；在所述无人机的作业参数满足预设条件时，向所述地面控制端发送解禁许可信息。
第五方面，本发明提供一种无人机的作业区域解禁装置，包括：存储器、处理器和显示器；
所述存储器用于存储指令，所述处理器用于调用所述存储器中的指令，执行下述方法：
接收服务器在无人机的作业参数满足预设条件时发送的解禁许可信息；根据所述解禁许可信息，控制所述无人机在限飞区域飞行。
第六方面，本发明提供一种无人机的作业区域解禁系统，包括：无人机、地面控制端、服务器；
所述地面控制端用于控制所述无人机；
所述服务器包括如第四方面所述的服务器，所述地面控制端包括如第五方面所述的地面控制端。
本发明提供的无人机的作业区域解禁方法、装置及系统中，服务器在无人机的作业区域与限飞区域存在重合区域时，获取无人机的作业参数，服务 器在所述无人机的作业参数满足预设条件时，向所述地面控制端发送解禁许可信息。实现了在无人机的作业区域与限飞区域存在重合区域时，可以根据无人机的作业参数是否满足预设条件来确定是否解禁，如果满足预设条件就直接解禁，大大提高了无人机作业时效。
附图说明
图1为本发明提供的一种无人机的作业区域解禁系统架构示意图；
图2为本发明一实施例提供的无人机的作业区域解禁方法流程示意图；
图3为本发明另一实施例提供的无人机的作业区域解禁方法流程示意图；
图4为本发明另一实施例提供的无人机的作业区域解禁方法流程示意图；
图5为本发明一实施例提供的无人机的作业区域解禁装置结构示意图；
图6为本发明另一实施例提供的无人机的作业区域解禁装置结构示意图。
具体实施方式
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，本领域普通技术人员在没有做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。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
图1为本发明提供的一种无人机的作业区域解禁系统架构示意图。如图1所示，该系统包括：无人机01、地面控制端02以及服务器03。
其中，地面控制端可以包括如下至少一种：头戴式显示眼镜(VR眼镜、VR头盔等)、手机、遥控器(如带显示屏的遥控器)、智能手环、 平板电脑。本实施例以带显示屏的遥控器为例，说明地面控制端02与服务器03、无人机01之间的数据交互。
不同于现有的带显示屏的遥控器，本实施例提供的带显示屏的遥控器提供有用户界面。用户可通过该用户界面对无人机进行控制，遥控器根据用户对该用户界面的操作，确定用户输入的控制信息。
以上述无人机为农业无人机为例，该控制信息可以包括如下至少一种：喷洒流量控制信息，喷洒方向控制信息，飞行速度控制信息，飞行高度控制信息，喷头控制信息，航线间距控制信息，安全距离控制信息等。但本发明不以此为限。
无人机01在地面控制端02的控制下执行相关作业，并将作业中相关数据反馈到地面控制端02。地面控制端02将这些数据传输到服务器03，或者地面控制端02将处理后的出具传输到服务器03。
本发明为了提高无人机作业时效，提供一种无人机的作业区域解禁方法。
图2为本发明一实施例提供的无人机的作业区域解禁方法流程示意图，如图2所示，该方法包括：
S201、服务器在无人机的作业区域与限飞区域存在重合区域时，获取无人机的作业参数。
S202、服务器在所述无人机的作业参数满足预设条件时，向所述地面控制端发送解禁许可信息。
需要说明的是，可以预先申请并配置预设条件，如果遇到作业区域与限飞区域存在重合区域的情况，服务器可以判断无人机的作业参数是否满足预设条件，如果满足，就可以直接向地面控制端发送解禁许可信息。这样就无需每次作业区域与限飞区域存在重合区域时，都提交审批报告，大大提高了无人机作业时效。
本实施例中，服务器在无人机的作业区域与限飞区域存在重合区域时，获取无人机的作业参数，服务器在所述无人机的作业参数满足预设条件时，向所述地面控制端发送解禁许可信息。实现了在无人机的作业区域与限飞区域存在重合区域时，可以根据无人机的作业参数是否满足预设条件来确定是否解禁，如果满足预设条件就直接解禁，大大提高了无人机作业时效。
可选地，上述解禁许可信息可以包括：无人机标识、限飞区域的标识、 限飞区域的解禁时间信息。
需要说明的是，无人机标识可以是无人机的编号、代码等，也可以是无人机的登录账号。具体地，连网后，地面控制端通过应用程序(APP)登录该无人机的账号。例如，地面控制端向服务器发送登录信息，该登录信息包括：无人机的账号和密码。
每个限飞区域也有不同的标识，例如预先给每个限飞区域分配编号或代码等标识，服务器中存储每个限飞区域的标识、以及限飞区域的标识对应的限飞区域的位置信息。具体地，限飞区域的位置信息可以由坐标信息来记录，本发明不作具体限定。
限飞区域的解禁时间信息，用于指示限飞区域被解禁的时间段，即该无人机可以在该限飞区域作业的时间段。可选地，限飞区域的解禁时间信息包括：解禁起始时间点和解禁时长；或者，限飞区域的解禁时间信息包括：解禁起始时间点和解禁终止时间点。本发明不具体限定。
进一步地，上述无人机的作业参数可以包括下述一项或多项：无人机的历史作业时长、无人机对应登录账号的激活时长、请求解禁的区域面积、请求解禁的时长。
服务器按照地面控制端登录的无人机账号，记录每个无人机的作业时长。无人机的历史作业时长为上述无人机累计的总作业时长。
无人机对应登录账号首次登录时进行激活，无人机对应登录账号的激活时长指无人机对应登录账号从首次激活到目前服务器获取无人机的作业参数时的总时间长度。
请求解禁的区域面积，可以小于或等于“无人机的作业区域与限飞区域存在重合区域”。例如，无人机的作业区域与限飞区域存在重合区域较大时，可以分多次解禁。假设无人机的作业区域与限飞区域存在重合区域有400亩，而预设条件限定了一天最多解禁200亩，那么就可以分两天作业，每天申请解禁200亩。
请求解禁的时长，小于或等于预设条件中规定的：每天允许解禁的时间长度。
无人机的作业参数满足预设条件，可以指无人机的历史作业时长、无人机对应登录账号的激活时长、请求解禁的区域面积、请求解禁的时长中一项 或多项组合满足预设条件。
例如：请求解禁的区域面积小于或等于预设面积、无人机的历史作业时长大于或等于预设作业时长、无人机对应登录账号的激活时长大于或等于预设激活时长、请求解禁的时长小于或等于预设解禁时长。
另外，上述服务器可以主动确定无人机的作业区域是否与限飞区域存在重合区域，也可以是在地面控制端请求解禁时再确定。
一实施例中，服务器接收地面控制端在无人机进入限飞区域后发送的解禁申请消息。
该解禁申请消息包括：无人机标识、限飞区域的标识。
进而服务器根据该解禁申请消息，获取所述无人机的作业参数。
即本实施例中，地面控制端在监控到无人机进入限飞区域后，主动向服务器发送解禁申请消息，在解禁申请消息中告知服务器所进入限飞区域的标识。服务器收到解禁申请消息后，获取无人机的作业参数，并进一步判断是否满足预设条件。
另一实施例中，服务器接收地面控制端发送的无人机的作业区域信息。可选地，地面控制端通过APP登录无人机账号后，就可以将预先规划好的无人机的作业区域传输给服务器。
服务器主动进行判断，即根据无人机的作业区域信息，确定无人机的作业区域与限飞区域是否存在重合区域，在无人机的作业区域与限飞区域存在重合区域时，获取无人机的作业参数。若无人机的作业参数满足预设条件，就直接发送解禁许可信息，地面控制端将解禁许可信息存储起来，例如存储在解禁凭证列表中。
本实施例中，地面控制端可以实时或定时刷新解禁凭证列表中是否存储有解禁许可信息。这样如果地面控制端未连网，但是提前收到了解禁许可信息，也可以顺利进行作业。
进一步地，在上述实施例的基础上，服务器还可以实时或定时获取无人机的作业区域内的限飞区域信息，并存储该限飞区域信息。
具体实现时，可以由用户手动输入限飞区域信息，也可以是服务器通过网络获取相关的限飞区域信息。并根据地面控制端同步的无人机的作业区域，监控无人机的作业区域内那些部分是限飞区域。
图3为本发明另一实施例提供的无人机的作业区域解禁方法流程示意图，与图2所示的实施例相对应，如图3所示，该方法包括：
S301、地面控制端接收服务器在无人机的作业参数满足预设条件时发送的解禁许可信息。
S302、地面控制端根据解禁许可信息，控制该无人机在限飞区域飞行。
可选地，解禁许可信息包括：无人机标识、限飞区域的标识、限飞区域的解禁时间信息。
地面控制端根据解禁许可信息指示的区域、时间等信息，控制无人机在限飞区域飞行。
本实施例中，地面控制端接收服务器在无人机的作业参数满足预设条件时发送的解禁许可信息，根据解禁许可信息，控制该无人机在限飞区域飞行。实现了在无人机的作业区域与限飞区域存在重合区域时，可以根据无人机的作业参数是否满足预设条件来确定是否解禁，如果满足预设条件就直接解禁，大大提高了无人机作业时效。
与前述实施例相应地，无人机的作业参数包括下述一项或多项：所述无人机的历史作业时长、所述无人机对应登录账号的激活时长、请求解禁的区域面积、请求解禁的时长。
一种实施例中，地面控制端接收服务器在无人机的作业参数满足预设条件时发送的解禁许可信息之前，地面控制端在确定所述无人机进入所述限飞区域时，向所述服务器发送解禁申请消息。
可选地，解禁申请消息包括：无人机标识、限飞区域的标识。
另一种实施例中，地面控制端在确定所述无人机进入所述限飞区域时，查看解禁凭证列表中是否包含所述限飞区域的解禁许可信息。若在解禁凭证列表中包含所述限飞区域的解禁许可信息后，控制所述无人机在限飞区域飞行。
图4为本发明另一实施例提供的无人机的作业区域解禁方法流程示意图，如图4所示，在上述实施例的基础上，解禁方法的过程可以包括：
S401、服务器获取无人机的作业区域。
可选地，地面控制端在登录无人机账号后就直接向服务器发送无人机的作业区域；或者，
由工作人员预先将无人机的作业区域存储在服务器中。本申请不作限制。
S402、服务器在无人机的作业区域与限飞区域存在重合区域时，获取无人机的作业参数。
可选地，上述无人机的作业参数可以包括下述一项或多项：无人机的历史作业时长、无人机对应登录账号的激活时长、请求解禁的区域面积、请求解禁的时长。
一种方式中，获取所述无人机的作业参数之前，服务器接收地面控制端在无人机进入限飞区域后发送的解禁申请消息。服务器收到解禁申请消息后获取无人机的作业参数。
或者，另一种方式中，服务器接收地面控制端发送的无人机的作业区域信息。服务器主动进行判断，即根据无人机的作业区域信息，确定无人机的作业区域与限飞区域是否存在重合区域，在确定无人机的作业区域与限飞区域存在重合区域时，获取无人机的作业参数。
S403、服务器确定无人机的作业参数是否满足预设条件。
无人机的作业参数满足预设条件，可以指无人机的历史作业时长、无人机对应登录账号的激活时长、请求解禁的区域面积、请求解禁的时长中一项或多项组合满足预设条件。
例如：请求解禁的区域面积小于或等于预设面积、无人机的历史作业时长大于或等于预设作业时长、无人机对应登录账号的激活时长大于或等于预设激活时长、请求解禁的时长小于或等于预设解禁时长。
S404、服务器在无人机的作业参数满足预设条件时，向地面控制端发送解禁许可信息。
可选地，解禁许可信息包括：无人机标识、限飞区域的标识、限飞区域的解禁时间信息。
S405、地面控制端根据所述解禁许可信息，控制所述无人机在限飞区域飞行。
地面控制端根据解禁许可信息指示的区域、时间等信息，控制无人机在限飞区域飞行。
图5为本发明一实施例提供的无人机的作业区域解禁装置结构示意图， 该装置可以集成于服务器。如图5所示，该装置500包括：存储器501和处理器502。
存储器501，用于存储指令。
处理器502，用于调用存储器501中的指令，执行下述方法：
在所述无人机的作业区域与限飞区域存在重合区域时，获取所述无人机的作业参数；在所述无人机的作业参数满足预设条件时，向所述地面控制端发送解禁许可信息。
可选地，所述解禁许可信息包括：所述无人机标识、所述限飞区域的标识、所述限飞区域的解禁时间信息。
另外，上述无人机的作业参数包括下述一项或多项：所述无人机的历史作业时长、所述无人机对应登录账号的激活时长、请求解禁的区域面积、请求解禁的时长。
一种实施例中，处理器502，具体用于接收所述地面控制端在无人机进入限飞区域后发送的解禁申请消息，所述解禁申请消息包括：所述无人机标识、所述限飞区域的标识；根据所述解禁申请消息，获取所述无人机的作业参数。
另一种实施例中，处理器502，具体用于接收所述地面控制端发送的所述无人机的作业区域信息；根据所述无人机的作业区域信息，确定所述无人机的作业区域与限飞区域存在重合区域；获取所述无人机的作业参数。
可选地，处理器502，还用于实时或定时获取所述无人机的作业区域内的限飞区域信息，并存储所述限飞区域信息。
该装置用于执行前述方法实施例，其实现原理和技术效果类似，在此不再赘述。
图6为本发明另一实施例提供的无人机的作业区域解禁装置结构示意图，该装置可以集成于上述地面控制端。如图6所示，该装置600包括：存储器601、处理器602和显示器603。
存储器601，用于存储指令。
处理器602，用于调用存储器601中的指令，执行下述方法：
接收服务器在无人机的作业参数满足预设条件时发送的解禁许可信息；根据所述解禁许可信息，控制所述无人机在限飞区域飞行。
显示器603，用于显示各种数据信息，并为用户提供操作界面等。
可选地，所述解禁许可信息包括：所述无人机标识、所述限飞区域的标识、所述限飞区域的解禁时间信息。
可选地，所述无人机的作业参数包括下述一项或多项：所述无人机的历史作业时长、所述无人机对应登录账号的激活时长、请求解禁的区域面积、请求解禁的时长。
一种实施方式中，处理器602，还用于在确定所述无人机进入所述限飞区域时，向所述服务器发送解禁申请消息，所述解禁申请消息包括：所述无人机标识、所述限飞区域的标识。
另一种实施方式中，处理器602，具体用于在确定所述无人机进入所述限飞区域时，查看解禁凭证列表中是否包含所述限飞区域的解禁许可信息；在解禁凭证列表中包含所述限飞区域的解禁许可信息后，控制所述无人机在限飞区域飞行。
该装置用于执行前述方法实施例，其实现原理和技术效果类似，在此不再赘述。
本领域普通技术人员可以理解：实现上述方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成，前述的程序可以存储于一计算机可读取存储介质中，该程序在执行时，执行包括上述方法实施例的步骤；而前述的存储介质包括：ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各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，或者对其中部分或者全部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范围。

Claims (28)

  1. 一种无人机的作业区域解禁方法，其特征在于，无人机由地面控制端控制，所述方法包括：
    所述服务器在所述无人机的作业区域与限飞区域存在重合区域时，获取所述无人机的作业参数；
    所述服务器在所述无人机的作业参数满足预设条件时，向所述地面控制端发送解禁许可信息。
  2. 根据权利要求1所述的方法，其特征在于，所述解禁许可信息包括：所述无人机标识、所述限飞区域的标识、所述限飞区域的解禁时间信息。
  3. 根据权利要求1所述的方法，其特征在于，所述无人机的作业参数包括下述一项或多项：所述无人机的历史作业时长、所述无人机对应登录账号的激活时长、请求解禁的区域面积、请求解禁的时长。
  4. 根据权利要求1-3任一项所述的方法，其特征在于，所述服务器在所述无人机的作业区域与限飞区域存在重合区域时，获取所述无人机的作业参数，包括：
    服务器接收所述地面控制端在无人机进入限飞区域后发送的解禁申请消息，所述解禁申请消息包括：所述无人机标识、所述限飞区域的标识；
    所述服务器根据所述解禁申请消息，获取所述无人机的作业参数。
  5. 根据权利要求1-3任一项所述的方法，其特征在于，所述服务器在所述无人机的作业区域与限飞区域存在重合区域时，获取所述无人机的作业参数，包括：
    所述服务器接收所述地面控制端发送的所述无人机的作业区域信息；
    所述服务器根据所述无人机的作业区域信息，确定所述无人机的作业区域与限飞区域存在重合区域；
    所述服务器获取所述无人机的作业参数。
  6. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    所述服务器实时或定时获取所述无人机的作业区域内的限飞区域信息，并存储所述限飞区域信息。
  7. 一种无人机的作业区域解禁方法，其特征在于，无人机由地面控制 端控制，所述方法包括：
    所述地面控制端接收服务器在无人机的作业参数满足预设条件时发送的解禁许可信息；
    所述地面控制端根据所述解禁许可信息，控制所述无人机在限飞区域飞行。
  8. 根据权利要求7所述的方法，其特征在于，所述解禁许可信息包括：所述无人机标识、所述限飞区域的标识、所述限飞区域的解禁时间信息。
  9. 根据权利要求7所述的方法，其特征在于，所述无人机的作业参数包括下述一项或多项：所述无人机的历史作业时长、所述无人机对应登录账号的激活时长、请求解禁的区域面积、请求解禁的时长。
  10. 根据权利要求7-9任一项所述的方法，其特征在于，所述地面控制端接收服务器在无人机的作业参数满足预设条件时发送的解禁许可信息之前，还包括：
    所述地面控制端在确定所述无人机进入所述限飞区域时，向所述服务器发送解禁申请消息，所述解禁申请消息包括：所述无人机标识、所述限飞区域的标识。
  11. 根据权利要求7-9任一项所述的方法，其特征在于，所述地面控制端根据所述解禁许可信息，控制所述无人机在限飞区域飞行，包括：
    所述地面控制端在确定所述无人机进入所述限飞区域时，查看解禁凭证列表中是否包含所述限飞区域的解禁许可信息；
    所述地面控制端在解禁凭证列表中包含所述限飞区域的解禁许可信息后，控制所述无人机在限飞区域飞行。
  12. 一种无人机的作业区域解禁方法，其特征在于，包括：
    服务器在无人机的作业区域与限飞区域存在重合区域时，获取所述无人机的作业参数；
    所述服务器在所述无人机的作业参数满足预设条件时，向所述地面控制端发送解禁许可信息；
    所述地面控制端根据所述解禁许可信息，控制所述无人机在限飞区域飞行。
  13. 根据权利要求12所述的方法，其特征在于，所述解禁许可信息包括： 所述无人机标识、所述限飞区域的标识、所述限飞区域的解禁时间信息。
  14. 根据权利要求12所述的方法，其特征在于，所述无人机的作业参数包括下述一项或多项：所述无人机的历史作业时长、所述无人机对应登录账号的激活时长、请求解禁的区域面积、请求解禁的时长。
  15. 根据权利要求12-14任一项所述的方法，其特征在于，所述方法还包括：
    所述地面控制端在确定所述无人机进入所述限飞区域时，向所述服务器发送解禁申请消息，所述解禁申请消息包括：所述无人机标识、所述限飞区域的标识；
    相应地，所述服务器在无人机的作业区域与限飞区域存在重合区域时，获取所述无人机的作业参数，包括：
    所述服务器根据所述解禁申请消息，获取所述无人机的作业参数。
  16. 根据权利要求12-14任一项所述的方法，其特征在于，所述方法还包括：
    所述地面控制端向所述服务器发送所述无人机的作业区域信息；
    所述服务器在无人机的作业区域与限飞区域存在重合区域时，获取所述无人机的作业参数，包括：
    所述服务器根据所述无人机的作业区域信息，确定所述无人机的作业区域与限飞区域存在重合区域；
    所述服务器获取所述无人机的作业参数。
  17. 一种无人机的作业区域解禁装置，其特征在于，包括：存储器和处理器；
    所述存储器用于存储指令，所述处理器用于调用所述存储器中的指令，执行下述方法：
    在所述无人机的作业区域与限飞区域存在重合区域时，获取所述无人机的作业参数；在所述无人机的作业参数满足预设条件时，向所述地面控制端发送解禁许可信息。
  18. 根据权利要求17所述的装置，其特征在于，所述解禁许可信息包括：所述无人机标识、所述限飞区域的标识、所述限飞区域的解禁时间信息。
  19. 根据权利要求17所述的装置，其特征在于，所述无人机的作业参数包括下述一项或多项：所述无人机的历史作业时长、所述无人机对应登录账号的激活时长、请求解禁的区域面积、请求解禁的时长。
  20. 根据权利要求17-19任一项所述的装置，其特征在于，所述处理器，具体用于接收所述地面控制端在无人机进入限飞区域后发送的解禁申请消息，所述解禁申请消息包括：所述无人机标识、所述限飞区域的标识；根据所述解禁申请消息，获取所述无人机的作业参数。
  21. 根据权利要求17-19任一项所述的装置，其特征在于，所述处理器，具体用于接收所述地面控制端发送的所述无人机的作业区域信息；根据所述无人机的作业区域信息，确定所述无人机的作业区域与限飞区域存在重合区域；获取所述无人机的作业参数。
  22. 根据权利要求17所述的装置，其特征在于，所述处理器，还用于实时或定时获取所述无人机的作业区域内的限飞区域信息，并存储所述限飞区域信息。
  23. 一种无人机的作业区域解禁装置，其特征在于，包括：存储器、处理器和显示器；
    所述存储器用于存储指令，所述处理器用于调用所述存储器中的指令，执行下述方法：
    接收服务器在无人机的作业参数满足预设条件时发送的解禁许可信息；根据所述解禁许可信息，控制所述无人机在限飞区域飞行。
  24. 根据权利要求23所述的装置，其特征在于，所述解禁许可信息包括：所述无人机标识、所述限飞区域的标识、所述限飞区域的解禁时间信息。
  25. 根据权利要求23所述的装置，其特征在于，所述无人机的作业参数包括下述一项或多项：所述无人机的历史作业时长、所述无人机对应登录账号的激活时长、请求解禁的区域面积、请求解禁的时长。
  26. 根据权利要求23-25任一项所述的装置，其特征在于，所述处理器，还用于在确定所述无人机进入所述限飞区域时，向所述服务器发送解禁申请消息，所述解禁申请消息包括：所述无人机标识、所述限飞区域的标识。
  27. 根据权利要求23-25任一项所述的装置，其特征在于，所述处理器，具体用于在确定所述无人机进入所述限飞区域时，查看解禁凭证列表中是否 包含所述限飞区域的解禁许可信息；在解禁凭证列表中包含所述限飞区域的解禁许可信息后，控制所述无人机在限飞区域飞行。
  28. 一种无人机的作业区域解禁系统，其特征在于，包括：无人机、地面控制端、服务器；
    所述地面控制端用于控制所述无人机；
    所述服务器包括如权利要求17-22任一项所述的装置；所述地面控制端包括如权利要求23-27任一项所述的装置。
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