WO2019127486A1 - 无人机控制方法和装置 - Google Patents

无人机控制方法和装置 Download PDF

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Publication number
WO2019127486A1
WO2019127486A1 PCT/CN2017/120199 CN2017120199W WO2019127486A1 WO 2019127486 A1 WO2019127486 A1 WO 2019127486A1 CN 2017120199 W CN2017120199 W CN 2017120199W WO 2019127486 A1 WO2019127486 A1 WO 2019127486A1
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WO
WIPO (PCT)
Prior art keywords
drone
flight
license
data
license data
Prior art date
Application number
PCT/CN2017/120199
Other languages
English (en)
French (fr)
Inventor
耿畅
周鸿柱
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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 PCT/CN2017/120199 priority Critical patent/WO2019127486A1/zh
Priority to CN201780016366.XA priority patent/CN108780459A/zh
Publication of WO2019127486A1 publication Critical patent/WO2019127486A1/zh
Priority to US16/915,209 priority patent/US20210082293A1/en

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Classifications

    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0004—Transmission of traffic-related information to or from an aircraft
    • G08G5/0013—Transmission of traffic-related information to or from an aircraft with a ground station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0017—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information
    • G08G5/0026—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located on the ground
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0052—Navigation or guidance aids for a single aircraft for cruising
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/006—Navigation or guidance aids for a single aircraft in accordance with predefined flight zones, e.g. to avoid prohibited zones
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L63/00—Network architectures or network communication protocols for network security
    • H04L63/12—Applying verification of the received information
    • H04L63/123—Applying verification of the received information received data contents, e.g. message integrity
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L9/00—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols
    • H04L9/08—Key distribution or management, e.g. generation, sharing or updating, of cryptographic keys or passwords
    • H04L9/088—Usage controlling of secret information, e.g. techniques for restricting cryptographic keys to pre-authorized uses, different access levels, validity of crypto-period, different key- or password length, or different strong and weak cryptographic algorithms
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L9/00—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols
    • H04L9/32—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials
    • H04L9/3247—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials involving digital signatures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L2209/00—Additional information or applications relating to cryptographic mechanisms or cryptographic arrangements for secret or secure communication H04L9/00
    • H04L2209/84—Vehicles
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L63/00—Network architectures or network communication protocols for network security
    • H04L63/04—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks
    • H04L63/0428—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks wherein the data content is protected, e.g. by encrypting or encapsulating the payload

Definitions

  • the invention relates to the field of UAV control, and in particular to a UAV control method and device.
  • the restricted flight zone includes a fixed flight zone and a temporary flight zone.
  • the fixed flight limited area includes sensitive areas such as airports, prisons, and nuclear power plants, which do not change the nature of flight restrictions over time.
  • the temporary flight-limited zone is generally divided by events such as competitions, political activities or fires. Unlike the fixed-limit zone, the temporary flight zone is only time-effective and will not take effect until the specified period of validity. .
  • the ability of the drone to obtain the flight-limited data in time is one of the necessary conditions for the safe flight of the drone.
  • the method for realizing the time limit of the flight limited area is determined by the terminal (specifically, the APP installed on the terminal). Specifically, the terminal determines the timeliness of the flight-limited zone while obtaining the flight-deficient database.
  • the data in the flight-limited database obtained is bound to play a limiting role, and the drone does not need any other. Judging, the data can be taken out directly from the database to limit flight.
  • the drone end logic is simple, and the amount of data transmitted from the terminal to the drone can be reduced.
  • the flight-defining zone will always take effect inside the drone.
  • the invention provides a drone control method and device.
  • a drone control method the drone configuring a limited fly database, the method comprising:
  • the flight of the drone is controlled according to the update data of the flight limit database.
  • a drone control apparatus comprising: a first storage device and one or more first processors, one or more of said first processors operating separately or collectively;
  • the first storage device is configured to store a flight limited database and program instructions
  • the first processor the program instruction is invoked, when the program instruction is executed, for:
  • the flight of the drone is controlled according to the update data of the flight limit database.
  • a drone control method comprising:
  • a drone control apparatus comprising: a second storage device and one or more second processors, one or more of said second processors operating separately or collectively;
  • the second storage device is configured to store a flight limited database and program instructions
  • the second processor the program instruction is invoked, when the program instruction is executed, for:
  • a drone control method comprising:
  • the server Receiving, by the server, the license data of the current drone issued by the unblocking request, where the unblocking request carries the user identifier of the current requesting user and the drone identifier of the current drone, and the license data includes at least one license package , each license package is used to permit the lifting of the specific functions of the drone;
  • the flight of the drone is controlled based on the parsed license data.
  • a drone control apparatus comprising: a first storage device and one or more first processors, one or more of said first processors operating separately or collectively;
  • the first storage device is configured to store a flight limited database and program instructions
  • the first processor the program instruction is invoked, when the program instruction is executed, for:
  • the server Receiving, by the server, the license data of the current drone issued by the unblocking request, where the unblocking request carries the user identifier of the current requesting user and the drone identifier of the current drone, and the license data includes at least one license package , each license package is used to permit the lifting of the specific functions of the drone;
  • the flight of the drone is controlled based on the parsed license data.
  • a drone control method comprising:
  • the release request carries a user identifier of the current requesting user and a drone identifier of the current drone;
  • license data for the unblocking request, the license data including at least one license package, each license package for permitting the specific function of the unmanned drone to be released;
  • the license data is delivered to the current drone.
  • a drone control apparatus comprising: a second storage device and one or more second processors, one or more of said second processors operating separately or collectively;
  • the second storage device is configured to store a flight limited database and program instructions
  • the second processor the program instruction is invoked, when the program instruction is executed, for:
  • the release request carries a user identifier of the current requesting user and a drone identifier of the current drone;
  • license data for the unblocking request, the license data including at least one license package, each license package for permitting the specific function of the unmanned drone to be released;
  • the license data is delivered to the current drone.
  • a drone control method comprising:
  • the license data including at least one license package, each license package being used to permit a specific function of the unmanned drone;
  • a drone control apparatus includes: a third storage device and one or more third processors, one or more of the second processors operating separately or collectively;
  • the third storage device is configured to store a flight limit database and program instructions
  • the third processor the program instruction is invoked, when the program instruction is executed, for:
  • the license data including at least one license package, each license package for permitting to ban the specific function of the drone;
  • the present invention is judged by the effectiveness of the flight limited database by the UAV terminal, and the UAV's flight limited database can still be saved according to the previously saved limit even if it is not updated in time.
  • the validity of the temporary flight zone in the fly database is used to control the flight of the drone and ensure the safety of the drone.
  • FIG. 1 is a block diagram showing the structure of an unmanned aerial vehicle system according to an embodiment of the present invention
  • FIG. 2 is a block diagram showing the structure of a drone system in another embodiment of the present invention.
  • 3 is a flow chart of the drone control method on the side of the drone according to an embodiment of the present invention.
  • FIG. 4 is a schematic view showing the flight of a drone according to an embodiment of the present invention.
  • 5A is a flow chart of a drone control method on a drone side in another embodiment of the present invention.
  • FIG. 5B is a flowchart of a function of a user applying for lifting a ban on a drone according to an embodiment of the present invention
  • 5C is a flowchart of a function of a user applying for lifting a ban on a drone according to another embodiment of the present invention.
  • FIG. 6 is a flow chart of a drone control method on a server side according to an embodiment of the present invention.
  • FIG. 7 is a flow chart of a drone control method on a server side in another embodiment of the present invention.
  • Figure 8 is a block diagram showing the structure of a drone system in still another embodiment of the present invention.
  • Figure 9 is a block diagram showing the structure of a drone system in still another embodiment of the present invention.
  • Figure 10 is a flow chart of the drone control method on the terminal side in an embodiment of the present invention.
  • Figure 11 is a flow chart showing the drone control method on the terminal side in another embodiment of the present invention.
  • the drone 100 is in a networked state, and the drone 100 can be directly in communication with the server 200 without the transfer of the terminal 300.
  • networking refers to connecting a device to a local area network through wireless means such as wifi or base station.
  • the drone 100 is in an unconnected state, and the drone 100 needs to implement a communication connection with the server 200 by controlling the terminal 300 of the drone 100.
  • the unmanned network 100 is in an unconnected state, that is, the drone 100 itself is not networked, or the drone 100 itself is networkable, but the drone 100 is inconvenient to network at the current time.
  • the terminal 300 can implement a communication connection with the drone 100 by means of networking or remote control switching.
  • the terminal 300 may be a device installed with an APP (application software), such as a smart device such as a mobile phone or a tablet computer.
  • APP application software
  • the server 200 of the embodiment is configured with at least a dynamic flight limit database for storing temporary flight zone information (for example, range information of the temporary flight zone).
  • the server 200 is further configured with a static flight limit database for storing and fixing. Information on the restricted zone (for example, the range information of the fixed flight zone).
  • a static flight limit database and a dynamic flight limit database in the server 200, the fixed flight limited area information and the temporary flight limited area information are respectively saved, and the fixed flight limited area is changed slowly, and the temporary limited flight area is changed.
  • the setting of the dynamic flight limit database and the static flight limit database can facilitate the selection of the updated data to prevent the drone 100 or the ground end device from updating each time.
  • the amount of data is too large.
  • the form of storing the data in the server 200 by the dynamic flight limit database and the static flight limit database is not limited.
  • the drone 100 needs to acquire the flight limited data.
  • the drone 100 and the flight limited data are obtained directly from the server 200.
  • the terminal 300 obtains the flight limited data directly from the server 200 and forwards the flight limited data to the drone 100.
  • Embodiment 1 of the present invention provides a drone control method.
  • FIG. 3 is a flowchart of a method for controlling a drone according to Embodiment 1 of the present invention.
  • the execution body of the method is a drone 100, for example, a flight controller of the drone 100 or other processor provided on the drone 100.
  • the drone 100 is configured with a dynamic flight limit database and a static flight limit database.
  • the dynamic flight limit database can conveniently store the obtained temporary flight zone information and facilitate the frequent update of the temporary flight zone information.
  • the drone 100 of the embodiment may include a buffer area, such as an EEPROM (Electrically Erasable Programmable Read-Only Memory), and the fly-limited database is stored in the buffer area, thereby facilitating the upgrade of the fly-limited database.
  • the static flight limit database is used to save the fixed flight limited area information, thereby ensuring the safe flight of the drone 100 in all aspects.
  • the drone 100 of the present embodiment may further include a fixed storage area. Since the static limit flight database changes slowly, the static flight limit database of this embodiment is stored in the fixed storage area.
  • the static flight limit database can be directly configured in the drone 100 when the drone 100 is shipped from the factory. After the drone 100 is shipped from the factory, if the static flight limit database of the server 200 changes or other reasons need to update the static flight limit database of the drone 100, the static flight limited database of the drone 100 can be updated by firmware update or the like. . It should be noted that, in the embodiment of the present invention, the form of the limited flight database and the static flight limited database stored in the drone 100 is not limited.
  • the fixed flight limited area information and the temporary flight limited area information are respectively saved, and the fixed flight limited area is changed slowly, and the temporary limited flight area is changed.
  • the more frequent feature is that when the drone 100 needs to update the flight limited data, only one of the dynamic flight limited database and the static flight limited database can be selected to prevent the drone 100 from updating too much data each time.
  • the dynamic flight limit database and the static flight limit database can also be updated simultaneously to ensure the integrity of the flight limited data, thereby ensuring the safety of the drone 100 flight.
  • the drone control method may include the following steps:
  • Step 301 The update data of the flight limited database returned by the server 200 for the update request, where the update request carries the current location information of the drone 100;
  • the update request may be sent by the terminal 300 to the server 200 or may be sent by the drone 100 to the server 200.
  • an update request is sent by the terminal 300 to the server 200.
  • Step S301 specifically includes: receiving update data of the flight limited database returned by the server 200 transparently transmitted by the terminal 300 for the update request.
  • the terminal 300 does not perform the validity judgment on the update data of the fly-limited database that is sent by the server 200 to the terminal 300, but directly delivers the server 200 to the flight-limited database of the terminal 300 in a transparent manner.
  • the update data is sent to the drone 100, and the drone 100 determines the update data of the flight limited database, thereby improving the safety of the drone 100 flight.
  • the update request is sent directly by the drone 100 to the server 200.
  • the server 200 directly delivers the update data of the flight limited database to the drone 100.
  • the server 200 parses the current location information of the drone 100 from the update request, and directly directly compares the server 200 according to the current location information of the drone 100.
  • the latest limited flight database is delivered to the drone 100, or the update data of the flight limited database of the drone 100 corresponding to the current location information is filtered from the dynamic update database of the server 200 and fed back to the
  • the man machine 100 is such that the drone 100 obtains flight limited data around the current location, ensuring the safety of the drone 100 flying.
  • the server 200 may directly send the update data of the flight limited database to the drone 100, or may transparently transmit the update data of the flight limited database to the drone 100 via the terminal 300.
  • the transmission mode of the update data of the flight limited database can be determined according to the networked state of the drone 100. For example, when the drone 100 is in a networked state, the server 200 directly sends the update data of the flight limited database to the drone 100. When the drone 100 is in an unconnected state, the server 200 transmits the update data of the flight limited database to the drone 100 via the terminal 300.
  • the update method of the flight limited database can be divided into the following two cases: In some examples, the fly-limited database of the drone 100 has saved limited flight data, and the drone 100 is limited to fly. The update data of the database is used to replace the limited flight data saved by the flight limited database of the drone 100. In some examples, the flight limited database of the drone 100 does not store any data information, and the updated data of the flight limited database of the drone 100 is directly saved to the flight limited database.
  • the flight limited database is a dynamic flight limited database.
  • the flight limited database does not distinguish between a dynamic flight limit database and a static flight limit database
  • the flight limit database may include a dynamic flight limit database and a static flight limit database
  • the update data of the dynamic data obtained in step 301 is all temporary restricted zone information in a large area, for example, all the temporary flight zone information in the country where the drone 100 is currently located, and the drone 100. All temporary flight zone information in the province where the current location is located, and all temporary flight zone information within 20km from the current location of the drone 100.
  • the update data of the flight limited database includes range information and an expiration date of at least one temporary flight limited zone.
  • the range information of the temporary flight limited zone is a parameter used to determine the flight limited range of the temporary flight restricted zone.
  • the range information of the temporary flight limited zone may be edge information of the temporary flight limited zone.
  • the range information of the temporary flight limited zone may be a central location of the temporary flight limited zone and a radius size.
  • the range information of the temporary flight limited area may also be other parameters that can determine the limited flight range of the temporary limited flight area, and the performance of the range information of the temporary limited flight area may be selected according to the shape of the temporary limited flight area. form.
  • the temporary flight limited area is a regular circular shape, and the range information of the circular temporary flight limited area can be represented by the edge information of the temporary flight limited area, and the center position and the radius of the temporary limited flight area can also be used. To represent.
  • the temporary flight limited area is in an irregular shape, the range information of the irregular temporary flight limited area may be represented by edge information of the temporary limited flight area.
  • the expiration date of the temporary flight limited zone includes a start time and an end time.
  • the temporary flight limited zone is in effect during the time period between the start time and the end time, and the drone 100 is prohibited from flying in the temporary flight limited zone. Before or after the start time, the temporary flight limited area fails, and the drone 100 can fly in the temporary flight limited area.
  • the update data of the flight limited database of the drone 100 is determined based on the location information, and the data amount of the update data of the flight limited database of the requested drone 100 can also be prevented from being excessively large.
  • the current location information of the drone 100 may be acquired by the GPS module on the drone 100 or may be obtained by the terminal 300.
  • the location information can be latitude and longitude.
  • the representation of the location information is not limited to latitude and longitude.
  • the location information may be other parameters capable of indicating location, such as administrative area information.
  • Step 302 When it is determined that the update data of the flight limit database satisfies a specific condition, control the flight of the drone 100 according to the update data of the flight limit database.
  • the effectiveness of the flight limited database is completed by the UAV 100. If the flight limited database of the UAV 100 is not updated in time, the UAV 100 can still use the temporary flight limited area in the previously saved flight limited database. The validity of the drone 100 is controlled to ensure the safety of the drone 100.
  • the method for determining the validity of the flight-defining database may include multiple types. For example, in an embodiment, determining that the update data of the flight-defining database meets a specific condition may include: acquiring real-time location information of the drone 100; Obtaining a flight limited area within a certain range from a real-time location of the drone 100 according to the real-time location information and the update data of the flight-defining database (for a dynamic flight-deficient database, the flight-limited zone is a temporary flight-limited zone) ); determining the current time limit of the at least part of the restricted flight zone in the acquired flight limited zone.
  • the information of all the temporary flight-limited areas in the large area obtained by step S301 is further filtered to determine that the real-time location of the drone 100 is temporarily limited in a small area.
  • the limited flight data of the zone for example, all the temporary flight zone information within the area of the real-time location of the drone 100 is 20m, and the accuracy of the flight limited data of the temporary flight zone is improved.
  • the UAV 100 determines the timeliness of all the temporary restricted zones in a determined smaller area, selects the temporary restricted zone that is effective at the current time, and then controls the temporary restricted zone according to the current time. The drone 100 flies to ensure the safety of the drone 100 flight.
  • the determining that the update data of the flight limited database meets a specific condition comprises: verifying that the signature of the update data of the flight limited database is successful.
  • the update data of the flight limited database is encrypted data.
  • the determining that the update data of the flight limit database satisfies the specific condition may further include: decrypting the update data of the flight limit database according to a preset rule, and successfully decrypting, preventing data from being tampered with, and improving data. Security.
  • the complete verification process may include: the server 200 performs a special process on the update data of the flight limited database that needs to be sent, and generates a “fingerprint” of the data, and the drone 100 receives the specially processed process sent by the server 200.
  • the same processing is also performed to generate a "fingerprint".
  • the drone 100 compares the generated "fingerprint” with the "fingerprint” generated by the server 200. If the comparison result is consistent, the update data of the current flight limited database is below the legitimate server 200.
  • this special processing requires a set of passwords and a set of algorithms.
  • the illegal server 200 needs to be able to forge the updated data of the flight limited database according to the above algorithm and password, thereby preventing the data from being tampered and improving the security of the data.
  • the method further includes: overwriting the update data of the flight limit database to the flight limit database, thereby preventing the memory of the drone 100 from being insufficient due to an excessive amount of data.
  • the drone 100 after receiving the update data of the flight limited database, the drone 100 replaces the saved flight limited data in the flight limited database of the drone 100 with the currently received update data, thereby The method of saving is used to ensure that the memory of the drone 100 is sufficient to prevent the data of the fly-limited database of the drone 100 from being excessively large.
  • no data information is stored in the flight limited database of the drone 100.
  • the drone 100 directly saves the updated data of the received flight limited database to the The limited flight database of the man machine 100.
  • the drone covers the update data of the flight limited database to the flight limited database.
  • the drone 100 searches for a flight-defining zone within a certain area from its current location from the currently stored flight-deficient database, and calculates the current location and each of the valid periods.
  • the positional relationship of the flight limited zone controls the flight of the drone 100 according to this positional relationship, wherein the control process is as shown in FIG.
  • the method for updating the flight limited data may further include: transmitting version information of the current static flight limit database to the server 200, thereby ensuring that the drone 100 can obtain relatively accurate fixed flight zone information in time ( It may include range information of the fixed flight limited area), thereby enabling the drone 100 to obtain relatively accurate fixed flight zone information.
  • the drone 100 actively informs the server 200 of the version information of the current static flight limit database of the drone 100, and the server 200 further determines whether to update the current static flight limit database of the drone 100.
  • the version information may include a version number of the current static flight limit database, and the server 200 determines whether to update the current static flight limit database of the drone 100 according to the version number of the current static flight limit database.
  • the version information may include an update time of the current static flight limit database, and the server 200 determines whether to update the current static flight limit database of the drone 100 according to the update time of the current static flight limit database.
  • the server 200 transmits the update data of the static flight limit database of the drone 100. (For example, all data in the static flight limit database of the server 200) to the drone 100 to update the current static flight limit database of the drone 100.
  • the method for updating the flight limited data may further include: receiving update data of the static flight limit database sent by the server 200, and accessing the static flight limit database according to the update data of the static flight limit database The update is performed to realize the update of the static flight limit database of the drone 100, so that the drone 100 can obtain relatively accurate fixed flight zone information.
  • the flight process of controlling the drone 100 is as follows: The speed command sent by the terminal 300 is received; the speed command is decomposed to determine the speed direction. If the speed direction is toward the inside of the current fly-limited area (for example, speed c in Fig. 4A, speed c in Fig. 4B), the sub-speed along the edge of the fly-limited area is selected (for example, speed a in Fig. 4A). The speed in 4B a) controls the drone 100 to fly, preventing the drone 100 from entering the interior of the current flight limited zone. If the speed direction deviates from the inside of the current flight limited area, the drone 100 is controlled to fly at the speed in the speed command.
  • the speed command sent by the terminal 300 is received; the speed command is decomposed to determine the speed direction. If the speed direction is toward the inside of the current fly-limited area (for example, speed c in Fig. 4A, speed c in Fig. 4B), the sub-speed along the edge of the fly-limited area is selected (for example, speed a
  • the UAV system of the present embodiment further provides an unblocking mode for unlocking specific functions of the drone 100, for example, the fly-limited function of the drone 100, the specific route mode of the drone 100, The specific flight mode of the drone 100, the specific shooting function of the camera mounted on the drone 100, and the like.
  • the drone control method may further include:
  • Step S501 The license data of the current drone 100 sent by the server 200 for the release request, wherein the release request carries the user identifier of the current requesting user and the identifier of the drone 100 of the current drone 100,
  • the license data includes at least one license package, each license package for permitting the lifting of the specific function of the drone 100;
  • the request for lifting the ban can be lifted and sent to the server 200 by the user on the terminal 300 or on the webpage, or sent to the server 200 by the drone 100.
  • the request for the ban is sent by the terminal 300 to the server 200.
  • the step S501 may include: receiving the permission of the current drone 100 issued by the server 200 for the ban request by the terminal 300. data.
  • the terminal 300 directly transmits the license data sent by the server 200 to the terminal 300 to the drone 100 in a transparent manner, and the user selects the license data through the interactive interface provided by the terminal 300 or other device.
  • One or more license packages to unblock the specific functions of the required drone 100 are highly versatile.
  • the terminal 300 performs signature verification on the license data that the server 200 delivers to the terminal 300, and transmits the license data to the drone 100 after the verification is successful.
  • the manner in which the terminal 300 performs signature verification on the license data may be similar to the manner in which the unmanned aircraft 100 performs signature verification on the updated data of the received flight limited database in the above embodiment, and details are not described herein again.
  • the request to release the ban is sent directly by the drone 100 to the server 200.
  • the server 200 transmits the license data of the current drone 100 to the unmanned aerial vehicle 100 after generating the license data of the current drone 100.
  • the server 200 After receiving the request for cancellation, the server 200 generates corresponding license data according to the user identifier of the current requesting user and the identifier of the drone 100 of the current drone 100. In an embodiment, it is assumed that there are two UAVs 100, UAV A and UAV B, which are used by two users, User 1 and User 2. Table 1 is the license data generated by the server 200 for different unblocking requests. As shown in Table 1, when the user 1 transmits a release request to the server 200 for the drone A, the server 200 generates the license data A1 corresponding to the user 1 and the drone A after receiving the release request.
  • the server 200 When the user 1 sends a release request to the server 200 for the drone B, the server 200 generates the license data B1 corresponding to the user 1 and the drone B after receiving the release request.
  • the server 200 When the user 2 sends a release request to the server 200 for the drone A, the server 200 generates the license data A2 corresponding to the user 2 and the drone A after receiving the release request.
  • the server 200 When the user 2 sends a release request to the server 200 for the drone B, the server 200 generates the license data B2 corresponding to the user 2 and the drone B after receiving the release request.
  • the license data may include at least one license package, each license package for permitting a particular user to unblock a particular function.
  • the license package in the license data A1 can only be banned by the user 1.
  • the license data can include at least one license package, each license package for permitting a plurality of specific users to unblock a particular function.
  • the license data can include at least one license package, each license package for permitting one user to unblock multiple functions.
  • the license data can include at least one license package, each license package for permitting multiple users to unblock multiple functions.
  • the license data may also include an expiration date corresponding to each license package.
  • the specific function corresponding to the license package in the drone 100 can be released only during the validity period of the current license package.
  • the license data may also include the number of license packages included and/or the identity of the particular user, by adding the number of license packages and/or the identity of a particular user in the license data.
  • the drone 100 verifies the validity of the license data to prevent illegal tampering.
  • the license data can include at least one license package, each license package can be used to permit a particular user to unblock a particular function of a particular drone 100, the license package can also include the The identity of a particular drone 100.
  • the license package A11 in the license data A1 can only unlock the function 1 of the A of the drone 100 by the user 1.
  • the first method of unlocking includes two procedures of user license data application and usage.
  • the license data application process the user submits the information required for the ban and submits the banned application through the webpage, and the banned application is approved by the server 200 to generate the license data.
  • the license data usage flow the user can download the license data from the server 200 through the terminal and import it into the drone 100.
  • the user needs to use the unblocking function the user can select to open the license package corresponding to the unblocked function.
  • the manner in which the specific function of the UAV 100 is released may be adopted in the second unblocking mode, that is, the self-cancellation mode.
  • the user information is stored in the terminal, where the user information may be User's bank card information (such as credit card information), identity information (such as ID card information or other information that identifies the user's identity), cell phone information, information registered by the user in some authentication systems, or other information that identifies the user.
  • the terminal can use the stored user information to apply for unlocking certain functions of the drone 100 without the user filling in the information required for the lifting of the ban.
  • the user only needs to file a request, and the terminal acquires the user information and other requirements for lifting the ban according to the ban request.
  • the information is automatically generated and sent to the server.
  • the second method of lifting the ban is more complicated than the first method of lifting the ban.
  • the main reason is that the terminal 300 automatically assists the user to do a lot of things that the user needs to operate in the first ban. For example, in the second method of lifting the ban, the terminal is getting other bans.
  • the terminal 300 searches for the banned flight-defining area of the current drone 100, transparently transmits the permission data to the drone 100 via the terminal 300, and the terminal 300 sends an open command to trigger the drone 100 to open. Steps such as licensing data, through this series of operations, can improve the legality and security of self-enforcement.
  • the self-lifting function is used to unlock the specific fly-limited function of the drone 100.
  • the license data can be used to instruct the drone 100 to implement at least one of the following functions: Limiting the flight of the drone 100 in a specific flight limited zone, releasing the fly-by of the drone 100 in all flight-limited zones in a particular country, and controlling the drone 100 only in a specific flight-limited zone
  • the inner flight is used to release the height limit of the drone 100 when flying.
  • the license data When the license data is used to indicate that the drone 100 implements a function of controlling the drone 100 to fly only within a specific flight limited area, the license data includes flight height information of the drone 100 and The area edge information, that is, the drone 100 is controlled to fly only within a certain height within a specific area, for example, allows the drone 100 to have a maximum flying height of 50 m in the specific area.
  • the area edge information that is, the drone 100 is controlled to fly only within a certain height within a specific area, for example, allows the drone 100 to have a maximum flying height of 50 m in the specific area.
  • the specific fly-limited function of the unblocking drone 100 is not limited to the above several ways.
  • the terminal 300 needs to determine the flight-defining zone that the current position of the drone 100 can be unblocked before sending the release request to the server 200, and then according to The restricted flight zone that can be allowed to be unblocked sends a release request to the server 200 to ensure that the specific flight limit function of the currently unmanned drone 100 is legal.
  • the process of the terminal 300 determining that the current position of the drone 100 can be allowed to be released is as follows: firstly, real-time location information of the drone 100 is acquired, and then according to the real-time location information and the limited flight in the current drone 100 The database acquires a flight limited area within a certain area of the real-time location of the drone 100.
  • the terminal 300 is capable of acquiring a fly-limited area near the current position of the drone 100 (within a certain range of the real-time position of the drone 100). Further, the terminal 300 determines, according to a preset policy, a restricted flight zone that is allowed to be released from the acquired flight limited zone. For example, in some embodiments, the terminal 300 may determine, according to the security level of each of the restricted zones, a restricted flight zone that is allowed to be released from the acquired flight zone, for example, selecting security from the acquired flight zone. A flight-limited zone with a lower level than the preset level is used as a flight-limited zone that allows for lifting.
  • the terminal 300 may determine, according to the area information of the current location of the drone 100, the restricted flight zone that is allowed to be released from the acquired flight limited zone. For example, when the area where the current position of the drone 100 is located is a specific area, the drone 100 of a specific model may be allowed to release the flight restriction in the specific area, or the drone 100 controlled by the specific user may be released. Limited flight within a specific area. In some embodiments, the terminal 300 may determine, according to the identifier of the drone 100 of the drone 100, a restricted flight zone that is allowed to be released from the acquired flight limited zone, thereby determining according to the level of the drone 100. A restricted flight zone that allows for lifting of the ban.
  • the terminal 300 may determine, according to the user identifier of the currently logged-in user, the restricted flight zone that is allowed to be banned from the acquired restricted flight zone, thereby determining the restricted flight zone that is allowed to be banned according to the information of the currently logged-in user. . In some embodiments, the terminal 300 may determine, according to the management right of the currently logged-in user, the restricted flight zone that is allowed to be banned from the acquired restricted flight zone, thereby determining the restricted flight zone that is allowed to be banned according to the permission of the currently logged-in user. . After the terminal 300 determines that the current location of the drone 100 is allowed to be released from the restricted area, the terminal 300 generates the release request according to the allowed release zone, and sends the release request to the server 200. The corresponding license data is acquired from the server 200.
  • the transmission mode of the license data sent by the server 200 to the drone 100 can be determined according to the networking state of the drone 100. For example, when the drone 100 is in a networked state, the server 200 directly places the license data. Send it to the drone 100. When the drone 100 is in an unconnected state, the server 200 transmits the license data to the drone 100 via the terminal 300.
  • the service directly delivers the license data to the drone 100 upon receiving the release request and generating the license data.
  • the service receives the release request, generates license data, and, upon receiving the import request, issues the license data to the drone 100.
  • the import request carries the user identifier of the current requesting user and the drone 100 identifier of the drone 100 to which the license data is to be imported.
  • the server 200 obtains the corresponding license data according to the user identifier and the identifier of the drone 100, and then delivers the obtained license data to the drone 100.
  • the import request may be sent by the terminal 300 to the server 200 or sent by the drone 100 to the server 200.
  • Step S502 parsing the license data, and opening the parsed license data
  • the license package in the license data does not take effect in real time, and the drone 100 needs to further open the parsed license data to make at least part of the license data in the license data take effect.
  • the manner in which the drone 100 parses the license data is determined according to the license data received by the drone 100. For example, in some embodiments, the license data received by the drone 100 is encrypted by the server 200. After receiving the license data, the drone 100 needs to decrypt the received license data to read the license data.
  • the license data after the unmanned aerial vehicle 100 opens the parsing is triggered by the terminal 300, and the license data can be selected according to the user's needs, and the flexibility is strong.
  • the drone 100 may further include: receiving an open instruction sent by the terminal 300 to indicate that the license data is valid, before the parsing the license data is opened.
  • the open command may be used to indicate that all license packages in the license data are all valid, or to indicate that a part of the license packets in the license data is valid, and the drone 100, according to the open command, after receiving the open command, The corresponding license package is selected to take effect, and the specific function corresponding to the license package in the effective state is validated in the drone 100.
  • the open command carries a user identifier of a user currently managing the drone 100.
  • the drone 100 needs to further analyze the open command and license data before opening the parsed license data to ensure the legality of the ban. For example, in some embodiments, the drone 100 determines that the user identifier corresponding to the license data is the same as the user identifier in the open command, and then opens the parsed license data, so that the parsed license data corresponds to The license package is in effect. In some embodiments, the drone 100 determines that the management authority of the user corresponding to the user identifier in the open command is a preset authority, and then opens the parsed license data, so that the corresponding license in the parsed license data is enabled. The package is in effect. The default permissions can be either administrator or team leader.
  • the terminal 300 can be triggered to close the opened license data, and the specific function of the unmanned drone 100 that is not needed to be used is turned off, further improving the The safety of man-machine 100 flight.
  • the drone 100 may further include: after receiving the parsed license data, receiving a shutdown instruction sent by the terminal 300 to indicate that the license data is invalid, and closing the opened license data.
  • the shutdown command carries a user identification of a user currently controlling the drone 100.
  • the drone 100 may further include: determining that the user identifier corresponding to the license data is the same as the user identifier in the shutdown instruction, and ensuring that the specific function of the unmanned drone 100 is turned off The legality of the operation further improves the safety of the drone 100 flight.
  • Step S503 Control the flight of the drone 100 according to the parsed license data.
  • the parsing and opening of the license data is completed by the drone 100 end, and the user can self-unblock the specific function of the drone 100 as needed, and the flexibility is strong.
  • step S503 may specifically include: determining that the license package is in an active state based on an expiration date of the license package.
  • the drone 100 controls the flight of the drone 100 according to the permission in the active state, and improves the safety of the flight of the drone 100.
  • the step S503 may specifically include: controlling the drone according to the parsed license data and the fly-limited database in the current drone 100, when the self-unblocking function is used to cancel the specific fly-limit function of the drone 100.
  • the flight of 100 improves the safety of the drone 100 flight and meets the specific needs of the user.
  • the flight limited database may be a dynamic flight limited database.
  • the flight limited database may be a dynamic flight limited database and a static flight limited database.
  • Embodiment 2 of the present invention provides a drone control method.
  • FIG. 6 is a flowchart of a method for controlling a drone according to Embodiment 2 of the present invention.
  • the execution entity of the method is the server 200.
  • the drone control method may include the following steps:
  • Step 601 Receive an update request, where the update request carries current location information of the drone 100;
  • the update request may be sent by the terminal 300 to the server 200 or may be sent by the drone 100 to the server 200.
  • the current location information of the drone 100 may be acquired by the GPS module on the drone 100 or may be obtained by the terminal 300.
  • the location information can be latitude and longitude.
  • the representation of the location information is not limited to latitude and longitude.
  • the location information may be other parameters capable of indicating location, such as administrative area information.
  • Step 602 Acquire update data of the flight limited database of the drone 100 according to the current location information.
  • the server 200 parses the current location information of the drone 100 from the update request, and directly directly stores the latest limit database in the server 200 according to the current location information of the drone 100.
  • the data is sent to the drone 100, or the update data of the flight limited database of the drone 100 corresponding to the current location information is filtered out from the dynamic update database of the server 200.
  • the step 602 specifically includes: acquiring, according to the current location information, the update data of the flight limited database according to a preset generation policy, so as to obtain update data of the flight limited database of the drone 100 according to actual requirements.
  • the flight limited database is a dynamic flight limited database.
  • the flight limited database does not distinguish between a dynamic flight limit database and a static flight limit database
  • the flight limit database may include a dynamic flight limit database and a static flight limit database
  • the acquiring, according to the current location information, the update data of the flight limited database according to the preset generation policy may include: obtaining, according to the current location information, an area where the current location of the drone 100 is located. National information, according to the country information, obtaining updated data of the flight limited database. For example, when the current area of the drone 100 is a specific country, the update data of the flight limited database may be acquired according to the update frequency of the temporary flight limited area in the specific country.
  • the update data of the flight limit database acquired by the server 200 may include all temporary limits within a range of 20 km from the current location of the drone 100. Flying area information.
  • the update data of the flight limited database acquired by the server 200 may include all the temporary limited flight area information in the specific country. This is because the area in the temporary flight limited area is updated faster, the area in the server 200 is also updated faster in the flight limited database, and the dynamic flight limited database in the drone 100 is also updated faster, and the area is acquired. All temporary flight zone information will cause the amount of data transmitted by the drone 100 to be too large. In the area where the temporary flight zone is updated faster, the update of the zone in the flight limited database in the server 200 is also slower, and the update of the dynamic flight limited database in the drone 100 is also slower, and all the zones can be obtained. Temporary flight zone information ensures the safety of the drone 100 flight.
  • the update data of the flight limited database includes range information and an expiration date of at least one temporary flight limited zone.
  • the range information of the temporary flight limited zone is a parameter used to determine the flight limited range of the temporary flight restricted zone.
  • the range information of the temporary flight limited zone may be edge information of the temporary flight limited zone.
  • the range information of the temporary flight limited zone may be a central location of the temporary flight limited zone and a radius size.
  • the range information of the temporary flight limited area may also be other parameters that can determine the limited flight range of the temporary limited flight area, and the performance of the range information of the temporary limited flight area may be selected according to the shape of the temporary limited flight area. form.
  • the temporary flight limited area is a regular circular shape, and the range information of the circular temporary flight limited area can be represented by the edge information of the temporary flight limited area, and the center position and the radius of the temporary limited flight area can also be used. To represent.
  • the temporary flight limited area is in an irregular shape, the range information of the irregular temporary flight limited area may be represented by edge information of the temporary limited flight area.
  • the expiration date of the temporary flight limited zone includes a start time and an end time.
  • the temporary flight limited zone is in effect during the time period between the start time and the end time, and the drone 100 is prohibited from flying in the temporary flight limited zone. Before or after the start time, the temporary flight limited area fails, and the drone 100 can fly in the temporary flight limited area.
  • the update data of the flight limited database of the drone 100 is determined based on the location information, and the data amount of the update data of the flight limited database of the requested drone 100 can also be prevented from being excessively large.
  • the update data of the dynamic data obtained in step 602 is all temporary restricted zone information in a large area, for example, all the temporary flight zone information in the country where the drone 100 is currently located, and the drone 100. All temporary flight zone information in the province where the current location is located, and all temporary flight zone information within 20km from the current location of the drone 100.
  • Step 603 Send update data of the flight limited database of the drone 100 to the drone 100 to trigger the drone 100 to determine that the flight limit database meets a specific condition, according to the limit A fly database is used to control the flight of the drone 100.
  • the effectiveness of the flight limited database is completed by the UAV 100. If the flight limited database of the UAV 100 is not updated in time, the UAV 100 can still use the temporary flight limited area in the previously saved flight limited database. The validity of the drone 100 is controlled to ensure the safety of the drone 100.
  • the update request is sent by the terminal 300 to the server 200.
  • Step 603 can include: transmitting update data of the flight limited database of the drone 100 to the terminal 300, and transmitting, by the terminal 300, the flight limit database to the drone 100.
  • the terminal 300 does not perform the validity judgment on the update data of the fly-limited database that is sent by the server 200 to the terminal 300, but directly delivers the server 200 to the flight-limited database of the terminal 300 in a transparent manner.
  • the update data is sent to the drone 100, and the drone 100 determines the update data of the flight limited database, thereby improving the safety of the drone 100 flight.
  • the update request is sent directly by the drone 100 to the server 200.
  • the server 200 directly transmits the flight limited database to the drone 100.
  • the method may further include adding a signature to the update data of the fly-limited database of the drone 100.
  • Step S603 may include: sending updated data of the flight limited database of the drone 100 after the signature is added to the drone 100.
  • the drone 100 needs to verify the signature in order to open the updated data of the limited flight database and ensure the legality of the updated data of the flight limited database.
  • the method may further include: performing encryption processing on the update data of the flight limited database according to a preset rule; and step S603 may include: transmitting the limited flight after the encryption process The update data of the database is to the drone 100.
  • the complete verification process may include: the server 200 performs a special process on the update data of the flight limited database that needs to be sent, and generates a “fingerprint” of the data, and the drone 100 receives the specially processed process sent by the server 200. After the update data of the flight limited database, the same processing is also performed to generate a "fingerprint”. The drone 100 compares the generated "fingerprint” with the "fingerprint” generated by the server 200. If the comparison result is consistent, the update data of the current flight limited database is below the legitimate server 200. In general, this special processing requires a set of passwords and a set of algorithms. The illegal server 200 needs to falsify the update data of the flight limited database according to the above algorithm and password, thereby preventing data from being tampered and improving data security.
  • the method may further include: receiving version information of the static flight limit database in the drone 100 sent by the drone 100, so that the validity of the static flight limit database of the drone 100 can be determined by the server 200.
  • the server 200 can determine the validity of the static flight limit database of the drone 100 according to the version information of the static flight limit database in the drone 100, thereby determining whether to send the static flight limit database in the server 200 to the drone. 100.
  • the static flight limited database in the drone 100 is updated in time.
  • the method may further include transmitting a static flight limit database in the server 200 to the drone 100 such that the drone 100 is able to update its saved static flight limit database in time.
  • the step of sending the static flight limit database in the server 200 to the drone 100 is that the version of the static flight limit database in the drone 100 is lower than the static flight limit database in the server 200. The implementation of the version ensures that the drone 100 can obtain the latest version of the static flight limit database in time to ensure the safety of the drone 100 flight.
  • the step of transmitting the static flight limit database in the server 200 to the drone 100 is performed immediately after updating the static flight limit database in the server 200. After the server 200 updates its saved static flight limit database, it immediately sends the static limit flight database of the updated server 200 to the drone 100 to implement timely update of the static flight limit database of the drone 100.
  • the UAV system of the embodiment further has a self-unblocking function for unlocking a specific function of the drone 100, for example, the fly-limited function of the drone 100, the specific route mode of the drone 100, and the unmanned The specific flight mode of the machine 100, the specific shooting function of the camera mounted on the drone 100, and the like.
  • the method may further include:
  • Step 701 Receive a release request, where the release request carries the user identifier of the current requesting user and the identifier of the drone 100 of the current drone 100;
  • the request for lifting the ban may be sent by the terminal 300 to the server 200 or may be sent by the drone 100 to the server 200.
  • Step 702 Generate license data for the unblocking request, the license data includes at least one license package, and each license package is used to permit a specific function of the unmanned drone 100 to be released;
  • the server 200 after receiving the request for cancellation, the server 200 generates corresponding license data according to the user identifier of the current requesting user and the identifier of the drone 100 of the current drone 100.
  • the license data part refer to the description of the license data part in the above first embodiment, and details are not described herein again.
  • Step 703 Deliver the license data to the current drone 100.
  • the parsing and opening of the license data is completed by the drone 100 end, and the user can self-unblock the specific function of the drone 100 as needed, and the flexibility is strong.
  • the request for the ban is sent by the terminal 300 to the server 200.
  • the step S703 may specifically include: transparently transmitting the license data to the current drone 100 via the terminal 300.
  • the terminal 300 does not perform any processing on the license data sent by the server 200 to the terminal 300, but directly transmits the license data sent by the server 200 to the terminal 300 to the drone 100 in a transparent manner. Subsequently, one or more license packages in the license data are opened by self-unblocking to unlock the specific functions of the required drone 100, which is highly versatile.
  • the request to release the ban is sent directly by the drone 100 to the server 200.
  • the server 200 transmits the license data of the current drone 100 to the unmanned aerial vehicle 100 after generating the license data of the current drone 100.
  • the transmission mode of the license data sent by the server 200 to the drone 100 can be determined according to the networking state of the drone 100. For example, when the drone 100 is in a networked state, the server 200 directly places the license data. Send it to the drone 100. When the drone 100 is in an unconnected state, the server 200 transmits the license data to the drone 100 via the terminal 300.
  • the method may further include: performing encryption processing on the generated license data.
  • the step 703 of the server 200 specifically includes: transmitting the encrypted license data to the current drone 100, preventing the license data from being tampered with, and improving the security of the license data.
  • the service directly delivers the license data to the drone 100 upon receiving the release request and generating the license data.
  • the service receives the release request, generates license data, and, upon receiving the import request, issues the license data to the drone 100.
  • the import request carries the user identifier of the current requesting user and the drone 100 identifier of the drone 100 to which the license data is to be imported.
  • the server 200 obtains the corresponding license data according to the user identifier and the identifier of the drone 100, and then delivers the obtained license data to the drone 100.
  • the import request may be sent by the terminal 300 to the server 200 or sent by the drone 100 to the server 200.
  • the third embodiment of the present invention provides a drone control device, which can be applied to the drone 100.
  • a third embodiment of the present invention provides a drone control apparatus, the apparatus comprising: a first storage device 110 and a first processor 120 (eg, a single core or multi-core processor).
  • a first storage device 110 e.g, a single core or multi-core processor.
  • a first processor 120 e.g, a single core or multi-core processor.
  • the first storage device 110 may include a volatile memory, such as a random-access memory (RAM); the first storage device 110 may also include a non-volatile memory (non-volatile memory). For example, a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD); the first storage device 110 may further include a combination of the above types of memories.
  • RAM random-access memory
  • non-volatile memory non-volatile memory
  • flash memory e.g., a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD); the first storage device 110 may further include a combination of the above types of memories.
  • the first processor 120 may be a central processing unit (CPU).
  • the first processor 120 may further include a hardware chip.
  • the hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof.
  • the PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a general array logic (GAL), or any combination thereof.
  • the first storage device 110 is configured to store program instructions.
  • the first processor 120 can include one or more, working alone or in combination.
  • the first processor 120 calls the program instruction, and when the program instruction is executed, is used to execute the step of the UAV control method described in Embodiment 1.
  • the fourth embodiment of the present invention provides a drone control device, which can be applied to the server 200.
  • a fourth embodiment of the present invention provides a drone control apparatus, the apparatus comprising: a second storage device 210 and a second processor 220 (eg, a single-core or multi-core processor).
  • a second processor 220 eg, a single-core or multi-core processor.
  • the second storage device 210 may include a volatile memory such as a random access memory (RAM); the second storage device 210 may also include a non-volatile memory (non-volatile memory) For example, a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD); the second storage device 210 may further include a combination of the above types of memories.
  • RAM random access memory
  • non-volatile memory non-volatile memory
  • flash memory e.g., a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD)
  • SSD solid-state drive
  • the second processor 220 can be a central processing unit (CPU).
  • the second processor 220 may further include a hardware chip.
  • the hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof.
  • the PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a general array logic (GAL), or any combination thereof.
  • the second storage device 210 is configured to store program instructions.
  • the second processor 220 can include one or more, working individually or collectively.
  • the second processor 220 is configured to invoke the program instruction, and when the program instruction is executed, is used to execute the step of the UAV control method described in Embodiment 2.
  • Embodiment 5 of the present invention provides a drone control method.
  • FIG. 5A is a flowchart of a method for controlling a drone according to Embodiment 5 of the present invention.
  • the execution body of the method is the drone 100.
  • the drone control method may further include:
  • Step S501 The license data of the current drone 100 sent by the server 200 for the release request, wherein the release request carries the user identifier of the current requesting user and the identifier of the drone 100 of the current drone 100,
  • the license data includes at least one license package, each license package for permitting the lifting of the specific function of the drone 100;
  • the request for lifting the ban may be sent by the terminal 300 to the server 200 or may be sent by the drone 100 to the server 200.
  • the request for the ban is sent by the terminal 300 to the server 200.
  • the step S501 may include: receiving the permission of the current drone 100 issued by the server 200 for the ban request by the terminal 300. data.
  • the terminal 300 directly transmits the license data sent by the server 200 to the terminal 300 to the drone 100 in a transparent manner, and then opens one or more license packages in the license data by using a self-unblocking manner. To unlock the specific functions of the required drone 100, the versatility is strong.
  • the terminal 300 performs signature verification on the license data that the server 200 delivers to the terminal 300, and transmits the license data to the drone 100 after the verification is successful.
  • the manner in which the terminal 300 performs signature verification on the license data may be similar to the manner in which the unmanned aircraft 100 performs signature verification on the updated data of the received flight limited database in the above embodiment, and details are not described herein again.
  • the request to release the ban is sent directly by the drone 100 to the server 200.
  • the server 200 transmits the license data of the current drone 100 to the unmanned aerial vehicle 100 after generating the license data of the current drone 100.
  • the server 200 After receiving the request for cancellation, the server 200 generates corresponding license data according to the user identifier of the current requesting user and the identifier of the drone 100 of the current drone 100. In an embodiment, it is assumed that there are two UAVs 100, UAV A and UAV B, which are used by two users, User 1 and User 2. Table 1 is the license data generated by the server 200 for different unblocking requests. As shown in Table 1, when the user 1 transmits a release request to the server 200 for the drone A, the server 200 generates the license data A1 corresponding to the user 1 and the drone A after receiving the release request.
  • the server 200 When the user 1 sends a release request to the server 200 for the drone B, the server 200 generates the license data B1 corresponding to the user 1 and the drone B after receiving the release request.
  • the server 200 When the user 2 sends a release request to the server 200 for the drone A, the server 200 generates the license data A2 corresponding to the user 2 and the drone A after receiving the release request.
  • the server 200 When the user 2 sends a release request to the server 200 for the drone B, the server 200 generates the license data B2 corresponding to the user 2 and the drone B after receiving the release request.
  • the license data may include at least one license package, each license package for permitting a particular user to unblock a particular function.
  • the license package in the license data A1 can only be banned by the user 1.
  • the license data can include at least one license package, each license package for permitting a plurality of specific users to unblock a particular function.
  • the license data may include at least one license package, each license package for permitting one user to unblock multiple functions.
  • the license data can include at least one license package, each license package for permitting multiple users to unblock multiple functions.
  • the license data may also include an expiration date corresponding to each license package.
  • the specific function corresponding to the license package in the drone 100 can be released only during the validity period of the current license package.
  • the license data may also include the number of license packages included and/or the identity of the particular user, by adding the number of license packages and/or the identity of a particular user in the license data.
  • the drone 100 verifies the validity of the license data to prevent illegal tampering.
  • the license data can include at least one license package, each license package can be used to permit a particular user to unblock a particular function of a particular drone 100, the license package can also include the The identity of a particular drone 100.
  • the license package A11 in the license data A1 can only unlock the function 1 of the A of the drone 100 by the user 1.
  • the UAV system of the present embodiment has a self-unblocking function for unlocking specific functions of the drone 100, for example, the fly-limited function of the drone 100, the specific route mode of the drone 100, and the specificity of the drone 100.
  • the first method of unlocking includes two procedures of user license data application and usage.
  • the license data application process the user submits the information required for the ban and submits the banned application through the webpage, and the banned application is approved by the server 200 to generate the license data.
  • the license data usage flow the user can download the license data from the server 200 through the terminal and import it into the drone 100.
  • the user needs to use the unblocking function the user can select to open the license package corresponding to the unblocked function.
  • the manner in which the specific function of the UAV 100 is released may be adopted in the second unblocking mode, that is, the self-cancellation mode.
  • the user information is stored in the terminal, where the user information may be User's bank card information (such as credit card information), identity information (such as ID card information or other information that identifies the user's identity), cell phone information, information registered by the user in some authentication systems, or other information that identifies the user.
  • the terminal can use the stored user information to apply for unlocking certain functions of the drone 100 without the user filling in the information required for the lifting of the ban.
  • the user only needs to file a request, and the terminal acquires the user information and other requirements for lifting the ban according to the ban request.
  • the information is automatically generated and sent to the server.
  • the second method of lifting the ban is more complicated than the first method of lifting the ban.
  • the main reason is that the terminal 300 automatically assists the user to do a lot of things that the user needs to operate in the first ban. For example, in the second method of lifting the ban, the terminal is getting other bans.
  • the terminal 300 searches for the banned flight-defining area of the current drone 100, transparently transmits the permission data to the drone 100 via the terminal 300, and the terminal 300 sends an open command to trigger the drone 100 to open. Steps such as licensing data, through this series of operations, can improve the legality and security of self-enforcement.
  • the self-lifting function is used to unlock the specific fly-limited function of the drone 100.
  • the license data can be used to instruct the drone 100 to implement at least one of the following functions: Limiting the flight of the drone 100 in a specific flight limited zone, releasing the fly-by of the drone 100 in all flight-limited zones in a particular country, and controlling the drone 100 only in a specific flight-limited zone
  • the inner flight is used to release the height limit of the drone 100 when flying.
  • the license data When the license data is used to indicate that the drone 100 implements a function of controlling the drone 100 to fly only within a specific flight limited area, the license data includes flight height information of the drone 100 and The area edge information, that is, the drone 100 is controlled to fly only within a certain height within a specific area, for example, allows the drone 100 to have a maximum flying height of 50 m in the specific area.
  • the area edge information that is, the drone 100 is controlled to fly only within a certain height within a specific area, for example, allows the drone 100 to have a maximum flying height of 50 m in the specific area.
  • the specific fly-limited function of the unblocking drone 100 is not limited to the above several ways.
  • the terminal 300 needs to determine the flight-defining zone that the current position of the drone 100 can be unblocked before sending the release request to the server 200, and then according to The restricted flight zone that can be allowed to be unblocked sends a release request to the server 200 to ensure that the specific flight limit function of the currently unmanned drone 100 is legal.
  • the process of the terminal 300 determining that the current position of the drone 100 can be allowed to be released is as follows: firstly, real-time location information of the drone 100 is acquired, and then according to the real-time location information and the limited flight in the current drone 100 The database acquires a flight limited area within a certain area of the real-time location of the drone 100.
  • the terminal 300 is capable of acquiring a fly-limited area near the current position of the drone 100 (within a certain range of the real-time position of the drone 100). Further, the terminal 300 determines, according to a preset policy, a restricted flight zone that is allowed to be released from the acquired flight limited zone. For example, in some embodiments, the terminal 300 may determine, according to the security level of each of the restricted zones, a restricted flight zone that is allowed to be released from the acquired flight zone, for example, selecting security from the acquired flight zone. A flight-limited zone with a lower level than the preset level is used as a flight-limited zone that allows for lifting.
  • the terminal 300 may determine, according to the area information of the current location of the drone 100, the restricted flight zone that is allowed to be released from the acquired flight limited zone. For example, when the area where the current position of the drone 100 is located is a specific area, the drone 100 of a specific model may be allowed to release the flight restriction in the specific area, or the drone 100 controlled by the specific user may be released. Limited flight within a specific area. In some embodiments, the terminal 300 may determine, according to the identifier of the drone 100 of the drone 100, a restricted flight zone that is allowed to be released from the acquired flight limited zone, thereby determining according to the level of the drone 100. A restricted flight zone that allows for lifting of the ban.
  • the terminal 300 may determine, according to the user identifier of the currently logged-in user, the restricted flight zone that is allowed to be banned from the acquired restricted flight zone, thereby determining the restricted flight zone that is allowed to be banned according to the information of the currently logged-in user. . In some embodiments, the terminal 300 may determine, according to the management right of the currently logged-in user, the restricted flight zone that is allowed to be banned from the acquired restricted flight zone, thereby determining the restricted flight zone that is allowed to be banned according to the permission of the currently logged-in user. . After the terminal 300 determines that the current location of the drone 100 is allowed to be released from the restricted area, the terminal 300 generates the release request according to the allowed release zone, and sends the release request to the server 200. The corresponding license data is acquired from the server 200.
  • the transmission mode of the license data sent by the server 200 to the drone 100 can be determined according to the networking state of the drone 100. For example, when the drone 100 is in a networked state, the server 200 directly places the license data. Send it to the drone 100. When the drone 100 is in an unconnected state, the server 200 transmits the license data to the drone 100 via the terminal 300.
  • the service directly delivers the license data to the drone 100 upon receiving the release request and generating the license data.
  • the service receives the release request, generates license data, and, upon receiving the import request, issues the license data to the drone 100.
  • the import request carries the user identifier of the current requesting user and the drone 100 identifier of the drone 100 to which the license data is to be imported.
  • the server 200 obtains the corresponding license data according to the user identifier and the identifier of the drone 100, and then delivers the obtained license data to the drone 100.
  • the import request may be sent by the terminal 300 to the server 200 or sent by the drone 100 to the server 200.
  • Step S502 parsing the license data, and opening the parsed license data
  • the license package in the license data does not take effect in real time, and the drone 100 needs to further open the parsed license data to make at least part of the license data in the license data take effect.
  • the manner in which the drone 100 parses the license data is determined according to the license data received by the drone 100. For example, in some embodiments, the license data received by the drone 100 is encrypted by the server 200. After receiving the license data, the drone 100 needs to decrypt the received license data to read the license data.
  • the license data after the unmanned aerial vehicle 100 opens the parsing is triggered by the terminal 300, and the license data can be selected according to the user's needs, and the flexibility is strong.
  • the drone 100 may further include: receiving an open instruction sent by the terminal 300 to indicate that the license data is valid, before the parsing the license data is opened.
  • the open command may be used to indicate that all license packages in the license data are all valid, or to indicate that a part of the license packets in the license data is valid, and the drone 100, according to the open command, after receiving the open command, The corresponding license package is selected to take effect, and the specific function corresponding to the license package in the effective state is validated in the drone 100.
  • the open command carries a user identifier of a user currently managing the drone 100.
  • the drone 100 needs to further analyze the open command and license data before opening the parsed license data to ensure the legality of the ban. For example, in some embodiments, the drone 100 determines that the user identifier corresponding to the license data is the same as the user identifier in the open command, and then opens the parsed license data, so that the parsed license data corresponds to The license package is in effect. In some embodiments, the drone 100 determines that the management authority of the user corresponding to the user identifier in the open command is a preset authority, and then opens the parsed license data, so that the corresponding license in the parsed license data is enabled. The package is in effect. The default permissions can be either administrator or team leader.
  • the terminal 300 can be triggered to close the opened license data, and the specific function of the unmanned drone 100 that is not needed to be used is turned off, further improving the The safety of man-machine 100 flight.
  • the drone 100 may further include: after receiving the parsed license data, receiving a shutdown instruction sent by the terminal 300 to indicate that the license data is invalid, and closing the opened license data.
  • the shutdown command carries a user identification of a user currently controlling the drone 100.
  • the drone 100 may further include: determining that the user identifier corresponding to the license data is the same as the user identifier in the shutdown instruction, and ensuring that the specific function of the unmanned drone 100 is turned off The legality of the operation further improves the safety of the drone 100 flight.
  • Step S503 Control the flight of the drone 100 according to the parsed license data.
  • the parsing and opening of the license data is completed by the drone 100 end, and the user can self-unblock the specific function of the drone 100 as needed, and the flexibility is strong.
  • step S503 may specifically include: determining that the license package is in an active state based on an expiration date of the license package.
  • the drone 100 controls the flight of the drone 100 according to the permission in the active state, and improves the safety of the flight of the drone 100.
  • the step S503 may specifically include: controlling the drone according to the parsed license data and the fly-limited database in the current drone 100, when the self-unblocking function is used to cancel the specific fly-limit function of the drone 100.
  • the flight of 100 improves the safety of the drone 100 flight and meets the specific needs of the user.
  • the flight limited database may be a dynamic flight limited database.
  • the flight limited database may be a dynamic flight limited database and a static flight limited database.
  • Embodiment 6 of the present invention provides a drone control method.
  • FIG. 7 is a flowchart of a method for controlling a drone according to Embodiment 6 of the present invention.
  • the execution entity of the method is the server 200.
  • the drone control method may include the following steps:
  • Step 701 Receive a release request, where the release request carries the user identifier of the current requesting user and the identifier of the drone 100 of the current drone 100;
  • the request for lifting the ban may be sent by the terminal 300 to the server 200 or may be sent by the drone 100 to the server 200.
  • Step 702 Generate license data for the unblocking request, the license data includes at least one license package, and each license package is used to permit a specific function of the unmanned drone 100 to be released;
  • the server 200 after receiving the request for cancellation, the server 200 generates corresponding license data according to the user identifier of the current requesting user and the identifier of the drone 100 of the current drone 100.
  • the license data part refer to the description of the license data part in the above third embodiment, and details are not described herein again.
  • Step 703 Deliver the license data to the current drone 100.
  • the parsing and opening of the license data is completed by the drone 100 end, and the user can self-unblock the specific function of the drone 100 as needed, and the flexibility is strong.
  • the request for the ban is sent by the terminal 300 to the server 200.
  • the step S703 may specifically include: transparently transmitting the license data to the current drone 100 via the terminal 300.
  • the terminal 300 does not perform any processing on the license data sent by the server 200 to the terminal 300, but directly transmits the license data sent by the server 200 to the terminal 300 to the drone 100 in a transparent manner. Subsequently, one or more license packages in the license data are opened by self-unblocking to unlock the specific functions of the required drone 100, which is highly versatile.
  • the request to release the ban is sent directly by the drone 100 to the server 200.
  • the server 200 transmits the license data of the current drone 100 to the unmanned aerial vehicle 100 after generating the license data of the current drone 100.
  • the transmission mode of the license data sent by the server 200 to the drone 100 can be determined according to the networking state of the drone 100. For example, when the drone 100 is in a networked state, the server 200 directly places the license data. Send it to the drone 100. When the drone 100 is in an unconnected state, the server 200 transmits the license data to the drone 100 via the terminal 300.
  • the method may further include: performing encryption processing on the generated license data.
  • the step 703 of the server 200 specifically includes: transmitting the encrypted license data to the current drone 100, preventing the license data from being tampered with, and improving the security of the license data.
  • the service directly delivers the license data to the drone 100 upon receiving the release request and generating the license data.
  • the service receives the release request, generates license data, and, upon receiving the import request, issues the license data to the drone 100.
  • the import request carries the user identifier of the current requesting user and the drone 100 identifier of the drone 100 to which the license data is to be imported.
  • the server 200 obtains the corresponding license data according to the user identifier and the identifier of the drone 100, and then delivers the obtained license data to the drone 100.
  • the import request may be sent by the terminal 300 to the server 200 or sent by the drone 100 to the server 200.
  • Embodiment 7 of the present invention provides a drone control method.
  • FIG. 10 is a flowchart of a method for controlling a drone according to Embodiment 7 of the present invention.
  • the execution body of the method is the terminal 300.
  • the drone control method may include the following steps:
  • Step 1001 Send a release request to the server 200, where the release request carries the user identifier of the current requesting user and the identifier of the drone 100 of the current drone 100;
  • the UAV system of the present embodiment has a self-unblocking function for unlocking a specific function of the drone 100, for example, a fly-limited function of the drone 100, a specific route mode of the drone 100, and a drone 100
  • a self-unblocking function for unlocking a specific function of the drone 100, for example, a fly-limited function of the drone 100, a specific route mode of the drone 100, and a drone 100
  • the terminal 300 When the self-cancellation function is used to release the specific flight-defining function of the drone 100, the terminal 300 needs to determine the flight-defining zone where the current location of the drone 100 can be unblocked before sending the release request to the server 200, and then the lifting is prohibited according to the permission.
  • the restricted flight zone sends a request for lifting the ban to the server 200 to ensure that the specific flight limit function of the currently unmanned drone 100 is legal.
  • the process of the terminal 300 determining that the current position of the drone 100 can be allowed to be released is as follows: firstly, real-time location information of the drone 100 is acquired, and then according to the real-time location information and the limited flight in the current drone 100
  • the database acquires a flight limited area within a certain area of the real-time location of the drone 100.
  • the terminal 300 is capable of acquiring a fly-limited area near the current position of the drone 100 (within a certain range of the real-time position of the drone 100). Further, the terminal 300 determines, according to a preset policy, a restricted flight zone that is allowed to be released from the acquired flight limited zone. For example, in some embodiments, the terminal 300 may determine, according to the security level of each of the restricted zones, a restricted flight zone that is allowed to be released from the acquired flight zone, for example, selecting security from the acquired flight zone. A flight-limited zone with a lower level than the preset level is used as a flight-limited zone that allows for lifting.
  • the terminal 300 may determine, according to the area information of the current location of the drone 100, the restricted flight zone that is allowed to be released from the acquired flight limited zone. For example, when the area where the current position of the drone 100 is located is a specific area, the drone 100 of a specific model may be allowed to release the flight restriction in the specific area, or the drone 100 controlled by the specific user may be released. Limited flight within a specific area. In some embodiments, the terminal 300 may determine, according to the identifier of the drone 100 of the drone 100, a restricted flight zone that is allowed to be released from the acquired flight limited zone, thereby determining according to the level of the drone 100. A restricted flight zone that allows for lifting of the ban.
  • the terminal 300 may determine, according to the user identifier of the currently logged-in user, the restricted flight zone that is allowed to be banned from the acquired restricted flight zone, thereby determining the restricted flight zone that is allowed to be banned according to the information of the currently logged-in user. . In some embodiments, the terminal 300 may determine, according to the management right of the currently logged-in user, the restricted flight zone that is allowed to be banned from the acquired restricted flight zone, thereby determining the restricted flight zone that is allowed to be banned according to the permission of the currently logged-in user. . After the terminal 300 determines that the current location of the drone 100 is allowed to be released from the restricted area, the terminal 300 generates the release request according to the allowed release zone, and sends the release request to the server 200. The corresponding license data is acquired from the server 200.
  • Step 1002 Receive license data returned by the server 200 for the unblocking request, where the license data includes at least one license package, and each license package is used to permit a specific function of the unmanned drone 100 to be released;
  • the license data may include at least one license package, each license package for permitting a particular user to unblock a particular function.
  • the license package in the license data A1 can only be banned by the user 1.
  • the license data may also include an expiration date corresponding to each license package.
  • the specific function corresponding to the license package in the drone 100 can be released only during the validity period of the current license package.
  • the license data may also include the number of license packages included and/or the identity of the particular user, by adding the number of license packages and/or the identity of a particular user in the license data.
  • the drone 100 verifies the validity of the license data to prevent illegal tampering.
  • the license data can include at least one license package, each license package can be used to permit a particular user to unblock a particular function of a particular drone 100, the license package can also include the The identity of a particular drone 100.
  • the license package A11 in the license data A1 can only unlock the function 1 of the A of the drone 100 by the user 1.
  • the self-lifting function is used to unlock the specific fly-limited function of the drone 100.
  • the license data can be used to instruct the drone 100 to implement at least one of the following functions: Limiting the flight of the drone 100 in a specific flight limited zone, releasing the fly-by of the drone 100 in all flight-limited zones in a particular country, and controlling the drone 100 only in a specific flight-limited zone
  • the inner flight is used to release the height limit of the drone 100 when flying.
  • the license data When the license data is used to indicate that the drone 100 implements a function of controlling the drone 100 to fly only within a specific flight limited area, the license data includes flight height information of the drone 100 and The area edge information, that is, the drone 100 is controlled to fly only within a certain height within a specific area, for example, allows the drone 100 to have a maximum flying height of 50 m in the specific area.
  • the area edge information that is, the drone 100 is controlled to fly only within a certain height within a specific area, for example, allows the drone 100 to have a maximum flying height of 50 m in the specific area.
  • the specific fly-limited function of the unblocking drone 100 is not limited to the above several ways.
  • Step 1003 Transparently transmit the license data to the current drone 100.
  • the terminal 300 does not perform any processing on the license data sent by the server 200 to the terminal 300, but directly transmits the license data sent by the server 200 to the terminal 300 to the drone 100 in a transparent manner. Subsequently, one or more license packages in the license data are opened by self-unblocking to unlock the specific functions of the required drone 100, which is highly versatile.
  • the method further includes: sending an open command for indicating that the license data is valid to the drone 100.
  • the terminal 300 transparently transmits the license data to the drone 100
  • the license data is not valid in the drone 100, and needs to be triggered by the terminal 300, so that the drone 100 can open at least the license data.
  • Part of the license package makes at least part of the license package effective in the drone 100.
  • the open command carries a user identifier of a user currently managing the drone 100.
  • the drone 100 can further judge the legality of the open command according to the user identifier in the open command, and open the corresponding license data after ensuring that the open command is legal, thereby improving the security of the drone 100.
  • the method further includes: sending a shutdown command for indicating that the license data is invalid to the drone 100, and simultaneously triggering the drone 100 to turn off the unbanned no-use
  • the specific function of the human machine 100 further improves the safety of the drone 100 flight.
  • the shutdown command carries a user identification of a user currently controlling the drone 100.
  • the drone 100 can further judge the legality of the shutdown command according to the user identifier in the shutdown command, and then close the corresponding license data after ensuring that the shutdown command is legal, thereby improving the security of the drone 100.
  • the method may further include:
  • Step S1101 Send an update request to the server 200, where the update request carries current location information of the drone 100;
  • the server 200 parses the current location information of the drone 100 from the update request, and directly directly compares the server 200 according to the current location information of the drone 100.
  • the latest limited flight database is delivered to the drone 100, or the update data of the flight limited database of the drone 100 corresponding to the current location information is filtered from the dynamic update database of the server 200 and transmitted to the terminal 300.
  • the flight limited database is a dynamic flight limited database.
  • the flight limited database does not distinguish between a dynamic flight limit database and a static flight limit database
  • the flight limit database may include a dynamic flight limit database and a static flight limit database
  • the terminal 300 transmits an update request carrying the current location information of the drone 100 to the server 200, and obtains the flight-limited data of the flight-limited area of the area where the current location of the drone 100 is located from the server 200, and increases the limit of the temporary flight-limited zone.
  • the accuracy and timeliness of flying data At the same time, the update data of the flight limited database of the drone 100 is screened based on the location information, and the data amount of the update data of the flight limited database of the requested drone 100 can be prevented from being excessively large.
  • the update data of the flight limited database includes range information and an expiration date of at least one temporary flight limited zone.
  • the range information of the temporary flight limited zone is a parameter used to determine the flight limited range of the temporary flight restricted zone.
  • the range information of the temporary flight limited zone may be edge information of the temporary flight limited zone.
  • the range information of the temporary flight limited zone may be a central location of the temporary flight limited zone and a radius size.
  • the range information of the temporary flight limited area may also be other parameters that can determine the limited flight range of the temporary limited flight area, and the performance of the range information of the temporary limited flight area may be selected according to the shape of the temporary limited flight area. form.
  • the temporary flight limited area is a regular circular shape, and the range information of the circular temporary flight limited area can be represented by the edge information of the temporary flight limited area, and the center position and the radius of the temporary limited flight area can also be used. To represent.
  • the temporary flight limited area is in an irregular shape, the range information of the irregular temporary flight limited area may be represented by edge information of the temporary limited flight area.
  • the expiration date of the temporary flight limited zone includes a start time and an end time.
  • the temporary flight limited zone is in effect during the time period between the start time and the end time, and the drone 100 is prohibited from flying in the temporary flight limited zone. Before or after the start time, the temporary flight limited area fails, and the drone 100 can fly in the temporary flight limited area.
  • the current location information of the drone 100 may be acquired by the GPS module on the drone 100 and sent to the terminal 300, or may be directly obtained by the terminal 300.
  • the location information can be latitude and longitude.
  • the representation of the location information is not limited to latitude and longitude.
  • the location information may be other parameters capable of indicating location, such as administrative area information.
  • Step S1102 Receive update data of the flight limited database returned by the server 200 for the update request
  • the update data of the flight limited database received by the terminal 300 is received by the terminal 300.
  • the updated data of the dynamic data obtained in step S1102 is all temporary restricted zone information in a large area, for example, all the temporary flight zone information in the country where the drone 100 is currently located, and the province where the current location of the drone 100 is located. All temporary flight zone information, all temporary flight zone information within 20km from the current location of the drone 100.
  • Step S1103 transparently transmitting the flight limited database to the drone 100 to trigger the drone 100 to control the virtual flight database according to the limited flight database when determining that the flight limited database meets a specific condition The flight of the drone 100 is described.
  • the terminal 300 directly transmits the update data sent by the server 200 to the flight limited database of the terminal 300 to the drone 100 in a transparent manner, and the drone 100 determines the update data of the flight limited database. , thereby improving the safety of the drone 100 flight.
  • the terminal 300 performs signature verification on the license data that the server 200 delivers to the terminal 300, and transmits the license data to the drone 100 after the verification is successful.
  • the manner in which the terminal 300 performs signature verification on the license data may be similar to the manner in which the unmanned aircraft 100 performs signature verification on the updated data of the received flight limited database in the above embodiment, and details are not described herein again.
  • the execution process of the drone 100 is explained in the fifth embodiment
  • the execution process of the server 200 is explained in the sixth embodiment, and details are not described herein again.
  • the eighth embodiment of the present invention provides a drone control device that can be applied to the drone 100.
  • Embodiment 8 of the present invention provides a drone control apparatus, and the apparatus includes:
  • the first storage device 110 and the first processor 120 (eg, a single core or multi-core processor).
  • the first storage device 110 may include a volatile memory, such as a random-access memory (RAM); the first storage device 110 may also include a non-volatile memory (non-volatile memory). For example, a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD); the first storage device 110 may further include a combination of the above types of memories.
  • RAM random-access memory
  • non-volatile memory non-volatile memory
  • flash memory e.g., a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD); the first storage device 110 may further include a combination of the above types of memories.
  • the first processor 120 may be a central processing unit (CPU).
  • the first processor 120 may further include a hardware chip.
  • the hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof.
  • the PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a general array logic (GAL), or any combination thereof.
  • the first storage device 110 is configured to store program instructions.
  • the first processor 120 can include one or more, working alone or in combination.
  • the first processor 120 calls the program instruction, and when the program instruction is executed, is used to execute the steps of the drone control method described in the fifth embodiment.
  • the ninth embodiment of the present invention provides a drone control device that can be applied to the server 200.
  • an embodiment of the present invention provides a drone control apparatus, the apparatus comprising: a second storage device 210 and a second processor 220 (eg, a single core or multi-core processor).
  • a second storage device 210 e.g, a single core or multi-core processor.
  • a second processor 220 e.g, a single core or multi-core processor.
  • the second storage device 210 may include a volatile memory such as a random access memory (RAM); the second storage device 210 may also include a non-volatile memory (non-volatile memory) For example, a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD); the second storage device 210 may further include a combination of the above types of memories.
  • RAM random access memory
  • non-volatile memory non-volatile memory
  • flash memory e.g., a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD)
  • SSD solid-state drive
  • the second processor 220 can be a central processing unit (CPU).
  • the second processor 220 may further include a hardware chip.
  • the hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof.
  • the PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a general array logic (GAL), or any combination thereof.
  • the second storage device 210 is configured to store program instructions.
  • the second processor 220 can include one or more, working individually or collectively.
  • the second processor 220 is configured to invoke the program instruction to perform the steps of the drone control method described in Embodiment 6 when the program instruction is executed.
  • the seventh embodiment of the present invention provides a drone control device, which can be applied to the terminal 300.
  • a tenth embodiment of the present invention provides a drone control apparatus, the apparatus comprising: a third storage device 310 and a third processor 320 (eg, a single-core or multi-core processor).
  • a third processor 320 eg, a single-core or multi-core processor.
  • the third storage device 310 may include a volatile memory, such as a random-access memory (RAM); the third storage device 310 may also include a non-volatile memory (non-volatile memory). For example, a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD); the third storage device 310 may further include a combination of the above types of memories.
  • RAM random-access memory
  • non-volatile memory non-volatile memory
  • flash memory e.g., a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD); the third storage device 310 may further include a combination of the above types of memories.
  • HDD hard disk drive
  • SSD solid-state drive
  • the third processor 320 may be a central processing unit (CPU).
  • the third processor 320 may further include a hardware chip.
  • the hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof.
  • the PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a general array logic (GAL), or any combination thereof.
  • the third storage device 310 is configured to store program instructions.
  • the third processor 320 can include one or more, working alone or in combination.
  • the third processor 320 calls the program instruction to execute the steps of the drone control method described in the seventh embodiment when the program instruction is executed.
  • Embodiment 11 of the present invention provides a computer readable storage medium having a computer program stored thereon.
  • the program is executed by the first processor in the steps of the drone control method described in the first embodiment or the fifth embodiment.
  • the program is executed by the second processor in the steps of the drone control method described in the second embodiment or the sixth embodiment.
  • the program is executed by the third processor in the steps of the drone control method described in the seventh embodiment above.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).
  • the device embodiment since it basically corresponds to the method embodiment, reference may be made to the partial description of the method embodiment.
  • 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. Those of ordinary skill in the art can understand and implement without any creative effort.
  • a "computer-readable medium” can be any apparatus that can contain, store, communicate, propagate, or transport a program for use in an instruction execution system, apparatus, or device, or in conjunction with the instruction execution system, apparatus, or device.
  • computer readable media include the following: electrical connections (electronic devices) having one or more wires, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM).
  • the computer readable medium may even be a paper or other suitable medium on which the program can be printed, as it may be optically scanned, for example by paper or other medium, followed by editing, interpretation or, if appropriate, other suitable The method is processed to obtain the program electronically and then stored in computer memory.
  • portions of the invention may be implemented in hardware, software, firmware or a combination thereof.
  • multiple steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system.
  • a suitable instruction execution system For example, if implemented in hardware, as in another embodiment, it can be implemented with any one or combination of the following techniques well known in the art: having logic gates for implementing logic functions on data signals. Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.
  • each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one module.
  • the above integrated modules can be implemented in the form of hardware or in the form of software functional modules.
  • the integrated modules, if implemented in the form of software functional modules and sold or used as separate products, may also be stored in a computer readable storage medium.
  • the above mentioned storage medium may be a read only memory, a magnetic disk or an optical disk or the like.

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Abstract

本发明提供一种无人机控制方法和装置，其中，无人机配置有限飞数据库，所述方法包括：接收服务器针对更新请求所返回的限飞数据库的更新数据，其中所述更新请求携带有所述无人机的当前位置信息；在确定出所述限飞数据库的更新数据满足特定条件时，根据所述限飞数据库的更新数据，控制所述无人机的飞行。由无人机端完成限飞数据库的有效性判断，无人机的限飞数据库即使未及时更新，无人机仍然可以根据之前保存的限飞数据库中的临时限飞区的有效性与否来控制无人机的飞行，确保无人机的安全性。

Description

无人机控制方法和装置 技术领域
本发明涉及无人机控制领域，尤其涉及一种无人机控制方法和装置。
背景技术
限飞区包括固定限飞区和临时限飞区。其中，固定限飞区包括机场、监狱、核电站等敏感区域，其不随着时间的变化而改变限飞的属性。临时限飞区一般是由于比赛、政治活动或者火灾等事件而划分的，不同于固定限飞区，临时限飞区具体时效性，其在特定的有效期限内才会生效，超出有效期限则无效。无人机能够及时获得限飞数据是实现无人机安全飞行的必要条件之一。
现有技术中，限飞区(包括临时限飞区)时效性的实现方法是通过终端(具体为安装在终端上的APP)判断的。具体而言，终端在获得限飞数据库的同时进行限飞区时效性的判断，这种情况下所获得的限飞数据库中的数据都是一定会起到限制作用，无人机不需要其他任何判断，直接限飞数据库中取出数据来进行限飞的判断即可。无人机端逻辑简单，同时可以减少终端到无人机端传输的数据量。但过度依赖终端，而且限飞数据库下发给无人机之后，若无人机一直未连接终端等原因导致终端无法更新限飞数据库，就会导致限飞区一直在无人机内部生效。
发明内容
本发明提供一种无人机控制方法和装置。
根据本发明的第一方面，提供一种无人机控制方法，无人机配置有限飞数据库，所述方法包括：
接收服务器针对更新请求所返回的限飞数据库的更新数据，其中所述更新请求携带有所述无人机的当前位置信息；
在确定出所述限飞数据库的更新数据满足特定条件时，根据所述限飞数据库的更新数据，控制所述无人机的飞行。
根据本发明的第二方面，提供一种无人机控制装置，包括：第一存储装置和一个或多个第一处理器，一个或多个所述第一处理器单独地或共同地工作；
所述第一存储装置，用于存储限飞数据库和程序指令；
所述第一处理器，调用所述程序指令，当所述程序指令被执行时，用于：
接收服务器针对更新请求所返回的限飞数据库的更新数据，其中所述更新请求携带有所述无人机的当前位置信息；
在确定出所述限飞数据库的更新数据满足特定条件时，根据所述限飞数据库的更新数据，控制所述无人机的飞行。
根据本发明的第三方面，提供一种无人机控制方法，所述方法包括：
接收更新请求，其中所述更新请求携带有所述无人机的当前位置信息；
根据所述当前位置信息，获取所述无人机的限飞数据库的更新数据；
发送所述无人机的限飞数据库的更新数据至所述无人机，以触发所述无人机在确定出所述限飞数据库满足特定条件时，根据所述限飞数据库来控制所述无人机的飞行。
根据本发明的第四方面，提供一种无人机控制装置，包括：第二存储装置和一个或多个第二处理器，一个或多个所述第二处理器单独地或共同地工作；
所述第二存储装置，用于存储限飞数据库和程序指令；
所述第二处理器，调用所述程序指令，当所述程序指令被执行时，用于：
接收更新请求，其中所述更新请求携带有所述无人机的当前位置信息；
根据所述当前位置信息，获取所述无人机的限飞数据库的更新数据；
发送所述无人机的限飞数据库的更新数据至所述无人机，以触发所述无人机在确定出所述限飞数据库满足特定条件时，根据所述限飞数据库来控制所述无人机的飞行。
根据本发明的第五方面，提供一种无人机控制方法，所述方法包括：
接收服务器针对解禁请求所下发的当前无人机的许可数据，其中所述解禁请求携带有当前请求用户的用户标识和当前无人机的无人机标识，所述许可数据包括至少一个许可包，每个许可包用于许可解禁所述无人机的特定功能；
对所述许可数据进行解析，以及打开解析后的许可数据；
根据所述解析后的许可数据，控制所述无人机的飞行。
根据本发明的第六方面，提供一种无人机控制装置，包括：第一存储装置和一个或多个第一处理器，一个或多个所述第一处理器单独地或共同地工作；
所述第一存储装置，用于存储限飞数据库和程序指令；
所述第一处理器，调用所述程序指令，当所述程序指令被执行时，用于：
接收服务器针对解禁请求所下发的当前无人机的许可数据，其中所述解禁请求携带有当前请求用户的用户标识和当前无人机的无人机标识，所述许可数据包括至少一个许可包，每个许可包用于许可解禁所述无人机的特定功能；
对所述许可数据进行解析，以及打开解析后的许可数据；
根据所述解析后的许可数据，控制所述无人机的飞行。
根据本发明的第七方面，提供一种无人机控制方法，所述方法包括：
接收到解禁请求，其中所述解禁请求携带有当前请求用户的用户标识和当前无人机的无人机标识；
针对所述解禁请求，生成许可数据，所述许可数据包括至少一个许可包，每个许可包用于许可解禁所述无人机的特定功能；
下发所述许可数据至当前无人机。
根据本发明的第八面，提供一种无人机控制装置，包括：第二存储装置和一个或多个第二处理器，一个或多个所述第二处理器单独地或共同地工作；
所述第二存储装置，用于存储限飞数据库和程序指令；
所述第二处理器，调用所述程序指令，当所述程序指令被执行时，用于：
接收到解禁请求，其中所述解禁请求携带有当前请求用户的用户标识和当前无人机的无人机标识；
针对所述解禁请求，生成许可数据，所述许可数据包括至少一个许可包，每个许可包用于许可解禁所述无人机的特定功能；
下发所述许可数据至当前无人机。
根据本发明的第九方面，提供一种无人机控制方法，所述方法包括：
发送解禁请求至服务器，其中所述解禁请求携带有当前请求用户的用户标识和当前无人机的无人机标识；
接收所述服务器针对所述解禁请求返回的许可数据，所述许可数据包括至少一个许可包，每个许可包用于许可解禁所述无人机的特定功能；
透传所述许可数据至当前无人机。
根据本发明的第十方面，提供一种无人机控制装置，包括：第三存储装置和一个或多个第三处理器，一个或多个所述第二处理器单独地或共同地工作；
所述第三存储装置，用于存储限飞数据库和程序指令；
所述第三处理器，调用所述程序指令，当所述程序指令被执行时，用于：
发送解禁请求至服务器，其中所述解禁请求携带有当前请求用户的用户标识和当前无人机的无人机标识；
接收所述服务器针对所述解禁请求返回的许可数据，所述许可数据包括至少一 个许可包，每个许可包用于许可解禁所述无人机的特定功能；
透传所述许可数据至当前无人机。
由以上本发明实施例提供的技术方案可见，本发明由无人机端完成限飞数据库的有效性判断，无人机的限飞数据库即使未及时更新，无人机仍然可以根据之前保存的限飞数据库中的临时限飞区的有效性与否来控制无人机的飞行，确保无人机的安全性。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本发明一实施例中的无人机系统的结构框图；
图2是本发明另一实施例中的无人机系统的结构框图；
图3是本发明一实施例中的无人机控制方法在无人机侧的流程图；
图4是本发明一实施例中的无人机飞行的示意图；
图5A是本发明另一实施例中的无人机控制方法在无人机侧的流程图；
图5B是本发明一实施例中用户申请解禁无人机的功能的流程图；
图5C是本发明另一实施例中用户申请解禁无人机的功能的流程图；
图6是本发明一实施例中的无人机控制方法在服务器侧的流程图；
图7是本发明另一实施例中的无人机控制方法在服务器侧的流程图；
图8是本发明又一实施例中的无人机系统的结构框图；
图9是本发明还一实施例中的无人机系统的结构框图；
图10是本发明一实施例中的无人机控制方法在终端侧的流程图；
图11是本发明另一实施例中的无人机控制方法在终端侧的流程图。
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、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。
下面结合附图，对本发明的无人机控制方法和装置进行详细说明。在不冲突的 情况下，下述的实施例及实施方式中的特征可以相互组合。
在某些实施例中，参见图1，无人机100为联网状态，无人机100可直接与服务器200通信连接，无需终端300的转接。其中，联网是指通过wifi、基站等无线方式将设备接入一局域网。
在某些实施例中，参见图2，无人机100为未联网状态，无人机100需要通过控制无人机100的终端300来实现与服务器200的通信连接。需要说明的是，本发明实施例中，无人机100为未联网状态是指无人机100本身不可联网，或者，无人机100本身可联网，但无人机100当前时刻不方便联网。
终端300可与无人机100之间通过联网或者遥控器转接等方式实现通信连接。其中，终端300可为安装有APP(应用软件)的设备，例如手机、平板电脑等智能设备。
本实施例的服务器200至少配置有动态限飞数据库，用于保存临时限飞区信息(例如临时限飞区的范围信息)另外，所述服务器200还配置有静态限飞数据库，用于保存固定限飞区信息(例如固定限飞区的范围信息)。本实施例通过在服务器200中设置静态限飞数据库和动态限飞数据库，分别保存固定限飞区域信息和临时限飞区域信息，充分考虑了固定限飞区域变化较慢、临时限飞区变化较为频繁的特性，在无人机100或者终端300请求更新限飞数据时，动态限飞数据库和静态限飞数据库的设置能够方便更新数据的选取，防止无人机100或者地面端设备每次更新的数据量过大。其中，动态限飞数据库和静态限飞数据库在服务器200中存储数据的形式不限。
为了保证飞行的安全性，无人机100需要获取限飞数据。在一些实施例中，无人机100和直接从服务器200中获得限飞数据。在一些实施例中，终端300直接从服务器200中获得限飞数据，再转发限飞数据至无人机100。
实施例一
本发明实施例一提供一种无人机控制方法。图3为本发明实施例一提供的无人机控制方法的流程图。本实施例中，所述方法的执行主体为无人机100，例如，无人机100的飞行控制器或者其他设于无人机100上的处理器。
本实施例中，所述无人机100配置有动态限飞数据库和静态限飞数据库。其中，动态限飞数据库能够方便存储获得的临时限飞区信息并方便临时限飞区信息的频繁更新。本实施例的无人机100可包括缓存区，例如EEPROM(Electrically Erasable Programmable Read-Only Memory，电可擦可编程只读存储器)，限飞数据库存储在缓存区中，从而方便限飞数据库的升级。静态限飞数据库用于保存固定限飞区域信息，从而全方位保障无人机100的安全飞行。本实施例的无人机100还可包括固定存储区。由于静态限飞数据库变化的频率较慢，故本实施例的静态限飞数据库存储在固定存储区中。静态限飞数据库可以在无人机100出厂时直接配置在无人机100中。无人机100 出厂后，若服务器200的静态限飞数据库发生变化或者其他原因需要更新无人机100的静态限飞数据库，则可通过固件更新等方式来更新无人机100的静态限飞数据库。需要说明的是，本发明实施例中，无人机100中的限飞数据库和静态限飞数据库存储数据的形式不限。
本实施例通过在无人机100中设置动态限飞数据库和静态限飞数据库，分别保存固定限飞区域信息和临时限飞区域信息，考虑了固定限飞区域变化较慢、临时限飞区变化较为频繁的特性，在无人机100需要更新限飞数据时，可只选择动态限飞数据库和静态限飞数据库中一者，防止无人机100每次更新的数据量过大。当然，也可对动态限飞数据库和静态限飞数据库同时更新，确保限飞数据的完整性，从而确保无人机100飞行的安全性。
如图3所示，所述无人机控制方法可以包括如下步骤：
步骤301：接收服务器200针对更新请求所返回的限飞数据库的更新数据，其中所述更新请求携带有所述无人机100的当前位置信息；
其中，所述更新请求可由终端300发送至所述服务器200，也可由无人机100发送至所述服务器200。例如，在一些实施例中，更新请求由终端300发送至服务器200。步骤S301具体包括：接收经终端300透传的服务器200针对更新请求所返回的限飞数据库的更新数据。本实施例中，终端300不会对服务器200下发至终端300的限飞数据库的更新数据进行有效性判断，而是直接采用透传的方式将服务器200下发至终端300的限飞数据库的更新数据发送至无人机100，由无人机100对限飞数据库的更新数据进行判断，从而提高无人机100飞行的安全性。
在另一些实施例中，更新请求由无人机100直接发送至服务器200。服务器200直接将限飞数据库的更新数据下发至无人机100。
本实施例中，服务器200在接收到更新请求后，会从更新请求中解析出所述无人机100的当前位置信息，再根据所述无人机100的当前位置信息，直接将该服务器200中最新限飞数据库下发至无人机100，或者，从服务器200的动态更新数据库中筛选出与所述当前位置信息对应的无人机100的限飞数据库的更新数据并反馈给所述无人机100，从而使得无人机100获得当前位置周围的限飞数据，确保无人机100飞行的安全性。
本实施例中，服务器200可直接将限飞数据库的更新数据下发给无人机100，也可经终端300透传限飞数据库的更新数据至无人机100。限飞数据库的更新数据的传输方式可根据无人机100的联网状态来决定，例如，无人机100为联网状态时，服务器200直接将限飞数据库的更新数据下发给无人机100。而无人机100为未联网状态时，服务器200是经终端300透传限飞数据库的更新数据至无人机100的。
此外，在无人机100端，对限飞数据库的更新方式可分为以下两种情况：在一 些例子中，无人机100的限飞数据库已保存有限飞数据，无人机100的限飞数据库的更新数据用于替换无人机100的限飞数据库已保存的限飞数据。在一些例子中，无人机100的限飞数据库未保存任何数据信息，则无人机100的限飞数据库的更新数据直接保存至限飞数据库中的。
在一些实施例中，所述限飞数据库为动态限飞数据库。
而在另外一些实施例中，所述限飞数据库不对动态限飞数据库和静态限飞数据库进行区分，所述限飞数据库可同时包括动态限飞数据库和静态限飞数据库。
以下实施例将以所述限飞数据库为动态限飞数据库为例进行说明。
本实施例中，通过步骤301获得的动态数据的更新数据为一个较大区域内所有临时限飞区信息，例如，无人机100当前位置所在国家内所有临时限飞区信息、无人机100当前位置所在省份内所有临时限飞区信息、距离无人机100当前位置20km范围内所有临时限飞区信息等。
本实施例中，所述限飞数据库的更新数据包括至少一临时限飞区的范围信息和有效期限。其中，临时限飞区的范围信息为用于确定该临时限飞区的限飞范围的参数。在一些例子中，所述临时限飞区的范围信息可为临时限飞区的边缘信息。在一些例子中，所述临时限飞区的范围信息可为临时限飞区的中心位置以及半径大小。当然，所述临时限飞区的范围信息还可为其他能够确定出该临时限飞区的限飞范围的参数，具体可根据临时限飞区的形状来选择临时限飞区的范围信息的表现形式。例如，临时限飞区为规则的圆形，圆形的临时限飞区的范围信息即可采用该临时限飞区域的边缘信息来表示，也可采用该临时限飞区的中心位置以及半径大小来表示。又例如，临时限飞区为不规则的形状，则该不规则的临时限飞区的范围信息可采用该临时限飞区域的边缘信息来表示。所述临时限飞区的有效期限包括起始时间和结束时间。针对当前无人机100中的动态限飞数据库，在起始时间和结束时间之间的时间段内，该临时限飞区生效，禁止无人机100在该临时限飞区飞行。在起始时间之前或者结束时间后，该临时限飞区失效，无人机100可在该临时限飞区飞行。
通过无人机100或终端300发送携带有无人机100当前位置信息的更新请求至服务器200，以及时从服务器200获得无人机100当前位置所在区域的限飞区的限飞数据，提高临时限飞区的限飞数据的准确性和时效性。同时，根据位置信息来确定无人机100的限飞数据库的更新数据，还能够防止请求的无人机100的限飞数据库的更新数据的数据量过大。
其中，所述无人机100的当前位置信息可由无人机100上的GPS模块获取，也可由终端300定位获得。在一些实施例中，所述位置信息可为经纬度。当然，所述位置信息的表现形式并不限于经纬度，在其他实施例中，所述位置信息可为其他能够表示位置的参数，例如行政区域信息。
步骤302：在确定出所述限飞数据库的更新数据满足特定条件时，根据所述限飞数据库的更新数据，控制所述无人机100的飞行。
本实施例由无人机100端完成限飞数据库的有效性判断，无人机100的限飞数据库即使未及时更新，无人机100仍然可以根据之前保存的限飞数据库中的临时限飞区的有效性与否来控制无人机100的飞行，确保无人机100的安全性。
限飞数据库的有效性判断的方式可包括多种，例如，在一实施例中，确定出所述限飞数据库的更新数据满足特定条件可以包括：获取所述无人机100的实时位置信息；根据所述实时位置信息和所述限飞数据库的更新数据，获取距离所述无人机100的实时位置一定区域范围内的限飞区(针对动态限飞数据库，限飞区为临时限飞区)；确定出当前时刻位于所获取的限飞区中至少部分限飞区的有效期限。本实施例根据无人机100的实时位置信息，对通过步骤S301所获得的较大区域内所有临时限飞区信息进一步筛选，确定出无人机100实时位置所在一个较小区域内临时限飞区的限飞数据，例如，距离无人机100实时位置20m的区域内的所有临时限飞区信息，提高临时限飞区的限飞数据的准确性。进一步地，通过无人机100对所确定出的一个较小区域内所有临时限飞区的时效性判断，筛选出当前时刻生效的临时限飞区，再根据当前时刻生效的临时限飞区控制无人机100飞行，确保无人机100飞行的安全性。
在另一实施例中，所述确定出所述限飞数据库的更新数据满足特定条件包括：对所述限飞数据库的更新数据的签名验证成功。本实施例中，所述限飞数据库的更新数据为加密数据。进一步地，所述确定出所述限飞数据库的更新数据满足特定条件还可包括：根据预设规则对所述限飞数据库的更新数据进行解密处理，并且解密成功，防止数据被篡改，提高数据的安全性。完整的验证过程可包括：服务器200将需要发送的限飞数据库的更新数据做一个特殊处理，生成一个这段数据的“指纹”，无人机100在接收到服务器200下发的经特殊处理的限飞数据库的更新数据后，也做同样处理，生成一个“指纹”。无人机100会将其生成的“指纹”和服务器200生成的“指纹”进行比对，若比对结果一致，说明当前限飞数据库的更新数据是合法的服务器200下方。一般情况下，这种特殊处理需要一组密码和一组算法，非法服务器200需要根据上述算法和密码才能够伪造限飞数据库的更新数据，从而防止数据被篡改，提高数据的安全性。
进一步地，在执行完步骤S101之后，还包括：覆盖保存所述限飞数据库的更新数据至所述限飞数据库，从而防止由于数据量过大而导致无人机100的内存不足。在一些实施例中，无人机100在接收到限飞数据库的更新数据后，会将无人机100的限飞数据库中已保存的限飞数据替换成当前接收到的更新数据，从而可通过覆盖保存的方式来确保无人机100的内存充足，防止无人机100的限飞数据库数据量过大。在一些实施例中，无人机100的限飞数据库中未保存任何数据信息，无人机100在接收到限飞数据库的更新数据后，直接保存接收到的限飞数据库的更新数据至该无人机 100的限飞数据库中。需要说明的是，在某些实施例中，无人机对限飞数据库的更新数据的签名验证成功之后，覆盖保存所述限飞数据库的更新数据至所述限飞数据库。在无人机100起飞或飞行过程中，无人机100从当前保存的限飞数据库中查找出距离其当前位置一定区域范围内的限飞区，并计算当前位置和每一个处于有效期限内的限飞区的位置关系，根据这个位置关系控制无人机100的飞行，其中，控制的过程如图4。
在无人机100侧，所述限飞数据的更新方法还可包括：发送当前静态限飞数据库的版本信息至服务器200，从而确保无人机100能够及时获得较为准确的固定限飞区信息(其可包括固定限飞区的范围信息)，进而使得无人机100能够获得较为准确的固定限飞区信息。本实施例通过无人机100来主动告知服务器200所述无人机100的当前静态限飞数据库的版本信息，由服务器200进一步判断是否对无人机100的当前静态限飞数据库进行更新。在一些例子中，所述版本信息可包括当前静态限飞数据库的版本号，服务器200根据当前静态限飞数据库的版本号来判断是否对无人机100的当前静态限飞数据库进行更新。在一些例子中，所述版本信息可包括当前静态限飞数据库的更新时间，服务器200根据当前静态限飞数据库的更新时间来判断是否对无人机100的当前静态限飞数据库进行更新。
在一些实施例中，当无人机100的当前静态限飞数据库的版本信息与服务器200的静态限飞数据库的版本信息不同时，服务器200会发送无人机100的静态限飞数据库的更新数据(例如服务器200的静态限飞数据库中全部数据)至无人机100，以更新无人机100的当前静态限飞数据库。在无人机100侧，所述限飞数据的更新方法还可包括：接收服务器200发送的静态限飞数据库的更新数据，并根据所述静态限飞数据库的更新数据对所述静态限飞数据库进行更新，进而实现无人机100的静态限飞数据库的更新，使得无人机100能够获得较为准确的固定限飞区信息。
参见图4，无人机100在起飞或飞行的过程中，当无人机100处于有效限飞区的边缘或有效限飞区的边缘的缓冲区域时，控制无人机100的飞行过程如下：接收终端300发送的速度指令；对速度指令进行分解，确定出速度方向。若速度方向朝向当前限飞区的内部(例如图图4A中的速度c，图4B中的速度c)时，选择沿着当限飞区边缘平行的分速度(例如图4A中的速度a，图4B中的速度a)控制无人机100飞行，防止无人机100进入当前限飞区的内部。若速度方向背离当前限飞区的内部，则控制无人机100按照速度指令中的速度飞行。
进一步地，本实施例的无人机系统还提供一种解禁的方式，用于解锁无人机100的特定功能，例如，无人机100的限飞功能、无人机100的特定航线模式、无人机100的特定飞行模式、无人机100搭载的相机的特定拍摄功能等等。
本实施例中，参见图5A，所述无人机控制方法还可包括：
步骤S501：接收服务器200针对解禁请求所下发的当前无人机100的许可数据，其中所述解禁请求携带有当前请求用户的用户标识和当前无人机100的无人机100标识，所述许可数据包括至少一个许可包，每个许可包用于许可解禁所述无人机100的特定功能；
其中，所述解禁请求可由用户在终端300上或者在网页上提起并发送至所述服务器200，也可由无人机100发送至所述服务器200。例如，在一实施例中，解禁请求由终端300发送至服务器200，步骤S501具体可包括：接收所述终端300透传的所述服务器200针对解禁请求所下发的当前无人机100的许可数据。在一些实施例中，终端300直接采用透传的方式将服务器200下发至终端300的许可数据发送至无人机100，用户通过终端300或者其他设备上提供的交互界面选择生效该许可数据中的一个或多个许可包，以解禁所需的无人机100的特定功能，通用性强。在另一些实施例中，终端300会对服务器200下发至终端300的许可数据进行签名验证，并在验证成功后再将许可数据发送至无人机100。其中，终端300对许可数据进行签名验证的方式可类似于上述实施例中无人机100对所接收限飞数据库的更新数据的签名验证的方式相类似，此处不再赘述。
在另一实施例中，解禁请求由无人机100直接发送至服务器200。服务器200在针对所述解禁请求生成当前无人机100的许可数据后，直接发送至无人机100。
服务器200在接收到解禁请求后，会根据当前请求用户的用户标识和当前无人机100的无人机100标识生成对应的许可数据。在一实施例中，假设存在无人机A和无人机B两架无人机100，由用户1和用户2两个用户共同使用。表1为服务器200针对不同的解禁请求生成的许可数据。如表1所示，当用户1针对无人机A发送解禁请求至服务器200，服务器200在接收到该解禁请求后，会生成与用户1和无人机A对应的许可数据A1。而当用户1针对无人机B发送解禁请求至服务器200，服务器200在接收到该解禁请求后，会生成与用户1和无人机B对应的许可数据B1。当用户2针对无人机A发送解禁请求至服务器200，服务器200在接收到该解禁请求后，会生成与用户2和无人机A对应的许可数据A2。而当用户2针对无人机B发送解禁请求至服务器200，服务器200在接收到该解禁请求后，会生成与用户2和无人机B对应的许可数据B2。
表1
  无人机A 无人机B
用户1 许可数据A1 许可数据B1
用户2 许可数据A2 许可数据B2
在某些实施例中，所述许可数据可包括至少一个许可包，每个许可包用于许可一个特定用户解禁一种特定功能。例如，许可数据A1中的许可包仅能够由用户1解禁。在某些实施例中，所述许可数据可括至少一个许可包，每个许可包用于许可多个特定用户解禁一种特定功能。在某些实施例中，所述许可数据可括至少一个许可包，每个许可包用于许可一个用户解禁多种功能。在某些实施例中，所述许可数据可括至少一个许可包，每个许可包用于许可多个用户解禁多种功能。
在某些实施例中，所述许可数据还可包括每一许可包对应的有效期限。只有在当前许可包的有效期限内，无人机100中该许可包对应的特定功能才能被解禁。
在某些实施例中，所述许可数据还可包括所包含的许可包的数量和/或所述特定用户的标识，通过在许可数据中添加许可包的数量和/或特定用户的标识，便于无人机100端对许可数据的有效性进行验证，从而防止非法篡改。
在某些实施例中，所述许可数据可包括至少一个许可包，每个许可包可用于许可一个特定用户解禁一特定无人机100的一种特定功能，所述许可包还可包括所述特定无人机100的标识。例如，许可数据A1中的许可包A11仅能够由用户1解禁无人机100的A的功能1。
在某些实施例中，解禁无人机100的特定功能的方式参见图5B，第一种解禁的方式中包括用户许可数据申请和使用两个流程。在许可数据申请流程，由用户自行通过网页提交填写解禁所需的信息并生成解禁申请，该解禁申请通过审核后再由服务器200生成许可数据。在许可数据使用流程中，用户可以通过终端自行从服务器200下载该许可数据并导入到无人机100中。在用户需要使用解禁的功能时，用户可选择打开该解禁的功能对应的许可包。
在某些实施例中，解禁无人机100的特定功能的方式可以采用第二中解禁方式，也即自解禁的方式，参见图5C，终端中存有用户信息，其中，该用户信息可以是用户的银行卡信息(例如信用卡信息)、身份信息(例如身份证信息或者其他能够识别用户身份的信息)、手机信息、用户在一些验证系统中所登记的信息或者其他能够识别用户的信息。终端可以利用所存有的用户信息申请解禁无人机100的某些功能，而无需由用户填写解禁所需的信息，用户只需提起请求，终端根据该解禁请求获取用户信息以及其他解禁所需的信息并自动生成解禁请求发送至服务器。第二种解禁方式比第一种解禁方式更加复杂，主要是通过终端300自动帮用户做了很多第一种解禁中用户需要操作的事情，例如，第二种解禁方式中，终端在获取其他解禁所需的信息时，具体的，终端300搜索当前无人机100的可解禁的限飞区、经终端300透传许可数据至无人机100、终端300发送打开指令以触发无人机100打开许可数据等步骤，通过这一系列的操作，能够提高自解禁的合法性和安全性。
在某些实施例中，自解禁功能用于解禁无人机100的特定限飞功能，可选地， 所述许可数据可用于指示所述无人机100实现以下功能中的至少一种：解除所述无人机100在特定限飞区内的限飞、解除所述无人机100在特定国家内所有的限飞区内的限飞、控制所述无人机100仅在特定限飞区域内飞行、解除所述无人机100飞行时的高度限制。当所述许可数据用于指示所述无人机100实现控制所述无人机100仅在特定限飞区域内飞行的功能时，所述许可数据包括所述无人机100的飞行高度信息和区域边缘信息，即控制无人机100仅在特定区域内的特定高度以内飞行，例如，允许无人机100在该特定区域内的最大飞行高度为50m。当然，解禁无人机100的特定限飞功能并不限于上述几种方式。
进一步地，当自解禁功能用于解禁无人机100的特定限飞功能时，终端300在发送解禁请求至服务器200前，需要确定无人机100当前位置可允许解禁的限飞区，再根据可允许解禁的限飞区发送解禁请求至服务器200，确保当前解禁的无人机100的特定限飞功能合法。终端300确定无人机100当前位置可允许解禁的限飞区的过程如下：首先获取所述无人机100的实时位置信息，接着根据所述实时位置信息和当前无人机100中的限飞数据库，获取距离所述无人机100的实时位置一定区域范围内的限飞区。至此，终端300能够获取无人机100当前位置附近(距离所述无人机100的实时位置一定区域范围内)的限飞区。进一步地，终端300会按照预设策略，从所获取的限飞区中确定允许解禁的限飞区。例如，在在某些实施例中，终端300可根据各限飞区的安全等级，从所获取的限飞区中确定允许解禁的限飞区，比如，从所获取的限飞区中选择安全等级低于预设等级的限飞区作为允许解禁的限飞区。在某些实施例中，终端300可根据所述无人机100的当前位置所在的区域信息，从所获取的限飞区中确定允许解禁的限飞区。比如，当无人机100的当前位置所在的区域为特定区域时，可允许特定型号的无人机100解除在该特定区域内的限飞，或者允许特定用户控制的无人机100解除在该特定区域内的限飞。在某些实施例中，终端300可根据所述无人机100的无人机100标识，从所获取的限飞区中确定允许解禁的限飞区，从而根据无人机100的等级来确定允许解禁的限飞区。在某些实施例中，终端300可根据当前登录的用户的用户标识，从所获取的限飞区中确定允许解禁的限飞区，从而根据当前登录用户的信息来确定允许解禁的限飞区。在某些实施例中，终端300可根据当前登录的用户的管理权限，从所获取的限飞区中确定允许解禁的限飞区，从而根据当前登录用户的权限来确定允许解禁的限飞区。而终端300在确定出无人机100当前位置可允许解禁的限飞区后，会根据所述允许的解禁的限飞区，生成所述解禁请求，并将所述解禁请求发送至服务器200，从服务器200获取相应的许可数据。
本实施例中，许可数据由服务器200下发至无人机100的传输方式可根据无人机100的联网状态来决定，例如，无人机100为联网状态时，服务器200直接将许可数据下发给无人机100。而无人机100为未联网状态时，服务器200是经终端300透传许可数据至无人机100的。
此外，在某些实施例中，服务在接收到解禁请求，生成许可数据后直接下发许可数据至无人机100。
在某些实施例中，服务在接收到解禁请求，生成许可数据，并在接收到导入请求后，下发许可数据至无人机100。其中，导入请求携带有当前请求用户的用户标识和待导入许可数据的无人机100的无人机100标识。服务器200根据用户标识和无人机100标识，获得对应的许可数据后，再下发获得的许可数据至无人机100的。导入请求可由终端300发送至服务器200，或由无人机100发送至服务器200。
步骤S502：对所述许可数据进行解析，以及打开解析后的许可数据；
该步骤中，无人机100对许可数据进行解析后，许可数据中的许可包并未实时生效，无人机100需要进一步打开解析后的许可数据，才能使得许可数据中的至少部分许可包生效。其中，无人机100对许可数据进行解析的方式是根据无人机100接收到的许可数据决定的，例如，在某些实施例中，无人机100接收到的许可数据是经过服务器200加密的，无人机100在接收到许可数据后，需要对接收到的许可数据进行解密，从而读取许可数据。
进一步地，本实施例中，无人机100打开解析后的许可数据是由终端300触发的，可根据用户的需求选择打开许可数据，灵活性强。具体而言，无人机100在打开解析后的许可数据之前还可包括：接收到终端300发送的用于指示所述许可数据生效的打开指令。例如，打开指令可用于指示所述许可数据中的所有许可包全部生效，或者用于指示所述许可数据中的一部分许可包生效，无人机100在接收到打开指令后，会根据打开指令，选择对应的许可包生效，生效状态的许可包对应的特定功能在无人机100中生效。
可选地，所述打开指令携带有当前管理所述无人机100的用户的用户标识。无人机100在打开解析后的许可数据之前，还需对打开指令和许可数据进一步分析，以确保解禁的合法性。例如，在某些实施例中，无人机100确定出所述许可数据对应的用户标识与所述打开指令中的用户标识相同，则打开解析后的许可数据，使得解析后的许可数据中对应的许可包生效。在某些实施例中，无人机100确定出所述打开指令中的用户标识对应的用户的管理权限为预设权限，则打开解析后的许可数据，使得解析后的许可数据中对应的许可包生效。预设权限可为管理员权限，也可为队长权限。
更进一步地，在无人机100打开解析后的许可数据后，可由终端300触发来关闭已打开的许可数据，以及时关闭不需使用的已解禁的无人机100的特定功能，进一步提高无人机100飞行的安全性。具体地，无人机100在打开解析后的许可数据之后还可包括：接收到终端300发送的用于指示所述许可数据失效的关闭指令，关闭已打开的许可数据。
在某些实施例中，所述关闭指令携带有当前控制所述无人机100的用户的用户 标识。无人机100在关闭已打开的许可数据之前还可包括：确定出所述许可数据对应的用户标识与所述关闭指令中的用户标识相同，确保关闭已解禁的无人机100的特定功能的操作的合法性，更进一步提高无人机100飞行的安全性。
步骤S503：根据所述解析后的许可数据，控制所述无人机100的飞行。
本发明实施例中，由无人机100端完成对许可数据的解析与打开，用户可根据需要自解禁无人机100的特定功能，灵活性强。
当所述许可数据包括每一许可包对应的有效期限时，步骤S503具体可包括：基于所述许可包的有效期限确定出所述许可包处于生效状态。本实施例中，无人机100根据处于生效状态的许可包括来控制无人机100的飞行，提高无人机100飞行的安全性。
当自解禁功能用于解禁无人机100的特定限飞功能时，步骤S503具体可包括：根据所述解析后的许可数据及当前无人机100中的限飞数据库，控制所述无人机100的飞行，提高无人机100飞行的安全性并满足用户的特定需求。在一实施例中，所述限飞数据库可为动态限飞数据库。在另一实施例中，所述限飞数据库可为动态限飞数据库和静态限飞数据库。
实施例二
本发明实施例二提供一种无人机控制方法。图6为本发明实施例二提供的无人机控制方法的流程图。本实施例中，所述方法的执行主体为服务器200。
如图6所示，所述无人机控制方法可以包括如下步骤：
步骤601：接收更新请求，其中所述更新请求携带有所述无人机100的当前位置信息；
其中，所述更新请求可由终端300发送至所述服务器200，也可由无人机100发送至所述服务器200。
其中，所述无人机100的当前位置信息可由无人机100上的GPS模块获取，也可由终端300定位获得。在一些实施例中，所述位置信息可为经纬度。当然，所述位置信息的表现形式并不限于经纬度，在其他实施例中，所述位置信息可为其他能够表示位置的参数，例如行政区域信息。
步骤602：根据所述当前位置信息，获取所述无人机100的限飞数据库的更新数据；
服务器200在接收到更新请求后，会从更新请求中解析出所述无人机100的当前位置信息，再根据所述无人机100的当前位置信息，直接将该服务器200中最新限飞数据库下发至无人机100，或者，从服务器200的动态更新数据库中筛选出与所述 当前位置信息对应的无人机100的限飞数据库的更新数据。其中，步骤602具体包括：根据所述当前位置信息，按照预设生成策略获取所述限飞数据库的更新数据，从而根据实际需求获得无人机100的限飞数据库的更新数据。
在一些实施例中，所述限飞数据库为动态限飞数据库。
而在另外一些实施例中，所述限飞数据库不对动态限飞数据库和静态限飞数据库进行区分，所述限飞数据库可同时包括动态限飞数据库和静态限飞数据库。
以限飞数据库为动态限飞数据库为例进一步说明。
在一具体实现方式中，根据所述当前位置信息，按照预设生成策略获取所述限飞数据库的更新数据可包括：根据所述当前位置信息，获得所述无人机100当前位置所在区域的国家信息，根据所述国家信息，获取所述限飞数据库的更新数据。例如，当无人机100当前区域为特定国家时，可根据该特定国家内的临时限飞区的更新频率来获取限飞数据库的更新数据。可选地，当该特定国家内的临时限飞区的更新频率大于预设频率值时，服务器200获取的限飞数据库的更新数据可包含距离无人机100当前位置20km范围内的所有临时限飞区信息。当该特定国家内的临时限飞区的更新频率小于或等于预设频率值时，服务器200获取的限飞数据库的更新数据可包含该特定国家内的所有临时限飞区信息。这是由于在临时限飞区更新较快的区域，服务器200中的限飞数据库中该区域的更新也较快，无人机100中的动态限飞数据库的更新也较快，获取该区域的所有临时限飞区信息会导致无人机100传输的数据量过大。而在临时限飞区更新较快的区域，服务器200中的限飞数据库中该区域的更新也较慢，无人机100中的动态限飞数据库的更新也较慢，可获取该区域的所有临时限飞区信息，确保无人机100飞行的安全性。
本实施例中，所述限飞数据库的更新数据包括至少一临时限飞区的范围信息和有效期限。其中，临时限飞区的范围信息为用于确定该临时限飞区的限飞范围的参数。在一些例子中，所述临时限飞区的范围信息可为临时限飞区的边缘信息。在一些例子中，所述临时限飞区的范围信息可为临时限飞区的中心位置以及半径大小。当然，所述临时限飞区的范围信息还可为其他能够确定出该临时限飞区的限飞范围的参数，具体可根据临时限飞区的形状来选择临时限飞区的范围信息的表现形式。例如，临时限飞区为规则的圆形，圆形的临时限飞区的范围信息即可采用该临时限飞区域的边缘信息来表示，也可采用该临时限飞区的中心位置以及半径大小来表示。又例如，临时限飞区为不规则的形状，则该不规则的临时限飞区的范围信息可采用该临时限飞区域的边缘信息来表示。所述临时限飞区的有效期限包括起始时间和结束时间。针对当前无人机100中的动态限飞数据库，在起始时间和结束时间之间的时间段内，该临时限飞区生效，禁止无人机100在该临时限飞区飞行。在起始时间之前或者结束时间后，该临时限飞区失效，无人机100可在该临时限飞区飞行。
通过无人机100或终端300发送携带有无人机100当前位置信息的更新请求至服务器200，以及时从服务器200获得无人机100当前位置所在区域的限飞区的限飞数据，提高临时限飞区的限飞数据的准确性和时效性。同时，根据位置信息来确定无人机100的限飞数据库的更新数据，还能够防止请求的无人机100的限飞数据库的更新数据的数据量过大。
本实施例中，通过步骤602获得的动态数据的更新数据为一个较大区域内所有临时限飞区信息，例如，无人机100当前位置所在国家内所有临时限飞区信息、无人机100当前位置所在省份内所有临时限飞区信息、距离无人机100当前位置20km范围内所有临时限飞区信息等。
步骤603：发送所述无人机100的限飞数据库的更新数据至所述无人机100，以触发所述无人机100在确定出所述限飞数据库满足特定条件时，根据所述限飞数据库来控制所述无人机100的飞行。
本实施例由无人机100端完成限飞数据库的有效性判断，无人机100的限飞数据库即使未及时更新，无人机100仍然可以根据之前保存的限飞数据库中的临时限飞区的有效性与否来控制无人机100的飞行，确保无人机100的安全性。
在一些实施例中，更新请求由终端300发送至服务器200。步骤603可包括：发送所述无人机100的限飞数据库的更新数据至所述终端300，由所述终端300将所述限飞数据库透传至所述无人机100。本实施例中，终端300不会对服务器200下发至终端300的限飞数据库的更新数据进行有效性判断，而是直接采用透传的方式将服务器200下发至终端300的限飞数据库的更新数据发送至无人机100，由无人机100对限飞数据库的更新数据进行判断，从而提高无人机100飞行的安全性。
在另一些实施例中，更新请求由无人机100直接发送至服务器200。服务器200直接将限飞数据库发送至无人机100。
在步骤602之后，所述方法还可包括：对所述无人机100的限飞数据库的更新数据添加签名。步骤S603可包括：发送添加签名后的所述无人机100的限飞数据库的更新数据至所述无人机100。无人机100需要对签名进行验证，才能打开获得限飞数据库的更新数据，确保限飞数据库的更新数据的合法性。具体地，本实施例中，在步骤602之后，所述方法还可包括：按照预设设规则对所述限飞数据库的更新数据进行加密处理；步骤S603可包括：发送加密处理后的限飞数据库的更新数据至所述无人机100。完整的验证过程可包括：服务器200将需要发送的限飞数据库的更新数据做一个特殊处理，生成一个这段数据的“指纹”，无人机100在接收到服务器200下发的经特殊处理的限飞数据库的更新数据后，也做同样处理，生成一个“指纹”。无人机100会将其生成的“指纹”和服务器200生成的“指纹”进行比对，若比对结果一致，说明当前限飞数据库的更新数据是合法的服务器200下方。一般情况下，这种特殊处理 需要一组密码和一组算法，非法服务器200需要根据上述算法和密码才能够伪造限飞数据库的更新数据，从而防止数据被篡改，提高数据的安全性。
进一步地，所述方法还可包括：接收无人机100发送的无人机100中的静态限飞数据库的版本信息，从而可通过服务器200判断无人机100的静态限飞数据库的有效性。服务器200可根据无人机100中的静态限飞数据库的版本信息来确定无人机100的静态限飞数据库的有效性，从而决定是否发送服务器200中的静态限飞数据库至所述无人机100，以及时更新无人机100中的静态限飞数据库。
在某些实施例中，所述方法还可包括：发送服务器200中的静态限飞数据库至所述无人机100，使得无人机100能够及时更新其保存的静态限飞数据库。在一些例子中，所述发送服务器200中的静态限飞数据库至所述无人机100的步骤是在无人机100中的静态限飞数据库的版本低于服务器200中的静态限飞数据库的版本时执行的，确保无人机100能够及时获得最新版本的静态限飞数据库，从而保障无人机100飞行的安全性。在一些例子中，所述发送服务器200中的静态限飞数据库至所述无人机100的步骤是在更新服务器200中的静态限飞数据库后立即执行的。服务器200更新其保存的静态限飞数据库后立即发送更新后的服务器200的静态限飞数据库至所述无人机100，实现无人机100的静态限飞数据库的及时更新。
进一步地，本实施例的无人机系统还具备自解禁的功能，用于解锁无人机100的特定功能，例如，无人机100的限飞功能、无人机100特定航线模式、无人机100的特定飞行模式、无人机100搭载的相机的特定拍摄功能等等。
参见图7，所述方法还可包括：
步骤701：接收到解禁请求，其中所述解禁请求携带有当前请求用户的用户标识和当前无人机100的无人机100标识；
其中，所述解禁请求可由终端300发送至所述服务器200，也可由无人机100发送至所述服务器200。
步骤702：针对所述解禁请求，生成许可数据，所述许可数据包括至少一个许可包，每个许可包用于许可解禁所述无人机100的特定功能；
本实施例中，服务器200在接收到解禁请求后，会根据当前请求用户的用户标识和当前无人机100的无人机100标识生成对应的许可数据。针对许可数据部分，可参见上述实施例一中对许可数据部分的描述，此处不再赘述。
步骤703：下发所述许可数据至当前无人机100。
本发明实施例中，由无人机100端完成对许可数据的解析与打开，用户可根据需要自解禁无人机100的特定功能，灵活性强。
在一实施例中，解禁请求由终端300发送至服务器200，步骤S703具体可包 括：经所述终端300透传所述许可数据至当前无人机100。本实施例中，终端300不会对服务器200下发至终端300的许可数据做任何处理，而是直接采用透传的方式将服务器200下发至终端300的许可数据发送至无人机100，后续再采用自解禁方式打开许可数据中的一个或多个许可包，以解锁所需的无人机100的特定功能，通用性强。
在另一实施例中，解禁请求由无人机100直接发送至服务器200。服务器200在针对所述解禁请求生成当前无人机100的许可数据后，直接发送至无人机100。
本实施例中，许可数据由服务器200下发至无人机100的传输方式可根据无人机100的联网状态来决定，例如，无人机100为联网状态时，服务器200直接将许可数据下发给无人机100。而无人机100为未联网状态时，服务器200是经终端300透传许可数据至无人机100的。
进一步地，服务器200在执行完步骤702之后，执行步骤703之前，所述方法还可包括：对生成的许可数据进行加密处理。服务器200执行步骤703具体包括：下发加密后的许可数据至当前无人机100，防止许可数据被篡改，提高许可数据的安全性。
此外，在某些实施例中，服务在接收到解禁请求，生成许可数据后直接下发许可数据至无人机100。
在某些实施例中，服务在接收到解禁请求，生成许可数据，并在接收到导入请求后，下发许可数据至无人机100。其中，导入请求携带有当前请求用户的用户标识和待导入许可数据的无人机100的无人机100标识。服务器200根据用户标识和无人机100标识，获得对应的许可数据后，再下发获得的许可数据至无人机100的。导入请求可由终端300发送至服务器200，或由无人机100发送至服务器200。
需要说明的是，可参见实施例一对无人机100的执行过程进行解释，此处不再赘述。
实施例三
对应于实施例一的无人机控制方法，本发明实施例三提供了一种无人机控制装置，所述装置可应用于无人机100。
结合图8和图9，本发明实施例三提供一种无人机控制装置，所述装置包括：第一存储装置110和第一处理器120(例如，单核或多核处理器)。
所述第一存储装置110可以包括易失性存储器(volatile memory)，例如随机存取存储器(random-access memory，RAM)；第一存储装置110也可以包括非易失性存储器(non-volatile memory)，例如快闪存储器(flash memory)，硬盘(hard disk drive，HDD)或固态硬盘(solid-state drive，SSD)；第一存储装置110还可以包括上述种类的存储器的组合。
所述第一处理器120可以是中央处理器(central processing unit，CPU)。所述第一处理器120还可以进一步包括硬件芯片。上述硬件芯片可以是专用集成电路(application-specific integrated circuit，ASIC)，可编程逻辑器件(programmable logic device，PLD)或其组合。上述PLD可以是复杂可编程逻辑器件(complex programmable logic device，CPLD)，现场可编程逻辑门阵列(field-programmable gate array，FPGA)，通用阵列逻辑(generic array logic，GAL)或其任意组合。
本实施例中，所述第一存储装置110，用于存储程序指令。所述第一处理器120可包括一个或多个，单独地或共同地工作。所述第一处理器120，调用所述程序指令，当所述程序指令被执行时，用于执行实施例一所述的无人机控制方法的步骤。
其未展开的部分请参考以上实施例一中无人机控制方法相同或类似的部分，此处不再赘述。
实施例四
对应于实施例二的无人机控制方法，本发明实施例四提供了一种无人机控制装置，所述装置可应用于服务器200。
结合图8和图9，本发明实施例四提供一种无人机控制装置，所述装置包括：第二存储装置210和第二处理器220(例如，单核或多核处理器)。
所述第二存储装置210可以包括易失性存储器(volatile memory)，例如随机存取存储器(random-access memory，RAM)；第二存储装置210也可以包括非易失性存储器(non-volatile memory)，例如快闪存储器(flash memory)，硬盘(hard disk drive，HDD)或固态硬盘(solid-state drive，SSD)；第二存储装置210还可以包括上述种类的存储器的组合。
所述第二处理器220可以是中央处理器(central processing unit，CPU)。所述第二处理器220还可以进一步包括硬件芯片。上述硬件芯片可以是专用集成电路(application-specific integrated circuit，ASIC)，可编程逻辑器件(programmable logic device，PLD)或其组合。上述PLD可以是复杂可编程逻辑器件(complex programmable logic device，CPLD)，现场可编程逻辑门阵列(field-programmable gate array，FPGA)，通用阵列逻辑(generic array logic，GAL)或其任意组合。
本实施例中，所述第二存储装置210，用于存储程序指令。所述第二处理器220可包括一个或多个，单独地或共同地工作。所述第二处理器220，调用所述程序指令，当所述程序指令被执行时，用于执行实施例二所述的无人机控制方法的步骤。
其未展开的部分请参考以上实施例二中无人机控制方法相同或类似的部分，此处不再赘述。
实施例五
本发明实施例五提供一种无人机控制方法。图5A为本发明实施例五提供的无人机控制方法的流程图。本实施例中，所述方法的执行主体为无人机100。
本实施例中，参见图5A，所述无人机控制方法还可包括：
步骤S501：接收服务器200针对解禁请求所下发的当前无人机100的许可数据，其中所述解禁请求携带有当前请求用户的用户标识和当前无人机100的无人机100标识，所述许可数据包括至少一个许可包，每个许可包用于许可解禁所述无人机100的特定功能；
其中，所述解禁请求可由终端300发送至所述服务器200，也可由无人机100发送至所述服务器200。例如，在一实施例中，解禁请求由终端300发送至服务器200，步骤S501具体可包括：接收所述终端300透传的所述服务器200针对解禁请求所下发的当前无人机100的许可数据。在一些实施例中，终端300直接采用透传的方式将服务器200下发至终端300的许可数据发送至无人机100，后续再采用自解禁方式打开许可数据中的一个或多个许可包，以解锁所需的无人机100的特定功能，通用性强。在另一些实施例中，终端300会对服务器200下发至终端300的许可数据进行签名验证，并在验证成功后再将许可数据发送至无人机100。其中，终端300对许可数据进行签名验证的方式可类似于上述实施例中无人机100对所接收限飞数据库的更新数据的签名验证的方式相类似，此处不再赘述。
在另一实施例中，解禁请求由无人机100直接发送至服务器200。服务器200在针对所述解禁请求生成当前无人机100的许可数据后，直接发送至无人机100。
服务器200在接收到解禁请求后，会根据当前请求用户的用户标识和当前无人机100的无人机100标识生成对应的许可数据。在一实施例中，假设存在无人机A和无人机B两架无人机100，由用户1和用户2两个用户共同使用。表1为服务器200针对不同的解禁请求生成的许可数据。如表1所示，当用户1针对无人机A发送解禁请求至服务器200，服务器200在接收到该解禁请求后，会生成与用户1和无人机A对应的许可数据A1。而当用户1针对无人机B发送解禁请求至服务器200，服务器200在接收到该解禁请求后，会生成与用户1和无人机B对应的许可数据B1。当用户2针对无人机A发送解禁请求至服务器200，服务器200在接收到该解禁请求后，会生成与用户2和无人机A对应的许可数据A2。而当用户2针对无人机B发送解禁请求至服务器200，服务器200在接收到该解禁请求后，会生成与用户2和无人机B对应的许可数据B2。
某些实施例中，所述许可数据可包括至少一个许可包，每个许可包用于许可一个特定用户解禁一种特定功能。例如，许可数据A1中的许可包仅能够由用户1解禁。在某些实施例中，所述许可数据可括至少一个许可包，每个许可包用于许可多个特定用户解禁一种特定功能。在某些实施例中，所述许可数据可括至少一个许可包，每个 许可包用于许可一个用户解禁多种功能。在某些实施例中，所述许可数据可括至少一个许可包，每个许可包用于许可多个用户解禁多种功能。
在某些实施例中，所述许可数据还可包括每一许可包对应的有效期限。只有在当前许可包的有效期限内，无人机100中该许可包对应的特定功能才能被解禁。
在某些实施例中，所述许可数据还可包括所包含的许可包的数量和/或所述特定用户的标识，通过在许可数据中添加许可包的数量和/或特定用户的标识，便于无人机100端对许可数据的有效性进行验证，从而防止非法篡改。
在某些实施例中，所述许可数据可包括至少一个许可包，每个许可包可用于许可一个特定用户解禁一特定无人机100的一种特定功能，所述许可包还可包括所述特定无人机100的标识。例如，许可数据A1中的许可包A11仅能够由用户1解禁无人机100的A的功能1。
本实施例的无人机系统具备自解禁的功能，用于解锁无人机100的特定功能，例如，无人机100的限飞功能、无人机100特定航线模式、无人机100的特定飞行模式、无人机100搭载的相机的特定拍摄功能等等。
在某些实施例中，解禁无人机100的特定功能的方式参见图5B，第一种解禁的方式中包括用户许可数据申请和使用两个流程。在许可数据申请流程，由用户自行通过网页提交填写解禁所需的信息并生成解禁申请，该解禁申请通过审核后再由服务器200生成许可数据。在许可数据使用流程中，用户可以通过终端自行从服务器200下载该许可数据并导入到无人机100中。在用户需要使用解禁的功能时，用户可选择打开该解禁的功能对应的许可包。
在某些实施例中，解禁无人机100的特定功能的方式可以采用第二中解禁方式，也即自解禁的方式，参见图5C，终端中存有用户信息，其中，该用户信息可以是用户的银行卡信息(例如信用卡信息)、身份信息(例如身份证信息或者其他能够识别用户身份的信息)、手机信息、用户在一些验证系统中所登记的信息或者其他能够识别用户的信息。终端可以利用所存有的用户信息申请解禁无人机100的某些功能，而无需由用户填写解禁所需的信息，用户只需提起请求，终端根据该解禁请求获取用户信息以及其他解禁所需的信息并自动生成解禁请求发送至服务器。第二种解禁方式比第一种解禁方式更加复杂，主要是通过终端300自动帮用户做了很多第一种解禁中用户需要操作的事情，例如，第二种解禁方式中，终端在获取其他解禁所需的信息时，具体的，终端300搜索当前无人机100的可解禁的限飞区、经终端300透传许可数据至无人机100、终端300发送打开指令以触发无人机100打开许可数据等步骤，通过这一系列的操作，能够提高自解禁的合法性和安全性。
在某些实施例中，自解禁功能用于解禁无人机100的特定限飞功能，可选地，所述许可数据可用于指示所述无人机100实现以下功能中的至少一种：解除所述无人 机100在特定限飞区内的限飞、解除所述无人机100在特定国家内所有的限飞区内的限飞、控制所述无人机100仅在特定限飞区域内飞行、解除所述无人机100飞行时的高度限制。当所述许可数据用于指示所述无人机100实现控制所述无人机100仅在特定限飞区域内飞行的功能时，所述许可数据包括所述无人机100的飞行高度信息和区域边缘信息，即控制无人机100仅在特定区域内的特定高度以内飞行，例如，允许无人机100在该特定区域内的最大飞行高度为50m。当然，解禁无人机100的特定限飞功能并不限于上述几种方式。
进一步地，当自解禁功能用于解禁无人机100的特定限飞功能时，终端300在发送解禁请求至服务器200前，需要确定无人机100当前位置可允许解禁的限飞区，再根据可允许解禁的限飞区发送解禁请求至服务器200，确保当前解禁的无人机100的特定限飞功能合法。终端300确定无人机100当前位置可允许解禁的限飞区的过程如下：首先获取所述无人机100的实时位置信息，接着根据所述实时位置信息和当前无人机100中的限飞数据库，获取距离所述无人机100的实时位置一定区域范围内的限飞区。至此，终端300能够获取无人机100当前位置附近(距离所述无人机100的实时位置一定区域范围内)的限飞区。进一步地，终端300会按照预设策略，从所获取的限飞区中确定允许解禁的限飞区。例如，在在某些实施例中，终端300可根据各限飞区的安全等级，从所获取的限飞区中确定允许解禁的限飞区，比如，从所获取的限飞区中选择安全等级低于预设等级的限飞区作为允许解禁的限飞区。在某些实施例中，终端300可根据所述无人机100的当前位置所在的区域信息，从所获取的限飞区中确定允许解禁的限飞区。比如，当无人机100的当前位置所在的区域为特定区域时，可允许特定型号的无人机100解除在该特定区域内的限飞，或者允许特定用户控制的无人机100解除在该特定区域内的限飞。在某些实施例中，终端300可根据所述无人机100的无人机100标识，从所获取的限飞区中确定允许解禁的限飞区，从而根据无人机100的等级来确定允许解禁的限飞区。在某些实施例中，终端300可根据当前登录的用户的用户标识，从所获取的限飞区中确定允许解禁的限飞区，从而根据当前登录用户的信息来确定允许解禁的限飞区。在某些实施例中，终端300可根据当前登录的用户的管理权限，从所获取的限飞区中确定允许解禁的限飞区，从而根据当前登录用户的权限来确定允许解禁的限飞区。而终端300在确定出无人机100当前位置可允许解禁的限飞区后，会根据所述允许的解禁的限飞区，生成所述解禁请求，并将所述解禁请求发送至服务器200，从服务器200获取相应的许可数据。
本实施例中，许可数据由服务器200下发至无人机100的传输方式可根据无人机100的联网状态来决定，例如，无人机100为联网状态时，服务器200直接将许可数据下发给无人机100。而无人机100为未联网状态时，服务器200是经终端300透传许可数据至无人机100的。
此外，在某些实施例中，服务在接收到解禁请求，生成许可数据后直接下发许 可数据至无人机100。
在某些实施例中，服务在接收到解禁请求，生成许可数据，并在接收到导入请求后，下发许可数据至无人机100。其中，导入请求携带有当前请求用户的用户标识和待导入许可数据的无人机100的无人机100标识。服务器200根据用户标识和无人机100标识，获得对应的许可数据后，再下发获得的许可数据至无人机100的。导入请求可由终端300发送至服务器200，或由无人机100发送至服务器200。
步骤S502：对所述许可数据进行解析，以及打开解析后的许可数据；
该步骤中，无人机100对许可数据进行解析后，许可数据中的许可包并未实时生效，无人机100需要进一步打开解析后的许可数据，才能使得许可数据中的至少部分许可包生效。其中，无人机100对许可数据进行解析的方式是根据无人机100接收到的许可数据决定的，例如，在某些实施例中，无人机100接收到的许可数据是经过服务器200加密的，无人机100在接收到许可数据后，需要对接收到的许可数据进行解密，从而读取许可数据。
进一步地，本实施例中，无人机100打开解析后的许可数据是由终端300触发的，可根据用户的需求选择打开许可数据，灵活性强。具体而言，无人机100在打开解析后的许可数据之前还可包括：接收到终端300发送的用于指示所述许可数据生效的打开指令。例如，打开指令可用于指示所述许可数据中的所有许可包全部生效，或者用于指示所述许可数据中的一部分许可包生效，无人机100在接收到打开指令后，会根据打开指令，选择对应的许可包生效，生效状态的许可包对应的特定功能在无人机100中生效。
可选地，所述打开指令携带有当前管理所述无人机100的用户的用户标识。无人机100在打开解析后的许可数据之前，还需对打开指令和许可数据进一步分析，以确保解禁的合法性。例如，在某些实施例中，无人机100确定出所述许可数据对应的用户标识与所述打开指令中的用户标识相同，则打开解析后的许可数据，使得解析后的许可数据中对应的许可包生效。在某些实施例中，无人机100确定出所述打开指令中的用户标识对应的用户的管理权限为预设权限，则打开解析后的许可数据，使得解析后的许可数据中对应的许可包生效。预设权限可为管理员权限，也可为队长权限。
更进一步地，在无人机100打开解析后的许可数据后，可由终端300触发来关闭已打开的许可数据，以及时关闭不需使用的已解禁的无人机100的特定功能，进一步提高无人机100飞行的安全性。具体地，无人机100在打开解析后的许可数据之后还可包括：接收到终端300发送的用于指示所述许可数据失效的关闭指令，关闭已打开的许可数据。
在某些实施例中，所述关闭指令携带有当前控制所述无人机100的用户的用户标识。无人机100在关闭已打开的许可数据之前还可包括：确定出所述许可数据对应 的用户标识与所述关闭指令中的用户标识相同，确保关闭已解禁的无人机100的特定功能的操作的合法性，更进一步提高无人机100飞行的安全性。
步骤S503：根据所述解析后的许可数据，控制所述无人机100的飞行。
本发明实施例中，由无人机100端完成对许可数据的解析与打开，用户可根据需要自解禁无人机100的特定功能，灵活性强。
当所述许可数据包括每一许可包对应的有效期限时，步骤S503具体可包括：基于所述许可包的有效期限确定出所述许可包处于生效状态。本实施例中，无人机100根据处于生效状态的许可包括来控制无人机100的飞行，提高无人机100飞行的安全性。
当自解禁功能用于解禁无人机100的特定限飞功能时，步骤S503具体可包括：根据所述解析后的许可数据及当前无人机100中的限飞数据库，控制所述无人机100的飞行，提高无人机100飞行的安全性并满足用户的特定需求。在一实施例中，所述限飞数据库可为动态限飞数据库。在另一实施例中，所述限飞数据库可为动态限飞数据库和静态限飞数据库。
实施例六
本发明实施例六提供一种无人机控制方法。图7为本发明实施例六提供的无人机控制方法的流程图。本实施例中，所述方法的执行主体为服务器200。
如图7所示，所述无人机控制方法可以包括如下步骤：
步骤701：接收到解禁请求，其中所述解禁请求携带有当前请求用户的用户标识和当前无人机100的无人机100标识；
其中，所述解禁请求可由终端300发送至所述服务器200，也可由无人机100发送至所述服务器200。
步骤702：针对所述解禁请求，生成许可数据，所述许可数据包括至少一个许可包，每个许可包用于许可解禁所述无人机100的特定功能；
本实施例中，服务器200在接收到解禁请求后，会根据当前请求用户的用户标识和当前无人机100的无人机100标识生成对应的许可数据。针对许可数据部分，可参见上述实施例三中对许可数据部分的描述，此处不再赘述。
步骤703：下发所述许可数据至当前无人机100。
本发明实施例中，由无人机100端完成对许可数据的解析与打开，用户可根据需要自解禁无人机100的特定功能，灵活性强。
在一实施例中，解禁请求由终端300发送至服务器200，步骤S703具体可包括：经所述终端300透传所述许可数据至当前无人机100。本实施例中，终端300不 会对服务器200下发至终端300的许可数据做任何处理，而是直接采用透传的方式将服务器200下发至终端300的许可数据发送至无人机100，后续再采用自解禁方式打开许可数据中的一个或多个许可包，以解锁所需的无人机100的特定功能，通用性强。
在另一实施例中，解禁请求由无人机100直接发送至服务器200。服务器200在针对所述解禁请求生成当前无人机100的许可数据后，直接发送至无人机100。
本实施例中，许可数据由服务器200下发至无人机100的传输方式可根据无人机100的联网状态来决定，例如，无人机100为联网状态时，服务器200直接将许可数据下发给无人机100。而无人机100为未联网状态时，服务器200是经终端300透传许可数据至无人机100的。
进一步地，服务器200在执行完步骤702之后，执行步骤703之前，所述方法还可包括：对生成的许可数据进行加密处理。服务器200执行步骤703具体包括：下发加密后的许可数据至当前无人机100，防止许可数据被篡改，提高许可数据的安全性。
此外，在某些实施例中，服务在接收到解禁请求，生成许可数据后直接下发许可数据至无人机100。
在某些实施例中，服务在接收到解禁请求，生成许可数据，并在接收到导入请求后，下发许可数据至无人机100。其中，导入请求携带有当前请求用户的用户标识和待导入许可数据的无人机100的无人机100标识。服务器200根据用户标识和无人机100标识，获得对应的许可数据后，再下发获得的许可数据至无人机100的。导入请求可由终端300发送至服务器200，或由无人机100发送至服务器200。
可参见实施例五对无人机100的执行过程进行解释，此处不再赘述。
实施例七
本发明实施例七提供一种无人机控制方法。图10为本发明实施例七提供的无人机控制方法的流程图。本实施例中，所述方法的执行主体为终端300。
如图10所示，所述无人机控制方法可以包括如下步骤：
步骤1001：发送解禁请求至服务器200，其中所述解禁请求携带有当前请求用户的用户标识和当前无人机100的无人机100标识；
本实施例的无人机系统具备自解禁的功能，用于解锁无人机100的特定功能，例如，无人机100的限飞功能、无人机100的特定航线模式、无人机100的特定飞行模式、无人机100搭载的相机的特定拍摄功能等等。
当自解禁功能用于解禁无人机100的特定限飞功能时，终端300在发送解禁请求至服务器200前，需要确定无人机100当前位置可允许解禁的限飞区，再根据可允 许解禁的限飞区发送解禁请求至服务器200，确保当前解禁的无人机100的特定限飞功能合法。终端300确定无人机100当前位置可允许解禁的限飞区的过程如下：首先获取所述无人机100的实时位置信息，接着根据所述实时位置信息和当前无人机100中的限飞数据库，获取距离所述无人机100的实时位置一定区域范围内的限飞区。至此，终端300能够获取无人机100当前位置附近(距离所述无人机100的实时位置一定区域范围内)的限飞区。进一步地，终端300会按照预设策略，从所获取的限飞区中确定允许解禁的限飞区。例如，在在某些实施例中，终端300可根据各限飞区的安全等级，从所获取的限飞区中确定允许解禁的限飞区，比如，从所获取的限飞区中选择安全等级低于预设等级的限飞区作为允许解禁的限飞区。在某些实施例中，终端300可根据所述无人机100的当前位置所在的区域信息，从所获取的限飞区中确定允许解禁的限飞区。比如，当无人机100的当前位置所在的区域为特定区域时，可允许特定型号的无人机100解除在该特定区域内的限飞，或者允许特定用户控制的无人机100解除在该特定区域内的限飞。在某些实施例中，终端300可根据所述无人机100的无人机100标识，从所获取的限飞区中确定允许解禁的限飞区，从而根据无人机100的等级来确定允许解禁的限飞区。在某些实施例中，终端300可根据当前登录的用户的用户标识，从所获取的限飞区中确定允许解禁的限飞区，从而根据当前登录用户的信息来确定允许解禁的限飞区。在某些实施例中，终端300可根据当前登录的用户的管理权限，从所获取的限飞区中确定允许解禁的限飞区，从而根据当前登录用户的权限来确定允许解禁的限飞区。而终端300在确定出无人机100当前位置可允许解禁的限飞区后，会根据所述允许的解禁的限飞区，生成所述解禁请求，并将所述解禁请求发送至服务器200，从服务器200获取相应的许可数据。
步骤1002：接收所述服务器200针对所述解禁请求返回的许可数据，所述许可数据包括至少一个许可包，每个许可包用于许可解禁所述无人机100的特定功能；
在某些实施例中，所述许可数据可包括至少一个许可包，每个许可包用于许可一个特定用户解禁一种特定功能。例如，许可数据A1中的许可包仅能够由用户1解禁。
在某些实施例中，所述许可数据还可包括每一许可包对应的有效期限。只有在当前许可包的有效期限内，无人机100中该许可包对应的特定功能才能被解禁。
在某些实施例中，所述许可数据还可包括所包含的许可包的数量和/或所述特定用户的标识，通过在许可数据中添加许可包的数量和/或特定用户的标识，便于无人机100端对许可数据的有效性进行验证，从而防止非法篡改。
在某些实施例中，所述许可数据可包括至少一个许可包，每个许可包可用于许可一个特定用户解禁一特定无人机100的一种特定功能，所述许可包还可包括所述特定无人机100的标识。例如，许可数据A1中的许可包A11仅能够由用户1解禁无人 机100的A的功能1。
在某些实施例中，自解禁功能用于解禁无人机100的特定限飞功能，可选地，所述许可数据可用于指示所述无人机100实现以下功能中的至少一种：解除所述无人机100在特定限飞区内的限飞、解除所述无人机100在特定国家内所有的限飞区内的限飞、控制所述无人机100仅在特定限飞区域内飞行、解除所述无人机100飞行时的高度限制。当所述许可数据用于指示所述无人机100实现控制所述无人机100仅在特定限飞区域内飞行的功能时，所述许可数据包括所述无人机100的飞行高度信息和区域边缘信息，即控制无人机100仅在特定区域内的特定高度以内飞行，例如，允许无人机100在该特定区域内的最大飞行高度为50m。当然，解禁无人机100的特定限飞功能并不限于上述几种方式。
步骤1003：透传所述许可数据至当前无人机100。
本实施例中，终端300不会对服务器200下发至终端300的许可数据做任何处理，而是直接采用透传的方式将服务器200下发至终端300的许可数据发送至无人机100，后续再采用自解禁方式打开许可数据中的一个或多个许可包，以解锁所需的无人机100的特定功能，通用性强。
本实施例中，在步骤1003之后，所述方法还包括：发送用于指示所述许可数据生效的打开指令至所述无人机100。本实施例中，终端300在将许可数据透传至无人机100后，许可数据在无人机100中并未生效，需要通过终端300触发，才能够使得无人机100打开许可数据中至少部分许可包，使得至少部分许可包在无人机100中生效，灵活性强。可选地，所述打开指令携带有当前管理所述无人机100的用户的用户标识。无人机100可根据打开指令中的用户标识对打开指令的合法性进一步判断，并在确保打开指令合法后再打开对应的许可数据，提高无人机100的安全。
进一步地，在步骤1003之后，所述方法还包括：发送用于指示所述许可数据失效的关闭指令至所述无人机100，以及时触发无人机100关闭不需使用的已解禁的无人机100的特定功能，进一步提高无人机100飞行的安全性。可选地，所述关闭指令携带有当前控制所述无人机100的用户的用户标识。无人机100可根据关闭指令中的用户标识对关闭指令的合法性进一步判断，并在确保关闭指令合法后再关闭对应的许可数据，提高无人机100的安全。
进一步地，参见图11，所述方法还可包括：
步骤S1101：发送更新请求至服务器200，其中所述更新请求携带有所述无人机100的当前位置信息；
本实施例中，服务器200在接收到更新请求后，会从更新请求中解析出所述无人机100的当前位置信息，再根据所述无人机100的当前位置信息，直接将该服务器200中最新限飞数据库下发至无人机100，或者，从服务器200的动态更新数据库中筛 选出与所述当前位置信息对应的无人机100的限飞数据库的更新数据并发送至终端300。
在一些实施例中，所述限飞数据库为动态限飞数据库。
而在另外一些实施例中，所述限飞数据库不对动态限飞数据库和静态限飞数据库进行区分，所述限飞数据库可同时包括动态限飞数据库和静态限飞数据库。
以下实施例将以所述限飞数据库为动态限飞数据库为例进行说明。
通过终端300发送携带有无人机100当前位置信息的更新请求至服务器200，以及时从服务器200获得无人机100当前位置所在区域的限飞区的限飞数据，提高临时限飞区的限飞数据的准确性和时效性。同时，根据位置信息来筛选无人机100的限飞数据库的更新数据，还能够防止请求的无人机100的限飞数据库的更新数据的数据量过大。
所述限飞数据库的更新数据包括至少一临时限飞区的范围信息和有效期限。其中，临时限飞区的范围信息为用于确定该临时限飞区的限飞范围的参数。在一些例子中，所述临时限飞区的范围信息可为临时限飞区的边缘信息。在一些例子中，所述临时限飞区的范围信息可为临时限飞区的中心位置以及半径大小。当然，所述临时限飞区的范围信息还可为其他能够确定出该临时限飞区的限飞范围的参数，具体可根据临时限飞区的形状来选择临时限飞区的范围信息的表现形式。例如，临时限飞区为规则的圆形，圆形的临时限飞区的范围信息即可采用该临时限飞区域的边缘信息来表示，也可采用该临时限飞区的中心位置以及半径大小来表示。又例如，临时限飞区为不规则的形状，则该不规则的临时限飞区的范围信息可采用该临时限飞区域的边缘信息来表示。所述临时限飞区的有效期限包括起始时间和结束时间。针对当前无人机100中的动态限飞数据库，在起始时间和结束时间之间的时间段内，该临时限飞区生效，禁止无人机100在该临时限飞区飞行。在起始时间之前或者结束时间后，该临时限飞区失效，无人机100可在该临时限飞区飞行。
其中，所述无人机100的当前位置信息可由无人机100上的GPS模块获取并发送至终端300，也可直接由终端300定位获得。在一些实施例中，所述位置信息可为经纬度。当然，所述位置信息的表现形式并不限于经纬度，在其他实施例中，所述位置信息可为其他能够表示位置的参数，例如行政区域信息。
步骤S1102：接收所述服务器200针对所述更新请求所返回的限飞数据库的更新数据；
在一些实施例中，终端300接收到的限飞数据库的更新数据
通过步骤S1102获得的动态数据的更新数据为一个较大区域内所有临时限飞区信息，例如，无人机100当前位置所在国家内所有临时限飞区信息、无人机100当前 位置所在省份内所有临时限飞区信息、距离无人机100当前位置20km范围内所有临时限飞区信息等。
步骤S1103：透传所述限飞数据库透传至所述无人机100，以触发所述无人机100在确定出所述限飞数据库满足特定条件时，根据所述限飞数据库来控制所述无人机100的飞行。
在一些实施例中，终端300直接采用透传的方式将服务器200下发至终端300的限飞数据库的更新数据发送至无人机100，由无人机100对限飞数据库的更新数据进行判断，从而提高无人机100飞行的安全性。在另一些实施例中，终端300会对服务器200下发至终端300的许可数据进行签名验证，并在验证成功后再将许可数据发送至无人机100。其中，终端300对许可数据进行签名验证的方式可类似于上述实施例中无人机100对所接收限飞数据库的更新数据的签名验证的方式相类似，此处不再赘述。
可参见实施例五对无人机100的执行过程进行解释，并参见实施例六对服务器200的执行过程进行解释，此处不再赘述。
实施例八
对应于实施例五的无人机控制方法，本发明实施例八提供了一种无人机控制装置，所述装置可应用于无人机100。
结合图8和图9，本发明实施例八提供一种无人机控制装置，所述装置包括：
第一存储装置110和第一处理器120(例如，单核或多核处理器)。
所述第一存储装置110可以包括易失性存储器(volatile memory)，例如随机存取存储器(random-access memory，RAM)；第一存储装置110也可以包括非易失性存储器(non-volatile memory)，例如快闪存储器(flash memory)，硬盘(hard disk drive，HDD)或固态硬盘(solid-state drive，SSD)；第一存储装置110还可以包括上述种类的存储器的组合。
所述第一处理器120可以是中央处理器(central processing unit，CPU)。所述第一处理器120还可以进一步包括硬件芯片。上述硬件芯片可以是专用集成电路(application-specific integrated circuit，ASIC)，可编程逻辑器件(programmable logic device，PLD)或其组合。上述PLD可以是复杂可编程逻辑器件(complex programmable logic device，CPLD)，现场可编程逻辑门阵列(field-programmable gate array，FPGA)，通用阵列逻辑(generic array logic，GAL)或其任意组合。
本实施例中，所述第一存储装置110，用于存储程序指令。所述第一处理器120可包括一个或多个，单独地或共同地工作。所述第一处理器120，调用所述程序指令，当所述程序指令被执行时，用于执行实施例五所述的无人机控制方法的步骤。
其未展开的部分请参考以上实施例五中无人机控制方法相同或类似的部分，此处不再赘述。
实施例九
对应于实施例六的无人机控制方法，本发明实施例九提供了一种无人机控制装置，所述装置可应用于服务器200。
结合图8和图9，本发明实施例九提供一种无人机控制装置，所述装置包括：第二存储装置210和第二处理器220(例如，单核或多核处理器)。
所述第二存储装置210可以包括易失性存储器(volatile memory)，例如随机存取存储器(random-access memory，RAM)；第二存储装置210也可以包括非易失性存储器(non-volatile memory)，例如快闪存储器(flash memory)，硬盘(hard disk drive，HDD)或固态硬盘(solid-state drive，SSD)；第二存储装置210还可以包括上述种类的存储器的组合。
所述第二处理器220可以是中央处理器(central processing unit，CPU)。所述第二处理器220还可以进一步包括硬件芯片。上述硬件芯片可以是专用集成电路(application-specific integrated circuit，ASIC)，可编程逻辑器件(programmable logic device，PLD)或其组合。上述PLD可以是复杂可编程逻辑器件(complex programmable logic device，CPLD)，现场可编程逻辑门阵列(field-programmable gate array，FPGA)，通用阵列逻辑(generic array logic，GAL)或其任意组合。
本实施例中，所述第二存储装置210，用于存储程序指令。所述第二处理器220可包括一个或多个，单独地或共同地工作。所述第二处理器220，调用所述程序指令，当所述程序指令被执行时，用于执行实施例六所述的无人机控制方法的步骤。
其未展开的部分请参考以上实施例六中无人机控制方法相同或类似的部分，此处不再赘述。
实施例十
对应于实施例七的无人机控制方法，本发明实施例七提供了一种无人机控制装置，所述装置可应用于终端300。
参见图9，本发明实施例十提供一种无人机控制装置，所述装置包括：第三存储装置310和第三处理器320(例如，单核或多核处理器)。
所述第三存储装置310可以包括易失性存储器(volatile memory)，例如随机存取存储器(random-access memory，RAM)；第三存储装置310也可以包括非易失性存储器(non-volatile memory)，例如快闪存储器(flash memory)，硬盘(hard disk drive，HDD)或固态硬盘(solid-state drive，SSD)；第三存储装置310还可以包括上述种类的存储器的组合。
所述第三处理器320可以是中央处理器(central processing unit，CPU)。所述第三处理器320还可以进一步包括硬件芯片。上述硬件芯片可以是专用集成电路(application-specific integrated circuit，ASIC)，可编程逻辑器件(programmable logic device，PLD)或其组合。上述PLD可以是复杂可编程逻辑器件(complex programmable logic device，CPLD)，现场可编程逻辑门阵列(field-programmable gate array，FPGA)，通用阵列逻辑(generic array logic，GAL)或其任意组合。
本实施例中，所述第三存储装置310，用于存储程序指令。所述第三处理器320可包括一个或多个，单独地或共同地工作。所述第三处理器320，调用所述程序指令，当所述程序指令被执行时，用于执行实施例七所述的无人机控制方法的步骤。
其未展开的部分请参考以上实施例七中无人机控制方法相同或类似的部分，此处不再赘述。
实施例十一
本发明实施例十一提供一种计算机可读存储介质，其上存储有计算机程序。
其中，该程序被第一处理器执行上述实施例一或实施例五所述的无人机控制方法的步骤。
该程序被第二处理器执行上述实施例二或实施例六所述的无人机控制方法的步骤。
该程序被第三处理器执行上述实施例七所述的无人机控制方法的步骤。
需要说明的是，在不冲突的情况下，实施例一至实施例十一中的特征可以相互组合。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random Access Memory，RAM)等。
对于装置实施例而言，由于其基本对应于方法实施例，所以相关之处参见方法实施例的部分说明即可。以上所描述的装置实施例仅仅是示意性的，其中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模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。
“具体示例”、或“一些示例”等的描述意指结合所述实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书 中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一个或更多个用于实现特定逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分，并且本发明的优选实施例的范围包括另外的实现，其中可以不按所示出或讨论的顺序，包括根据所涉及的功能按基本同时的方式或按相反的顺序，来执行功能，这应被本发明的实施例所属技术领域的技术人员所理解。
在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于实现逻辑功能的可执行指令的定序列表，可以具体实现在任何计算机可读介质中，以供指令执行系统、装置或设备(如基于计算机的系统、包括处理器的系统或其他可以从指令执行系统、装置或设备取指令并执行指令的系统)使用，或结合这些指令执行系统、装置或设备而使用。就本说明书而言，"计算机可读介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行系统、装置或设备或结合这些指令执行系统、装置或设备而使用的装置。计算机可读介质的更具体的示例(非穷尽性列表)包括以下：具有一个或多个布线的电连接部(电子装置)，便携式计算机盘盒(磁装置)，随机存取存储器(RAM)，只读存储器(ROM)，可擦除可编辑只读存储器(EPROM或闪速存储器)，光纤装置，以及便携式光盘只读存储器(CDROM)。另外，计算机可读介质甚至可以是可在其上打印所述程序的纸或其他合适的介质，因为可以例如通过对纸或其他介质进行光学扫描，接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得所述程序，然后将其存储在计算机存储器中。
应当理解，本发明的各部分可以用硬件、软件、固件或它们的组合来实现。在上述实施例中，多个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或固件来实现。例如，如果用硬件来实现，和在另一实施例中一样，可用本领域公知的下列技术中的任一项或他们的组合来实现：具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(PGA)，现场可编程门阵列(FPGA)等。
本技术领域的普通技术人员可以理解实现上述实施方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，该程序在执行时，包括方法实施例的步骤之一或其组合。
此外，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模块中，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模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。所述集成的模块如果以软件功能模块的形式实现并作为独立的产品销售或使用时，也可以存 储在一个计算机可读取存储介质中。
上述提到的存储介质可以是只读存储器，磁盘或光盘等。尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (158)

  1. 一种无人机控制方法，其特征在于，无人机配置有限飞数据库，所述方法包括：
    接收服务器针对更新请求所返回的限飞数据库的更新数据，其中所述更新请求携带有所述无人机的当前位置信息；
    在确定出所述限飞数据库的更新数据满足特定条件时，根据所述限飞数据库的更新数据，控制所述无人机的飞行。
  2. 根据权利要求1所述的方法，其特征在于，所述确定出所述限飞数据库的更新数据满足特定条件包括：
    获取所述无人机的实时位置信息；
    根据所述实时位置信息和所述限飞数据库的更新数据，获取距离所述无人机的实时位置一定区域范围内的限飞区；
    确定出当前时刻位于所获取的限飞区中至少部分限飞区的有效期限。
  3. 根据权利要求1所述的方法，其特征在于，所述确定出所述限飞数据库的更新数据满足特定条件包括：
    对所述限飞数据库的更新数据的签名验证成功。
  4. 根据权利要求3所述的方法，其特征在于，所述限飞数据库的更新数据为加密数据；
    所述确定出所述限飞数据库的更新数据满足特定条件进一步包括：
    根据预设规则对所述限飞数据库的更新数据进行解密处理，并且解密成功。
  5. 根据权利要求1所述的方法，其特征在于，所述更新请求由终端发送至所述服务器。
  6. 根据权利要求5所述的方法，其特征在于，所述接收服务器针对更新请求所返回的限飞数据库的更新数据，包括：
    接收经终端透传的服务器针对更新请求所返回的限飞数据库的更新数据。
  7. 根据权利要求1所述的方法，其特征在于，所述更新请求由无人机发送至所述服务器。
  8. 根据权利要求1所述的方法，其特征在于，所述确定出所述限飞数据库的更新数据满足特定条件之后，还包括：
    覆盖保存所述限飞数据库的更新数据至所述限飞数据库。
  9. 根据权利要求1所述的方法，其特征在于，所述无人机配置有动态限飞数据库和静态限飞数据库，所述限飞数据库为动态限飞数据库。
  10. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    接收服务器针对解禁请求所下发的当前无人机的许可数据，其中所述解禁请求携带有当前请求用户的用户标识和当前无人机的无人机标识，所述许可数据包括至少一个许可包，每个许可包用于许可解禁所述无人机的特定功能；
    对所述许可数据进行解析，以及打开解析后的许可数据；
    根据所述解析后的许可数据，控制所述无人机的飞行。
  11. 根据权利要求10所述的方法，其特征在于，所述解禁请求由终端发送至所述服务器。
  12. 根据权利要求11所述的方法，其特征在于，所述接收服务器针对解禁请求所下发的当前无人机的许可数据，包括：
    接收所述终端透传的所述服务器针对解禁请求所下发的当前无人机的许可数据。
  13. 根据权利要求10所述的方法，其特征在于，所述打开解析后的许可数据，之前还包括：
    接收到终端发送的用于指示所述许可数据生效的打开指令。
  14. 根据权利要求13所述的方法，其特征在于，所述打开指令携带有当前管理所述无人机的用户的用户标识；
    所述对所述许可数据进行解析，包括：
    确定出所述许可数据对应的用户标识与所述打开指令中的用户标识相同；或者，
    确定出所述打开指令中的用户标识对应的用户的管理权限为预设权限。
  15. 根据权利要求10所述的方法，其特征在于，所述打开解析后的许可数据，之后，还包括：
    接收到终端发送的用于指示所述许可数据失效的关闭指令；
    关闭已打开的许可数据。
  16. 根据权利要求15所述的方法，其特征在于，所述关闭指令携带有当前控制所述无人机的用户的用户标识；
    所述关闭已打开的许可数据之前，还包括：
    确定出所述许可数据对应的用户标识与所述关闭指令中的用户标识相同。
  17. 根据权利要求10所述的方法，其特征在于，所述许可数据包括至少一个许可包，每个许可包用于许可一个特定用户解禁一种特定功能。
  18. 根据权利要求17所述的方法，其特征在于，所述许可数据还包括每一许可包对应的有效期限，所述根据所述解析后的许可数据，控制所述无人机的飞行，包括：
    基于所述许可包的有效期限确定出所述许可包处于生效状态。
  19. 根据权利要求17所述的方法，其特征在于，所述许可数据还包括所包含的许可包的数量和/或所述特定用户的标识。
  20. 根据权利要求17所述的方法，其特征在于，所述许可数据包括至少一个许可包，每个许可包用于许可一个特定用户解禁一特定无人机的一种特定功能；
    所述许可包还包括所述特定无人机的标识。
  21. 根据权利要求10所述的方法，其特征在于，所述许可数据用于指示所述无人机实现以下功能中的至少一种：
    解除所述无人机在特定限飞区内的限飞、解除所述无人机在特定国家内所有的限飞区内的限飞、控制所述无人机仅在特定限飞区域内飞行、解除所述无人机飞行时的 高度限制。
  22. 根据权利要求21所述的方法，其特征在于，所述根据所述解析后的许可数据，控制所述无人机的飞行，包括：根据所述解析后的许可数据及当前无人机中的限飞数据库，控制所述无人机的飞行。
  23. 根据权利要求22所述的方法，其特征在于，当所述许可数据用于指示所述无人机实现控制所述无人机仅在特定限飞区域内飞行的功能时，所述许可数据包括所述无人机的飞行高度信息和区域边缘信息。
  24. 一种无人机控制装置，其特征在于，其中无人机配置有限飞数据库，所述装置包括：第一存储装置和一个或多个第一处理器，一个或多个所述第一处理器单独地或共同地工作；
    所述第一存储装置，用于存储程序指令；
    所述第一处理器，调用所述程序指令，当所述程序指令被执行时，用于
    接收服务器针对更新请求所返回的限飞数据库的更新数据，其中所述更新请求携带有所述无人机的当前位置信息；
    在确定出所述限飞数据库的更新数据满足特定条件时，根据所述限飞数据库的更新数据，控制所述无人机的飞行。
  25. 根据权利要求24所述的装置，其特征在于，所述第一处理器确定出所述限飞数据库的更新数据满足特定条件包括：
    获取所述无人机的实时位置信息；
    根据所述实时位置信息和所述限飞数据库的更新数据，获取距离所述无人机的实时位置一定区域范围内的限飞区；
    确定出当前时刻位于所获取的限飞区中至少部分限飞区的有效期限。
  26. 根据权利要求24所述的装置，其特征在于，所述第一处理器确定出所述限飞数据库的更新数据满足特定条件包括：
    对所述限飞数据库的更新数据的签名验证成功。
  27. 根据权利要求26所述的装置，其特征在于，所述限飞数据库的更新数据为加密数据；
    所述第一处理器确定出所述限飞数据库的更新数据满足特定条件进一步包括：
    根据预设规则对所述限飞数据库的更新数据进行解密处理，并且解密成功。
  28. 根据权利要求24所述的装置，其特征在于，所述更新请求由终端发送至所述服务器。
  29. 根据权利要求28所述的装置，其特征在于，所述第一处理器接收服务器针对更新请求所返回的限飞数据库的更新数据，包括：
    接收经终端透传的服务器针对更新请求所返回的限飞数据库的更新数据。
  30. 根据权利要求24所述的装置，其特征在于，所述更新请求由无人机发送至所述服务器。
  31. 根据权利要求24所述的装置，其特征在于，所述第一处理器确定出所述限飞数据库的更新数据满足特定条件之后，还包括：
    覆盖保存所述限飞数据库的更新数据至所述限飞数据库。
  32. 根据权利要求24所述的装置，其特征在于，所述无人机配置有动态限飞数据库和静态限飞数据库，所述限飞数据库为动态限飞数据库。
  33. 根据权利要求24所述的装置，其特征在于，所述第一处理器，还用于：
    接收服务器针对解禁请求所下发的当前无人机的许可数据，其中所述解禁请求携带有当前请求用户的用户标识和当前无人机的无人机标识，所述许可数据包括至少一个许可包，每个许可包用于许可解禁所述无人机的特定功能；
    对所述许可数据进行解析，以及打开解析后的许可数据；
    根据所述解析后的许可数据，控制所述无人机的飞行。
  34. 根据权利要求33所述的装置，其特征在于，所述解禁请求由终端发送至所述服务器。
  35. 根据权利要求34所述的装置，其特征在于，所述第一处理器接收服务器针对解禁请求所下发的当前无人机的许可数据，包括：
    接收所述终端透传的所述服务器针对解禁请求所下发的当前无人机的许可数据。
  36. 根据权利要求33所述的装置，其特征在于，所述第一处理器打开解析后的许可数据，之前还包括：
    接收到终端发送的用于指示所述许可数据生效的打开指令。
  37. 根据权利要求36所述的装置，其特征在于，所述打开指令携带有当前管理所述无人机的用户的用户标识；
    所述第一处理器对所述许可数据进行解析，包括：
    确定出所述许可数据对应的用户标识与所述打开指令中的用户标识相同；或者，
    确定出所述打开指令中的用户标识对应的用户的管理权限为预设权限。
  38. 根据权利要求33所述的装置，其特征在于，所述第一处理器打开解析后的许可数据，之后，还包括：
    接收到终端发送的用于指示所述许可数据失效的关闭指令；
    关闭已打开的许可数据。
  39. 根据权利要求38所述的装置，其特征在于，所述关闭指令携带有当前控制所述无人机的用户的用户标识；
    所述第一处理器关闭已打开的许可数据之前，还包括：
    确定出所述许可数据对应的用户标识与所述关闭指令中的用户标识相同。
  40. 根据权利要求33所述的装置，其特征在于，所述许可数据包括至少一个许可包，每个许可包用于许可一个特定用户解禁一种特定功能。
  41. 根据权利要求40所述的装置，其特征在于，所述许可数据还包括每一许可包对应的有效期限，所述根据所述解析后的许可数据，控制所述无人机的飞行，包括：
    基于所述许可包的有效期限确定出所述许可包处于生效状态。
  42. 根据权利要求40所述的装置，其特征在于，所述许可数据还包括所包含的许可包的数量和/或所述特定用户的标识。
  43. 根据权利要求40所述的装置，其特征在于，所述许可数据包括至少一个许可包，每个许可包用于许可一个特定用户解禁一特定无人机的一种特定功能；
    所述许可包还包括所述特定无人机的标识。
  44. 根据权利要求33所述的装置，其特征在于，所述许可数据用于指示所述无人机实现以下功能中的至少一种：
    解除所述无人机在特定限飞区内的限飞、解除所述无人机在特定国家内所有的限飞区内的限飞、控制所述无人机仅在特定限飞区域内飞行、解除所述无人机飞行时的高度限制。
  45. 根据权利要求44所述的装置，其特征在于，所述第一处理器根据所述解析后的许可数据，控制所述无人机的飞行，包括：根据所述解析后的许可数据及当前无人机中的限飞数据库，控制所述无人机的飞行。
  46. 根据权利要求45所述的装置，其特征在于，当所述许可数据用于指示所述无人机实现控制所述无人机仅在特定限飞区域内飞行的功能时，所述许可数据包括所述无人机的飞行高度信息和区域边缘信息。
  47. 一种无人机控制方法，其特征在于，所述方法包括：
    接收更新请求，其中所述更新请求携带有所述无人机的当前位置信息；
    根据所述当前位置信息，获取所述无人机的限飞数据库的更新数据；
    发送所述无人机的限飞数据库的更新数据至所述无人机，以触发所述无人机在确定出所述限飞数据库满足特定条件时，根据所述限飞数据库来控制所述无人机的飞行。
  48. 根据权利要求47所述的方法，其特征在于，所述更新请求由终端发送。
  49. 根据权利要求48所述的方法，其特征在于，所述发送所述无人机的限飞数据库的更新数据至所述无人机，包括：
    发送所述无人机的限飞数据库的更新数据至所述终端；
    由所述终端将所述限飞数据库透传至所述无人机。
  50. 根据权利要求47所述的方法，其特征在于，所述更新请求由无人机发送。
  51. 根据权利要求47所述的方法，其特征在于，所述根据所述当前位置信息，获取所述无人机的限飞数据库的更新数据，包括：
    根据所述当前位置信息，按照预设生成策略获取所述限飞数据库的更新数据。
  52. 根据权利要求51所述的方法，其特征在于，所述根据所述当前位置信息，按照预设生成策略获取所述限飞数据库的更新数据，包括：
    根据所述当前位置信息，获得所述无人机当前位置所在区域的国家信息；
    根据所述国家信息，获取所述限飞数据库的更新数据。
  53. 根据权利要求47所述的方法，其特征在于，所述发送所述无人机的限飞数据 库的更新数据至所述无人机，之前还包括：
    对所述无人机的限飞数据库的更新数据添加签名；
    所述发送所述无人机的限飞数据库的更新数据至所述无人机，包括：
    发送添加签名后的所述无人机的限飞数据库的更新数据至所述无人机。
  54. 根据权利要求47所述的方法，其特征在于，所述根据所述当前位置信息，获取所述无人机的限飞数据库的更新数据之后，还包括：
    按照预设设规则对所述限飞数据库的更新数据进行加密处理；
    所述发送所述无人机的限飞数据库的更新数据至所述无人机，包括：
    发送加密处理后的限飞数据库的更新数据至所述无人机。
  55. 根据权利要求47所述的方法，其特征在于，所述限飞数据库为动态限飞数据库。
  56. 根据权利要求47所述的方法，其特征在于，所述方法还包括：
    发送服务器中的静态限飞数据库至所述无人机；所述发送服务器中的静态限飞数据库至所述无人机的步骤是在确定出所述无人机中的静态限飞数据库的版本低于所述服务器中的静态限飞数据库的版本时执行的；
    或者；
    所述发送服务器中的静态限飞数据库至所述无人机的步骤是在更新服务器中的静态限飞数据库后立即执行的。
  57. 根据权利要求47所述的方法，其特征在于，所述方法还包括：
    接收到解禁请求，其中所述解禁请求携带有当前请求用户的用户标识和当前无人机的无人机标识；
    针对所述解禁请求，生成许可数据，所述许可数据包括至少一个许可包，每个许可包用于许可解禁所述无人机的特定功能；
    下发所述许可数据至当前无人机。
  58. 根据权利要求57所述的方法，其特征在于，所述解禁请求由终端发送。
  59. 根据权利要求58所述的方法，其特征在于，所述下发所述许可数据至当前无人机，包括：
    经所述终端透传所述许可数据至当前无人机。
  60. 根据权利要求57所述的方法，其特征在于，所述解禁请求由无人机发送。
  61. 根据权利要求57所述的方法，其特征在于，所述许可数据包括至少一个许可包，每个许可包用于许可一个特定用户解禁一种特定功能。
  62. 根据权利要求61所述的方法，其特征在于，所述许可数据还包括每一许可包对应的有效期限。
  63. 根据权利要求61所述的方法，其特征在于，所述许可数据还包括所包含的许可包的数量和/或所述特定用户的标识。
  64. 根据权利要求61所述的方法，其特征在于，所述许可数据包括至少一个许可 包，每个许可包用于许可一个特定用户解禁一特定无人机的一种特定功能；
    所述许可包还包括所述特定无人机的标识。
  65. 根据权利要求57所述的方法，其特征在于，所述许可数据用于指示所述无人机实现以下功能中的至少一种：
    解除所述无人机在特定限飞区内的限飞、解除所述无人机在特定国家内所有的限飞区内的限飞、控制所述无人机仅在特定限飞区域内飞行、解除所述无人机飞行时的高度限制。
  66. 根据权利要求65所述的方法，其特征在于，当所述许可数据用于指示所述无人机实现控制所述无人机仅在特定限飞区域内飞行的功能时，所述许可数据包括所述无人机的飞行高度信息和区域边缘信息。
  67. 一种无人机控制装置，其特征在于，所述装置包括：第二存储装置和一个或多个第二处理器，一个或多个所述第二处理器单独地或共同地工作；
    所述第二存储装置，用于存储程序指令；
    所述第二处理器，调用所述程序指令，当所述程序指令被执行时，用于
    接收更新请求，其中所述更新请求携带有所述无人机的当前位置信息；
    根据所述当前位置信息，获取所述无人机的限飞数据库的更新数据；
    发送所述无人机的限飞数据库的更新数据至所述无人机，以触发所述无人机在确定出所述限飞数据库满足特定条件时，根据所述限飞数据库来控制所述无人机的飞行。
  68. 根据权利要求67所述的装置，其特征在于，所述更新请求由终端发送。
  69. 根据权利要求68所述的装置，其特征在于，所述第二处理器发送所述无人机的限飞数据库的更新数据至所述无人机，包括：
    发送所述无人机的限飞数据库的更新数据至所述终端；
    由所述终端将所述限飞数据库透传至所述无人机。
  70. 根据权利要求67所述的装置，其特征在于，所述更新请求由无人机发送。
  71. 根据权利要求67所述的装置，其特征在于，所述第二处理器根据所述当前位置信息，获取所述无人机的限飞数据库的更新数据，包括：
    根据所述当前位置信息，按照预设生成策略获取所述限飞数据库的更新数据。
  72. 根据权利要求71所述的装置，其特征在于，所述第二处理器根据所述当前位置信息，按照预设生成策略获取所述限飞数据库的更新数据，包括：
    根据所述当前位置信息，获得所述无人机当前位置所在区域的国家信息；
    根据所述国家信息，获取所述限飞数据库的更新数据。
  73. 根据权利要求67所述的装置，其特征在于，所述第二处理器发送所述无人机的限飞数据库的更新数据至所述无人机，之前还包括：
    对所述无人机的限飞数据库的更新数据添加签名；
    所述发送所述无人机的限飞数据库的更新数据至所述无人机，包括：
    发送添加签名后的所述无人机的限飞数据库的更新数据至所述无人机。
  74. 根据权利要求67所述的装置，其特征在于，所述第二处理器根据所述当前位置信息，获取所述无人机的限飞数据库的更新数据之后，还包括：
    按照预设设规则对所述限飞数据库的更新数据进行加密处理；
    所述发送所述无人机的限飞数据库的更新数据至所述无人机，包括：
    发送加密处理后的限飞数据库的更新数据至所述无人机。
  75. 根据权利要求67所述的装置，其特征在于，所述限飞数据库为动态限飞数据库。
  76. 根据权利要求67所述的装置，其特征在于，所述第二处理器，还用于：
    发送服务器中的静态限飞数据库至所述无人机；
    所述第二处理器发送服务器中的静态限飞数据库至所述无人机的步骤是在确定出所述无人机中的静态限飞数据库的版本低于所述服务器中的静态限飞数据库的版本时执行的；
    或者；
    所述发送服务器中的静态限飞数据库至所述无人机的步骤是在更新服务器中的静态限飞数据库后立即执行的。
  77. 根据权利要求67所述的装置，其特征在于，所述第二处理器，还用于：
    接收到解禁请求，其中所述解禁请求携带有当前请求用户的用户标识和当前无人机的无人机标识；
    针对所述解禁请求，生成许可数据，所述许可数据包括至少一个许可包，每个许可包用于许可解禁所述无人机的特定功能；
    下发所述许可数据至当前无人机。
  78. 根据权利要求77所述的装置，其特征在于，所述解禁请求由终端发送。
  79. 根据权利要求78所述的装置，其特征在于，所述第二处理器下发所述许可数据至当前无人机，包括：
    经所述终端透传所述许可数据至当前无人机。
  80. 根据权利要求77所述的装置，其特征在于，所述解禁请求由无人机发送。
  81. 根据权利要求77所述的装置，其特征在于，所述许可数据包括至少一个许可包，每个许可包用于许可一个特定用户解禁一种特定功能。
  82. 根据权利要求81所述的装置，其特征在于，所述许可数据还包括每一许可包对应的有效期限。
  83. 根据权利要求81所述的装置，其特征在于，所述许可数据还包括所包含的许可包的数量和/或所述特定用户的标识。
  84. 根据权利要求81所述的装置，其特征在于，所述许可数据包括至少一个许可包，每个许可包用于许可一个特定用户解禁一特定无人机的一种特定功能；
    所述许可包还包括所述特定无人机的标识。
  85. 根据权利要求77所述的装置，其特征在于，所述许可数据用于指示所述无人 机实现以下功能中的至少一种：
    解除所述无人机在特定限飞区内的限飞、解除所述无人机在特定国家内所有的限飞区内的限飞、控制所述无人机仅在特定限飞区域内飞行、解除所述无人机飞行时的高度限制。
  86. 根据权利要求85所述的装置，其特征在于，当所述许可数据用于指示所述无人机实现控制所述无人机仅在特定限飞区域内飞行的功能时，所述许可数据包括所述无人机的飞行高度信息和区域边缘信息。
  87. 一种无人机控制方法，其特征在于，所述方法包括：
    接收服务器针对解禁请求所下发的当前无人机的许可数据，其中所述解禁请求携带有当前请求用户的用户标识和当前无人机的无人机标识，所述许可数据包括至少一个许可包，每个许可包用于许可解禁所述无人机的特定功能；
    对所述许可数据进行解析，以及打开解析后的许可数据；
    根据所述解析后的许可数据，控制所述无人机的飞行。
  88. 根据权利要求87所述的方法，其特征在于，所述解禁请求由终端发送至所述服务器。
  89. 根据权利要求88所述的方法，其特征在于，所述接收服务器针对解禁请求所下发的当前无人机的许可数据，包括：
    接收所述终端透传的所述服务器针对解禁请求所下发的当前无人机的许可数据。
  90. 根据权利要求87所述的方法，其特征在于，所述打开解析后的许可数据，之前还包括：
    接收到终端发送的用于指示所述许可数据生效的打开指令。
  91. 根据权利要求90所述的方法，其特征在于，所述打开指令携带有当前管理所述无人机的用户的用户标识；
    所述对所述许可数据进行解析，包括：
    确定出所述许可数据对应的用户标识与所述打开指令中的用户标识相同；或者，
    确定出所述打开指令中的用户标识对应的用户的管理权限为预设权限。
  92. 根据权利要求87所述的方法，其特征在于，所述打开解析后的许可数据，之后，还包括：
    接收到终端发送的用于指示所述许可数据失效的关闭指令；
    关闭已打开的许可数据。
  93. 根据权利要求92所述的方法，其特征在于，所述关闭指令携带有当前控制所述无人机的用户的用户标识；
    所述关闭已打开的许可数据之前，还包括：
    确定出所述许可数据对应的用户标识与所述关闭指令中的用户标识相同。
  94. 根据权利要求87所述的方法，其特征在于，所述许可数据包括至少一个许可包，每个许可包用于许可一个特定用户解禁一种特定功能。
  95. 根据权利要求94所述的方法，其特征在于，所述许可数据还包括每一许可包对应的有效期限，所述根据所述解析后的许可数据，控制所述无人机的飞行，包括：
    基于所述许可包的有效期限确定出所述许可包处于生效状态。
  96. 根据权利要求94所述的方法，其特征在于，所述许可数据还包括所包含的许可包的数量和/或所述特定用户的标识。
  97. 根据权利要求94所述的方法，其特征在于，所述许可数据包括至少一个许可包，每个许可包用于许可一个特定用户解禁一特定无人机的一种特定功能；
    所述许可包还包括所述特定无人机的标识。
  98. 根据权利要求87所述的方法，其特征在于，所述许可数据用于许可所述无人机实现以下功能中的至少一种：
    解除所述无人机在特定限飞区内的限飞、解除所述无人机在特定国家内所有的限飞区内的限飞、控制所述无人机仅在特定限飞区域内飞行、解除所述无人机飞行时的高度限制。
  99. 根据权利要求98所述的方法，其特征在于，所述根据所述解析后的许可数据，控制所述无人机的飞行，包括：根据所述解析后的许可数据及当前无人机中的静态限飞数据库和限飞数据库，控制所述无人机的飞行。
  100. 根据权利要求99所述的方法，其特征在于，当所述许可数据用于指示所述无人机实现控制所述无人机仅在特定限飞区域内飞行的功能时，所述许可数据包括所述无人机的飞行高度信息和区域边缘信息。
  101. 一种无人机控制装置，其特征在于，所述装置包括：第一存储装置和一个或多个第一处理器，一个或多个所述第一处理器单独地或共同地工作；
    所述第一存储装置，用于存储程序指令；
    所述第一处理器，调用所述程序指令，当所述程序指令被执行时，用于
    接收服务器针对解禁请求所下发的当前无人机的许可数据，其中所述解禁请求携带有当前请求用户的用户标识和当前无人机的无人机标识，所述许可数据包括至少一个许可包，每个许可包用于许可解禁所述无人机的特定功能；
    对所述许可数据进行解析，以及打开解析后的许可数据；
    根据所述解析后的许可数据，控制所述无人机的飞行。
  102. 根据权利要求101所述的装置，其特征在于，所述解禁请求由终端发送至所述服务器。
  103. 根据权利要求102所述的装置，其特征在于，所述第一处理器接收服务器针对解禁请求所下发的当前无人机的许可数据，包括：
    接收所述终端透传的所述服务器针对解禁请求所下发的当前无人机的许可数据。
  104. 根据权利要求101所述的装置，其特征在于，所述第一处理器打开解析后的许可数据，之前还包括：
    接收到终端发送的用于指示所述许可数据生效的打开指令。
  105. 根据权利要求104所述的装置，其特征在于，所述打开指令携带有当前管理所述无人机的用户的用户标识；
    所述第一处理器对所述许可数据进行解析，包括：
    确定出所述许可数据对应的用户标识与所述打开指令中的用户标识相同；或者，
    确定出所述打开指令中的用户标识对应的用户的管理权限为预设权限。
  106. 根据权利要求101所述的装置，其特征在于，所述第一处理器打开解析后的许可数据，之后，还包括：
    接收到终端发送的用于指示所述许可数据失效的关闭指令；
    关闭已打开的许可数据。
  107. 根据权利要求106所述的装置，其特征在于，所述关闭指令携带有当前控制所述无人机的用户的用户标识；
    所述第一处理器关闭已打开的许可数据之前，还包括：
    确定出所述许可数据对应的用户标识与所述关闭指令中的用户标识相同。
  108. 根据权利要求101所述的装置，其特征在于，所述许可数据包括至少一个许可包，每个许可包用于许可一个特定用户解禁一种特定功能。
  109. 根据权利要求108所述的装置，其特征在于，所述许可数据还包括每一许可包对应的有效期限，所述第一处理器根据所述解析后的许可数据，控制所述无人机的飞行，包括：
    基于所述许可包的有效期限确定出所述许可包处于生效状态。
  110. 根据权利要求108所述的装置，其特征在于，所述许可数据还包括所包含的许可包的数量和/或所述特定用户的标识。
  111. 根据权利要求108所述的装置，其特征在于，所述许可数据包括至少一个许可包，每个许可包用于许可一个特定用户解禁一特定无人机的一种特定功能；
    所述许可包还包括所述特定无人机的标识。
  112. 根据权利要求101所述的装置，其特征在于，所述许可数据用于许可所述无人机实现以下功能中的至少一种：
    解除所述无人机在特定限飞区内的限飞、解除所述无人机在特定国家内所有的限飞区内的限飞、控制所述无人机仅在特定限飞区域内飞行、解除所述无人机飞行时的高度限制。
  113. 根据权利要求112所述的装置，其特征在于，所述第一处理器根据所述解析后的许可数据，控制所述无人机的飞行，包括：根据所述解析后的许可数据及当前无人机中的静态限飞数据库和限飞数据库，控制所述无人机的飞行。
  114. 根据权利要求113所述的装置，其特征在于，当所述许可数据用于指示所述无人机实现控制所述无人机仅在特定限飞区域内飞行的功能时，所述许可数据包括所述无人机的飞行高度信息和区域边缘信息。
  115. 一种无人机控制方法，其特征在于，所述方法包括：
    接收到解禁请求，其中所述解禁请求携带有当前请求用户的用户标识和当前无人机的无人机标识；
    针对所述解禁请求，生成许可数据，所述许可数据包括至少一个许可包，每个许可包用于许可解禁所述无人机的特定功能；
    下发所述许可数据至当前无人机。
  116. 根据权利要求115所述的方法，其特征在于，所述解禁请求由终端发送。
  117. 根据权利要求116所述的方法，其特征在于，所述下发所述许可数据至当前无人机，包括：
    经所述终端透传所述许可数据至当前无人机。
  118. 根据权利要求115所述的方法，其特征在于，所述解禁请求由无人机发送。
  119. 根据权利要求115所述的方法，其特征在于，所述许可数据包括至少一个许可包，每个许可包用于许可一个特定用户解禁一种特定功能。
  120. 根据权利要求119所述的方法，其特征在于，所述许可数据还包括每一许可包对应的有效期限。
  121. 根据权利要求119所述的方法，其特征在于，所述许可数据还包括所包含的许可包的数量和/或所述特定用户的标识。
  122. 根据权利要求119所述的方法，其特征在于，所述许可数据包括至少一个许可包，每个许可包用于许可一个特定用户解禁一特定无人机的一种特定功能；
    所述许可包还包括所述特定无人机的标识。
  123. 根据权利要求115所述的方法，其特征在于，所述许可数据用于许可所述无人机实现以下功能中的至少一种：
    解除所述无人机在特定限飞区内的限飞、解除所述无人机在特定国家内所有的限飞区内的限飞、控制所述无人机仅在特定限飞区域内飞行、解除所述无人机飞行时的高度限制。
  124. 根据权利要求123所述的方法，其特征在于，当所述许可数据用于指示所述无人机实现控制所述无人机仅在特定限飞区域内飞行的功能时，所述许可数据包括所述无人机的飞行高度信息和区域边缘信息。
  125. 一种无人机控制装置，其特征在于，所述装置包括：第二存储装置和一个或多个第二处理器，一个或多个所述第二处理器单独地或共同地工作；
    所述第二存储装置，用于存储程序指令；
    所述第二处理器，调用所述程序指令，当所述程序指令被执行时，用于
    接收到解禁请求，其中所述解禁请求携带有当前请求用户的用户标识和当前无人机的无人机标识；
    针对所述解禁请求，生成许可数据，所述许可数据包括至少一个许可包，每个许可包用于许可解禁所述无人机的特定功能；
    下发所述许可数据至当前无人机。
  126. 根据权利要求125所述的装置，其特征在于，所述解禁请求由终端发送。
  127. 根据权利要求126所述的装置，其特征在于，所述下发所述许可数据至当前无人机，包括：
    经所述终端透传所述许可数据至当前无人机。
  128. 根据权利要求125所述的装置，其特征在于，所述解禁请求由无人机发送。
  129. 根据权利要求125所述的装置，其特征在于，所述许可数据包括至少一个许可包，每个许可包用于许可一个特定用户解禁一种特定功能。
  130. 根据权利要求129所述的装置，其特征在于，所述许可数据还包括每一许可包对应的有效期限。
  131. 根据权利要求129所述的装置，其特征在于，所述许可数据还包括所包含的许可包的数量和/或所述特定用户的标识。
  132. 根据权利要求129所述的装置，其特征在于，所述许可数据包括至少一个许可包，每个许可包用于许可一个特定用户解禁一特定无人机的一种特定功能；
    所述许可包还包括所述特定无人机的标识。
  133. 根据权利要求125所述的装置，其特征在于，所述许可数据用于许可所述无人机实现以下功能中的至少一种：
    解除所述无人机在特定限飞区内的限飞、解除所述无人机在特定国家内所有的限飞区内的限飞、控制所述无人机仅在特定限飞区域内飞行、解除所述无人机飞行时的高度限制。
  134. 根据权利要求133所述的装置，其特征在于，当所述许可数据用于指示所述无人机实现控制所述无人机仅在特定限飞区域内飞行的功能时，所述许可数据包括所述无人机的飞行高度信息和区域边缘信息。
  135. 一种无人机控制方法，其特征在于，所述方法包括：
    发送解禁请求至服务器，其中所述解禁请求携带有当前请求用户的用户标识和当前无人机的无人机标识；
    接收所述服务器针对所述解禁请求返回的许可数据，所述许可数据包括至少一个许可包，每个许可包用于许可解禁所述无人机的特定功能；
    透传所述许可数据至当前无人机。
  136. 根据权利要求135所述的方法，其特征在于，所述发送解禁请求至服务器之前，还包括：
    获取所述无人机的实时位置信息；
    根据所述实时位置信息和当前无人机中的限飞数据库，获取距离所述无人机的实时位置一定区域范围内的限飞区；
    按照预设策略，从所获取的限飞区中确定允许解禁的限飞区；
    根据所述允许的解禁的限飞区，生成所述解禁请求。
  137. 根据权利要求136所述的方法，其特征在于，所述按照预设策略，从所获取 的限飞区中确定允许解禁的限飞区，包括：
    根据各限飞区的安全等级，从所获取的限飞区中确定允许解禁的限飞区；或者，
    根据所述无人机的当前位置所在的区域信息，从所获取的限飞区中确定允许解禁的限飞区；或者，
    根据所述无人机的无人机标识，从所获取的限飞区中确定允许解禁的限飞区；或者，
    根据当前登录的用户的用户标识，从所获取的限飞区中确定允许解禁的限飞区；或者，
    根据当前登录的用户的管理权限，从所获取的限飞区中确定允许解禁的限飞区。
  138. 根据权利要求135所述的方法，其特征在于，所述透传所述许可数据至当前无人机之后，还包括：
    发送用于指示所述许可数据生效的打开指令至所述无人机。
  139. 根据权利要求135所述的方法，其特征在于，所述透传所述许可数据至当前无人机之后，还包括：
    发送用于指示所述许可数据失效的关闭指令至所述无人机。
  140. 根据权利要求135所述的方法，其特征在于，所述许可数据包括至少一个许可包，每个许可包用于许可一个特定用户解禁一种特定功能。
  141. 根据权利要求140所述的方法，其特征在于，所述许可数据还包括每一许可包对应的有效期限。
  142. 根据权利要求140所述的方法，其特征在于，所述许可数据还包括所包含的许可包的数量和/或所述特定用户的标识。
  143. 根据权利要求140所述的方法，其特征在于，所述许可数据包括至少一个许可包，每个许可包用于许可一个特定用户解禁一特定无人机的一种特定功能；
    所述许可包还包括所述特定无人机的标识。
  144. 根据权利要求135所述的方法，其特征在于，所述许可数据用于许可所述无人机实现以下功能中的至少一种：
    解除所述无人机在特定限飞区内的限飞、解除所述无人机在特定国家内所有的限飞区内的限飞、控制所述无人机仅在特定限飞区域内飞行、解除所述无人机飞行时的高度限制。
  145. 根据权利要求144所述的方法，其特征在于，当所述许可数据用于指示所述无人机实现控制所述无人机仅在特定限飞区域内飞行的功能时，所述许可数据包括所述无人机的飞行高度信息和区域边缘信息。
  146. 根据权利要求135所述的方法，其特征在于，所述方法还包括：
    发送更新请求至服务器，其中所述更新请求携带有所述无人机的当前位置信息；
    接收所述服务器针对所述更新请求所返回的限飞数据库的更新数据；
    透传所述限飞数据库透传至所述无人机，以触发所述无人机在确定出所述限飞数 据库满足特定条件时，根据所述限飞数据库来控制所述无人机的飞行。
  147. 一种无人机控制装置，其特征在于，所述装置包括：第三存储装置和一个或多个第三处理器，一个或多个所述第三处理器单独地或共同地工作；
    所述第三存储装置，用于存储程序指令；
    所述第三处理器，调用所述程序指令，当所述程序指令被执行时，用于
    发送解禁请求至服务器，其中所述解禁请求携带有当前请求用户的用户标识和当前无人机的无人机标识；
    接收所述服务器针对所述解禁请求返回的许可数据，所述许可数据包括至少一个许可包，每个许可包用于许可解禁所述无人机的特定功能；
    透传所述许可数据至当前无人机。
  148. 根据权利要求147所述的装置，其特征在于，所述第三处理器发送解禁请求至服务器之前，还包括：
    获取所述无人机的实时位置信息；
    根据所述实时位置信息和当前无人机中的限飞数据库，获取距离所述无人机的实时位置一定区域范围内的限飞区；
    按照预设策略，从所获取的限飞区中确定允许解禁的限飞区；
    根据所述允许的解禁的限飞区，生成所述解禁请求。
  149. 根据权利要求148所述的装置，其特征在于，所述第三处理器按照预设策略，从所获取的限飞区中确定允许解禁的限飞区，包括：
    根据各限飞区的安全等级，从所获取的限飞区中确定允许解禁的限飞区；或者，
    根据所述无人机的当前位置所在的区域信息，从所获取的限飞区中确定允许解禁的限飞区；或者，
    根据所述无人机的无人机标识，从所获取的限飞区中确定允许解禁的限飞区；或者，
    根据当前登录的用户的用户标识，从所获取的限飞区中确定允许解禁的限飞区；或者，
    根据当前登录的用户的管理权限，从所获取的限飞区中确定允许解禁的限飞区。
  150. 根据权利要求147所述的装置，其特征在于，所述第三处理器透传所述许可数据至当前无人机之后，还包括：
    发送用于指示所述许可数据生效的打开指令至所述无人机。
  151. 根据权利要求147所述的装置，其特征在于，所述第三处理器透传所述许可数据至当前无人机之后，还包括：
    发送用于指示所述许可数据失效的关闭指令至所述无人机。
  152. 根据权利要求147所述的装置，其特征在于，所述许可数据包括至少一个许可包，每个许可包用于许可一个特定用户解禁一种特定功能。
  153. 根据权利要求152所述的装置，其特征在于，所述许可数据还包括每一许可 包对应的有效期限。
  154. 根据权利要求152所述的装置，其特征在于，所述许可数据还包括所包含的许可包的数量和/或所述特定用户的标识。
  155. 根据权利要求152所述的装置，其特征在于，所述许可数据包括至少一个许可包，每个许可包用于许可一个特定用户解禁一特定无人机的一种特定功能；
    所述许可包还包括所述特定无人机的标识。
  156. 根据权利要求147所述的装置，其特征在于，所述许可数据用于许可所述无人机实现以下功能中的至少一种：
    解除所述无人机在特定限飞区内的限飞、解除所述无人机在特定国家内所有的限飞区内的限飞、控制所述无人机仅在特定限飞区域内飞行、解除所述无人机飞行时的高度限制。
  157. 根据权利要求156所述的装置，其特征在于，当所述许可数据用于指示所述无人机实现控制所述无人机仅在特定限飞区域内飞行的功能时，所述许可数据包括所述无人机的飞行高度信息和区域边缘信息。
  158. 根据权利要求147所述的装置，其特征在于，所述第三处理器，还用于
    发送更新请求至服务器，其中所述更新请求携带有所述无人机的当前位置信息；
    接收所述服务器针对所述更新请求所返回的限飞数据库的更新数据；
    透传所述限飞数据库透传至所述无人机，以触发所述无人机在确定出所述限飞数据库满足特定条件时，根据所述限飞数据库来控制所述无人机的飞行。
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