WO2019169574A1 - 无人机的夜间飞行管理方法和设备 - Google Patents

无人机的夜间飞行管理方法和设备 Download PDF

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Publication number
WO2019169574A1
WO2019169574A1 PCT/CN2018/078257 CN2018078257W WO2019169574A1 WO 2019169574 A1 WO2019169574 A1 WO 2019169574A1 CN 2018078257 W CN2018078257 W CN 2018078257W WO 2019169574 A1 WO2019169574 A1 WO 2019169574A1
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WO
WIPO (PCT)
Prior art keywords
flight
night
drone
current
information
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Application number
PCT/CN2018/078257
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English (en)
French (fr)
Inventor
张国防
于云
石仁利
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深圳市大疆创新科技有限公司
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Filing date
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2018/078257 priority Critical patent/WO2019169574A1/zh
Priority to CN201880029937.8A priority patent/CN110603425A/zh
Publication of WO2019169574A1 publication Critical patent/WO2019169574A1/zh
Priority to US17/013,721 priority patent/US20200410870A1/en

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    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/003—Flight plan management
    • 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
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • 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
    • G08G5/0021—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located in the aircraft
    • 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]
    • G08G5/003—Flight plan management
    • G08G5/0034—Assembly of a flight plan
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/003—Flight plan management
    • G08G5/0039—Modification of a flight plan
    • 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]
    • G08G5/0095—Aspects of air-traffic control not provided for in the other subgroups of this main group
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/02—Automatic approach or landing aids, i.e. systems in which flight data of incoming planes are processed to provide landing data
    • G08G5/025—Navigation or guidance aids
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B64U2201/104—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] using satellite radio beacon positioning systems, e.g. GPS
    • 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

Definitions

  • Embodiments of the present invention relate to the field of drones, and in particular, to a night flight management method and apparatus for a drone.
  • drones are being applied to perform a variety of tasks (aviation, survey, plant protection, etc.). At present, drones are generally applied within the visible range of drone users. However, when at night, due to light, the user cannot observe the flight state of the drone, and in addition, the obstacle avoidance equipment configured on the drone may It is not possible to effectively perceive obstacles in the surrounding environment, which may cause the drone to operate at night and cause a safety accident.
  • Embodiments of the present invention provide a night flight management method and apparatus for a drone to effectively supervise night flight of a drone.
  • a first aspect of the embodiments of the present invention provides a night flight management method for a drone, including:
  • the flight control operation is performed when it is determined that the drone is flying at night or is about to enter the night flight.
  • a second aspect of the embodiments of the present invention provides a night flight management method for a drone, including:
  • Receiving the approval system transmits a night flight certificate for the night flight application information.
  • a third aspect of the embodiments of the present invention provides a night flight management method for a drone, including:
  • the terminal device Obtaining a night flight certificate from the terminal device, wherein the night flight certificate is received from the flight supervision agency's night flight approval system after the terminal device sends the night flight application information to the flight regulatory agency approval system, the application information is the terminal device Determined by detecting the night flight application operation of the user of the drone;
  • a fourth aspect of the embodiments of the present invention provides a method for determining a sunrise time and/or a sunset time, including:
  • the sunrise time and/or sunset time of the current region is determined according to the current location information, the current calendar information, and the current altitude.
  • a fifth aspect of the present invention provides a night flight management device for a drone, including: a memory and a processor, where
  • the memory is configured to store program instructions
  • the processor invokes the program instructions to perform the following operations when the program instructions are executed:
  • the flight control operation is performed when it is determined that the drone is flying at night or is about to enter the night flight.
  • a sixth aspect of the present invention provides a night flight management device for a drone, including: a memory and a processor, where
  • the memory is configured to store program instructions
  • the processor invokes the program instructions to perform the following operations when the program instructions are executed:
  • Receiving the approval system transmits a night flight certificate for the night flight application information.
  • a seventh aspect of the present invention provides a night flight management device for a drone, including: a memory and a processor, where
  • the memory is configured to store program instructions
  • the processor invokes the program instructions to perform the following operations when the program instructions are executed:
  • the terminal device Obtaining a night flight certificate from the terminal device, wherein the night flight certificate is received from the flight supervision agency's night flight approval system after the terminal device sends the night flight application information to the flight regulatory agency approval system, the application information is the terminal device Determined by detecting the night flight application operation of the user of the drone;
  • An eighth aspect of the embodiments of the present invention provides an apparatus for determining a sunrise time and/or a sunset time, including: a memory and a processor, where
  • the memory is configured to store program instructions
  • the processor invokes the program instructions to perform the following operations when the program instructions are executed:
  • the sunrise time and/or sunset time of the current region is determined according to the current location information, the current calendar information, and the current altitude.
  • Embodiments of the present invention provide for performing a flight control operation by determining whether a drone is flying at night or about to enter a night flight, when it is determined that the drone is flying at night or is about to enter a night flight. In this way, the night flight of the drone can be effectively supervised, reducing the possibility of flight accidents.
  • FIG. 1 is a flowchart of a night flight management method of a drone according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a night flight management device provided in a control terminal of a drone or a drone according to an embodiment of the present invention
  • FIG. 3 is a flowchart of a night flight management method of a drone according to another embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a night flight management device according to an embodiment of the present invention acquiring a flight time of a current drone;
  • FIG. 5 is a schematic diagram of a night flight management device according to another embodiment of the present invention acquiring a flight time of a current drone;
  • FIG. 6 is a flowchart of a night flight management method of a drone according to another embodiment of the present invention.
  • FIG. 7 is a flowchart of a night flight management method of a drone according to another embodiment of the present invention.
  • FIG. 8 is a flowchart of a night flight management method of a drone according to another embodiment of the present invention.
  • FIG. 9 is a schematic diagram of obtaining a night flight certificate according to an embodiment of the present invention.
  • FIG. 10 is a schematic diagram of uploading a night flight certificate to a drone according to an embodiment of the present invention.
  • FIG. 11 is a flowchart of a night flight management method of a drone according to another embodiment of the present invention.
  • FIG. 12 is a flowchart of a method for determining a sunrise time and/or a sunset time according to an embodiment of the present invention
  • FIG. 13 is a structural diagram of a night flight management device, or a device for determining a sunrise time and/or a sunset time, according to an embodiment of the present invention.
  • a component when referred to as being "fixed” to another component, it can be directly on the other component or the component can be present. When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • FIG. 1 is a flowchart of a night flight management method of a drone according to an embodiment of the present invention. As shown in FIG. 1, the method in the embodiment of the present invention may include:
  • Step S101 determining whether the current drone is flying at night or about to enter the night flight
  • the execution subject of the method of the embodiment of the present invention may be a night flight management device of the UAV. Further, the execution body of the method of the embodiment of the present invention may be a processor of the night flight management device, wherein the processor may be A general purpose processor or a dedicated processor.
  • the drone system includes a drone 201.
  • the night flight management device 202 can be disposed on the drone 201; the drone system further includes the drone 201.
  • Control terminal 203 in some embodiments, said night flight management device 204 can be configured on the control terminal 204 of the drone 201.
  • the control terminal may be one or more of a remote controller, a smart phone, a tablet computer, a laptop computer, a desktop computer, a wearable device (watch, a wristband, etc.), and is not specific here. limited.
  • the night flight management device needs to determine whether the current drone is flying at night or is about to enter a night flight. Among them, it can be determined in various ways whether the current drone is flying at night or about to enter the night flight. In some cases, it may be determined whether the current drone is flying at night or about to enter the night flight according to the light intensity of the flight area of the current drone. Further, the night flight management device may obtain the current no by the light intensity sensor. The light intensity of the flight area of the human machine determines whether the drone is flying at night or about to enter the night flight based on the light intensity. It can be understood that the flight area of the current drone is the area where the current drone is located.
  • the light intensity sensor may be a photoresistor or the like, and the light intensity sensor may be disposed on the drone. In some cases, the light intensity sensor may be disposed on the control terminal of the drone, and no specificity is made here. Limited. In some cases, it may be determined whether the current drone is flying at night or about to enter the night flight according to the current flight time of the drone, which will be described in detail later in this document, and will not be described herein.
  • Step S102 Perform a flight control operation when it is determined that the drone is flying at night or is about to enter a night flight.
  • the night flight management device determines that the drone is flying at night or is about to enter the night flight, it can be considered that during the flight, the safety hazard of the flight increases, which may cause a flight accident, so the flight can be performed. Regulatory operations to reduce the likelihood that a drone may have a safety incident.
  • the performing flight control operations includes displaying alert information on an interactive interface of a control terminal of the drone.
  • the night flight management device may be configured on the control terminal of the drone.
  • the night flight management device may display on the interactive interface of the control terminal of the drone.
  • Alarm information used to alert users of drones.
  • the alarm information may be information indicating that the user drone is flying at night or the drone is about to enter the night flight.
  • the alarm information may also be information for prompting the user to operate the drone to return, and operating the drone.
  • displaying the alarm information on the interaction interface of the control terminal of the drone includes: when determining that the drone is flying at night, in the drone
  • the interactive interface of the control terminal displays an alarm message prompting the user to fly at night.
  • the night flight management device may display an alarm message on the interactive interface of the control terminal of the drone to prompt the user to fly at night
  • the alarm information may also be one or more of information for reminding the user to operate the drone to return, information for operating the drone to land, information for limiting the flying height of the drone, flight speed, and flight distance.
  • displaying the alarm information on the interaction interface of the control terminal of the drone includes: when it is determined that the drone is about to enter the night flight, The interactive interface of the control terminal of the machine displays an alarm message prompting the user that the drone is about to enter the flight.
  • the night flight management device may display an alarm message on the interactive interface of the control terminal of the drone to prompt the user that the drone is about to enter the night flight, and
  • the alarm information may also be one or more of information for reminding the user to operate the drone to return, information for operating the drone to land, information for limiting the flying height of the drone, flight speed, and flight distance.
  • the performing flight control operations includes transmitting alert information to a control terminal of the drone.
  • the night flight management device may be configured on the drone.
  • the night flight management device may send an alarm message to the control terminal of the drone, and the drone control After receiving the alarm information, the terminal may display the alarm information on its interaction interface.
  • the alarm information is used to prompt the user to fly at night or to enter the night flight.
  • the alarm information may also be information for reminding the user to operate the drone to return, information for operating the drone to drop, and restrictions.
  • the performing flight control operations includes limiting one or more of a drone's flight altitude, flight distance, flight area range, flight duration, and flight speed.
  • the night flight management device determines that the drone is flying at night or is about to enter night flight, the night flight management device limits the flight behavior of the drone, and the drone flies under limited conditions.
  • the night flight management device may limit one or more of the drone's flight altitude, flight distance, flight area range, flight duration, and flight speed.
  • the flying height of the drone is limited to 10 meters, that is, the flying height of the drone cannot exceed 10 meters at most.
  • the performing flight control operations include: controlling one or more of the drone performing a return flight operation, controlling the drone to perform a landing operation, and disabling the drone from performing a takeoff operation.
  • the night flight management device may control one of the drone performing the returning operation, controlling the drone to perform the landing operation, and prohibiting the take-off operation.
  • the night flight management device can control the drone to perform a return flight operation, or control the drone to perform a landing operation, which prevents the drone from continuing to fly.
  • the night flight management device can prohibit the drone from taking off.
  • the flight control operation is performed when it is determined that the drone is flying at night or is about to enter the night flight. In this way, the night flight of the drone can be managed to reduce the possibility of a flight accident of the drone.
  • Embodiments of the present invention provide a night flight management method for a drone.
  • FIG. 3 is a flowchart of a night flight management method of a drone according to an embodiment of the present invention. As shown in FIG. 3, on the basis of the embodiment shown in FIG. 1, the method in the embodiment of the present invention may include:
  • Step S301 Acquire a flight time of the current drone.
  • the flight time of the current drone may be first obtained, that is, at which time the current drone is determined, for example, the flight time of the current drone is 20 15 points, or the flight time to get the current drone is 17:10.
  • obtaining the flight time of the current drone can be achieved by the following feasible methods:
  • the satellite positioning device may be configured on the control terminal of the UAV or the UAV, wherein the satellite positioning device may be a GNSS satellite positioning receiver, such as a GPS positioning receiver, a Beidou positioning receiver, etc., a satellite
  • the positioning device has a timing function, and the flight management device can acquire the flight moment of the current drone from the satellite positioning device. For example, as shown in FIG.
  • the satellite positioning receiving device 402 can receive the satellite signal transmitted by the satellite 404, and the satellite positioning receiving device 402 can The satellite signal determines the flight time of the current drone, and the night flight management device 401 can acquire the time information output by the satellite positioning device 402 configured on the drone 403, and determine the flight time of the current drone through the output time information; For another example, when the flight management device is installed in the control terminal of the drone, the drone can transmit the time information output by the satellite positioning device to the control terminal of the drone, and the control terminal determines that the current time is not obtained by the output time information. Flight moments of man and machine.
  • the night flight management device may be configured with a communication interface connected to the Internet, wherein the communication interface may acquire time information from the Internet through the mobile communication network, and the night flight management device may determine the current drone according to the time information. Flight moments.
  • the night flight management device (not shown) may be disposed on a control terminal of the drone 501, for example, the control terminal includes a smart phone, and the smart phone can be connected through a mobile communication network.
  • the Internet obtains time information and determines the flight time of the current drone based on the time information.
  • Step S302 determining, according to the flight time, whether the drone is flying at night or about to enter the night flight;
  • the night flight management device can determine whether the drone is flying at night or is about to enter the night flight. For example, when the flight time of the current drone is 17:01 pm, it can be judged that the drone is about to enter the night flight. For another example, when the flight time of the current drone is 19:50 pm, the drone can be judged to fly at night.
  • Step S303 when it is determined that the drone is flying at night or is about to enter the night flight, the flight control operation is performed.
  • step S303 is the same as step S102, and details are not described herein again.
  • the night flight management device acquires the flight time of the current drone, and determines whether the drone is flying at night or about to enter the night flight according to the flight time, when determining that the drone is flying at night or about to enter the nighttime When flying, perform flight control operations. In this way, it is possible to manage the night flight of the drone while accurately determining whether the drone is flying at night or about to enter the night flight, thereby reducing the possibility of a flight accident of the drone.
  • Embodiments of the present invention provide a night flight management method for a drone.
  • FIG. 6 is a flowchart of a night flight management method of a drone according to another embodiment of the present invention. As shown in FIG. 6, on the basis of the embodiment shown in FIG. 2, the method in the embodiment of the present invention may include:
  • Step S601 determining whether the drone is flying at night or about to enter the night flight.
  • step S601 the specific principle and explanation of step S601 are the same as step S101, and details are not described herein again.
  • Step S602 Determine whether the drone has the right to fly at night.
  • the night flight management device can further determine whether the drone has the right to fly at night, wherein the right of the night flight can be related to whether the drone has The authority to fly at night, approved by the flight supervision department, the model of the drone, the user information of the drone, and the hardware configuration of the drone (for example, whether the drone is configured to guarantee the drone night).
  • the determining whether the drone has the right to fly at night may be implemented in the following feasible manners:
  • the night flight management device can determine whether the drone has the authority to pass the flight supervision agency to approve the flight at night, wherein the drone user needs to apply to the flight supervision agency when the night flight is required. For example, the flight supervision agency reports the night flight application information, and the flight supervision agency approves the flight application information. If the flight supervision agency approves the approval, the drone has the authority to pass the flight supervision agency to approve the flight at night.
  • the flight supervision institution may be a relevant department that manages airspace, such as a civil aviation administration.
  • the drone can have a plurality of models, such as a model that performs an aerial mission, a model that performs a plant protection task, a patrol task (a power grid inspection, a pipeline inspection, etc.), a model that performs mapping, and the like. Wait.
  • some models may have night flight rights, and some models may be models that do not have night flight rights.
  • the models of drones can be divided into consumer-grade models and industrial-grade models.
  • the model that performs the inspection task is a model with night flight authority
  • the model that performs the aerial mission is a model that does not have night flight authority, or the model is a consumer-grade one.
  • the aircraft does not have night flight rights
  • the aircraft type industrial-grade drone has night flight rights.
  • the night flight management device can acquire the model information of the drone, determine whether the drone has the night flight right mode according to the acquired model information of the drone, and determine that the acquired model has the night flight right.
  • the model confirms that the drone has night flight rights. When it is determined that the model is a model that does not have night flight rights, it is confirmed that the drone does not have night flight rights.
  • the model of the drone when it is determined that the model of the drone is a model that performs the inspection task, it is determined that the drone has the right to fly at night; when the acquired model of the drone is a model that performs the aerial mission, Then determine that the drone does not have the right to fly at night.
  • the acquired model of the drone is an industrial-grade model, it is determined that the drone has the right to fly at night; when the acquired model of the drone is a consumer-grade model, then it is determined The drone does not have the right to fly at night.
  • the drone can have different users, such as ordinary consumers (such as individual users, etc.), industrial users (such as construction companies, power companies, plant protection operations companies, etc.), scientific research users (such as universities, research institutes, etc.) ), administrative users (such as government agencies, etc.), etc., in which, for different users, some users' drones have the right to fly at night, and some users' drones do not have the right to fly at night.
  • users of industrial users and administrative users have night flight rights, and ordinary users' drones do not have night flight rights.
  • the night flight management device can acquire the user information of the drone, and determine, according to the obtained user information of the drone, whether the drone owned by the user indicated by the user information has night flight rights. For example, the night flight management device may acquire user information of the drone, and if the user indicated by the user information is an industrial user, determine that the drone of the user has the right to fly at night, if the user indicated by the user information is For a normal user, it is determined that the user's drone does not have the right to fly at night.
  • Another possible way determining whether the drone is configured with a sensing system that ensures the safety of the drone at night, and when the drone is not configured with the sensing system, determining that the drone does not have a night flight Permissions.
  • the user cannot observe the state of the drone (such as the current position of the drone, the head orientation, the flying height, etc.) and the environment around the drone, the drone It is prone to danger during the flight.
  • Some UAVs are equipped with sensing systems that ensure the safety of drones, such as binocular or monocular obstacle avoidance sensing systems, which can not effectively sense the surrounding environment when the light is weak at night, and loses the guarantee. The role of flight safety.
  • Some drones are equipped with sensing systems that ensure the safety of drones at night, such as obstacle-avoidance sensing systems that do not rely on ambient light (such as millimeter-wave radar). After the drone is configured with the sensing system, Even at night, the drone can realize effective perception of the surrounding environment through the sensing system, for example, effectively perceiving obstacles in the environment around the drone, and ensuring unmanned flight safety.
  • the night flight management device can determine whether the drone is configured with a sensing system that ensures the night flight safety of the drone. When the drone is not configured with the sensing system, it is determined that the drone does not have the right to fly at night. When the drone is configured with the sensing system, it is determined that the drone has the right to fly at night.
  • the control terminal of the drone or the drone may be configured with a satellite positioning receiving device, wherein according to the satellite positioning receiving device, the location information of the flight area of the current drone may be acquired, according to the The location information determines if the drone has permission to fly at night. For example, when the location information indicates that the drone is in or near the no-fly zone, the drone does not have the right to fly at night.
  • the location information it may be determined which country the flight area of the current drone belongs to, that is, the country where the current drone is located, and some countries do not allow the user to operate the drone at night, and some countries allow Or conditionally allowing the user to operate the drone at night.
  • the drone does not have the right to fly at night.
  • the country allows users to operate drones at night, drones have the right to fly at night.
  • step S601 and the step 602 is not limited in the embodiment of the present invention, and may be performed sequentially, and may be performed at the same time, and is not specifically limited herein.
  • Step S603 when it is determined that the drone is flying at night or is about to enter the night flight, and when the drone does not have the right to fly at night, the flight control operation is performed.
  • the night flight management device determines that the drone is flying at night or is about to enter night flight
  • the night flight management device performs flight control when the night flight management device further determines that the drone does not have the right to fly at night. operating.
  • the flight control operation can be performed when determining that the drone is flying at night or about to enter the night flight. To reduce the possibility of a flight accident.
  • Embodiments of the present invention provide a night flight management method for a drone.
  • FIG. 7 is a flowchart of a night flight management method of a drone according to another embodiment of the present invention. As shown in FIG. 7, on the basis of the embodiment shown in FIG. 3, the method in the embodiment of the present invention may include:
  • Step S701 Acquire a flight time of the current drone.
  • step S701 is the same as step S301, and details are not described herein again.
  • Step S702 Determine a night time range of a flight area of the current drone.
  • the night flight management device can determine the night time range of the flight area of the current drone, that is, the night time period of the area where the drone is currently located. .
  • the night time range can be defined by the number of nights in the day to the morning of the next day.
  • the night time range can be defined by the light intensity of the flight area of the current drone.
  • the determining a night time range of a flight area of the current drone includes determining a sunrise time and a sunset time of a flight area of the current drone, determining a current basis according to the sunrise time and the sunset time The night time range of the flight area of the drone.
  • the night flight management device may determine the sunrise time and the sunset time of the current flight area of the drone, that is, the current flight area of the drone is the time of the day and the time of the sunset, and then according to the sunrise time And the sunset time determines the night time range. For example, the time range between the sunset time of the day and the sunrise time of the next day is determined as the night time range.
  • the determining the sunrise time and the sunset time of the flight area of the current drone includes: acquiring location information of a flight area of the current drone, and determining a sunrise of a flight area of the current drone according to the location information.
  • Time and sunset time Specifically, the sunrise and sunset times at different locations on the earth are different.
  • the night flight management equipment can acquire the drone or drone through the satellite positioning receiving device configured on the control terminal of the drone or the drone. Controlling location information of the terminal, the location information is used as location information of a flight area of the current drone, wherein the location information includes at least latitude information, and the flight area of the current drone can be further determined according to the location information.
  • Sunrise time and sunset time is used as location information of a flight area of the current drone, wherein the location information includes at least latitude information, and the flight area of the current drone can be further determined according to the location information.
  • the night flight management device acquires the location information of the current drone, the location information indicates that the flight area is in Hong Kong, and the sunrise time is determined to be 6:50 according to the location information, and the sunset time is determined to be 18:24.
  • the night flight management device acquires location information of the current drone, the location information indicates that the flight area is in Vancouver, and the sunrise time is determined to be 7:08 according to the location information, and the sunset time is determined to be 17:44.
  • the night flight management device may further acquire current calendar information, and determining, according to the location information, a sunrise time and a sunset time of a flight area of the current drone include: determining, according to the location information and the calendar information, that there is no current Sunrise time and sunset time of the flight area of the man-machine. Specifically, for the same flight area, the sunrise time and sunset time of the flight area are also different in different seasons of the year.
  • the night flight management device may also acquire current calendar information, and determine the sunrise time and sunset time of the flight area of the current drone based on the location information and the calendar information.
  • the calendar information may indicate that the day is a few months or a few months of the year, and the calendar information may be obtained from a satellite positioning receiving device configured on the control terminal of the drone or the drone, and the calendar information may also be through the mobile communication network. To obtain, for example, from the Internet via a mobile communication network.
  • the night flight management device may further acquire an altitude of the current control terminal of the drone or the drone, and determine the sunrise time and the sunset time of the flight area of the current drone according to the location information and the calendar information.
  • the method includes: determining a sunrise time and a sunset time of a flight area of the current drone according to the location information, the altitude, and the calendar information.
  • the altitude of the current flight area of the drone affects the sunrise time and the sunset time
  • the altitude of the current control plane of the drone or the drone can be used as the altitude of the flight area of the current drone.
  • the altitude is then used to determine the sunrise time and sunset time of the flight area of the current drone based on the location information, altitude, and calendar information.
  • the obtaining the altitude of the control terminal of the current drone or the drone may include: acquiring the air pressure data output by the air pressure sensor configured on the control terminal of the drone or the drone, and determining the altitude according to the air pressure data. height.
  • the air pressure sensor may be a barometer.
  • determining, according to the location information, the altitude, and the calendar information, the sunrise time and the sunset time of the flight area of the current drone include: determining a current earth declination according to the calendar information, and determining a solar time according to the position information. And determining a time correction amount according to the altitude, and determining a sunrise time and a sunset time of a flight area of the current drone according to the current earth declination, a solar time angle, and a time correction amount.
  • the process of determining sunrise time and sunset time is detailed below.
  • ⁇ the current earth declination; when the sun is directly at the equator, ⁇ is zero, which is positive in the northern hemisphere and negative in the southern hemisphere.
  • ⁇ max the maximum earth declination, which is a constant in the general calculation, ie 23°26', about 23.45°;
  • Earth's revolution angular velocity is generally considered to be 365 days a year, and the earth is revolutionized for one week.
  • N is the number of days of the year, and the number of days can be determined based on calendar information, for example, the number of days on January 1 is 1, and so on.
  • the latitude of the current UAV's flight area is ⁇
  • the ⁇ value is zero, it is positive in the northern hemisphere, and negative in the southern hemisphere.
  • ⁇ 0 the solar time angle at sunrise or sunset, which can be determined based on the latitude of the flight area of the drone;
  • ⁇ earth rotation the speed of the earth's rotation, which is generally considered to be 24 hours a day, that is, the angular velocity of the earth's rotation is 15°/hour;
  • T altitude is the time correction amount, that is, the sunrise/sunset time deviation caused by different altitudes
  • ⁇ The angle at which the sun is below the horizontal plane at sunrise/sunset.
  • ⁇ refringence the angle at which the sun is raised due to atmospheric refraction, typically about 0.6°;
  • ⁇ sun the angle of the sun's surface, about 0.5°.
  • R earth the radius of the Earth, assuming the earth is spherical
  • H altitude_ref generally assumed to be the height of sea level at standard atmospheric pressure, ie H altitude_ref is taken as zero;
  • H altitude_UA The altitude of the current control terminal of the drone or drone. Generally, the actual altitude is greater than zero. When the altitude is less than zero, H altitude_UA is calculated as zero.
  • the sunrise time and sunset time of the current UAV flight area can be calculated.
  • Step S703 Determine whether the drone is flying at night or about to enter the night flight according to the flight time and the night time range.
  • the night time range it may be further determined whether the time of flight is within a night time range, and when the time of flight is within a night time range, determining that the drone is flying at night;
  • determining whether the drone is flying at night or about to enter the night flight according to the flight time and the night time range includes:
  • Determining whether the drone is about to enter the night flight according to the flight time and the night time range includes: acquiring a drone's battery life, remaining battery life or return time, according to the life time, remaining battery life or return time and The flight time of the current drone determines whether the drone is about to enter night flight. Specifically, if the current flight time of the drone falls outside the night time range, the night flight management device can acquire the endurance time, the remaining battery life or the return time. The life time may be the longest flight time of the drone, and the remaining battery life may be determined according to the remaining power of the drone, and the return time may be based on the current drone and the return point. One or more of the distance, return speed, and wind speed are determined. The night flight management device can determine whether the current flight time of the drone plus the life time of the drone, the remaining battery life or the return time falls within the night time range, and if it falls, it is determined that the drone is about to enter the night flight.
  • step S701 and the step S702 is not limited in the embodiment of the present invention, and may be performed sequentially, and may be performed at the same time, and is not specifically limited herein.
  • Step S704 when it is determined that the drone is flying at night or is about to enter the night flight, the flight control operation is performed.
  • step S704 are the same as step S102 or step 603, and details are not described herein again.
  • the embodiment of the present invention can accurately determine whether the drone is flying at night or about to enter the night flight, when determining that the drone is flying at night or about to enter the nighttime During flight, the flight control operation can be implemented to supervise the night flight of the drone and reduce the possibility of flight accidents.
  • Embodiments of the present invention provide a night flight management method for a drone.
  • FIG. 8 is a flowchart of a night flight management method of a drone according to another embodiment of the present invention. As shown in FIG. 8, the method in the embodiment of the present invention may include:
  • Step S801 determining night flight application information by detecting a night flight application operation of the user.
  • the execution subject of the method of the embodiment of the present invention may be a night flight management device of the drone.
  • the execution body of the method of the embodiment of the present invention may be a processor of the flight management device, wherein the processor may be universal Processor or dedicated processor.
  • the night flight management device may be configured on the terminal device, and further, the terminal device may be a control terminal of the drone.
  • the terminal device may include one or more of a remote controller, a smart phone, a tablet computer, a laptop computer, a desktop computer, a wearable device (watch, a wristband).
  • the user when the user has a plan to operate the drone at night, the user can report the night flight application information to the flight supervisor through the night flight supervision device 901.
  • the night flight management device includes an interactive device, such as one or more of a touch display screen, a keyboard, a button, a pulsator, and a rocker.
  • the user can perform night flight application operation on the interactive device to report night flight application information, and the night flight management device.
  • the processor of 901 detects the night flight application operation of the user through the interaction device and acquires the flight application information.
  • the flight application information includes one of a night flight time of the drone, a work task type, a route, a location information of the flight area, a model, a serial number, a user information, a flight duration, a flight altitude, and a flight speed.
  • the user reports night flight application information through the night flight management device, and the night flight application information includes the night flight time of the drone, for example, from 9:00 to 10:00 on April 5, 2018, the location information of the flight area, for example, Nanshan District, Shenzhen.
  • Step S802 Send night flight application information to the flight supervision system of the flight supervision institution.
  • the night flight management device 901 may send night flight application information to the flight supervision agency's night flight approval system 902, that is, report the night flight plan to the flight supervision agency to the night flight plan. Register or request the flight regulator to approve the night flight plan.
  • the nighttime approval system 902 of the flight supervision agency may be at least one of a nighttime approval mailbox system of the flight supervision agency, a server of the flight supervision institution, and a terminal device of the flight supervision institution.
  • the night flight approval system 902 of the flight supervisory authority obtains the night flight plan of the user upon receiving the night flight application information.
  • Step S803 receiving the night flight approval system to send a night flight certificate for the night flight application information.
  • different nighttime operating regulations for different drones may exist for different countries or regions.
  • the user only needs to report the night flight to the flight supervision agency, that is, the user only needs to complete the registration of the night flight plan, and the approval system can receive the night flight application information.
  • the night flight management device 901 transmits a night flight certificate, and the user can operate the drone in a legitimate situation to complete the night flight associated with the flight application information.
  • the user needs to report the night flight plan to the flight supervision agency, and the flight supervision agency needs approval, and the user can operate the drone at night under legal circumstances.
  • the system can automatically approve the night flight application information, or the flight supervision agency staff can manually approve the night flight application information through the flight supervision agency approval system 902.
  • the flight supervision authority's approval system 902 will send a night flight certificate to the night flight management equipment.
  • the night flight management equipment 901 receives the night flight certificate, the user can operate the drone to complete the flight application information under legal circumstances.
  • the night flight certificate is an electronic certificate. Further, the night flight certificate may be represented by one or more of a number, a letter, a text, a barcode, and a two-dimensional code.
  • the embodiment of the present invention can obtain the night flight certificate of the night flight approval system of the flight supervision institution by transmitting the night flight application information of the user to the night flight approval system of the flight supervision institution, and can enable the flight supervision institution to plan the night flight of the drone user. Manage.
  • the night flight management device after receiving the night flight electronic certificate, the night flight management device uploads the night flight certificate to the flight controller of the drone to direct the drone's flight application information.
  • the night flight management device 1001 receives the night flight certificate issued by the flight supervision agency's night flight approval system 1002, when the night flight management and the drone 1003 are wired or wirelessly connected, The night flight certificate is uploaded to the flight controller 1004 of the drone, wherein the night flight certificate is uploaded to the flight controller to direct the night flight associated with the flight application information.
  • the uploading the night flight certificate to the flight controller of the drone to guide the night flight of the drone associated with the flight application information comprises: uploading the night flight certificate to the drone
  • the flight controller is used to relieve night flight restrictions. Specifically, in some cases, the flight controller of the drone sets a flight limit for the night flight of the drone, wherein the take-off limit, the flight height limit, the flight distance limit, the flight area limit, etc., at night
  • the flight certificate is uploaded to the flight controller and the flight controller can remove these night flight restrictions.
  • the night flight restriction may be associated with the night flight application information, for example, the night flight application information includes a flight area of the drone, and the drone may be in the process of starting or flying at night.
  • the current location information is acquired by the satellite positioning receiving device configured on the drone, and the flight controller releases the night flight restriction when the current location information is located in the flight area of the drone.
  • the night flight certificate includes night flight restriction information, wherein the night flight certificate is uploaded to a flight controller of the drone to guide the flight of the drone
  • the evening flight associated with the application information includes uploading the night flight certificate to a flight controller of the drone to limit the night flight of the drone associated with the flight application information in accordance with the restriction information.
  • the night flight certificate includes night flight restriction information.
  • the flight restriction information includes one or more of a flying height limit of a drone, a flight area limit, a flight time limit, a limited flight time, a flight speed limit, and a flight path limit.
  • the flight of the drone limits the flight of the drone in accordance with the night flight restriction information in the night flight certificate.
  • the night flight restriction information includes a flight height limit of 10 meters, and the flying height of the drone is forcibly limited to 10 meters or less during the flight.
  • the flight restriction information is determined according to the night flight application information.
  • the nighttime approval system of the flight supervision institution may determine the night flight restriction information according to the flight application information after receiving the night flight application information, wherein different night flight restriction information may be determined for different flight application information.
  • the night flight application information includes location information of the flight area of the drone, and the nighttime approval system of the flight supervisory authority can determine the distance between the flight area of the drone and the no-fly zone according to the location information, and then according to the distance.
  • the flight altitude limit in the night flight restriction information determines 5m
  • the flight altitude limit in the night flight restriction information Determine 10m
  • Embodiments of the present invention provide a night flight management method for a drone.
  • FIG. 11 is a flowchart of a night flight management method of a drone according to an embodiment of the present invention. As shown in FIG. 11, the method in the embodiment of the present invention may include:
  • Step S1101 Acquire a night flight certificate from the terminal device.
  • the execution subject of the method of the embodiment of the present invention may be a night flight management device of the drone.
  • the execution body of the method of the embodiment of the present invention may be a processor of the flight management device, wherein the processor may be universal Processor or dedicated processor.
  • the night flight management device can be configured on the drone.
  • the user when the user has a plan to operate the drone at night, the user can report the night flight application information to the flight supervisor through the terminal device, and the night flight certificate is the terminal device flying.
  • the regulatory agency's approval system receives the night flight application information and receives it from the flight supervision agency's night flight approval system.
  • the flight application information is determined by the terminal device by detecting the night flight application operation of the user of the drone, and the night flight management device can The night flight certificate is obtained from the terminal device, wherein the obtaining may be directly or indirectly obtained, which is not specifically limited herein.
  • Step S1102 guiding the night flight associated with the night flight application information according to the night flight certificate.
  • the night flight management device may be a flight controller of the drone, and after obtaining the night flight certificate, the flight controller may guide the night flight associated with the night flight application information according to the night flight certificate. .
  • the night flight management device may transmit a night flight certificate obtained from the terminal device to the flight controller, the flight controller directing night flight associated with the night flight application information in accordance with the night flight certificate.
  • the night flight associated with the night flight application information in accordance with the night flight certificate guidance includes dissolving night flight restrictions associated with the flight application information in accordance with the night flight certificate.
  • the night flight certificate includes night flight restriction information
  • the night flight associated with the night flight application information according to the night flight certificate guide includes: limiting the unmanned aerial vehicle according to the restriction information A night flight associated with the flight application information.
  • the flight restriction information is determined according to the night flight application information.
  • the flight restriction information includes one or more of a flying height limit of a drone, a flight area limit, a flight time limit, a limited flight time, a flight speed limit, and a flight path limit.
  • Embodiments of the present invention provide a method of determining a sunrise time and/or a sunset time.
  • FIG. 12 is a flowchart of a method for determining a sunrise time and/or a sunset time according to an embodiment of the present invention. As shown in FIG. 12, the method in the embodiment of the present invention may include:
  • Step S1201 Acquire location information of the current area, current calendar information, and current altitude.
  • the executor of the method of the embodiment of the present invention may be a device for determining the sunrise time and/or the sunset time. Further, the execution body of the method of the embodiment of the present invention may be the processing of the device for determining the sunrise time and/or the sunset time.
  • the processor may be a general purpose processor or a special purpose processor.
  • the device determining the sunrise time and/or the sunset time may be configured on the terminal device. Further, the terminal device may be a control terminal of the mobile platform, and the movable platform may include Drone. In some embodiments, the device determining the sunrise time and/or sunset time may be configured on the mobile platform.
  • the altitude has an influence on the sunrise time and the sunset time
  • the device determining the sunrise time and/or the sunset time can acquire the altitude of the area, for example, as described above, obtaining the current
  • the altitude of the control terminal of the drone or drone the device that determines the sunrise time and/or the sunset time can obtain the location information of the area in which it is located, for example, obtain the location information of the flight area of the current drone;
  • the time and/or sunset time device can obtain location information of the area in which it is located, for example, to obtain calendar information of the current drone flight area.
  • Step S1202 Determine a sunrise time and/or a sunset time of the current region according to the current location information, the current calendar information, and the current altitude.
  • the determining, according to the current location information, the current calendar information, and the current altitude, the sunrise time and/or the sunset time of the current location includes: determining a current earth declination according to the calendar information, according to the The position information determines a solar time angle, determines a time correction amount according to the altitude, and determines a sunrise time and a sunset time of a flight area of the current drone according to the current earth declination, a solar time angle, and a time correction amount.
  • the obtaining the current calendar information of the currently located area comprises: acquiring, by the satellite positioning receiving device, current calendar information of the currently located area.
  • the obtaining the current calendar information of the currently located area comprises: acquiring current calendar information of the currently located area by using the mobile communication network.
  • FIG. 13 is a structural diagram of a night flight management device of a drone according to an embodiment of the present invention.
  • the night flight management device 1300 of the drone includes: a memory and a processor, where
  • the memory is configured to store program instructions
  • the processor invokes the program instructions to perform the following operations when the program instructions are executed:
  • the flight control operation is performed when it is determined that the drone is flying at night or is about to enter the night flight.
  • the processor determines whether the drone is flying at night or is about to enter a night flight, specifically for:
  • Whether the drone is flying at night or about to enter the night flight is determined based on the light intensity.
  • the processor determines whether the drone is flying at night or is about to enter a night flight, specifically for:
  • the alarm information is displayed on an interaction interface of the control terminal of the drone.
  • the processor when the processor displays the alarm information on the interactive interface of the control terminal of the drone when it is determined that the drone is flying at night or is about to enter the night flight, the processor is specifically configured to:
  • an alarm message prompting the user to fly at night is displayed on the interactive interface of the control terminal of the drone.
  • the processor when the processor displays the alarm information on the interactive interface of the control terminal of the drone when it is determined that the drone is flying at night or is about to enter the night flight, the processor is specifically configured to:
  • an alarm message prompting the user that the drone is about to enter the night flight is displayed on the interactive interface of the control terminal of the drone.
  • the method when the processor performs a flight control operation, the method is specifically configured to: send alarm information to a control terminal of the drone.
  • a flight control operation specifically for:
  • a flight control operation specifically for:
  • the processor when the processor acquires the flight time of the current drone, it is specifically used to:
  • the flight time of the current drone is obtained by the satellite positioning receiving device.
  • the processor when the processor acquires the flight time of the current drone, it is specifically used to:
  • the flight time of the current drone is obtained through the mobile communication network.
  • the processor determines whether the drone is flying at night or about to enter the night flight according to the flight time, specifically for:
  • Whether the drone is flying at night or about to enter the night flight is determined according to the flight time and the night time range.
  • the processor determines a night time range of a flight area of the current drone, specifically for:
  • the night time range of the flight area of the current drone is determined according to the sunrise time and the sunset time.
  • the processor determines the sunrise time and sunset time of the flight area of the current drone, specifically for:
  • the sunrise time and the sunset time of the flight area of the current drone are determined according to the location information, the altitude, and the calendar information.
  • the processor acquires the altitude of the flight area of the current drone, specifically for:
  • the altitude of the flight area of the current drone is obtained by the air pressure sensor configured on the control terminal of the drone or the drone.
  • the processor is further configured to:
  • the processor is specifically configured to: when determining that the drone is flying at night or about to enter a night flight, performing the flight control operation:
  • the flight control operation is performed when it is determined that the drone is flying at night or is about to enter night flight, and when the drone does not have the right to fly at night.
  • the processor determines if the drone has permission to fly at night, specifically for:
  • the processor determines whether the drone has permission to fly through the night when approved by the flight regulatory agency, specifically for:
  • the processor determines if the drone has permission to fly at night, specifically for:
  • the processor determines if the drone has permission to fly at night, specifically for:
  • the processor determines if the drone has permission to fly at night, specifically for:
  • Whether the drone has the right to fly at night is determined based on the user information.
  • the processor determines if the drone has permission to fly at night, specifically for:
  • Whether the drone has the right to fly at night is determined based on the location information.
  • the processor determines if the drone has permission to fly at night, specifically for:
  • the drone When the drone is not configured with the sensing system, it is determined that the drone does not have the right to fly at night.
  • Embodiments of the present invention also provide a drone, including a night flight management device as described above.
  • the embodiment of the invention further provides a control terminal of the drone, comprising the night flight management device as described above.
  • FIG. 13 is a structural diagram of a night flight management device of a drone according to an embodiment of the present invention.
  • the night flight management device 1300 of the drone includes: a memory and a processor, where
  • the memory is configured to store program instructions
  • the processor invokes the program instructions to perform the following operations when the program instructions are executed:
  • Receiving the approval system transmits a night flight certificate for the night flight application information.
  • the flight application information includes night flight time of the drone, type of work task, route, location information of the flight area, model, serial number, user information, flight duration, flight altitude, flight speed One or more of them.
  • the device processor is further configured to:
  • the night flight certificate is uploaded to the flight controller of the drone to direct the night flight of the drone associated with the flight application information.
  • the processor uploads the night flight certificate to the flight controller of the drone to direct the night flight of the drone associated with the flight application information, specifically for:
  • the night flight certificate is uploaded to the flight controller of the drone to relieve night flight restrictions associated with the flight application information.
  • the night flight certificate includes night flight restriction information
  • the night flight certificate is uploaded to the flight controller of the drone to limit the night flight of the drone associated with the flight application information in accordance with the restriction information.
  • the flight restriction information is determined based on the night flight application information.
  • the flight restriction information includes one or more of a drone's fly height limit, a flight zone limit, a time of flight limit, a restricted flight duration, a flight speed limit, and a flight path limit.
  • Embodiments of the present invention also provide a terminal device, including a night flight management device as described above.
  • the terminal device is a control terminal of the drone.
  • FIG. 13 is a structural diagram of a night flight management device of a drone according to an embodiment of the present invention.
  • the night flight management device 1300 of the drone includes: a memory and a processor, where
  • the memory is configured to store program instructions
  • the processor invokes the program instructions to perform the following operations when the program instructions are executed:
  • Obtaining a night flight certificate from the terminal device wherein the night flight certificate is received from the flight supervision agency's night flight approval system after the terminal device sends the night flight application information to the flight regulatory agency approval system, and the application information is that the terminal device passes the detection
  • the night flight application operation of the user of the drone is determined;
  • the processor is configured to: during night flight associated with night flight application information in accordance with a night flight certificate, specifically for:
  • the night flight restriction associated with the flight application information is released in accordance with the night flight certificate.
  • the night flight certificate includes night flight restriction information
  • the processor guides the night flight associated with the night flight application information according to the night flight certificate, it is specifically used to:
  • the night flight of the drone associated with the flight application information is restricted in accordance with the restriction information.
  • the flight restriction information is determined based on the night flight application information.
  • the flight restriction information includes one or more of a drone altitude limit, a flight zone limit, a flight time limit, a restricted flight duration, a flight speed limit, and a flight path limit.
  • Embodiments of the present invention also provide a drone, including a night flight management device as described above.
  • Embodiments of the present invention provide an apparatus for determining a sunrise time and/or a sunset time.
  • FIG. 13 is a structural diagram of an apparatus for determining a sunrise time and/or a sunset time according to an embodiment of the present invention. As shown in FIG. 13, the apparatus 1300 for determining a sunrise time and/or a sunset time includes: a memory and a processor, where ,
  • the memory is configured to store program instructions
  • the processor invokes the program instructions to perform the following operations when the program instructions are executed:
  • the sunrise time and/or sunset time of the current region is determined according to the current location information, the current calendar information, and the current altitude.
  • the processor determines, according to the current location information, the current calendar information, and the current altitude, the sunrise time and/or the sunset time of the current region, specifically for:
  • the sunrise time and the sunset time of the flight area of the current drone are determined according to the current earth declination, the solar time angle, and the time correction amount.
  • the processor when the processor acquires current calendar information of the current region, the processor is specifically configured to:
  • the current calendar information of the current area is obtained by the satellite positioning receiving device.
  • the processor when the processor acquires current calendar information of the current region, the processor is specifically configured to:
  • the current calendar information of the current area is obtained through the mobile communication network.
  • Embodiments of the present invention also provide a drone that includes an apparatus for determining a sunrise time and/or a sunset time as previously described.
  • Embodiments of the present invention also provide a control terminal for a drone, including the device for determining a sunrise time and/or a sunset time as described above.
  • the embodiment of the present invention further provides a computer readable storage medium storing a computer program, the computer program being executed by a processor to implement the method according to any of the foregoing embodiments.
  • the disclosed apparatus and method may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the embodiments of the present invention.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.
  • the above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium.
  • the above software functional unit is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the methods of the various embodiments of the present invention. Part of the steps.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. .

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Abstract

本发明实施例提供一种无人机的夜间飞行管理方法和设备，该方法包括：确定无人机是否在夜间飞行或者即将进入夜间飞行，当确定无人机在夜间飞行或者即将进入夜间飞行时，执行飞行管制操作。本发明实施例的方法可以实现对无人机的夜间飞行进行有效地监管。

Description

无人机的夜间飞行管理方法和设备 技术领域
本发明实施例涉及无人机领域，尤其涉及一种无人机的夜间飞行管理方法和设备。
背景技术
随着无人机技术的发展，无人机被应用来执行各种各样的任务(航拍、勘察、植保等等)。目前，无人机一般在无人机用户的可视范围内应用，然而，当在夜间，由于光线原因，用户不能观察到无人机的飞行状态，另外，无人机上配置的避障设备可能无法有效地对周围环境中的障碍物进行感知，这样可能导致无人机在夜间运行容易引发安全事故。
发明内容
本发明实施例提供一种无人机的夜间飞行管理方法和设备，以实现对无人机的夜间飞行进行有效地监管。
本发明实施例的第一方面是提供一种无人机的夜间飞行管理方法，包括：
确定无人机是否在夜间飞行或者即将进入夜间飞行；
当确定无人机在夜间飞行或者即将进入夜间飞行时，执行飞行管制操作。
本发明实施例的第二方面是提供一种无人机的夜间飞行管理方法，包括：
通过检测用户的夜间飞行申请操作确定夜间飞行申请信息；
向飞行监管机构的夜间飞行审批系统发送夜间飞行申请信息；
接收所述审批系统发送针对所述夜间飞行申请信息的夜间飞行证书。
本发明实施例的第三方面是提供一种无人机的夜间飞行管理方法，包括：
从终端设备获取夜间飞行证书，其中，夜间飞行证书是终端设备向飞行监管机构的审批系统发送夜间飞行申请信息之后从飞行监管机构的夜间飞行审批系统接收的，所述申请信息是所述终端设备通过检测无人机的用户的夜间飞行申请操作确定；
根据夜间飞行证书指导与夜间飞行申请信息相关联的夜间飞行。
本发明实施例的第四方面是提供一种确定日出时间和/或日落时间的方法，包括：
获取当前所处区域的位置信息、当前日历信息和当前海拔高度；
根据所述当前位置信息、当前日历信息和当前海拔高度确定当前所处区域的日出时间和/或日落时间。
本发明实施例的第五方面是提供一种无人机的夜间飞行管理设备，包括：存储器和处理器，其中，
所述存储器用于存储程序指令；
所述处理器调用所述程序指令，当所述程序指令被执行时，用于执行以下操作：
确定无人机是否在夜间飞行或者即将进入夜间飞行；
当确定无人机在夜间飞行或者即将进入夜间飞行时，执行飞行管制操作。
本发明实施例的第六方面是提供一种无人机的夜间飞行管理设备，包括：存储器和处理器，其中，
所述存储器用于存储程序指令；
所述处理器调用所述程序指令，当所述程序指令被执行时，用于执行 以下操作：
通过检测用户的夜间飞行申请操作确定夜间飞行申请信息；
向飞行监管机构的夜间飞行审批系统发送夜间飞行申请信息；
接收所述审批系统发送针对所述夜间飞行申请信息的夜间飞行证书。
本发明实施例的第七方面是提供一种无人机的夜间飞行管理设备，包括：存储器和处理器，其中，
所述存储器用于存储程序指令；
所述处理器调用所述程序指令，当所述程序指令被执行时，用于执行以下操作：
从终端设备获取夜间飞行证书，其中，夜间飞行证书是终端设备向飞行监管机构的审批系统发送夜间飞行申请信息之后从飞行监管机构的夜间飞行审批系统接收的，所述申请信息是所述终端设备通过检测无人机的用户的夜间飞行申请操作确定；
根据夜间飞行证书指导与夜间飞行申请信息相关联的夜间飞行。
本发明实施例的第八方面是提供一种确定日出时间和/或日落时间的设备，包括：存储器和处理器，其中，
所述存储器用于存储程序指令；
所述处理器调用所述程序指令，当所述程序指令被执行时，用于执行以下操作：
获取当前所处区域的位置信息、当前日历信息和当前海拔高度；
根据所述当前位置信息、当前日历信息和当前海拔高度确定当前所处区域的日出时间和/或日落时间。
本发明实施例提供中通过确定无人机是否在夜间飞行或者即将进入夜间飞行，当确定无人机在夜间飞行或者即将进入夜间飞行时，执行飞行管制操作。通过这种方式可以对无人机的夜间飞行实现有效地监管，降低发生飞行事故的可能性。
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一简单地介绍，显而易见地，下面描述中的附图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为本发明实施例提供的无人机的夜间飞行管理方法的流程图；
图2为本发明实施例提供的夜间飞行管理设备设置在无人机或无人机的控制终端的示意图；
图3为本发明另一实施例提供的无人机的夜间飞行管理方法的流程图；
图4为本发明实施例提供的夜间飞行管理设备获取当前无人机的飞行时刻的示意图；
图5为本发明另一实施例提供的夜间飞行管理设备获取当前无人机的飞行时刻的示意图；
图6为本发明另一实施例提供的无人机的夜间飞行管理方法的流程图；
图7为本发明另一实施例提供的无人机的夜间飞行管理方法的流程图；
图8为本发明另一实施例提供的无人机的夜间飞行管理方法的流程图；
图9为本发明实施例提供的获取夜间飞行证书的示意图；
图10为本发明实施例提供的将获取到夜间飞行证书上传到无人机的示意图；
图11为本发明另一实施例提供的无人机的夜间飞行管理方法的流程图；
图12为本发明实施例提供的确定日出时间和/或日落时间的方法的流程图；
图13为本发明实施例提供的夜间飞行管理设备，或者确定日出时间和/或日落时间的设备的结构图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
本发明实施例提供一种无人机的夜间飞行管理方法。图1为本发明实施例提供的无人机的夜间飞行管理方法的流程图。如图1所示，本发明实施例中的方法，可以包括：
步骤S101、确定当前无人机是否在夜间飞行或者即将进入夜间飞行；
本发明实施例方法的执行主体可以是无人机的夜间飞行管理设备，进一步地，本发明实施例方法的执行主体可以是所述夜间飞行管理设备的处理器，其中，所述处理器可以是通用处理器或者专用处理器。如图2所示，无人机系统包括无人机201，在某些实施例中，所述夜间飞行管理设备202可以配置在无人机201上；无人机系统还包括无人机201的控制终端203，在某些实施例中，所述夜间飞行管理设备204可以配置在无人机201的控制终端上204。其中，所述控制终端可以为遥控器、智能手机、平板电脑、 膝上型电脑、台式电脑、穿戴式设备(手表、手环等等)中的一种或多种，在这里不做具体的限定。
具体地，夜间飞行管理设备需要判断当前无人机是否在夜间飞行或者即将进入夜间飞行，其中，判断当前无人机是否在夜间飞行或者即将进入夜间飞行可以采用多种方式。在某些情况中，可以根据当前无人机的飞行区域的光线强度来确定当前无人机是否在夜间飞行或者即将进入夜间飞行，进一步地，夜间飞行管理设备可以通过光线强度传感器来获取当前无人机的飞行区域的光线强度，根据所述光线强度来确定无人机是否在夜间飞行或者即将进入夜间飞行。可以理解的是当前无人机的飞行区域是可以是当前无人机所处的区域。一般可以认为，若当前无人机的飞行区域的光线强度较小时，说明当前无人机在夜间飞行或者即将进入夜间飞行。其中，所述光线强度传感器可以为光敏电阻等，所述光线强度传感器可以配置在无人机上，在某些情况中，光线强度传感器可以配置在无人机的控制终端上，在这里不做具体的限定。在某些情况中，可以根据当前无人机的飞行时刻来确定当前无人机是否在夜间飞行或者即将进入夜间飞行，在本文后面的部分会详细说明，在此先不赘述。
步骤S102、当确定无人机在夜间飞行或者即将进入夜间飞行时，执行飞行管制操作。
具体地，当夜间飞行管理设备确定无人机在夜间飞行或者即将进入夜间飞行时，即可以认为无人机在飞行的过程中，飞行的安全隐患增加，可能会引发飞行事故，因此可以执行飞行管制操作以降低无人机可能发生安全事故的可能性。
在某些实施例中，所述执行飞行管制操作包括：在无人机的控制终端的交互界面上显示告警信息。具体地，夜间飞行管理设备可以配置在无人机的控制终端上，当确定无人机在夜间飞行或者即将进入夜间飞行时，夜间飞行管理设备可以在无人机的控制终端的交互界面上显示告警信息，用 来对无人机的用户进行告警。其中，所述告警信息可以是提示用户无人机在夜间飞行或者无人机即将进入夜间飞行的信息，另外，所述告警信息还可以是提醒用户操作无人机返航的信息、操作无人机降落的信息、限制无人机飞行高度、飞行速度、飞行距离的信息中一种或多种。
进一步地，所述当确定无人机在夜间飞行或者即将进入夜间飞行时，在无人机的控制终端的交互界面上显示告警信息包括：当确定无人机在夜间飞行时，在无人机的控制终端的交互界面上显示提示用户无人机在夜间飞行的告警信息。具体地，夜间飞行管理设备确定无人机在夜间飞行时，夜间飞行管理设备可以在无人机的控制终端的交互界面上显示告警信息，用来提示用户无人机在夜间飞行，另外，所述告警信息还可以是提醒用户操作无人机返航的信息、操作无人机降落的信息、限制无人机飞行高度、飞行速度、飞行距离的信息中一种或多种。
进一步地，所述当确定无人机在夜间飞行或者即将进入夜间飞行时，在无人机的控制终端的交互界面上显示告警信息包括：当确定无人机即将进入夜间飞行时，在无人机的控制终端的交互界面上显示提示用户无人机即将进入飞行的告警信息。具体地，夜间飞行管理设备确定无人机即将进入夜间飞行时，夜间飞行管理设备可以在无人机的控制终端的交互界面上显示告警信息，用来提示用户无人机即将进入夜间飞行，另外，所述告警信息还可以是提醒用户操作无人机返航的信息、操作无人机降落的信息、限制无人机飞行高度、飞行速度、飞行距离的信息中一种或多种。
在某些实施例中，所述执行飞行管制操作包括：向无人机的控制终端发送告警信息。具体地，夜间飞行管理设备可以配置在无人机上，当确定无人机在夜间飞行或者即将进入夜间飞行时，夜间飞行管理设备可以向无人机的控制终端发送告警信息，无人机的控制终端在接收到所述告警信息后可以在其交互界面上显示所述告警信息。其中，所述告警信息用于提示用户无人机在夜间飞行或者即将进入夜间飞行，另外，所述告警信息还可 以是提醒用户操作无人机返航的信息、操作无人机降落的信息、限制无人机飞行高度、飞行速度、飞行距离的信息中一种或多种。
在某些实施例中，所述执行飞行管制操作包括：限制无人机的飞行高度、飞行距离、飞行区域范围、飞行时长、飞行速度中的一种或多种。具体地，当夜间飞行管理设备确定无人机在夜间飞行或者即将进入夜间飞行时，夜间飞行管理设备会对无人机的飞行行为进行限制，无人机在有限制的条件下飞行。夜间飞行管理设备可以对无人机的飞行高度、飞行距离、飞行区域范围、飞行时长、飞行速度中的一种或多种进行限制。例如，将无人机的飞行高度限制在10米，即无人机的飞行高度最多不能超过10米。通过对无人机的飞行高度、飞行距离、飞行区域范围、飞行时长、飞行速度中的一种或多种进行限制，可以在一定程度上降低发生飞行事故的可能性。
在某些实施例中，所述执行飞行管制操作包括：控制无人机执行返航操作、控制无人机执行降落操作、禁止无人机执行起飞操作中的一种或多种。具体地，当夜间飞行管理设备确定无人机在夜间飞行或者即将进入夜间飞行时，夜间飞行管理设备可以控制无人机执行返航操作、控制无人机执行降落操作、禁止起飞操作中的一种或多种。例如，若无人机在已经处于飞行状态，夜间飞行管理设备可以控制无人机执行返航操作，或者控制无人机执行降落操作，这样可以防止无人机继续飞行。再例如，当无人机处于开机状态，夜间飞行管理设备可以禁止无人机起飞。
本发明实施例中，当确定无人机在夜间飞行或者即将进入夜间飞行时，执行飞行管制操作。通过这种方式，可以对无人机的夜间飞行进行管理，降低无人机发生飞行事故的可能性。
本发明实施例提供一种无人机的夜间飞行管理方法。图3为本发明实施例提供的无人机的夜间飞行管理方法的流程图。如图3所示，在图1所示的实施例的基础上，本发明实施例中的方法，可以包括：
步骤S301、获取当前无人机的飞行时刻。
具体地，为了判断无人机是否在夜间飞行或者即将进入夜间飞行，可以首先获取当前无人机的飞行时刻，即确定当前是处于哪个时刻，例如，获取到当前无人机的飞行时刻是20点15分，或者获取到当前无人机的飞行时刻是17点10分。其中，获取当前无人机的飞行时刻可以通过如下几种可行的方式实现：
一种可行的方式：通过卫星定位接收设备获取当前无人机的飞行时刻。具体地，无人机或者无人机的控制终端上可以配置有卫星定位设备，其中，所述卫星定位设备可以为GNSS卫星定位接收机，例如GPS定位接收机、北斗定位接收机等等，卫星定位设备具有授时功能，所述飞行管理设备可以从卫星定位设备获取当前无人机的飞行时刻。例如，如图4所示，当夜间飞行管理设备401和卫星定位接收设备402设置在无人机403上时，卫星定位接收设备402可以接收卫星404发送的卫星信号，卫星定位接收设备402可以根据所述卫星信号确定当前无人机的飞行时刻，夜间飞行管理设备401可以获取无人机403上配置的卫星定位设备402输出的时刻信息，通过输出的时刻信息确定当前无人机的飞行时刻；再例如，当飞行管理设备设置在无人机的控制终端时，无人机可以将卫星定位设备输出的时刻信息发送给无人机的控制终端，所述控制终端通过输出的时刻信息确定当前无人机的飞行时刻。
另一种可行的方式，通过移动通信网络获取当前无人机的飞行时刻。具体地，所述夜间飞行管理设备可以配置有连接互联网的通信接口，其中，所述通信接口可以通过移动通信网络从互联网获取时刻信息，夜间飞行管理设备可以根据所述时刻信息确定当前无人机的飞行时刻。例如，如图5所示，所述夜间飞行管理设备(未示出)可以配置在无人机501的控制终端上，例如所述控制终端包括智能手机，所述智能手机能通过移动通信网络连接互联网获取时刻信息，并根据时刻信息确定当前无人机的飞行 时刻。
步骤S302、根据所述飞行时刻确定无人机是否在夜间飞行或者即将进入夜间飞行；
具体地，在获取到当前无人机的飞行时刻后，夜间飞行管理设备即可以判断无人机是否在夜间飞行或者即将进入夜间飞行。例如，当获取到当前无人机的飞行时刻为下午17点01分时，可以判断无人机即将进入夜间飞行。再例如，当获取到当前无人机的飞行时刻为下午19点50时，可以判断无人机在夜间飞行。
步骤S303、当确定无人机在夜间飞行或者即将进入夜间飞行时，执行飞行管制操作。
具体地，步骤S303的具体原理和解释与步骤S102相同，在此不再赘述。
本发明实施例中，夜间飞行管理设备获取当前无人机的飞行时刻，根据所述飞行时刻确定无人机是否在夜间飞行或者即将进入夜间飞行，当确定无人机在夜间飞行或者即将进入夜间飞行时，执行飞行管制操作。通过这种方式，可以在准确地判断无人机是否在夜间飞行或者即将进入夜间飞行时，对无人机的夜间飞行进行管理，降低无人机发生飞行事故的可能性。
本发明实施例提供一种无人机的夜间飞行管理方法。图6为本发明另一实施例提供的无人机的夜间飞行管理方法的流程图。如图6所示，在图2所示实施例的基础上，本发明实施例中的方法，可以包括：
步骤S601、确定无人机是否在夜间飞行或者即将进入夜间飞行。
具体地，步骤S601的具体原理和解释和步骤S101相同，此处不再赘述。
步骤S602、确定无人机是否具有在夜间飞行的权限。
具体地，除了判断无人机是否在夜间飞行或者即将进入夜间飞行，夜 间飞行管理设备可以进一步地判断无人机是否具有在夜间飞行的权限，其中，夜间飞行的权限可以与无人机是否具有经过飞行监管部门审批通过的在夜间飞行的权限、无人机的机型、无人机的用户信息、无人机的自身的硬件配置(例如所述无人机是否配置了保证无人机夜间飞行安全的传感系统)、当前无人机的飞行区域的位置信息中的一个或多个相关联。具体地，所述判断无人机是否具有在夜间飞行的权限可以通过如下几种可行的方式实现：
一种可行的方式：确定无人机是否具有经过飞行监管机构审批通过在夜间飞行的权限。具体地，夜间飞行管理设备可以判断无人机是否具有经过飞行监管机构审批通过在夜间飞行的权限，其中，无人机需要在夜间飞行时，无人机的用户可以向飞行监管机构进行申请，例如向飞行监管机构上报夜间飞行申请信息，飞行监管机构会对飞行申请信息进行审批，如果飞行监管机构审批通过了，所述无人机便具有经过飞行监管机构审批通过在夜间飞行的权限。其中，所述飞行监管机构可以是管理空域的相关部门，例如民航管理局等。
另一种可行的方式：获取无人机的机型信息，根据所述机型信息确定无人机是否具有在夜间飞行的权限。具体地，无人机可以具有多种机型，例如执行航拍任务的机型、执行植保任务的机型、执行巡检任务(电网巡检、管道巡检等等)、执行测绘的机型等等。其中，某些机型可以是具有夜间飞行权限的，有些机型可以是不具有夜间飞行权限的机型。或者无人机的机型可以分为消费级的机型和工业级的机型。针对无人机的机型，例如执行巡检任务的机型是具有夜间飞行权限的机型，执行航拍任务的机型是不具有夜间飞行权限的机型，或者机型为消费级的无人机不具有夜间飞行权限，机型为工业级的无人机具有夜间飞行权限。夜间飞行管理设备可以获取无人机的机型信息，根据获取到的无人机的机型信息确定无人机是否具有夜间飞行权限的机型，当确定获取到的机型是具有夜间飞行权限的 机型，则确认无人机具有夜间飞行权限，当确定机型是不具有夜间飞行权限的机型，则确认无人机不具有夜间飞行权限。例如，当确定到的无人机的机型是执行巡检任务的机型，则确定无人机具有夜间飞行的权限；当获取到的无人机的机型是执行航拍任务的机型，则确定无人机不具有夜间飞行的权限。再例如，当获取到的无人机的机型是工业级的机型，则确定无人机具有夜间飞行的权限；当获取到的无人机的机型是消费级的机型，则确定无人机不具有夜间飞行的权限。
另一种可行的方式：获取无人机的用户信息，根据所述用户信息确定无人机是否具有在夜间飞行的权限。具体地，无人机可以具有不同的用户，例如普通消费者(例如个人用户等)，工业用户(例如建筑公司、电力公司、植保作业公司等等)、科研用户(例如高校、研究院等等)、行政用户(例如政府机构等等)等等，其中，针对不同的用户，有些用户的无人机具有夜间飞行的权限，有些用户的无人机不具有夜间飞行的权限。例如工业用户和行政用户的无人机具有夜间飞行权限，普通用户的无人机不具有夜间飞行权限。夜间飞行管理设备可以获取无人机的用户信息，根据获取到的无人机的用户信息确定该用户信息指示的用户拥有的无人机是否具有夜间飞行权限。例如，夜间飞行管理设备可以获取无人机的用户信息，若所述用户信息指示的用户为工业用户，则确定该用户的无人机具有夜间飞行的权限，若所述用户信息指示的用户为普通用户，则确定该用户的无人机不具有夜间飞行的权限。
另一种可行的方式：确定无人机是否配置保证无人机夜间飞行安全的传感系统，当无人机没有配置所述传感系统时，确定所述无人机不具有在夜间飞行的权限。具体地，当无人机在夜间飞行时，用户无法观察到无人机的状态(例如无人机当前的位置、机头朝向、飞行高度等等)和无人机周围的环境，无人机在飞行的过程中容易发生危险。有些无人机上配置的保证无人机飞行安全的传感系统，例如双目、或者单目避障传感系统，在 夜间光线较弱的情况下不能达到对周围环境的有效感知，失去了保证飞行安全的作用。有些无人机配置了保证无人机夜间飞行安全的传感系统，例如不依赖环境光线工作的避障传感系统(例如毫米波雷达等)，无人机在配置了该传感系统后，即使在夜晚，无人机依然可以通过所述传感系统实现对周围环境的有效感知，例如有效地感知无人机周围环境中的障碍物等，保证无人的飞行安全。夜间飞行管理设备可以确定无人机是否配置保证无人机夜间飞行安全的传感系统，当无人机没有配置所述传感系统时，确定所述无人机不具有在夜间飞行的权限，当无人机配置了所述传感系统，则确定无人机具有夜间飞行的权限。
另一种可行的方式，确定当前无人机的飞行区域的位置信息，根据所述位置信息确定无人机是否具有在夜间飞行的权限。具体地，如前所述，无人机或者无人机的控制终端可以配置卫星定位接收设备，其中，根据所述卫星定位接收设备可以获取当前无人机的飞行区域的位置信息，根据所述位置信息确定无人机是否具有在夜间飞行的权限。例如，当所述位置信息指示无人机在禁飞区或者靠近禁飞区时，无人机不具有在夜间飞行的权限。再例如，根据所述位置信息可以判断当前无人机的飞行区域属于哪个国家，即确定当前无人机所处的国家，其中，某些国家不允许用户在夜间操作无人机，有些国家允许或者有条件地允许用户在夜间操作无人机，在确定了当前无人机的飞行区域属于哪个国家之后，当这个国家不允许用户在夜间操作无人机，无人机没有在夜间飞行的权限，当这个国家允许用户在夜间操作无人机，无人机具有在夜间飞行的权限。
可以理解的是，本发明实施例中对步骤S601和步骤602的执行顺序不做限定，可以先后执行，可以同时执行，在这不做具体的限定。
步骤S603、当确定无人机在夜间飞行或者即将进入夜间飞行，且当无人机不具有在夜间飞行的权限时，执行飞行管制操作。
具体地，当夜间飞行管理设备确定无人机在夜间飞行或者即将进入夜 间飞行时，当夜间飞行管理设备进一步地确定出无人机不具备夜间飞行的权限时，夜间飞行管理设备会执行飞行管制操作。
本发明实施例通过确定无人机是否具有在夜间飞行的权限，若无人机不具有在夜间飞行的权限，则在确定无人机在夜间飞行或者即将进入夜间飞行时，可以执行飞行管制操作，以降低发生飞行事故的可能性。
本发明实施例提供一种无人机的夜间飞行管理方法。图7为本发明另一实施例提供的无人机的夜间飞行管理方法的流程图。如图7所示，在图3所示实施例的基础上，本发明实施例中的方法，可以包括：
步骤S701、获取当前无人机的飞行时刻。
具体地，步骤S701的具体原理和解释与步骤S301相同，此处不再赘述。
步骤S702、确定当前无人机的飞行区域的夜间时间范围。
具体地，为了判断当前无人机是否在夜间飞行或者即将进入夜间飞行，夜间飞行管理设备可以确定当前无人机的飞行区域的夜间时间范围，即无人机当前所处的区域的夜间时间段。在某些情况中，夜间时间范围可以以一天中的晚上几点到第二天的早上几点来定义。在某些情况下，夜间时间范围可以以当前无人机的飞行区域的光线强度来定义。
在某些实施例中，所述确定当前无人机的飞行区域的夜间时间范围包括：确定当前无人机的飞行区域的日出时间和日落时间，根据所述日出时间和日落时间确定当前无人机的飞行区域的夜间时间范围。具体地，夜间飞行管理设备可以确定当前无人机的飞行区域的日出时间和日落时间，即当前无人机的飞行区域是一天中的哪个时刻日出和哪个时刻日落，然后根据日出时间和日落时间确定夜间时间范围。例如将一天中的日落时间与第二天的日出时间之间的时间范围确定为夜间时间范围。
进一步地，所述确定当前无人机的飞行区域的日出时间和日落时间包 括：获取当前无人机的飞行区域的位置信息，根据所述位置信息确定当前无人机的飞行区域的日出时间和日落时间。具体地，地球上不同位置的日出和日落时间是不一样的，夜间飞行管理设备可以通过无人机或者无人机的控制终端上配置的卫星定位接收设备获取无人机或无人机的控制终端的位置信息，将所述位置信息作为当前无人机的飞行区域的位置信息，其中，所述位置信息至少包括纬度信息，根据所述位置信息可以进一步地确定当前无人机的飞行区域的日出时间和日落时间。例如，夜间飞行管理设备获取当前无人机的位置信息，所述位置信息指示所述飞行区域是在香港，可以根据位置信息确定日出时间为6点50，确定日落时间为18点24。再例如，夜间飞行管理设备获取当前无人机的位置信息，所述位置信息指示所述飞行区域是在温哥华，可以根据位置信息确定日出时间为7点08，确定日落时间为17点44。
进一步地，夜间飞行管理设备还可以获取当前的日历信息，所述根据所述位置信息确定当前无人机的飞行区域的日出时间和日落时间包括：根据所述位置信息和日历信息确定当前无人机的飞行区域的日出时间和日落时间。具体地，针对同一个飞行区域，在一年中不同的季节中，所述飞行区域的日出时间和日落时间也不相同。夜间飞行管理设备除了获取当前无人机的飞行区域的位置信息，还可以获取当前的日历信息，根据所述位置信息和日历信息来确定当前无人机的飞行区域的日出时间和日落时间。其中，日历信息可以表示当天是一年中几月或者几月几号，日历信息可以从无人机或者无人机的控制终端上配置的卫星定位接收设备获取，日历信息还可以通过移动通信网络来获取，例如通过移动通信网络从互联网获取。
进一步地，夜间飞行管理设备还可以获取当前无人机或者无人机的控制终端的海拔高度，所述根据所述位置信息和日历信息确定当前无人机的飞行区域的日出时间和日落时间包括：根据所述位置信息、海拔高度和日历信息确定当前无人机的飞行区域的日出时间和日落时间。具体地，当前 无人机的飞行区域的海拔高度会对日出时间和日落时间产生影响，可以以当前无人机或者无人机的控制终端的海拔高度作为当前无人机的飞行区域的海拔高度，然后根据所述位置信息、海拔高度和日历信息确定当前无人机的飞行区域的日出时间和日落时间。其中，获取当前无人机或者无人机的控制终端的海拔高度可以包括：获取无人机或无人机的控制终端上配置的气压传感器输出的气压数据，根据所述气压数据确定所述海拔高度。可选地，所述气压传感器可以为气压计。
进一步地，所述根据所述位置信息、海拔高度和日历信息确定当前无人机的飞行区域的日出时间和日落时间包括：根据日历信息确定当前地球赤纬，根据所述位置信息确定太阳时角，根据所述海拔高度确定时间修正量，根据所述当前地球赤纬、太阳时角和时间修正量确定当前无人机的飞行区域的日出时间和日落时间。下面将详细介绍确定日出时间和日落时间的过程。
在计算日出日落时间首先需要获得当前地球赤纬，计算公式如下：
Figure PCTCN2018078257-appb-000001
式中：
δ—当前地球赤纬；太阳直射在赤道时，δ为零，直射在北半球时为正值，直射在南半球时为负值。
δ max—最大地球赤纬，一般计算中为常量，即23°26'，约23.45°；
Figure PCTCN2018078257-appb-000002
地球公转角速度，一般认为一年365天，地球公转一周，因而
Figure PCTCN2018078257-appb-000003
N是一年中的日数，所述日数可以根据日历信息来确定，例如1月1日的日数为1，以此类推。
假设当前无人机的飞行区域的纬度为ψ，当在赤道时，ψ值为零，在北半球时为正值，在南半球时为负值。
当ψ≤-90°+δ或ψ≥90°+δ时，为极夜，即一天24小时全部为夜 晚；当ψ≤-90°-δ或ψ≥90°-δ时，为极昼，即一天24小时全部为白昼；当-90°+δ<ψ<90°-δ时，为昼夜交替，其间日出时间和日落时间的计算方法如下所示：
Figure PCTCN2018078257-appb-000004
Figure PCTCN2018078257-appb-000005
式中：
ω 0—日出或日落时的太阳时角，可以根据无人机的飞行区域的纬度为ψ确定；
T sunrise—某时某地实际的日出时间；
T sunset—某时某地实际的日落时间；
ω earth rotation—地球自转速度，一般认为一天为24小时，即地球自转角速度为15°/小时；
T altitude为时间修正量，即表示不同海拔高度而导致的日出/日落时间偏差；
其中：
Figure PCTCN2018078257-appb-000006
式中：
α—日出/日落时太阳低于水平面的角度。
其中：
Figure PCTCN2018078257-appb-000007
式中：
ω refringence—由于大气折射而导致太阳被抬高的角度，一般约为0.6°；
Φ sun—太阳盘面角度，约为0.5°。
因而，α一般取a＝-(0.6°+0.5°/2)＝0.85°。
对于不同的海拔高度，也会影响到日出时间和日落时间，因而需要根 据不同的海拔高度日出日落时间进行修正，即：
Figure PCTCN2018078257-appb-000008
式中：
R earth—地球半径，假设地球为球形；
H altitude_ref—一般假设为标准大气压下海平面的高度，即H altitude_ref取零；
H altitude_UA—当前无人机或者无人机的控制终端的海拔高度，一般实际海拔高度大于零，当海拔高度小于零时，H altitude_UA以零值计算。
按照上述计算方法，即可计算出当前无人机飞行区域的日出时间和日落时间。
步骤S703、根据所述飞行时刻和所述夜间时间范围确定无人机是否在夜间飞行或者即将进入夜间飞行。
具体地，在确定了所述夜间时间范围后，可以进一步地确定所述飞行时间是否在夜间时间范围内，当所述飞行时间在夜间时间范围内时，则确定无人机在夜间飞行；
当所述飞行时刻靠近夜间时间范围时，则确定无人机即将进入夜间飞行。进一步地，所述根据所述飞行时刻和所述夜间时间范围确定无人机是否在夜间飞行或者即将进入夜间飞行包括：
根据所述飞行时刻和所述夜间时间范围确定无人机是否即将进入夜间飞行包括：获取无人机的续航时间、剩余续航时间或返航时间，根据所述续航时间、剩余续航时间或返航时间和所述当前无人机的飞行时刻确定无人机是否即将进入夜间飞行。具体地，若当前无人机的飞行时刻落在夜间时间范围之外，夜间飞行管理设备可以获取续航时间、剩余续航时间或返航时间。其中，所述续航时间可以是无人机的最长飞行时间，所述剩余续航时间可以是根据无人机的剩余电量来确定，所述返航时间可以是根据当前无人机与返航点之间的距离、返航速度、风速中的一种或多种确定。夜间飞行管理设备可以确定当前无人机的飞行时间加上无人机的续航时间、 剩余续航时间或返航时间是否落入夜间时间范围，若落入，则确定无人机即将进入夜间飞行。
可以理解的是，本发明实施例中对步骤S701和步骤S702的执行顺序不做限定，可以先后执行，可以同时执行，在这不做具体的限定。
步骤S704、当确定无人机在夜间飞行或者即将进入夜间飞行时，执行飞行管制操作。
具体地，步骤S704的具体原理和解释与步骤S102或者步骤603相同，此处不再赘述。
本发明实施例通过根据当前无人机的飞行区域的夜间时间范围和飞行时刻，能够精准地确定无人机是否在夜间飞行或者即将进入夜间飞行，当确定无人机在夜间飞行或者即将进入夜间飞行时，执行飞行管制操作，可以实现对无人机的夜间飞行的监管，降低发生飞行事故的可能性。
本发明实施例提供一种无人机的夜间飞行管理方法。图8为本发明另一实施例提供的无人机的夜间飞行管理方法的流程图。如图8所示，本发明实施例中的方法，可以包括：
步骤S801、通过检测用户的夜间飞行申请操作确定夜间飞行申请信息。
本发明实施例方法的执行主体可以是无人机的夜间飞行管理设备，进一步地，本发明实施例方法的执行主体可以是所述飞行管理设备的处理器，其中，所述处理器可以是通用处理器或者专用处理器。在某些实施例中，所述夜间飞行管理设备可以配置在终端设备上，进一步地，所述终端设备可以是无人机的控制终端。终端设备可以包括遥控器、智能手机、平板电脑、膝上型电脑、台式电脑、穿戴式设备(手表、手环)中的一种或多种。
具体地，如图9所示，当用户有计划要在夜间操作无人机时，用户可以通过夜间飞行监管设备901向飞行监管机构上报夜间飞行申请信息。夜间飞行管理设备包括交互装置，例如触摸显示屏、键盘、按键、波轮和摇 杆中的一种或多种，用户可以对交互装置进行夜间飞行申请操作上报夜间飞行申请信息，夜间飞行管理设备901的处理器通过交互装置来检测用户的夜间飞行申请操作并获取所述飞行申请信息。
可选地，所述飞行申请信息包括无人机的夜间飞行时间、工作任务种类、航线、飞行区域的位置信息、机型、序列号、用户信息、飞行时长、飞行高度、飞行速度中的一种或多种。例如，用户通过夜间飞行管理设备上报夜间飞行申请信息，所述夜间飞行申请信息包括无人机的夜间飞行时间，例如2018年4月5日晚上9点至10点，飞行区域的位置信息，例如深圳市南山区。
步骤S802、向飞行监管机构的夜间飞行审批系统发送夜间飞行申请信息。
具体地，夜间飞行管理设备901在确定了夜间飞行申请信息后，可以向飞行监管机构的夜间飞行审批系统902发送夜间飞行申请信息，即向飞行监管机构上报夜间飞行计划，以对该夜间飞行计划进行登记或者请求飞行监管机构批准所述夜间飞行计划。其中，所述飞行监管机构的夜间审批系统902可以是飞行监管机构的夜间审批邮箱系统、飞行监管机构的服务器和飞行监管机构的终端设备中的至少一种。飞行监管机构的夜间飞行审批系统902在接收到所述夜间飞行申请信息即获知用户的夜间飞行计划。
步骤S803、接收所述夜间飞行审批系统发送针对所述夜间飞行申请信息的夜间飞行证书。
具体地，针对不同国家或者地区，可能存在不同的无人机的夜间运行法规。在某些情况中，根据运行法规，用户只需要向飞行监管机构上报夜间飞行，即用户只需要完成夜间飞行计划的登记即可，所述审批系统在接收到夜间飞行申请信息后，即可以向夜间飞行管理设备901发送夜间飞行证书，用户就可以在合法的情况下操作无人机完成与所述飞行申请信息关联的夜间飞行。在某些情况中，根据运行法规，用户需要向飞行监管机构 上报夜间飞行计划，并且需要获得飞行监管机构审批通过，用户才可以在合法的情况下在夜间操作无人机，所述夜间飞行审批系统在接收到夜间飞行申请信息后，可以自动对夜间飞行申请信息进行审批，或者，飞行监管机构的工作人员可以通过飞行监管机构的审批系统902对夜间飞行申请信息进行人工审批，当审批通过时，飞行监管机构的审批系统902会向夜间飞行管理设备发送夜间飞行证书，夜间飞行管理设备901接收到夜间飞行证书后，用户就可以在合法的情况下操作无人机完成与所述飞行申请信息关联的夜间飞行。其中，所述夜间飞行证书是电子证书，进一步地，所述夜间飞行证书可以以数字、字母、文字、条形码、二维码中的一种或多种形式表示。
本发明实施例通过将用户的夜间飞行申请信息发送飞行监管机构的夜间飞行审批系统，获取飞行监管机构的夜间飞行审批系统的夜间飞行证书，可以使得飞行监管机构对无人机用户的夜间飞行计划进行管理。
在某些实施例中，夜间飞行管理设备在接收到所述夜间飞行电子证书后，将所述夜间飞行证书上传到无人机的飞行控制器中以指导无人机的与所述飞行申请信息关联的夜间飞行。具体地，如图10所示，夜间飞行管理设备1001接收到飞行监管机构的夜间飞行审批系统发送1002的夜间飞行证书后，当夜间飞行管理与无人机1003进行有线或无线连接时，可以将夜间飞行证书上传到无人机的飞行控制器1004中，其中，夜间飞行证书上传到飞行控制器中可以指导飞行申请信息关联的夜间飞行。
进一步地，所述将所述夜间飞行证书上传到无人机的飞行控制器中以指导无人机的与所述飞行申请信息关联的夜间飞行包括：将所述夜间飞行证书上传到无人机的飞行控制器中以解除夜间飞行限制。具体地，在某些情况中，无人机的飞行控制器内部对无人机的夜间飞行设置了飞行限制，其中，起飞限制、飞行高度限制、飞行距离限制、飞行区域限制等等，当夜间飞行证书上传到飞行控制器中，飞行控制器就可以解除这些夜间飞行 限制。其中，所述夜间飞行限制可以是与所述夜间飞行申请信息关联的，例如，所述夜间飞行申请信息中包括无人机的飞行区域，无人机在开机或者在夜间飞行的过程中，可以通过配置在无人机上的卫星定位接收设备获取当前的位置信息，当所述当前的位置信息位于所述无人机的飞行区域时，飞行控制器才会解除夜间飞行限制。
进一步地，根据所述的方法，所述夜间飞行证书包括夜间飞行限制信息，其中，所述将所述夜间飞行证书上传到无人机的飞行控制器中以指导无人机的与所述飞行申请信息关联的夜间飞行包括：将所述夜间飞行证书上传到无人机的飞行控制器中以按照所述限制信息来限制无人机的与所述飞行申请信息关联的夜间飞行。具体地，夜间飞行证书中包括夜间飞行限制信息。可选地，所述飞行限制信息包括：无人机的飞行高度限制、飞行区域限制、飞行时间限制、限制飞行时长、飞行速度限制、飞行航线限制中的一种或多种。当用户操作无人机在执行与所述飞行申请信息关联的夜间飞行的过程中，无人机的飞行会按照夜间飞行证书中的夜间飞行限制信息来限制无人机的飞行。例如，所述夜间飞行限制信息中包括10米的飞行高度限制，则无人机在飞行过程中，无人机的飞行高度会被强制地限制在10米以下。
可选地，所述飞行限制信息是根据所述夜间飞行申请信息确定的。具体地，飞行监管机构的夜间审批系统在接收到夜间飞行申请信息后，可以根据飞行申请信息确定夜间飞行限制信息，其中，针对不同的飞行申请信息可能确定不同的夜间飞行限制信息。例如，夜间飞行申请信息中包括无人机的飞行区域的位置信息，飞行监管机构的夜间审批系统可以根据所述位置信息判断无人机的飞行区域与禁飞区之间的距离，然后根据距离来确定夜间飞行限制信息，例如，当所述距离小于或等于5KM时，夜间飞行限制信息中的飞行高度限制确定5m，当所述距离小于或等于5KM时，夜间飞行限制信息中的飞行高度限制确定10m。
本发明实施例提供一种无人机的夜间飞行管理方法。图11为本发明实施例提供的无人机的夜间飞行管理方法的流程图。如图11所示，本发明实施例中的方法，可以包括：
步骤S1101、从终端设备获取夜间飞行证书。
本发明实施例方法的执行主体可以是无人机的夜间飞行管理设备，进一步地，本发明实施例方法的执行主体可以是所述飞行管理设备的处理器，其中，所述处理器可以是通用处理器或者专用处理器。所述夜间飞行管理设备可以配置在无人机上。
具体地，与图8所述的实施例对应地，当用户有计划要在夜间操作无人机时，用户可以通过终端设备向飞行监管机构上报夜间飞行申请信息，夜间飞行证书是终端设备向飞行监管机构的审批系统发送夜间飞行申请信息之后从飞行监管机构的夜间飞行审批系统接收的，所述飞行申请信息是终端设备通过检测无人机的用户的夜间飞行申请操作确定，夜间飞行管理设备可以从终端设备获取夜间飞行证书，其中，所述获取可以是直接地或者间接地获取，在这里不作具体限定。
步骤S1102、根据夜间飞行证书指导与夜间飞行申请信息相关联的夜间飞行。
具体地，在某些情况中，夜间飞行管理设备可以是无人机的飞行控制器，飞行控制器获取到夜间飞行证书后，可以根据夜间飞行证书来指导与夜间飞行申请信息相关联的夜间飞行。在某些情况中，夜间飞行管理设备可以将从终端设备获取的夜间飞行证书发送给飞行控制器，飞行控制器根据夜间飞行证书来指导与夜间飞行申请信息相关联的夜间飞行。
在某些实施例中，所述根据夜间飞行证书指导与夜间飞行申请信息相关联的夜间飞行包括：根据所述夜间飞行证书解除与所述飞行申请信息关联的夜间飞行限制。
在某些实施例中，所述夜间飞行证书包括夜间飞行限制信息，所述根据夜间飞行证书指导与夜间飞行申请信息相关联的夜间飞行包括：按照所述限制信息来限制无人机的与所述飞行申请信息关联的夜间飞行。
可选地，所述飞行限制信息是根据所述夜间飞行申请信息确定的。
可选地，所述飞行限制信息包括：无人机的飞行高度限制、飞行区域限制、飞行时间限制、限制飞行时长、飞行速度限制、飞行航线限制中的一种或多种。
可以理解的是，本发明实施例的方法的具体原理可以参照前述对应部分，此处不再赘述。
本发明实施例提供一种确定日出时间和/或日落时间的方法。图12为本发明实施例提供的确定日出时间和/或日落时间的方法的流程图。如图12所示，本发明实施例中的方法，可以包括：
步骤S1201、获取当前所处区域的位置信息、当前日历信息和当前海拔高度。
本发明实施例方法的执行主体可以是确定日出时间和/或日落时间的设备，进一步地，本发明实施例方法的执行主体可以是所述确定日出时间和/或日落时间的设备的处理器，其中，所述处理器可以是通用处理器或者专用处理器。在某些实施例中，所述确定日出时间和/或日落时间的设备可以配置在终端设备上，进一步地，所述终端设备可以是可移动平台的控制终端，所述可移动平台可以包括无人机。在某些实施例中，所述确定日出时间和/或日落时间的设备可以配置在可移动平台上。
具体地，如前所述，海拔高度对日出时间和日落时间是有影响的，确定日出时间和/或日落时间的设备可以获取所处区域的海拔高度，例如如前所述，获取当前无人机或者无人机的控制终端的海拔高度；确定日出时间和/或日落时间的设备可以获取所处区域的位置信息，例如获取当前无 人机的飞行区域的位置信息；确定日出时间和/或日落时间的设备可以获取所处区域的位置信息，例如获取当前无人机飞行区域的日历信息。
步骤S1202、根据所述当前位置信息、当前日历信息和当前海拔高度确定当前所处区域的日出时间和/或日落时间。
在某些实施例中，所述根据所述当前位置信息、当前日历信息和当前海拔高度确定当前所处区域的日出时间和/或日落时间包括：根据日历信息确定当前地球赤纬，根据所述位置信息确定太阳时角，根据所述海拔高度确定时间修正量，根据所述当前地球赤纬、太阳时角和时间修正量确定当前无人机的飞行区域的日出时间和日落时间。
在某些实施例中，所述获取当前所处区域的当前日历信息包括：通过卫星定位接收设备获取当前所处区域的当前日历信息。
在某些实施例中，所述获取当前所处区域的当前日历信息包括：通过移动通信网络获取当前所处区域的当前日历信息。
可以理解的是，本发明实施例的方法的具体原理可以参照前述对应部分，此处不再赘述。
本发明实施例提供一种无人机的夜间飞行管理设备。图13为本发明实施例提供的无人机的夜间飞行管理设备的结构图，如图13所示，无人机的夜间飞行管理设备1300包括：存储器和处理器，其中，
所述存储器用于存储程序指令；
所述处理器调用所述程序指令，当所述程序指令被执行时，用于执行以下操作：
确定无人机是否在夜间飞行或者即将进入夜间飞行；
当确定无人机在夜间飞行或者即将进入夜间飞行时，执行飞行管制操作。
在某些实施例中，所述处理器确定无人机是否在夜间飞行或者即将进 入夜间飞行时，具体用于：
获取当前无人飞行区域的光线强度；
根据所述光线强度来确定无人机是否在夜间飞行或者即将进入夜间飞行。
在某些实施例中，所述处理器确定无人机是否在夜间飞行或者即将进入夜间飞行时，具体用于：
获取当前无人机的飞行时刻；
根据所述飞行时刻确定无人机是否在夜间飞行或者即将进入夜间飞行；
在某些实施例中，所述处理器执行飞行管制操作时，具体用于：在无人机的控制终端的交互界面上显示告警信息。
在某些实施例中，所述处理器在当确定无人机在夜间飞行或者即将进入夜间飞行时，在无人机的控制终端的交互界面上显示告警信息时，具体用于：
当确定无人机在夜间飞行时，在无人机的控制终端的交互界面上显示提示用户无人机在夜间飞行的告警信息。
在某些实施例中，所述处理器在当确定无人机在夜间飞行或者即将进入夜间飞行时，在无人机的控制终端的交互界面上显示告警信息时，具体用于：
当确定无人机即将进入夜间飞行时，在无人机的控制终端的交互界面上显示提示用户无人机即将进入夜间飞行的告警信息。
在某些实施例中，所述处理器执行飞行管制操作时，具体用于：向无人机的控制终端发送告警信息。
在某些实施例中，所述处理器执行飞行管制操作时，具体用于：
限制无人机的飞行高度、飞行距离、飞行区域范围、飞行时长、飞行速度中的一种或多种。
在某些实施例中，所述处理器执行飞行管制操作时，具体用于：
控制无人机执行返航操作、降落操作、禁止无人机执行起飞操作中的一种或多种。
在某些实施例中，所述处理器获取当前无人机的飞行时刻时，具体用于：
通过卫星定位接收设备获取当前无人机的飞行时刻。
在某些实施例中，所述处理器获取当前无人机的飞行时刻时，具体用于：
通过移动通信网络获取当前无人机的飞行时刻。
在某些实施例中，所述处理器根据所述飞行时刻确定无人机是否在夜间飞行或者即将进入夜间飞行时，具体用于：
确定当前无人机的飞行区域的夜间时间范围；
根据所述飞行时刻和所述夜间时间范围确定无人机是否在夜间飞行或者即将进入夜间飞行。
在某些实施例中，所述处理器确定当前无人机的飞行区域的夜间时间范围时，具体用于：
确定当前无人机的飞行区域的日出时间和日落时间；
根据所述日出时间和日落时间确定当前无人机的飞行区域的夜间时间范围。
在某些实施例中，所述处理器确定当前无人机的飞行区域的日出时间和日落时间时，具体用于：
获取当前无人机的飞行区域的位置信息、海拔高度和日历信息；
根据所述位置信息、海拔高度和日历信息确定当前无人机的飞行区域的日出时间和日落时间。
在某些实施例中，所述处理器获取当前无人机的飞行区域的海拔高度时，具体用于：
通过无人机或者无人机的控制终端上配置的气压传感器获取当前无人机的飞行区域的海拔高度。
在某些实施例中，所述处理器还用于：
确定无人机是否具有在夜间飞行的权限；
所述处理器在当确定无人机在夜间飞行或者即将进入夜间飞行时，执行飞行管制操作时，具体用于：
当确定无人机在夜间飞行或者即将进入夜间飞行，且当无人机不具有在夜间飞行的权限时，执行飞行管制操作。
在某些实施例中，所述处理器确定无人机是否具有在夜间飞行的权限时，具体用于：
确定无人机是否具有经过飞行监管机构审批通过在夜间飞行的权限。
在某些实施例中，所述处理器确定无人机是否具有经过飞行监管机构审批通过在夜间飞行的权限时，具体用于：
确定无人机是否具有飞行监管机构的夜间飞行审批系统发送夜间飞行证书；
当无人机具有所述夜间飞行证书时，确定无人机具有经过飞行监管机构审批通过在夜间飞行的权限。
在某些实施例中，所述处理器确定无人机是否具有在夜间飞行的权限时，具体用于：
获取无人机的机型信息；
根据所述机型信息确定无人机是否具有在夜间飞行的权限。
在某些实施例中，所述处理器确定无人机是否具有在夜间飞行的权限时，具体用于：
获取无人机的机型信息；
根据所述机型信息确定无人机是否具有在夜间飞行的权限。
在某些实施例中，所述处理器确定无人机是否具有在夜间飞行的权限 时，具体用于：
获取无人机的用户信息；
根据所述用户信息确定无人机是否具有在夜间飞行的权限。
在某些实施例中，所述处理器确定无人机是否具有在夜间飞行的权限时，具体用于：
确定当前无人机的飞行区域的位置信息；
根据所述位置信息确定无人机是否具有在夜间飞行的权限。
在某些实施例中，所述处理器确定无人机是否具有在夜间飞行的权限时，具体用于：
确定无人机是否配置保证无人机夜间飞行安全的传感系统；
当无人机没有配置所述传感系统时，确定所述无人机不具有在夜间飞行的权限。
可以理解的是，本发明实施例提供的设备的具体原理及说明可以参见图1-7所述实施例。
本发明实施例还提供一种无人机，包括如前所述的夜间飞行管理设备。
本发明实施例还提供一种无人机的控制终端，包括如前所述的夜间飞行管理设备。
本发明实施例提供一种无人机的夜间飞行管理设备。图13为本发明实施例提供的无人机的夜间飞行管理设备的结构图，如图13所示，无人机的夜间飞行管理设备1300包括：存储器和处理器，其中，
所述存储器用于存储程序指令；
所述处理器调用所述程序指令，当所述程序指令被执行时，用于执行以下操作：
通过检测用户的夜间飞行申请操作确定夜间飞行申请信息；
向飞行监管机构的夜间飞行审批系统发送夜间飞行申请信息；
接收所述审批系统发送针对所述夜间飞行申请信息的夜间飞行证书。
在某些实施例中，所述飞行申请信息包括无人机的夜间飞行时间、工作任务种类、航线、飞行区域的位置信息、机型、序列号、用户信息、飞行时长、飞行高度、飞行速度中的一种或多种。
在某些实施例中，所述设备处理器还用于：
将所述夜间飞行证书上传到无人机的飞行控制器中以指导无人机的与所述飞行申请信息关联的夜间飞行。
在某些实施例中，所述处理器将所述夜间飞行证书上传到无人机的飞行控制器中以指导无人机的与所述飞行申请信息关联的夜间飞行时，具体用于：
将所述夜间飞行证书上传到无人机的飞行控制器中以解除与所述飞行申请信息关联的夜间飞行限制。
在某些实施例中，所述夜间飞行证书包括夜间飞行限制信息，
所述处理器将所述夜间飞行证书上传到无人机的飞行控制器中以指导无人机的与所述飞行申请信息关联的夜间飞行时，具体用于：
将所述夜间飞行证书上传到无人机的飞行控制器中以按照所述限制信息来限制无人机的与所述飞行申请信息关联的夜间飞行。
在某些实施例中，所述飞行限制信息是根据所述夜间飞行申请信息确定的。
在某些实施例中，所述飞行限制信息包括无人机的飞行高度限制、飞行区域限制、飞行时间限制、限制飞行时长、飞行速度限制、飞行航线限制中的一种或多种。
可以理解的是，本发明实施例提供的设备的具体原理及说明可以参见图8-10所述实施例。
本发明实施例还提供一种终端设备，包括如前所述的夜间飞行管理设 备。
在某些实施例中，所述终端设备为无人机的控制终端。
本发明实施例提供一种无人机的夜间飞行管理设备。图13为本发明实施例提供的无人机的夜间飞行管理设备的结构图，如图13所示，无人机的夜间飞行管理设备1300包括：存储器和处理器，其中，
所述存储器用于存储程序指令；
所述处理器调用所述程序指令，当所述程序指令被执行时，用于执行以下操作：
从终端设备获取夜间飞行证书，其中，夜间飞行证书是终端设备向飞行监管机构的审批系统发送夜间飞行申请信息之后从飞行监管机构的夜间飞行审批系统接收的，所述申请信息是终端设备通过检测无人机的用户的夜间飞行申请操作确定；
根据夜间飞行证书指导与夜间飞行申请信息相关联的夜间飞行。
在某些实施例中，所述处理器根据夜间飞行证书指导与夜间飞行申请信息相关联的夜间飞行时，具体用于：
根据所述夜间飞行证书解除与所述飞行申请信息关联的夜间飞行限制。
在某些实施例中，所述夜间飞行证书包括夜间飞行限制信息，
所述处理器根据夜间飞行证书指导与夜间飞行申请信息相关联的夜间飞行时，具体用于：
按照所述限制信息来限制无人机的与所述飞行申请信息关联的夜间飞行。
在某些实施例中，所述飞行限制信息是根据所述夜间飞行申请信息确定的。
在某些实施例中，所述飞行限制信息包括：无人机的飞行高度限 制、飞行区域限制、飞行时间限制、限制飞行时长、飞行速度限制、飞行航线限制中的一种或多种。
可以理解的是，本发明实施例提供的设备的具体原理及说明可以参见图8-11所述实施例。
本发明实施例还提供一种无人机，包括如前所述的夜间飞行管理设备。
本发明实施例提供一种确定日出时间和/或日落时间的设备。图13为本发明实施例提供的确定日出时间和/或日落时间的设备的结构图，如图13所示，确定日出时间和/或日落时间的设备1300包括：存储器和处理器，其中，
所述存储器用于存储程序指令；
所述处理器调用所述程序指令，当所述程序指令被执行时，用于执行以下操作：
获取当前所处区域的位置信息、当前日历信息和当前海拔高度；
根据所述当前位置信息、当前日历信息和当前海拔高度确定当前所处区域的日出时间和/或日落时间。
在某些实施例中，所述处理器根据所述当前位置信息、当前日历信息和当前海拔高度确定当前所处区域的日出时间和/或日落时间时，具体用于：
根据日历信息确定当前地球赤纬；
根据所述位置信息确定太阳时角；
根据所述海拔高度确定时间修正量；
根据所述当前地球赤纬、太阳时角和时间修正量确定当前无人机的飞行区域的日出时间和日落时间。
在某些实施例中，所述处理器获取当前所处区域的当前日历信息时， 具体用于：
通过卫星定位接收设备获取当前所处区域的当前日历信息。
在某些实施例中，所述处理器获取当前所处区域的当前日历信息时，具体用于：
通过移动通信网络获取当前所处区域的当前日历信息。
可以理解的是，本发明实施例提供的设备的具体原理及说明可以参见图7和12所述实施例。
本发明实施例还提供一种无人机，包括如前所述的确定日出时间和/或日落时间的设备。
本发明实施例还提供一种无人机的控制终端，包括如前所述的确定日出时间和/或日落时间的设备。
本发明实施例还提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现如前述任一实施例所述的方法。
在本发明所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本发明实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元 中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。
上述以软件功能单元的形式实现的集成的单元，可以存储在一个计算机可读取存储介质中。上述软件功能单元存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(processor)执行本发明各个实施例所述方法的部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
本领域技术人员可以清楚地了解到，为描述的方便和简洁，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。上述描述的装置的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (86)

  1. 一种无人机的夜间飞行管理方法，其特征在于，包括：
    确定无人机是否在夜间飞行或者即将进入夜间飞行；
    当确定无人机在夜间飞行或者即将进入夜间飞行时，执行飞行管制操作。
  2. 根据权利要求1所述的方法，其特征在于，所述确定无人机是否在夜间飞行或者即将进入夜间飞行包括：
    获取当前无人飞行区域的光线强度；
    根据所述光线强度来确定无人机是否在夜间飞行或者即将进入夜间飞行。
  3. 根据权利要求1所述的方法，其特征在于，所述确定无人机是否在夜间飞行或者即将进入夜间飞行包括：
    获取当前无人机的飞行时刻；
    根据所述飞行时刻确定无人机是否在夜间飞行或者即将进入夜间飞行。
  4. 根据权利要求1-3任一项所述的方法，其特征在于，所述执行飞行管制操作包括：在无人机的控制终端的交互界面上显示告警信息。
  5. 根据权利要求4所述的方法，其特征在于，所述当确定无人机在夜间飞行或者即将进入夜间飞行时，在无人机的控制终端的交互界面上显示告警信息包括：
    当确定无人机在夜间飞行时，在无人机的控制终端的交互界面上显示提示用户无人机在夜间飞行的告警信息。
  6. 根据权利要求4所述的方法，其特征在于，所述当确定无人机在夜间飞行或者即将进入夜间飞行时，在无人机的控制终端的交互界面上显示告警信息包括：
    当确定无人机即将进入夜间飞行时，在无人机的控制终端的交互界面上显示提示用户无人机即将进入夜间飞行的告警信息。
  7. 根据权利要求1-3任一项所述的方法，其特征在于，所述执行飞行管制操作包括：向无人机的控制终端发送告警信息。
  8. 根据权利要求1-3任一项所述的方法，其特征在于，所述执行飞行管制操作包括：
    限制无人机的飞行高度、飞行距离、飞行区域范围、飞行时长、飞行速度中的一种或多种。
  9. 根据权利要求1-3任一项所述的方法，其特征在于，所述执行飞行管制操作包括：
    控制无人机执行返航操作、降落操作、禁止无人机执行起飞操作中的一种或多种。
  10. 根据权利要求3所述的方法，其特征在于，所述获取当前无人机的飞行时刻包括：
    通过卫星定位接收设备获取当前无人机的飞行时刻。
  11. 根据权利要求3所述的方法，其特征在于，所述获取当前无人机的飞行时刻包括：
    通过移动通信网络获取当前无人机的飞行时刻。
  12. 根据权利要求3所述的方法，其特征在于，所述根据所述飞行时刻确定无人机是否在夜间飞行或者即将进入夜间飞行包括：
    确定当前无人机的飞行区域的夜间时间范围；
    根据所述飞行时刻和所述夜间时间范围确定无人机是否在夜间飞行或者即将进入夜间飞行。
  13. 根据权利要求12所述的方法，其特征在于，所述确定当前无人机的飞行区域的夜间时间范围包括：
    确定当前无人机的飞行区域的日出时间和日落时间；
    根据所述日出时间和日落时间确定当前无人机的飞行区域的夜间时间范围。
  14. 根据权利要求13所述的方法，其特征在于，所述确定当前无人机的飞行区域的日出时间和日落时间包括：
    获取当前无人机的飞行区域的位置信息、海拔高度和日历信息；
    根据所述位置信息、海拔高度和日历信息确定当前无人机的飞行区域的日出时间和日落时间。
  15. 根据权利要求14所述的方法，其特征在于，所述获取当前无人机的飞行区域的海拔高度包括：
    通过无人机或者无人机的控制终端上配置的气压传感器获取当前无人机的飞行区域的海拔高度。
  16. 根据权利要求1-3任一项所述的方法，其特征在于，所述方法还包括：
    确定无人机是否具有在夜间飞行的权限；
    所述当确定无人机在夜间飞行或者即将进入夜间飞行时，执行飞行管制操作包括：
    当确定无人机在夜间飞行或者即将进入夜间飞行，且当无人机不具有在夜间飞行的权限时，执行飞行管制操作。
  17. 根据权利要求16所述的方法，其特征在于，所述确定无人机是否具有在夜间飞行的权限包括：
    确定无人机是否具有经过飞行监管机构审批通过在夜间飞行的权限。
  18. 根据权利要求16所述的方法，其特征在于，所述确定无人机是否具有经过飞行监管机构审批通过在夜间飞行的权限包括：
    确定无人机是否具有飞行监管机构的夜间飞行审批系统发送夜间飞行证书；
    当无人机具有所述夜间飞行证书时，确定无人机具有经过飞行监管机 构审批通过在夜间飞行的权限。
  19. 根据权利要求16所述的方法，其特征在于，所述确定无人机是否具有在夜间飞行的权限包括：
    获取无人机的机型信息；
    根据所述机型信息确定无人机是否具有在夜间飞行的权限。
  20. 根据权利要求16所述的方法，其特征在于，所述确定无人机是否具有在夜间飞行的权限包括：
    获取无人机的机型信息；
    根据所述机型信息确定无人机是否具有在夜间飞行的权限。
  21. 根据权利要求16所述的方法，其特征在于，所述确定无人机是否具有在夜间飞行的权限包括：
    获取无人机的用户信息；
    根据所述用户信息确定无人机是否具有在夜间飞行的权限。
  22. 根据权利要求16所述的方法，其特征在于，所述确定无人机是否具有在夜间飞行的权限包括：
    确定当前无人机的飞行区域的位置信息；
    根据所述位置信息确定无人机是否具有在夜间飞行的权限。
  23. 根据权利要求16所述的方法，其特征在于，所述确定无人机是否具有在夜间飞行的权限包括：
    确定无人机是否配置保证无人机夜间飞行安全的传感系统；
    当无人机没有配置所述传感系统时，确定所述无人机不具有在夜间飞行的权限。
  24. 一种无人机的夜间飞行管理方法，其特征在于，包括：
    通过检测用户的夜间飞行申请操作确定夜间飞行申请信息；
    向飞行监管机构的夜间飞行审批系统发送夜间飞行申请信息；
    接收所述审批系统发送针对所述夜间飞行申请信息的夜间飞行证书。
  25. 根据权利要求24所述的方法，其特征在于，所述飞行申请信息包括无人机的夜间飞行时间、工作任务种类、航线、飞行区域的位置信息、机型、序列号、用户信息、飞行时长、飞行高度、飞行速度中的一种或多种。
  26. 根据权利要求24或25所述的方法，其特征在于，所述方法还包括：
    将所述夜间飞行证书上传到无人机的飞行控制器中以指导无人机的与所述飞行申请信息关联的夜间飞行。
  27. 根据权利要求26所述的方法，其特征在于，所述将所述夜间飞行证书上传到无人机的飞行控制器中以指导无人机的与所述飞行申请信息关联的夜间飞行包括：
    将所述夜间飞行证书上传到无人机的飞行控制器中以解除与所述飞行申请信息关联的夜间飞行限制。
  28. 根据权利要求26所述的方法，其特征在于，所述夜间飞行证书包括夜间飞行限制信息，
    所述将所述夜间飞行证书上传到无人机的飞行控制器中以指导无人机的与所述飞行申请信息关联的夜间飞行包括：
    将所述夜间飞行证书上传到无人机的飞行控制器中以按照所述限制信息来限制无人机的与所述飞行申请信息关联的夜间飞行。
  29. 根据权利要求28所述的方法，其特征在于，所述飞行限制信息是根据所述夜间飞行申请信息确定的。
  30. 根据权利要求28或29所述的方法，其特征在于，所述飞行限制信息包括：无人机的飞行高度限制、飞行区域限制、飞行时间限制、限制飞行时长、飞行速度限制、飞行航线限制中的一种或多种。
  31. 一种无人机的夜间飞行管理方法，其特征在于，包括：
    从终端设备获取夜间飞行证书，其中，夜间飞行证书是终端设备向飞 行监管机构的审批系统发送夜间飞行申请信息之后从飞行监管机构夜间飞行审批系统接收的，所述申请信息是终端设备通过检测无人机的用户的夜间飞行申请操作确定；
    根据夜间飞行证书指导与夜间飞行申请信息相关联的夜间飞行。
  32. 根据权利要求31所述的方法，其特征在于，所述根据夜间飞行证书指导与夜间飞行申请信息相关联的夜间飞行包括：
    根据所述夜间飞行证书解除与所述飞行申请信息关联的夜间飞行限制。
  33. 根据权利要求31所述的方法，其特征在于，所述夜间飞行证书包括夜间飞行限制信息，
    所述根据夜间飞行证书指导与夜间飞行申请信息相关联的夜间飞行包括：
    按照所述限制信息来限制无人机的与所述飞行申请信息关联的夜间飞行。
  34. 根据权利要求33所述的方法，其特征在于，所述飞行限制信息是根据所述夜间飞行申请信息确定的。
  35. 根据权利要求33所述的方法，其特征在于，所述飞行限制信息包括：无人机的飞行高度限制、飞行区域限制、飞行时间限制、限制飞行时长、飞行速度限制、飞行航线限制中的一种或多种。
  36. 一种确定日出时间和/或日落时间的方法，其特征在于，包括：
    获取当前所处区域的位置信息、当前日历信息和当前海拔高度；
    根据所述当前位置信息、当前日历信息和当前海拔高度确定当前所处区域的日出时间和/或日落时间。
  37. 根据权利要求36所述的方法，其特征在于，
    所述根据所述当前位置信息、当前日历信息和当前海拔高度确定当前所处区域的日出时间和/或日落时间包括：
    根据日历信息确定当前地球赤纬；
    根据所述位置信息确定太阳时角；
    根据所述海拔高度确定时间修正量；
    根据所述当前地球赤纬、太阳时角和时间修正量确定当前无人机的飞行区域的日出时间和日落时间。
  38. 根据权利要求36所述的方法，其特征在于，所述获取当前所处区域的当前日历信息包括：
    通过卫星定位接收设备获取当前所处区域的当前日历信息。
  39. 根据权利要求36所述的方法，其特征在于，所述获取当前所处区域的当前日历信息包括：
    通过移动通信网络获取当前所处区域的当前日历信息。
  40. 一种无人机的夜间飞行的管理设备，其特征在于，包括：存储器和处理器，其中，
    所述存储器用于存储程序指令；
    所述处理器调用所述程序指令，当所述程序指令被执行时，用于执行以下操作：
    确定无人机是否在夜间飞行或者即将进入夜间飞行；
    当确定无人机在夜间飞行或者即将进入夜间飞行时，执行飞行管制操作。
  41. 根据权利要求40所述的设备，其特征在于，所述处理器确定无人机是否在夜间飞行或者即将进入夜间飞行时，具体用于：
    获取当前无人飞行区域的光线强度；
    根据所述光线强度来确定无人机是否在夜间飞行或者即将进入夜间飞行。
  42. 根据权利要求40所述的设备，其特征在于，所述处理器确定无人机是否在夜间飞行或者即将进入夜间飞行时，具体用于：
    获取当前无人机的飞行时刻；
    根据所述飞行时刻确定无人机是否在夜间飞行或者即将进入夜间飞行。
  43. 根据权利要求40-42任一项所述的设备，其特征在于，所述处理器执行飞行管制操作时，具体用于：在无人机的控制终端的交互界面上显示告警信息。
  44. 根据权利要求43所述的设备，其特征在于，所述处理器在当确定无人机在夜间飞行或者即将进入夜间飞行时，在无人机的控制终端的交互界面上显示告警信息时，具体用于：
    当确定无人机在夜间飞行时，在无人机的控制终端的交互界面上显示提示用户无人机在夜间飞行的告警信息。
  45. 根据权利要求43所述的设备，其特征在于，所述处理器在当确定无人机在夜间飞行或者即将进入夜间飞行时，在无人机的控制终端的交互界面上显示告警信息时，具体用于：
    当确定无人机即将进入夜间飞行时，在无人机的控制终端的交互界面上显示提示用户无人机即将进入夜间飞行的告警信息。
  46. 根据权利要求40-42任一项所述的设备，其特征在于，所述处理器执行飞行管制操作时，具体用于：向无人机的控制终端发送告警信息。
  47. 根据权利要求40-42任一项所述的设备，其特征在于，所述处理器执行飞行管制操作时，具体用于：
    限制无人机的飞行高度、飞行距离、飞行区域范围、飞行时长、飞行速度中的一种或多种。
  48. 根据权利要求40-42任一项所述的设备，其特征在于，所述处理器执行飞行管制操作时，具体用于：
    控制无人机执行返航操作、降落操作、禁止无人机执行起飞操作中的一种或多种。
  49. 根据权利要求42所述的设备，其特征在于，所述处理器获取当前无人机的飞行时刻时，具体用于：
    通过卫星定位接收设备获取当前无人机的飞行时刻。
  50. 根据权利要求42所述的设备，其特征在于，所述处理器获取当前无人机的飞行时刻时，具体用于：
    通过移动通信网络获取当前无人机的飞行时刻。
  51. 根据权利要求42所述的设备，其特征在于，所述处理器根据所述飞行时刻确定无人机是否在夜间飞行或者即将进入夜间飞行时，具体用于：
    确定当前无人机的飞行区域的夜间时间范围；
    根据所述飞行时刻和所述夜间时间范围确定无人机是否在夜间飞行或者即将进入夜间飞行。
  52. 根据权利要求51所述的设备，其特征在于，所述处理器确定当前无人机的飞行区域的夜间时间范围时，具体用于：
    确定当前无人机的飞行区域的日出时间和日落时间；
    根据所述日出时间和日落时间确定当前无人机的飞行区域的夜间时间范围。
  53. 根据权利要求52所述的设备，其特征在于，所述处理器确定当前无人机的飞行区域的日出时间和日落时间时，具体用于：
    获取当前无人机的飞行区域的位置信息、海拔高度和日历信息；
    根据所述位置信息、海拔高度和日历信息确定当前无人机的飞行区域的日出时间和日落时间。
  54. 根据权利要求53所述的设备，其特征在于，所述处理器获取当前无人机的飞行区域的海拔高度时，具体用于：
    通过无人机或者无人机的控制终端上配置的气压传感器获取当前无人机的飞行区域的海拔高度。
  55. 根据权利要求40-42任一项所述的设备，其特征在于，所述处理器还用于：
    确定无人机是否具有在夜间飞行的权限；
    所述处理器在当确定无人机在夜间飞行或者即将进入夜间飞行时，执行飞行管制操作时，具体用于：
    当确定无人机在夜间飞行或者即将进入夜间飞行，且当无人机不具有在夜间飞行的权限时，执行飞行管制操作。
  56. 根据权利要求55所述的设备，其特征在于，所述处理器确定无人机是否具有在夜间飞行的权限时，具体用于：
    确定无人机是否具有经过飞行监管机构审批通过在夜间飞行的权限。
  57. 根据权利要求55所述的设备，其特征在于，所述处理器确定无人机是否具有经过飞行监管机构审批通过在夜间飞行的权限时，具体用于：
    确定无人机是否具有飞行监管机构的夜间飞行审批系统发送夜间飞行证书；
    当无人机具有所述夜间飞行证书时，确定无人机具有经过飞行监管机构审批通过在夜间飞行的权限。
  58. 根据权利要求55所述的设备，其特征在于，所述处理器确定无人机是否具有在夜间飞行的权限时，具体用于：
    获取无人机的机型信息；
    根据所述机型信息确定无人机是否具有在夜间飞行的权限。
  59. 根据权利要求55所述的设备，其特征在于，所述处理器确定无人机是否具有在夜间飞行的权限时，具体用于：
    获取无人机的机型信息；
    根据所述机型信息确定无人机是否具有在夜间飞行的权限。
  60. 根据权利要求55所述的设备，其特征在于，所述处理器确定无 人机是否具有在夜间飞行的权限时，具体用于：
    获取无人机的用户信息；
    根据所述用户信息确定无人机是否具有在夜间飞行的权限。
  61. 根据权利要求55所述的设备，其特征在于，所述处理器确定无人机是否具有在夜间飞行的权限时，具体用于：
    确定当前无人机的飞行区域的位置信息；
    根据所述位置信息确定无人机是否具有在夜间飞行的权限。
  62. 根据权利要求55所述的设备，其特征在于，所述处理器确定无人机是否具有在夜间飞行的权限时，具体用于：
    确定无人机是否配置保证无人机夜间飞行安全的传感系统；
    当无人机没有配置所述传感系统时，确定所述无人机不具有在夜间飞行的权限。
  63. 一种无人机夜间飞行的管理设备，其特征在于，包括：存储器和处理器，其中，
    所述存储器用于存储程序指令；
    所述处理器调用所述程序指令，当所述程序指令被执行时，用于执行以下操作：
    通过检测用户的夜间飞行申请操作确定夜间飞行申请信息；
    向飞行监管机构的夜间飞行审批系统发送夜间飞行申请信息；
    接收所述审批系统发送针对所述夜间飞行申请信息的夜间飞行证书。
  64. 根据权利要求63所述的设备，其特征在于，所述飞行申请信息包括无人机的夜间飞行时间、工作任务种类、航线、飞行区域的位置信息、机型、序列号、用户信息、飞行时长、飞行高度、飞行速度中的一种或多种。
  65. 根据权利要求63或64所述的设备，其特征在于，所述设备处理器还用于：
    将所述夜间飞行证书上传到无人机的飞行控制器中以指导无人机的与所述飞行申请信息关联的夜间飞行。
  66. 根据权利要求65所述的设备，其特征在于，所述处理器将所述夜间飞行证书上传到无人机的飞行控制器中以指导无人机的与所述飞行申请信息关联的夜间飞行时，具体用于：
    将所述夜间飞行证书上传到无人机的飞行控制器中以解除与所述飞行申请信息关联的夜间飞行限制。
  67. 根据权利要求65所述的设备，其特征在于，所述夜间飞行证书包括夜间飞行限制信息，
    所述处理器将所述夜间飞行证书上传到无人机的飞行控制器中以指导无人机的与所述飞行申请信息关联的夜间飞行时，具体用于：
    将所述夜间飞行证书上传到无人机的飞行控制器中以按照所述限制信息来限制无人机的与所述飞行申请信息关联的夜间飞行。
  68. 根据权利要求67所述的设备，其特征在于，所述飞行限制信息是根据所述夜间飞行申请信息确定的。
  69. 根据权利要求67或68所述的设备，其特征在于，所述飞行限制信息包括：无人机的飞行高度限制、飞行区域限制、飞行时间限制、限制飞行时长、飞行速度限制、飞行航线限制中的一种或多种。
  70. 一种无人机夜间飞行的管理设备，其特征在于，包括：存储器和处理器，其中，
    所述存储器用于存储程序指令；
    所述处理器调用所述程序指令，当所述程序指令被执行时，用于执行以下操作：
    从终端设备获取夜间飞行证书，其中，夜间飞行证书是终端设备向飞行监管机构的审批系统发送夜间飞行申请信息之后从飞行监管机构的夜间飞行审批系统接收的，所述申请信息是终端设备通过检测无人机的用户的 夜间飞行申请操作确定；
    根据夜间飞行证书指导与夜间飞行申请信息相关联的夜间飞行。
  71. 根据权利要求70所述的设备，其特征在于，所述处理器根据夜间飞行证书指导与夜间飞行申请信息相关联的夜间飞行时，具体用于：
    根据所述夜间飞行证书解除与所述飞行申请信息关联的夜间飞行限制。
  72. 根据权利要求70所述的设备，其特征在于，所述夜间飞行证书包括夜间飞行限制信息，
    所述处理器根据夜间飞行证书指导与夜间飞行申请信息相关联的夜间飞行时，具体用于：
    按照所述限制信息来限制无人机的与所述飞行申请信息关联的夜间飞行。
  73. 根据权利要求72所述的设备，其特征在于，所述飞行限制信息是根据所述夜间飞行申请信息确定的。
  74. 根据权利要求72所述的设备，其特征在于，所述飞行限制信息包括：无人机的飞行高度限制、飞行区域限制、飞行时间限制、限制飞行时长、飞行速度限制、飞行航线限制中的一种或多种。
  75. 一种确定日出时间和/或日落时间的设备，其特征在于，包括：
    存储器和处理器，其中，
    所述存储器用于存储程序指令；
    所述处理器调用所述程序指令，当所述程序指令被执行时，用于执行以下操作：
    获取当前所处区域的位置信息、当前日历信息和当前海拔高度；
    根据所述当前位置信息、当前日历信息和当前海拔高度确定当前所处区域的日出时间和/或日落时间。
  76. 根据权利要求75所述的设备，其特征在于，
    所述处理器根据所述当前位置信息、当前日历信息和当前海拔高度确定当前所处区域的日出时间和/或日落时间时，具体用于：
    根据日历信息确定当前地球赤纬；
    根据所述位置信息确定太阳时角；
    根据所述海拔高度确定时间修正量；
    根据所述当前地球赤纬、太阳时角和时间修正量确定当前无人机的飞行区域的日出时间和日落时间。
  77. 根据权利要求75所述的设备，其特征在于，所述处理器获取当前所处区域的当前日历信息时，具体用于：
    通过卫星定位接收设备获取当前所处区域的当前日历信息。
  78. 根据权利要求75所述的设备，其特征在于，所述处理器获取当前所处区域的当前日历信息时，具体用于：
    通过移动通信网络获取当前所处区域的当前日历信息。
  79. 一种无人机，其特征在于，包括权利要求40-62任一项所述的夜间飞行管理设备。
  80. 一种无人机的控制终端，其特征在于，包括权利要求40-62任一项所述的夜间飞行管理设备。
  81. 一种终端设备，其特征在于，包括权利要求63-69任一项所述的夜间飞行管理设备。
  82. 根据权利要求81所述的终端设备，其特征在于，所述终端设备为无人机的控制终端。
  83. 一种无人机，其特征在于，包括如权利要求70-74任一项所述的夜间飞行管理设备。
  84. 一种无人机，其特征在于，包括权利要求75-78任一项所述的确定日出时间和/或日落时间的设备。
  85. 一种无人机的控制终端，其特征在于，包括权利要求75-78任一 项所述的确定日出时间和/或日落时间的设备。
  86. 一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1至39任一项所述的方法。
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