CN104932525B - Control method, device, ground control system and the unmanned plane of unmanned plane - Google Patents
Control method, device, ground control system and the unmanned plane of unmanned plane Download PDFInfo
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Abstract
The present invention discloses a kind of control method of unmanned plane, comprising: obtains current location and the posture of unmanned plane；According to the current location of the unmanned plane and posture, judge whether the unmanned plane will enter restricted area domain or no-fly region；When unmanned plane will enter restricted area domain or no-fly region, according to the corresponding flight control strategy in the region, unmanned plane during flying is controlled.The invention also discloses the control devices of unmanned plane, the unmanned plane with the control device, ground control system.The invention enables unmanned planes can avoid no-fly region automatically, improves flight efficiency and flight safety.
Description
Technical field
The present invention relates to unmanned plane field more particularly to a kind of control method of unmanned plane, device, ground control system and
Unmanned plane.
Background technique
Unmanned plane refers to the not manned vehicle controlled using wireless remote control device and the control device of itself, such as
Unmanned helicopter, unmanned fixed-wing aircraft, unmanned parasol etc..The unmanned plane can be used for carry filming apparatus, for taking photo by plane,
Mapping, scouting etc..The unmanned plane at work, typically flies according to pre-configured course line automatically, and flies automatically
When row, no-fly region can not be identified in advance and is avoided, so that causing the working efficiency of unmanned plane reduces, exists simultaneously safety
Hidden danger.
Summary of the invention
The main purpose of the present invention is to provide the controls of a kind of control method of unmanned plane, device, unmanned plane and ground to be
System, it is intended to solve that no-fly regional issue can not be predicted when the automatic flight of unmanned plane.
In order to achieve the above object, the present invention provides a kind of unmanned aerial vehicle (UAV) control methods, comprising the following steps:
Obtain current location and the posture of unmanned plane；
According to the current location of the unmanned plane and posture, judge whether the unmanned plane will enter restricted area domain or no-fly
Region；
When unmanned plane will enter restricted area domain or no-fly region, according to the corresponding flight control strategy in the region, control
Unmanned plane during flying processed.
In addition, to achieve the above object, the present invention also provides a kind of control devices of unmanned plane, comprising:
Drone status obtains module, for obtaining current location and the posture of unmanned plane；
Flight anticipation module, for according to the unmanned plane current location and posture, determine the unmanned plane whether i.e.
Restricted area domain or no-fly region will be entered；
Flight control modules, for being corresponded to according to the region when unmanned plane will enter restricted area domain or no-fly region
Flight control strategy, control unmanned plane operation.
In addition, to achieve the above object, the present invention also provides a kind of unmanned plane, the unmanned plane includes fuselage, setting
Slurry component, control device on fuselage, the control device of the control device above structure.
In addition, to achieve the above object, the present invention also provides a kind of ground control system, the ground control system packet
Wireless communication apparatus is included, to communicate wirelessly with unmanned plane；The ground control system includes the control device of above structure,
According to the current location of the received unmanned plane of ground control system and posture, unmanned plane during flying is controlled.
Current location and flight attitude of the embodiment of the present invention by acquisition unmanned plane, and according to the current location and flight
When posture determines that the unmanned plane will enter restricted area domain or no-fly region, according to the corresponding flight control strategy in the region,
Control unmanned plane during flying.Through the embodiment of the present invention, so that unmanned plane can not only sentence no-fly region and restricted area domain in advance
It is disconnected, and no-fly region can be avoided automatically or flown according to the requirement in restricted area domain, improve flight efficiency and flight safety.
Detailed description of the invention
Fig. 1 is the interactive structure schematic diagram of unmanned flight's system of the present invention；
Fig. 2 is the functional block diagram of the ground control system of unmanned flight's system of the present invention；
Fig. 3 is the functional block diagram of one embodiment of control device of unmanned plane of the present invention；
Fig. 4 is current location and posture of the present invention according to unmanned plane, determines the area information that unmanned plane will enter
Exemplary diagram；
Fig. 5 is the exemplary diagram for the corresponding each area information in administrative region that the present invention delimit in advance；
Fig. 6 a-6d is the exemplary diagram in the pre-set target flight region of the present invention；
Fig. 7 is the flow diagram of one embodiment of control method of unmanned plane of the present invention；
Fig. 8 is the flow diagram of another embodiment of control method of unmanned plane of the present invention.
In order to keep technical solution of the present invention clearer, clear, it is described in further detail below in conjunction with attached drawing.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
As shown in Figure 1, providing a kind of unmanned flight's system.Unmanned flight's system includes ground control system 100 and nothing
Man-machine 200.
Unmanned plane 200 refers mainly to unmanned aerial vehicle, it may include fuselage, wing, fuselage is interior to be equipped with driving device, wireless telecommunications dress
It sets, control device, power supply etc..Wireless communication apparatus is communicated for unmanned plane 200 with ground control system 100.Wirelessly
Communication device is used for the current flight state of unmanned plane 200, such as heading, flying height, flying speed, power supply status
Etc. be sent to ground control system 100, ground control system 100 is used to send out control instruction or course line pre-planned
It send to unmanned plane 200, so that the control device of unmanned plane 200 controls the flight of unmanned plane 200 or base area according to control instruction
The course line that face control system is sent can control the flight of unmanned plane 200.In addition, storage device also can be set on the unmanned plane,
Before unmanned plane takes off, to store course line pre-planned.After 200 electrifying startup of unmanned plane, control device will be called
The course line stored in storage device, and flown according to the flight course control unmanned plane 200.
It is understood that can be with carry other equipment, such as filming apparatus, to unmanned plane on the unmanned plane 200
The region of 200 flights is shot.The unmanned plane 200 can also be connect with filming apparatus by holder, which may include one
Axis, two axis or three axis holders.On the unmanned plane 200, filming apparatus is mounted on holder holder carry.Pass through control device
It can control holder and carry out divertical motion, so as to expand shooting area.In addition, image captured by the filming apparatus can be with
It is stored in filming apparatus, ground control system 100 can also be transmitted back to by wireless communication apparatus.
As shown in Fig. 2, ground control system 100 includes operation module 101, processing module 102, memory module 103, display
Module 104 and communication module 105.Wherein operation module 101 may include the component for user's operation, such as physical button, void
Quasi- key etc., can also include rocking bar, Fingerprint Identification Unit, voice recognition unit, recognition of face device etc. certainly.The operation module
After 101 detect the operational order of user, processing module 102 is sent it to.The memory module 103 may include internal storage
And external memory, such as memory card or external connection of storage card etc..Processing of the processing module 102 as ground control system 100
Center for data processing, transfers other assemblies and work etc..For example, request of the processing module 102 according to user,
It transfers corresponding program in memory module 103 to be executed, to realize the requested function of user.Display module 104 is for showing
Show processing module 102 treated result.Communication module 105 with unmanned plane 200 and other equipment for being communicated.It can be with
Understand, above-mentioned ground control system includes but do not limit component shown in Figure 2, such as the ground control system 100 is also
It may include data-interface, power supply etc..The ground control system 100 can be earth station, computer, mobile terminal, remote controler
Etc..
Based on above-mentioned unmanned flight's system, the invention proposes a kind of control device of unmanned plane, which can be with
It is independently arranged, can also be arranged on unmanned plane or in ground control system.If the control device is arranged when on unmanned plane,
The unmanned plane can obtain itself current location and flight attitude in real time, and according to the current location of unmanned plane and flight appearance
State, when determining that unmanned plane will enter restricted area domain or no-fly region, control unmanned plane avoids no-fly region or according to restricted area
The requirement in domain is flown.The unmanned plane can realize independently, can also be total with external equipment, such as server, ground control system
With realization.If the control device is arranged when in ground control system, the present bit of itself can be obtained in real time by unmanned plane
It sets and flight attitude, and receives current location acquired in unmanned plane and flight attitude, then according to the current location and flight
When posture determines that unmanned plane will enter restricted area domain or no-fly region, control instruction is sent to unmanned plane, to control unmanned plane
It avoids no-fly region or flies according to the requirement in restricted area domain.The ground control system can realize independently, can also be with outside
Equipment, such as server are realized jointly.It should be noted that above-mentioned restricted area domain and no-fly region refer to three-dimensional spatial area.
As shown in figure 3, the control device can include:
Drone status obtains module 110, for obtaining current location and the flight attitude of unmanned plane；
Flight anticipation module 120, for according to the unmanned plane current location and flight attitude, determine the unmanned plane
Whether restricted area domain or no-fly region will be entered；
Flight control modules 130 are used for when unmanned plane will enter restricted area domain or no-fly region, according to the region pair
The flight control strategy answered, control unmanned plane operation.
Current location and flight attitude of the embodiment of the present invention by acquisition unmanned plane, and according to the current location and flight
When posture determines that the unmanned plane will enter restricted area domain or no-fly region, according to the corresponding flight control strategy in the region,
Control unmanned plane during flying.Through the embodiment of the present invention, so that unmanned plane can not only sentence no-fly region and restricted area domain in advance
It is disconnected, and no-fly region can be avoided automatically or flown according to the requirement in restricted area domain, improve flight efficiency and flight safety.
Specifically, in the present embodiment, there is GPS unit on unmanned plane 200, which is communicated with satellite system,
Drone status obtains module 110 and calls GPS unit, and is positioned using satellite system to the unmanned plane, obtains present bit
It sets.In addition, the unmanned plane is equipped with attitude measurement module, certain attitude measurement module is not limited to be arranged on the unmanned plane,
It can also be and be mounted on the unmanned plane, be such as set to and be mounted on the holder on the unmanned plane, be used for real-time detection flight attitude
Information, such as flight course pitching roll angle, flying height, flying speed etc..Drone status obtains module 110 and transfers nothing
Man-machine middle current flight posture information.If the control device is independently arranged, or is arranged in ground control system, unmanned plane exists
After obtaining current location and flight attitude, by the wireless communication apparatus of unmanned plane, current location obtained is sent to ground
Face control system or control device, the drone status obtain the current location that module 110 then receives unmanned plane transmission.It can
With understanding, drone status obtain module 110 can in the flight course of unmanned plane in real time, timing or periodically obtain
Take, can also when aircraft does not take off after the control device powers on, in real time, timing or periodically obtain.
In above-mentioned flight anticipation module 120, according to flight position and flight attitude, it can determine that the unmanned plane whether will
Into restricted area domain or no-fly region.Specifically:
In one embodiment, firstly, the flight, which prejudges module 120, to utilize the administrative division information prestored, in conjunction with this
The current location of unmanned plane and flight attitude, determine whether the unmanned plane will enter another administrative region.As shown in figure 4, working as
The current location of preceding unmanned plane is position A, and flight course is arrow S, according to position A and flight course it is found that the unmanned plane
Administrative region A will be entered.In the present embodiment, if the current location of unmanned plane reaches the scheduled time of administrative region B default
Time threshold in or unmanned plane current location and the distance between administrative region B in pre-determined distance threshold value, it is determined that
The unmanned plane will enter administrative region B.Certainly, if condition is not satisfied, it is determined that the unmanned plane is where current location
Administrative region flight control unmanned plane during flying then based on the area information in the B of administrative region.In addition, however, it is determined that the unmanned plane
The region that will enter is in the handover location of multiple administrative regions, it is determined that multiple administrative information region is that unmanned plane will
The administrative region of entrance.
Then, flight anticipation module 120 determines whether unmanned plane will enter limit and fly according to preset no-fly database
Region or no-fly region.Specifically: flight anticipation module 120 can be pre-configured with according to identified administrative region, inquiry
No-fly database, corresponding with the administrative region no-fly data are obtained, to determine unmanned plane whether i.e. according to the no-fly data
Restricted area domain or no-fly region will be entered.The no-fly database purchase is in local.In another embodiment, which can also
To store in the server, determining administrative region can also be sent to server by flight anticipation module 120, so that server
The administrative region is matched with no-fly database preconfigured in server, it is corresponding no-fly to obtain the administrative region
Data, to determine whether unmanned plane will enter restricted area domain or no-fly region according to the no-fly data.
Above-mentioned no-fly database is established respectively as unit of the administrative region of pre-set level, and presses the name of the administrative region
The initial of title is arranged to facilitate subsequent lookup.The administrative region can be multiple grades administrative region, such as province, city, county,
Township, town etc..The region wherein recorded in the no-fly database mainly includes the airport, military base, secrecy of each administrative region
The sensitizing ranges such as unit.The no-fly database includes multiple no-fly subdata bases, and each no-fly subdata base corresponds to administrative region
Setting, includes the multiple restricted area domains and multiple no-fly regions delimited in advance in each no-fly subdata base, and each delimitation
Region is made of multiple geographical location information.As shown in figure 5, including three administrative regions: administrative region A, administrative region B, row
Administrative division domain C, three administrative regions are each configured with corresponding area information.By taking the A of administrative region as an example, in the A of the administrative region
It including restricted area domain, no-fly region and normal flight region, only illustrates in certain Fig. 5, administrative region will be according to practical feelings
Condition and specifically divide corresponding subregion.If determining that the unmanned plane will be into according to the current location of unmanned plane and flight attitude
The administrative region entered, and obtain the corresponding no-fly subdata base in the administrative region, i.e., the restricted area domain divided in the administrative region,
No-fly region and normal flight area information.Then further according to the no-fly subdata base, whether the unmanned plane is further determined that
Restricted area domain or no-fly region in the administrative region will be entered.Specifically: according to the current location of unmanned plane and posture, knot
The corresponding no-fly data in the administrative region are closed, determine whether unmanned plane will enter restricted area domain or no-fly region.For example, such as
Shown in Fig. 4, it is assumed that the current location of current unmanned plane is position A, and flight course is arrow S, according to position A and flight course
It is found that if unmanned plane current location reach administrative region A in restricted area domain scheduled time in preset time threshold, or
The distance between restricted area domain (zone boundary) is in pre-determined distance threshold value in the current location of person's unmanned plane and administrative region A,
Then determine that the unmanned plane will enter the restricted area domain.
In another embodiment, flight anticipation module 120 is used for current location and posture according to the unmanned plane, inquiry
The no-fly data prestored, determine whether unmanned plane will enter restricted area domain or no-fly region.The no-fly data include restricted area
The corresponding geographical location information in domain, the corresponding geographical location information in no-fly region and restricted area domain, no-fly region are corresponding winged
Row control strategy.Before the no-fly data can be taken off by unmanned plane, region letter is set according to the flight parameter of user configuration
Breath and area type, and store it in control device.
Example one, as shown in Figure 6 a, the 2 dimensional region in the target flight region of the user setting unmanned plane are with takeoff point
Centered on, radius is the circle of R, and other than circle is no-fly region.Therefore, in current location and the flight appearance for obtaining the unmanned plane
State, if finding, the unmanned plane will enter no-fly region, control unmanned plane hovering, homeward or adjustment course.
Example two, as shown in Figure 6 b, the 2 dimensional region in the target flight region of the user setting unmanned plane are by central point
O, big radius of circle are R, and small radius of circle is the annulus of r composition.Region other than the ring edges is no-fly region.Therefore, exist
Current location and the flight attitude of the unmanned plane are obtained, the unmanned plane will enter no-fly region if finding, control unmanned plane
Hovering, homeward or adjustment course.
Example three, as fig. 6 c, the 2 dimensional region in the target flight region of the user setting unmanned plane are irregular
Region, and the region except the target flight region is no-fly region.Therefore in the current location for obtaining the unmanned plane and fly
Row posture, if finding, the unmanned plane will enter no-fly region, control unmanned plane hovering, homeward or adjustment course.
Example four, as shown in fig 6d, the 2 dimensional region in the target flight region of the user setting unmanned plane are quadrangle S group
At, and there are 3 no-fly regions in the target flight region, remaining is normal flight region.Therefore, obtaining this nobody
The current location of machine and flight attitude, if find the unmanned plane will enter no-fly region, control unmanned plane hovering, it is homeward,
Or adjustment course.
It should be noted that the region indicated in above-mentioned Fig. 6 a~Fig. 6 d only shows two-dimensional region, vertical dimension is not shown
Region on degree, the region in the embodiment of the present invention indicate three-dimensional spatial area.
To sum up, before unmanned plane takes off, target flight region and area information are generated acording to the requirement of user, and store
In control device, so that flight anticipation module 120 can fly according to the area information and the target that unmanned plane will enter
Row region and area information, determine unmanned plane will enter no-fly region or restricted area domain when, control unmanned plane hovering, it is homeward,
Or adjustment course.
Further, in above-mentioned flight control modules 130, when determine region that unmanned plane will enter be limited winged region or
When no-fly region, according to the corresponding flight control strategy in the region, unmanned plane during flying is controlled.The corresponding flight control in restricted area domain
Strategy may include the height and/or speed of limitation flight；The corresponding flight control strategy in no-fly region may include adjustment course (example
Such as to the left, to the right or turn around), generate early warning.Flight control strategy storage corresponding with area information, each limit fly
The corresponding flight control strategy in region can be identical, can not also be identical；The corresponding flight control strategy in each no-fly region can
It, can not also be identical with identical.
Further, above-mentioned drone status obtains module 110 and is also used to: when unmanned plane takes off, obtaining the unmanned plane
Current location；
Flight control modules 130 are also used to: when the current location of the unmanned plane is located at restricted area domain, according to the region pair
The control strategy answered controls unmanned plane during flying.
Specifically, drone status acquisition module 110 obtains the current location when unmanned plane takes off, and determines that this is current
Then area information where position determines the corresponding area type of area information.When the current location, region is normal
Flight range, flight control modules 130 then fly according to normal condition；When the current location, region is limited winged region, flies
Row control module 130 then according to the corresponding flight control strategy in the restricted area domain, controls flying speed, the flying height of unmanned plane
Etc..
Further, above-mentioned flight anticipation module 120 is also used to: when according to unmanned plane current location and flight attitude,
Judge that the unmanned plane still at current administrative region, according to the current line administrative division domain information, obtains and the current line administrative division domain pair
The no-fly data answered.
Specifically, if according to the current location of unmanned plane and flight attitude, determine the unmanned plane still in current administrative area
Domain flight, then according to current administrative information region, obtains and the current line administrative division domain when will not enter another administrative region
Corresponding no-fly data.It is understood that the corresponding no-fly data in current line administrative division domain can store in the no-fly of local
In database, also it can store in the no-fly database of server.If it is corresponding to obtain the current line administrative division domain from server
No-fly data, then can store it in local, for use next time.According to the corresponding no-fly number in current line administrative division domain
According to, current location and flight attitude, determine whether the unmanned plane will enter the restricted area domain or no-fly in current administrative region
Region.When determining that unmanned plane will enter restricted area domain, according to the corresponding flight control strategy in the restricted area domain, nobody is controlled
Machine flight；When determining that unmanned plane will enter no-fly region, according to the corresponding flight control strategy in the no-fly region, nothing is controlled
Man-machine flight.
Further, above-mentioned flight control modules 130 are also used to: when the current location of unmanned plane is located in restricted area domain
When, control unmanned plane controls unmanned plane during flying according to the corresponding flight control strategy in the restricted area domain；When the present bit of unmanned plane
When setting in no-fly region, control unmanned plane declines automatically, hovers or makes a return voyage.
If unmanned plane, may be because obtaining the current location reasons such as unsuccessfully, so that unmanned plane obtains again in flight course
When to current location, which comes into restricted area domain or no-fly region.At this point, when the current location of unmanned plane is located at limit
When flying in region, control unmanned plane controls unmanned plane during flying according to the corresponding flight control strategy in the restricted area domain；Work as unmanned plane
Current location when being located at no-fly region, control unmanned plane declines automatically, hovers or makes a return voyage.
Accordingly, the invention proposes a kind of control methods of unmanned plane.As shown in figure 3, the unmanned plane of the embodiment
Control method the following steps are included:
Step S110, current location and the posture of unmanned plane are obtained；
Specifically, in the present embodiment, there is GPS unit on unmanned plane 200, which is communicated with satellite system,
Drone status obtains module 110 and calls GPS unit, and is positioned using satellite system to the unmanned plane, obtains present bit
It sets.The unmanned plane is equipped with attitude measurement module, and certain attitude measurement module is not limited to be arranged on the unmanned plane, can be with
It is to be mounted on the unmanned plane, is such as set to and is mounted on the holder on the unmanned plane, is used for real-time detection flight attitude information, example
Such as flight course pitching roll angle, flying height, flying speed.Therefore, current flight posture in unmanned plane can be transferred
Information.Unmanned plane, will be obtained current by the wireless communication apparatus of unmanned plane after obtaining current location and flight attitude
The control device that position is sent to ground control system or is independently arranged.It is understood that can be in the flight of unmanned plane
Real-time in journey, timing periodically obtains, can also be when aircraft does not take off after the control device powers on, in real time, periodically
Or it periodically obtains.
Step S120, according to the current location of the unmanned plane and posture, judge whether the unmanned plane will enter limit and fly
Region or no-fly region；
In one embodiment, firstly, the flight, which prejudges module 120, to utilize the administrative division information prestored, in conjunction with this
The current location of unmanned plane and flight attitude, determine whether the unmanned plane will enter another administrative region.As shown in figure 4, working as
The current location of preceding unmanned plane is position A, and flight course is arrow S, according to position A and flight course it is found that the unmanned plane
Administrative region A will be entered.In the present embodiment, if the current location of unmanned plane reaches the scheduled time of administrative region B default
Time threshold in or unmanned plane current location and the distance between administrative region B in pre-determined distance threshold value, it is determined that
The unmanned plane will enter administrative region B.If current location and flight attitude in conjunction with unmanned plane are unsatisfactory for above-mentioned judgement item
Part, it is determined that the unmanned plane will not enter another administrative region, i.e., still fly in the administrative region where current location, then
Based on the area information in the B of administrative region, unmanned plane during flying is controlled.In addition, however, it is determined that at the region that the unmanned plane will enter
In the handover location of multiple administrative regions, it is determined that multiple administrative information region is the administrative region that unmanned plane will enter.
Then, no-fly data are obtained, and determine whether unmanned plane will enter restricted area domain or no-fly in conjunction with no-fly data
Region.Specifically: if it is determined that the unmanned plane still flies in the administrative region where current location, then obtain and current administrative area
The corresponding no-fly data in domain；If it is determined that the unmanned plane will enter another administrative region, then obtain corresponding with another administrative region
No-fly data.Determine whether unmanned plane will enter restricted area domain or no-fly region according to the no-fly data got.The taboo
Winged data are storable in local no-fly database.In another embodiment, which also be can store in server
In no-fly database, therefore, determining that unmanned plane will be into another administrative region or still in current administrative region flight, also
Determining another administrative information region or current administrative information region can be sent to server, so that server will be described another
One administrative information region or current administrative information region are matched with no-fly database preconfigured in server, are obtained
The corresponding no-fly data in another administrative region or current administrative region, to determine that unmanned plane whether will according to the no-fly data
Into restricted area domain or no-fly region.
In another embodiment, after the current location and the flight attitude that obtain unmanned plane, according to the present bit of the unmanned plane
It sets and posture, inquires the no-fly data prestored, determine whether unmanned plane will enter restricted area domain or no-fly region.The no-fly number
According to including the corresponding geographical location information in restricted area domain, the corresponding geographical location information in no-fly region and restricted area domain, no-fly
The corresponding flight control strategy in region.Before the no-fly data can be taken off by unmanned plane, according to the flight parameter of user configuration
Area information and area type are set, and is stored it in control device.
Step S130, corresponding according to the region when the region that unmanned plane will enter is limited winged region or no-fly region
Flight control strategy, control unmanned plane during flying.
The corresponding flight control strategy in restricted area domain may include the height and/or speed of limitation flight；No-fly region is corresponding
Flight control strategy may include adjustment course (such as to the left, to the right or turn around), generate early warning etc..Flight control
Strategy is corresponding with area information to be stored, and the corresponding flight control strategy in each restricted area domain can be identical, can not also be identical；Often
The corresponding flight control strategy in a no-fly region can be identical, can not also be identical.
Current location and flight attitude of the embodiment of the present invention by acquisition unmanned plane, and according to the current location and flight
When posture determines that the unmanned plane will enter restricted area domain or no-fly region, according to the corresponding flight control strategy in the region,
Control unmanned plane during flying.Through the embodiment of the present invention, so that unmanned plane can not only sentence no-fly region and restricted area domain in advance
It is disconnected, and no-fly region can be avoided automatically or flown according to the requirement in restricted area domain, improve flight efficiency and flight safety.
Further, as shown in fig. 7, before above-mentioned steps S110 further include:
Step S140, when unmanned plane takes off, the current location of the unmanned plane is obtained；
Step S150, when the current location of the unmanned plane is located at restricted area domain, according to the corresponding control strategy in the region,
Control unmanned plane during flying.
Specifically, the current location when unmanned plane takes off is obtained, and determines the area information where the current location, so
The corresponding area type of area information is determined afterwards.When the current location region is normal flight range, then according to normal shape
State flight；When the current location, region is limited winged region, then according to the corresponding flight control strategy in the restricted area domain, control
The flying speed of unmanned plane, flying height etc..
Further, the control method of above-mentioned unmanned plane further include:
When determining that the current location of unmanned plane is located in restricted area domain according to the no-fly data, current location and posture
When, control unmanned plane controls unmanned plane during flying according to the corresponding flight control strategy in the restricted area domain；When according to the no-fly number
According to, current location and posture, when determining that the current location of unmanned plane is located at no-fly region, control unmanned plane declines automatically, hovers
Or it makes a return voyage.
It specifically, may be because obtaining the current location reasons such as unsuccessfully, so that unmanned plane is again if unmanned plane is in flight course
Secondary when getting current location, which comes into restricted area domain or no-fly region.At this point, working as the current location of unmanned plane
When in restricted area domain, control unmanned plane controls unmanned plane during flying according to the corresponding flight control strategy in the restricted area domain；When
When the current location of unmanned plane is located at no-fly region, control unmanned plane declines automatically, hovers or makes a return voyage.
The above description is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all utilizations
Equivalent structure made by description of the invention and accompanying drawing content or process transformation, are applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of control method of unmanned plane, which is characterized in that the control method of the unmanned plane the following steps are included:
Unmanned plane is positioned by GPS unit, and using satellite system, obtains the current location of unmanned plane；
By attitude measurement module, the flight attitude information of real-time monitoring unmanned plane obtains the posture of unmanned plane；
According to the current location of the unmanned plane and posture, judge whether the unmanned plane will enter another administrative region；
When judging that the unmanned plane will enter another administrative region, and according to another administrative information region, obtains and be somebody's turn to do
The corresponding no-fly data in another administrative region；
According to the no-fly data, current location and posture, determine whether unmanned plane will enter restricted area domain or no-fly region；
When unmanned plane will enter restricted area domain or no-fly region, according to the corresponding flight control strategy in the region, nothing is controlled
Man-machine flight.
2. the control method of unmanned plane as described in claim 1, which is characterized in that the present bit according to the unmanned plane
It sets and posture, judges whether the unmanned plane will enter after another administrative region further include:
When judging that the unmanned plane still at current administrative region, according to the current line administrative division domain information, obtains and the current line political affairs
The corresponding no-fly data in region.
3. the control method of unmanned plane as claimed in claim 1 or 2, which is characterized in that the administrative region is corresponding no-fly
Data are stored in local preconfigured no-fly database, or are stored in the preconfigured no-fly database of server.
4. the control method of unmanned plane as described in claim 1, which is characterized in that the control method of the unmanned plane is also wrapped
It includes:
When according to the no-fly data, current location and posture, when determining that the current location of unmanned plane is located in restricted area domain, control
Unmanned plane processed controls unmanned plane during flying according to the corresponding flight control strategy in the restricted area domain；
When according to the no-fly data, current location and posture, when determining that the current location of unmanned plane is located at no-fly region, control
Unmanned plane declines automatically, hovers or makes a return voyage.
5. a kind of control device of unmanned plane, which is characterized in that the control device of the unmanned plane includes:
GPS unit, for obtaining the current location of unmanned plane；
Attitude measurement module, for obtaining the posture of unmanned plane；
Flight anticipation module, for according to the unmanned plane current location and posture, determine whether the unmanned plane will be into
Enter another administrative region；
When judging that the unmanned plane will enter another administrative region, and according to another administrative information region, obtains and be somebody's turn to do
The corresponding no-fly data in another administrative region；
According to the no-fly data, current location and posture, determine whether unmanned plane will enter restricted area domain or no-fly region；
Flight control modules, for flying according to the region is corresponding when unmanned plane will enter restricted area domain or no-fly region
Row control strategy, control unmanned plane operation.
6. the control device of unmanned plane as claimed in claim 5, which is characterized in that the flight anticipation module is also used to:
When judging that the unmanned plane still at current administrative region, according to the current line administrative division domain information, obtains and the current line political affairs
The corresponding no-fly data in region.
7. such as the control device of unmanned plane described in claim 5 or 6, which is characterized in that the administrative region is corresponding no-fly
Data are stored in local preconfigured no-fly database, or are stored in the preconfigured no-fly database of server.
8. the control device of unmanned plane as claimed in claim 5, which is characterized in that institute's flight control modules are also used to:
When according to the no-fly data, current location and posture, when determining that the current location of unmanned plane is located in restricted area domain, control
Unmanned plane processed controls unmanned plane during flying according to the corresponding flight control strategy in the restricted area domain；
When according to the no-fly data, current location and posture, when determining that the current location of unmanned plane is located at no-fly region, control
Unmanned plane declines automatically, hovers or makes a return voyage.
9. a kind of unmanned plane, the unmanned plane includes fuselage, the slurry component, the control device that are arranged on fuselage, which is characterized in that
The control device is the described in any item control devices of claim 5-8.
10. a kind of ground control system, the ground control system includes wireless communication apparatus, to carry out channel radio with unmanned plane
News；It is characterized in that, the ground control system includes such as described in any item control devices of claim 5-8, according to ground
The current location of the received unmanned plane of control system and posture control unmanned plane during flying.
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