WO2018187889A1 - Flight processing method and control apparatus - Google Patents
Flight processing method and control apparatus Download PDFInfo
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- WO2018187889A1 WO2018187889A1 PCT/CN2017/079839 CN2017079839W WO2018187889A1 WO 2018187889 A1 WO2018187889 A1 WO 2018187889A1 CN 2017079839 W CN2017079839 W CN 2017079839W WO 2018187889 A1 WO2018187889 A1 WO 2018187889A1
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- 238000003672 processing method Methods 0.000 title claims abstract description 20
- 238000012545 processing Methods 0.000 claims abstract description 104
- 238000000034 method Methods 0.000 claims abstract description 43
- 238000012790 confirmation Methods 0.000 claims description 21
- 238000004891 communication Methods 0.000 claims description 12
- 230000015654 memory Effects 0.000 description 13
- 238000010586 diagram Methods 0.000 description 11
- 238000004364 calculation method Methods 0.000 description 5
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 2
- 239000003086 colorant Substances 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft
- G08G5/30—Flight plan management
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft
- G08G5/50—Navigation or guidance aids
- G08G5/55—Navigation or guidance aids for a single aircraft
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft
- G08G5/50—Navigation or guidance aids
- G08G5/57—Navigation or guidance aids for unmanned aircraft
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft
- G08G5/50—Navigation or guidance aids
- G08G5/59—Navigation or guidance aids in accordance with predefined flight zones, e.g. to avoid prohibited zones
Definitions
- the present invention relates to the field of aircraft control technology, and in particular, to a flight processing method and a control device.
- the flight limited area is a management method for the airspace of the drone. By specifying a restricted flight zone, the drone is prevented from entering certain specified areas to ensure the safety of the airspace.
- Embodiments of the present invention provide a flight processing method and a control device, which can automatically perform flight processing on an aircraft based on a flight limited area.
- an embodiment of the present invention provides a flight processing method, including:
- Determining a flight limit state of the planned route where the flight limit state is determined according to a distance between the planned route and a target flight limited zone;
- Flight processing regarding the aircraft is performed in accordance with the flight limited state.
- an embodiment of the present invention provides a flight processing apparatus, including:
- An acquisition module configured to acquire a planned route between a flight position of the aircraft and a preset target position
- a determining module configured to determine a flight limit state of the planned route, where the flight limit state is determined according to a distance between the planned route and a target flight limited zone;
- a processing module configured to perform flight processing on the aircraft according to the flight limited state.
- an embodiment of the present invention further provides a control device, where the control device includes: a communication interface and a controller; the communication interface is used for data communication, and the controller is configured to acquire a flight position of the aircraft to a planned route between the preset target locations; determining a flight limit state of the planned route, the flight limit state being determined according to a distance between the planned route and the target flight limited zone; The state performs flight processing with respect to the aircraft.
- the control device includes: a communication interface and a controller; the communication interface is used for data communication, and the controller is configured to acquire a flight position of the aircraft to a planned route between the preset target locations; determining a flight limit state of the planned route, the flight limit state being determined according to a distance between the planned route and the target flight limited zone; The state performs flight processing with respect to the aircraft.
- an embodiment of the present invention provides a computer storage medium, where the computer storage medium stores a program instruction, where the program instruction is used to execute the flight processing method of the first aspect.
- the embodiment of the present invention can automatically perform the distance between the route and the adjacent flight-limited zone after planning the flight path of the aircraft, determine the flight-limit state of the route, and then differentiate the aircraft based on different flight-limited states.
- the processing meets the automation and intelligent requirements for controlling the aircraft based on the restricted flight zone.
- FIG. 1 is a schematic structural view of a flight processing system according to an embodiment of the present invention.
- FIG. 2 is a schematic diagram of a display interface according to an embodiment of the present invention.
- FIG. 3 is a schematic diagram of another display interface according to an embodiment of the present invention.
- FIG. 4 is a schematic flow chart of a flight processing method according to an embodiment of the present invention.
- FIG. 5 is a schematic flow chart of another flight processing method according to an embodiment of the present invention.
- FIG. 6 is a schematic flow chart of a method for determining a flight limit state according to an embodiment of the present invention
- FIG. 7 is a schematic flow chart of a method for determining a fly-limited state according to a distance according to an embodiment of the present invention.
- FIG. 8 is a schematic diagram of a relative position relationship between a planned route and a flight limited zone according to an embodiment of the present invention
- FIG. 9 is a schematic flow chart of a method for determining a fly-limited state according to a distance according to an embodiment of the present invention.
- FIG. 10 is a schematic diagram showing another relative position relationship between a planned route and a flight limited zone according to an embodiment of the present invention.
- FIG. 11 is a schematic flow chart of still another flight processing method according to an embodiment of the present invention.
- FIG. 12 is a schematic structural diagram of a flight processing apparatus according to an embodiment of the present invention.
- FIG. 13 is a schematic structural diagram of a control device according to an embodiment of the present invention.
- the aircraft has the ability to automatically plan a route, based on the location coordinates of the two locations, the aircraft can plan a planned route to facilitate automatic flight based on the planned route.
- the aircraft may configure two or more position coordinates for the aircraft before the automatic flight, and the route set by the controller set in the aircraft based on the respective position coordinates to obtain a planned route covering the coordinates of each position.
- the aircraft may also be one or more position coordinates issued by a ground control end that establishes a connection with the aircraft during flight, the aircraft combining the current flight position with the received one or more position coordinates, Get the planned route.
- the aircraft may also directly receive the planned route sent by the ground control terminal.
- the aircraft can also automatically return to the current flight position, and the return flight route is mainly planned according to the current flight position and the return point position, and the automatic return flight is performed.
- the return route can be planned based on the current flight position and the return point position to return to a safe position before the battery is insufficient to support the flight.
- the aircraft may also be configured to plan a return route based on the current flight position and the return point position when the connection signal between the detection and ground control terminals is weak or the connection signal is lost, in order to ensure that the aircraft is controlled.
- the returning point position may be a target position when the aircraft automatically records the takeoff, or may be a target position specified by the user.
- the ground control terminal may also control the return of the aircraft based on factors such as the amount of power of the aircraft, the connection signal to the aircraft, and the like as described above.
- the restricted flight zone mainly includes airports and is classified as requiring strict prohibition or restriction of aircraft.
- the extent of the restricted flight zone defined on the horizontal plane may be the same or different.
- the flight processing mainly includes a flight prompt processing on the planned route for the aircraft.
- the flight cue processing is mainly used to prompt the user that there is a risk of entering or approaching the flight limited zone when the aircraft is flying according to the planned route (for example, returning).
- a plurality of flight limited states regarding the planned route can be determined, and the flight limited state is mainly used to indicate whether the flight can be safely.
- three flight limited states may be included, specifically indicating a first state in which the planned route is close to the target flight zone; indicating that the planned route is very close to the target flight zone, or partially enters the target flight zone, or all The second state of entering the target flight zone; and the third state of safe flight.
- the distance between the planned route and the flight limited zone is greater than the second distance threshold and not greater than the first distance threshold; in the second state, the distance between the planned route and the flight limited zone is not greater than the second distance threshold In the third state, the distance between the planned route and the flight limited zone is greater than the first distance threshold. The first distance threshold is greater than the second distance threshold.
- the user may be presented with flight alert information that requires attention to the flight limited zone.
- the flight prompt information of the restricted flight may be sent to the user, indicating that in the second state, the flight according to the planned route is limited or there is a flight hazard in the restricted flight zone, and in the second state, the user needs to be prompted to modify the parameter.
- no prompts can be issued or a prompt to fly safely can be issued.
- the system for performing flight processing on the aircraft is as shown in FIG.
- the system includes the aircraft and the ground control end, as shown in Figure 1, the ground control end is located on the user side.
- the aircraft may be configured to perform route planning according to at least two locations of the configuration, obtain a planned route, and determine a flight limit state according to a distance between the planned route and the target flight limited zone after the planning is completed, and determine the flight limit. After the state, the aircraft is flight processed.
- the flight processing includes issuing a prompt message to a control user of the aircraft.
- the ground control end is configured to receive the prompt information sent by the aircraft when performing the extraordinary processing, and present the prompt information to the user.
- a flight limited area database can be set up in the aircraft.
- the limited flight area database stores the limited flight zone information, for example, a limited flight zone set including a plurality of flight limited zones, and the limited flight zone set includes at least the location information of each limited flight zone.
- the target flight limited area can be obtained by querying the limited flight area database.
- the aircraft can calculate a planned route according to the flight altitude, the return altitude set by the user, the current position, and the target position, and determine the flight limited state of the planned route in combination with the target flight limited zone. Sending corresponding prompt information to the ground control terminal based on the limited flight state.
- the aircraft may also send the flight limited state determined by the aircraft only to the ground control terminal, and the ground control terminal selects corresponding prompt information according to the flight limit state sent by the aircraft to prompt the user.
- the ground control terminal can be a smart terminal, for example, a communication function terminal such as a smart phone, a tablet computer, a smart wearable device, or a personal computer.
- the ground control terminal can display corresponding text prompt information and/or image prompt information to the user through setting the display interface.
- the ground control terminal can also issue voice prompt information, vibration prompt information, etc., in order to prompt the user to limit the flight status of the planned route of the aircraft.
- the aircraft may also be used only for flight under the control of the ground control end.
- the ground control terminal may obtain the planned route of the aircraft according to at least two location points, complete the route planning, and determine the planned route based on the planned route and the target flight limited zone determined from the built-in limited flight zone database.
- the limited flight state directly sends a prompt message to the user based on the limited flight state, and the prompt information also includes any one or more of text prompt information, image prompt information, voice prompt information, and vibration prompt information. If the planned route can prevent the aircraft from entering or approaching the restricted zone, the aircraft flight can be controlled directly based on the planned route.
- the at least two locations may be set by the user on the user interface, such as specified and set by the user on a map displayed on the display interface, and the initial position in the location set by the user may be determined as the flight position of the aircraft, and the termination position (or one of the intermediate locations) can be considered a target location.
- the at least two position points may also be the current flight position and a target position of the aircraft during flight, and the flight position may be sent by the aircraft to the ground control end, the target position may be the position when the aircraft takes off, or the user specifies A location, or an aircraft base station location that can be used to charge an aircraft or can provide an aircraft landing.
- the display interface is shown in Figure 2.
- a flight indication zone 201 is included in the display interface 200 of FIG. 2, in which the flight location 202 where the aircraft is located, the flight trajectory 203 where the aircraft has flown, the planned route 204 of the aircraft, and the target flight zone are displayed.
- 205 When the target flight limited area 205 includes a plurality of, the target target flight limited areas 205 are also displayed in the display interface. In the scenario of FIG.
- the flight limited state of the planned route 204 is the first state, that is, the relationship between the planned route 204 and the target flight limited zone 205 is a close relationship, between the planned route 204 and the target flight limited zone 205.
- the distance is greater than the second distance threshold and not greater than the first distance threshold.
- the first prompt information 206 may be issued, the first prompt information 206 including flight prompt information for prompting attention to the restricted flight area. Specifically, the first prompt information 206 may be sent when the user issues a flight instruction to control the aircraft to fly according to the planned route 204.
- the flight instruction may be, for example, a return flight instruction, and the return flight instruction is used to instruct the aircraft to return to the returning point position according to the planned route 204, and the returning instruction may be in the check that the user clicks on the display interface 200. It is detected when the button 207 is returned.
- a confirmation prompt 208 may be displayed on the display interface 200. Upon receiving the confirmation operation issued by the confirmation prompt 208, the aircraft is controlled to fly on the planned route 204 according to the return flight instruction to return to the location. Describe the waypoint location.
- the confirmation prompt 208 may actually be provided to the user in the form of a slide, or a virtual button as shown in FIG.
- the "cancel" button shown in FIG. 2 can also be clicked, and the aircraft is not controlled.
- the user in order to reset the return route, the user can re-designate the target location on the flight indication zone 201 in order to plan that the new planned route is significantly away from the target flight zone 205.
- the first prompt information 206 is started to be displayed immediately (or within a preset time interval). The first prompt information 206 may be cancelled after the preset duration is displayed.
- the display interface 200 is also shown in FIG. 3.
- the planned route 301 in FIG. 3 has been partially located in the target flight limited area 302, and the planned route 301 and the target flight limited area 302 are planned.
- the distance between the two is not greater than the second distance threshold, such that the flight limited state of the planned route 301 is the second state.
- the second prompt information 303 is displayed in the display interface 200 of FIG. 3, and in the embodiment of the present invention, the user is reminded by text.
- the second prompt information 303 includes flight prompt information for prompting the restricted flight, and the main user reminds the user that if the passenger returns to the restricted flight area according to the planned route at this time, the flight may be blocked, or the flight danger may be warned.
- the second prompt information 303 may also be displayed when the flight instruction to the aircraft is checked, for example, when the return button 207 of the display interface 200 is clicked to issue a return flight command. After determining that the planned route 301 is in the second state, the second prompt information 303 is started to be displayed immediately (or within a preset time interval). The second prompt information 303 may be cancelled after the preset duration is displayed.
- the aircraft or ground control terminal includes a flight limited area database, a query module, and a prompt module.
- the limited flight area information is stored in the flight limited area database.
- Other modules can query the restricted area information.
- the query module calculates a return route based on the current flight altitude, the user-set return altitude, the current position, and the return point position, and determines the flight limit of the aircraft based on the return route and the inquired flight zone information. status. Push the flight limit status to the prompt module.
- the prompt module prompts the user for the current return status.
- the flight limited state can be divided into the following four types:
- 0, 1 represents the current position return safety, can correspond to the above third state; 2 indicates that the current position is dangerous to return, please note that the user can correspond to the first state mentioned above; 3 means that the current position cannot be returned, please Note that if you want to return to return the aircraft to the returnable area, it may correspond to the second state described above.
- FIG. 4 it is a schematic flowchart of a flight processing method according to an embodiment of the present invention.
- the flight processing method according to an embodiment of the present invention may be performed at an aircraft end, specifically by a controller provided in an aircraft.
- the method can also be performed by the ground control terminal.
- the method may specifically include the following steps.
- the flight position of the aircraft may be the current position during flight of the aircraft, and the corresponding target position may be a position of a certain destination that the aircraft needs to fly, or a return point position, and the return point position may be Fly to the position when taking off.
- the flight position of the aircraft may also be a takeoff position when the aircraft takes off, and the target position may be a location of a destination to which the aircraft needs to fly.
- the flight location of the aircraft may also be a location specified by the user on the map, which is another location specified by the user on the map.
- the planned route is a straight line segment or an approximate straight line segment from the flight position to the target position on the map, and may also be a combination of a curved segment and a straight segment.
- S402 Determine a flight limit state of the planned route, where the flight limit state is determined according to a distance between the planned route and a target flight limited zone.
- the target flight limited zone is a limited flight zone in the set of preset flight limited zones that is less than a specific distance from the planned route.
- the distance between the restricted flight zone and the planned route in the set of restricted flight zones may be the shortest distance between the restricted flight zone and the planned route.
- the planned route includes multiple waypoints, and can calculate the distance from the location point on the boundary of each limited flight zone in the restricted flight zone to each waypoint on the planned route, and determine a shortest distance as the corresponding flight limited zone to the planned route. the distance.
- the limited flight area where the distance from each flight limited area to the planned route is less than a certain distance is taken as the target flight limited area. In one embodiment, it may be based on an administrative division (for example, an administrative district in a city)
- the selection of the fly zone collection determines a partial flight zone of the administrative zone that is the same as or similar to the administrative zone in which the aircraft is currently located, and then performs calculation based on the partial flight zone.
- the fly-limited state includes at least a first state and a second state, each state corresponding to a different processing rule for performing flight processing with respect to the aircraft.
- the first state corresponds to the first prompt information
- the second state corresponds to the second prompt information.
- other flight limited states may also be included, for example, the third state.
- the planned route of the aircraft is not close to any flight limited zone, and the flight can be safely carried out, without prompting, or prompting the user to follow the planned route safety. flight.
- the flight processing of the aircraft mainly includes issuing different prompts to the user based on different flight limited states.
- the specific prompting manner includes any one or more of a text prompt information, an image prompt information, a voice prompt information, and a vibration prompt information.
- a display interface as shown in Figures 2 and 3 can be set to prompt the user. In the display interface, a relative position between the planned route and the target flight limited zone may also be displayed, and a relative position of the flight location and the target flight limited zone may also be displayed on the display interface.
- the embodiment of the present invention can automatically perform the distance between the route and the adjacent flight-limited zone after planning the flight path of the aircraft, determine the flight-limit state of the route, and then differentiate the aircraft based on different flight-limited states.
- the processing meets the automation and intelligent requirements for controlling the aircraft based on the restricted flight zone.
- FIG. 5 it is a schematic flowchart of another flight processing method according to an embodiment of the present invention.
- the flight processing method according to the embodiment of the present invention may be performed at an aircraft end, specifically by a controller provided in an aircraft.
- the method can also be performed by the ground control terminal.
- the method may specifically include the following steps.
- S501 Obtain a planned route between the flight position of the aircraft and the preset target position.
- the planned route may be started in real time or at a certain time interval during flight of the aircraft. After the planned route is planned, the following step of confirming the flight restriction state of S502 is performed.
- S502 Determine a flight limit state of the planned route, where the flight limit state is according to the The distance between the planned route and the target flight zone is determined.
- the first prompt information is sent on the display interface according to the processing rule corresponding to the first state; the first prompt information includes Flight prompt information for the area.
- the first state mainly refers to the aircraft approaching the target flight limited area, and the first prompt information is mainly used to remind the user to pay attention to the flight.
- the first prompt information is mainly used to remind the user to pay attention to the flight.
- the reminding manner of the first prompt information refer to the description of the content corresponding to FIG. 2 in the foregoing embodiment.
- the first prompt information is sent on the display interface after receiving a flight instruction to the aircraft; the target location is a returning point location, and the flight instruction includes a returning instruction, the returning instruction is used to instruct the aircraft to return to the returning point position according to the planned route. That is to say, after the flight limit state is determined, the first prompt information may not be displayed, but the first prompt information is displayed when the user wants the aircraft to fly according to the planned route, such as returning according to the return route, so as to notify the user of the current
- the flight limit status of the aircraft informs the user that the current flight is close to the flight limited area and requires careful flight.
- S504 Display a confirmation prompt on the display interface, and when receiving the confirmation operation issued by the confirmation prompt, control the aircraft to fly on the planned route according to the return flight instruction to return to the returning point position.
- the S504 is an optional step.
- the S504 is after receiving a flight instruction for controlling the flight of the aircraft according to the planned route, for example, after receiving the returning instruction, on the display interface.
- a confirmation prompt is displayed in order to confirm to the user whether to respond to the flight instruction, and to control the aircraft to fly according to the planned route.
- the confirmation prompt reference may be made to the description of the embodiment corresponding to FIG. 2.
- the flight limit state is the second state, send a second prompt information on the display interface according to the processing rule corresponding to the second state, where the second prompt information includes a flight for prompting the restricted flight. Prompt message.
- the second state mainly indicates that the planned route of the aircraft has already flown close to or partially or completely enters the restricted flight zone, and it is necessary to send the user a flight according to the planned route, and the flight is in danger.
- the reminder form of the second prompt information in the second state may refer to the description corresponding to FIG. 3. In the second state, it can also be controlled The aircraft is hovered in order to wait for the receiving ground control terminal to issue a control command away from the flight limited zone.
- the S506 Switch the control icon on the display interface for controlling the flight of the aircraft from the first display mode to the second display mode.
- the control icon refers to an icon that controls the aircraft to fly according to a planned route, such as the return button shown in FIG. 2.
- the S506 is an optional step, and the purpose of the S506 is to prohibit the user from controlling the aircraft to fly according to the planned route if the flying aircraft enters the restricted flight area according to the planned route.
- the first display mode and the second display mode may be different display colors, for example, the control icon displays white in the first display mode, and displays gray in the second display mode, and the gray control icon does not receive and Respond to the user's click action.
- performing the flight processing with respect to the aircraft according to the flight limited state may further include issuing a prompt to fly away from the target flight limited area when the fly-limited state is in the second state.
- the prompt to fly away from the target flight zone may be a text or a language prompt, or may be prompted by an icon, which may be an arrow icon indicating the direction of movement, for indicating a Specific away from the direction, the user is prompted to control the aircraft to fly in this direction.
- the display interface of the embodiment of the invention is displayed to the user by the ground control end.
- the aircraft sends a corresponding control message to the ground control terminal, and after receiving the aircraft control message, the ground control terminal sends a corresponding message on the display interface according to the instruction of the control message. prompt.
- the control message has the purpose of controlling the ground control end to display the first prompt information on the display interface, display the second prompt information, display the confirmation prompt, and control the switching of the control icon from the first display mode to the second display mode.
- the ground control terminal directly issues a corresponding prompt on the display interface.
- the form of the display interface is as shown in FIG. 2.
- the embodiment of the present invention can automatically perform the distance between the route and the adjacent flight-limited zone after planning the flight path of the aircraft, determine the flight-limit state of the route, and then differentiate the aircraft based on different flight-limited states.
- the processing meets the automation and intelligent requirements for controlling the aircraft based on the restricted flight zone.
- a distance threshold for performing flight limited state confirmation is configured, and the distance threshold may include multiple, for example, including a first distance threshold and a second distance threshold. Determining the aircraft flight limited state in the embodiment of the present invention includes the following steps.
- S601 Acquire a target flight limited zone, where the target flight limited zone is a limited flight zone in the preset limited flight zone set that is less than a specific distance from the planned route.
- S602 Compare, according to the distance between the planned route and the target flight zone, the distance threshold, and determine a flight limit state of the planned route according to the comparison result.
- the distance between the planned route and the target flight limited zone may be calculated according to the position coordinates of the plurality of waypoints on the planned route and the coordinates of the plurality of location points on the boundary line of the target flight zone adjacent to the planned route.
- the distance between the planned route and the target flight zone is the calculated shortest distance, and the shortest distance is compared with the distance threshold to determine the flight limit state of the planned route.
- the S602 may specifically refer to: comparing a distance between the planned route and the target flight limited area in a horizontal direction with the distance threshold, and determining a flight limit state of the planned route according to the comparison result. . That is to say, at the same height, the distance between the planned route and the flight limited zone at the height is obtained, and the obtained distance is a horizontal distance, and the flight limit state is determined based on the distance and the distance threshold.
- the S602 includes: comparing the distance between the planned route and the target flight limited zone in the vertical direction with the distance threshold, and determining the flight limit state of the planned route according to the comparison result. .
- the S602 includes: comparing a distance between the planned route and a target flight zone in a vertical direction with the distance threshold, and horizontally speaking the planned route and the target flight limited zone. The distance is compared with the distance threshold, and the flight limit state of the planned route is determined according to the comparison result.
- FIG. 7 is a schematic flowchart of a method for determining a fly-limited state according to a distance according to an embodiment of the present invention.
- the method in the embodiment of the present invention corresponds to S602 in the embodiment corresponding to FIG. 6. Specifically, the following steps may be included.
- S701 Determine a flight zone according to the planned route and the distance threshold.
- the determined flight zone includes at least a first zone and a second zone; the first zone is obtained according to the planned route and a preset first distance threshold, and the planned route is included in the first zone
- the second area is obtained according to the planned route and a preset second distance threshold, the planned route is included in the second zone; and the first distance threshold is greater than the second distance threshold.
- S702 Determine whether the flight zone and the target flight limited zone intersect.
- the preset distance threshold includes a first distance threshold d1 and a second distance threshold d2, and the planned route 801, the first zone 802, the second zone 803, and the target flight limited zone 804 are shown in FIG. a relationship between the two.
- the first zone 802 and the second zone 803 may be a regular geometric shape, here a rectangle, and the boundary line 805 of the flight limited zone adjacent to the planned route 801 is a straight line segment.
- the coordinates of the boundary line 805 of the target flight zone can be determined in the world coordinate system by determining whether a straight line intersects a rectangle to determine whether the target flight zone 804 is associated with the first zone 802. intersect. Similarly, based on the boundary line 805 of the target flight limited area 804 and the rectangle in which the second area 803 is located, it can be determined whether the target flight limited area 804 intersects with the second area 803.
- the target flight limited area only intersects the first area and does not intersect with the second area, it may be determined that the distance between the planned route and the flight limited zone is greater than the second distance threshold and not greater than the first distance threshold. In the first state. If the intersection with the second zone is intersected, the distance between the planned route and the target flight zone may be considered to be less than the second distance threshold, and the planned route is in the second state. Determining whether the target flight limited zone intersects with the first zone or the second zone may determine whether the boundary line 805 of the target flight zone in FIG. 8 intersects the first zone or the second zone, and may specifically determine in the world coordinate system.
- the flight limited area may be an elliptical plane, such as the limited flight area shown in FIG. 2, and then a method of calculating a curve intersecting a rectangle in a world coordinate system is required. To determine whether the target flight zone intersects the first zone or the second zone.
- the horizontal distance between the planned route and the target flight limited zone can be separately calculated, and the vertical distance between the planned route and the target flight limited zone can be calculated.
- the planned route is adjusted, and different flight regions are generated based on the distance threshold.
- the positional relationship between the planned route and the flight-limited zone can be quickly determined, and the positional relationship is determined. Plan the status of the route. It is not necessary to calculate the positional relationship between each waypoint and the flight-limited zone on the planned route, which saves calculation cost and improves efficiency.
- FIG. 9 is a schematic flowchart of a method for determining a fly-limited state according to a distance according to an embodiment of the present invention.
- the method in the embodiment of the present invention corresponds to S602 in the embodiment corresponding to FIG. 6. Specifically, the following steps may be included.
- S901 Determine a target boundary line from the target flight limited area; the target boundary line refers to a boundary line in a target flight limited area near a side of the planned route, and may be based on a position coordinate of the waypoint on the planned route and a limited flight The regional coordinates of the zone are used to determine the boundary line near the side of the planned route, and the target boundary line is obtained.
- the resulting target boundary line is a line segment in the world coordinate system.
- S902 Obtain an indication line according to the target boundary line and the distance threshold.
- the indicating line includes: obtaining a first indicator line according to the boundary line and a preset third distance threshold, and the boundary line and the preset fourth distance threshold obtain a second indicator line.
- the third distance threshold may correspond to the first distance threshold described above, which is the same as the first distance threshold.
- the fourth distance threshold may correspond to the second distance threshold described above, and is the same as the second distance threshold.
- S903 Determine whether the planned route intersects the indication line. In the world coordinate system, it is calculated whether the planned route intersects the first indicator line and the second indicator line.
- S904 Determine a flight limit state of the planned route according to the determination result. When it is determined that the planned route intersects only the first indicator line, determining that the planned route is in a first state; when determining that the planned route intersects with the second indication line, determining that the planned route is in a second state .
- the relationship between the planned route 1001, the first indication line 1002, the second indication line 1003, and the target boundary line 1004 of the target flight limited area is shown.
- the distance between the first indicator line 1002 and the target boundary line 1004 is d3, and the distance between the second indicator line 1003 and the target boundary line 1004 is d4.
- the distance between the planned route and the target flight limited zone is greater than a fourth distance threshold and not greater than a third distance threshold. In the first state. If the planned route intersects with the second indicator line, the distance between the planned route and the target flight limited zone may be considered not to be greater than a fourth threshold, and the planned route is in the second state.
- the horizontal distance between the planned route and the target flight limited zone can be separately calculated, and the vertical distance between the planned route and the target flight limited zone can be calculated.
- the boundary line of the flight limited area is adjusted, and different indication lines are generated based on the distance threshold.
- the embodiment of the present invention can automatically perform the distance between the route and the adjacent flight-limited zone after planning the flight path of the aircraft, determine the flight-limit state of the route, and then differentiate the aircraft based on different flight-limited states.
- the processing meets the automation and intelligent requirements for controlling the aircraft based on the restricted flight zone.
- FIG. 11 it is a schematic flowchart of still another flight processing method according to an embodiment of the present invention.
- the flight processing method of the embodiment of the present invention may be performed at an aircraft end, specifically by a controller provided in an aircraft.
- the method can also be performed by the ground control terminal.
- the method may specifically include the following steps.
- S1101 According to the flight position, and according to the current flight speed of the aircraft, performing flight prediction to obtain a predicted time value, where the predicted time value obtained by performing the flight prediction refers to: the predicted entering the target flight limited area. time interval. The smaller the predicted time value, indicating that the aircraft will soon enter the flight limited zone, and the predicted time value is large, it can be considered that the aircraft has a longer period of time to enter the flight limited zone.
- S1102 Perform flight processing on the aircraft according to the predicted time value.
- the flight cue processing with respect to the aircraft may be performed based solely on the predicted time value obtained in the S1101.
- the flight prompting process with respect to the aircraft may also be performed based on the predicted time value and in conjunction with the flight limited state in which the aircraft is obtained.
- the resulting predicted time value can be divided into at least two levels, each level corresponding to a different processing rule for performing flight processing with respect to the aircraft. For example, when the predicted time value is not greater than the first level at which the first time value is located, the first processing rule is selected to perform flight processing with respect to the aircraft; and the predicted time value is not greater than the second level at which the second time value is located The second processing rule is selected to perform flight processing with respect to the aircraft.
- the prompt information based on the processing rule corresponding to the predicted time value may be simultaneously displayed while the prompting information of the planned route determined in the foregoing embodiment is sent on the display interface.
- the two prompt information can be displayed based on two bay window windows, respectively.
- flight processing regarding the aircraft may also be determined based on the flight limited state and the predicted time value.
- a corresponding flight processing prompt for the aircraft may be issued, for example, "a warning that the speed is too fast, please be careful to fly” may be issued.
- the corresponding flight processing prompt for the aircraft may be issued, for example, it may be that “the flight will be limited after N seconds”. prompt. It is also possible to further control the aircraft to hover to avoid entering the target flight zone.
- flight processing regarding the aircraft can be performed by presetting different processing rules as needed.
- Embodiments of the present invention can automatically perform after planning a flight path of an aircraft.
- the distance between the route and the adjacent flight-limited zone determines the flight-limited state of the route, and then the aircraft is treated differently based on different flight-limited states, which satisfies the automation and intelligence of controlling the aircraft based on the flight-limited zone.
- Demand for a flight path of an aircraft.
- Embodiments of the present invention also provide a computer storage medium in which program instructions are stored.
- program instructions When the program instruction is executed, the corresponding method in each of the above embodiments, and the corresponding display interface and the like can be implemented.
- FIG. 12 it is a schematic structural diagram of a flight processing apparatus according to an embodiment of the present invention.
- the flight processing apparatus of the embodiment of the present invention may be operated in an aircraft or may be operated on a ground control end.
- the flight processing device may specifically run the following modules:
- the acquiring module 1201 is configured to acquire a planned route between the flight position of the aircraft and the preset target position, and the determining module 1202 is configured to determine a flight limit state of the planned route, where the limited flight state is according to the planned route The distance between the target flight zone and the target flight zone is determined; the processing module 1203 is configured to perform flight processing on the aircraft according to the flight limit state.
- the fly-limited state includes at least a first state and a second state, each state corresponding to a different processing rule for performing flight processing with respect to the aircraft.
- the processing module 1203 is specifically configured to: when the fly-limit state is the first state, according to a processing rule corresponding to the first state, in a display interface
- the first prompt information is sent out; the first prompt information includes flight prompt information for prompting attention to the limited flight area.
- the first prompt information is sent on the display interface after receiving a flight instruction to the aircraft; the target position is a returning point position, and the flight instruction includes a returning instruction, The return flight instruction is used to instruct the aircraft to return to the return point position according to the planned route.
- the processing module 1203 is further configured to display a confirmation prompt on the display interface, and when receiving the confirmation operation issued by the confirmation prompt, control the aircraft to fly on the planned route according to the return flight instruction. To return to the return point location.
- the processing module 1203 is specifically configured to: if the limited fly state is the second state, according to the second state Processing rules, issuing second prompt information on the display interface, the second prompt information including flight prompt information for prompting to limit flight.
- processing module 1203 is further configured to switch a control icon on the display interface for controlling the flight of the aircraft from the first display mode to the second display mode.
- At least one distance threshold is preset, and the determining module 1202 is specifically configured to acquire a target flight limited area, where the target limited flight area is a preset distance between the limited flight area and the planned route is less than a specific distance
- the flight limited area is compared with the distance threshold according to the distance between the planned route and the target flight zone, and the flight limit state of the planned route is determined according to the comparison result.
- the determining module 1202 is specifically configured to determine, according to whether the distance between the planned route and the target flight limited zone in the horizontal direction is less than the distance threshold, determine the plan.
- the flight limit status of the route is specifically configured to determine, according to whether the distance between the planned route and the target flight limited zone in the horizontal direction is less than the distance threshold.
- the determining module 1202 is specifically configured to determine a flight area according to the planned route and the distance threshold; and determine the flight zone and the target flight limited zone. Whether to intersect; determining the flight limit state of the planned route according to the judgment result.
- the determined flight zone includes at least a first zone and a second zone; when it is determined that the target flight zone only intersects the first zone, the determining module 1202 determines that the planned route is a state; when determining the target flight limited zone and the second zone, the determining module 1202 determines that the planned route is in a second state.
- the first area is obtained according to the planned route and a preset first distance threshold, where the planned route is included in the first zone; and the second zone is according to the planned route Obtained from the preset second distance threshold, the planned route is included in the second zone; and the first distance threshold is greater than the second distance threshold.
- the determining module 1202 is specifically configured to determine a target boundary line from the target flight limited area, according to the target boundary line and the distance threshold. And indicating a line, and determining whether the planned route intersects the indicator line; determining a flight limit state of the planned route according to the determination result.
- the indicator line includes: according to the boundary line and a preset third distance threshold The value obtains a first indicator line, and the boundary line and the preset fourth distance threshold obtain a second indicator line; when it is determined that the planned route only intersects the first indicator line, the determining module 1202 determines the planned route The first state; when it is determined that the planned route intersects the second indicator line, the determining module 1202 determines that the planned route is in the second state.
- the flight processing device may further execute a module: a display module 1204, configured to display a relative position between the planned route and the target flight limited zone in a preset display interface.
- a display module 1204 configured to display a relative position between the planned route and the target flight limited zone in a preset display interface.
- the display module 1204 is further configured to display a relative position of the flight position and the target flight limited area on the display interface.
- the processing module 1203 is further configured to: according to the flight position, perform a flight prediction to obtain a predicted time value according to the current flight speed of the aircraft, where the predicted time value obtained by performing the flight prediction refers to: prediction Obtaining a time interval of entering the target flight limited zone; and performing flight processing on the aircraft according to the predicted time value.
- the processing module 1203 is specifically configured to: if the predicted time value is not greater than the first time value, select a first processing rule to perform flight processing on the aircraft; if the predicted time value is not greater than the second a time value, selecting a second processing rule to perform flight processing with respect to the aircraft; the first time value and the second time value are different, and the first processing rule is different from the second processing rule .
- the processing module 1203 is further configured to issue a prompt to fly away from the target flight limited zone.
- the embodiment of the present invention can automatically perform the distance between the route and the adjacent flight-limited zone after planning the flight path of the aircraft, determine the flight-limit state of the route, and then differentiate the aircraft based on different flight-limited states.
- the processing meets the automation and intelligent requirements for controlling the aircraft based on the restricted flight zone.
- FIG. 13 it is a schematic structural diagram of a control device according to an embodiment of the present invention.
- the control device includes: a communication interface 1301 , a processor 1302 , and a memory 1303 .
- the control device may be an aircraft, including a power component, an electronic tone, in addition to the communication interface 1301 and the processor 1302, the memory 1303 described above. Speed, power supply and other structures.
- control device may also be a smart terminal, such as a smart phone, a tablet computer, etc., and may include a user interface, a display, a power source, etc., in addition to the communication interface 1301 and the processor 1302 and the memory 1303 described above. structure.
- the memory 1303 may include a volatile memory such as a random-access memory (RAM); the memory 1303 may also include a non-volatile memory such as a flash memory. (flash memory), hard disk drive (HDD) or solid-state drive (SSD); the memory 1303 may also include a combination of the above types of memories.
- RAM random-access memory
- non-volatile memory such as a flash memory.
- flash memory flash memory
- HDD hard disk drive
- SSD solid-state drive
- the memory 1303 may also include a combination of the above types of memories.
- the processor 1302 may be a central processing unit (CPU).
- the processor 1302 may further include a hardware chip.
- the hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof.
- the PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a general array logic (GAL), or any combination thereof.
- the memory 1303 is also used to store program instructions.
- the processor 1302 can invoke the program instructions to implement the related methods in the foregoing various embodiments, including the mentioned flight processing method, the fly-limited state determining method, and the distance calculating method. .
- the communication interface 1301 is configured to perform data communication, and the processor 1302 is configured to acquire a planned route between a flight position of the aircraft and a preset target location; determine a flight limit state of the planned route, and the limited flight The state is determined according to a distance between the planned route and the target flight limited zone; flight processing regarding the aircraft is performed according to the flight limited state.
- the flight limited state includes at least a first state and a second state, each state corresponding to a different processing rule for performing flight processing with respect to the aircraft.
- the processor 1302 is specifically configured to be used in the fly-limited state when performing flight processing on the aircraft according to the flight-limited state.
- the first prompt information is sent on the display interface according to the processing rule corresponding to the first state; the first prompt information includes flight prompt information for prompting attention to the restricted flight zone.
- the first prompt information is sent on the display interface after receiving a flight instruction to the aircraft; the target location is a returning point location, and the flight instruction includes a returning instruction, the returning instruction is used to instruct the aircraft to return to the returning point position according to the planned route.
- the processor 1302 is further configured to display a confirmation prompt on the display interface when the flight processing about the aircraft is performed according to the flight limit state, and receive the confirmation
- the aircraft is controlled to fly on the planned route according to the return flight instruction to return to the returning point position.
- the processor 1302 is configured to, when the flight control process is performed on the aircraft according to the flight limit state, if the flight limit state is the second state, according to The processing rule corresponding to the second state sends a second prompt information on the display interface, where the second prompt information includes flight prompt information for prompting the restricted flight.
- the processor 1302 is further configured to control the flight of the aircraft on the display interface when performing flight processing on the aircraft according to the flight limited state.
- the icon switches from the first display mode to the second display mode.
- At least one distance threshold is preset, and the processor 1302 is configured to acquire a target flight limited area when the fly-limited state of the planned route is determined, where the target is limited to fly.
- the zone is a limited flight zone in the set of the limited flight zone that is less than the specific distance from the planned route; the distance between the planned route and the target flight zone is compared with the distance threshold, and the comparison is determined according to the comparison result. Plan the flight limit status of the route.
- the processor 1302 is configured to compare the distance between the planned route and the target flight zone according to the distance threshold, and determine a flight limit state of the planned route according to the comparison result. When used to fly according to the planned route and target Whether the distance of the zone in the horizontal direction is less than the distance threshold determines the flight limit state of the planned route.
- the processor 1302 is configured to compare the distance between the planned route and the target flight zone according to the distance threshold, and determine a flight limit state of the planned route according to the comparison result. And determining, according to the planned route and the distance threshold, a flight zone; determining whether the flight zone and the target flight zone intersect; and determining a flight limit state of the planned route according to the determination result.
- the determined flight zone includes at least a first zone and a second zone; when it is determined that the target flight zone only intersects the first zone, determining the planned route is a state; when determining the target flight limited zone and the second zone, determining that the planned route is in a second state.
- the first area is obtained according to the planned route and a preset first distance threshold, the planned route is included in the first zone; and the second zone is Obtaining, according to the planned route and the preset second distance threshold, the planned route is included in the second zone; and the first distance threshold is greater than the second distance threshold.
- the processor 1302 is configured to compare the distance between the planned route and the target flight zone according to the distance threshold, and determine a flight limit state of the planned route according to the comparison result. Specifically, determining a target boundary line from the target flight limited area; obtaining an indication line according to the target boundary line and the distance threshold; determining whether the planned route intersects with the indication line; Determining the flight limit status of the planned route.
- the indicator line includes: obtaining a first indicator line according to the boundary line and a preset third distance threshold, the boundary line and a preset fourth distance threshold obtaining a second indication a line; when it is determined that the planned route intersects only the first indicator line, determining that the planned route is in a first state; and determining that the planned route intersects with the second indication line, determining that the planned route is in a second state .
- the processor 1302 is further configured to display a relative position between the planned route and the target flight limited zone in a preset display interface.
- the processor 1302 is further configured to display a display interface.
- the relative position of the flight position to the target flight limited area is displayed on the top.
- the processor 1302 is further configured to: according to the flight position, perform flight prediction to obtain a predicted time value according to the current flight speed of the aircraft, and perform prediction of the flight prediction.
- the time value refers to a predicted time interval of entering the target flight limited zone; and performing flight processing on the aircraft according to the predicted time value.
- the processor 1302 is further configured to: if the predicted time value is not greater than the first time value, when performing flight processing on the aircraft according to the predicted time value, Selecting a first processing rule to perform flight processing with respect to the aircraft; if the predicted time value is not greater than a second time value, selecting a second processing rule to perform flight processing with respect to the aircraft; the first time value and The second time value is different, and the first processing rule is different from the second processing rule.
- the processor 1302 is configured to perform a flight process with respect to the aircraft according to the flight limit state, and is further configured to issue a prompt to fly away from the target flight zone. .
- the embodiment of the present invention can automatically perform the distance between the route and the adjacent flight-limited zone after planning the flight path of the aircraft, determine the flight-limit state of the route, and then differentiate the aircraft based on different flight-limited states.
- the processing meets the automation and intelligent requirements for controlling the aircraft based on the restricted flight zone.
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Abstract
Description
本专利文件披露的内容包含受版权保护的材料。该版权为版权所有人所有。版权所有人不反对任何人复制专利与商标局的官方记录和档案中所存在的该专利文件或该专利披露。The disclosure of this patent document contains material that is subject to copyright protection. This copyright is the property of the copyright holder. The copyright owner has no objection to the reproduction of the patent document or the patent disclosure in the official records and files of the Patent and Trademark Office.
本发明涉及飞行器控制技术领域,尤其涉及一种飞行处理方法及控制设备。The present invention relates to the field of aircraft control technology, and in particular, to a flight processing method and a control device.
当今,针对各种飞行器,例如UAV(Unmanned Aerial Vehicle,无人机),安全飞行是一个非常重要的问题。限飞区是对无人机飞行空域的一种管理手段。通过规定限飞区,阻止无人机进入某些规定区域,以保证该空域的安全。Today, for a variety of aircraft, such as UAV (Unmanned Aerial Vehicle), safe flight is a very important issue. The flight limited area is a management method for the airspace of the drone. By specifying a restricted flight zone, the drone is prevented from entering certain specified areas to ensure the safety of the airspace.
在目前飞行器的飞行控制领域中,如何基于限飞区对飞行器进行自动处理成为研究的热点。In the field of flight control of current aircraft, how to automatically process the aircraft based on the restricted flight area has become a research hotspot.
发明内容Summary of the invention
本发明实施例提供了一种飞行处理方法及控制设备,可自动地基于限飞区执行关于飞行器的飞行处理。Embodiments of the present invention provide a flight processing method and a control device, which can automatically perform flight processing on an aircraft based on a flight limited area.
第一方面,本发明实施例提供了一种飞行处理方法,包括:In a first aspect, an embodiment of the present invention provides a flight processing method, including:
获取飞行器的飞行位置到预设的目标位置之间的规划航线;Obtaining a planned route between the flight position of the aircraft and the preset target position;
确定所述规划航线的限飞状态,所述限飞状态是根据所述规划航线与目标限飞区之间的距离来确定的;Determining a flight limit state of the planned route, where the flight limit state is determined according to a distance between the planned route and a target flight limited zone;
根据所述限飞状态执行关于所述飞行器的飞行处理。Flight processing regarding the aircraft is performed in accordance with the flight limited state.
第二方面,本发明实施例提供了一种飞行处理装置,包括:In a second aspect, an embodiment of the present invention provides a flight processing apparatus, including:
获取模块,用于获取飞行器的飞行位置到预设的目标位置之间的规划航线; An acquisition module, configured to acquire a planned route between a flight position of the aircraft and a preset target position;
确定模块,用于确定所述规划航线的限飞状态,所述限飞状态是根据所述规划航线与目标限飞区之间的距离来确定的;a determining module, configured to determine a flight limit state of the planned route, where the flight limit state is determined according to a distance between the planned route and a target flight limited zone;
处理模块,用于根据所述限飞状态执行关于所述飞行器的飞行处理。And a processing module, configured to perform flight processing on the aircraft according to the flight limited state.
第三方面,本发明实施例还提供了一种控制设备,该控制设备包括:通信接口和控制器;所述通信接口用于进行数据通信,所述控制器,用于获取飞行器的飞行位置到预设的目标位置之间的规划航线;确定所述规划航线的限飞状态,所述限飞状态是根据所述规划航线与目标限飞区之间的距离来确定的;根据所述限飞状态执行关于所述飞行器的飞行处理。In a third aspect, an embodiment of the present invention further provides a control device, where the control device includes: a communication interface and a controller; the communication interface is used for data communication, and the controller is configured to acquire a flight position of the aircraft to a planned route between the preset target locations; determining a flight limit state of the planned route, the flight limit state being determined according to a distance between the planned route and the target flight limited zone; The state performs flight processing with respect to the aircraft.
第四方面,本发明实施例提供了一种计算机存储介质,该计算机存储介质中存储有程序指令,该程序指令在执行时,用于执行上述第一方面的飞行处理方法。In a fourth aspect, an embodiment of the present invention provides a computer storage medium, where the computer storage medium stores a program instruction, where the program instruction is used to execute the flight processing method of the first aspect.
本发明实施例能够在规划好飞行器的飞行航线后,自动进行关于该航线与邻近的限飞区之间的距离,确定出该航线的限飞状态,进而基于不同的限飞状态对飞行器进行不同的处理,满足了对飞行器基于限飞区进行控制的自动化、智能化需求。The embodiment of the present invention can automatically perform the distance between the route and the adjacent flight-limited zone after planning the flight path of the aircraft, determine the flight-limit state of the route, and then differentiate the aircraft based on different flight-limited states. The processing meets the automation and intelligent requirements for controlling the aircraft based on the restricted flight zone.
图1是本发明实施例的一种飞行处理系统的结构示意图;1 is a schematic structural view of a flight processing system according to an embodiment of the present invention;
图2是本发明实施例的一种显示界面的示意图;2 is a schematic diagram of a display interface according to an embodiment of the present invention;
图3是本发明实施例的另一种显示界面的示意图;3 is a schematic diagram of another display interface according to an embodiment of the present invention;
图4是本发明实施例的一种飞行处理方法的流程示意图;4 is a schematic flow chart of a flight processing method according to an embodiment of the present invention;
图5是本发明实施例的另一种飞行处理方法的流程示意图;FIG. 5 is a schematic flow chart of another flight processing method according to an embodiment of the present invention; FIG.
图6是本发明实施例的限飞状态确定方法的流程示意图;6 is a schematic flow chart of a method for determining a flight limit state according to an embodiment of the present invention;
图7是本发明实施例的根据距离来确定限飞状态的方法的流程示意图;7 is a schematic flow chart of a method for determining a fly-limited state according to a distance according to an embodiment of the present invention;
图8是本发明实施例的一种规划航线和限飞区相对位置关系的示意图; 8 is a schematic diagram of a relative position relationship between a planned route and a flight limited zone according to an embodiment of the present invention;
图9是本发明实施例的根据距离来确定限飞状态的方法的流程示意图;9 is a schematic flow chart of a method for determining a fly-limited state according to a distance according to an embodiment of the present invention;
图10是本发明实施例的另一种规划航线和限飞区相对位置关系的示意图;FIG. 10 is a schematic diagram showing another relative position relationship between a planned route and a flight limited zone according to an embodiment of the present invention; FIG.
图11是本发明实施例的又一种飞行处理方法的流程示意图;11 is a schematic flow chart of still another flight processing method according to an embodiment of the present invention;
图12是本发明实施例的一种飞行处理装置的结构示意图;FIG. 12 is a schematic structural diagram of a flight processing apparatus according to an embodiment of the present invention; FIG.
图13是本发明实施例的一种控制设备的结构示意图。FIG. 13 is a schematic structural diagram of a control device according to an embodiment of the present invention.
在本发明实施例中,飞行器具有自动规划航线的能力,基于两个位置的位置坐标,所述飞行器能够规划一条规划航线以便于基于该规划航线自动飞行。所述飞行器可以在自动飞行前,为飞行器配置两个或者多个位置坐标,由飞行器中设置的控制器基于各个位置坐标进行航线规划,得到覆盖各个位置坐标的规划航线。所述飞行器也可以是在飞行的过程中,接收与本飞行器建立连接的地面控制端发出的一个或者多个位置坐标,所述飞行器结合当前的飞行位置和接收到的一个或者多个位置坐标,得到规划航线。所述飞行器也可以直接接收地面控制端发送的规划航线。In an embodiment of the invention, the aircraft has the ability to automatically plan a route, based on the location coordinates of the two locations, the aircraft can plan a planned route to facilitate automatic flight based on the planned route. The aircraft may configure two or more position coordinates for the aircraft before the automatic flight, and the route set by the controller set in the aircraft based on the respective position coordinates to obtain a planned route covering the coordinates of each position. The aircraft may also be one or more position coordinates issued by a ground control end that establishes a connection with the aircraft during flight, the aircraft combining the current flight position with the received one or more position coordinates, Get the planned route. The aircraft may also directly receive the planned route sent by the ground control terminal.
所述飞行器还可以根据当前的飞行位置进行自动返航,主要根据当前飞行位置和返航点位置规划返航航线,进行自动返航。在一个实施例中,所述飞行器检测到电量不足时,可以根据当前的飞行位置和返航点位置,规划返航航线,以在电量不足以支撑飞行之前返航到安全位置。所述飞行器也可以是在检测与地面控制端之间的连接信号弱或者连接信号丢失时,可以根据当前的飞行位置和返航点位置,规划返航航线,以便于确保飞行器是受控的。所述返航点位置可以是飞行器自动记录的起飞时的一个目标位置,也可以是用户指定的一个目标位置。在一个实施例中,地面控制端也可以像上述那样,基于飞行器的电量、与飞行器的连接信号等因素,控制飞行器返航。The aircraft can also automatically return to the current flight position, and the return flight route is mainly planned according to the current flight position and the return point position, and the automatic return flight is performed. In one embodiment, when the aircraft detects that the battery is low, the return route can be planned based on the current flight position and the return point position to return to a safe position before the battery is insufficient to support the flight. The aircraft may also be configured to plan a return route based on the current flight position and the return point position when the connection signal between the detection and ground control terminals is weak or the connection signal is lost, in order to ensure that the aircraft is controlled. The returning point position may be a target position when the aircraft automatically records the takeoff, or may be a target position specified by the user. In one embodiment, the ground control terminal may also control the return of the aircraft based on factors such as the amount of power of the aircraft, the connection signal to the aircraft, and the like as described above.
限飞区主要包括机场等被划定为需要严格禁止或者限制飞行器 飞行的区域。飞行器会被禁止或者限制在这些区域飞行。本发明实施例中,在不同的高度上,针对机场等区,在水平面上划定的限飞区的范围大小可以相同或者不同。The restricted flight zone mainly includes airports and is classified as requiring strict prohibition or restriction of aircraft. The area of flight. Aircraft will be prohibited or restricted from flying in these areas. In the embodiment of the present invention, at different heights, for a region such as an airport, the extent of the restricted flight zone defined on the horizontal plane may be the same or different.
本发明实施例中,在得到规划航线后,可以根据该规划航线与相邻的一个或者多个限飞区(即目标限飞区)的区域位置坐标,来判断规划航线是否有部分或者全部航线处于目标限飞区内、或者规划航线靠近目标限飞区。根据判断结果来对飞行器进行不同的飞行处理。在本发明实施例中,所述飞行处理主要主要包括针对该飞行器在规划航线上的飞行提示处理。飞行提示处理主要用于提示用户该飞行器按照规划航线飞行(例如返航)时,存在进入或者靠近限飞区的风险。In the embodiment of the present invention, after the planned route is obtained, whether the planned route has some or all routes may be determined according to the regional location coordinates of the planned route and the adjacent one or more restricted zones (ie, the target restricted zone). In the target flight zone, or the planned route is close to the target flight zone. According to the judgment result, the aircraft is subjected to different flight processing. In the embodiment of the present invention, the flight processing mainly includes a flight prompt processing on the planned route for the aircraft. The flight cue processing is mainly used to prompt the user that there is a risk of entering or approaching the flight limited zone when the aircraft is flying according to the planned route (for example, returning).
根据规划航线和目标限飞区的距离,可以确定出多个关于该规划航线的限飞状态,该限飞状态主要用于表示是否能够安全飞行的状态。在一个实施例中,可以包括三个限飞状态,具体为表明规划航线靠近目标限飞区的第一状态;表明规划航线已经非常靠近目标限飞区、或者部分进入目标限飞区、或者全部进入目标限飞区的第二状态;以及可以安全飞行的第三状态。其中,所述第一状态下,规划航线和限飞区的距离大于第二距离阈值而不大于第一距离阈值;在第二状态下,规划航线和限飞区的距离不大于第二距离阈值;在第三状态下,规划航线和限飞区的距离大于第一距离阈值。所述第一距离阈值大于所述第二距离阈值。According to the distance between the planned route and the target flight zone, a plurality of flight limited states regarding the planned route can be determined, and the flight limited state is mainly used to indicate whether the flight can be safely. In one embodiment, three flight limited states may be included, specifically indicating a first state in which the planned route is close to the target flight zone; indicating that the planned route is very close to the target flight zone, or partially enters the target flight zone, or all The second state of entering the target flight zone; and the third state of safe flight. Wherein, in the first state, the distance between the planned route and the flight limited zone is greater than the second distance threshold and not greater than the first distance threshold; in the second state, the distance between the planned route and the flight limited zone is not greater than the second distance threshold In the third state, the distance between the planned route and the flight limited zone is greater than the first distance threshold. The first distance threshold is greater than the second distance threshold.
在第一状态下,可以向用户发出需要注意限飞区的飞行提示信息。在第二状态,可以向用户发出限制飞行的飞行提示信息,表示在第二状态下按照规划航线飞行会受限或者会进入限飞区存在飞行危险,在第二状态下,需要提示用户修改参数以重新规划得到新的规划航线避开目标限飞区,或者自动进行重新规划,得到新的规划航线以避开目标限飞区,或者发出方向指示通知用户按照该方向指示所指示的方向飞行,以便于重新基于新的飞行位置得到规划航线。在第三状态下,可以不发出任何提示或者发出可以安全飞行的提示。In the first state, the user may be presented with flight alert information that requires attention to the flight limited zone. In the second state, the flight prompt information of the restricted flight may be sent to the user, indicating that in the second state, the flight according to the planned route is limited or there is a flight hazard in the restricted flight zone, and in the second state, the user needs to be prompted to modify the parameter. Re-planning to obtain a new planned route to avoid the target flight zone, or to automatically re-plan, obtain a new planned route to avoid the target flight zone, or issue a direction indication to inform the user to fly in the direction indicated by the direction indication. In order to re-based the planned flight route based on the new flight location. In the third state, no prompts can be issued or a prompt to fly safely can be issued.
在一个实施例中,对飞行器进行飞行处理的系统如图1所示,该 系统包括了飞行器和地面控制端,如图1所示,地面控制端位于用户侧。所述飞行器可以用于根据配置的至少两个位置点进行航线规划,得到规划航线,并在规划完成后,根据规划航线与目标限飞区之间的距离来确定限飞状态,在确定限飞状态后对飞行器进行飞行处理。所述飞行处理包括向该飞行器的控制用户发出提示信息。所述地面控制端则用于接收所述飞行器在进行非常处理时发出的提示信息,并将提示信息呈现给用户。In one embodiment, the system for performing flight processing on the aircraft is as shown in FIG. The system includes the aircraft and the ground control end, as shown in Figure 1, the ground control end is located on the user side. The aircraft may be configured to perform route planning according to at least two locations of the configuration, obtain a planned route, and determine a flight limit state according to a distance between the planned route and the target flight limited zone after the planning is completed, and determine the flight limit. After the state, the aircraft is flight processed. The flight processing includes issuing a prompt message to a control user of the aircraft. The ground control end is configured to receive the prompt information sent by the aircraft when performing the extraordinary processing, and present the prompt information to the user.
在所述飞行器中可以设置限飞区数据库。限飞区数据库中存储了限飞区信息,例如一个包括了多个限飞区的限飞区集合,该限飞区集合中至少包括了各个限飞区的位置信息。通过查询该限飞区数据库可以得到目标限飞区。A flight limited area database can be set up in the aircraft. The limited flight area database stores the limited flight zone information, for example, a limited flight zone set including a plurality of flight limited zones, and the limited flight zone set includes at least the location information of each limited flight zone. The target flight limited area can be obtained by querying the limited flight area database.
飞行器可以根据飞行高度、用户设定的返航高度、当前位置、目标位置,计算一条规划航线,并结合目标限飞区确定该规划航线的限飞状态。基于该限飞状态向所述地面控制端发出相应的提示信息。飞行器也可以仅向地面控制端发送由飞行器确定的限飞状态,由地面控制端根据飞行器发送的限飞状态来选择相应的提示信息以提示用户。The aircraft can calculate a planned route according to the flight altitude, the return altitude set by the user, the current position, and the target position, and determine the flight limited state of the planned route in combination with the target flight limited zone. Sending corresponding prompt information to the ground control terminal based on the limited flight state. The aircraft may also send the flight limited state determined by the aircraft only to the ground control terminal, and the ground control terminal selects corresponding prompt information according to the flight limit state sent by the aircraft to prompt the user.
地面控制端可以为一个智能终端,例如可以为智能手机、平板电脑、智能可穿戴设备、个人电脑等带通信功能的终端。地面控制端可以通过设置显示界面向用户显示对应的文字提示信息、和/或影像提示信息。地面控制端也可以发出语音提示信息、振动提示信息等,以便于将飞行器的规划航线的限飞状态提示给用户。The ground control terminal can be a smart terminal, for example, a communication function terminal such as a smart phone, a tablet computer, a smart wearable device, or a personal computer. The ground control terminal can display corresponding text prompt information and/or image prompt information to the user through setting the display interface. The ground control terminal can also issue voice prompt information, vibration prompt information, etc., in order to prompt the user to limit the flight status of the planned route of the aircraft.
在其他实施例中,所述飞行器也可以仅用于在地面控制端的控制下飞行。所述地面控制端则可以根据至少两个位置点,完成航线的规划得到所述飞行器的规划航线,并基于规划航线和从内置的限飞区数据库中确定的目标限飞区,判断该规划航线的限飞状态,基于限飞状态直接向用户发出提示信息,该提示信息同样包括文字提示信息、影像提示信息、语音提示信息、振动提示信息中的任意一种或多种。如果规划航线可以使飞行器不会进入或者靠近限飞区,则可以直接基于该规划航线控制飞行器飞行。 In other embodiments, the aircraft may also be used only for flight under the control of the ground control end. The ground control terminal may obtain the planned route of the aircraft according to at least two location points, complete the route planning, and determine the planned route based on the planned route and the target flight limited zone determined from the built-in limited flight zone database. The limited flight state directly sends a prompt message to the user based on the limited flight state, and the prompt information also includes any one or more of text prompt information, image prompt information, voice prompt information, and vibration prompt information. If the planned route can prevent the aircraft from entering or approaching the restricted zone, the aircraft flight can be controlled directly based on the planned route.
所述至少两个位置可以是由用户在用户界面上设置的,例如用户在显示界面显示的地图上指定并设置的,用户设置的位置中的初始位置可以确定为飞行器的飞行位置,而终止位置(或者其中的某个中间位置)则可以认为是目标位置。该至少两个位置点也可以是飞行器在飞行过程中当前的飞行位置和一个目标位置,飞行位置可以由飞行器发送给地面控制端,该目标位置则可以是飞行器起飞时的位置,或者是用户指定的一个位置,或者是一个可以用于对飞行器进行充电或可以提供飞行器降落的飞行器基站位置。The at least two locations may be set by the user on the user interface, such as specified and set by the user on a map displayed on the display interface, and the initial position in the location set by the user may be determined as the flight position of the aircraft, and the termination position (or one of the intermediate locations) can be considered a target location. The at least two position points may also be the current flight position and a target position of the aircraft during flight, and the flight position may be sent by the aircraft to the ground control end, the target position may be the position when the aircraft takes off, or the user specifies A location, or an aircraft base station location that can be used to charge an aircraft or can provide an aircraft landing.
在地面控制端中向用户发出提示的方式包括多种。在一个实施例中,可以通过显示界面来向用户发出提示信息。该显示界面如图2所示。在图2的显示界面200中包括飞行指示区201,在该飞行指示区201中,显示了飞行器所在的飞行位置202,飞行器已经飞行的飞行轨迹203,飞行器的规划航线204,以及目标限飞区205。当目标限飞区205包括多个时,在该显示界面中也会显示各个目标限飞区205。在图2的场景下,判断规划航线204的限飞状态为第一状态,即规划航线204和目标限飞区205之间的关系为靠近关系,规划航线204和目标限飞区205之间的距离大于第二距离阈值而不大于第一距离阈值。可以发出第一提示信息206,该第一提示信息206包括用于提示需要注意限飞区的飞行提示信息。具体的,该第一提示信息206可以是在用户发出了飞行指令控制飞行器按照所述规划航线204飞行的时候发出的。所述飞行指令例如可以是返航指令,所述返航指令用于指示所述飞行器根据所述规划航线204返航至所述返航点位置,该返航指令可以是在检查到用户点击了显示界面200中的返回按钮207时检测得到的。另外,在显示界面200上还可以显示确认提示208,在接收到对所述确认提示208发出的确认操作时,根据所述返航指令控制所述飞行器在所述规划航线204上飞行以返回至所述返航点位置。该确认提示208实际可以是通过图2所示的滑动、或者虚拟按钮等形式提供给用户。进一步地,如果用户认为不使用该规划航线控制飞行器飞行,则还可以点击图2中所示的“取消”按钮,不会控制飞行器
按照规划航线飞行,以便于重新设置返航航线,用户在飞行指示区201上可以重新指定目标位置,以便于规划新的规划航线明显远离目标限飞区205。在确定了规划航线为第一状态后,立即(或在一个预设时间间隔内)开始显示所述第一提示信息206。可以在显示了预设时长后,取消显示所述第一提示信息206。There are a number of ways to prompt the user in the ground console. In one embodiment, the user may be prompted by the display interface. The display interface is shown in Figure 2. A
再请参见图3,在图3同样展示了显示界面200,与图2所不同的是,图3中的规划航线301已经部分位于目标限飞区302中,规划航线301与目标限飞区302之间的距离不大于第二距离阈值,使得该规划航线301的限飞状态为第二状态。在第二状态下,在图3的显示界面200中显示第二提示信息303,在本发明实施例中是通过文字的方式来提醒用户。该第二提示信息303包括用于提示限制飞行的飞行提示信息,主要用户提醒用户如果此时按照规划航线返航会进入限飞区,飞行会受阻,或者飞行危险等警告。当然,也可以是在检查到对飞行器的飞行指令,例如点击显示界面200的返航按钮207发出返航指令时,才显示第二提示信息303。在确定了规划航线301为第二状态后,立即(或在一个预设时间间隔内)开始显示所述第二提示信息303。可以在显示了预设时长后,取消显示所述第二提示信息303。Referring again to FIG. 3, the
在一个实施例中,飞行器或者地面控制端中包括限飞区数据库、查询模块、提示模块。限飞区数据库中存储了限飞区信息。其他模块可以查询限飞区信息。查询模块在飞行过程中,根据当前的飞行高度、用户设定的返航高度、当前位置、返航点位置,计算一条返航线路,并根据该返航线路与查询到的限飞区信息确定飞行器的限飞状态。并将限飞状态推送给提示模块。提示模块提示用户当前的返航状态。在一个实施例中,限飞状态可以分为以下4种:In an embodiment, the aircraft or ground control terminal includes a flight limited area database, a query module, and a prompt module. The limited flight area information is stored in the flight limited area database. Other modules can query the restricted area information. During the flight, the query module calculates a return route based on the current flight altitude, the user-set return altitude, the current position, and the return point position, and determines the flight limit of the aircraft based on the return route and the inquired flight zone information. status. Push the flight limit status to the prompt module. The prompt module prompts the user for the current return status. In one embodiment, the flight limited state can be divided into the following four types:
0:返航高度上,直线返航线路周围50m范围内无限飞区。0: On the return altitude, the infinite flight area within 50m around the straight-line return route.
1:返航高度上,直线返航线路周围50m范围内有限飞区,30m范围内无限飞区;其中,该30m可以对应上述的第二距离阈值。1: On the return altitude, the limited flight zone within 50m around the straight-line return route, and the infinite flight zone within 30m; wherein the 30m can correspond to the above-mentioned second distance threshold.
2:返航高度上,直线返航线路周围20m范围内有限飞区,10m范围内无限飞区;其中,该10m可以对应于第一距离阈值。 2: On the return altitude, the limited flight area within 20m around the straight-line return route, and the infinite flight zone within 10m; wherein the 10m may correspond to the first distance threshold.
3:返航高度上,直线返航线路周围10m范围内有限飞区。3: On the return altitude, there is a limited flight area within 10m around the straight-line return route.
其中0、1代表当前位置返航安全,可以对应于上述的第三状态;2表示,当前位置返航危险,请用户注意,可以对应于上述的第一状态;3表示,当前位置无法返航,请用户注意,若要返航将飞机移回可返航区域,可以对应于上述的第二状态。0, 1 represents the current position return safety, can correspond to the above third state; 2 indicates that the current position is dangerous to return, please note that the user can correspond to the first state mentioned above; 3 means that the current position cannot be returned, please Note that if you want to return to return the aircraft to the returnable area, it may correspond to the second state described above.
下面对本发明实施例的一种飞行处理方法进行描述。A flight processing method of an embodiment of the present invention will be described below.
请参见图4,是本发明实施例的一种飞行处理方法的流程示意图,本发明实施例的所述飞行处理方法可以在飞行器端来执行,具体由飞行器中设置的控制器来执行。所述方法实际也可以由地面控制端来执行。所述方法具体可以包括如下步骤。Referring to FIG. 4, it is a schematic flowchart of a flight processing method according to an embodiment of the present invention. The flight processing method according to an embodiment of the present invention may be performed at an aircraft end, specifically by a controller provided in an aircraft. The method can also be performed by the ground control terminal. The method may specifically include the following steps.
S401:获取飞行器的飞行位置到预设的目标位置之间的规划航线。所述飞行器的飞行位置可以是所述飞行器飞行过程中当前的位置,而对应的所述目标位置可以是飞行器需要飞往的某个目的地的位置,或者返航点位置,该返航点位置可以是飞起起飞时的位置。所述飞行器的飞行位置还可以是所述飞行器起飞时的起飞位置,所述目标位置则可以是飞行器需要飞往的某个目的地的位置。所述飞行器的飞行位置还可以是用户在地图上指定的一个位置,所述目标位置则是用户在地图上指定的另一个位置。在本发明实施例中,所述规划航线在地图上为一条从飞行位置到目标位置之间的直线段或近似直线段,也可以是曲线段和直线段的组合。S401: Obtain a planned route between the flight position of the aircraft and the preset target position. The flight position of the aircraft may be the current position during flight of the aircraft, and the corresponding target position may be a position of a certain destination that the aircraft needs to fly, or a return point position, and the return point position may be Fly to the position when taking off. The flight position of the aircraft may also be a takeoff position when the aircraft takes off, and the target position may be a location of a destination to which the aircraft needs to fly. The flight location of the aircraft may also be a location specified by the user on the map, which is another location specified by the user on the map. In the embodiment of the present invention, the planned route is a straight line segment or an approximate straight line segment from the flight position to the target position on the map, and may also be a combination of a curved segment and a straight segment.
S402:确定所述规划航线的限飞状态,所述限飞状态是根据所述规划航线与目标限飞区之间的距离来确定的。所述目标限飞区为预设的限飞区集合中与所述规划航线距离小于特定距离的限飞区。所述限飞区集合中的限飞区与规划航线之间的距离可以是指限飞区与规划航线之间的最短距离。规划航线上包括多个航点,可以计算限飞区集合中各个限飞区的边界上的位置点到规划航线上各个航点的距离,从中确定出一个最短距离作为对应限飞区到规划航线的距离。将各个限飞区到规划航线的距离小于特定距离的限飞区作为目标限飞区。在一个实施例中,可以先根据行政区划(例如以城市中的行政区),从限 飞区集合中筛选确定出与飞行器当前所处的行政区相同或者相近的行政区的部分限飞区,然后基于该部分限飞区进行计算。S402: Determine a flight limit state of the planned route, where the flight limit state is determined according to a distance between the planned route and a target flight limited zone. The target flight limited zone is a limited flight zone in the set of preset flight limited zones that is less than a specific distance from the planned route. The distance between the restricted flight zone and the planned route in the set of restricted flight zones may be the shortest distance between the restricted flight zone and the planned route. The planned route includes multiple waypoints, and can calculate the distance from the location point on the boundary of each limited flight zone in the restricted flight zone to each waypoint on the planned route, and determine a shortest distance as the corresponding flight limited zone to the planned route. the distance. The limited flight area where the distance from each flight limited area to the planned route is less than a certain distance is taken as the target flight limited area. In one embodiment, it may be based on an administrative division (for example, an administrative district in a city) The selection of the fly zone collection determines a partial flight zone of the administrative zone that is the same as or similar to the administrative zone in which the aircraft is currently located, and then performs calculation based on the partial flight zone.
在本发明实施例中,所述限飞状态至少包括第一状态和第二状态,每种状态对应有不同的用于执行关于所述飞行器的飞行处理的处理规则。所述第一状态对应有第一提示信息,而第二状态则对应有第二提示信息。当然还可以包括其他限飞状态,例如,第三状态,在第三状态下,飞行器的规划航线不与任何限飞区靠近,可以安全飞行,可以不需要提示,或提示用户可以按照规划航线安全飞行。In an embodiment of the invention, the fly-limited state includes at least a first state and a second state, each state corresponding to a different processing rule for performing flight processing with respect to the aircraft. The first state corresponds to the first prompt information, and the second state corresponds to the second prompt information. Of course, other flight limited states may also be included, for example, the third state. In the third state, the planned route of the aircraft is not close to any flight limited zone, and the flight can be safely carried out, without prompting, or prompting the user to follow the planned route safety. flight.
S403:根据所述限飞状态执行关于所述飞行器的飞行处理。在本发明实施例中,关于所述飞行器的飞行处理主要包括基于不同的限飞状态向用户发出不同的提示。具体的提示方式包括文字提示信息、影像提示信息、语音提示信息、振动提示信息等方式中的任意一种或多种。可以设置一个如图2、图3所示的显示界面来向用户发出提示。在该显示界面中,还可以显示规划航线与所述目标限飞区之间的相对位置,也可以在显示界面上显示所述飞行位置与所述目标限飞区的相对位置。S403: Perform flight processing on the aircraft according to the flight limited state. In an embodiment of the invention, the flight processing of the aircraft mainly includes issuing different prompts to the user based on different flight limited states. The specific prompting manner includes any one or more of a text prompt information, an image prompt information, a voice prompt information, and a vibration prompt information. A display interface as shown in Figures 2 and 3 can be set to prompt the user. In the display interface, a relative position between the planned route and the target flight limited zone may also be displayed, and a relative position of the flight location and the target flight limited zone may also be displayed on the display interface.
本发明实施例能够在规划好飞行器的飞行航线后,自动进行关于该航线与邻近的限飞区之间的距离,确定出该航线的限飞状态,进而基于不同的限飞状态对飞行器进行不同的处理,满足了对飞行器基于限飞区进行控制的自动化、智能化需求。The embodiment of the present invention can automatically perform the distance between the route and the adjacent flight-limited zone after planning the flight path of the aircraft, determine the flight-limit state of the route, and then differentiate the aircraft based on different flight-limited states. The processing meets the automation and intelligent requirements for controlling the aircraft based on the restricted flight zone.
再请参见图5,是本发明实施例的另一种飞行处理方法的流程示意图,本发明实施例的所述飞行处理方法可以在飞行器端来执行,具体由飞行器中设置的控制器来执行。所述方法实际也可以由地面控制端来执行。所述方法具体可以包括如下步骤。Referring to FIG. 5, it is a schematic flowchart of another flight processing method according to an embodiment of the present invention. The flight processing method according to the embodiment of the present invention may be performed at an aircraft end, specifically by a controller provided in an aircraft. The method can also be performed by the ground control terminal. The method may specifically include the following steps.
S501:获取飞行器的飞行位置到预设的目标位置之间的规划航线。所述规划航线可以是在飞行器飞行过程中实时或者以一定时间间隔开始规划的,规划得到规划航线后,即进行下述S502的限飞状态的确认步骤。S501: Obtain a planned route between the flight position of the aircraft and the preset target position. The planned route may be started in real time or at a certain time interval during flight of the aircraft. After the planned route is planned, the following step of confirming the flight restriction state of S502 is performed.
S502:确定所述规划航线的限飞状态,所述限飞状态是根据所述 规划航线与目标限飞区之间的距离来确定的。S502: Determine a flight limit state of the planned route, where the flight limit state is according to the The distance between the planned route and the target flight zone is determined.
S503:若所述限飞状态为第一状态,则根据与所述第一状态对应的处理规则,在显示界面上发出第一提示信息;所述第一提示信息包括用于提示需要注意限飞区的飞行提示信息。S503: If the flight limit state is the first state, the first prompt information is sent on the display interface according to the processing rule corresponding to the first state; the first prompt information includes Flight prompt information for the area.
第一状态主要是指飞行器靠近目标限飞区,第一提示信息主要用于提醒用户注意飞行。第一提示信息的提醒方式可参考上述实施例中图2所对应内容的描述。The first state mainly refers to the aircraft approaching the target flight limited area, and the first prompt information is mainly used to remind the user to pay attention to the flight. For the reminding manner of the first prompt information, refer to the description of the content corresponding to FIG. 2 in the foregoing embodiment.
在一个可选的实施例中,所述第一提示信息是在接收到对所述飞行器的飞行指令后在所述显示界面上发出的;所述目标位置是返航点位置,所述飞行指令包括返航指令,所述返航指令用于指示所述飞行器根据所述规划航线返航至所述返航点位置。也就是说,在确定了限飞状态后,可以不用显示第一提示信息,而是在用户希望飞行器按照规划航线飞行时,如按照返航航线返航时,才显示第一提示信息,以便通知用户当前飞行器的限飞状态,通知用户当前飞行靠近限飞区,需要谨慎飞行。In an optional embodiment, the first prompt information is sent on the display interface after receiving a flight instruction to the aircraft; the target location is a returning point location, and the flight instruction includes a returning instruction, the returning instruction is used to instruct the aircraft to return to the returning point position according to the planned route. That is to say, after the flight limit state is determined, the first prompt information may not be displayed, but the first prompt information is displayed when the user wants the aircraft to fly according to the planned route, such as returning according to the return route, so as to notify the user of the current The flight limit status of the aircraft informs the user that the current flight is close to the flight limited area and requires careful flight.
S504:在显示界面上显示确认提示,在接收到对所述确认提示发出的确认操作时,根据所述返航指令控制所述飞行器在所述规划航线上飞行以返回至所述返航点位置。所述S504为一个可选地步骤,在一个实施例中,所述S504是在接收到按照规划航线控制飞行器飞行的飞行指令后,例如在接收到上述的返航指令后,在所述显示界面上显示确认提示以便于向用户确认是否响应该飞行指令,控制飞行器按照规划航线飞行。所述确认提示的形式可以参考图2所对应实施例的描述。S504: Display a confirmation prompt on the display interface, and when receiving the confirmation operation issued by the confirmation prompt, control the aircraft to fly on the planned route according to the return flight instruction to return to the returning point position. The S504 is an optional step. In an embodiment, the S504 is after receiving a flight instruction for controlling the flight of the aircraft according to the planned route, for example, after receiving the returning instruction, on the display interface. A confirmation prompt is displayed in order to confirm to the user whether to respond to the flight instruction, and to control the aircraft to fly according to the planned route. For the form of the confirmation prompt, reference may be made to the description of the embodiment corresponding to FIG. 2.
S505:若所述限飞状态为第二状态,则根据与所述第二状态对应的处理规则,在显示界面上发出第二提示信息,所述第二提示信息包括用于提示限制飞行的飞行提示信息。第二状态主要表明飞行器的规划航线已经飞行靠近或者部分或全部进入限飞区,需要向用户发出按照规划航线飞行会受阻,飞行存在危险。所述第二状态下的第二提示信息的提醒形式可参考图3对应的描述。在第二状态下,还可以控制 飞行器悬停,以便于等待接收地面控制端发出远离限飞区的控制指令。S505: If the flight limit state is the second state, send a second prompt information on the display interface according to the processing rule corresponding to the second state, where the second prompt information includes a flight for prompting the restricted flight. Prompt message. The second state mainly indicates that the planned route of the aircraft has already flown close to or partially or completely enters the restricted flight zone, and it is necessary to send the user a flight according to the planned route, and the flight is in danger. The reminder form of the second prompt information in the second state may refer to the description corresponding to FIG. 3. In the second state, it can also be controlled The aircraft is hovered in order to wait for the receiving ground control terminal to issue a control command away from the flight limited zone.
S506:将显示界面上用于控制所述飞行器飞行的控制图标从第一显示方式切换到第二显示方式。所述控制图标是指控制所述飞行器按照规划航线飞行的图标,例如图2所示的返航按钮。所述S506为可选步骤,所述S506的目的在于,由于如果按照规划航线飞行飞行器会进入限飞区,因此禁止用户控制飞行器按照规划航线飞行。第一显示方式和第二显示方式可以是显示颜色的不同,例如,控制图标在第一显示方式下显示白色,而切换到第二显示方式下则显示灰色,处于灰色的控制图标不会接收并响应用户的点击操作。S506: Switch the control icon on the display interface for controlling the flight of the aircraft from the first display mode to the second display mode. The control icon refers to an icon that controls the aircraft to fly according to a planned route, such as the return button shown in FIG. 2. The S506 is an optional step, and the purpose of the S506 is to prohibit the user from controlling the aircraft to fly according to the planned route if the flying aircraft enters the restricted flight area according to the planned route. The first display mode and the second display mode may be different display colors, for example, the control icon displays white in the first display mode, and displays gray in the second display mode, and the gray control icon does not receive and Respond to the user's click action.
另外,根据所述限飞状态执行关于所述飞行器的飞行处理还可以包括:在限飞状态处于第二状态时,发出向远离所述目标限飞区的方向飞行的提示。该向远离所述目标限飞区的方向飞行的提示可以是文字或语言提示,也可以是通过一个图标的方式来提示,该图标可以是一个用于指示移动方向的箭头图标,用于指出一个具体的远离方向,提示用户控制飞行器沿这个方向飞行。Additionally, performing the flight processing with respect to the aircraft according to the flight limited state may further include issuing a prompt to fly away from the target flight limited area when the fly-limited state is in the second state. The prompt to fly away from the target flight zone may be a text or a language prompt, or may be prompted by an icon, which may be an arrow icon indicating the direction of movement, for indicating a Specific away from the direction, the user is prompted to control the aircraft to fly in this direction.
本发明实施例的所述显示界面由地面控制端显示给用户。当本发明实施例的飞行处理方法是由飞行器执行时,由飞行器发送相应的控制消息给地面控制端,地面控制端在接收到飞行器控制消息后,按照控制消息的指示在显示界面上发出相应的提示。所述控制消息具有控制所述地面控制端在显示界面上显示第一提示信息、显示第二提示信息、显示确认提示、以及控制将控制图标从第一显示方式切换到第二显示方式等用途。当本发明实施例的飞行处理方法是由地面控制端执行时,则由地面控制端直接在显示界面上发出相应的提示即可。所述显示界面的形式如图2所示。The display interface of the embodiment of the invention is displayed to the user by the ground control end. When the flight processing method of the embodiment of the present invention is executed by the aircraft, the aircraft sends a corresponding control message to the ground control terminal, and after receiving the aircraft control message, the ground control terminal sends a corresponding message on the display interface according to the instruction of the control message. prompt. The control message has the purpose of controlling the ground control end to display the first prompt information on the display interface, display the second prompt information, display the confirmation prompt, and control the switching of the control icon from the first display mode to the second display mode. When the flight processing method of the embodiment of the present invention is executed by the ground control terminal, the ground control terminal directly issues a corresponding prompt on the display interface. The form of the display interface is as shown in FIG. 2.
本发明实施例能够在规划好飞行器的飞行航线后,自动进行关于该航线与邻近的限飞区之间的距离,确定出该航线的限飞状态,进而基于不同的限飞状态对飞行器进行不同的处理,满足了对飞行器基于限飞区进行控制的自动化、智能化需求。 The embodiment of the present invention can automatically perform the distance between the route and the adjacent flight-limited zone after planning the flight path of the aircraft, determine the flight-limit state of the route, and then differentiate the aircraft based on different flight-limited states. The processing meets the automation and intelligent requirements for controlling the aircraft based on the restricted flight zone.
再请参见图6,是本发明实施例的限飞状态确定方法的流程示意图。在本发明实施例中配置了用于进行限飞状态确认的距离阈值,该距离阈值可以包括多个,例如包括第一距离阈值和第二距离阈值。本发明实施例中确定飞行器限飞状态包括如下步骤。Referring to FIG. 6 again, it is a schematic flowchart of a method for determining a fly-limited state according to an embodiment of the present invention. In the embodiment of the present invention, a distance threshold for performing flight limited state confirmation is configured, and the distance threshold may include multiple, for example, including a first distance threshold and a second distance threshold. Determining the aircraft flight limited state in the embodiment of the present invention includes the following steps.
S601:获取目标限飞区,所述目标限飞区为预设的限飞区集合中与所述规划航线距离小于特定距离的限飞区。S601: Acquire a target flight limited zone, where the target flight limited zone is a limited flight zone in the preset limited flight zone set that is less than a specific distance from the planned route.
S602:根据所述规划航线与目标限飞区的距离与所述距离阈值进行比较,根据比较结果确定所述规划航线的限飞状态。规划航线与目标限飞区的距离可以根据所述规划航线上的多个航点的位置坐标、目标限飞区中靠近所述规划航线的边界线上的多个位置点坐标计算得到。规划航线与目标限飞区的距离是计算得到的最短距离,根据最短距离与距离阈值进行比较,以便确定规划航线的限飞状态。S602: Compare, according to the distance between the planned route and the target flight zone, the distance threshold, and determine a flight limit state of the planned route according to the comparison result. The distance between the planned route and the target flight limited zone may be calculated according to the position coordinates of the plurality of waypoints on the planned route and the coordinates of the plurality of location points on the boundary line of the target flight zone adjacent to the planned route. The distance between the planned route and the target flight zone is the calculated shortest distance, and the shortest distance is compared with the distance threshold to determine the flight limit state of the planned route.
在一个实施例中,所述S602具体可以是指:将所述规划航线与目标限飞区在水平方向上的距离与所述距离阈值进行比较,根据比较结果确定所述规划航线的限飞状态。也就是说,在同一高度上,得到规划航线与在该高度上的限飞区之间的距离,得到的距离为一个水平方向的距离,基于该距离和距离阈值来确定限飞状态。In an embodiment, the S602 may specifically refer to: comparing a distance between the planned route and the target flight limited area in a horizontal direction with the distance threshold, and determining a flight limit state of the planned route according to the comparison result. . That is to say, at the same height, the distance between the planned route and the flight limited zone at the height is obtained, and the obtained distance is a horizontal distance, and the flight limit state is determined based on the distance and the distance threshold.
在一个实施例中,规划航线的上方或者下方也可能存在限飞区,例如,在某些限飞的区域,是允许在一定高度以内进行飞行的,例如,该区域的20m高度内的空域是可以飞行的,此时,所述S602则包括:将所述规划航线与目标限飞区在竖直方向上的距离与所述距离阈值进行比较,根据比较结果确定所述规划航线的限飞状态。In one embodiment, there may also be a flight limit zone above or below the planned route. For example, in some restricted flight zones, it is allowed to fly within a certain height. For example, the airspace within a height of 20 m is If the flight is available, the S602 includes: comparing the distance between the planned route and the target flight limited zone in the vertical direction with the distance threshold, and determining the flight limit state of the planned route according to the comparison result. .
在一个实施例中,所述S602包括:将所述规划航线与目标限飞区在竖直方向上的距离与所述距离阈值进行比较、将所述规划航线与目标限飞区在水平方向上的距离与所述距离阈值进行比较,根据比较结果确定所述规划航线的限飞状态。In an embodiment, the S602 includes: comparing a distance between the planned route and a target flight zone in a vertical direction with the distance threshold, and horizontally speaking the planned route and the target flight limited zone. The distance is compared with the distance threshold, and the flight limit state of the planned route is determined according to the comparison result.
具体请参见图7,是本发明实施例的根据距离来确定限飞状态的方法的流程示意图。本发明实施例的所述方法对应于图6所对应实施例中的S602。具体可以包括如下步骤。 For details, please refer to FIG. 7 , which is a schematic flowchart of a method for determining a fly-limited state according to a distance according to an embodiment of the present invention. The method in the embodiment of the present invention corresponds to S602 in the embodiment corresponding to FIG. 6. Specifically, the following steps may be included.
S701:根据所述规划航线和所述距离阈值确定飞行区。所述确定的飞行区至少包括第一区和第二区;所述第一区是根据所述规划航线和预设的第一距离阈值得到的,所述规划航线包括在所述第一区内;所述第二区是根据所述规划航线和预设的第二距离阈值得到的,所述规划航线包括在所述第二区内;所述第一距离阈值大于所述第二距离阈值。S701: Determine a flight zone according to the planned route and the distance threshold. The determined flight zone includes at least a first zone and a second zone; the first zone is obtained according to the planned route and a preset first distance threshold, and the planned route is included in the first zone The second area is obtained according to the planned route and a preset second distance threshold, the planned route is included in the second zone; and the first distance threshold is greater than the second distance threshold.
S702:判断所述飞行区与所述目标限飞区是否相交。S702: Determine whether the flight zone and the target flight limited zone intersect.
S703:根据判断结果确定所述规划航线的限飞状态。S703: Determine, according to the judgment result, a flight limit state of the planned route.
在本发明实施例中,当判断所述目标限飞区仅与所述第一区相交时,确定所述规划航线为第一状态;当判断所述目标限飞区与所述第二区时,确定所述规划航线为第二状态。如图8所示,预设的距离阈值包括第一距离阈值d1和第二距离阈值d2,图8中示出了规划航线801、第一区802、第二区803以及目标限飞区804之间的一种关系。第一区802和第二区803可以为一个规则的几何形状,这里为长方形,而限飞区靠近规划航线801的边界线805为一条直线段。根据第一区802的边界坐标,目标限飞区的所述边界线805的坐标,在世界坐标系下可以通过计算一条直线是否与一个长方形相交来判断目标限飞区804是否与第一区802相交。同样,基于目标限飞区804的所述边界线805和第二区803所在的长方形,可以判断目标限飞区804是否与第二区803相交。In the embodiment of the present invention, when it is determined that the target flight limited area only intersects with the first area, determining that the planned route is a first state; when determining the target flight limited zone and the second zone And determining that the planned route is in a second state. As shown in FIG. 8, the preset distance threshold includes a first distance threshold d1 and a second distance threshold d2, and the
如果判断所述目标限飞区仅与所述第一区相交而不与第二区相交,那么可以确定规划航线与限飞区之间的距离大于第二距离阈值而不大于第一距离阈值,处于第一状态。而如果与第二区相交,则可以认为规划航线与目标限飞区之间的距离小于第二距离阈值,规划航线处于第二状态。确定目标限飞区是否与第一区或者第二区相交,可以通过判断图8中目标限飞区的边界线805是否与第一区或第二区相交,具体可以在世界坐标系下,判断805所在的直线与第一区的长方形或第二区的长方形是否相交,进而确定所述目标限飞区是否与第一区或第二区相交。例如可以根据直线上的多个位置坐标确定直线方
程,并确定第一区或第二区的顶点位置坐标,根据直线方程和顶点位置坐标可以判断该直线是否与第一区或第二区相交。If it is determined that the target flight limited area only intersects the first area and does not intersect with the second area, it may be determined that the distance between the planned route and the flight limited zone is greater than the second distance threshold and not greater than the first distance threshold. In the first state. If the intersection with the second zone is intersected, the distance between the planned route and the target flight zone may be considered to be less than the second distance threshold, and the planned route is in the second state. Determining whether the target flight limited zone intersects with the first zone or the second zone may determine whether the
图8的示意图仅为举例,在其他实施例中,限飞区可能为椭圆形的平面,例如图2所示的限飞区,那么需要在世界坐标系下,计算一个曲线与长方形相交的方式来确定目标限飞区是否与第一区或第二区相交。The schematic diagram of FIG. 8 is only an example. In other embodiments, the flight limited area may be an elliptical plane, such as the limited flight area shown in FIG. 2, and then a method of calculating a curve intersecting a rectangle in a world coordinate system is required. To determine whether the target flight zone intersects the first zone or the second zone.
基于图8所示示意图所对应的计算方式也可以分别计算规划航线和目标限飞区之间的水平距离、计算规划航线和目标限飞区之间的竖直距离。Based on the calculation method corresponding to the schematic diagram shown in FIG. 8, the horizontal distance between the planned route and the target flight limited zone can be separately calculated, and the vertical distance between the planned route and the target flight limited zone can be calculated.
本发明实施例通过对规划航线进行调整,基于距离阈值来生成不同的飞行区域,通过判断飞行区与限飞区是否相交可以快速地确定出规划航线和限飞区之间的位置关系,确定出规划航线的状态。不需要计算规划航线上每个航点与限飞区之间的位置关系,节省了计算成本,提高了效率。In the embodiment of the present invention, the planned route is adjusted, and different flight regions are generated based on the distance threshold. By determining whether the flight zone and the flight-limited zone intersect, the positional relationship between the planned route and the flight-limited zone can be quickly determined, and the positional relationship is determined. Plan the status of the route. It is not necessary to calculate the positional relationship between each waypoint and the flight-limited zone on the planned route, which saves calculation cost and improves efficiency.
具体请参见图9,是本发明实施例的根据距离来确定限飞状态的方法的流程示意图。本发明实施例的所述方法对应于图6所对应实施例中的S602。具体可以包括如下步骤。For details, refer to FIG. 9 , which is a schematic flowchart of a method for determining a fly-limited state according to a distance according to an embodiment of the present invention. The method in the embodiment of the present invention corresponds to S602 in the embodiment corresponding to FIG. 6. Specifically, the following steps may be included.
S901:从所述目标限飞区中确定出目标边界线;该目标边界线是指目标限飞区中靠近所述规划航线一侧的边界线,可以基于规划航线上航点的位置坐标和限飞区的区域坐标来确定出靠近规划航线一侧的边界线,得到目标边界线。得到的该目标边界线在世界坐标系下为一线段。S901: Determine a target boundary line from the target flight limited area; the target boundary line refers to a boundary line in a target flight limited area near a side of the planned route, and may be based on a position coordinate of the waypoint on the planned route and a limited flight The regional coordinates of the zone are used to determine the boundary line near the side of the planned route, and the target boundary line is obtained. The resulting target boundary line is a line segment in the world coordinate system.
S902:根据所述目标边界线和所述距离阈值得到指示线。所述指示线包括:根据所述边界线和预设的第三距离阈值得到第一指示线,所述边界线和预设的第四距离阈值得到第二指示线。所述第三距离阈值可以对应于上述的第一距离阈值,与第一距离阈值相同。所述第四距离阈值可以对应于上述的第二距离阈值,与第二距离阈值相同。S902: Obtain an indication line according to the target boundary line and the distance threshold. The indicating line includes: obtaining a first indicator line according to the boundary line and a preset third distance threshold, and the boundary line and the preset fourth distance threshold obtain a second indicator line. The third distance threshold may correspond to the first distance threshold described above, which is the same as the first distance threshold. The fourth distance threshold may correspond to the second distance threshold described above, and is the same as the second distance threshold.
S903:判断所述规划航线与所述指示线是否相交。在世界坐标系下,计算规划航线和第一指示线、第二指示线是否相交。 S903: Determine whether the planned route intersects the indication line. In the world coordinate system, it is calculated whether the planned route intersects the first indicator line and the second indicator line.
S904:根据判断结果确定所述规划航线的限飞状态。当判断所述规划航线仅与第一指示线相交时,确定所述规划航线为第一状态;当判断所述规划航线与第二指示线相交时,则可以确定所述规划航线为第二状态。S904: Determine a flight limit state of the planned route according to the determination result. When it is determined that the planned route intersects only the first indicator line, determining that the planned route is in a first state; when determining that the planned route intersects with the second indication line, determining that the planned route is in a second state .
如图10所示,示出了规划航线1001、第一指示线1002、第二指示线1003以及目标限飞区的目标边界线1004之间的关系。第一指示线1002和目标边界线1004之间的距离为d3,第二指示线1003和目标边界线1004之间的距离为d4。As shown in FIG. 10, the relationship between the
如果判断所述规划航线仅与所述第一指示线相交而不与第二指示线相交,那么可以确定规划航线与目标限飞区之间的距离大于第四距离阈值而不大于第三距离阈值,处于第一状态。而如果所述规划航线与第二指示线相交,则可以认为规划航线与目标限飞区之间的距离不大于第四阈值,规划航线处于第二状态。If it is determined that the planned route intersects only the first indicator line and does not intersect the second indicator line, it may be determined that the distance between the planned route and the target flight limited zone is greater than a fourth distance threshold and not greater than a third distance threshold. In the first state. If the planned route intersects with the second indicator line, the distance between the planned route and the target flight limited zone may be considered not to be greater than a fourth threshold, and the planned route is in the second state.
基于图10所示示意图所对应的计算方式也可以分别计算规划航线和目标限飞区之间的水平距离、计算规划航线和目标限飞区之间的竖直距离。Based on the calculation method corresponding to the schematic diagram shown in FIG. 10, the horizontal distance between the planned route and the target flight limited zone can be separately calculated, and the vertical distance between the planned route and the target flight limited zone can be calculated.
本发明实施例通过对限飞区的边界线进行调整,基于距离阈值来生成不同的指示线,通过判断规划航线与指示线是否相交可以快速地确定出规划航线和限飞区之间的位置关系,确定出规划航线的状态。不需要计算规划航线上每个航点与限飞区之间的位置关系,节省了计算成本,提高了效率。In the embodiment of the present invention, the boundary line of the flight limited area is adjusted, and different indication lines are generated based on the distance threshold. By determining whether the planned route and the indication line intersect, the positional relationship between the planned route and the flight limited zone can be quickly determined. , determine the status of the planned route. It is not necessary to calculate the positional relationship between each waypoint and the flight-limited zone on the planned route, which saves calculation cost and improves efficiency.
本发明实施例能够在规划好飞行器的飞行航线后,自动进行关于该航线与邻近的限飞区之间的距离,确定出该航线的限飞状态,进而基于不同的限飞状态对飞行器进行不同的处理,满足了对飞行器基于限飞区进行控制的自动化、智能化需求。The embodiment of the present invention can automatically perform the distance between the route and the adjacent flight-limited zone after planning the flight path of the aircraft, determine the flight-limit state of the route, and then differentiate the aircraft based on different flight-limited states. The processing meets the automation and intelligent requirements for controlling the aircraft based on the restricted flight zone.
再请参见图11,是本发明实施例的又一种飞行处理方法的流程示意图,本发明实施例的所述飞行处理方法可以在飞行器端来执行,具体由飞行器中设置的控制器来执行。所述方法实际也可以由地面控制端来执行。所述方法具体可以包括如下步骤。 Referring to FIG. 11 , it is a schematic flowchart of still another flight processing method according to an embodiment of the present invention. The flight processing method of the embodiment of the present invention may be performed at an aircraft end, specifically by a controller provided in an aircraft. The method can also be performed by the ground control terminal. The method may specifically include the following steps.
S1101:根据所述飞行位置,并根据所述飞行器当前的飞行速度,进行飞行预测得到预测时间值,所述进行飞行预测得到的预测时间值是指:预测得到的进入所述目标限飞区的时间间隔。预测时间值越小,表明飞行器很快将会进入限飞区,预测时间值较大,则可以认为飞行器还有较长一段时间进入限飞区。S1101: According to the flight position, and according to the current flight speed of the aircraft, performing flight prediction to obtain a predicted time value, where the predicted time value obtained by performing the flight prediction refers to: the predicted entering the target flight limited area. time interval. The smaller the predicted time value, indicating that the aircraft will soon enter the flight limited zone, and the predicted time value is large, it can be considered that the aircraft has a longer period of time to enter the flight limited zone.
S1102:根据所述预测时间值执行关于所述飞行器的飞行处理。在一个实施例中,可以仅基于在所述S1101中得到的预测时间值来进行关于所述飞行器的飞行提示处理。在另一个实施例中,也可以根据预测时间值,并结合上述得到的飞行器所处的限飞状态,进行关于所述飞行器的飞行提示处理。S1102: Perform flight processing on the aircraft according to the predicted time value. In one embodiment, the flight cue processing with respect to the aircraft may be performed based solely on the predicted time value obtained in the S1101. In another embodiment, the flight prompting process with respect to the aircraft may also be performed based on the predicted time value and in conjunction with the flight limited state in which the aircraft is obtained.
得到的预测时间值至少可以分为两个等级,每个等级对应有不同的用于执行关于所述飞行器的飞行处理的处理规则。例如,在预测时间值不大于第一时间值所在的第一等级时,选择第一处理规则执行关于所述飞行器的飞行处理;在所述预测时间值不大于第二时间值所在的第二等级,选择第二处理规则执行关于所述飞行器的飞行处理。The resulting predicted time value can be divided into at least two levels, each level corresponding to a different processing rule for performing flight processing with respect to the aircraft. For example, when the predicted time value is not greater than the first level at which the first time value is located, the first processing rule is selected to perform flight processing with respect to the aircraft; and the predicted time value is not greater than the second level at which the second time value is located The second processing rule is selected to perform flight processing with respect to the aircraft.
在一个实施例中,在基于上述实施例中确定的规划航线的限飞状态在显示界面上发出提示信息的同时,可以同时显示基于预测时间值所对应处理规则的提示信息。两个提示信息可以分别基于两个飘窗窗口来显示。In an embodiment, the prompt information based on the processing rule corresponding to the predicted time value may be simultaneously displayed while the prompting information of the planned route determined in the foregoing embodiment is sent on the display interface. The two prompt information can be displayed based on two bay window windows, respectively.
在一个实施例中,也可以基于限飞状态和预测时间值来确定关于所述飞行器的飞行处理。在第一状态下,如果预测时间值小于第二时间值,则可以发出相应的关于飞行器的飞行处理提示,例如可以发出“速度过快,请谨慎飞行的提示”。而在第二状态下,如果预测时间值大于第二时间值而小于第一时间值,则可以发出相应的关于飞行器的飞行处理提示,例如可以是发出“在N秒后飞行将受限”的提示。还可以进一步地控制飞行器悬停,以避免进入目标限飞区。In one embodiment, flight processing regarding the aircraft may also be determined based on the flight limited state and the predicted time value. In the first state, if the predicted time value is less than the second time value, a corresponding flight processing prompt for the aircraft may be issued, for example, "a warning that the speed is too fast, please be careful to fly" may be issued. In the second state, if the predicted time value is greater than the second time value and less than the first time value, the corresponding flight processing prompt for the aircraft may be issued, for example, it may be that “the flight will be limited after N seconds”. prompt. It is also possible to further control the aircraft to hover to avoid entering the target flight zone.
也就是说,基于不同的限飞状态和不同的预测时间值的组合,可以根据需要预置不同的处理规则执行关于所述飞行器的飞行处理。That is to say, based on the combination of different flight limit states and different predicted time values, flight processing regarding the aircraft can be performed by presetting different processing rules as needed.
本发明实施例能够在规划好飞行器的飞行航线后,自动进行关于 该航线与邻近的限飞区之间的距离,确定出该航线的限飞状态,进而基于不同的限飞状态对飞行器进行不同的处理,满足了对飞行器基于限飞区进行控制的自动化、智能化需求。Embodiments of the present invention can automatically perform after planning a flight path of an aircraft. The distance between the route and the adjacent flight-limited zone determines the flight-limited state of the route, and then the aircraft is treated differently based on different flight-limited states, which satisfies the automation and intelligence of controlling the aircraft based on the flight-limited zone. Demand.
本发明实施例还提供了一种计算机存储介质,该计算机存储介质中存储了程序指令。该程序指令被运行时,可以实现上述各个实施例中相应的方法,以及相应的显示界面等。Embodiments of the present invention also provide a computer storage medium in which program instructions are stored. When the program instruction is executed, the corresponding method in each of the above embodiments, and the corresponding display interface and the like can be implemented.
再请参见图12,是本发明实施例的一种飞行处理装置的结构示意图,本发明实施例的所述飞行处理装置可以运行于飞行器中,也可以运行于地面控制端。所述飞行处理装置具体可以运行如下模块:Referring to FIG. 12, it is a schematic structural diagram of a flight processing apparatus according to an embodiment of the present invention. The flight processing apparatus of the embodiment of the present invention may be operated in an aircraft or may be operated on a ground control end. The flight processing device may specifically run the following modules:
获取模块1201,用于获取飞行器的飞行位置到预设的目标位置之间的规划航线;确定模块1202,用于确定所述规划航线的限飞状态,所述限飞状态是根据所述规划航线与目标限飞区之间的距离来确定的;处理模块1203,用于根据所述限飞状态执行关于所述飞行器的飞行处理。The acquiring
可选地,所述限飞状态至少包括第一状态和第二状态,每种状态对应有不同的用于执行关于所述飞行器的飞行处理的处理规则。Optionally, the fly-limited state includes at least a first state and a second state, each state corresponding to a different processing rule for performing flight processing with respect to the aircraft.
可选地,在本实施例的一种实施方式中,所述处理模块1203具体用于若所述限飞状态为第一状态,则根据与所述第一状态对应的处理规则,在显示界面上发出第一提示信息;所述第一提示信息包括用于提示需要注意限飞区的飞行提示信息。Optionally, in an implementation manner of this embodiment, the
可选地,所述第一提示信息是在接收到对所述飞行器的飞行指令后在所述显示界面上发出的;所述目标位置是返航点位置,所述飞行指令包括返航指令,所述返航指令用于指示所述飞行器根据所述规划航线返航至所述返航点位置。Optionally, the first prompt information is sent on the display interface after receiving a flight instruction to the aircraft; the target position is a returning point position, and the flight instruction includes a returning instruction, The return flight instruction is used to instruct the aircraft to return to the return point position according to the planned route.
可选地,所述处理模块1203还用于在显示界面上显示确认提示,在接收到对所述确认提示发出的确认操作时,根据所述返航指令控制所述飞行器在所述规划航线上飞行以返回至所述返航点位置。Optionally, the
可选地,在本实施例的另一种实施方式中,所述处理模块1203具体用于若所述限飞状态为第二状态,则根据与所述第二状态对应的
处理规则,在显示界面上发出第二提示信息,所述第二提示信息包括用于提示限制飞行的飞行提示信息。Optionally, in another implementation manner of this embodiment, the
可选地,所述处理模块1203还用于将显示界面上用于控制所述飞行器飞行的控制图标从第一显示方式切换到第二显示方式。Optionally, the
可选地,预设了至少一个距离阈值,所述确定模块1202具体用于获取目标限飞区,所述目标限飞区为预设的限飞区集合中与所述规划航线距离小于特定距离的限飞区,并根据所述规划航线与目标限飞区的距离与所述距离阈值进行比较,根据比较结果确定所述规划航线的限飞状态。Optionally, at least one distance threshold is preset, and the determining
可选地,在本实施例的一种实施方式中,所述确定模块1202具体用于根据所述规划航线与目标限飞区在水平方向上的距离是否小于所述距离阈值,确定所述规划航线的限飞状态。Optionally, in an implementation manner of this embodiment, the determining
可选地,在本实施例的另一种实施方式中,所述确定模块1202具体用于根据所述规划航线和所述距离阈值确定飞行区;判断所述飞行区与所述目标限飞区是否相交;根据判断结果确定所述规划航线的限飞状态。Optionally, in another implementation manner of this embodiment, the determining
可选地,所述确定的飞行区至少包括第一区和第二区;当判断所述目标限飞区仅与所述第一区相交时,所述确定模块1202确定所述规划航线为第一状态;当判断所述目标限飞区与所述第二区时,所述确定模块1202确定所述规划航线为第二状态。Optionally, the determined flight zone includes at least a first zone and a second zone; when it is determined that the target flight zone only intersects the first zone, the determining
可选地,所述第一区是根据所述规划航线和预设的第一距离阈值得到的,所述规划航线包括在所述第一区内;所述第二区是根据所述规划航线和预设的第二距离阈值得到的,所述规划航线包括在所述第二区内;所述第一距离阈值大于所述第二距离阈值。Optionally, the first area is obtained according to the planned route and a preset first distance threshold, where the planned route is included in the first zone; and the second zone is according to the planned route Obtained from the preset second distance threshold, the planned route is included in the second zone; and the first distance threshold is greater than the second distance threshold.
可选地,在本实施例的再一种实施方式中,所述确定模块1202具体用于从所述目标限飞区中确定出目标边界线,根据所述目标边界线和所述距离阈值得到指示线,并判断所述规划航线与所述指示线是否相交;根据判断结果确定所述规划航线的限飞状态。Optionally, in a further implementation manner of this embodiment, the determining
可选地,所述指示线包括:根据所述边界线和预设的第三距离阈
值得到第一指示线,所述边界线和预设的第四距离阈值得到第二指示线;当判断所述规划航线仅与第一指示线相交时,所述确定模块1202确定所述规划航线为第一状态;当判断所述规划航线与第二指示线相交时,所述确定模块1202确定所述规划航线为第二状态。Optionally, the indicator line includes: according to the boundary line and a preset third distance threshold
The value obtains a first indicator line, and the boundary line and the preset fourth distance threshold obtain a second indicator line; when it is determined that the planned route only intersects the first indicator line, the determining
可选地,所述飞行处理装置还可以运行如下模块:显示模块1204,用于在预设的显示界面中显示规划航线与所述目标限飞区之间的相对位置。Optionally, the flight processing device may further execute a module: a
可选地,所述显示模块1204还用于在显示界面上显示所述飞行位置与所述目标限飞区的相对位置。Optionally, the
可选地,所述处理模块1203还用于根据所述飞行位置,并根据所述飞行器当前的飞行速度,进行飞行预测得到预测时间值,所述进行飞行预测得到的预测时间值是指:预测得到的进入所述目标限飞区的时间间隔;再根据所述预测时间值执行关于所述飞行器的飞行处理。Optionally, the
可选地,所述处理模块1203具体用于若所述预测时间值不大于第一时间值,则选择第一处理规则执行关于所述飞行器的飞行处理;若所述预测时间值不大于第二时间值,则选择第二处理规则执行关于所述飞行器的飞行处理;所述第一时间值和所述第二时间值不相同,且所述第一处理规则与所述第二处理规则不相同。Optionally, the
可选地,所述处理模块1203还用于发出向远离所述目标限飞区的方向飞行的提示。Optionally, the
本发明实施例能够在规划好飞行器的飞行航线后,自动进行关于该航线与邻近的限飞区之间的距离,确定出该航线的限飞状态,进而基于不同的限飞状态对飞行器进行不同的处理,满足了对飞行器基于限飞区进行控制的自动化、智能化需求。The embodiment of the present invention can automatically perform the distance between the route and the adjacent flight-limited zone after planning the flight path of the aircraft, determine the flight-limit state of the route, and then differentiate the aircraft based on different flight-limited states. The processing meets the automation and intelligent requirements for controlling the aircraft based on the restricted flight zone.
再请参见图13,是本发明实施例的一种控制设备的结构示意图,所述控制设备包括:通信接口1301、处理器1302以及存储器1303。在一个实施例中,该控制设备可以是飞行器,除了包括上述的通信接口1301和处理器1302、存储器1303外,还包括动力组件、电子调
速器、电源等结构。Referring to FIG. 13 , it is a schematic structural diagram of a control device according to an embodiment of the present invention. The control device includes: a
在一个实施例中,所述控制设备还可以是智能终端,例如智能手机、平板电脑等,除了包括上述的通信接口1301和处理器1302、存储器1303外,还可以包括用户接口、显示器、电源等结构。In an embodiment, the control device may also be a smart terminal, such as a smart phone, a tablet computer, etc., and may include a user interface, a display, a power source, etc., in addition to the
所述存储器1303可以包括易失性存储器(volatile memory),例如随机存取存储器(random-access memory,RAM);存储器1303也可以包括非易失性存储器(non-volatile memory),例如快闪存储器(flash memory),硬盘(hard disk drive,HDD)或固态硬盘(solid-state drive,SSD);存储器1303还可以包括上述种类的存储器的组合。The
所述处理器1302可以是中央处理器(central processing unit,CPU)。所述处理器1302还可以进一步包括硬件芯片。上述硬件芯片可以是专用集成电路(application-specific integrated circuit,ASIC),可编程逻辑器件(programmable logic device,PLD)或其组合。上述PLD可以是复杂可编程逻辑器件(complex programmable logic device,CPLD),现场可编程逻辑门阵列(field-programmable gate array,FPGA),通用阵列逻辑(generic array logic,GAL)或其任意组合。The
所述存储器1303还用于存储程序指令。所述处理器1302可以调用所述程序指令,实现上述各个实施例中的相关方法,包括提到的飞行处理方法、限飞状态确定方法,以及距离计算方法等。。The
所述通信接口1301用于进行数据通信,所述处理器1302,用于获取飞行器的飞行位置到预设的目标位置之间的规划航线;确定所述规划航线的限飞状态,所述限飞状态是根据所述规划航线与目标限飞区之间的距离来确定的;根据所述限飞状态执行关于所述飞行器的飞行处理。The
在一个可选的实施例中,所述限飞状态至少包括第一状态和第二状态,每种状态对应有不同的用于执行关于所述飞行器的飞行处理的处理规则。In an alternative embodiment, the flight limited state includes at least a first state and a second state, each state corresponding to a different processing rule for performing flight processing with respect to the aircraft.
在一个可选的实施例中,所述处理器1302,在用于根据所述限飞状态执行关于所述飞行器的飞行处理时,具体用于若所述限飞状态
为第一状态,则根据与所述第一状态对应的处理规则,在显示界面上发出第一提示信息;所述第一提示信息包括用于提示需要注意限飞区的飞行提示信息。In an optional embodiment, the
在一个可选的实施例中,所述第一提示信息是在接收到对所述飞行器的飞行指令后在所述显示界面上发出的;所述目标位置是返航点位置,所述飞行指令包括返航指令,所述返航指令用于指示所述飞行器根据所述规划航线返航至所述返航点位置。In an optional embodiment, the first prompt information is sent on the display interface after receiving a flight instruction to the aircraft; the target location is a returning point location, and the flight instruction includes a returning instruction, the returning instruction is used to instruct the aircraft to return to the returning point position according to the planned route.
在一个可选的实施例中,所述处理器1302,在用于根据所述限飞状态执行关于所述飞行器的飞行处理时,还用于在显示界面上显示确认提示,在接收到对所述确认提示发出的确认操作时,根据所述返航指令控制所述飞行器在所述规划航线上飞行以返回至所述返航点位置。In an optional embodiment, the
在一个可选的实施例中,所述处理器1302,在用于根据所述限飞状态执行关于所述飞行器的飞行处理时,用于若所述限飞状态为第二状态,则根据与所述第二状态对应的处理规则,在显示界面上发出第二提示信息,所述第二提示信息包括用于提示限制飞行的飞行提示信息。In an optional embodiment, the
在一个可选的实施例中,所述处理器1302,在用于根据所述限飞状态执行关于所述飞行器的飞行处理时,还用于将显示界面上用于控制所述飞行器飞行的控制图标从第一显示方式切换到第二显示方式。In an optional embodiment, the
在一个可选的实施例中,预设了至少一个距离阈值,所述处理器1302,在用于确定所述规划航线的限飞状态时,用于获取目标限飞区,所述目标限飞区为预设的限飞区集合中与所述规划航线距离小于特定距离的限飞区;根据所述规划航线与目标限飞区的距离与所述距离阈值进行比较,根据比较结果确定所述规划航线的限飞状态。In an optional embodiment, at least one distance threshold is preset, and the
在一个可选的实施例中,所述处理器1302,在用于根据所述规划航线与目标限飞区的距离与所述距离阈值进行比较,根据比较结果确定所述规划航线的限飞状态时,用于根据所述规划航线与目标限飞
区在水平方向上的距离是否小于所述距离阈值,确定所述规划航线的限飞状态。In an optional embodiment, the
在一个可选的实施例中,所述处理器1302,在用于根据所述规划航线与目标限飞区的距离与所述距离阈值进行比较,根据比较结果确定所述规划航线的限飞状态时,用于根据所述规划航线和所述距离阈值确定飞行区;判断所述飞行区与所述目标限飞区是否相交;根据判断结果确定所述规划航线的限飞状态。In an optional embodiment, the
在一个可选的实施例中,所述确定的飞行区至少包括第一区和第二区;当判断所述目标限飞区仅与所述第一区相交时,确定所述规划航线为第一状态;当判断所述目标限飞区与所述第二区时,确定所述规划航线为第二状态。In an optional embodiment, the determined flight zone includes at least a first zone and a second zone; when it is determined that the target flight zone only intersects the first zone, determining the planned route is a state; when determining the target flight limited zone and the second zone, determining that the planned route is in a second state.
在一个可选的实施例中,所述第一区是根据所述规划航线和预设的第一距离阈值得到的,所述规划航线包括在所述第一区内;所述第二区是根据所述规划航线和预设的第二距离阈值得到的,所述规划航线包括在所述第二区内;所述第一距离阈值大于所述第二距离阈值。In an optional embodiment, the first area is obtained according to the planned route and a preset first distance threshold, the planned route is included in the first zone; and the second zone is Obtaining, according to the planned route and the preset second distance threshold, the planned route is included in the second zone; and the first distance threshold is greater than the second distance threshold.
在一个可选的实施例中,所述处理器1302,在用于根据所述规划航线与目标限飞区的距离与所述距离阈值进行比较,根据比较结果确定所述规划航线的限飞状态时,具体用于从所述目标限飞区中确定出目标边界线;根据所述目标边界线和所述距离阈值得到指示线;判断所述规划航线与所述指示线是否相交;根据判断结果确定所述规划航线的限飞状态。In an optional embodiment, the
在一个可选的实施例中,所述指示线包括:根据所述边界线和预设的第三距离阈值得到第一指示线,所述边界线和预设的第四距离阈值得到第二指示线;当判断所述规划航线仅与第一指示线相交时,确定所述规划航线为第一状态;当判断所述规划航线与第二指示线相交时,确定所述规划航线为第二状态。In an optional embodiment, the indicator line includes: obtaining a first indicator line according to the boundary line and a preset third distance threshold, the boundary line and a preset fourth distance threshold obtaining a second indication a line; when it is determined that the planned route intersects only the first indicator line, determining that the planned route is in a first state; and determining that the planned route intersects with the second indication line, determining that the planned route is in a second state .
在一个可选的实施例中,所述处理器1302,还用于在预设的显示界面中显示规划航线与所述目标限飞区之间的相对位置。In an optional embodiment, the
在一个可选的实施例中,所述处理器1302,还用于在显示界面
上显示所述飞行位置与所述目标限飞区的相对位置。In an optional embodiment, the
在一个可选的实施例中,所述处理器1302,还用于根据所述飞行位置,并根据所述飞行器当前的飞行速度,进行飞行预测得到预测时间值,所述进行飞行预测得到的预测时间值是指:预测得到的进入所述目标限飞区的时间间隔;根据所述预测时间值执行关于所述飞行器的飞行处理。In an optional embodiment, the
在一个可选的实施例中,所述处理器1302,在用于根据所述预测时间值执行关于所述飞行器的飞行处理时,还用于若所述预测时间值不大于第一时间值,则选择第一处理规则执行关于所述飞行器的飞行处理;若所述预测时间值不大于第二时间值,则选择第二处理规则执行关于所述飞行器的飞行处理;所述第一时间值和所述第二时间值不相同,且所述第一处理规则与所述第二处理规则不相同。In an optional embodiment, the
在一个可选的实施例中,所述处理器1302,在用于根据所述限飞状态执行关于所述飞行器的飞行处理,还用于发出向远离所述目标限飞区的方向飞行的提示。In an optional embodiment, the
本发明实施例能够在规划好飞行器的飞行航线后,自动进行关于该航线与邻近的限飞区之间的距离,确定出该航线的限飞状态,进而基于不同的限飞状态对飞行器进行不同的处理,满足了对飞行器基于限飞区进行控制的自动化、智能化需求。The embodiment of the present invention can automatically perform the distance between the route and the adjacent flight-limited zone after planning the flight path of the aircraft, determine the flight-limit state of the route, and then differentiate the aircraft based on different flight-limited states. The processing meets the automation and intelligent requirements for controlling the aircraft based on the restricted flight zone.
以上所揭露的仅为本发明部分实施例而已,当然不能以此来限定本发明之权利范围,因此依本发明权利要求所作的等同变化,仍属本发明所涵盖的范围。 The above disclosure is only a part of the embodiments of the present invention, and the scope of the present invention is not limited thereto, and thus equivalent changes made in the claims of the present invention are still within the scope of the present invention.
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Also Published As
Publication number | Publication date |
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CN108496213B (en) | 2022-01-25 |
CN108496213A (en) | 2018-09-04 |
CN114326811A (en) | 2022-04-12 |
CN114326811B (en) | 2024-08-02 |
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