CN106950993A - The controllable unmanned plane of headroom spatial domain flight path - Google Patents
The controllable unmanned plane of headroom spatial domain flight path Download PDFInfo
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- CN106950993A CN106950993A CN201710307703.2A CN201710307703A CN106950993A CN 106950993 A CN106950993 A CN 106950993A CN 201710307703 A CN201710307703 A CN 201710307703A CN 106950993 A CN106950993 A CN 106950993A
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- 238000004891 communication Methods 0.000 claims description 20
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- 230000005540 biological transmission Effects 0.000 claims description 3
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 claims description 3
- 238000012795 verification Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000010006 flight Effects 0.000 description 2
- 238000012827 research and development Methods 0.000 description 2
- 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 1
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- 230000000694 effects Effects 0.000 description 1
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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
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- Automation & Control Theory (AREA)
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Abstract
The present invention is the unmanned plane controllable on a kind of headroom spatial domain flight path.The unmanned plane includes：Position detecting module, for detect the unmanned plane take off after positional information；Wherein, the positional information includes altitude info ination, longitude information and the latitude information that the unmanned plane is currently located；First control module, for before the unmanned plane enters default headroom spatial domain, sending spatial domain identification to airfield control central and asking, and receive the spatial information (si) that the airfield control central recognizes the default headroom spatial domain for asking to return according to the spatial domain；Whether the default headroom spatial domain is entered according to the positional information and the presently described unmanned plane of spatial information (si) real-time judge, if then controlling the unmanned plane to leave the default headroom spatial domain.The present invention can reduce or even eliminate the security implication of the unmanned plane that occurs near obstacle free airspace spatial domain to air station flight landing, it is ensured that the normal operation on airport, and technical scheme realizes simple, low cost.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly to a kind of controllable unmanned plane of headroom spatial domain flight path.
Background technology
Current unmanned plane has been become more and more popular, and the flight of unmanned plane is manipulated by unmanned plane driver, but current drivers
Manipulation be any without specification.
Recently occur some improper or black winged unmanned plane during flying activities near obstacle free airspace spatial domain, cause a large amount of
Air station flight takeoff and landing are delayed or other airports of making preparation for dropping, and badly influence the safe flight of air station flight, harmfulness is very big.
The content of the invention
It is an object of the invention to provide one kind realization simply, the controllable unmanned plane of the headroom spatial domain flight path of low cost, with
Reduce the security implication for even eliminating the unmanned plane that occurs near obstacle free airspace spatial domain to air station flight landing as far as possible, so that really
Protect the normal operation on airport.
There is provided a kind of controllable unmanned plane of headroom spatial domain flight path, the unmanned plane for first aspect according to embodiments of the present invention
Including：
Position detecting module, for detect the unmanned plane take off after positional information；Wherein, the positional information includes described
Altitude info ination, longitude information and latitude information that unmanned plane is currently located；
First control module, for before the unmanned plane enters default headroom spatial domain, spatial domain to be sent to airfield control central
Identification request, and receive the sky that the airfield control central recognizes the default headroom spatial domain for asking to return according to the spatial domain
Domain information；
First control module, be additionally operable to be according to the positional information and the presently described unmanned plane of spatial information (si) real-time judge
It is no to enter the default headroom spatial domain, if then controlling the unmanned plane to leave the default headroom spatial domain.
In an embodiment of the present invention, the unmanned plane also includes：
Second control module, for when judging that presently described unmanned plane is introduced into the default headroom spatial domain, obtaining the nothing
Man-machine course information and flying speed, calculates the unmanned plane according to the course information and flying speed and is preset only with described
Safe distance between absolutely empty domain；When the safe distance is less than the first preset value, the unmanned plane during flying is controlled away from institute
State default headroom spatial domain.
In an embodiment of the present invention, the unmanned plane include power supply and main control unit, the power supply and main control unit it
Between electrically connect switch element；
Second control module, is additionally operable to detect the electricity of the power supply, when the electricity is more than or equal to the second preset value,
The unmanned plane during flying is controlled away from the default headroom spatial domain；When the electricity is less than second preset value, control is described
Switch element cuts off the power supply of the main control unit so that the unmanned plane directly drops.
In an embodiment of the present invention, the unmanned plane also includes：
3rd control module, sends for after the unmanned plane enters the default headroom spatial domain, receiving airfield control central
Control instruction and the flight path of the unmanned plane is controlled according to the control instruction.
In an embodiment of the present invention, the 3rd control module, is additionally operable to enter described default net in the unmanned plane
Default signal of communication is actively sent during absolutely empty domain immediately to set up the communication connection between the airfield control central.
In an embodiment of the present invention, the 3rd control module, be additionally operable to set up with the airfield control central it
Between communication connection after, control the main control unit to forbid receiving the operational order of the controller associated with the unmanned plane.
In an embodiment of the present invention, the unmanned plane also includes：
Communication module, is communicated to connect with the 3rd control module, for receiving and forwarding what the airfield control central was sent
The control instruction is to the 3rd control module.
In an embodiment of the present invention, the communication module, is additionally operable to send default identification information to the airport and controls
Center receives after being verified to carry out safety verification and forwards the control instruction.
In an embodiment of the present invention, the spatial information (si) includes the height above sea level scope in the default headroom spatial domain, warp
Spend scope and latitude scope.
The technical scheme that embodiments of the invention are provided can include the following benefits：
In the embodiment of the present invention, pass through the set location detection module on unmanned plane and the first control module, the position detection
Module detect the unmanned plane take off after positional information, first control module is according to the positional information and spatial information (si)
Whether the presently described unmanned plane of real-time judge enters default headroom spatial domain, if it is described default net then to control the unmanned plane to leave
Absolutely empty domain.So, by the simple modifications to unmanned plane itself, unmanned plane can actively avoid itself entering as obstacle free airspace is empty
Domain, if into can be remote immediately, reducing and even eliminating the unmanned plane occurred near obstacle free airspace spatial domain to air station flight landing
Security implication, so that it is guaranteed that the normal operation on airport；Intercept or follow the trail of in addition, setting up special unmanned plane with special research and development
System is compared, and the present invention program realizes that simply, manpower and financial cost needed for exploitation is lower.
Brief description of the drawings
Fig. 1 goes out flight path controllable unmanned plane schematic diagram in headroom spatial domain in exemplary embodiment of the present；
Fig. 2 shows flight path controllable unmanned plane schematic diagram in another headroom spatial domain in exemplary embodiment of the present；
Fig. 3 shows flight path controllable unmanned plane schematic diagram in another headroom spatial domain in exemplary embodiment of the present.
Embodiment
Example embodiment is described more fully with referring now to accompanying drawing.However, example embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to example set forth herein；On the contrary, thesing embodiments are provided so that the present invention will more
Fully and completely, and by the design of example embodiment those skilled in the art is comprehensively conveyed to.Described feature, knot
Structure or characteristic can be combined in one or more embodiments in any suitable manner.
In addition, accompanying drawing is only the schematic illustrations of the present invention, it is not necessarily drawn to scale.Identical accompanying drawing mark in figure
Note represents same or similar part, thus will omit repetition thereof.Some block diagrams shown in accompanying drawing are work(
Can entity, not necessarily must be corresponding with physically or logically independent entity.These work(can be realized using software form
Can entity, or realize in one or more hardware modules or integrated circuit these functional entitys, or at heterogeneous networks and/or place
These functional entitys are realized in reason device device and/or microcontroller device.
A kind of flight path controllable unmanned plane in headroom spatial domain is provided in this example embodiment.With reference to shown in Fig. 1, the nothing
It is man-machine to include the control module 102 of position detecting module 101 and first.Wherein：
The position detecting module 101, for detect the unmanned plane take off after positional information；Wherein, the positional information
Altitude info ination, longitude information and the latitude information being currently located including the unmanned plane.
Exemplary, the altitude info ination can be determined by the barometertic altimeter being arranged on the unmanned plane, institute
Stating longitude information and latitude information can be determined by such as GPS module, and these belong to mature technology, repeat no more.
In an embodiment of the present invention, first control module 102, for entering described default net in the unmanned plane
Before absolutely empty domain, send spatial domain identification to airfield control central and ask, and receive the airfield control central according to the spatial domain
The spatial information (si) in the default headroom spatial domain that identification request is returned.
Exemplary, the spatial information (si) can include height above sea level scope, the longitude range in the default headroom spatial domain
With latitude scope etc..Can certainly be the spatial information (si) that default headroom spatial domain is pre-set on the unmanned plane, to this not
It is restricted.
First control module 102, is additionally operable to presently described according to the positional information and spatial information (si) real-time judge
Whether unmanned plane enters default headroom spatial domain, if then controlling the unmanned plane to leave the default headroom spatial domain.
Specifically, first control module 102 is presently described according to the positional information and spatial information (si) real-time judge
Whether unmanned plane enters default headroom spatial domain, namely judges that the unmanned plane that the position detecting module is detected is currently located
The whether corresponding height above sea level model for respectively falling in the default headroom spatial domain of altitude info ination, longitude information and latitude information
Enclose, in longitude range and latitude scope, default headroom spatial domain is entered if falling into.The default headroom spatial domain can be empty by airport
Pipe portion door delimited.It should be noted that the concrete structure of the unmanned plane and other circuit control units etc. refer to it is existing
Technology.
In the present embodiment, by the simple modifications to unmanned plane itself, unmanned plane can actively judge according to self-position
Whether obstacle free airspace spatial domain is entered, so as to avoid itself entering obstacle free airspace spatial domain, if into can be remote immediately, so may be used
Reduce the security implication for even eliminating the unmanned plane that occurs near obstacle free airspace spatial domain to air station flight landing, so as to ensure
The normal operation on airport, it is ensured that passenger safety is gone on a journey in time.Intercept or chase after in addition, setting up special unmanned plane with special research and development
Track system is compared, and the present invention program realizes that simply, manpower and financial cost needed for exploitation is lower.
As shown in Fig. 2 in an embodiment of the present invention, the unmanned plane 100 also includes the second control module 103, for
When judging that presently described unmanned plane is introduced into the default headroom spatial domain, the course information and flight speed of the unmanned plane are obtained
Degree, the safe distance between the unmanned plane and the default headroom spatial domain is calculated according to the course information and flying speed；
When the safe distance is less than the first preset value, the unmanned plane during flying is controlled away from the default headroom spatial domain.The boat
For example can be heading, the angle of pitch etc. to information.
In this manner it is achieved that controlling in advance, before unmanned plane soon enters such as obstacle free airspace spatial domain, make unmanned plane remote,
It thereby may be ensured that the safe landing of flight.
During control in advance is realized, at some in emergency circumstances, in order to be further ensured that the safe landing of flight.
In embodiments of the invention, the unmanned plane includes power supply and main control unit（It is not shown）, between the power supply and main control unit
Electrically connect switch element（Such as transistor switching circuit）.Accordingly, second control module 103, is additionally operable to detect the electricity
The electricity in source, when the electricity is more than or equal to the second preset value, controls the unmanned plane during flying empty away from the default headroom
Domain；When the electricity is less than second preset value, the switch element is controlled to cut off the power supply of the main control unit so that institute
Unmanned plane is stated directly to drop.
Exemplary, that is to say, that when in case of emergency controlling unmanned plane away from default headroom spatial domain, detection power supply
Electricity, may determine that whether unmanned plane can meet the electricity needed at the position for reaching other flights of safe avoidance accordingly, if can
Then control the unmanned plane during flying away from the default headroom spatial domain to meet, do not damage unmanned plane.Peace is reached when that can not meet
The electricity needed at the position for avoiding other flights entirely, it is necessary to make unmanned plane can not fly and drop immediately, and so possibility is damaged
Unmanned plane still can improve the security of flight landing.
As shown in figure 3, in an embodiment of the present invention, the unmanned plane 100 also includes the 3rd control module 104, for
The unmanned plane enters behind the default headroom spatial domain, receives airfield control central（It is not shown）The control instruction and basis of transmission
The control instruction controls the flight path of the unmanned plane.For example, just in case unmanned plane come into obstacle free airspace spatial domain and now
Just there is flight landing, then airfield control central can control the flight path of unmanned plane in time to avoid to avoid and navigate
Class's landing conflict, can also ensure schedule flight safety to the full extent.
In an embodiment of the present invention, the 3rd control module 104, is additionally operable to enter described default in the unmanned plane
Default signal of communication is actively sent during headroom spatial domain immediately to set up the communication connection between the airfield control central.Namely
The communication set up at once between airfield control central when unmanned plane enters obstacle free airspace spatial domain, it is to avoid security incident occurs.
In order to further ensure that flight landing security, in an embodiment of the present invention, the 3rd control module 104,
Be additionally operable to after the communication connection between the airfield control central is set up, control the main control unit forbid receiving with it is described
The operational order of the controller of unmanned plane association.That is, enter obstacle free airspace spatial domain in unmanned plane and set up and machine at once
After communication between the control centre of field, the control authority of unmanned plane is transferred into airfield control central completely, to avoid unmanned plane from grasping
Influence of the operational order that author is sent by controller to UAV Flight Control, ensures that flight landing is pacified so as to reach
The purpose of full property.
In an embodiment of the present invention, the unmanned plane also include communication module, such as 3G or 4G communication modules, or it is airborne specially
Use communication module.The communication module is communicated to connect with the 3rd control module 104, for receiving and forwarding the airport to control
The control instruction that center processed is sent is to the 3rd control module 104.The communication module, is additionally operable to send default mark
Information, to carry out safety verification, receives after being verified to the airfield control central and forwards the control instruction.So,
The reliability of instruction transmission is ensured by checking, it is to avoid illegal operation, and then improve the security of unmanned aerial vehicle (UAV) control, also further
Improve flight landing security.
Through the above description of the embodiments, those skilled in the art is it can be readily appreciated that example described herein is implemented
Mode can be realized by software, can also be realized by way of software combines necessary hardware.Therefore, according to the present invention
The technical scheme of embodiment can be embodied in the form of software product, the software product can be stored in one it is non-volatile
Property storage medium（Can be CD-ROM, USB flash disk, mobile hard disk etc.）In.
Those skilled in the art will readily occur to its of the present invention after the invention that specification and practice are invented here is considered
Its embodiment.The application be intended to the present invention any modification, purposes or adaptations, these modifications, purposes or
Person's adaptations follow the general principle of the present invention and the common knowledge in the art do not invented including the present invention
Or conventional techniques.Description and embodiments are considered only as exemplary, and true scope and spirit of the invention are by appended
Claim is pointed out.
Claims (9)
1. the controllable unmanned plane of a kind of headroom spatial domain flight path, it is characterised in that the unmanned plane includes：
Position detecting module, for detect the unmanned plane take off after positional information；Wherein, the positional information includes described
Altitude info ination, longitude information and latitude information that unmanned plane is currently located；
First control module, for before the unmanned plane enters default headroom spatial domain, spatial domain to be sent to airfield control central
Identification request, and receive the sky that the airfield control central recognizes the default headroom spatial domain for asking to return according to the spatial domain
Domain information；
First control module, be additionally operable to be according to the positional information and the presently described unmanned plane of spatial information (si) real-time judge
It is no to enter the default headroom spatial domain, if then controlling the unmanned plane to leave the default headroom spatial domain.
2. the controllable unmanned plane pipe of headroom spatial domain flight path according to claim 1, it is characterised in that the unmanned plane also includes：
Second control module, for when judging that presently described unmanned plane is introduced into the default headroom spatial domain, obtaining the nothing
Man-machine course information and flying speed, calculates the unmanned plane according to the course information and flying speed and is preset only with described
Safe distance between absolutely empty domain；When the safe distance is less than the first preset value, the unmanned plane during flying is controlled away from institute
State default headroom spatial domain.
3. the controllable unmanned plane pipe of headroom spatial domain flight path according to claim 2, it is characterised in that the unmanned plane includes electricity
Source and main control unit, switch element is electrically connected between the power supply and main control unit；
Second control module, is additionally operable to detect the electricity of the power supply, when the electricity is more than or equal to the second preset value,
The unmanned plane during flying is controlled away from the default headroom spatial domain；When the electricity is less than second preset value, control is described
Switch element cuts off the power supply of the main control unit so that the unmanned plane directly drops.
4. the controllable unmanned plane pipe of headroom spatial domain flight path according to claim 3, it is characterised in that the unmanned plane also includes：
3rd control module, for after the unmanned plane enters the default headroom spatial domain, receiving the airfield control central
The control instruction of transmission and the flight path that the unmanned plane is controlled according to the control instruction.
5. the controllable unmanned plane pipe of headroom spatial domain flight path according to claim 4, it is characterised in that the 3rd control mould
Block, is additionally operable to actively to send default signal of communication immediately when the unmanned plane enters the default headroom spatial domain to set up and institute
State the communication connection between airfield control central.
6. the controllable unmanned plane pipe of headroom spatial domain flight path according to claim 5, it is characterised in that the 3rd control mould
Block, is additionally operable to after the communication connection between the airfield control central is set up, control the main control unit forbid receiving with
The operational order of the controller of the unmanned plane association.
7. the controllable unmanned plane pipe of headroom spatial domain flight path according to claim 6, it is characterised in that the unmanned plane also includes：
Communication module, is communicated to connect with the 3rd control module, for receiving and forwarding what the airfield control central was sent
The control instruction is to the 3rd control module.
8. the controllable unmanned plane pipe of headroom spatial domain flight path according to claim 7, it is characterised in that the communication module, also
For sending default identification information to the airfield control central to carry out safety verification, received after being verified and forward institute
State control instruction.
9. the controllable unmanned plane pipe of headroom spatial domain flight path according to claim 1, it is characterised in that the spatial information (si) includes
Height above sea level scope, longitude range and the latitude scope in the default headroom spatial domain.
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| CN201710307703.2A CN106950993A (en) | 2017-05-04 | 2017-05-04 | The controllable unmanned plane of headroom spatial domain flight path |
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| CN120766569A (en) * | 2025-09-02 | 2025-10-10 | 天津云圣智能科技有限责任公司 | UAV takeoff and landing management method, device, equipment and medium |
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Application publication date: 20170714 |