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WO2018187889A1 - Procédé de traitement de vol et appareil de commande - Google Patents

Procédé de traitement de vol et appareil de commande Download PDF

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Publication number
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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WO
WIPO (PCT)
Prior art keywords
flight
planned route
zone
aircraft
state
Prior art date
Application number
PCT/CN2017/079839
Other languages
English (en)
Chinese (zh)
Inventor
张立天
周鸿柱
李昊南
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201780004597.9A priority Critical patent/CN108496213B/zh
Priority to CN202111660400.1A priority patent/CN114326811B/zh
Priority to PCT/CN2017/079839 priority patent/WO2018187889A1/fr
Publication of WO2018187889A1 publication Critical patent/WO2018187889A1/fr

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/30—Flight plan management
    • 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

La présente invention concerne un procédé de traitement de vol et un appareil de commande. Le procédé consiste : à acquérir une trajectoire de vol planifiée (204, 301) entre une position de vol (202) d'un aéronef et une position cible prédéfinie (S401, S501) ; à déterminer un état de vol limité de la trajectoire de vol planifiée (204, 301) (S402, S502), l'état de vol limité étant déterminé en fonction de la distance entre la trajectoire de vol planifiée (204, 301) et une zone de vol limitée cible (205, 302) ; et à exécuter un traitement de vol concernant l'aéronef selon l'état de vol limité (S403). Un traitement différent peut être réalisé sur l'aéronef sur la base de différents états de vol limités, répondant ainsi aux exigences d'automatisation et d'intelligence en ce qui concerne la commande sur l'aéronef sur la base d'une zone de vol limitée.
PCT/CN2017/079839 2017-04-09 2017-04-09 Procédé de traitement de vol et appareil de commande WO2018187889A1 (fr)

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PCT/CN2017/079839 WO2018187889A1 (fr) 2017-04-09 2017-04-09 Procédé de traitement de vol et appareil de commande

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