CN107424442A - Fence and the unmanned aerial vehicle (UAV) control method based on fence - Google Patents
Fence and the unmanned aerial vehicle (UAV) control method based on fence Download PDFInfo
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- CN107424442A CN107424442A CN201710524007.7A CN201710524007A CN107424442A CN 107424442 A CN107424442 A CN 107424442A CN 201710524007 A CN201710524007 A CN 201710524007A CN 107424442 A CN107424442 A CN 107424442A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/006—Navigation or guidance aids for a single aircraft in accordance with predefined flight zones, e.g. to avoid prohibited zones
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/0065—Navigation or guidance aids for a single aircraft for taking-off
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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Abstract
Unmanned aerial vehicle (UAV) control method the embodiments of the invention provide a fence, based on fence, wherein fence include：Radar data catenary system, identifying system and control system；The radar data catenary system receives the unmanned plane radar information that air traffic control radar system uploads；Wherein, the unmanned plane flies in the designated flying zone that the air traffic control radar system is monitored；The identifying system carries out authentication to the unmanned plane, and authentication result and unmanned plane identity information are back into the radar data catenary system；When the authentication result is that the unmanned plane authentication fails, the radar data catenary system sends the radar information and the unmanned plane identity information to the control system；Control system foundation radar information, control the flight path of the unmanned plane corresponding to the unmanned plane identity information.By fence provided in an embodiment of the present invention, the extreme behavior for flying into unmanned plane in designated flying zone can be intervened, ensure designated flying zone safety.
Description
Technical field
The present invention relates to spatial domain security fields, more particularly to a kind of fence and the unmanned plane based on fence
Control method.
Background technology
With development in science and technology, Development of UAV is swift and violent, develops into an emerging industry from a few peoples are proprietary.At present
China's unmanned plane quantity is more than 20,000 framves, and more than half does not take unmanned plane driving license, in " black to fly " state.Unmanned plane is rushed in
The operation of airport no-fly zone interference flight, threaten the malignant event of aviation safety to take place frequently, influence spatial domain safety.
On international scope, the precautionary measures of correlation, but the prison of domestic unmanned plane have been taken for the black winged phenomenon of unmanned plane
Pipe takes precautions against management and control measures, illegal unmanned plane will give aerial supervision, in the air peace accordingly also in space state if do not taken
Great hidden danger is caused entirely.Strengthen the supervision to unmanned plane, both needed legal guarantee guarantee, it is also desirable to which technological innovation is escorted.For
Make numerous light small unmanned planes " taking their own roads ", safe flight, be badly in need of building " fence " using technological means.
The content of the invention
In view of country's the problem of effectively can not being supervised to unmanned plane at present, it is proposed that the present invention is to provide a kind of gram
Take the fence of above mentioned problem and the unmanned aerial vehicle (UAV) control method based on fence.
According to one aspect of the present invention, there is provided a kind of fence, the fence include：Radar data linkwork
System, identifying system and control system；The radar data catenary system receives the unmanned plane radar letter that air traffic control radar system uploads
Breath；Wherein, the unmanned plane flies in the designated flying zone that the air traffic control radar system is monitored；The identifying system is to described
Unmanned plane carries out authentication, and authentication result and unmanned plane identity information are back into the radar data catenary system；When
When the authentication result is that the unmanned plane authentication fails, the radar data catenary system is by the radar information and institute
Unmanned plane identity information is stated to send to the control system；The control system according to the radar information, control it is described nobody
The flight path of unmanned plane corresponding to identity information.
Alternatively, the control system includes：Unmanned plane determining module, determined according to the unmanned plane identity information to be controlled
Unmanned plane processed；Locating module, according to the radar information determine the unmanned plane to be controlled, in the designated flying zone it is residing
Subregion；Directive generation module, control instruction corresponding with the subregion is generated, and the control instruction is passed through into wireless communication
Road is sent to the intervention module of the unmanned plane to be controlled, so that the intervention module controls unmanned plane according to the control instruction
Flight path.
Alternatively, following subregion is included in the designated flying zone：Risk zones, buffer area are according to no-fly region.
Alternatively, when the unmanned plane to be controlled is in the risk zones, directive generation module generation warning instruction,
And send the warning instruction to the intervention module of the unmanned plane to be controlled by wireless channel, so that the intervention module
The ground that the warning instruction is transmitted to the unmanned plane is controlled into terminal；When the unmanned plane to be controlled is in the buffer area
When middle, control instruction is flown away from directive generation module generation, and the control instruction that flies away from is sent to described by wireless channel
The intervention module of unmanned plane to be controlled, so that the intervention module controls the unmanned plane to fly away from the designated flying zone；When described
When unmanned plane to be controlled is in the no-fly region, directive generation module generation landing control instruction, and the landing is controlled
Instruction sent by wireless channel to the intervention module of the unmanned plane to be controlled so that the intervention module control it is described nobody
Machine lands.
Alternatively, the identifying system includes：Sending module, pass through authentication mould of the radio communication channel to unmanned plane
Block sends system identity authentication information；Receiving module, when certification by after, receive the authentication module and pass through radio communication
The 2 D code information that channel is sent；Deciphering module, the 2 D code information is decrypted, obtains the identification of unmanned plane
Code；Parsing module, the identity code is parsed, obtain unmanned plane identity information；Matching module, the identity is believed
Identity information corresponding with each unmanned plane to prestore in storehouse of putting on record is ceased to be matched；If the match is successful, it is determined that the unmanned plane
Authentication success；If it fails to match, it is determined that the unmanned plane authentication failure；As a result module is returned to, by authentication result
And unmanned plane identity information is back to the radar data catenary system.
According to another aspect of the present invention, there is provided a kind of unmanned aerial vehicle (UAV) control method based on fence, the electricity
Sub- fence includes：Radar data catenary system, identifying system and control system；Methods described includes：The radar data linkwork
System receives the unmanned plane radar information that air traffic control radar system uploads；Wherein, the unmanned plane is supervised in the air traffic control radar system
Flown in the designated flying zone of survey；The identifying system to the unmanned plane carry out authentication, and by authentication result and nobody
Identity information is back to the radar data catenary system；When the authentication result is that the unmanned plane authentication fails,
The radar data catenary system sends the radar information and the unmanned plane identity information to the control system；It is described
Control system controls the flight path of the unmanned plane corresponding to the unmanned plane identity information according to the radar information.
Alternatively, the control system controls the nothing corresponding to the unmanned plane identity information according to the radar information
The step of man-machine flight path, including：Unmanned plane to be controlled is determined according to the unmanned plane identity information；According to the radar
Information determines the unmanned plane to be controlled, subregion residing in the designated flying zone；Generation is corresponding with the subregion
Control instruction, and the control instruction is sent to the intervention module of the unmanned plane to be controlled by wireless channel, so that institute
State flight path of the intervention module according to control instruction control unmanned plane.
Alternatively, following subregion is included in the designated flying zone：Risk zones, buffer area are according to no-fly region.
Alternatively, generation control instruction corresponding with the subregion, and the control instruction is passed through into wireless communication
Road is sent to the intervention module of the unmanned plane to be controlled, so that the intervention module controls unmanned plane according to the control instruction
Flight path the step of, including：When the unmanned plane to be controlled is in the risk zones, directive generation module generation police
Instruction is accused, and the warning instruction is sent to the intervention module of the unmanned plane to be controlled, so that described by wireless channel
The ground that the warning instruction is transmitted to the unmanned plane is controlled terminal by intervention module；When the unmanned plane to be controlled is described
When in buffer area, control instruction is flown away from directive generation module generation, and the control instruction that flies away from is sent out by wireless channel
The intervention module of the unmanned plane to be controlled is delivered to, so that the intervention module controls the unmanned plane to fly away from the specified sky
Domain；When the unmanned plane to be controlled is in the no-fly region, directive generation module generation landing control instruction, and by described in
Landing control instruction is sent to the intervention module of the unmanned plane to be controlled by wireless channel, so that the intervention module controls
The unmanned plane landing.
Alternatively, the identifying system carries out authentication to the unmanned plane, and by authentication result and unmanned fuselage
The step of part information is back to the radar data catenary system, including：Pass through authentication of the radio communication channel to unmanned plane
Module sends system identity authentication information；When certification by after, receive the authentication module and sent out by radio communication channel
The 2 D code information sent；The 2 D code information is decrypted, obtains the identity code of unmanned plane；To the identification
Code is parsed, and obtains unmanned plane identity information；By identity information body corresponding with each unmanned plane to be prestored in storehouse of putting on record
Part information is matched；If the match is successful, it is determined that the unmanned plane authentication success；If it fails to match, it is determined that described
Unmanned plane authentication fails；Authentication result and unmanned plane identity information are back to the radar data catenary system.
Fence provided in an embodiment of the present invention and the unmanned aerial vehicle (UAV) control method based on fence, by fence
Designated flying zone is monitored, authentication is carried out for flying into the unmanned plane in designated flying zone, for authentication failure
Unmanned plane, its flight path is controlled, so as to intervene the extreme behavior for flying into unmanned plane in designated flying zone, ensure designated flying zone peace
Entirely.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, and in order to allow above and other objects of the present invention, feature and advantage can
Become apparent, below especially exemplified by the embodiment of the present invention.
Brief description of the drawings
By reading the detailed description of hereafter optional embodiment, it is various other the advantages of and benefit it is common for this area
Technical staff will be clear understanding.Accompanying drawing is only used for showing the purpose of optional embodiment, and is not considered as to the present invention
Limitation.And in whole accompanying drawing, identical part is denoted by the same reference numerals.In the accompanying drawings：
Fig. 1 shows a kind of structured flowchart of according to embodiments of the present invention one fence；
Fig. 2 shows the interaction schematic diagram of each system between a kind of according to embodiments of the present invention two unmanned aerial vehicle control system；
Fig. 3 shows all subregion division schematic diagram in designated flying zone；
Fig. 4 shows that the step of a kind of according to embodiments of the present invention three unmanned aerial vehicle (UAV) control method based on fence flows
Journey schematic diagram；
Fig. 5 shows that the step of a kind of according to embodiments of the present invention four unmanned aerial vehicle (UAV) control method based on fence flows
Journey schematic diagram；
Fig. 6 is shown interacts schematic diagram between control system and unmanned plane.
Embodiment
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although the disclosure is shown in accompanying drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
Limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
Completely it is communicated to those skilled in the art.
Fence refers to the aircraft such as unmanned plane that specific region will be invaded for stop, in corresponding electronic geographic scope
In the designated area that draws, and coordinate flight control system, the software and hardware system of support area safety, avoid aircraft from " being strayed into
Wrong road ".Fence must be connected with unmanned plane national registration management organization, obtain national mandate, for avoid illegal interference without
Man-machine normal flight.When unmanned plane produces, force to add extreme intervention module (for the use of national government affairs department), help blank pipe portion
The national regulatory authorities such as door, in extreme circumstances, realize the intervention to unmanned plane.
The present invention accesses fence by unmanned plane, specifies no-fly zone, ensures unmanned plane during flying time, space controllable
In the range of.By being identified to the identity information on backstage, flying quality is analyzed, the retrospect of flight path, finally forces illegal, violation
Unmanned plane lands.Fence will not smash or damage unmanned plane, and its main operational principle is that interference blocks flying for unmanned plane
Control system, signal transmission system, unmanned plane is set to realize vertical landing or make a return voyage automatically.Fence is primarily adapted for use in airport, public affairs
Examine department system, prison, detention house, narcotic house, privacy mechanism, army, large-scale game, concert, momentous conference, government bodies,
The primary locations such as anti-terrorism field, facility are, it is necessary to space secrecy, the region of unmanned plane management and control.
Below by fence of the detailed embodiment to the present invention and unmanned aerial vehicle (UAV) control side based on fence
Method illustrates.
Embodiment one
Reference picture 1, show a kind of structured flowchart of fence of the embodiment of the present invention one.
The fence of the embodiment of the present invention includes：Radar data catenary system 101, identifying system 102 and control system
103。
Radar data catenary system 101 is a kind of data adaptation, supervisory systems, with air traffic control radar system docking.Radar data
Catenary system receives the unmanned plane radar information that air traffic control radar system uploads.Specifically, when unmanned plane is supervised in air traffic control radar system
In the designated flying zone of survey during flight, air traffic control radar system obtains unmanned plane radar information, and is uploaded to radar data linkwork
System.
Identifying system 102 carries out authentication to unmanned plane, and authentication result and unmanned plane identity information are back to
Radar data catenary system.
Specifically, identifying system 102 can be connected with the unmanned plane Verification System of national registration management organization, the Verification System
Storehouse of putting on record can be used as, the attaching information and identity information of each registered unmanned plane are stored with storehouse of putting on record.In unmanned plane
Can be the Quick Response Code that every unmanned plane is respectively provided with unique mark identity before dispatching from the factory.Identifying system can receive unmanned plane upload
Be used for indicate the 2 D code information of unmanned identity, the identity information of unmanned plane is obtained after being parsed to 2 D code information,
The identity information of unmanned plane is matched with the identity information in storehouse of putting on record, determines that unmanned plane is registered if the match is successful and returns
Belong to information, and may further determine that its attribution of liability；If it fails to match, it is determined that the unregistered attaching information of unmanned plane, its
Belong to black to fly.
When authentication result be unmanned plane authentication fail when, radar data catenary system 101 by radar information and nobody
Identity information is sent to control system 103.
Control system 103 is according to radar information, the flight path of the unmanned plane corresponding to control unmanned plane identity information.
Specifically, unmanned plane can be forced to add intervention module before dispatching from the factory.Control system control unmanned plane during flying track
When, control instruction can be sent to the intervention module of unmanned plane, nothing is controlled according to received control instruction by intervention module
Man-machine flight path, so as to realize the intervention to unmanned plane.
Control for unmanned plane can be control unmanned plane landing, can also be that control unmanned plane flies away from designated flying zone.
Specific control to unmanned plane can be residing in designated flying zone according to unmanned plane particular location determine, can also be by this area
Technical staff is set according to the actual requirements, such as：No matter unmanned plane is in where directly controlling in designated flying zone
Its landing is made, then for example：Where no matter unmanned plane controls it to fly away from designated flying zone if being in designated flying zone.
Fence provided in an embodiment of the present invention, is monitored to designated flying zone, for flying into the nothing in designated flying zone
Man-machine carry out authentication, for the unmanned plane of authentication failure, its flight path is controlled, designated flying zone is flown into so as to intervene
The extreme behavior of interior unmanned plane, ensure designated flying zone safety.
Embodiment two
Reference picture 2, show the interaction schematic diagram of each system between a kind of unmanned aerial vehicle control system of the embodiment of the present invention two.
The unmanned aerial vehicle control system of the embodiment of the present invention includes：Fence 201, air traffic control radar system 202, unmanned plane are recognized
Card system 203 and intervention module 204.Fence 201 includes radar data catenary system 2011, identifying system 2012 and control
System 2013 processed.
Air traffic control radar system 202 is monitored to designated flying zone, when monitoring unmanned plane flight in designated flying zone, on
Unmanned plane radar information is passed to the radar data catenary system 2011 of fence 201.
Unmanned plane radar information can be unmanned plane position coordinates, for indicating the particular location of unmanned plane.
Identifying system 2012 carries out authentication to unmanned plane, and authentication result and unmanned plane identity information are back to
Radar data catenary system 2011.
Identifying system 2012 can be connected with the unmanned plane Verification System of national registration management organization, and the Verification System can conduct
Put on record storehouse, the attaching information and identity information of each registered unmanned plane are stored with storehouse of putting on record.Before unmanned plane dispatches from the factory,
It can be the Quick Response Code that every unmanned plane is respectively provided with unique mark identity.After unmanned plane flies into designated flying zone, unmanned plane is with knowing
Two-way authentication is carried out between other system, with the whether registered attaching information of certification unmanned plane.Enter between identifying system and unmanned plane
Row two-way authentication, first unmanned plane carry out authentication to identifying system, and then identifying system carries out authentication to unmanned plane.
Specifically, identifying system 2012 can include：Sending module, receiving module, deciphering module, parsing module, matching
Module and result return to module.Sending module, system is sent to the authentication module of unmanned plane by radio communication channel
Authentication information, wherein, when certification by after, two dimension that the authentication module of unmanned plane is sent by radio communication channel
Code information is to receiving module；Receiving module, receive the two dimension that the authentication module of unmanned plane is sent by radio communication channel
Code information；Deciphering module, 2 D code information is decrypted, obtains the identity code of unmanned plane；Parsing module, identity is known
Other code is parsed, and obtains unmanned plane identity information；Matching module, each nothing that will be prestored in unmanned plane identity information and storehouse of putting on record
Identity information corresponding to man-machine is matched；If the match is successful, it is determined that unmanned plane authentication success；If it fails to match,
Determine that unmanned plane authentication fails；As a result module is returned, authentication result and unmanned plane identity information are back to radar number
According to catenary system.
The registered attaching information of unmanned plane is determined if authentication success, and may further determine that its responsibility is returned
Category；If authentication fails, it is determined that the unregistered attaching information of unmanned plane, it belongs to black and flown.
Radar data catenary system 2011 receives identifying system 2012 and is sent to unmanned plane identity authentication result.Work as authentication result
When failing for unmanned plane authentication, radar data catenary system, which sends radar information and unmanned plane identity information to control, is
System 2013.
Unmanned plane authentication fails, then illustrates that unmanned plane current flight flies to be black, due to needing to fly to be controlled to black,
Therefore radar data catenary system sends radar information and unmanned plane identity information to control system 2013, by control system
The flight path of 2013 pairs of unmanned planes is controlled.
Specifically, control system 2013 can include：Unmanned plane determining module, locating module and directive generation module.
Unmanned plane determining module, unmanned plane to be controlled is determined according to unmanned plane identity information；Locating module, determine to treat according to radar information
Control unmanned plane, subregion residing in designated flying zone；Directive generation module, control instruction corresponding with subregion is generated,
And send control instruction to the intervention module of unmanned plane to be controlled by wireless channel, so that intervention module is according to control instruction
Control the flight path of unmanned plane.
The all subregion division schematic diagram that designated flying zone is included is as shown in Figure 3.Designated flying zone can include following sub-district
Domain：Risk zones, buffer area are according to no-fly region.In the embodiment of the present invention, different interventions is set for different subregions
Measure, specifically：
When unmanned plane to be controlled is in risk zones, directive generation module generation warning instruction, and warning instruction is logical
Cross wireless channel to send to the intervention module of unmanned plane to be controlled, so that intervention module, which will alert, instructs the ground for being transmitted to unmanned plane
Face controls terminal.
When unmanned plane to be controlled is in buffer area, control instruction is flown away from directive generation module generation, and will fly away from control
System instruction sent by wireless channel to the intervention module of unmanned plane to be controlled so that intervention module control unmanned plane fly away from it is specified
Spatial domain；
When unmanned plane to be controlled is in no-fly region, directive generation module generation landing control instruction, and landing is controlled
System instruction is sent to the intervention module of unmanned plane to be controlled by wireless channel, so that intervention module control unmanned plane landing.
It should be noted that the division of all subregion included during specific implementation for designated flying zone not office
It is limited to the dividing mode shown in Fig. 3, designated flying zone can also be divided into two, four or more all subregions.
Unmanned aerial vehicle control system provided in an embodiment of the present invention, designated flying zone is monitored by fence, for
The unmanned plane flown into designated flying zone carries out authentication, for the unmanned plane of authentication failure, controls its flight path, from
And intervene the extreme behavior for flying into unmanned plane in designated flying zone, ensure designated flying zone safety.In addition, in the flight of control unmanned plane
During track, the specific subregion residing in designated area according to unmanned plane, the control mode being adapted to the subregion is selected, more
Add hommization.
Embodiment three
Reference picture 4, the step of showing a kind of unmanned aerial vehicle (UAV) control method based on fence of the embodiment of the present invention three
Flow chart.
Fence includes radar data catenary system, identifying system and control system, the embodiment of the present invention based on electricity
The unmanned aerial vehicle (UAV) control method of sub- fence comprises the following steps：
Step 401：Radar data catenary system receives the unmanned plane radar information that air traffic control radar system uploads.
Wherein, air traffic control radar system is monitored to the unmanned plane to be flown in designated flying zone, and the unmanned plane that will be monitored
Radar information be uploaded to radar data catenary system.
Step 402：Identifying system carries out authentication to unmanned plane, and authentication result and unmanned plane identity information are returned
It is back to radar data catenary system.
Whether identifying system carries out authentication to unmanned plane, it is therefore an objective to determine unmanned plane in unmanned plane Verification System
Register attaching information.If authentication success, it is determined that the registered attaching information of unmanned plane；Anyway, it is determined that unmanned plane is not stepped on
Remember attaching information.
The concrete mode of authentication is carried out to unmanned plane, with reference to the related description in embodiment one, two, the present invention
This is repeated no more in embodiment.
Step 403：When authentication result is that unmanned plane authentication fails, radar data catenary system by radar information and
Unmanned plane identity information is sent to control system.
It should be noted that when authentication result is unmanned plane authentication success, can also be by radar information and nothing
Man-machine identity information is sent to control system.This is due to that even the unmanned plane is not black winged, but can also be by control
System performs its active control authority, controls the flight path of unmanned plane.
Step 404：Control system is according to radar information, the flight rail of the unmanned plane corresponding to control unmanned plane identity information
Mark.
Control system can determine unmanned plane ground particular location in designated flying zone according to radar information, pass through unmanned fuselage
Part information can determine unmanned plane to be controlled, it is determined that object to be controlled, control object position after can be to be controlled right
As being controlled.
Unmanned aerial vehicle (UAV) control method provided in an embodiment of the present invention based on fence, by fence to designated flying zone
It is monitored, authentication is carried out for flying into the unmanned plane in designated flying zone, for the unmanned plane of authentication failure, control
Its flight path, so as to intervene the extreme behavior for flying into unmanned plane in designated flying zone, ensure designated flying zone safety.
Example IV
Reference picture 5, the step of showing a kind of unmanned aerial vehicle (UAV) control method based on fence of the embodiment of the present invention four
Flow chart.
Fence includes radar data catenary system, identifying system and control system, the embodiment of the present invention based on electricity
The unmanned aerial vehicle (UAV) control method of sub- fence specifically includes following steps：
Step 501：Radar data catenary system receives the unmanned plane radar information that air traffic control radar system uploads.
Wherein, air traffic control radar system is monitored to the unmanned plane to be flown in designated flying zone, and the unmanned plane that will be monitored
Radar information be uploaded to radar data catenary system.
Step 502：Identifying system carries out authentication to unmanned plane, and authentication result and unmanned plane identity information are returned
It is back to the radar data catenary system.
Identifying system to unmanned plane carry out authentication when, two-way authentication can be carried out between unmanned plane, with certification nobody
Whether registered machine attaching information, a kind of preferably bi-directional authentication mode be as follows：
First, when unmanned plane is in state of flight, identifying system is recognized by radio communication channel to the identity of unmanned plane
Demonstrate,prove module and send authentication information.
The authentication information that the authentication module of unmanned plane is reported by identifying system, the legitimacy of identifying system is carried out
Certification.Certification by when then illustrate that identifying system is legal, it is on the contrary then determine identifying system it is illegal.
Secondly, when it is determined that identifying system is legal, unmanned plane is by for indicating that the 2 D code information of unmanned identity is sent
To identifying system.
Identifying system receives the 2 D code information for being used to indicate unmanned identity that unmanned plane uploads.
Again, 2 D code information is decrypted identifying system, obtains the identity code of unmanned plane；To identity code
Unmanned plane identity information is obtained after being parsed.
Finally, identifying system is matched unmanned plane identity information with the identity information in storehouse of putting on record, if the match is successful
Unmanned plane authentication success, the registered attaching information of the unmanned plane are then determined, and may further determine that its attribution of liability；
If it fails to match, it is determined that unmanned plane authentication fails, the unregistered attaching information of the unmanned plane, and it belongs to black and flown.
Step 503：When authentication result is that unmanned plane authentication fails, radar data catenary system by radar information and
Unmanned plane identity information is sent to control system.
Control system is according to radar information, the flight path of the unmanned plane corresponding to control unmanned plane identity information.Specifically
Control mode is as described in step 504 to step 506.
Step 504：Control system determines unmanned plane to be controlled according to unmanned plane identity information.
Step 505：Unmanned plane to be controlled, subregion residing in designated flying zone are determined according to radar information.
Reference picture 6 is to include following subregion in the embodiment of the present invention in designated flying zone：Risk zones, buffer area foundation
No-fly region, exemplified by illustrate.
Step 506：Control system generates control instruction corresponding with subregion, and control instruction is sent out by wireless channel
Deliver to the intervention module of unmanned plane to be controlled.
Flight path of the intervention module according to control instruction control unmanned plane.Unmanned plane is provided with intervention module before dispatching from the factory.
Specifically, when unmanned plane to be controlled is in risk zones, directive generation module generation warning instruction, and will warning
Instruction is sent to the intervention module of unmanned plane to be controlled by wireless channel, so that the warning instruction is transmitted to by intervention module
The ground control terminal of the unmanned plane；
When unmanned plane to be controlled is in buffer area, control instruction is flown away from directive generation module generation, and will fly away from control
System instruction sent by wireless channel to the intervention module of unmanned plane to be controlled so that intervention module control unmanned plane fly away from described in
Designated flying zone；
When unmanned plane to be controlled is in no-fly region, directive generation module generation landing control instruction, and landing is controlled
System instruction sends extreme intervention module of the intervention module i.e. shown in Fig. 6 to unmanned plane to be controlled by wireless channel, so that
Intervention module control unmanned plane landing.
Unmanned aerial vehicle (UAV) control method provided in an embodiment of the present invention based on fence, by fence to designated flying zone
It is monitored, authentication is carried out for flying into the unmanned plane in designated flying zone, for the unmanned plane of authentication failure, control
Its flight path, so as to intervene the extreme behavior for flying into unmanned plane in designated flying zone, ensure designated flying zone safety.In addition, controlling
During the flight path of unmanned plane processed, the specific subregion residing in designated area according to unmanned plane, selection is fitted with the subregion
The control mode matched somebody with somebody, more hommization.
Each embodiment in this specification is described by the way of progressive, what each embodiment stressed be with
The difference of other embodiment, between each embodiment identical similar part mutually referring to.For system embodiment
For, because it is substantially similar to embodiment of the method, so description is fairly simple, referring to the portion of embodiment of the method in place of correlation
Defend oneself bright.
Fence and the unmanned aerial vehicle (UAV) control scheme based on fence provided herein, not with any specific calculation
Machine, virtual system or miscellaneous equipment are inherently related.Various general-purpose systems can also be used together with teaching based on this.Root
According to above description, it is obvious to construct with the structure required by the system of the present invention program.In addition, the present invention is not yet
For any certain programmed language.It should be understood that the content of invention described herein can be realized using various programming languages,
And the description done above to language-specific is to disclose the preferred forms of the present invention.
In the specification that this place provides, numerous specific details are set forth.It is to be appreciated, however, that the implementation of the present invention
Example can be put into practice in the case of these no details.In some instances, known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this description.
Similarly, it will be appreciated that in order to simplify the disclosure and help to understand one or more of each inventive aspect,
Above in the description to the exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the method for the disclosure should be construed to reflect following intention：I.e. required guarantor
The application claims of shield features more more than the feature being expressly recited in each claim.More precisely, such as right
As claim reflects, inventive aspect is all features less than single embodiment disclosed above.Therefore, it then follows tool
Thus claims of body embodiment are expressly incorporated in the embodiment, wherein the conduct of each claim in itself
The separate embodiments of the present invention.
Those skilled in the art, which are appreciated that, to be carried out adaptively to the module in the equipment in embodiment
Change and they are arranged in one or more equipment different from the embodiment.Can be the module or list in embodiment
Member or component be combined into a module or unit or component, and can be divided into addition multiple submodule or subelement or
Sub-component.In addition at least some in such feature and/or process or unit exclude each other, it can use any
Combination is disclosed to all features disclosed in this specification (including adjoint claim, summary and accompanying drawing) and so to appoint
Where all processes or unit of method or equipment are combined.Unless expressly stated otherwise, this specification (including adjoint power
Profit requires, summary and accompanying drawing) disclosed in each feature can be by providing the alternative features of identical, equivalent or similar purpose come generation
Replace.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments
In included some features rather than further feature, but the combination of the feature of different embodiments means in of the invention
Within the scope of and form different embodiments.For example, in detail in the claims, embodiment claimed it is one of any
Mode it can use in any combination.
The all parts embodiment of the present invention can be realized with hardware, or to be run on one or more processor
Software module realize, or realized with combinations thereof.It will be understood by those of skill in the art that it can use in practice
Microprocessor or digital signal processor (DSP) are realized fence according to embodiments of the present invention and enclosed based on electronics
The some or all functions of some or all parts in the unmanned aerial vehicle (UAV) control method on column.The present invention is also implemented as using
In some or all equipment or program of device for performing method as described herein (for example, computer program and meter
Calculation machine program product).Such program for realizing the present invention can store on a computer-readable medium, or can have one
The form of individual or multiple signals.Such signal can be downloaded from internet website and obtained, or above be carried in carrier signal
For, or provided in the form of any other.
It should be noted that the present invention will be described rather than limits the invention for above-described embodiment, and ability
Field technique personnel can design alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference symbol between bracket should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not
Element or step listed in the claims.Word "a" or "an" before element does not exclude the presence of multiple such
Element.The present invention can be by means of including the hardware of some different elements and being come by means of properly programmed computer real
It is existing.In if the unit claim of equipment for drying is listed, several in these devices can be by same hardware branch
To embody.The use of word first, second, and third does not indicate that any order.These words can be explained and run after fame
Claim.
Claims (10)
1. a kind of fence, it is characterised in that the fence includes：Radar data catenary system, identifying system and control
System processed；
The radar data catenary system receives the unmanned plane radar information that air traffic control radar system uploads；Wherein, the unmanned plane exists
Flown in the designated flying zone that the air traffic control radar system is monitored；
The identifying system carries out authentication to the unmanned plane, and authentication result and unmanned plane identity information are back to
The radar data catenary system；
When the authentication result is that the unmanned plane authentication fails, the radar data catenary system is by the radar information
And the unmanned plane identity information is sent to the control system；
The control system controls the flight rail of the unmanned plane corresponding to the unmanned plane identity information according to the radar information
Mark.
2. fence according to claim 1, it is characterised in that the control system includes：
Unmanned plane determining module, unmanned plane to be controlled is determined according to the unmanned plane identity information；
Locating module, the unmanned plane to be controlled, sub-district residing in the designated flying zone are determined according to the radar information
Domain；
Directive generation module, control instruction corresponding with the subregion is generated, and the control instruction is passed through into wireless channel
Send to the intervention module of the unmanned plane to be controlled, so that the intervention module is according to control instruction control unmanned plane
Flight path.
3. fence according to claim 2, it is characterised in that include following subregion in the designated flying zone：Wind
Danger zone domain, buffer area are according to no-fly region.
4. fence according to claim 3, it is characterised in that：
When the unmanned plane to be controlled is in the risk zones, directive generation module generation warning instruction, and by the police
Accuse instruction to send to the intervention module of the unmanned plane to be controlled by wireless channel, so that the intervention module is by the warning
Instruction is transmitted to the ground control terminal of the unmanned plane；
When the unmanned plane to be controlled is in the buffer area, control instruction is flown away from directive generation module generation, and by institute
State and fly away from control instruction and sent by wireless channel to the intervention module of the unmanned plane to be controlled, so that the intervention module control
Make the unmanned plane and fly away from the designated flying zone；
When the unmanned plane to be controlled is in the no-fly region, directive generation module generation landing control instruction, and by institute
State landing control instruction to send to the intervention module of the unmanned plane to be controlled by wireless channel, so that the intervention module control
Make the unmanned plane landing.
5. fence according to claim 1, it is characterised in that the identifying system includes：
Sending module, system identity authentication information is sent to the authentication module of unmanned plane by radio communication channel；
Receiving module, when certification by after, receive the Quick Response Code that the authentication module is sent by radio communication channel and believe
Breath；
Deciphering module, the 2 D code information is decrypted, obtains the identity code of unmanned plane；
Parsing module, the identity code is parsed, obtain unmanned plane identity information；
Matching module, identity information identity information corresponding with each unmanned plane to be prestored in storehouse of putting on record is matched；If
The match is successful, it is determined that the unmanned plane authentication success；If it fails to match, it is determined that the unmanned plane authentication is lost
Lose；
As a result module is returned, authentication result and unmanned plane identity information are back to the radar data catenary system.
A kind of 6. unmanned aerial vehicle (UAV) control method based on fence, it is characterised in that the fence includes：Radar data chain
System, identifying system and control system, methods described include；
The radar data catenary system receives the unmanned plane radar information that air traffic control radar system uploads；Wherein, the unmanned plane exists
Flown in the designated flying zone that the air traffic control radar system is monitored；
The identifying system carries out authentication to the unmanned plane, and authentication result and unmanned plane identity information are back to
The radar data catenary system；
When the authentication result is that the unmanned plane authentication fails, the radar data catenary system is by the radar information
And the unmanned plane identity information is sent to the control system；
The control system controls the flight rail of the unmanned plane corresponding to the unmanned plane identity information according to the radar information
Mark.
7. according to the method for claim 6, it is characterised in that the control system controls institute according to the radar information
The step of stating the flight path of the unmanned plane corresponding to unmanned plane identity information, including：
Unmanned plane to be controlled is determined according to the unmanned plane identity information；
The unmanned plane to be controlled, subregion residing in the designated flying zone are determined according to the radar information；
Generation control instruction corresponding with the subregion, and the control instruction is sent to described to be controlled by wireless channel
The intervention module of unmanned plane processed, so that flight path of the intervention module according to control instruction control unmanned plane.
8. according to the method for claim 7, it is characterised in that include following subregion in the designated flying zone：Risk area
Domain, buffer area are according to no-fly region.
9. according to the method for claim 8, it is characterised in that：It is described to generate control instruction corresponding with the subregion,
And send the control instruction to the intervention module of the unmanned plane to be controlled by wireless channel, so that the intervention module
The step of flight path of unmanned plane being controlled according to the control instruction, including：
When the unmanned plane to be controlled is in the risk zones, directive generation module generation warning instruction, and by the police
Accuse instruction to send to the intervention module of the unmanned plane to be controlled by wireless channel, so that the intervention module is by the warning
Instruction is transmitted to the ground control terminal of the unmanned plane；
When the unmanned plane to be controlled is in the buffer area, control instruction is flown away from directive generation module generation, and by institute
State and fly away from control instruction and sent by wireless channel to the intervention module of the unmanned plane to be controlled, so that the intervention module control
Make the unmanned plane and fly away from the designated flying zone；
When the unmanned plane to be controlled is in the no-fly region, directive generation module generation landing control instruction, and by institute
State landing control instruction to send to the intervention module of the unmanned plane to be controlled by wireless channel, so that the intervention module control
Make the unmanned plane landing.
10. according to the method for claim 6, it is characterised in that the identifying system carries out identity to the unmanned plane and recognized
The step of demonstrate,proving, and authentication result and unmanned plane identity information be back to the radar data catenary system, including：
System identity authentication information is sent to the authentication module of unmanned plane by radio communication channel；
When certification by after, receive the 2 D code information that the authentication module is sent by radio communication channel；
The 2 D code information is decrypted, obtains the identity code of unmanned plane；
The identity code is parsed, obtains unmanned plane identity information；
Identity information identity information corresponding with each unmanned plane to be prestored in storehouse of putting on record is matched；If the match is successful,
Then determine the unmanned plane authentication success；If it fails to match, it is determined that the unmanned plane authentication failure；
Authentication result and unmanned plane identity information are back to the radar data catenary system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710524007.7A CN107424442A (en) | 2017-06-30 | 2017-06-30 | Fence and the unmanned aerial vehicle (UAV) control method based on fence |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710524007.7A CN107424442A (en) | 2017-06-30 | 2017-06-30 | Fence and the unmanned aerial vehicle (UAV) control method based on fence |
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