CN109154833A

CN109154833A - Determination method, terminal device and the unmanned plane in region locating for unmanned plane

Info

Publication number: CN109154833A
Application number: CN201780029126.3A
Authority: CN
Inventors: 闫伟; 陈远杰; 于健; 詹国豪
Original assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd; Shenzhen Dajiang Innovations Technology Co Ltd
Priority date: 2017-09-28
Filing date: 2017-09-28
Publication date: 2019-01-04
Also published as: WO2019061152A1

Abstract

Determination method, terminal device and the unmanned plane in region locating for a kind of unmanned plane, comprising: obtain the location information (S201) of unmanned plane；According to the location information of unmanned plane, at least one target predeterminated position (S202) apart from unmanned plane within a preset range is determined；According to region belonging to target predeterminated position each at least one target predeterminated position and the location information of unmanned plane, target area locating for unmanned plane (S203) is determined.Pass through the location information according to unmanned plane, determine at least one target predeterminated position within a preset range apart from unmanned plane, the quantity in the region as belonging to the target predeterminated position close with unmanned plane has been lacked much compared to the quantity of global every country or area, according to region belonging to target predeterminated position and the location information of unmanned plane, when determining target area locating for unmanned plane, calculation amount can be reduced, so as to shorten the time is calculated, so as to quickly determine region locating for unmanned plane.

Description

Determination method, terminal device and the unmanned plane in region locating for unmanned plane

Technical field

The present embodiments relate to determination method, the terminals in region locating for unmanned plane field more particularly to a kind of unmanned plane Equipment and unmanned plane.

Background technique

Unmanned plane receives liking for many users as a kind of emerging aircraft at present, meanwhile, country variant or ground Area is also made that corresponding management policy for the safe flight of unmanned plane, therefore, it is necessary to know region locating for unmanned plane, with Unmanned plane is set to meet the dependency rule in the region in locating region flight.

In the prior art, unmanned plane is located information and is sent to server, server by the location information of unmanned plane and The coordinate information of global every country or the boundary line in area is compared, so that it is determined that country locating for unmanned plane.

But the coordinate information of the location information of unmanned plane and global every country or the boundary line in area is compared, The calculation amount of server can be made very big, cause the calculating time of server very long, be difficult quickly to determine area locating for unmanned plane Domain.

Summary of the invention

The embodiment of the present invention provides determination method, terminal device and the unmanned plane in region locating for a kind of unmanned plane, with quick Determine region locating for unmanned plane.

The first aspect of the embodiment of the present invention is to provide a kind of determination method in region locating for unmanned plane, sets applied to terminal It is standby, comprising:

Obtain the location information of unmanned plane；

According to the location information of the unmanned plane, at least one target apart from the unmanned plane within a preset range is determined Predeterminated position；

According to region belonging to target predeterminated position each at least one target predeterminated position and the unmanned plane Location information determines target area locating for the unmanned plane.

The second aspect of the embodiment of the present invention is to provide a kind of determination method in region locating for unmanned plane, is applied to nobody Machine, comprising:

Obtain the location information of unmanned plane；

The third aspect of the embodiment of the present invention is to provide a kind of terminal device, comprising: communication interface, processor；

The communication interface is used to receive the location information of the unmanned plane of unmanned plane transmission；

The processor is used for:

The fourth aspect of the embodiment of the present invention is to provide a kind of unmanned plane, comprising:

Fuselage；

Dynamical system is mounted on the fuselage, for providing flying power；

Setting element, for obtaining the location information of the unmanned plane；And

Processor；

The processor is used for:

Determination method, terminal device and the unmanned plane in region locating for unmanned plane provided in this embodiment, by according to nobody The location information of machine determines at least one target predeterminated position within a preset range apart from unmanned plane, due to unmanned plane The quantity in region belonging to close target predeterminated position has been lacked much compared to the quantity of global every country or area, According to region belonging to target predeterminated position and the location information of unmanned plane, when determining target area locating for unmanned plane, meeting Calculation amount is reduced, so as to shorten the time is calculated, so as to quickly determine region locating for unmanned plane.

Detailed description of the invention

To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment Attached drawing is briefly described, it should be apparent that, drawings in the following description are some embodiments of the invention, for this For the those of ordinary skill of field, without any creative labor, it can also be obtained according to these attached drawings other Attached drawing.

Fig. 1 is the structure chart of communication system provided in an embodiment of the present invention；

Fig. 2 is the flow chart of the determination method in region locating for unmanned plane provided in an embodiment of the present invention；

Fig. 3 is the structure chart of communication system provided in an embodiment of the present invention；

Fig. 4 is the schematic diagram of multiple regions provided in an embodiment of the present invention；

Fig. 5 is the schematic diagram in a region provided in an embodiment of the present invention；

Fig. 6 is the schematic diagram of the corresponding polygon in a region provided in an embodiment of the present invention；

Fig. 7 is the structure chart of communication system provided in an embodiment of the present invention；

Fig. 8 be another embodiment of the present invention provides unmanned plane locating for region determination method flow chart；

Fig. 9 be another embodiment of the present invention provides unmanned plane locating for region determination method flow chart；

Figure 10 be another embodiment of the present invention provides unmanned plane locating for region determination method flow chart；

Figure 11 is the structure chart of terminal device provided in an embodiment of the present invention；

Figure 12 is the structure chart of unmanned plane provided in an embodiment of the present invention.

Appended drawing reference:

11- unmanned plane 12- server 31- unmanned plane

32- terminal device 33- long-range server 40- anchor point

The region 51- B 52- boundary point 61- polygon

110- terminal device 111- communication interface 112- processor

120- unmanned plane 123- motor 124- propeller

125- electron speed regulator 121- setting element 122- processor

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is clearly retouched It states, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the present invention In embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts Example, shall fall within the protection scope of the present invention.

It should be noted that it can be directly on another component when component is referred to as " being fixed on " another component Or there may also be components placed in the middle.When a component is considered as " connection " another component, it, which can be, is directly connected to To another component or it may be simultaneously present component placed in the middle.

Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases Any and all combinations of the listed item of pass.

With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, following Feature in embodiment and embodiment can be combined with each other.

Unmanned plane receives liking for many users as a kind of emerging aircraft at present, meanwhile, country variant or ground Area is also made that corresponding management policy, laws and rules for the safe flight of unmanned plane.In order to make unmanned plane in flight Management policy, the laws and rules in its locating region can be followed, unmanned plane needs to know the country locating for it.It is existing In technology, unmanned plane can know the code of the country locating for it by method as shown in Figure 1, as shown in Figure 1, unmanned plane 11 It is located information and is sent to server 12, the location information of unmanned plane 11 specifically can be the global positioning system of unmanned plane 11 (Global Positioning System, abbreviation GPS) location information.Global every country or ground are stored in server 12 The coordinate information of the boundary line in area, optionally, the coordinate information of boundary line include the GPS coordinate letter of multiple boundary points on boundary line Breath.After server 12 receives the GPS positioning information of unmanned plane 11, by each state of the GPS positioning information of unmanned plane 11 and the whole world The coordinate information of the boundary line in family or area is compared, so that it is determined which country or area unmanned plane 11 be located at out.Work as clothes Business device 12 is when determining country locating for unmanned plane 11, and server 12 is by the state of country locating for unmanned plane 11 Family's code or area code are sent to unmanned plane 11, unmanned plane 11 according to national code or area code know it locating for country.

But global every country or area boundary line coordinate information data volume it is very big, server 12 by nobody When the coordinate information of the location information of machine and global every country or the boundary line in area is compared, the calculating of server can be made Amount is very big, causes the calculating time of server very long, is difficult quickly to determine region locating for unmanned plane.It is asked to solve this Topic present embodiments provides a kind of determination method in region locating for unmanned plane, below in conjunction with specific embodiments to this nobody The determination method in region locating for machine is introduced.

The embodiment of the present invention provides a kind of determination method in region locating for unmanned plane.Fig. 2 is provided in an embodiment of the present invention The flow chart of the determination method in region locating for unmanned plane.The determination method in region locating for unmanned plane provided in an embodiment of the present invention is answered For terminal device, as shown in Fig. 2, the method in the present embodiment, may include:

Step S201, the location information of unmanned plane is obtained.

The executing subject of the present embodiment can be the terminal device of ground surface end, which can obtain the positioning of unmanned plane Information.

The location information for obtaining unmanned plane, comprising: receive the location information for the unmanned plane that unmanned plane is sent.

As shown in figure 3, unmanned plane 31 is mountable locating module such as GPS positioning module, unmanned plane 31 is fixed by the GPS Position module determines the location information of unmanned plane 31, and further, unmanned plane 31 is located the terminal that information is sent to ground surface end Equipment 32.In the present embodiment, terminal device 32 can be remote controler, smart phone, tablet computer, ground control station, above-knee Type computer, wrist-watch, bracelet etc. and combinations thereof.The present embodiment does not limit the concrete form of terminal device 32, optionally, with intelligence For mobile phone, mountable on the smart phone to have application program (Application, abbreviation APP), which can be according to unmanned plane 31 GPS positioning information calculates the area code of 31 their location of national code or unmanned plane national locating for unmanned plane 31.

Step S202, it according to the location information of the unmanned plane, determines apart from the unmanned plane within a preset range extremely A few target predeterminated position.

It is assumed that the anchor point that the location information that position shown in 40 is unmanned plane identifies.Terminal device 32 is pre- First be stored with the location information of multiple predeterminated positions, for example, terminal device 32 be previously stored with predeterminated position 1 location information, The location information of predeterminated position 2, the location information of predeterminated position 3, the location information of predeterminated position 4.It only schematically says herein It is bright, do not limit the number for the predeterminated position that terminal device 32 stores.In the present embodiment, predeterminated position 1, predeterminated position 2, pre- If position 3, predeterminated position 4 specifically can be down town point.For example, predeterminated position 1 indicates the central point in city 1, default position Set the central point in 2 expression cities 2, predeterminated position 3 indicates the central point in city 3, predeterminated position 4 indicates the central point in city 4.

After terminal device 32 receives the location information of the unmanned plane 31 of the transmission of unmanned plane 31, on terminal device 32 APP is determined pre- apart from least one target of unmanned plane 31 within a preset range first according to the location information of unmanned plane 31 If position, for example, predeterminated position 1 and predeterminated position 2 in predeterminated position 1, predeterminated position 2, predeterminated position 3, predeterminated position 4 away from Within a preset range from unmanned plane, predeterminated position 3 and predeterminated position 4 are apart from unmanned plane except preset range, and therefore, APP is true At least one the target predeterminated position made is predeterminated position 1 and predeterminated position 2.The target predeterminated position includes: in city Heart point.

Specifically, the location information according to the unmanned plane, determine apart from the unmanned plane within a preset range At least one target predeterminated position, comprising: each preset according in the location information of the unmanned plane and multiple predeterminated positions The location information of position determines at least one target predeterminated position apart from the unmanned plane within a preset range.

In the present embodiment, following two tables of data can be previously stored in terminal device 32, two tables of data are remembered respectively For the first tables of data and the second tables of data, wherein the first tables of data can be stored with the boundary alignment of global every country or area Information, boundary alignment information specifically can be boundary line location information, it is to be understood that boundary line is by many boundary point structures At boundary line location information specifically can be the GPS positioning information of the location information such as boundary point of the boundary point on boundary line. GPS positioning information specifically can be GPS coordinate information.Second tables of data can be stored with the title in each city in the whole world, in city The title of country belonging to the GPS coordinate of the heart, city.Optionally, the structure of the first tables of data can be as shown in table 1, The structure of second tables of data can be as shown in table 2:

Table 1

Table 2

Tables 1 and 2 is the structure of schematical explanation the first tables of data and the second tables of data, in other embodiments, In order to reduce the data volume of tables of data, can not have in table 1 " title of country " this, can there is no " city in table 2 The title in city " this, while " title of country belonging to city " in table 2 could alternatively be " belonging to city The identification information of country ", wherein identification information specifically can be national code or area code.

After terminal device 32 receives the location information of the unmanned plane 31 of the transmission of unmanned plane 31, on terminal device 32 APP is calculated according to the GPS coordinate of each down town in the location information and the second tables of data of unmanned plane 31 apart from nobody The down town of machine 31 within a preset range.Such as the central point in city 1 and the central point in city 2 are being preset apart from unmanned plane 31 In range.

Optionally, described according to each predeterminated position in the location information of the unmanned plane and multiple predeterminated positions Location information determines at least one target predeterminated position apart from the unmanned plane within a preset range, comprising: is calculated using neighbouring Method determines at least one target predeterminated position within a preset range apart from the unmanned plane from multiple predeterminated positions.Example Such as, the APP on terminal device 32 can be used nearest neighbor algorithm or K nearest neighbor algorithm, in each city in the whole world according to the pre-stored data The GPS coordinate of the heart and the location information of unmanned plane 31, determine the multiple down towns close with unmanned plane 31.For example, eventually APP in end equipment 32 determines that the central point in city 1 and the central point in city 2 are approached apart from unmanned plane 31, then in city 1 Heart point and the central point in city 2 are respectively the target predeterminated position apart from unmanned plane 31 within a preset range.

Step S203, the region according to belonging to target predeterminated position each at least one target predeterminated position, Yi Jisuo The location information for stating unmanned plane determines target area locating for the unmanned plane.

Region belonging to the target predeterminated position includes: country belonging to the target predeterminated position.For example, According to above-mentioned steps determine city 1 central point and city 2 central point be target predeterminated position, the central point institute in city 1 The region of category is B, and B can indicate a country.Similarly, region belonging to the central point in city 2 is C, and C can be indicated One country.

APP on terminal device 32 determine city 1 central point and city 2 central point apart from unmanned plane 31 close to it Afterwards, country belonging to the title for obtaining country belonging to city 1 and city 2 can be inquired according to the second tables of data Or the title in area.It is assumed that country belonging to city 1 is B, country belonging to city 2 is C. Further, country C belonging to the country B and city 2 according to belonging to city 1 of the APP on terminal device 32, And the location information of unmanned plane 31, which region that unmanned plane is located in B and C determined.That is, being determined from B and C Target area locating for unmanned plane.

Specifically, the region according to belonging to target predeterminated position each at least one target predeterminated position, and The location information of the unmanned plane determines target area locating for the unmanned plane, comprising: according to each target predeterminated position institute The boundary alignment information in the region of category and the location information of the unmanned plane, determine whether the unmanned plane is located at the mesh It marks in region belonging to predeterminated position；It, will be described if the unmanned plane is located in region belonging to the target predeterminated position Region belonging to target predeterminated position is determined as target area locating for the unmanned plane.

For example, the country B according to belonging to city 1 of the APP on terminal device 32, which inquires the first tables of data, obtains B's Boundary alignment information, further according to the location information of the boundary alignment information of B and unmanned plane 31, determine unmanned plane 31 whether In the B of region, if APP determines unmanned plane 31 in the B of region, no longer judge that unmanned plane 31 whether in the C of region, simultaneously will Region B is determined as the target area at unmanned plane 31.If APP determine unmanned plane 31 not in the B of region, further basis Country C belonging to city 2 inquires the boundary alignment information that the first tables of data obtains C, further according to the boundary alignment information of C With the location information of unmanned plane 31, determine unmanned plane 31 whether in the C of region.

Optionally, the boundary alignment information includes: the location information of multiple boundary points on boundary line.On the boundary line Multiple boundary points constitute polygon.

For example, the boundary alignment information of B includes the location information of multiple boundary points on the boundary line of region B, such as Fig. 5 institute Show, 51 indicate region B, and 52 indicate a boundary point on the boundary line of region B, by boundary adjacent on the boundary line of region B Point may make up polygon 61 as shown in FIG. 6 after being connected with straight line.

Correspondingly, the boundary alignment information in the region according to belonging to each target predeterminated position and it is described nobody The location information of machine, determines whether the unmanned plane is located in region belonging to the target predeterminated position, comprising: using polygon Whether shape algorithm determines the anchor point of the location information mark of the unmanned plane on the side of the target predeterminated position affiliated area In the polygon that boundary's point is constituted.

For example, the APP on terminal device 32 determines nothing according to the boundary alignment information of B and the location information of unmanned plane 31 Man-machine 31 whether in the B of region when, specifically can using polygon algorithm determine unmanned plane 31 location information mark positioning Whether point 40 is in the polygon 61 of the boundary point composition of B, if anchor point 40 is in polygon 61, then it represents that unmanned plane 31 exists In the B of region, that is to say, that region B is target area locating for unmanned plane 31.If anchor point 40 not in polygon 61, Indicate unmanned plane 31 not in the B of region, it is also necessary to further determine the location information mark of unmanned plane 31 using polygon algorithm Anchor point 40 whether C boundary point constitute polygon in.

Method provided in the present invention can greatly reduce calculation amount, shorten and calculate the time, and the calculating for reducing processing equipment is negative Lotus；Further, since calculation amount reduces, so that the complete paired data of APP on terminal device 32 is treated as possibility, it is not necessary to so It is required that location information, which is centainly transmitted to server just, to be handled, for the user of certain desired protection positioning privacies, the present invention Method can meet its requirement.

In other embodiments, the first tables of data and the second tables of data can be stored in long-range clothes in the form of database It is engaged in device.As shown in fig. 7, after terminal device 32 receives the location information of the unmanned plane 31 of the transmission of unmanned plane 31, terminal The location information of unmanned plane 31 can also be further sent to long-range server 33 by equipment 32, so that long-range server 33 according to the GPS coordinate of each down town in the whole world pre-stored in the location information and the second tables of data of unmanned plane 31, really The multiple down towns close with unmanned plane 31 are made, for example, the central point in city 1 and the central point in city 2 are respectively distance The target predeterminated position of unmanned plane 31 within a preset range.Long-range server 33 is inquired further according to the second tables of data and obtains city The entitled B of country belonging to 1, the entitled C of country belonging to city 2.Further, long-range service Device 33 can get 2 institute of boundary alignment information and city of country B belonging to city 1 by the first tables of data of inquiry The boundary alignment information of the country C of category determines nothing according to the location information of the boundary alignment information of B and unmanned plane 31 Whether man-machine 31 in B, if long-range server 33 determines unmanned plane 31 in B, long-range server 33 is according to One tables of data gets the corresponding country code of B, and the corresponding country code of B is sent to terminal device 32.

In other embodiments, the first tables of data and the second tables of data can be stored in remotely in the form of database Server in, the location information of unmanned plane 31 can also be directly sent to long-range server, long-range clothes by unmanned plane 31 Business device determines country locating for unmanned plane 31 according to the first tables of data and the second tables of data, and by national code or area Code is sent to unmanned plane 31.Long-range server determines state locating for unmanned plane 31 according to the first tables of data and the second tables of data The process in family or area is consistent with method described in the present embodiment, specifically repeats no more.

The present embodiment by the location information according to unmanned plane, determine apart from unmanned plane within a preset range at least one A target predeterminated position, the quantity in the region as belonging to the target predeterminated position close with unmanned plane is compared to each state in the whole world The quantity in family or area has been lacked very much, according to region belonging to target predeterminated position and the location information of unmanned plane, really When determining target area locating for unmanned plane, calculation amount can be reduced, so as to shorten the time is calculated, so as to quickly determine nothing Man-machine locating region.

The embodiment of the present invention provides a kind of determination method in region locating for unmanned plane.Fig. 8 mentions for another embodiment of the present invention The flow chart of the determination method in region locating for the unmanned plane of confession.As shown in figure 8, on the basis of embodiment shown in Fig. 8, this implementation Example in method, may include:

Step S801, the location information of unmanned plane is obtained.

Step S801 is consistent with step S201, and details are not described herein again.

Step S802, it according to the location information of the unmanned plane, determines apart from the unmanned plane within a preset range extremely A few target predeterminated position.

Step S802 is consistent with step S202, and details are not described herein again.

Step S803, the region according to belonging to target predeterminated position each at least one target predeterminated position, Yi Jisuo The location information for stating unmanned plane determines target area locating for the unmanned plane.

Step S803 is consistent with step S203, and details are not described herein again.

Step S804, the identification information of target area locating for the unmanned plane is sent to the unmanned plane, so that institute Unmanned plane is stated according to the identification information of the target area, updates the configuration of the unmanned plane.

Terminal device 32 according to above-mentioned steps S203 determine unmanned plane locating for after target area i.e. region B, may be used also To inquire the first tables of data further to obtain the identification information of region B, if region B indicates a country, region B's Identification information is national code, if region B indicates an area, the identification information of region B is area code.

In the present embodiment, the identification information of region B further can also be sent to unmanned plane 31 by terminal device 32, After unmanned plane 31 receives the identification information of region B, can determine unmanned plane 31 according to the identification information of region B locating for country Or area.At this point, unmanned plane 31 can update the configuration of unmanned plane 31 according to the relevant regulations of the country.For example, different The communication frequency band of unmanned plane as defined in country is different, alternatively, the unmanned plane of country variant or local regulations flies Row height, flying speed are also different.

Specifically, the identification information by target area locating for the unmanned plane is sent to the unmanned plane, so that The unmanned plane updates the configuration of the unmanned plane according to the identification information of the target area, comprising: by the unmanned plane institute The identification information of the target area at place is sent to the unmanned plane, so that the unmanned plane is believed according to the mark of the target area Breath, updates the communication frequency band of the unmanned plane.

For example, unmanned plane 31 can be previously stored with the identification information of different zones and the corresponding relationship of communication frequency band, work as nothing After man-machine 31 receive the identification information of region B, the corresponding communication frequency band of identification information of region B is inquired, and by unmanned plane 31 current communication frequency bands are adjusted on the corresponding communication frequency band of identification information of region B.

Alternatively, the identification information by target area locating for the unmanned plane is sent to the unmanned plane, so that institute Unmanned plane is stated according to the identification information of the target area, updates the configuration of the unmanned plane, comprising: will be locating for the unmanned plane The identification information of target area be sent to the unmanned plane so that the unmanned plane is believed according to the mark of the target area Breath, updates the flight parameter of the unmanned plane.The optional flight parameter includes following at least one: flying height, flight Speed.

For example, unmanned plane 31 can be previously stored with the identification information of different zones and the corresponding relationship of flight parameter, work as nothing After man-machine 31 receive the identification information of region B, the corresponding flight parameter of identification information of region B is inquired, and by unmanned plane 31 current flight parameters are adjusted on the corresponding flight parameter of identification information of region B.Flight parameter can specifically include winged At least one of row height and flying speed, in addition, in other embodiments, flight parameter is not limited to flying height and flight Speed can also include other flight parameters.

The present embodiment is by being sent to unmanned plane for the identification information of target area locating for unmanned plane, so that unmanned plane root According to the identification information of target area, the configuration of unmanned plane is updated, guarantees that unmanned plane meets target area locating for it in flight Relevant regulations, it is ensured that the safe flight of unmanned plane.

The embodiment of the present invention provides a kind of determination method in region locating for unmanned plane.Fig. 9 mentions for another embodiment of the present invention The flow chart of the determination method in region locating for the unmanned plane of confession.The determination side in region locating for unmanned plane provided in an embodiment of the present invention Method is applied to unmanned plane, as shown in figure 9, the method in the present embodiment, may include:

Step S901, the location information of unmanned plane is obtained.

The executing subject of the present embodiment method can be unmanned plane, and unmanned plane is equipped with locating module such as GPS positioning mould Block, unmanned plane determines the location information of unmanned plane by the GPS positioning module, and is calculated according to the GPS positioning information of unmanned plane National code national locating for unmanned plane or the area code of unmanned plane their location out.

Step S902, it according to the location information of the unmanned plane, determines apart from the unmanned plane within a preset range extremely A few target predeterminated position.

The location information according to the unmanned plane is determined apart from the unmanned plane within a preset range at least one Target predeterminated position, comprising: determined according to each predeterminated position in the location information of the unmanned plane and multiple predeterminated positions Position information, determines at least one target predeterminated position apart from the unmanned plane within a preset range.

The positioning according to each predeterminated position in the location information of the unmanned plane and multiple predeterminated positions is believed Breath determines at least one target predeterminated position apart from the unmanned plane within a preset range, comprising: using nearest neighbor algorithm from more In a predeterminated position, at least one target predeterminated position within a preset range apart from the unmanned plane is determined.

Optionally, the target predeterminated position includes: down town point.

Step S903, the region according to belonging to target predeterminated position each at least one target predeterminated position, Yi Jisuo The location information for stating unmanned plane determines target area locating for the unmanned plane.

The region according to belonging to target predeterminated position each at least one target predeterminated position and it is described nobody The location information of machine determines target area locating for the unmanned plane, comprising: according to region belonging to each target predeterminated position Boundary alignment information and the unmanned plane location information, determine the unmanned plane whether be located at the target preset position In region belonging to setting；If the unmanned plane is located in region belonging to the target predeterminated position, the target is preset Region belonging to position is determined as target area locating for the unmanned plane.

Optionally, region belonging to the target predeterminated position includes: country or ground belonging to the target predeterminated position Area.

The concrete principle and implementation of the determination in region locating for unmanned plane provided in an embodiment of the present invention are and shown in Fig. 2 Embodiment is similar, and details are not described herein again.

The embodiment of the present invention provides a kind of determination method in region locating for unmanned plane.Figure 10 mentions for another embodiment of the present invention The flow chart of the determination method in region locating for the unmanned plane of confession.As shown in Figure 10, on the basis of embodiment shown in Fig. 9, this reality The method in example is applied, may include:

Step S1001, the location information of unmanned plane is obtained.

Step S1002, it according to the location information of the unmanned plane, determines apart from the unmanned plane within a preset range extremely A few target predeterminated position.

Step S1003, the region according to belonging to target predeterminated position each at least one target predeterminated position, Yi Jisuo The location information for stating unmanned plane determines target area locating for the unmanned plane.

Step S1004, the target area according to locating for the unmanned plane determines the identification information of the target area.

Step S1005, according to the identification information of the target area, the configuration of the unmanned plane is updated.

Optionally, according to the identification information of the target area, the configuration of the unmanned plane is updated, comprising: according to described The identification information of target area updates the communication frequency band of the unmanned plane.

Alternatively, updating the configuration of the unmanned plane according to the identification information of the target area, comprising: according to the mesh The identification information for marking region, updates the flight parameter of the unmanned plane.Optionally, the flight parameter includes following at least one Kind: flying height, flying speed.

The concrete principle and implementation of the determination in region locating for unmanned plane provided in an embodiment of the present invention are and shown in Fig. 8 Embodiment is similar, and details are not described herein again.

The present embodiment, according to the identification information of target area, updates the configuration of unmanned plane by unmanned plane, guarantees unmanned plane Meet the relevant regulations of target area locating for it in flight, it is ensured that the safe flight of unmanned plane.

The embodiment of the present invention provides a kind of terminal device.Figure 11 is the structure of terminal device provided in an embodiment of the present invention Figure, as shown in figure 11, terminal device 110 include communication interface 111 and processor 112；Wherein, communication interface 111 is for receiving The location information for the unmanned plane that unmanned plane is sent；Processor 112 is used for: according to the location information of the unmanned plane, being determined Apart from least one the target predeterminated position of the unmanned plane within a preset range；According to every at least one target predeterminated position The location information of region belonging to a target predeterminated position and the unmanned plane, determines target area locating for the unmanned plane Domain.

Optionally, processor 112 is determined apart from the unmanned plane according to the location information of the unmanned plane in preset range When at least one interior target predeterminated position, it is specifically used for: according to the location information of the unmanned plane and multiple predeterminated positions In each predeterminated position location information, determine and preset position apart from the unmanned plane at least one target within a preset range It sets.Specifically, processor 112 is according to each predeterminated position in the location information of the unmanned plane and multiple predeterminated positions Location information is specifically used for when determining apart from the unmanned plane at least one target predeterminated position within a preset range: using Nearest neighbor algorithm is determined to preset position apart from least one target of the unmanned plane within a preset range from multiple predeterminated positions It sets.

Optionally, the region according to belonging to target predeterminated position each at least one target predeterminated position of processor 112, And the location information of the unmanned plane is specifically used for when determining target area locating for the unmanned plane: according to each target Whether the boundary alignment information in region belonging to predeterminated position and the location information of the unmanned plane, determine the unmanned plane In the region belonging to the target predeterminated position；If the unmanned plane is located at region belonging to the target predeterminated position It is interior, then region belonging to the target predeterminated position is determined as target area locating for the unmanned plane.Optionally, the side Define the location information that information includes: multiple boundary points on boundary line.Multiple boundary points on the boundary line constitute polygon Shape.Specifically, the boundary alignment information in the region according to belonging to each target predeterminated position of processor 112 and it is described nobody The location information of machine is specifically used for: adopting when determining that whether the unmanned plane is located in region belonging to the target predeterminated position Determine the anchor point of the location information mark of the unmanned plane whether in the affiliated area of target predeterminated position with polygon algorithm In the polygon that the boundary point in domain is constituted.

In addition, communication interface 111 be also used to for the identification information of target area locating for the unmanned plane being sent to it is described Unmanned plane, so that identification information of the unmanned plane according to the target area, updates the configuration of the unmanned plane.Optionally, The identification information of target area locating for the unmanned plane is sent to the unmanned plane by communication interface 111 so that it is described nobody Machine is specifically used for when updating the configuration of the unmanned plane according to the identification information of the target area: will be locating for the unmanned plane The identification information of target area be sent to the unmanned plane so that the unmanned plane is believed according to the mark of the target area Breath, updates the communication frequency band of the unmanned plane.Alternatively, communication interface 111 is by the mark of target area locating for the unmanned plane Information is sent to the unmanned plane, so that identification information of the unmanned plane according to the target area, updates the unmanned plane Configuration when, be specifically used for: the identification information of target area locating for the unmanned plane be sent to the unmanned plane, so that institute Unmanned plane is stated according to the identification information of the target area, updates the flight parameter of the unmanned plane.The flight parameter includes It is following at least one: flying height, flying speed.

Optionally, the target predeterminated position includes: down town point.The packet of region belonging to the target predeterminated position It includes: country belonging to the target predeterminated position.

The concrete principle and implementation of terminal device provided in an embodiment of the present invention with Fig. 2 and embodiment illustrated in fig. 8 Similar, details are not described herein again.

The embodiment of the present invention provides a kind of unmanned plane.Figure 12 is the structure chart of unmanned plane provided in an embodiment of the present invention, such as Shown in Figure 12, unmanned plane 120 includes: fuselage, dynamical system, setting element 121 and processor 122, and the dynamical system includes Following at least one: motor 123, propeller 124 and electron speed regulator 125, dynamical system is mounted on the fuselage, for providing Flying power；Setting element 121 is used to obtain the location information of unmanned plane 120；Processor 122 is used for: according to the unmanned plane Location information, determine at least one target predeterminated position apart from the unmanned plane within a preset range；According at least one The location information of region belonging to each target predeterminated position and the unmanned plane in target predeterminated position, determines the nothing Man-machine locating target area.

Optionally, processor 122 is determined apart from the unmanned plane according to the location information of the unmanned plane in preset range When at least one interior target predeterminated position, it is specifically used for: according to the location information of the unmanned plane and multiple predeterminated positions In each predeterminated position location information, determine and preset position apart from the unmanned plane at least one target within a preset range It sets.Specifically, processor 122 is according to each predeterminated position in the location information of the unmanned plane and multiple predeterminated positions Location information is specifically used for when determining apart from the unmanned plane at least one target predeterminated position within a preset range: using Nearest neighbor algorithm is determined to preset position apart from least one target of the unmanned plane within a preset range from multiple predeterminated positions It sets.

Optionally, the region according to belonging to target predeterminated position each at least one target predeterminated position of processor 122, And the location information of the unmanned plane is specifically used for when determining target area locating for the unmanned plane: according to each target Whether the boundary alignment information in region belonging to predeterminated position and the location information of the unmanned plane, determine the unmanned plane In the region belonging to the target predeterminated position；If the unmanned plane is located at region belonging to the target predeterminated position It is interior, then region belonging to the target predeterminated position is determined as target area locating for the unmanned plane.

Specifically, the boundary alignment information in the region according to belonging to each target predeterminated position of processor 122 and described The location information of unmanned plane is specific to use when determining that whether the unmanned plane is located in region belonging to the target predeterminated position In: determine the anchor point of the location information mark of the unmanned plane whether in the target predeterminated position institute using polygon algorithm Belong in the polygon of boundary point composition in region.

In addition, the region according to belonging to target predeterminated position each at least one target predeterminated position of processor 122, with And the location information of the unmanned plane is also used to after determining target area locating for the unmanned plane: according to the unmanned plane Locating target area determines the identification information of the target area；According to the identification information of the target area, described in update The configuration of unmanned plane.

Specifically, identification information of the processor 122 according to the target area, when updating the configuration of the unmanned plane, tool Body is used for: according to the identification information of the target area, updating the communication frequency band of the unmanned plane.Alternatively, 122 basis of processor The identification information of the target area is specifically used for when updating the configuration of the unmanned plane: according to the mark of the target area Information updates the flight parameter of the unmanned plane.Specifically, the flight parameter includes following at least one: flying height flies Scanning frequency degree.

Optionally, the target predeterminated position includes: down town point.The packet of region belonging to the target predeterminated position It includes: country belonging to the target predeterminated position.Setting element 121 includes following at least one: GPS module, radar Module.

The concrete principle and implementation of terminal device provided in an embodiment of the present invention with Fig. 9 and embodiment illustrated in fig. 10 Similar, details are not described herein again.

In several embodiments provided by the present invention, it should be understood that disclosed device and method can pass through it Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be tied Another system is closed or is desirably integrated into, or some features can be ignored or not executed.Another point, it is shown or discussed Mutual coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or logical of device or unit Letter connection can be electrical property, mechanical or other forms.

The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme 's.

It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list Member both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.

The above-mentioned integrated unit being realized in the form of SFU software functional unit can store and computer-readable deposit at one In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer It is each that equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute the present invention The part steps of embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read- Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. it is various It can store the medium of program code.

Those skilled in the art can be understood that, for convenience and simplicity of description, only with above-mentioned each functional module Division progress for example, in practical application, can according to need and above-mentioned function distribution is complete by different functional modules At the internal structure of device being divided into different functional modules, to complete all or part of the functions described above.On The specific work process for stating the device of description, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution The range of scheme.

Claims

1. a kind of determination method in region locating for unmanned plane is applied to terminal device characterized by comprising

Obtain the location information of unmanned plane；

According to the location information of the unmanned plane, determine default apart from least one target of the unmanned plane within a preset range Position；

According to the positioning of region and the unmanned plane belonging to target predeterminated position each at least one target predeterminated position Information determines target area locating for the unmanned plane.

2. the method according to claim 1, wherein the location information according to the unmanned plane, determine away from From at least one the target predeterminated position of the unmanned plane within a preset range, comprising:

According to the location information of each predeterminated position in the location information of the unmanned plane and multiple predeterminated positions, determine away from From at least one the target predeterminated position of the unmanned plane within a preset range.

3. according to the method described in claim 2, it is characterized in that, the location information according to the unmanned plane, Yi Jiduo The location information of each predeterminated position in a predeterminated position determines at least one mesh apart from the unmanned plane within a preset range Mark predeterminated position, comprising:

Using nearest neighbor algorithm from multiple predeterminated positions, at least one mesh within a preset range apart from the unmanned plane is determined Mark predeterminated position.

4. method according to claim 1-3, which is characterized in that described according at least one target predeterminated position In region and the unmanned plane belonging to each target predeterminated position location information, determine mesh locating for the unmanned plane Mark region, comprising:

According to the boundary alignment information in region belonging to each target predeterminated position and the location information of the unmanned plane, really Whether the fixed unmanned plane is located in region belonging to the target predeterminated position；

If the unmanned plane is located in region belonging to the target predeterminated position, by area belonging to the target predeterminated position Domain is determined as target area locating for the unmanned plane.

5. according to the method described in claim 4, it is characterized in that, the boundary alignment information includes:

The location information of multiple boundary points on boundary line.

6. according to the method described in claim 5, it is characterized in that, multiple boundary points on the boundary line constitute polygon.

7. according to the described in any item methods of claim 4-6, which is characterized in that described according to belonging to each target predeterminated position Region boundary alignment information and the unmanned plane location information, determine whether the unmanned plane is located at the target In region belonging to predeterminated position, comprising:

Determine the anchor point of the location information mark of the unmanned plane whether in the target predeterminated position using polygon algorithm In the polygon that the boundary point of affiliated area is constituted.

8. method according to claim 1-7, which is characterized in that described according at least one target predeterminated position In region and the unmanned plane belonging to each target predeterminated position location information, determine mesh locating for the unmanned plane After mark region, further includes:

The identification information of target area locating for the unmanned plane is sent to the unmanned plane, so that the unmanned plane is according to institute The identification information for stating target area updates the configuration of the unmanned plane.

9. according to the method described in claim 8, it is characterized in that, the mark by target area locating for the unmanned plane Information is sent to the unmanned plane, so that identification information of the unmanned plane according to the target area, updates the unmanned plane Configuration, comprising:

The identification information of target area locating for the unmanned plane is sent to the unmanned plane, so that the unmanned plane is according to institute The identification information for stating target area updates the communication frequency band of the unmanned plane.

10. according to the method described in claim 8, it is characterized in that, the mark by target area locating for the unmanned plane Know information and be sent to the unmanned plane so that identification information of the unmanned plane according to the target area, update it is described nobody The configuration of machine, comprising:

The identification information of target area locating for the unmanned plane is sent to the unmanned plane, so that the unmanned plane is according to institute The identification information for stating target area updates the flight parameter of the unmanned plane.

11. according to the method described in claim 10, it is characterized in that, the flight parameter includes following at least one:

Flying height, flying speed.

12. -11 described in any item methods according to claim 1, which is characterized in that the location information for obtaining unmanned plane, Include:

Receive the location information for the unmanned plane that unmanned plane is sent.

13. -12 described in any item methods according to claim 1, which is characterized in that the target predeterminated position includes: city Central point.

14. -12 described in any item methods according to claim 1, which is characterized in that region belonging to the target predeterminated position It include: country belonging to the target predeterminated position.

15. a kind of determination method in region locating for unmanned plane is applied to unmanned plane characterized by comprising

Obtain the location information of unmanned plane；

16. according to the method for claim 15, which is characterized in that the location information according to the unmanned plane determines Apart from least one the target predeterminated position of the unmanned plane within a preset range, comprising:

17. according to the method for claim 16, which is characterized in that the location information according to the unmanned plane, and The location information of each predeterminated position in multiple predeterminated positions is determined apart from the unmanned plane within a preset range at least one Target predeterminated position, comprising:

18. the described in any item methods of 5-17 according to claim 1, which is characterized in that described default according at least one target The location information of region belonging to each target predeterminated position and the unmanned plane in position, determines locating for the unmanned plane Target area, comprising:

19. according to the method for claim 18, which is characterized in that the boundary alignment information includes:

The location information of multiple boundary points on boundary line.

20. according to the method for claim 19, which is characterized in that multiple boundary points on the boundary line constitute polygon Shape.

21. the described in any item methods of 8-20 according to claim 1, which is characterized in that described according to each target predeterminated position It is described to determine whether the unmanned plane is located at for the boundary alignment information in affiliated region and the location information of the unmanned plane In region belonging to target predeterminated position, comprising:

22. the described in any item methods of 5-21 according to claim 1, which is characterized in that described default according at least one target The location information of region belonging to each target predeterminated position and the unmanned plane in position, determines locating for the unmanned plane Target area after, further includes:

According to target area locating for the unmanned plane, the identification information of the target area is determined；

According to the identification information of the target area, the configuration of the unmanned plane is updated.

23. according to the method for claim 22, which is characterized in that the identification information according to the target area, more The configuration of the new unmanned plane, comprising:

According to the identification information of the target area, the communication frequency band of the unmanned plane is updated.

24. according to the method for claim 22, which is characterized in that the identification information according to the target area, more The configuration of the new unmanned plane, comprising:

According to the identification information of the target area, the flight parameter of the unmanned plane is updated.

25. according to the method for claim 24, which is characterized in that the flight parameter includes following at least one:

Flying height, flying speed.

26. the described in any item methods of 5-25 according to claim 1, which is characterized in that the target predeterminated position includes: city Central point.

27. the described in any item methods of 5-25 according to claim 1, which is characterized in that area belonging to the target predeterminated position Domain includes: country belonging to the target predeterminated position.

28. a kind of terminal device characterized by comprising communication interface, processor；

The processor is used for:

29. terminal device according to claim 28, which is characterized in that the processor is according to the positioning of the unmanned plane Information is specifically used for when determining apart from the unmanned plane at least one target predeterminated position within a preset range:

30. terminal device according to claim 29, which is characterized in that the processor is according to the positioning of the unmanned plane The location information of each predeterminated position in information and multiple predeterminated positions is determined apart from the unmanned plane within a preset range At least one target predeterminated position when, be specifically used for:

31. according to the described in any item terminal devices of claim 28-30, which is characterized in that the processor is according at least one The location information of region belonging to each target predeterminated position and the unmanned plane in a target predeterminated position, determine described in When target area locating for unmanned plane, it is specifically used for:

32. terminal device according to claim 31, which is characterized in that the boundary alignment information includes:

The location information of multiple boundary points on boundary line.

33. terminal device according to claim 32, which is characterized in that multiple boundary points on the boundary line constitute more Side shape.

34. according to the described in any item terminal devices of claim 31-33, which is characterized in that the processor is according to each mesh The boundary alignment information in region and the location information of the unmanned plane belonging to predeterminated position are marked, determines that the unmanned plane is It is not no when being located at belonging to the target predeterminated position in region, it is specifically used for:

35. according to the described in any item terminal devices of claim 28-34, which is characterized in that

The communication interface is also used to the identification information of target area locating for the unmanned plane being sent to the unmanned plane, with The unmanned plane is set to update the configuration of the unmanned plane according to the identification information of the target area.

36. terminal device according to claim 35, which is characterized in that the communication interface will be locating for the unmanned plane The identification information of target area is sent to the unmanned plane, so that identification information of the unmanned plane according to the target area, When updating the configuration of the unmanned plane, it is specifically used for:

37. terminal device according to claim 35, which is characterized in that the communication interface will be locating for the unmanned plane The identification information of target area is sent to the unmanned plane, so that identification information of the unmanned plane according to the target area, When updating the configuration of the unmanned plane, it is specifically used for:

38. the terminal device according to claim 37, which is characterized in that the flight parameter includes following at least one:

Flying height, flying speed.

39. according to the described in any item terminal devices of claim 28-38, which is characterized in that the target predeterminated position includes: Down town point.

40. according to the described in any item terminal devices of claim 28-38, which is characterized in that belonging to the target predeterminated position Region include: country belonging to the target predeterminated position.

41. a kind of unmanned plane characterized by comprising

Fuselage；

Dynamical system is mounted on the fuselage, for providing flying power；

Processor；

The processor is used for:

42. unmanned plane according to claim 41, which is characterized in that the processor is believed according to the positioning of the unmanned plane Breath is specifically used for when determining apart from the unmanned plane at least one target predeterminated position within a preset range:

43. unmanned plane according to claim 42, which is characterized in that the processor is believed according to the positioning of the unmanned plane The location information of each predeterminated position in breath and multiple predeterminated positions, determines apart from the unmanned plane within a preset range When at least one target predeterminated position, it is specifically used for:

44. according to the described in any item unmanned planes of claim 41-43, which is characterized in that the processor is according at least one The location information of region belonging to each target predeterminated position and the unmanned plane in target predeterminated position, determines the nothing When man-machine locating target area, it is specifically used for:

45. unmanned plane according to claim 44, which is characterized in that the boundary alignment information includes:

The location information of multiple boundary points on boundary line.

46. unmanned plane according to claim 45, which is characterized in that multiple boundary points on the boundary line constitute polygon Shape.

47. according to the described in any item unmanned planes of claim 44-46, which is characterized in that the processor is according to each target Whether the boundary alignment information in region belonging to predeterminated position and the location information of the unmanned plane, determine the unmanned plane When in the region belonging to the target predeterminated position, it is specifically used for:

48. according to the described in any item unmanned planes of claim 41-47, which is characterized in that the processor is according at least one The location information of region belonging to each target predeterminated position and the unmanned plane in target predeterminated position, determines the nothing After man-machine locating target area, it is also used to:

49. unmanned plane according to claim 48, which is characterized in that the processor is according to the mark of the target area Information is specifically used for when updating the configuration of the unmanned plane:

50. unmanned plane according to claim 48, which is characterized in that the processor is according to the mark of the target area Information is specifically used for when updating the configuration of the unmanned plane:

51. unmanned plane according to claim 50, which is characterized in that the flight parameter includes following at least one:

Flying height, flying speed.

52. according to the described in any item unmanned planes of claim 41-51, which is characterized in that the target predeterminated position includes: city Downtown point.

53. according to the described in any item unmanned planes of claim 41-51, which is characterized in that belonging to the target predeterminated position Region includes: country belonging to the target predeterminated position.

54. according to the described in any item unmanned planes of claim 41-53, which is characterized in that the setting element include such as down toward Few one kind:

GPS module, radar module.