CN109426275B - Virtual no-fly zone setting and flight control method and device based on virtual no-fly zone - Google Patents
Virtual no-fly zone setting and flight control method and device based on virtual no-fly zone Download PDFInfo
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Abstract
The embodiment of the invention discloses a virtual no-fly zone setting method, a virtual no-fly zone setting device, a flight control method and a flight control device based on the virtual no-fly zone, and an unmanned aerial vehicle. The method comprises the following steps: acquiring position data of a plurality of points on the boundary of an actual no-fly area; determining a central point and position data of the central point based on the position data of a plurality of points on the boundary; calculating a straight-line distance between each point of a plurality of points on the boundary of the actual no-fly zone and a central point according to the position data of the plurality of points on the boundary of the actual no-fly zone and the position data of the central point of the actual no-fly zone to obtain a plurality of distance values, and determining a maximum distance value in the plurality of distance values; generating a plurality of regular polygon areas by taking the first target value as a radius and the central point as a vertex, and determining the regular polygon areas as virtual no-fly areas; or generating a circular area by taking the second target value as the radius and the central point as the circle center, and determining the circular area as the virtual no-fly area.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a virtual no-fly zone setting method, a virtual no-fly zone setting device, a virtual no-fly zone-based flight control method, a virtual no-fly zone-based flight control device and an unmanned aerial vehicle.
Background
With the development of science and technology, the unmanned aerial vehicle enables people to conveniently realize functions of high-altitude photography, traffic navigation and the like, and can also realize long-time and long-distance target detection or target tracking, but if the flight area of the unmanned aerial vehicle is not limited, potential safety hazards may exist during flight.
In view of this, many areas are now provided with a flight prohibition area for the flight of the unmanned aerial vehicle, and the flight of the unmanned aerial vehicle is prohibited in the flight prohibition area. However, currently, the no-fly zone is usually set based on the building range or some no-fly rules, so that the set no-fly zone is mostly an irregular polygon or a curved polygon, which results in a larger boundary detection difficulty and detection error of the no-fly zone.
In summary, in the prior art, the boundary detection difficulty and the detection error of the no-fly zone are both large due to the no-fly zone of the irregular polygon or the irregular curved polygon.
Disclosure of Invention
The embodiment of the invention provides a virtual no-fly zone setting method, a virtual no-fly zone setting device, a flight control method and a flight control device based on the virtual no-fly zone, and an unmanned aerial vehicle.
In a first aspect, an embodiment of the present invention provides a method for setting a virtual no-fly zone, where the method includes:
acquiring position data of a plurality of points on the boundary of an actual no-fly area;
determining a central point of the actual no-fly zone and position data of the central point based on position data of a plurality of points on the boundary of the actual no-fly zone;
calculating a straight-line distance between each point of a plurality of points on the boundary of the actual no-fly zone and a central point according to the position data of the plurality of points on the boundary of the actual no-fly zone and the position data of the central point of the actual no-fly zone to obtain a plurality of distance values, and determining a maximum distance value in the plurality of distance values;
generating a plurality of regular polygon areas by taking a first target value which is larger than or equal to the maximum distance value as a radius and a central point of the actual no-fly area as a vertex, wherein the number of the regular polygon areas is set to enable the regular polygon areas to completely cover the actual no-fly area, and determining the regular polygon areas as virtual no-fly areas;
or generating a circular area by taking a second target value which is larger than or equal to the maximum distance value as a radius and taking the central point of the actual no-fly zone as a circle center, and determining the circular area as a virtual no-fly zone.
In a second aspect, an embodiment of the present invention provides a flight control method based on a virtual no-fly zone, where the virtual no-fly zone is set by using the method for setting the virtual no-fly zone provided in the foregoing embodiment of the present invention, and the flight control method includes:
determining position data of the current position of the unmanned aerial vehicle;
determining position data of a plurality of points on the boundary of the virtual no-fly zone;
determining the position relation between the current position of the unmanned aerial vehicle and the virtual no-fly zone based on the position data of the current position of the unmanned aerial vehicle and the position data of a plurality of points on the boundary of the virtual no-fly zone;
and controlling the flight of the unmanned aerial vehicle according to the flight state of the unmanned aerial vehicle and the position relation between the current position of the unmanned aerial vehicle and the virtual no-fly area.
In a third aspect, an embodiment of the present invention provides a virtual no-fly zone setting apparatus, including:
the acquiring module is used for acquiring position data of a plurality of points on the boundary of the actual no-fly area;
the central point determining module is used for determining the central point of the actual no-fly zone and the position data of the central point based on the position data of a plurality of points on the boundary of the actual no-fly zone;
the calculation module is used for calculating the straight-line distance between each point of a plurality of points on the boundary of the actual no-fly zone and the central point according to the position data of the plurality of points on the boundary of the actual no-fly zone and the position data of the central point of the actual no-fly zone to obtain a plurality of distance values and determine the maximum distance value in the plurality of distance values;
the processing module is used for generating a plurality of regular polygon areas by taking a first target value which is larger than or equal to the maximum distance value as a radius and taking the central point of the actual no-fly zone as a vertex, wherein the number of the regular polygon areas is set to enable the regular polygon areas to completely cover the actual no-fly zone, and the regular polygon areas are determined as virtual no-fly zones;
or generating a circular area by taking a second target value which is larger than or equal to the maximum distance value as a radius and taking the central point of the actual no-fly zone as a circle center, and determining the circular area as a virtual no-fly zone.
In a fourth aspect, an embodiment of the present invention provides a flight control device based on a virtual no-fly zone, where the virtual no-fly zone is set by using the virtual no-fly zone setting method provided in the foregoing embodiment of the present invention, and the flight control device includes:
the positioning module is used for determining the position data of the current position of the unmanned aerial vehicle;
the flight forbidding area boundary determining module is used for determining the position data of a plurality of points on the virtual flight forbidding area boundary;
the position relation determining module is used for determining the position relation between the current position of the unmanned aerial vehicle and the virtual no-fly zone based on the position data of the current position of the unmanned aerial vehicle and the position data of a plurality of points on the boundary of the virtual no-fly zone;
and the control module is used for controlling the flight of the unmanned aerial vehicle according to the flight state of the unmanned aerial vehicle and the position relation between the current position of the unmanned aerial vehicle and the virtual no-fly zone.
In a fifth aspect, an embodiment of the present invention provides an unmanned aerial vehicle, where the unmanned aerial vehicle includes a flight control device based on a virtual no-fly zone provided in the foregoing embodiment of the present invention.
According to the virtual no-fly zone setting and the flight control method and device based on the virtual no-fly zone and the unmanned aerial vehicle, the virtual no-fly zone is set based on the actual no-fly zone, so that the boundary detection difficulty and the detection error are reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart illustrating a method for setting a virtual no-fly zone according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating an embodiment of a virtual no-fly zone setting method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a seamless splicing of a plurality of regular polygon areas according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a schematic diagram of a multi-regular polygon area overlap joint provided by an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating a multi-circular-area overlapped splice provided by an embodiment of the present invention;
fig. 6 is a flowchart illustrating a schematic flow chart of another embodiment of a virtual no-fly zone setting method according to an embodiment of the present invention;
FIG. 7 is a flow chart illustrating a flight control method provided by an embodiment of the invention;
fig. 8 is a schematic structural diagram illustrating a virtual no-fly zone setting apparatus according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a flight control apparatus based on a virtual no-fly zone according to an embodiment of the present invention.
Detailed Description
Features and exemplary embodiments of various aspects of the present invention will be described in detail below, and in order to make objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. It will be apparent to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the present invention.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
In order to solve the problems in the prior art, embodiments of the present invention provide a virtual no-fly zone setting method, a virtual no-fly zone based flight control device, and an unmanned aerial vehicle. First, a method for setting a virtual no-fly zone according to an embodiment of the present invention is described below.
It should be noted that the actual no-fly zone is a no-fly zone disposed in a three-dimensional space, and generally includes a no-fly height. In the embodiment of the invention, the virtual no-fly zone set based on the actual no-fly zone is defaulted to have the same no-fly height with the actual no-fly zone at the same position or area. For example: if the actual no-fly zone is prohibited from flying for all the heights, the virtual no-fly zone is prohibited from flying for all the heights; for another example: if the actual no-fly zone performs no-fly for all heights in the first area and no-fly for heights below 200 meters in the second area, the virtual no-fly zone also performs no-fly for all heights in the first area and no-fly for heights below 200 meters in the second area.
As shown in fig. 1, fig. 1 is a schematic flowchart illustrating a method for setting a virtual no-fly zone according to an embodiment of the present invention. The process can comprise the following steps:
step S101, position data of a plurality of points on the boundary of the actual no-fly area is acquired.
Step S102, based on the position data of a plurality of points on the boundary of the actual no-fly zone, determining the central point of the actual no-fly zone and the position data of the central point.
Step S103, calculating a straight-line distance between each point of the plurality of points on the boundary of the actual no-fly zone and the central point according to the position data of the plurality of points on the boundary of the actual no-fly zone and the position data of the central point of the actual no-fly zone to obtain a plurality of distance values, and determining a maximum distance value in the plurality of distance values.
Step S104, a plurality of regular polygon areas are generated by taking the first target value larger than or equal to the maximum distance value as a radius and the central point of the actual no-fly zone as a vertex, the number of the regular polygon areas is set to enable the regular polygon areas to completely cover the actual no-fly zone, the regular polygon areas are determined as virtual no-fly zones, or a circular area is generated by taking the second target value larger than or equal to the maximum distance value as a radius and the central point of the actual no-fly zone as a circle center, and the circular area is determined as a virtual no-fly zone.
The method for setting the virtual no-fly zone provided by the embodiment of the invention can be divided into two embodiments according to different modes of setting the virtual no-fly zone, wherein one embodiment is that a plurality of regular polygon areas are generated by taking a first target value as a radius and a central point of an actual no-fly zone as a vertex, and the regular polygon areas are determined as the virtual no-fly zone; in another embodiment, the second target value is used as a radius, the center point of the actual no-fly zone is used as a circle center, a circular area is generated, and the circular area is determined as the virtual no-fly zone. Two ways of setting the virtual no-fly zone in the embodiment of the present invention are described in detail below with reference to the first embodiment and the second embodiment.
Example one
As shown in fig. 2, fig. 2 is a schematic flowchart illustrating an embodiment of a method for setting a virtual no-fly zone according to an embodiment of the present invention. The process can comprise the following steps:
in step S201, position data of a plurality of points on the boundary of the actual no-fly area is acquired.
In this step, the actual no-fly zone refers to a no-fly zone that is set based on a building range or some no-fly rules for restricting the flight of the unmanned aerial vehicle, and the actual no-fly zone may be an irregular polygon or an irregular curved polygon. In specific implementation, the position data of a plurality of points on the boundary of the actual no-fly zone may be obtained through the access network, or may be obtained through actual measurement, which is not limited in the present invention.
Step S202, based on the position data of a plurality of points on the boundary of the actual no-fly zone, the central point of the actual no-fly zone and the position data of the central point are determined.
It should be noted that, in order to ensure The accuracy of The position data of The center point and The center point determined based on The position data of The plurality of points on The boundary of The actual no-fly zone, The position data of The plurality of points on The boundary of The actual no-fly zone in The embodiment of The present invention are all expressed in The form of coordinates of The WGS-84coordinate system (WGS-84). Of course, the present invention is not limited to the specific example, and in other embodiments of the present invention, the coordinate form in other coordinate systems may also be adopted, for example: expressed in latitude and longitude.
Step S203, calculating a straight-line distance between each point of the plurality of points on the boundary of the actual no-fly zone and the central point according to the position data of the plurality of points on the boundary of the actual no-fly zone and the position data of the central point of the actual no-fly zone, obtaining a plurality of distance values, and determining a maximum distance value among the plurality of distance values.
Step S204, using the first target value greater than or equal to the maximum distance value as a radius, and using the central point of the actual no-fly zone as a vertex, generating a plurality of regular polygon areas, where the number of the regular polygon areas is set such that the plurality of regular polygon areas completely cover the actual no-fly zone.
In this step, the first target value is greater than or equal to the maximum distance value between the upper point of the actual no-fly zone boundary and the central point of the actual no-fly zone, and in specific implementation, the first target value may be equal to the maximum distance value between the upper point of the actual no-fly zone boundary and the central point of the actual no-fly zone, or slightly greater than the maximum distance value between the upper point of the actual no-fly zone boundary and the central point of the actual no-fly zone.
In the following embodiments of the present invention, the first target value is equal to the maximum distance value between the point on the boundary of the actual no-fly zone and the center point of the actual no-fly zone. It should be noted that, when the first target value is equal to the maximum distance value between the upper point of the actual no-fly zone boundary and the central point of the actual no-fly zone, the generated regular polygon areas can completely cover the actual no-fly zone, and when the first target value is greater than the maximum distance value between the upper point of the actual no-fly zone boundary and the central point of the actual no-fly zone, the generated regular polygon areas can certainly completely cover the actual no-fly zone.
In specific implementation, a plurality of regular polygon areas are generated by taking the first target value as a radius and the central point as a vertex, and each regular polygon area has a central point with a vertex in the actual no-fly area. The regular polygon may be a regular N-polygon, where N is a positive integer greater than 3, for example: regular polygons may include regular triangles, squares, regular pentagons, and the like. Of course, when the number of sides of the regular polygon is large enough, the regular polygon continuously approaches to a circle, and the regular polygon in the embodiment of the present invention includes a circle.
More preferably, when the plurality of regular polygon areas are generated with the first target value as a radius and the center point as a vertex, the number of sides of the plurality of regular polygon areas is the same. For example: the regular polygon areas are all regular triangle areas or all square areas. Of course, in other embodiments of the present invention, the number of sides of the regular polygon areas may also be different, for example: the plurality of regular polygon regions include regular hexagon regions and regular triangle regions.
In specific implementation, the number of the regular polygon areas is set to make the plurality of regular polygon areas completely cover the actual no-fly area, and the method includes the following two implementation modes, specifically:
implementation mode one
The number of regular polygon areas is set so that a plurality of regular polygon areas are seamlessly spliced at the center point of the actual no-fly zone.
In specific implementation, if seamless splicing of the plurality of regular polygon areas at the center point of the actual no-fly zone is to be realized, the sum of the internal angles of the plurality of regular polygon areas at the center point should be equal to 360 degrees. In this case, since each internal angle of the regular polygon is equal, the number of regular polygon regions can be determined according to the internal angle of the regular polygon region.
Specifically, if the number of sides of the plurality of regular polygon regions is the same, when the plurality of regular polygon regions are seamlessly connected at the center point, the regular polygon region may be any one of a regular triangle region, a square region, and a regular hexagon region.
When the regular polygon area is a regular triangle area, each internal angle of the regular triangle area is 60 degrees, and when seamless splicing is realized at the central point of the actual flight forbidding area by utilizing a plurality of regular triangle areas, the number of the regular triangle areas is 6; when the regular polygonal area is a square area, each internal angle of the square area is 90 degrees, and when seamless splicing is realized at the central point of the actual no-fly area by utilizing a plurality of square areas, the number of the square areas is 4; when the regular polygon region is a regular hexagon region, each internal angle of the regular hexagon region is 120 degrees, and when seamless splicing is realized at the central point of the actual no-fly zone by using a plurality of regular hexagon regions, the number of the regular hexagon regions should be 3.
As a more specific example, assuming that the number of sides of the regular polygon areas is the same, as shown in fig. 3, the actual no-fly zone is exemplified by a circular no-fly zone 30 with a radius as a maximum distance value (a maximum distance value from a point on the boundary of the actual no-fly zone to a center point). Of course, the actual no-fly zone may have any shape in practical application. Since the maximum distance value from a point on the boundary of the actual no-fly zone to the central point is the radius of the circular no-fly zone 30 in fig. 3, when the actual no-fly zone is in any shape other than a circle and has the same central point as the circular no-fly zone 30, it is inevitably located in the circular no-fly zone 30 shown in fig. 3. Therefore, when the mosaic structure of the regular polygon areas can completely cover the circular no-fly zone 30, the mosaic structure of the regular polygon areas can completely cover the circular no-fly zone no matter what shape the actual no-fly zone is.
Several stitching configurations are shown in fig. 3 when multiple regular polygonal areas are seamlessly stitched at the center point of the circular no-fly zone 30. Wherein, the splicing structure (a) shows the situation that six regular triangle areas are seamlessly spliced at the central point of the circular no-fly zone 30; the splicing structure (b) shows the situation that four square areas are seamlessly spliced at the central point of the circular no-fly zone 30; the situation of three regular hexagonal regions seamlessly spliced at the center point of the circular no-fly region 30 is shown in the splicing structure (c).
It should be noted that if the number of the edges of the regular polygon areas is different, the regular polygon areas can also implement seamless splicing at the center point of the actual no-fly zone, in which case, there may be multiple implementation forms of the splicing structure, which are not listed here.
Second embodiment
The number of regular polygon regions is set such that at least one regular polygon region of the plurality of regular polygon regions overlaps with other regular polygon regions.
In the first embodiment, a seamless splicing situation of the plurality of regular polygon areas is described, and when the sum of the internal angles of the plurality of regular polygon areas at the central point of the actual no-fly zone is not equal to 360 degrees, the plurality of regular polygon areas cannot realize seamless splicing at the central point of the actual no-fly zone. At this time, in order to realize that the plurality of regular polygon areas completely cover the actual no-fly area, the sum of the internal angles of the plurality of regular polygon areas at the central point should be greater than 360 degrees, and then at least one regular polygon area in the plurality of regular polygon areas overlaps with other regular polygon areas.
In the present embodiment, when at least one regular polygon region of the plurality of regular polygon regions overlaps with another regular polygon region, only one regular polygon region may overlap with another regular polygon region, or a plurality of regular polygon regions may overlap with another regular polygon region, and when regular polygon regions overlap, they may partially overlap with each other, or they may entirely overlap with each other. Therefore, there is a minimum value but no maximum value for the number of regular polygon areas. In specific implementation, in order to improve the setting efficiency of the virtual no-fly zone and reduce the computational complexity, it is preferable that the minimum number of regular polygon regions are spliced to completely cover the actual no-fly zone.
In specific implementation, in order to ensure that the splicing structure of the regular polygon areas can completely cover the actual no-fly area and simplify the boundary of the virtual no-fly area formed by the regular polygon areas, the number of the regular polygon areas which is the same as the number of the sides of the regular polygon areas can be used to cover the actual no-fly area. Specifically, if the number of sides of the regular polygon areas is the same, and the regular polygon areas are regular pentagon areas, the five regular pentagon areas can be spliced to completely cover the actual no-fly zone; when the regular polygonal area is a regular heptagon area, the seven regular heptagon areas can be spliced to completely cover the actual no-fly area.
As a more specific example, assuming that the number of sides of the regular polygon areas is the same, as shown in fig. 4, the actual no-fly zone is exemplified by a circular no-fly zone 40 with a radius as a maximum distance value (a maximum distance value from a point on the boundary of the actual no-fly zone to a center point). Of course, in practical applications, the actual no-fly zone may have any shape, and since the maximum distance value from a point on the boundary of the actual no-fly zone to the central point is the radius of the circular no-fly zone 40 in fig. 4, when the actual no-fly zone has any shape other than a circle and has the same central point as the circular no-fly zone 40, it is inevitably located in the circular no-fly zone 40 shown in fig. 4. Therefore, when the splicing structure of the regular polygon areas can completely cover the circular no-fly zone 40, no matter what shape the actual no-fly zone is, the splicing structure of the regular polygon areas can cover the no-fly zone.
Several stitching structures are shown in fig. 4, in which when multiple regular polygon areas are stitched at the center point of the circular no-fly area 40, there is overlap between the regular polygon areas. Wherein, the splicing structure (d) shows a situation that five regular pentagonal regions are spliced at the central point of the circular no-fly region 40, and partial regions between adjacent regular pentagonal regions are overlapped; the splicing structure (e) shows a situation that seven regular heptagon areas are spliced at the central point of the circular no-fly area 40, and the adjacent regular heptagon areas are partially overlapped.
Of course, when the splicing structure of the regular polygon areas completely covers the actual no-fly area, the number of the regular polygon areas may be smaller than the number of the sides of the regular polygon areas. For example: fig. 4 also shows a mosaic structure (f), in which the circular no-fly region 40 can be completely covered by the mosaic structure of the four regular heptagon regions at the center point of the circular no-fly region 40.
It should be noted that when the regular polygon area is a circular area, seamless splicing cannot be achieved, and when the actual no-fly zone is completely covered by the splicing structure of the plurality of circular areas at the center point of the actual no-fly zone, at least four circular areas need to be spliced in the manner shown in fig. 5 to completely cover the actual no-fly zone. As shown in fig. 5, the spliced structure of four circular areas at the center point of the circular no-fly zone 50 completely covers the circular no-fly zone 50.
It should be noted that if the number of the edges of the regular polygon areas is different, when the regular polygon areas are spliced at the center point of the actual no-fly zone in the second embodiment, there may be a plurality of implementation forms of the splicing structure, which are not listed here.
In step S205, a plurality of regular polygon areas are determined as virtual no-fly areas.
In this embodiment, a central point of the actual no-fly zone and position data of the central point are determined and determined based on position data of a plurality of points on the boundary of the actual no-fly zone, a linear distance between each point of the plurality of points on the boundary of the actual no-fly zone and the central point is calculated according to the position data of the plurality of points on the boundary of the actual no-fly zone and the position data of the central point of the actual no-fly zone, a plurality of distance values are obtained, a maximum distance value is determined among the plurality of distance values, then a plurality of regular polygon areas are generated by taking the central point as a vertex and a first target value greater than or equal to the maximum distance value as a radius, and the plurality of regular polygon areas are determined as the virtual no-fly zone. Compared with the forbidden flight zone boundary of an irregular polygon or an irregular curved polygon in the prior art, the boundary of the virtual forbidden flight zone generated by the method of the embodiment of the invention is easier to detect, thereby reducing the difficulty and the detection error of the boundary detection.
Example two
As shown in fig. 6, fig. 6 is a schematic flowchart illustrating another embodiment of a virtual no-fly zone setting method according to an embodiment of the present invention. The process can comprise the following steps:
step S601, position data of a plurality of points on the boundary of the actual no-fly area is acquired.
Step S602, based on the position data of the plurality of points on the boundary of the actual no-fly zone, determines the central point of the actual no-fly zone and the position data of the central point.
Step S603, calculating a linear distance between each point of the plurality of points on the boundary of the actual no-fly zone and the central point according to the position data of the plurality of points on the boundary of the actual no-fly zone and the position data of the central point of the actual no-fly zone, obtaining a plurality of distance values, and determining a maximum distance value among the plurality of distance values.
In step S604, a circular area is generated by using the second target value greater than or equal to the maximum distance value as a radius and the center point of the actual no-fly zone as a center of a circle.
In step S605, the circular area is determined as a virtual no-fly zone.
The same steps in this embodiment as those in the first embodiment, that is, step S601, step S602, and step S603, may adopt the same implementation manner as that in the first embodiment, and are not described herein again.
In this embodiment, the second target value greater than or equal to the maximum distance value is used as the radius, the central point of the actual no-fly zone is used as the center of a circle, and a circular area is generated, so that the generated circular area can cover the actual no-fly zone inevitably, and the boundary of the generated circular area is easier to detect compared with the boundary of the no-fly zone in the shape of an irregular polygon or an irregular curved edge in the prior art, thereby reducing the difficulty and the detection error of boundary detection.
In this embodiment, the second target value is greater than or equal to the maximum distance value between the upper point of the actual no-fly zone boundary and the central point of the actual no-fly zone, and in specific implementation, the second target value is equal to the maximum distance value between the upper point of the actual no-fly zone boundary and the central point of the actual no-fly zone, or slightly greater than the maximum distance value between the upper point of the actual no-fly zone boundary and the central point of the actual no-fly zone.
It should be noted that the first target value and the second target value mentioned in the embodiments of the present invention are only used to distinguish radius values in the two embodiments, and the first target value and the second target value may be equal or unequal. In specific implementation, the first target value and the second target value can be freely selected from values meeting the conditions.
The virtual no-fly zone setting method provided by the embodiment of the invention is introduced above, and the embodiment of the invention also provides a flight control method of the virtual no-fly zone set based on the method.
As shown in fig. 7, fig. 7 is a schematic flowchart illustrating a flight control method based on a virtual no-fly zone according to an embodiment of the present invention. The process can comprise the following steps:
step S701, determining position data of the current position of the unmanned aerial vehicle.
In this step, the position data of the current position of the unmanned aerial vehicle can be determined by a positioning module installed on the unmanned aerial vehicle, wherein the positioning module includes, but is not limited to, a global positioning system positioning module, a Beidou positioning module and the like.
Step S702 determines position data of a plurality of points on the boundary of the virtual no-fly zone.
In specific implementation, the virtual no-fly zone is set by using the method for setting the virtual no-fly zone provided in the first embodiment or the second embodiment of the present invention, and after the setting is completed, the position data of a plurality of points on the boundary of the virtual no-fly zone can be stored in the memory of the unmanned aerial vehicle, and can be directly read from the memory for use when needed; if the unmanned aerial vehicle can access the network, the position data of a plurality of points on the boundary of the virtual no-fly zone can also be stored in the server, and when the unmanned aerial vehicle needs to be used, the position data is acquired by the unmanned aerial vehicle accessing the network.
Step S703 is to determine a position relationship between the current position of the unmanned aerial vehicle and the virtual no-fly zone based on the position data of the current position of the unmanned aerial vehicle and the position data of the plurality of points on the boundary of the virtual no-fly zone.
In the embodiment of the invention, the position relationship between the current position of the unmanned aerial vehicle and the virtual no-fly zone comprises the following steps: the unmanned aerial vehicle is located in the virtual no-fly zone or outside the virtual no-fly zone, and certainly, if the position data of the current position of the unmanned aerial vehicle is the same as the position data of the point on the boundary of the virtual no-fly zone, the unmanned aerial vehicle is considered to be located in the virtual no-fly zone.
Step S704, controlling the flight of the unmanned aerial vehicle according to the flight state of the unmanned aerial vehicle and the position relation between the current position of the unmanned aerial vehicle and the virtual no-fly zone.
During specific implementation, the flight of the unmanned aerial vehicle is controlled according to the flight state of the unmanned aerial vehicle and the position relation between the current position of the unmanned aerial vehicle and the virtual no-fly zone, and the method comprises the following four conditions:
in the first situation, if the unmanned aerial vehicle is in a non-takeoff state and the current position of the unmanned aerial vehicle is located in the virtual no-fly zone, the unmanned aerial vehicle is prohibited from taking off.
And in the second situation, if the unmanned aerial vehicle is in the non-takeoff state and the current position of the unmanned aerial vehicle is outside the virtual no-fly zone, sending prompt information to an operator of the unmanned aerial vehicle.
In specific implementation, when the prompt message is sent to the operator of the unmanned aerial vehicle, the fact that an area where the unmanned aerial vehicle is prohibited from flying exists near the operator of the unmanned aerial vehicle can be prompted. Preferably, the current position of the unmanned aerial vehicle and the position of the virtual no-fly zone can be displayed in the control device of the unmanned aerial vehicle, so as to assist the unmanned aerial vehicle operator in controlling the flight of the unmanned aerial vehicle.
And thirdly, if the unmanned aerial vehicle is in a flying state and the current position of the unmanned aerial vehicle is located in the virtual no-fly area, controlling the unmanned aerial vehicle to land.
And fourthly, if the unmanned aerial vehicle is in a flying state and the current position of the unmanned aerial vehicle is outside the virtual no-fly zone, controlling the unmanned aerial vehicle to return or land under the condition that the distance between the current position of the unmanned aerial vehicle and the boundary of the virtual no-fly zone close to the unmanned aerial vehicle is smaller than a preset distance threshold value. The preset distance threshold may be set according to an empirical value, for example: the preset distance threshold is 100 meters.
The situation is particularly the situation that the unmanned aerial vehicle flies towards the virtual no-fly zone. In this case, although the current position of the unmanned aerial vehicle is located outside the virtual no-fly zone, when the unmanned aerial vehicle flies toward the virtual no-fly zone, the distance between the unmanned aerial vehicle and the virtual no-fly zone becomes closer and closer, and in order to avoid that the unmanned aerial vehicle flies into the virtual no-fly zone, the unmanned aerial vehicle needs to be controlled to return or land.
In the embodiment of the invention, the virtual no-fly zone can completely cover the actual no-fly zone, so that when the flight of the unmanned aerial vehicle is controlled based on the virtual no-fly zone, the area of the virtual no-fly zone, which is larger than the actual no-fly zone, is used as a buffer, the unmanned aerial vehicle can be effectively prevented from flying in the actual no-fly zone, and safety accidents are avoided.
Corresponding to the above method embodiment, the embodiment of the present invention further provides a device for setting a virtual no-fly zone.
As shown in fig. 8, fig. 8 is a schematic structural diagram illustrating a virtual no-fly zone setting apparatus according to an embodiment of the present invention. The virtual no-fly zone setting means may include:
an obtaining module 801, configured to obtain position data of multiple points on a boundary of an actual no-fly area.
A central point determining module 802, configured to determine a central point of the actual no-fly zone and position data of the central point based on position data of multiple points on the boundary of the actual no-fly zone.
The calculating module 803 is configured to calculate a linear distance between each point of the plurality of points on the boundary of the actual no-fly zone and the central point according to the position data of the plurality of points on the boundary of the actual no-fly zone and the position data of the central point of the actual no-fly zone, obtain a plurality of distance values, and determine a maximum distance value among the plurality of distance values.
A processing module 804, configured to generate a plurality of regular polygon areas with a first target value larger than or equal to the maximum distance value as a radius and a central point of the actual no-fly zone as a vertex, where the number of the regular polygon areas is set to enable the regular polygon areas to completely cover the actual no-fly zone, and determine the regular polygon areas as virtual no-fly zones; or generating a circular area by taking a second target value which is larger than or equal to the maximum distance value as a radius and taking the central point of the actual no-fly zone as a circle center, and determining the circular area as a virtual no-fly zone.
Compared with the forbidden flight zone boundary of an irregular polygon or an irregular curved polygon in the prior art, the boundary of the virtual forbidden flight zone generated by the method of the embodiment of the invention is easier to detect, thereby reducing the difficulty and the detection error of the boundary detection.
Optionally, when the number of the regular polygon areas is set to make the multiple regular polygon areas completely cover the actual no-fly area, the processing module 804 is specifically configured to: the number of the regular polygon areas is set to enable the plurality of regular polygon areas to be seamlessly spliced at the central point of the actual no-fly zone; or the number of regular polygon regions is set such that at least one regular polygon region of the plurality of regular polygon regions overlaps with other regular polygon regions.
The embodiment of the invention also provides a flight control device based on the virtual no-fly zone.
As shown in fig. 9, fig. 9 is a schematic structural diagram of a flight control apparatus based on a virtual no-fly zone according to an embodiment of the present invention. The flight control device based on the virtual no-fly zone may include:
and the positioning module 901 is configured to determine position data of the current position of the unmanned aerial vehicle.
A no-fly zone boundary determining module 902, configured to determine location data of a plurality of points on a virtual no-fly zone boundary.
A position relation determining module 903, configured to determine a position relation between the current position of the unmanned aerial vehicle and the virtual no-fly zone based on position data of the current position of the unmanned aerial vehicle and position data of multiple points on the boundary of the virtual no-fly zone.
And the control module 904 is configured to control the flight of the unmanned aerial vehicle according to the flight state of the unmanned aerial vehicle and the position relationship between the current position of the unmanned aerial vehicle and the virtual no-fly zone.
In the embodiment of the invention, the virtual no-fly zone can completely cover the actual no-fly zone, so that when the flight of the unmanned aerial vehicle is controlled based on the virtual no-fly zone, the area of the virtual no-fly zone, which is larger than the actual no-fly zone, is used as a buffer, the unmanned aerial vehicle can be effectively prevented from flying in the actual no-fly zone, and safety accidents are avoided.
Optionally, when controlling the flight of the unmanned aerial vehicle according to the flight state of the unmanned aerial vehicle and the position relationship between the current position of the unmanned aerial vehicle and the virtual no-fly zone, the control module 904 is specifically configured to: if the unmanned aerial vehicle is in the non-takeoff state and the current position of the unmanned aerial vehicle is located in the virtual no-fly area, the unmanned aerial vehicle is prohibited from taking off; and if the unmanned aerial vehicle is in the non-takeoff state and the current position of the unmanned aerial vehicle is outside the virtual no-fly area, sending prompt information to an operator of the unmanned aerial vehicle.
Optionally, when controlling the flight of the unmanned aerial vehicle according to the flight state of the unmanned aerial vehicle and the position relationship between the current position of the unmanned aerial vehicle and the virtual no-fly zone, the control module 904 is specifically configured to: if the unmanned aerial vehicle is in a flying state and the current position of the unmanned aerial vehicle is located in the virtual no-fly area, controlling the unmanned aerial vehicle to land; if the unmanned aerial vehicle is in a flying state and the current position of the unmanned aerial vehicle is outside the virtual no-fly zone, controlling the unmanned aerial vehicle to return or land under the condition that the distance between the current position of the unmanned aerial vehicle and the boundary of the virtual no-fly zone close to the unmanned aerial vehicle is smaller than a preset distance threshold value.
In addition, the embodiment of the invention also provides the unmanned aerial vehicle. The unmanned aerial vehicle comprises any one of the flight control devices based on the virtual no-fly zone in the above embodiments.
It is to be understood that the invention is not limited to the specific arrangements and instrumentality described above and shown in the drawings. A detailed description of known methods is omitted herein for the sake of brevity. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present invention are not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications and additions or change the order between the steps after comprehending the spirit of the present invention.
The functional blocks shown in the above-described structural block diagrams may be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, plug-in, function card, or the like. When implemented in software, the elements of the invention are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine-readable medium or transmitted by a data signal carried in a carrier wave over a transmission medium or a communication link. A "machine-readable medium" may include any medium that can store or transfer information. Examples of a machine-readable medium include electronic circuits, semiconductor memory devices, ROM, flash memory, Erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, Radio Frequency (RF) links, and so forth. The code segments may be downloaded via computer networks such as the internet, intranet, etc.
It should also be noted that the exemplary embodiments mentioned in this patent describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, may be performed in an order different from the order in the embodiments, or may be performed simultaneously.
As described above, only the specific embodiments of the present invention are provided, and it can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system, the module and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. It should be understood that the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present invention, and these modifications or substitutions should be covered within the scope of the present invention.
Claims (13)
1. A method for setting a virtual no-fly zone is characterized by comprising the following steps:
acquiring position data of a plurality of points on the boundary of an actual no-fly area;
determining a central point of the actual no-fly zone and position data of the central point based on position data of a plurality of points on the boundary of the actual no-fly zone;
calculating a straight-line distance between each point of a plurality of points on the boundary of the actual no-fly zone and the central point according to the position data of the plurality of points on the boundary of the actual no-fly zone and the position data of the central point of the actual no-fly zone to obtain a plurality of distance values, and determining a maximum distance value in the plurality of distance values;
generating a plurality of regular polygon areas with a first target value larger than or equal to the maximum distance value as a radius and the central point as a vertex, wherein the number of the regular polygon areas is set to enable the regular polygon areas to completely cover the actual no-fly area, and the regular polygon areas are determined as the virtual no-fly area;
or generating a circular area by taking a second target value which is greater than or equal to the maximum distance value as a radius and the central point as a circle center, and determining the circular area as the virtual no-fly zone.
2. The method of claim 1, wherein the number of regular polygon areas is set such that the plurality of regular polygon areas completely cover the actual no-fly zone, comprising:
the number of regular polygon areas is set such that the plurality of regular polygon areas are seamlessly stitched at the center point; or
The number of regular polygon regions is set such that at least one regular polygon region of the plurality of regular polygon regions overlaps with other regular polygon regions.
3. The method of claim 1, wherein the regular polygon comprises a circle.
4. A method according to any one of claims 1-3, characterized in that the position data is represented in the form of the world-wide coordinate system WGS-84 coordinates.
5. A flight control method based on a virtual no-fly zone is characterized in that the virtual no-fly zone is set by adopting the method of any one of claims 1 to 4, and the flight control method comprises the following steps:
determining position data of the current position of the unmanned aerial vehicle;
determining position data of a plurality of points on the boundary of the virtual no-fly zone;
determining the position relation between the current position of the unmanned aerial vehicle and the virtual no-fly zone based on the position data of the current position of the unmanned aerial vehicle and the position data of a plurality of points on the boundary of the virtual no-fly zone;
controlling the flight of the unmanned aerial vehicle according to the flight state of the unmanned aerial vehicle and the position relation between the current position of the unmanned aerial vehicle and the virtual no-fly zone;
the virtual no-fly zone is determined according to the actual no-fly zone and covers the area of the actual no-fly zone.
6. The method according to claim 5, wherein the controlling the flight of the unmanned aerial vehicle according to the flight state of the unmanned aerial vehicle and the position relationship between the current position of the unmanned aerial vehicle and the virtual no-fly zone comprises:
if the unmanned aerial vehicle is in a non-takeoff state and the current position of the unmanned aerial vehicle is located in the virtual no-fly zone, the unmanned aerial vehicle is prohibited from taking off;
and if the unmanned aerial vehicle is in a non-takeoff state and the current position of the unmanned aerial vehicle is located outside the virtual no-fly area, sending prompt information to an operator of the unmanned aerial vehicle.
7. The method according to claim 5, wherein the controlling the flight of the unmanned aerial vehicle according to the flight state of the unmanned aerial vehicle and the position relationship between the current position of the unmanned aerial vehicle and the virtual no-fly zone further comprises:
if the unmanned aerial vehicle is in a flying state and the current position of the unmanned aerial vehicle is located in the virtual no-fly area, controlling the unmanned aerial vehicle to land;
if the unmanned aerial vehicle is in a flying state, and the current position of the unmanned aerial vehicle is located outside the virtual no-fly area, controlling the unmanned aerial vehicle to return or land under the condition that the distance between the current position of the unmanned aerial vehicle and the boundary of one side of the virtual no-fly area, which is close to the unmanned aerial vehicle, is smaller than a preset distance threshold value.
8. A virtual no-fly zone setting device is characterized by comprising:
the acquiring module is used for acquiring position data of a plurality of points on the boundary of the actual no-fly area;
the central point determining module is used for determining a central point of the actual no-fly zone and position data of the central point based on position data of a plurality of points on the boundary of the actual no-fly zone;
the calculation module is used for calculating the straight-line distance between each point of a plurality of points on the boundary of the actual no-fly zone and the central point according to the position data of the plurality of points on the boundary of the actual no-fly zone and the position data of the central point of the actual no-fly zone to obtain a plurality of distance values, and determining the maximum distance value in the plurality of distance values;
a processing module, configured to generate a plurality of regular polygon areas with a radius of a first target value greater than or equal to the maximum distance value and the center point as a vertex, where the number of the regular polygon areas is set to enable the regular polygon areas to completely cover the actual no-fly zone, and determine the regular polygon areas as the virtual no-fly zone;
or generating a circular area by taking a second target value which is greater than or equal to the maximum distance value as a radius and the central point as a circle center, and determining the circular area as the virtual no-fly zone.
9. The apparatus according to claim 8, wherein the number of regular polygon areas is set such that when the plurality of regular polygon areas completely cover the actual no-fly area, the processing module is specifically configured to:
the number of regular polygon areas is set such that the plurality of regular polygon areas are seamlessly stitched at the center point; or
The number of regular polygon regions is set such that at least one regular polygon region of the plurality of regular polygon regions overlaps with other regular polygon regions.
10. A flight control device based on a virtual no-fly zone, wherein the virtual no-fly zone is set by the method as set forth in any one of claims 1 to 4, and the device comprises:
the positioning module is used for determining the position data of the current position of the unmanned aerial vehicle;
the flight forbidding area boundary determining module is used for determining the position data of a plurality of points on the virtual flight forbidding area boundary;
the position relation determining module is used for determining the position relation between the current position of the unmanned aerial vehicle and the virtual no-fly zone based on the position data of the current position of the unmanned aerial vehicle and the position data of a plurality of points on the boundary of the virtual no-fly zone;
the control module is used for controlling the flight of the unmanned aerial vehicle according to the flight state of the unmanned aerial vehicle and the position relation between the current position of the unmanned aerial vehicle and the virtual no-fly zone;
the virtual no-fly zone is determined according to the actual no-fly zone and covers the area of the actual no-fly zone.
11. The apparatus according to claim 10, wherein when controlling the flight of the unmanned aerial vehicle according to the flight status of the unmanned aerial vehicle and the positional relationship between the current position of the unmanned aerial vehicle and the virtual no-fly zone, the control module is specifically configured to:
if the unmanned aerial vehicle is in a non-takeoff state and the current position of the unmanned aerial vehicle is located in the virtual no-fly zone, the unmanned aerial vehicle is prohibited from taking off;
and if the unmanned aerial vehicle is in a non-takeoff state and the current position of the unmanned aerial vehicle is located outside the virtual no-fly area, sending prompt information to an operator of the unmanned aerial vehicle.
12. The apparatus according to claim 10, wherein when controlling the flight of the unmanned aerial vehicle according to the flight status of the unmanned aerial vehicle and the positional relationship between the current position of the unmanned aerial vehicle and the virtual no-fly zone, the control module is specifically configured to:
if the unmanned aerial vehicle is in a flying state and the current position of the unmanned aerial vehicle is located in the virtual no-fly area, controlling the unmanned aerial vehicle to land;
if the unmanned aerial vehicle is in a flying state, and the current position of the unmanned aerial vehicle is located outside the virtual no-fly area, controlling the unmanned aerial vehicle to return or land under the condition that the distance between the current position of the unmanned aerial vehicle and the boundary of one side of the virtual no-fly area, which is close to the unmanned aerial vehicle, is smaller than a preset distance threshold value.
13. An unmanned aerial vehicle, comprising a flight control apparatus as claimed in any one of claims 10 to 12.
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| CN113257045A (en) * | 2021-07-14 | 2021-08-13 | 四川腾盾科技有限公司 | Unmanned aerial vehicle control method based on large-scale fixed wing unmanned aerial vehicle electronic fence |
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