WO2017024813A1 - 飞行控制、许可、安全维护方法和装置、服务器、飞行器 - Google Patents

飞行控制、许可、安全维护方法和装置、服务器、飞行器 Download PDF

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Publication number
WO2017024813A1
WO2017024813A1 PCT/CN2016/079877 CN2016079877W WO2017024813A1 WO 2017024813 A1 WO2017024813 A1 WO 2017024813A1 CN 2016079877 W CN2016079877 W CN 2016079877W WO 2017024813 A1 WO2017024813 A1 WO 2017024813A1
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WIPO (PCT)
Prior art keywords
flight
aerial vehicle
unmanned aerial
area
server
Prior art date
Application number
PCT/CN2016/079877
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English (en)
French (fr)
Inventor
陈善席
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华为技术有限公司
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Filing date
Publication date
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to EP16834438.0A priority Critical patent/EP3321915A4/en
Priority to KR1020187005984A priority patent/KR20180034636A/ko
Publication of WO2017024813A1 publication Critical patent/WO2017024813A1/zh
Priority to US15/892,682 priority patent/US10854095B2/en

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/006—Navigation or guidance aids for a single aircraft in accordance with predefined flight zones, e.g. to avoid prohibited zones
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0044—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0004—Transmission of traffic-related information to or from an aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0004—Transmission of traffic-related information to or from an aircraft
    • G08G5/0013—Transmission of traffic-related information to or from an aircraft with a ground station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/003—Flight plan management
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/003—Flight plan management
    • G08G5/0039—Modification of a flight plan
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0043—Traffic management of multiple aircrafts from the ground
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls

Definitions

  • the present invention relates to the field of aircraft technology, and in particular, to a flight control, license, and security maintenance method and apparatus, a server, and an aircraft.
  • Unmanned Aerial Vehicle (English name: Unmanned Aerial Vehicle, abbreviation: UAV) is a hotspot of consumption and commercial hotspots that have emerged in recent years. However, the recent occurrence of UAVs in emergencies with high security sensitivity has made UAV a hot spot for public safety and social management.
  • One solution is to load a license file in a flight control device that controls the flight of the unmanned aerial vehicle so that the unmanned aerial vehicle can only fly within the range specified by the license file.
  • one method of loading a license file is to manually register each unmanned aerial vehicle in the relevant administrative department, and then install the license file in the flight control device of the unmanned aerial vehicle.
  • Embodiments of the present invention provide a flight control, license, and security maintenance method and apparatus, a server, and an aircraft, which can improve the flexibility of the flight path of the UAV.
  • a first aspect of the embodiments of the present invention provides a flight control method, including:
  • a flight instruction is sent such that the UAV enters the particular flight zone in accordance with the flight instruction.
  • the determining The specific flight areas that the human aircraft is about to enter include:
  • the determining the specific flight area that the UAV is about to enter includes:
  • a particular flight area to enter is determined from the particular set of flight regions.
  • the execution subject of the flight control method is a flight remote controller;
  • the response data specifically includes a preset area Map information, wherein a current location of the unmanned aerial vehicle and each specific flight area in the particular flight area set are located within the preset area;
  • the method further includes:
  • Determining, from the set of specific flight regions, a particular flight region to be entered including:
  • the specified at least one specific flight area is determined to be a specific flight area to be entered.
  • the determining the specific flight area that the UAV is about to enter includes:
  • the detector When receiving a boundary identifier of a specific flight area detected by the detector, determining that the specific flight area indicated by the boundary identifier is a specific flight area to be entered, wherein the detector is located on the unmanned aerial vehicle for A boundary identification of a particular flight area is detected while the UAV is flying.
  • the application information includes a type identifier of the unmanned aerial vehicle, a machine serial code, a user identity corresponding to the unmanned aerial vehicle, and the unmanned At least one of a current position of the aircraft, a planned flight time of the UAV in the particular flight area.
  • a second aspect of the embodiments of the present invention provides a flight permission method, including:
  • the server receives application information and specific flight area information, the application information is used to apply for an unmanned aerial vehicle to enter a flight permission of the specific flight area, and the server has a preset condition corresponding to the specific flight area;
  • the server transmits a flight permit when the unmanned aerial vehicle meets the preset condition.
  • the server includes a gateway server and at least two sub-servers, wherein different sub-servers are used to process application information of different categories of specific flight areas;
  • the server receives application information and specific flight area information, including:
  • the gateway server receives application information and specific flight area information
  • Determining, by the server, whether the unmanned aerial vehicle meets the preset condition according to the application information including:
  • the gateway server Transmitting, by the gateway server, the application information and the specific flight area information to a sub-server corresponding to a category of the specific flight area, so that the sub-server determines whether the unmanned aerial vehicle is satisfied according to the application information. Preconditions.
  • the application information includes a type identifier of the unmanned aerial vehicle, a machine serial code, a user identity corresponding to the unmanned aerial vehicle, the At least one of a current location of the UAV, a time of flight of the UAV in the particular flight zone, the specific flight zone information being used to indicate the particular flight zone that the UAV is about to enter.
  • the preset condition includes a first sub-condition and a second sub-condition; the method further includes:
  • the server acquires the ancillary information of the UAV, wherein the ancillary information of the UAV includes an audit record of the UAV, an aircraft safety accident rate of a category of the UAV, and the unmanned At least one of a safety record of a user corresponding to the aircraft, a commercial credit of the user corresponding to the unmanned aerial vehicle, and an account balance corresponding to the unmanned aerial vehicle;
  • Determining, by the server, whether the unmanned aerial vehicle meets a preset condition according to the application information including:
  • the unmanned aerial vehicle satisfying the preset condition includes:
  • the UAV simultaneously satisfies the first sub-condition and the second sub-condition.
  • the server has a corresponding relationship between a specific flight area and a network access IP address.
  • Determining whether the unmanned aerial vehicle meets the preset condition according to the application information includes:
  • the unmanned aerial vehicle satisfying the preset condition includes:
  • the network access IP address of the UAV corresponds to the particular flight area.
  • the method further includes:
  • the preset security control action is triggered when it is determined that the network access IP address of the UAV does not correspond to the specific flight area.
  • the server before the server receives the application information and the specific flight area information, the server further includes:
  • the server receives the current location of the unmanned aerial vehicle
  • the server transmits response data, the response data including information of the particular set of flight regions.
  • the method further includes:
  • the server stores application information and specific flight area information of the unmanned aerial vehicle when the unmanned aerial vehicle meets a preset condition
  • the server receives query information sent by the maintenance device, where the query information includes specific flight area information and an identifier of the unmanned aerial vehicle that appears in the specific flight area;
  • the server obtains a query result according to the query information, where the query result is used to indicate whether the unmanned aerial vehicle has a flight permission of the specific flight area;
  • a third aspect of the embodiments of the present invention provides a flight safety maintenance method, including:
  • the maintenance device performs real-time detection of at least a portion of the area within a particular flight area
  • the maintenance device sends query information to the server, the query information including the specific flight area information and an identifier of the unmanned aerial vehicle;
  • the maintenance device triggers a preset action when the query result indicates that the UAV does not have a flight permit for the particular flight area.
  • a fourth aspect of the embodiments of the present invention provides a flight control apparatus, including:
  • An application module configured to send application information and the specific flight area information to a server, the application information is used to apply for a flight permission to enter the specific flight area, and the specific flight area information is used to indicate the specific flight area;
  • a sending module configured to send a flight instruction when the flight permission sent by the server is received, so that the UAV enters the specific flight area according to the flight instruction.
  • the determining module is specifically configured to acquire a predetermined flight path of the UAV and a current location of the UAV; Position determining at least one particular flight to enter from the predetermined flight path region.
  • the determining module is specifically configured to acquire a current location of the UAV; send the current location to the server; Response data transmitted by the server, the response data including information of a specific set of flight regions, wherein a distance between each particular flight region of the particular flight region set and the current location is less than a preset value; from the particular flight region set Determine the specific flight area that is about to enter.
  • the flight control device is a flight remote controller;
  • the response data specifically includes map information of a preset area, Wherein the current location of the UAV and each specific flight zone in the set of specific flight zones are located in the preset zone;
  • the flight control device further includes:
  • a display module configured to display a map of the preset area after receiving response data sent by the server, wherein a current location of the unmanned aerial vehicle and a boundary of each specific flight area in the specific flight area set are in a Highlighted in the map;
  • the determining module is specifically configured to receive a designation of at least one of the specific flight regions in the particular set of flight regions; the at least one specific flight region to be designated is determined to be a specific flight region to enter.
  • the determining module is specifically configured to: when receiving a boundary identifier of a specific flight area detected by the detector, determine the specificity of the boundary identifier indication
  • the flight area is a particular flight area that is about to enter, wherein the detector is located on the unmanned aerial vehicle for detecting a boundary identification of a particular flight area while the UAV is flying.
  • the application information includes a type identifier of the unmanned aerial vehicle, a machine serial code, a user identity corresponding to the unmanned aerial vehicle, and the unmanned At least one of a current position of the aircraft, a planned flight time of the UAV in the particular flight area.
  • a fifth aspect of the embodiments of the present invention provides a server, including:
  • a first receiving module configured to receive application information and specific flight area information, where the application information is used to apply for an unmanned aerial vehicle to enter a flight permission of the specific flight area, where the server has a preset corresponding to the specific flight area condition;
  • a first determining module configured to determine, according to the application information, whether the unmanned aerial vehicle meets the preset condition
  • a first sending module configured to send a flight permission when the first determining module determines that the unmanned aerial vehicle meets the preset condition.
  • the server includes a gateway server and at least two sub-servers, wherein different sub-servers are used to process application information of different types of specific flight areas,
  • the first receiving module and the first sending module are located in the gateway server, and the sub-server includes the first determining module;
  • the gateway server further includes:
  • a classification module configured to determine a category of the specific flight area, and send the application information and the specific flight area information to a sub-server corresponding to a category of the specific flight area, to facilitate a location in the sub-server
  • the first determining module determines, according to the application information, whether the unmanned aerial vehicle meets a preset condition.
  • the application information includes a type identifier of the unmanned aerial vehicle, a machine serial code, a user identity corresponding to the unmanned aerial vehicle, and the At least one of a current location of the UAV, a time of flight of the UAV in the particular flight zone, the specific flight zone information being used to indicate the particular flight zone that the UAV is about to enter.
  • the preset condition includes a first sub-condition and a second sub-condition; the server further includes:
  • a first acquisition module configured to acquire ancillary information of the UAV, wherein the ancillary information of the UAV includes an audit record of the UAV, an aircraft safety accident rate of a category of the UAV, At least one of a safety record of a user corresponding to the unmanned aerial vehicle, a commercial credit of a user corresponding to the unmanned aerial vehicle, and an account balance corresponding to the unmanned aerial vehicle;
  • the first determining module is specifically configured to determine, according to the application information, whether the unmanned aerial vehicle meets the first sub-condition; and determining, according to the auxiliary information, whether the unmanned aerial vehicle meets the first a two sub-condition; determining that the unmanned aerial vehicle meets the preset condition when the unmanned aerial vehicle simultaneously satisfies the first sub-condition and the second sub-condition.
  • a corresponding relationship between a specific flight area and a network access IP address is stored in the server;
  • the first determining module is specifically configured to acquire a network access IP address of the unmanned aerial vehicle, and determine, according to the correspondence, whether a network access IP address of the unmanned aerial vehicle corresponds to the specific flight area; When the network access IP address of the UAV corresponds to the specific flight area, it is determined that the UAV satisfies the preset condition.
  • the server further includes:
  • the triggering module is configured to trigger a preset security control action when it is determined that the network access IP address of the unmanned aerial vehicle does not correspond to the specific flight area.
  • the server further includes:
  • a second receiving module configured to receive a current location of the unmanned aerial vehicle
  • a second determining module configured to determine, according to the current location, a specific flight area set, where a distance between each specific flight area and the current location in the specific flight area set is less than a preset value
  • a second sending module configured to send response data, where the response data includes information of the specific flight area set.
  • the sent server further includes:
  • a storage module configured to store application information and specific flight area information of the unmanned aerial vehicle when the unmanned aerial vehicle meets a preset condition
  • a third receiving module configured to receive query information sent by the maintenance device, where the query information includes specific flight area information and an identifier of the unmanned aerial vehicle that appears in the specific flight area;
  • a second obtaining module configured to obtain a query result according to the query information, where the query result is used to indicate whether the unmanned aerial vehicle has a flight permission of the specific flight area;
  • a third sending module configured to send the query result to the maintenance device.
  • a sixth aspect of the embodiments of the present invention provides a flight safety maintenance device, including:
  • a detection module for real-time detection of at least a portion of the area within a particular flight area
  • An acquiring module configured to acquire an identifier of the unmanned aerial vehicle when the maintenance device detects that an unmanned aerial vehicle occurs in the at least part of the area;
  • a sending module configured to send query information to the server, where the query information includes the specific flight area information and an identifier of the unmanned aerial vehicle;
  • a receiving module configured to receive a query result sent by the server, where the query result is used to indicate whether the unmanned aerial vehicle has a flight permission of the specific flight area;
  • a triggering module configured to trigger a preset action when the query result indicates that the UAV does not have a flight permission of the specific flight area.
  • a seventh aspect of the present invention provides an unmanned aerial vehicle comprising the flight control device according to any of the first to fifth possible embodiments of the fourth aspect of the present invention.
  • An eighth aspect of the embodiments of the present invention provides a flight controller, including:
  • processor reads a computer program stored in the memory for performing the following operations:
  • a flight instruction is sent such that the UAV enters the particular flight zone in accordance with the flight instruction.
  • the determining the specific flight area that the UAV is about to enter includes:
  • the determining that the specific flight area that the UAV is about to enter includes:
  • a particular flight area to enter is determined from the particular set of flight regions.
  • the flight controller is a flight remote controller;
  • the response data specifically includes map information of a preset area, Wherein the current location of the UAV and each specific flight zone in the set of specific flight zones are located in the preset zone;
  • the processor is further configured to: after receiving the response data sent by the server, perform the following operations:
  • Determining, from the set of specific flight regions, a particular flight region to be entered including:
  • the specified at least one specific flight area is determined to be a specific flight area to be entered.
  • the determining that the specific flight area that the UAV is about to enter includes:
  • the detector When receiving a boundary identifier of a specific flight area detected by the detector, determining that the specific flight area indicated by the boundary identifier is a specific flight area to be entered, wherein the detector is located on the unmanned aerial vehicle for A boundary identification of a particular flight area is detected while the UAV is flying.
  • the application information includes a type identifier of the unmanned aerial vehicle, a machine serial code, a user identity corresponding to the unmanned aerial vehicle, and the unmanned At least one of a current position of the aircraft, a planned flight time of the UAV in the particular flight area.
  • a ninth aspect of the embodiments of the present invention provides a server, including:
  • processor reads a computer program stored in the memory for performing the following operations:
  • the application information is used to apply for an unmanned aerial vehicle to enter a flight permit of the specific flight area, and the memory has a preset condition corresponding to the specific flight area;
  • a flight permit is sent when the UAV satisfies the preset condition.
  • the server includes a gateway server and at least two sub-servers, wherein different sub-servers are used to process application information of different categories of specific flight areas;
  • the gateway server includes a first processor and a first memory coupled to the first processor; wherein the first processor reads a computer program stored in the first memory for performing the following operations:
  • the subserver includes a second processor and a second memory coupled to the second processor; wherein the second processor reads a computer program stored in the second memory for performing the following operations:
  • the first processor is further configured to perform the following operations:
  • a flight permit is sent when the UAV satisfies the preset condition.
  • the application information includes a type identifier of the unmanned aerial vehicle, a machine serial code, a user identity corresponding to the unmanned aerial vehicle, and the At least one of a current location of the UAV, a time of flight of the UAV in the particular flight zone, the specific flight zone information being used to indicate the particular flight zone that the UAV is about to enter.
  • the preset condition packet The first sub-condition and the second sub-condition are included; the processor is further configured to perform the following operations:
  • the auxiliary information of the unmanned aerial vehicle includes an examination record of the unmanned aerial vehicle, an aircraft safety accident rate of a category of the unmanned aerial vehicle, and an unmanned aerial vehicle corresponding to the unmanned aerial vehicle At least one of a safety record of the user, a commercial credit of the user corresponding to the unmanned aerial vehicle, and an account balance corresponding to the unmanned aerial vehicle;
  • Determining, according to the application information, whether the unmanned aerial vehicle meets a preset condition including:
  • the unmanned aerial vehicle satisfying the preset condition includes:
  • the UAV simultaneously satisfies the first sub-condition and the second sub-condition.
  • a corresponding relationship between a specific flight area and a network access IP address is stored in the memory
  • the processor is also configured to perform the following operations:
  • Obtaining a network access IP address of the unmanned aerial vehicle determining, according to the correspondence, whether a network access IP address of the unmanned aerial vehicle corresponds to the specific flight area; when the unmanned aerial vehicle accesses the network When the IP address corresponds to the specific flight area, it is determined that the UAV satisfies the preset condition.
  • the processor is further configured to:
  • the preset security control action is triggered when it is determined that the network access IP address of the UAV does not correspond to the specific flight area.
  • the processor is further configured to perform the following operations before receiving the application information and the specific flight area information:
  • Response data is transmitted, the response data including information of the particular set of flight regions.
  • the processor is further configured to:
  • the query information including specific flight area information and an identifier of the unmanned aerial vehicle appearing in the specific flight area;
  • a tenth aspect of the embodiments of the present invention provides a flight safety maintainer, including:
  • processor reads a computer program stored in the memory for performing the following operations:
  • the query information will be sent to the server, the query information including the specific flight area information and the identifier of the unmanned aerial vehicle;
  • the preset action is triggered when the query result indicates that the UAV does not have a flight permit for the particular flight area.
  • An eleventh aspect of the present invention provides an unmanned aerial vehicle comprising the flight controller according to any one of the first to fifth possible embodiments of the eighth aspect, the eighth aspect of the present invention .
  • the specific flight area to be entered is determined during the flight of the UAV, and the flight permission of the specific flight area is requested from the server, and the unmanned aerial vehicle is controlled to enter the specific flight after receiving the flight permission of the server.
  • the UAV can change the flight path as needed during the flight, instead of limiting the UAV to strictly follow the licensed flight route as in the background art, which can greatly improve the flight of the UAV.
  • the flexibility of the route is determined during the flight of the UAV, and the flight permission of the specific flight area is requested from the server, and the unmanned aerial vehicle is controlled to enter the specific flight after receiving the flight permission of the server.
  • FIG. 1 is a schematic flow chart of an embodiment of a flight control method according to the present invention.
  • FIG. 2 is a schematic flow chart of an embodiment of determining a specific flight area that an unmanned aerial vehicle is about to enter in the flight control method of the present invention
  • FIG. 3 is a flow chart of one embodiment of a flight permit method of the present invention.
  • FIG. 4 is a flow chart of an embodiment of a flight safety maintenance method of the present invention.
  • Figure 5 is a schematic structural view of an embodiment of a flight control device of the present invention.
  • Figure 6 is a schematic structural view of another embodiment of the flight control device of the present invention.
  • FIG. 7 is a schematic structural diagram of an embodiment of a server according to the present invention.
  • FIG. 8 is a schematic structural diagram of another embodiment of a server according to the present invention.
  • FIG. 9 is a schematic structural diagram of another embodiment of a server according to the present invention.
  • FIG. 10 is a schematic structural diagram of another embodiment of a server according to the present invention.
  • FIG. 11 is a schematic structural diagram of another embodiment of a server according to the present invention.
  • FIG. 12 is a schematic structural view of an embodiment of a flight safety maintenance device of the present invention.
  • Figure 13 is a schematic view showing the structure of an embodiment of the flight controller of the present invention.
  • Embodiments of the present invention provide a flight control, license, and security maintenance method and apparatus, a server, and an aircraft for improving the flexibility of a flight path of an unmanned aerial vehicle.
  • the flight management system includes an unmanned aerial vehicle (English: Unmanned Aerial Vehicle, abbreviation: UAV) and server.
  • the UAV includes a flight controller (English: Aerial Vehicle Controller, abbreviated: AVC) and a physical device connected to the flight controller for performing a flight action under the control of the flight controller (for convenience of description, hereinafter referred to as For flying physical devices).
  • the flight management system may further include a flight remote controller (Aerial Remote Controller, ARC) or other controller for transmitting flight instructions to the flight controller, so that the flight controller controls the flight physical device according to the flight instruction. Perform the flight.
  • ARC Application Remote Controller
  • the execution subject of the flight permission method provided by the embodiment of the present invention is a server, and the execution body of the flight control method may be a flight controller or a flight remote controller, or other flight command may be sent, so that the flight controller can be based on the flight.
  • the controller that controls the flight physical device to perform the flight is not limited herein.
  • a flight controller and a flight remote controller or other controller that can transmit flight instructions so that the flight controller can control the flight physical device to perform flight according to the flight instruction are collectively referred to as a flight control device. That is, the execution subject of the flight control method is a flight control device.
  • the UAV In practical applications, there are some areas where UAVs need to obtain flight permission to enter the area before they can fly in the area. Otherwise, the UAV enters the area for illegal entry.
  • the area in which the UAV requires a flight permit to enter is hereinafter referred to as a specific flight area.
  • the flight control device is capable of communicating with the server.
  • the flight control device determines a specific flight area that the UAV is about to enter, and transmits application information for the specific flight area to the server, wherein the application information is used to apply for flight into the specific flight area. license.
  • the server is configured to review the application information sent by the flight control device to determine whether to send the flight permit to the flight control device.
  • the flight control device transmits a flight command after receiving the flight permission sent by the server, so that the UAV enters the specific flight region according to the flight instruction.
  • FIG. 1 is a schematic flow chart of an embodiment of a flight control method according to the present invention. As shown in FIG. 1, the flight control method of this embodiment includes:
  • a particular flight area refers to a flight area in which an unmanned aerial vehicle requires a flight permit to enter, such as an area involving military, security, or commercial interests.
  • the flight controller does not take the flight permission of all the specific flight areas that the UAV is about to enter before the aircraft takes off, and the UAV re-takes, but the UAV flight process.
  • the medium flight control device determines at least one specific flight area to be entered in real time, and then applies to the server for flight permission of the at least one specific flight area.
  • determining a specific flight area that the UAV is about to enter includes: acquiring a predetermined flight path of the UAV and a current location of the UAV; determining, from the predetermined flight path, based on the current location A specific flight area that is about to enter.
  • the predetermined flight route for acquiring the unmanned aerial vehicle may be acquired before the take-off of the unmanned aerial vehicle or after the take-off, and is not limited herein.
  • the unmanned aerial vehicle has a global positioning system (English: Global Positioning System, abbreviated: GPS) for positioning the unmanned aerial vehicle. After the UAV takes off, the flight control device receives information of the current location of the unmanned aerial vehicle transmitted by the GPS.
  • GPS Global Positioning System
  • the scheduled flight path of the UAV can be acquired before the UAV takes off, and the current position of the UAV is acquired during the flight of the UAV to determine the scheduled flight after the current position of the UAV.
  • the predetermined flight path of the UAV and the current position of the UAV may be acquired after the unmanned takeoff takes off to determine the specific passage of the predetermined flight route after the current position of the UAV. Flight area.
  • determining at least one specific flight area to be entered from a predetermined flight route according to the current location For example, a specific flight area map of the area where the predetermined flight path is located is pre-stored in the flight control device, wherein the specific flight area map includes boundary information of all specific flight areas within the area.
  • the flight control device searches for a specific flight area through which the predetermined flight route passes on a specific flight area map according to a predetermined flight route.
  • the flight control device may not pre-store the specific flight area map, but after acquiring the predetermined flight route, it is detected whether a specific flight area map of the area where the predetermined flight route is located exists. If not, the specific flight area map of the area where the scheduled flight route is located is downloaded from the server. If the flight control device has a map of the particular flight area, preferably, The flight control device also updates the particular flight area map for each preset time period.
  • the flight control device is a flight remote controller, and the flight remote controller has a digital display interface.
  • a digital map is displayed on the screen of the flight remote control, and the digital map divides the geographical whole area with a certain granularity, and some of the areas are specific flight areas.
  • the flight remote control determines a particular flight area that the flight line is to traverse on the digital map by receiving flight lines entered by the remote control personnel on the digital map.
  • the application information is used to apply for a flight permit to enter the specific flight area.
  • the application information can include a variety of content.
  • the application information includes identity information of the unmanned aerial vehicle, such as a type identification code of the unmanned aerial vehicle, a machine serial code, a user identity corresponding to the unmanned aerial vehicle, or flight information including the unmanned aerial vehicle.
  • identity information of the unmanned aerial vehicle such as a type identification code of the unmanned aerial vehicle, a machine serial code, a user identity corresponding to the unmanned aerial vehicle, or flight information including the unmanned aerial vehicle.
  • the current location of the aircraft and/or the planned flight time at a particular flight area may be the current latitude and longitude, the current location, or other location information, which is not limited herein.
  • the application information may also include information required by the server.
  • the application information further includes a machine certificate of the unmanned aerial vehicle, the machine certificate including at least one of an effective life of the unmanned aerial vehicle and a flight violation/illegal situation.
  • the above description is by way of example only and not limiting.
  • the specific flight area information is used to indicate the particular flight area.
  • the particular flight zone information can be identified in a number of ways to identify a particular flight zone.
  • the specific flight area information includes four radio frequency tags for indicating rectangular areas with the four radio frequency tags as four vertices.
  • the digital map is divided into a plurality of regions by a certain latitude and longitude value of the granularity, and the specific flight region information is used to indicate one of the regions.
  • the server determines whether to issue the flight permission to the flight control device based on the application information and the specific flight area information. If issued, the flight permit is sent to the flight control device.
  • the flight controller When the flight control device is a flight controller, the flight controller sends a flight command to control the flight The physical device enters a particular flight area in accordance with the flight instruction.
  • the flight control device is a flight remote controller, the flight remote controller sends a flight command to the flight controller, and the flight controller controls the flight physical device to enter a specific flight region according to the flight command.
  • the specific flight area to be entered is determined, and the flight permission of the specific flight area is requested from the server, and the UAV is controlled to enter the specific flight area after receiving the flight permission of the server.
  • the UAV can change the flight route as needed during the flight, instead of limiting the unmanned aerial vehicle to strictly follow the licensed flight route as in the background art, which can greatly improve the flight path of the UAV. Flexibility.
  • Example 1 as shown in Figure 2, to determine the specific flight area that the UAV is about to enter includes:
  • the flight control device acquires the current position of the UAV every preset time, or the flight control device acquires the current position of the UAV at a preset time point.
  • the above description is by way of example only and not limiting.
  • the current location is sent to the server so that the server can query whether there is a specific flight area nearby according to the current location of the UAV.
  • the response data includes information for a particular set of flight regions, wherein a distance between each particular flight region of the particular set of flight regions and the current location is less than a preset value.
  • the specific flight set in the response data may be that the server acquires all the specific flight areas whose distance from the current location is less than a preset value according to the current location of the unmanned aerial vehicle, or may be sent by the server according to the unmanned aerial vehicle.
  • the plurality of current positions organize the flight path of the unmanned aerial vehicle, and according to the flight route, predict the unmanned aerial vehicle to be in a specific flight area that is about to enter within a radius of the preset value centered on the current position.
  • the above is merely an example and is not limiting.
  • the preset value may be set by the server by default, or the flight control device may send the preset value to the server along with the current location of the unmanned aerial vehicle, and do not limit.
  • the information of the specific flight area set is used to indicate the boundary of each specific flight area in the set.
  • a flight control device can determine a particular flight region to enter from a particular set of flight regions.
  • the flight control device is a flight remote controller and controls the flight path of the unmanned aerial vehicle in real time.
  • the flight remote controller is provided with a display, and the response data received by the flight remote controller includes map information of the preset area, wherein the current position of the unmanned aerial vehicle and each specific flight area in the specific flight area set are located in the preset Set in the area.
  • the flight remote controller displays a map of the preset area on the display according to the response data, wherein the current position of the unmanned aerial vehicle and the boundary of each specific flight area in the specific flight area set are The map is highlighted so that the user manipulating the flight remote can select a particular flight area to enter.
  • the flight remote control receives a designation of at least one particular flight zone of the particular set of flight zones and determines the designated at least one particular flight zone as the particular flight zone to be entered.
  • a designation for a specific flight area For example, a touch screen is also provided on the display on the flight remote control, and the flight remote control receives the designation of a particular flight area by receiving a touch on each particular flight area.
  • a display list is also displayed on the display on the flight remote controller, wherein each option is a specific flight area in a specific flight area set; the flight remote controller determines a specific flight area to enter by receiving a selection of each option. .
  • the boundary identifier may be a radio frequency label or a two-dimensional code, which is not limited herein.
  • FIG. 3 is a flow chart of one embodiment of the flight permit method of the present invention.
  • the flight permission method includes:
  • the server receives application information and specific flight area information, and the application information is used to apply for an unmanned aerial vehicle to enter a flight permit of the specific flight area.
  • the server determines, according to the application information, whether the unmanned aerial vehicle meets a preset condition.
  • a particular flight area refers to a flight area in which an unmanned aerial vehicle requires a flight permit to enter, such as an area involving military, security, or commercial interests.
  • the flight control device sends the application information to the server to apply for the flight permit for the unmanned aerial vehicle to enter a particular flight area.
  • the specific flight area information is used to indicate a particular flight area to which the flight control device is requested to enter.
  • the application information includes identity information of the unmanned aerial vehicle, such as a type identifier of the unmanned aerial vehicle, a machine serial code, a user identity corresponding to the unmanned aerial vehicle, or a flight information including the unmanned aerial vehicle.
  • identity information of the unmanned aerial vehicle such as a type identifier of the unmanned aerial vehicle, a machine serial code, a user identity corresponding to the unmanned aerial vehicle, or a flight information including the unmanned aerial vehicle.
  • the current location of the aircraft and/or the planned flight time at a particular flight area may be the current latitude and longitude, the current location, or other location information, which is not limited herein.
  • the application information further includes a machine certificate of the unmanned aerial vehicle, the machine certificate including at least one of an effective period of the unmanned aerial vehicle and a flight violation/illegal situation.
  • a machine certificate of the unmanned aerial vehicle including at least one of an effective period of the unmanned aerial vehicle and a flight violation/illegal situation.
  • the server has a preset condition corresponding to each specific flight area, and after receiving the application information and the specific flight area information, the server determines whether the application information meets the preset condition corresponding to the specific flight area.
  • the preset conditions for the first particular flight area present in the server include that the UAV has a preset document that is within the validity period. Then, after receiving the application information of the first specific flight area, the server determines that the unmanned aircraft meets the preset condition, and includes detecting information including the preset document in the application information, and the preset document is in the validity period.
  • the preset condition of the first specific flight area existing in the server includes that the first specific flight area is only open to the unmanned aerial vehicle within a preset time period. Then, after receiving the application information for the first specific flight area, the server determines that the unmanned aircraft meets the preset condition, and includes detecting that the application flight time is within the preset time period.
  • the server also stores a correspondence between a specific flight area and a network access IP address. Since the application information is sent to the server in the form of a data packet, the server can obtain the network access IP address of the UAV when receiving the data packet. This is a prior art and will not be described here.
  • the server For the first specific flight area, after receiving the application information of the pair of the first specific flight area, the server acquires the network access IP address of the unmanned aerial vehicle, and determines the IP of the unmanned aerial vehicle according to the corresponding relationship. Whether the address corresponds to the first specific flight area. The server determines that the UAV satisfies the preset condition including detecting that the network access IP address of the UAV corresponds to the first specific flight area. In this way, the server can avoid the possibility that the UAV accesses the IP address counterfeiting through the network to implement malicious intent.
  • the server determines that the IP address of the UAV does not correspond to the specific flight area
  • the preset security control action is triggered.
  • security controls There are many types of security controls. For example, the server does not send a flight permit and the unmanned aerial vehicle is included in the blacklist for that particular flight area.
  • the server includes a gateway server and at least two sub-servers, where different sub-servers are used to process application information of different types of specific flight areas, where each sub-server has a specific flight of the processed category.
  • the preset condition corresponding to the area For example, one sub-server is used to process application information for a specific flight area of a military class, and one sub-server is used to process application information for a specific flight area of a commercial class.
  • the gateway server After receiving the application information and the specific flight area information, the gateway server determines the category of the specific flight area, and transmits the application information and the specific flight area information to the sub-server corresponding to the category of the specific flight area. After receiving the application information and the specific flight area information, the sub server determines, according to the application information, whether the unmanned aerial vehicle meets the preset condition. In this way, the management of the application information of each specific flight area can be more conveniently performed when the type and number of application information of the specific flight area received by the server is large.
  • the server sends a flight permission to the flight control device.
  • the server When it is determined that the unmanned aerial vehicle meets the preset condition, that is, when the unmanned aerial vehicle can enter the predetermined flight area requested by the flight control device, the server sends a flight permission to the flight control device, so that the flight control device sends a flight instruction.
  • the UAV is caused to enter the predetermined flight area in accordance with the command.
  • the server can identify a particular flight area as at least three of the following types: Free/Commerce/Mandatory. Free is an unrestricted, unmonitored, free-flying area; Commerce pays for commercial use; Mandatory is an area where flight is limited and needs to receive flight monitoring. Therefore, the license file sent by the server will vary depending on the properties of the particular flight area. There are a variety of license files for a particular flight area for each attribute.
  • the content and items included are: the area range of the digital geographic coordinates calibration, the area type, and the service side effective information of the issuing license.
  • the content and items included are: the area range of the digital geographic coordinates, the type of the area, the service side effective information of the issuing license, the effective information of the regional management party, the flight information, the business credentials, etc. .
  • the content and items included are: the area range of the digital geographic coordinates, the type of the area, the service side effective information of the issuing license, the effective information of the regional management party, the flight information, and the foregoing effective information.
  • the issuing party/verifying party etc.
  • the flight permit of the UAV is obtained only after being applied to the relevant department, and the entire application process is time consuming and labor intensive.
  • the flight permission application for each unmanned aerial vehicle entering the predetermined flight area is uniformly collected and audited by the server, the auditing time is shortened, and the unmanned aerial vehicle is conveniently applied in real time according to the requirements during the flight, thereby improving the unmanned person.
  • the flexibility of the flight path of the aircraft is uniformly collected and audited by the server, the auditing time is shortened, and the unmanned aerial vehicle is conveniently applied in real time according to the requirements during the flight, thereby improving the unmanned person.
  • the server determines whether the unmanned aerial vehicle meets the preset condition according to the application information sent by the flight control device.
  • the server further acquires the auxiliary information of the unmanned aerial vehicle, and determines whether the unmanned aerial vehicle meets the preset condition according to the application information and the auxiliary information.
  • the auxiliary information may be an examination record of the unmanned aerial vehicle, an aircraft safety accident rate of a category of the unmanned aerial vehicle, a safety record of a user corresponding to the unmanned aerial vehicle, and a user corresponding to the unmanned aerial vehicle. At least one of a commercial credit, an account balance corresponding to the unmanned aerial vehicle.
  • the ancillary information may also be other, and is not limited herein.
  • the ancillary information of the UAV can be pre-stored in the server, and the server obtains the affiliate information from the memory in the server. Alternatively, the server may also obtain the affiliate letter from another server that stores the affiliate information of the unmanned aerial vehicle. Interest, there is no limit here.
  • the preset condition includes a first sub-condition and a second sub-condition.
  • determining whether the unmanned aerial vehicle meets the preset condition determining, by the application information, whether the unmanned aerial vehicle meets the first sub-condition, and determining, according to the auxiliary information, whether the unmanned aerial vehicle meets the first Two sub-conditions. Only when the unmanned aerial vehicle simultaneously satisfies the first sub-condition and the second sub-condition, it is determined that the UAV satisfies the preset condition, and the flight permission of the UAV into the specific flight area requested is transmitted to the flight control device.
  • the preset condition of the third specific flight area existing in the server includes the first sub-condition that the UAV opens the user account of the third specific flight area, including the The second sub-condition is that the safety accident rate of the unmanned aerial vehicle is lower than a predetermined value.
  • the server acquires the safety accident rate of the unmanned aerial vehicle from the memory according to the identity information of the unmanned aerial vehicle in the application information.
  • the server detects that the application information includes information about a user account opened by the UAV in the third specific flight area, and the safety accident rate of the UAV is lower than a predetermined value, determining that the UAV meets the preset condition .
  • the server has a specific flight area map, and the map includes a boundary position of each specific flight area.
  • the server determines a specific flight region set from the specific flight region map, the specific flight region set including all of the current location The distance is less than the preset value of the specific flight area.
  • the server organizes the flight path of the UAV according to a plurality of current positions sent by the UAV, and predicts, according to the flight path, that the UAV is centered on the current position, and the preset value is within a radius of the area.
  • the server transmits response data to the flight control device, the response data including information of the particular set of flight regions.
  • the server when the UAV meets the preset condition, the server further stores the received application information and the specific flight area information, so as to subsequently manage the UAV according to the information.
  • the server may also store the application information and the specific flight area information of the unmanned aerial vehicle that does not satisfy the preset condition when the unmanned aerial vehicle does not satisfy the preset condition.
  • the method of managing and managing the unmanned aerial vehicle based on the application information and the specific flight area information is For example, a maintenance device is provided in the predetermined flight area for detecting the identification of the UAV appearing in the detection area of the maintenance device in real time.
  • the query information is sent to the server, the query information including specific flight zone information and an identification of the UAV appearing in the particular flight zone.
  • the server receives the query information sent by the maintenance device, and obtains the query result according to the query information, and sends the query result to the maintenance device.
  • the query result is used to indicate whether the unmanned aerial vehicle has a flight permit for the specific flight area.
  • the server stores a correspondence between each specific flight area and an unmanned aerial vehicle having a flight permit for the specific flight area based on the received application information and the specific flight area information.
  • the server determines whether the unmanned aerial vehicle in the query information has a corresponding relationship with the specific flight area, and if so, determines that the unmanned aerial vehicle has a flight permit for the specific flight area.
  • the above is only a description and is not limiting.
  • the server may also record an unmanned aerial vehicle that does not have a flight permit for the particular flight area for subsequent management of the unmanned aerial vehicle.
  • FIG. 4 is a flow chart of an embodiment of a flight safety maintenance method of the present invention.
  • the flight safety maintenance method includes:
  • the maintenance device performs real-time detection on at least a portion of the area within the specific flight area.
  • the maintenance device may be a detector, or other device that can acquire the identifier on the unmanned aerial vehicle, and is not limited herein.
  • the detection range of the maintenance device is located within a particular aircraft area, either as part of a particular flight area or as a specific flight area.
  • the maintenance device detects the area within the detection range in real time during a time period in which a specific flight area requires a flight permit to allow the UAV to enter.
  • the identification of the unmanned aerial vehicle is obtained.
  • the maintenance device scans the two-dimensional code, and the information obtained after the scanning is used as a representation of the unmanned aerial vehicle.
  • RFID Radio Frequency Identification
  • the maintenance device sends query information to the server, where the query information includes the specific flight area information and an identifier of the unmanned aerial vehicle.
  • the maintenance device transmits the acquisition of the specific flight area information and the identification of the unmanned aerial vehicle to the server to query the server whether the unmanned aerial vehicle has a flight permit within the particular aircraft area.
  • the maintenance apparatus receives a query result sent by the server, where the query result is used to indicate whether the unmanned aerial vehicle has a flight permission of the specific flight area.
  • the maintenance device triggers a preset action.
  • the maintenance device When the UAV does not have a flight permit for a particular flight area, ie, the UAV is illegally flying within that particular flight area, the maintenance device triggers a preset action. There are several preset actions. For example, the maintenance device can issue an alarm to alert the unmanned aerial vehicle that is flying illegally.
  • the maintenance device by the arrangement of the maintenance device and the cooperation between the maintenance device and the server, it is possible to further prevent the occurrence of an unmanned aerial vehicle without a flight permit in a specific flight area, and to ensure flight safety in a specific flight area.
  • the flight control method, the flight permission method, and the flight safety maintenance method in the embodiments of the present invention have been described above.
  • the flight control device, the server, and the flight safety maintenance device in the embodiments of the present invention will be described below.
  • FIG. 5 is a schematic structural view of an embodiment of a flight control device according to the present invention.
  • the flight control device 500 includes:
  • a determining module 501 configured to determine, when the UAV is flying, a specific flight area that the UAV is about to enter, wherein the UAV enters the specific flight area and requires a flight permit;
  • An application module 502 configured to send application information and the specific flight area information to a server, where the application information is used to apply for a flight permission to enter the specific flight area, where the specific flight area information is used to indicate the specific flight area ;
  • the sending module 503 is configured to send the flight finger when receiving the flight permission sent by the server So that the UAV enters the particular flight area in accordance with the flight instruction.
  • the specific flight area to be entered is determined, and the flight permission of the specific flight area is requested from the server, and the UAV is controlled to enter the specific flight area after receiving the flight permission of the server.
  • the UAV can change the flight route as needed during the flight, instead of limiting the unmanned aerial vehicle to strictly follow the licensed flight route as in the background art, which can greatly improve the flight path of the UAV. Flexibility.
  • the determining module is specifically configured to acquire a predetermined flight route of the UAV and a current location of the UAV; and determine, according to the current location, at least one specific to be entered from the predetermined flight route. Flight area.
  • the determining module is specifically configured to acquire a current location of the UAV; send the current location to the server; receive response data sent by the server, where the response data includes a specific flight area set Information that the distance between each particular flight area in the particular set of flight regions and the current location is less than a preset value; determining a particular flight area to enter from the particular set of flight regions.
  • the determining module is specifically configured to: when receiving a boundary identifier of a specific flight area detected by the detector, determine that the specific flight area indicated by the boundary identifier is a specific flight area that is about to enter, wherein the detecting The device is located on the unmanned aerial vehicle for detecting a boundary identification of a particular flight area while the UAV is flying.
  • the application information includes a type identifier of the unmanned aerial vehicle, a machine serial code, a user identity corresponding to the unmanned aerial vehicle, a current location of the unmanned aerial vehicle, and the unmanned aerial vehicle At least one of the planned flight times for a particular flight area.
  • FIG. 6 is a schematic structural view of another embodiment of a flight control device according to the present invention.
  • the flight control device 600 includes:
  • the determining module 601 is configured to determine, when the UAV is flying, a specific flight area that the UAV is about to enter, wherein the UAV enters the specific flight area and requires a flight permit.
  • An application module 602 configured to send application information and the specific flight area information to a server, where the application information is used to apply for a flight permission to enter the specific flight area, where the specific flight area information is used to indicate the specific flight area .
  • the sending module 603 is configured to, when receiving the flight permission sent by the server, send a flight instruction, so that the UAV enters the specific flight area according to the flight instruction.
  • the determining module is specifically configured to acquire a current location of the unmanned aerial vehicle; send the current location to the server; and receive response data sent by the server, where the response data includes Information of a particular set of flight regions, wherein a distance of each particular flight region in the particular set of flight regions from the current location is less than a preset value; determining a particular flight region to enter from the particular set of flight regions.
  • the flight control device 600 is a flight remote controller
  • the response data specifically includes map information of a preset area, where a current location of the unmanned aerial vehicle and each of the specific flight area sets are A particular flight area is located within the preset area.
  • the flight remote controller 600 also includes:
  • a display module 604 configured to display a map of the preset area after receiving the response data sent by the server, where a current location of the UAV and a boundary of each specific flight area in the specific flight area set are Highlighted in the map;
  • the determining module 601 is specifically configured to receive a designation of at least one of the specific flight regions in the specific flight region set; the designated at least one specific flight region is determined to be a specific flight region to be entered.
  • the specific location of the specific flight area can be visually displayed to the user, and the user can select a specific flight area to enter, which can improve the user experience of the unmanned aerial vehicle.
  • the present invention also provides an unmanned aerial vehicle comprising any of the flight control devices described above.
  • FIG. 7 is a schematic structural diagram of an embodiment of a server according to the present invention.
  • the server includes:
  • a first receiving module 701 configured to receive application information and specific flight area information, where the application information is used to apply for an unmanned aerial vehicle to enter a flight permission of the specific flight area, where the server has a preset corresponding to the specific flight area. Set the condition.
  • a first determining module 702 configured to determine, according to the application information, whether the unmanned aerial vehicle is satisfied The preset condition.
  • the first sending module 703 is configured to send a flight permission when the first determining module determines that the unmanned aerial vehicle meets the preset condition.
  • the flight permit of the UAV is obtained only after being applied to the relevant department, and the entire application process is time consuming and labor intensive.
  • the flight permission application for each unmanned aerial vehicle entering the predetermined flight area is uniformly collected and audited by the server, the auditing time is shortened, and the unmanned aerial vehicle is conveniently applied in real time according to the requirements during the flight, thereby improving the unmanned person.
  • the flexibility of the flight path of the aircraft is uniformly collected and audited by the server, the auditing time is shortened, and the unmanned aerial vehicle is conveniently applied in real time according to the requirements during the flight, thereby improving the unmanned person.
  • the application information includes a type identifier of the unmanned aerial vehicle, a machine serial code, a user identity corresponding to the unmanned aerial vehicle, a current location of the unmanned aerial vehicle, and the unmanned aerial vehicle At least one of flight times of a particular flight zone, the specific flight zone information being used to indicate the particular flight zone that the UAV is about to enter.
  • the server 700 includes a gateway server 71 and at least two sub-servers 72, wherein different sub-servers 72 are used to process application information of different categories of specific flight areas, the first receiving The module 701 and the first sending module 703 are located in the gateway server 71.
  • the sub-server includes the first determining module 702.
  • the gateway server further includes a classification module 801, configured to determine a category of the specific flight area, and send the application information and the specific flight area information to a sub-server 72 corresponding to a category of the specific flight area, so that The first determining module 702 in the sub-server determines whether the unmanned aerial vehicle meets a preset condition according to the application information.
  • a classification module 801 configured to determine a category of the specific flight area, and send the application information and the specific flight area information to a sub-server 72 corresponding to a category of the specific flight area, so that The first determining module 702 in the sub-server determines whether the unmanned aerial vehicle meets a preset condition according to the application information.
  • the preset condition includes a first sub-condition and a second sub-condition; and the server further includes:
  • the first obtaining module 901 is configured to acquire the auxiliary information of the unmanned aerial vehicle, wherein the auxiliary information of the unmanned aerial vehicle includes an examination record of the unmanned aerial vehicle, and an aircraft safety accident rate of a category of the unmanned aerial vehicle And at least one of a safety record of a user corresponding to the unmanned aerial vehicle, a commercial credit of a user corresponding to the unmanned aerial vehicle, and an account balance corresponding to the unmanned aerial vehicle;
  • the first determining module 702 is specifically configured to determine, according to the application information, whether the unmanned aerial vehicle meets the first sub-condition; and determine, according to the auxiliary information, whether the unmanned aerial vehicle meets the second sub-condition; When the unmanned aerial vehicle simultaneously satisfies the first sub-condition and the second sub-condition It is determined that the unmanned aerial vehicle meets the preset condition.
  • the server stores a correspondence between a specific flight area and a network access IP address
  • the first determining module 702 is specifically configured to acquire a network access IP address of the unmanned aerial vehicle, and determine, according to the correspondence, whether a network access IP address of the unmanned aerial vehicle corresponds to the specific flight area; When the network access IP address of the UAV corresponds to the specific flight area, it is determined that the UAV satisfies the preset condition.
  • the server 700 further includes:
  • the triggering module 1001 is configured to trigger a preset security control action when it is determined that the network access IP address of the unmanned aerial vehicle does not correspond to the specific flight area.
  • the server 700 further includes:
  • a second receiving module 1002 configured to receive a current location of the unmanned aerial vehicle
  • a second determining module 1003 configured to determine, according to the current location, a specific flight area set, where a distance between each specific flight area and the current location in the specific flight area set is less than a preset value;
  • the second sending module 1004 is configured to send response data, where the response data includes information of the specific flight area set.
  • the sent server 700 further includes:
  • the storage module 1101 is configured to store the application information and the specific flight area information of the unmanned aerial vehicle when the unmanned aerial vehicle meets the preset condition;
  • the third receiving module 1102 is configured to receive query information sent by the maintenance device, where the query information includes specific flight area information and an identifier of the unmanned aerial vehicle that appears in the specific flight area;
  • a second obtaining module 1103, configured to acquire a query result according to the query information, where the query result is used to indicate whether the unmanned aerial vehicle has a flight permission of the specific flight area;
  • the third sending module 1104 is configured to send the query result to the maintenance device.
  • the server of the present invention has been described above, and the flight safety maintenance device of the present invention will be described below.
  • FIG. 12 is a schematic structural view of an embodiment of a flight safety maintenance device according to the present invention.
  • the flight safety maintenance device includes:
  • the detecting module 1201 is configured to perform real-time detection on at least a part of the area in a specific flight area;
  • the obtaining module 1202 is configured to acquire an identifier of the unmanned aerial vehicle when the maintenance device detects that an unmanned aerial vehicle occurs in the at least part of the area;
  • a sending module 1203, configured to send query information to the server, where the query information includes the specific flight area information and an identifier of the unmanned aerial vehicle;
  • the receiving module 1204 is configured to receive a query result sent by the server, where the query result is used to indicate whether the unmanned aerial vehicle has a flight permission of the specific flight area;
  • the triggering module 1205 is configured to trigger a preset action when the query result indicates that the UAV does not have the flight permission of the specific flight area.
  • the flight control device, the server, the flight safety maintenance device and the unmanned aerial vehicle in the embodiments of the present invention are described above from the perspective of the unitized functional entity.
  • the flight control device and the server in the embodiment of the present invention are taken from the perspective of hardware processing. Flight safety maintenance devices and unmanned aerial vehicles are described.
  • FIG. 13 is a schematic structural diagram of an embodiment of a flight controller of the present invention.
  • the flight controller 1300 includes:
  • a flight instruction is sent such that the UAV enters the particular flight zone in accordance with the flight instruction.
  • the flight controller determines a specific flight area to enter during the flight of the unmanned aerial vehicle, and applies for a flight permission of the specific flight area to the server, and controls the unmanned aerial vehicle to enter the flight after receiving the flight permission of the server.
  • Specific flight areas such that the UAV can change the flight path as needed during the flight, rather than limiting the UAV to strictly follow the licensed flight path as in the background art, which can greatly improve the UAV The flexibility of the flight route.
  • the determining the specific flight area that the UAV is about to enter includes:
  • the determining the specific flight area that the UAV is about to enter includes:
  • a particular flight area to enter is determined from the particular set of flight regions.
  • the flight controller is a flight remote controller;
  • the response data specifically includes map information of a preset area, wherein a current location of the unmanned aerial vehicle and each specific flight area in the specific flight area set are located Within the preset area;
  • the processor 1301 is further configured to: after receiving the response data sent by the server, perform the following operations:
  • Determining, from the set of specific flight regions, a particular flight region to be entered including:
  • the specified at least one specific flight area is determined to be a specific flight area to be entered.
  • the determining the specific flight area that the UAV is about to enter includes:
  • the detector When receiving a boundary identifier of a specific flight area detected by the detector, determining that the specific flight area indicated by the boundary identifier is a specific flight area to be entered, wherein the detector is located on the unmanned aerial vehicle for A boundary identification of a particular flight area is detected while the UAV is flying.
  • the application information includes a type identifier of the unmanned aerial vehicle, a machine serial code, a user identity corresponding to the unmanned aerial vehicle, a current location of the unmanned aerial vehicle, and the unmanned aerial vehicle At least one of the planned flight times for a particular flight area.
  • the invention also provides an unmanned aerial vehicle comprising any one of the above described Flight controller.
  • FIG. 13 is a schematic structural diagram of an embodiment of a server according to the present invention.
  • the server 1300 includes:
  • the application information is used to apply for an unmanned aerial vehicle to enter a flight permit of the specific flight area, and the memory has a preset condition corresponding to the specific flight area;
  • a flight permit is sent when the UAV satisfies the preset condition.
  • the flight permit of the UAV is obtained only after being applied to the relevant department, and the entire application process is time consuming and labor intensive.
  • the flight permission application for each unmanned aerial vehicle entering the predetermined flight area is uniformly collected and audited by the server, the auditing time is shortened, and the unmanned aerial vehicle is conveniently applied in real time according to the requirements during the flight, thereby improving the unmanned person.
  • the flexibility of the flight path of the aircraft is uniformly collected and audited by the server, the auditing time is shortened, and the unmanned aerial vehicle is conveniently applied in real time according to the requirements during the flight, thereby improving the unmanned person.
  • the server includes a gateway server and at least two sub-servers, wherein different sub-servers are used to process application information of different types of specific flight areas;
  • the gateway server includes a first processor and a first memory coupled to the first processor; wherein the first processor reads a computer program stored in the first memory for performing the following operations:
  • the subserver includes a second processor and a second memory coupled to the second processor; wherein the second processor reads a computer program stored in the second memory for performing the following operations:
  • the first processor is further configured to perform the following operations:
  • a flight permit is sent when the UAV satisfies the preset condition.
  • the application information includes a type identifier of the unmanned aerial vehicle, a machine serial code, a user identity corresponding to the unmanned aerial vehicle, a current location of the unmanned aerial vehicle, and the unmanned aerial vehicle At least one of flight times of a particular flight zone, the specific flight zone information being used to indicate the particular flight zone that the UAV is about to enter.
  • the preset condition includes a first sub-condition and a second sub-condition; and the processor is further configured to:
  • the auxiliary information of the unmanned aerial vehicle includes an examination record of the unmanned aerial vehicle, an aircraft safety accident rate of a category of the unmanned aerial vehicle, and an unmanned aerial vehicle corresponding to the unmanned aerial vehicle At least one of a safety record of the user, a commercial credit of the user corresponding to the unmanned aerial vehicle, and an account balance corresponding to the unmanned aerial vehicle;
  • Determining, according to the application information, whether the unmanned aerial vehicle meets a preset condition including:
  • the unmanned aerial vehicle satisfying the preset condition includes:
  • the UAV simultaneously satisfies the first sub-condition and the second sub-condition.
  • the memory stores a correspondence between a specific flight area and a network access IP address
  • the processor is also configured to perform the following operations:
  • Obtaining a network access IP address of the unmanned aerial vehicle determining, according to the correspondence, whether a network access IP address of the unmanned aerial vehicle corresponds to the specific flight area; when the unmanned aerial vehicle accesses the network When the IP address corresponds to the specific flight area, it is determined that the UAV satisfies the preset condition.
  • the processor is further configured to:
  • the preset security control action is triggered when it is determined that the network access IP address of the UAV does not correspond to the specific flight area.
  • the processor is further configured to: before receiving the application information and the specific flight area information:
  • Response data is transmitted, the response data including information of the particular set of flight regions.
  • the processor is further configured to:
  • the query information including specific flight area information and an identifier of the unmanned aerial vehicle appearing in the specific flight area;
  • FIG. 13 is a schematic structural view of an embodiment of the flight safety maintenance device of the present invention.
  • the flight safety maintainer includes:
  • the query information will be sent to the server, the query information including the specific flight area information and the identifier of the unmanned aerial vehicle;
  • the preset action is triggered when the query result indicates that the UAV does not have a flight permit for the particular flight area.
  • the disclosed system, apparatus, and method may be implemented in other manners.
  • the device embodiments described above are merely illustrative
  • the division of the unit is only a logical function division, and the actual implementation may have another division manner, for example, multiple units or components may be combined or may be integrated into another system, or some features may be ignored. Or not.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium.
  • the technical solution of the present invention which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium.
  • a number of instructions are included to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like. .

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Abstract

一种飞行控制、许可、安全维护方法和装置、服务器、飞行器。上述方法包括：在无人飞行器飞行时，确定所述无人飞行器即将进入的特定飞行区域（101），其中，所述无人飞行器进入所述特定飞行区域内需要飞行许可；向服务器发送申请信息和所述特定飞行区域信息（102），所述申请信息用于申请进入所述特定飞行区域的飞行许可，所述特定飞行区域信息用于指示所述特定飞行区域；当接收到所述服务器发送的飞行许可时，发送飞行指令，使得所述无人飞行器根据所述飞行指令进入所述特定飞行区域（103）。该方法能够提高无人飞行器的飞行路线的灵活性。

Description

飞行控制、许可、安全维护方法和装置、服务器、飞行器
本申请要求于2015年8月10日提交中国专利局、申请号为201510485937.7、发明名称为“飞行控制、许可、安全维护方法和装置、服务器、飞行器”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及飞行器技术领域，尤其涉及一种飞行控制、许可、安全维护方法和装置、服务器、飞行器。
背景技术
无人飞行器(英文全称：Unmanned Aerial Vehicle，缩写：UAV)为是近几年兴起的消费热点和商用热点。但近期屡屡发生UAV出现在安全敏感度高区域的突发事件，使得UAV同时也成为公众安全与社会管理的热点。
一种解决的方法为在控制无人飞行器飞行的飞行控制装置内装载许可文件，使得无人飞行器仅能在该许可文件所规定的范围飞行。目前，一种装载许可文件的方法是在相关行政部门对每一个无人飞行器进行手动登记注册，然后将许可文件安装在该无人飞行器的飞行控制装置内。
然而，目前的装载许可文件的方法限制了无人飞行器的大规模运用。
发明内容
本发明实施例提供了一种飞行控制、许可、安全维护方法和装置、服务器、飞行器，能够提高无人飞行器的飞行路线的灵活性。
本发明实施例第一方面提供了一种飞行控制方法，包括：
在无人飞行器飞行时，确定所述无人飞行器即将进入的特定飞行区域，其中，所述无人飞行器进入所述特定飞行区域内需要飞行许可；
向服务器发送申请信息和所述特定飞行区域信息，所述申请信息用于申请进入所述特定飞行区域的飞行许可，所述特定飞行区域信息用于指示所述特定飞行区域；
当接收到所述服务器发送的飞行许可时，发送飞行指令，使得所述无人飞行器根据所述飞行指令进入所述特定飞行区域。
结合第一方面，在第一方面的第一种可能的实施方式中，所述确定所述无 人飞行器即将进入的特定飞行区域包括：
获取所述无人飞行器的预定飞行路线以及所述无人飞行器的当前位置；
根据所述当前位置从所述预定飞行路线中确定至少一个即将进入的特定飞行区域。
结合第一方面，在第一方面的第二种可能的实施方式中，所述确定所述无人飞行器即将进入的特定飞行区域包括：
获取所述无人飞行器的当前位置；
将所述当前位置发送至所述服务器；
接收所述服务器发送的响应数据，所述响应数据包括特定飞行区域集合的信息，其中，所述特定飞行区域集合中各特定飞行区域与所述当前位置的距离小于预置数值；
从所述特定飞行区域集合中确定即将进入的特定飞行区域。
结合第一方面的第二种可能的实施方式，在第一方面的第三种可能的实施方式中，所述飞行控制方法的执行主体为飞行遥控器；所述响应数据具体包括预置区域的地图信息，其中，所述无人飞行器的当前位置以及所述特定飞行区域集合中各特定飞行区域位于所述预置区域内；
所述接收所述服务器发送的响应数据之后还包括：
显示所述预置区域的地图，其中，所述无人飞行器的当前位置以及所述特定飞行区域集合中各特定飞行区域的边界在所述地图中突出显示；
所述从所述特定飞行区域集合中确定即将进入的特定飞行区域，包括：
接收对所述特定飞行区域集合中的其中至少一个特定飞行区域的指定；
将被指定的所述至少一个特定飞行区域确定为即将进入的特定飞行区域。
结合第一方面，在第一方面的第四种可能的实施方式中，所述确定所述无人飞行器即将进入的特定飞行区域包括：
当接收到探测器探测到的特定飞行区域的边界标识时，确定所述边界标识指示的特定飞行区域为即将进入的特定飞行区域，其中，所述探测器位于所述无人飞行器上，用于在所述无人飞行器飞行时探测特定飞行区域的边界标识。
结合第一方面、第一方面的第一种可能的实施方式、第一方面的第二种可能的实施方式、第一方面的第三种可能的实施方式、第一方面的第四种可能的 实施方式，在第一方面的第五种可能的实施方式中，所述申请信息包括所述无人飞行器的类型识别码、机器序列码、所述无人飞行器对应的用户身份、所述无人飞行器的当前位置、所述无人飞行器在所述特定飞行区域的计划飞行时间中的至少一项。
本发明实施例第二方面提供了一种飞行许可方法，包括：
服务器接收申请信息和特定飞行区域信息，所述申请信息用于申请无人飞行器进入所述特定飞行区域的飞行许可，所述服务器内存有所述特定飞行区域对应的预置条件；
所述服务器根据所述申请信息确定所述无人飞行器是否满足所述预置条件；
当所述无人飞行器满足所述预置条件时，所述服务器发送飞行许可。
结合第二方面，在第二方面的第一种可能的实施方式中，所述服务器包括网关服务器和至少两个子服务器，其中，不同的子服务器用于处理不同类别的特定飞行区域的申请信息；
所述服务器接收申请信息和特定飞行区域信息，包括：
所述网关服务器接收申请信息和特定飞行区域信息；
所述服务器根据所述申请信息确定所述无人飞行器是否满足所述预置条件，包括：
所述网关服务器确定所述特定飞行区域的类别；
所述网关服务器将所述申请信息和所述特定飞行区域信息发送至与所述特定飞行区域的类别对应的子服务器，以便于所述子服务器根据所述申请信息确定所述无人飞行器是否满足预置条件。
结合第二方面，在第二方面的第二种可能的实施方式中，所述申请信息包括所述无人飞行器的类型识别码、机器序列码、所述无人飞行器对应的用户身份、所述无人飞行器的当前位置、所述无人飞行器在所述特定飞行区域的飞行时间中的至少一项，所述特定飞行区域信息用于指示所述无人飞行器即将进入的所述特定飞行区域。
结合第二方面，在第二方面的第三种可能的实施方式中，所述预置条件包括第一子条件和第二子条件；所述方法还包括：
所述服务器获取所述无人飞行器的附属信息，其中，所述无人飞行器的附属信息包括所述无人飞行器的审查记录、所述无人飞行器所在类别的飞行器安全事故率、所述无人飞行器对应的用户的安全记录、所述无人飞行器对应的用户的商业信用、所述无人飞行器对应的账户余额中的至少一项；
所述服务器根据所述申请信息确定所述无人飞行器是否满足预置条件，包括：
根据所述申请信息确定所述无人飞行器是否满足所述第一子条件；
根据所述附属信息确定所述无人飞行器是否满足所述第二子条件；
所述无人飞行器满足所述预置条件包括：
所述无人飞行器同时满足所述第一子条件和所述第二子条件。
结合第二方面，在第二方面的第四种可能的实施方式中，所述服务器中存储有特定飞行区域与网络接入IP地址的对应关系；
所述根据所述申请信息确定所述无人飞行器是否满足预置条件包括：
所述服务器获取所述无人飞行器的网络接入IP地址；
所述服务器根据所述对应关系确定所述无人飞行器的网络接入IP地址与所述特定飞行区域是否相对应；
所述无人飞行器满足所述预置条件包括：
所述无人飞行器的网络接入IP地址与所述特定飞行区域相对应。
结合第二方面的第四种可能的实施方式，在第二方面的第五种可能的实施方式中，所述方法还包括：
当确定所述无人飞行器的网络接入IP地址与所述特定飞行区域不对应时，触发预置安全管制动作。
结合第二方面，在第二方面的第六种可能的实施方式中，所述服务器接收申请信息和特定飞行区域信息之前还包括：
服务器接收无人飞行器的当前位置；
所述服务器根据所述当前位置确定特定飞行区域集合，所述特定飞行区域集合中各特定飞行区域与所述当前位置的距离小于预置数值；
所述服务器发送响应数据，所述响应数据包括所述特定飞行区域集合的信息。
结合第二方面，在第二方面的第七种可能的实施方式中，所述方法还包括：
当所述无人飞行器满足预置条件时，所述服务器对所述无人飞行器的申请信息和特定飞行区域信息进行存储；
所述服务器接收维护装置发送的查询信息，所述查询信息包括特定飞行区域信息以及出现在所述特定飞行区域的无人飞行器的标识；
所述服务器根据所述查询信息获取查询结果，所述查询结果用于指示所述无人飞行器是否具有所述特定飞行区域的飞行许可；
将所述查询结果发送至所述维护装置。
本发明实施例第三方面提供了一种飞行安全维护方法，包括：
维护装置对特定飞行区域内的至少部分区域进行实时探测；
当所述维护装置探测到所述至少部分区域内出现无人飞行器时，获取所述无人飞行器的标识；
所述维护装置将查询信息将发送至所述服务器，所述查询信息包括所述特定飞行区域信息和所述无人飞行器的标识；
所述维护装置接收所述服务器发送的查询结果，所述查询结果用于指示所述无人飞行器是否具有所述特定飞行区域的飞行许可；
当所述查询结果指示所述无人飞行器不具有所述特定飞行区域的飞行许可时，所述维护装置触发预置动作。
本发明实施例第四方面提供了一种飞行控制装置，包括：
确定模块，用于在无人飞行器飞行时，确定所述无人飞行器即将进入的特定飞行区域，其中，所述无人飞行器进入所述特定飞行区域内需要飞行许可；
申请模块，用于向服务器发送申请信息和所述特定飞行区域信息，所述申请信息用于申请进入所述特定飞行区域的飞行许可，所述特定飞行区域信息用于指示所述特定飞行区域；
发送模块，用于当接收到所述服务器发送的飞行许可时，发送飞行指令，使得所述无人飞行器根据所述飞行指令进入所述特定飞行区域。
结合第四方面，在第四方面的第一种可能的实施方式中，所述确定模块具体用于获取所述无人飞行器的预定飞行路线以及所述无人飞行器的当前位置；根据所述当前位置从所述预定飞行路线中确定至少一个即将进入的特定飞行 区域。
结合第四方面，在第四方面的第二种可能的实施方式中，所述确定模块具体用于获取所述无人飞行器的当前位置；将所述当前位置发送至所述服务器；接收所述服务器发送的响应数据，所述响应数据包括特定飞行区域集合的信息，其中，所述特定飞行区域集合中各特定飞行区域与所述当前位置的距离小于预置数值；从所述特定飞行区域集合中确定即将进入的特定飞行区域。
结合第四方面的第二种可能的实施方式，在第四方面的第三种可能的实施方式中，所述飞行控制装置为飞行遥控器；所述响应数据具体包括预置区域的地图信息，其中，所述无人飞行器的当前位置以及所述特定飞行区域集合中各特定飞行区域位于所述预置区域内；
所述飞行控制装置还包括：
显示模块，用于在接收所述服务器发送的响应数据之后显示所述预置区域的地图，其中，所述无人飞行器的当前位置以及所述特定飞行区域集合中各特定飞行区域的边界在所述地图中突出显示；
所述确定模块具体用于接收对所述特定飞行区域集合中的其中至少一个特定飞行区域的指定；将被指定的所述至少一个特定飞行区域确定为即将进入的特定飞行区域。
结合第四方面，在第四方面的第四种可能的实施方式中，所述确定模块具体用于当接收到探测器探测到的特定飞行区域的边界标识时，确定所述边界标识指示的特定飞行区域为即将进入的特定飞行区域，其中，所述探测器位于所述无人飞行器上，用于在所述无人飞行器飞行时探测特定飞行区域的边界标识。
结合第四方面、第四方面的第一种可能的实施方式、第四方面的第二种可能的实施方式、第四方面的第三种可能的实施方式和第四方面的第四种可能的实施方式，在第四方面的第五种可能的实施方式中，所述申请信息包括所述无人飞行器的类型识别码、机器序列码、所述无人飞行器对应的用户身份、所述无人飞行器的当前位置、所述无人飞行器在所述特定飞行区域的计划飞行时间中的至少一项。
本发明实施例第五方面提供了一种服务器，包括：
第一接收模块，用于接收申请信息和特定飞行区域信息，所述申请信息用于申请无人飞行器进入所述特定飞行区域的飞行许可，所述服务器内存有所述特定飞行区域对应的预置条件；
第一确定模块，用于根据所述申请信息确定所述无人飞行器是否满足所述预置条件；
第一发送模块，用于当所述第一确定模块确定所述无人飞行器满足所述预置条件时，发送飞行许可。
结合第五方面，在第五方面的第一种可能的实施方式中，所述服务器包括网关服务器和至少两个子服务器，其中，不同的子服务器用于处理不同类别的特定飞行区域的申请信息，所述第一接收模块和所述第一发送模块位于所述网关服务器内，所述子服务器包括所述第一确定模块；
所述网关服务器还包括：
分类模块，用于确定所述特定飞行区域的类别，将所述申请信息和所述特定飞行区域信息发送至与所述特定飞行区域的类别对应的子服务器，以便于所述子服务器中的所述第一确定模块根据所述申请信息确定所述无人飞行器是否满足预置条件。
结合第五方面，在第五方面的第二种可能的实施方式中，所述申请信息包括所述无人飞行器的类型识别码、机器序列码、所述无人飞行器对应的用户身份、所述无人飞行器的当前位置、所述无人飞行器在所述特定飞行区域的飞行时间中的至少一项，所述特定飞行区域信息用于指示所述无人飞行器即将进入的所述特定飞行区域。
结合第五方面，在第五方面的第三种可能的实施方式中，所述预置条件包括第一子条件和第二子条件；所述服务器还包括：
第一获取模块，用于获取所述无人飞行器的附属信息，其中，所述无人飞行器的附属信息包括所述无人飞行器的审查记录、所述无人飞行器所在类别的飞行器安全事故率、所述无人飞行器对应的用户的安全记录、所述无人飞行器对应的用户的商业信用、所述无人飞行器对应的账户余额中的至少一项；
所述第一确定模块具体用于根据所述申请信息确定所述无人飞行器是否满足所述第一子条件；根据所述附属信息确定所述无人飞行器是否满足所述第 二子条件；当所述无人飞行器同时满足所述第一子条件和所述第二子条件时，确定所述无人飞行器满足所述预置条件。
结合第五方面，在第五方面的第四种可能的实施方式中，所述服务器中存储有特定飞行区域与网络接入IP地址的对应关系；
所述第一确定模块具体用于获取所述无人飞行器的网络接入IP地址，根据所述对应关系确定所述无人飞行器的网络接入IP地址与所述特定飞行区域是否相对应；当所述无人飞行器的网络接入IP地址与所述特定飞行区域相对应时，确定所述无人飞行器满足所述预置条件。
结合第五方面的第四种可能的实施方式，在第五方面的第五种可能的实施方式中，所述服务器还包括：
触发模块，用于当确定所述无人飞行器的网络接入IP地址与所述特定飞行区域不对应时，触发预置安全管制动作。
结合第五方面，在第五方面的第六种可能的实施方式中，所述服务器还包括：
第二接收模块，用于接收无人飞行器的当前位置；
第二确定模块，用于根据所述当前位置确定特定飞行区域集合，所述特定飞行区域集合中各特定飞行区域与所述当前位置的距离小于预置数值；
第二发送模块，用于发送响应数据，所述响应数据包括所述特定飞行区域集合的信息。
结合第五方面，在第五方面的第七种可能的实施方式中，所送服务器还包括：
存储模块，用于当所述无人飞行器满足预置条件时，对所述无人飞行器的申请信息和特定飞行区域信息进行存储；
第三接收模块，用于接收维护装置发送的查询信息，所述查询信息包括特定飞行区域信息以及出现在所述特定飞行区域的无人飞行器的标识；
第二获取模块，用于根据所述查询信息获取查询结果，所述查询结果用于指示所述无人飞行器是否具有所述特定飞行区域的飞行许可；
第三发送模块，用于将所述查询结果发送至所述维护装置。
本发明实施例第六方面提供了一种飞行安全维护装置，包括：
探测模块，用于对特定飞行区域内的至少部分区域进行实时探测；
获取模块，用于当所述维护装置探测到所述至少部分区域内出现无人飞行器时，获取所述无人飞行器的标识；
发送模块，用于将查询信息将发送至所述服务器，所述查询信息包括所述特定飞行区域信息和所述无人飞行器的标识；
接收模块，用于接收所述服务器发送的查询结果，所述查询结果用于指示所述无人飞行器是否具有所述特定飞行区域的飞行许可；
触发模块，用于当所述查询结果指示所述无人飞行器不具有所述特定飞行区域的飞行许可时，触发预置动作。
本发明实施例第七方面提供了一种无人飞行器，包括如本发明实施例第四方面、第四方面的第一种至第五种可能的实施方式任一项所述的飞行控制装置。
本发明实施例第八方面提供了一种飞行控制器，包括：
处理器，以及耦合到所述处理器的存储器；其中，所述处理器读取所述存储器中存储的计算机程序用于执行以下操作：
在无人飞行器飞行时，确定所述无人飞行器即将进入的特定飞行区域，其中，所述无人飞行器进入所述特定飞行区域内需要飞行许可；
向服务器发送申请信息和所述特定飞行区域信息，所述申请信息用于申请进入所述特定飞行区域的飞行许可，所述特定飞行区域信息用于指示所述特定飞行区域；
当接收到所述服务器发送的飞行许可时，发送飞行指令，使得所述无人飞行器根据所述飞行指令进入所述特定飞行区域。
结合第八方面，在第八方面的第一种可能的实施方式中，所述确定所述无人飞行器即将进入的特定飞行区域包括：
获取所述无人飞行器的预定飞行路线以及所述无人飞行器的当前位置；
根据所述当前位置从所述预定飞行路线中确定至少一个即将进入的特定飞行区域。
结合第八方面，在第八方面的第二种可能的实施方式中，所述确定所述无人飞行器即将进入的特定飞行区域包括：
获取所述无人飞行器的当前位置；
将所述当前位置发送至所述服务器；
接收所述服务器发送的响应数据，所述响应数据包括特定飞行区域集合的信息，其中，所述特定飞行区域集合中各特定飞行区域与所述当前位置的距离小于预置数值；
从所述特定飞行区域集合中确定即将进入的特定飞行区域。
结合第八方面的第二种可能的实施方式，在第八方面的第三种可能的实施方式中，所述飞行控制器为飞行遥控器；所述响应数据具体包括预置区域的地图信息，其中，所述无人飞行器的当前位置以及所述特定飞行区域集合中各特定飞行区域位于所述预置区域内；
所述处理器还用于在接收所述服务器发送的响应数据之后，执行以下操作：
显示所述预置区域的地图，其中，所述无人飞行器的当前位置以及所述特定飞行区域集合中各特定飞行区域的边界在所述地图中突出显示；
所述从所述特定飞行区域集合中确定即将进入的特定飞行区域，包括：
接收对所述特定飞行区域集合中的其中至少一个特定飞行区域的指定；
将被指定的所述至少一个特定飞行区域确定为即将进入的特定飞行区域。
结合第八方面，在第八方面的第四种可能的实施方式中，所述确定所述无人飞行器即将进入的特定飞行区域包括：
当接收到探测器探测到的特定飞行区域的边界标识时，确定所述边界标识指示的特定飞行区域为即将进入的特定飞行区域，其中，所述探测器位于所述无人飞行器上，用于在所述无人飞行器飞行时探测特定飞行区域的边界标识。
结合第八方面、第八方面的第一种可能的实施方式、第八方面的第二种可能的实施方式、第八方面的第三种可能的实施方式和第八方面的第四种可能的实施方式，在第八方面的第五种可能的实施方式中，所述申请信息包括所述无人飞行器的类型识别码、机器序列码、所述无人飞行器对应的用户身份、所述无人飞行器的当前位置、所述无人飞行器在所述特定飞行区域的计划飞行时间中的至少一项。
本发明实施例第九方面提供了一种服务器，包括：
处理器，以及耦合到所述处理器的存储器；其中，所述处理器读取所述存储器中存储的计算机程序用于执行以下操作：
接收申请信息和特定飞行区域信息，所述申请信息用于申请无人飞行器进入所述特定飞行区域的飞行许可，所述存储器内存有所述特定飞行区域对应的预置条件；
根据所述申请信息确定所述无人飞行器是否满足所述预置条件；
当所述无人飞行器满足所述预置条件时，发送飞行许可。
结合第九方面，在第九方面的第一种可能的实施方式中，所述服务器包括网关服务器和至少两个子服务器，其中，不同的子服务器用于处理不同类别的特定飞行区域的申请信息；
所述网关服务器包括第一处理器，以及耦合到所述第一处理器的第一存储器；其中，所述第一处理器读取所述第一存储器中存储的计算机程序用于执行以下操作：
接收申请信息和特定飞行区域信息；确定所述特定飞行区域的类别，将所述申请信息和所述特定飞行区域信息发送至与所述特定飞行区域的类别对应的子服务器；
所述子服务器包括第二处理器，以及耦合到所述第二处理器的第二存储器；其中，所述第二处理器读取所述第二存储器中存储的计算机程序用于执行以下操作：
接收所述申请信息和所述特定飞行区域信息；根据所述申请信息确定所述无人飞行器是否满足所述预置条件；
所述第一处理器还用于执行以下操作：
当所述无人飞行器满足所述预置条件时，发送飞行许可。
结合第九方面，在第九方面的第二种可能的实施方式中，所述申请信息包括所述无人飞行器的类型识别码、机器序列码、所述无人飞行器对应的用户身份、所述无人飞行器的当前位置、所述无人飞行器在所述特定飞行区域的飞行时间中的至少一项，所述特定飞行区域信息用于指示所述无人飞行器即将进入的所述特定飞行区域。
结合第九方面，在第九方面的第三种可能的实施方式中，所述预置条件包 括第一子条件和第二子条件；所述处理器还用于执行以下操作：
获取所述无人飞行器的附属信息，其中，所述无人飞行器的附属信息包括所述无人飞行器的审查记录、所述无人飞行器所在类别的飞行器安全事故率、所述无人飞行器对应的用户的安全记录、所述无人飞行器对应的用户的商业信用、所述无人飞行器对应的账户余额中的至少一项；
所述根据所述申请信息确定所述无人飞行器是否满足预置条件，包括：
根据所述申请信息确定所述无人飞行器是否满足所述第一子条件；
根据所述附属信息确定所述无人飞行器是否满足所述第二子条件；
所述无人飞行器满足所述预置条件包括：
所述无人飞行器同时满足所述第一子条件和所述第二子条件。
结合第九方面，在第九方面的第四种可能的实施方式中，所述存储器中存储有特定飞行区域与网络接入IP地址的对应关系；
所述处理器还用于执行以下操作：
获取所述无人飞行器的网络接入IP地址，根据所述对应关系确定所述无人飞行器的网络接入IP地址与所述特定飞行区域是否相对应；当所述无人飞行器的网络接入IP地址与所述特定飞行区域相对应时，确定所述所述无人飞行器满足所述预置条件。
结合第九方面的第四种可能的实施方式，在第九方面的第五种可能的实施方式中，所述处理器还用于执行以下操作：
当确定所述无人飞行器的网络接入IP地址与所述特定飞行区域不对应时，触发预置安全管制动作。
结合第九方面，在第九方面的第六种可能的实施方式中，所述处理器还用于在接收申请信息和特定飞行区域信息之前执行以下操作：
接收无人飞行器的当前位置；
根据所述当前位置确定特定飞行区域集合，所述特定飞行区域集合中各特定飞行区域与所述当前位置的距离小于预置数值；
发送响应数据，所述响应数据包括所述特定飞行区域集合的信息。
结合第九方面，在第九方面的第七种可能的实施方式中，所述处理器还用于执行以下操作：
当所述无人飞行器满足预置条件时，对所述无人飞行器的申请信息和特定飞行区域信息进行存储；
接收维护装置发送的查询信息，所述查询信息包括特定飞行区域信息以及出现在所述特定飞行区域的无人飞行器的标识；
根据所述查询信息获取查询结果，所述查询结果用于指示所述无人飞行器是否具有所述特定飞行区域的飞行许可；
将所述查询结果发送至所述维护装置。
本发明实施例第十方面提供了一种飞行安全维护器，包括：
处理器，以及耦合到所述处理器的存储器；其中，所述处理器读取所述存储器中存储的计算机程序用于执行以下操作：
对特定飞行区域内的至少部分区域进行实时探测；
当探测到所述至少部分区域内出现无人飞行器时，获取所述无人飞行器的标识；
将查询信息将发送至所述服务器，所述查询信息包括所述特定飞行区域信息和所述无人飞行器的标识；
接收所述服务器发送的查询结果，所述查询结果用于指示所述无人飞行器是否具有所述特定飞行区域的飞行许可；
当所述查询结果指示所述无人飞行器不具有所述特定飞行区域的飞行许可时，触发预置动作。
本发明实施例第十一方面提供了一种无人飞行器，包括如本发明实施例第八方面、第八方面的第一种至第五种可能的实施方式任一项所述的飞行控制器。
从以上技术方案可以看出，本发明实施例具有以下优点：
本发明实施例中，在无人飞行器飞行的过程中确定即将进入的特定飞行区域，并向服务器申请该特定飞行区域的飞行许可，在接收到服务器的飞行许可后控制无人飞行器进入该特定飞行区域，这样，无人飞行器可以在飞行的过程中根据需要改变飞行路线，而不是如背景技术中的限定无人飞行器严格按照得到许可的飞行路线来飞行，能够极大的提高无人飞行器的飞行路线的灵活性。
附图说明
图1为本发明的飞行控制方法的一个实施例的流程示意图；
图2为本发明的飞行控制方法中确定无人飞行器即将进入的特定飞行区域的一个实施例的流程示意图；
图3为本发明的飞行许可方法的一个实施例的流程图；
图4为本发明的飞行安全维护方法的一个实施例的流程图；
图5为本发明的飞行控制装置的一个实施例的结构示意图；
图6为本发明的飞行控制装置的另一个实施例的结构示意图；
图7为本发明的服务器的一个实施例的结构示意图；
图8为本发明的服务器的另一个实施例的结构示意图；
图9为本发明的服务器的另一个实施例的结构示意图；
图10为本发明的服务器的另一个实施例的结构示意图；
图11为本发明的服务器的另一个实施例的结构示意图；
图12为本发明的飞行安全维护装置的一个实施例的结构示意图；
图13为本发明的飞行控制器的一个实施例的结构示意图。
具体实施方式
本发明实施例提供了一种飞行控制、许可、安全维护方法和装置、服务器、飞行器，用于提高无人飞行器的飞行路线的灵活性。
为了使本技术领域的人员更好地理解本发明方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分的实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本发明保护的范围。
本发明的说明书和权利要求书及上述附图中的术语“包含”和“具有”以及它们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、***、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包含没有清楚地列出的或对于这些过程、方法、***、产品或设备固有的其它步骤或单元。
本发明实施例提供的飞行管理***包括无人飞行器(英文：Unmanned  Aerial Vehicle，缩写：UAV)和服务器。其中，无人飞行器包括飞行控制器(英文：Aerial Vehicle Controller，缩写：AVC)以及与该飞行控制器连接、用于在飞行控制器的控制下执行飞行动作的物理装置(为描述方便，下文称为飞行物理装置)。或者，飞行管理***还可以包括飞行遥控器(英文：Aerial Remote Controller，缩写：ARC)或者其他控制器，用于将飞行指令发送至飞行控制器，使得飞行控制器根据该飞行指令控制飞行物理装置执行飞行。
本发明实施例提供的飞行许可方法的执行主体是服务器，飞行控制方法的执行主体可以是飞行控制器，也可以是飞行遥控器，或者是其他可以发送飞行指令，使得飞行控制器可以根据该飞行指令控制飞行物理装置执行飞行的控制器，在此不作限制。为描述方便，下文将飞行控制器和飞行遥控器或者其他可以发送飞行指令，使得飞行控制器可以根据该飞行指令控制飞行物理装置执行飞行的控制器统称为飞行控制装置。也即，飞行控制方法的执行主体是飞行控制装置。
在实际应用中，存在一些区域，无人飞行器在进入这些区域之前需获得进入该区域的飞行许可才可在该区域内飞行，否则，无人飞行器进入该区域为非法进入。为描述方便，下文中将无人飞行器需要飞行许可才可进入的区域称为特定飞行区域。
本发明实施例中，飞行控制装置能够与服务器通信。在无人飞行器的飞行过程中，飞行控制装置确定无人飞行器即将进入的特定飞行区域，并向服务器发送该特定飞行区域的申请信息，其中，该申请信息用于申请进入该特定飞行区域的飞行许可。服务器用于对飞行控制装置发送的申请信息进行审核，以确定是否向飞行控制装置发送飞行许可。飞行控制装置在接收到服务器发送的飞行许可后，才发送飞行指令，以使得无人飞行器根据该飞行指令进入该特定飞行区域。
下面对本发明的飞行控制方法进行详细描述。
请参阅图1，图1为本发明的飞行控制方法的一个实施例的流程示意图。如图1所示，本实施例的飞行控制方法包括：
101、在无人飞行器飞行时，确定所述无人飞行器即将进入的特定飞行区域。
本实施例中，特定飞行区域指的是无人飞行器需要飞行许可才能进入的飞行区域，例如涉及军事、安全或者商业利益的区域。
本实施例中，并不是飞行控制器将无人飞行器即将要进入的所有特定飞行区域的飞行许可全部在飞行器起飞前提前申请好后，无人飞行器再起飞，而是在无人飞行器飞行的过程中飞行控制装置实时确定即将要进入的至少一个特定飞行区域，然后再向服务器申请该至少一个特定飞行区域的飞行许可。
确定无人飞行器即将要进入的特定飞行区域的方法有多种。
例如，确定所述无人飞行器即将进入的特定飞行区域包括：获取所述无人飞行器的预定飞行路线以及所述无人飞行器的当前位置；根据所述当前位置从所述预定飞行路线中确定至少一个即将进入的特定飞行区域。
其中，获取无人飞行器的预定飞行路线可以在无人飞行器起飞前或者起飞后获取，在此不作限制。无人飞行器内设有全球定位***(英文：Global Positioning System，缩写：GPS)，用于对无人飞行器进行定位。在无人飞行器起飞后，飞行控制装置接收GPS发送的无人飞行器的当前位置的信息。
实际应用中，可以在无人飞行器起飞前获取无人飞行器的预定飞行路线，在无人飞行器飞行的过程中获取无人飞行器的当前位置，以确定在位于无人飞行器的当前位置之后的预定飞行路线所经过的特定飞行区域。或者，也可以是在无人起飞器起飞后再获取该无人飞行器的预定飞行路线以及该无人飞行器的当前位置，以确定在位于无人飞行器的当前位置之后的预定飞行路线所经过的特定飞行区域。
其中，根据当前位置从预定飞行路线中确定至少一个即将进入的特定飞行区域的方法有多种。例如，飞行控制装置内预先存有该预定飞行路线所在区域的特定飞行区域地图，其中，该特定飞行区域地图上包括该区域内的所有特定飞行区域的边界信息。飞行控制装置根据预定飞行路线在特定飞行区域地图上查找该预定飞行路线所经过的特定飞行区域。
实际应用中，飞行控制装置内也可以不是预先存有所述特定飞行区域地图，而是在获取到所述预定飞行路线后，检测是否存有该预定飞行路线所在区域的特定飞行区域地图，若不存有，则从服务器下载该预定飞行路线所在区域的特定飞行区域地图。若飞行控制装置内存有该特定飞行区域地图，优选的， 飞行控制装置每隔预置时长还对该特定飞行区域地图进行更新。
又例如，飞行控制装置为飞行遥控器，且该飞行遥控器具备数字显示界面。该飞行遥控器的屏幕上显示数字地图，该数字地图以一定粒度对地理全域作了区域划分，其中部分区域为特定飞行区域。飞行遥控器通过接收遥控人员在所述数字地图上输入的飞行线路，来确定该飞行线路在所述数字地图上所要穿越的特定飞行区域。
当然，上述描述仅为举例描述，在此不作限制。
102、向服务器发送申请信息和所述特定飞行区域信息。
本实施例中，所述申请信息用于申请进入所述特定飞行区域的飞行许可。申请信息包括的内容可以有多种。举例来说，申请信息包括无人飞行器的身份信息，例如无人飞行器的类型识别码、机器序列码、所述无人飞行器对应的用户身份中的至少一项，或者包括无人飞行器的飞行信息，例如飞行器的当前位置和/或在特定飞行区域的计划飞行时间。其中，飞行器的当前位置可以是当前所在的经纬度、当前所在的区域或者其他位置信息，在此不作限制。
实际应用中，在服务器还需要其他信息来审核是否发放飞行许可给无人飞行器的情况下，申请信息还可以包括服务器所需要的信息。例如，申请信息还包括无人飞行器的机器证书，该机器证书包括所述无人飞行器的有效年限、飞行违规/违法情况中的至少一项信息。当然，上述描述仅为举例，并不作限制。
所述特定飞行区域信息用于指示所述特定飞行区域。所述特定飞行区域信息有多种方式来标识特定飞行区域。例如，特定飞行区域信息包括四个射频标签，用于指示以该四个射频标签为四个顶点的矩形区域。又例如，数字地图按某种划分粒度的经纬度值被划分为多个区域，特定飞行区域信息用于指示其中一个区域。
103、当接收到所述服务器发送的飞行许可时，发送飞行指令，使得所述无人飞行器根据所述飞行指令进入所述特定飞行区域。
飞行控制装置将申请信息和特定飞行区域信息发送至服务器后，服务器根据该申请信息和特定飞行区域信息来判断是否向该飞行控制装置发放飞行许可。若发放，则将飞行许可发送至该飞行控制装置。
当飞行控制装置为飞行控制器时，飞行控制器发送飞行指令，以控制飞行 物理装置根据该飞行指令进入特定飞行区域。当飞行控制装置为飞行遥控器时，飞行遥控器向飞行控制器发送飞行指令，飞行控制器再根据该飞行指令控制飞行物理装置进入特定飞行区域。
本实施例中，在无人飞行器飞行的过程中确定即将进入的特定飞行区域，并向服务器申请该特定飞行区域的飞行许可，在接收到服务器的飞行许可后控制无人飞行器进入该特定飞行区域，这样，无人飞行器可以在飞行的过程中根据需要改变飞行路线，而不是如背景技术中的限定无人飞行器严格按照得到许可的飞行路线来飞行，能够极大的提高无人飞行器的飞行路线的灵活性。
本实施例中，确定无人飞行器即将进入的特定飞行区域有多种方法，下面对其中的几种方法进行举例描述。
举例一、如图2所示，确定无人飞行器即将进入的特定飞行区域包括：
S11、获取所述无人飞行器的当前位置，将所述当前位置发送至所述服务器；
具体的，在无人飞行器飞行时，飞行控制装置每隔预置时长获取无人飞行器的当前位置，或者，飞行控制装置在预置时间点获取无人飞行器的当前位置。当然，上述描述仅为举例，并不作限制。飞行控制装置获取到无人飞行器的当前位置后，将该当前位置发送至服务器，以便服务器能够根据该无人飞行器的当前位置查询附近是否存在特定飞行区域。
S12、接收所述服务器发送的响应数据。
所述响应数据包括特定飞行区域集合的信息，其中，所述特定飞行区域集合中各特定飞行区域与所述当前位置的距离小于预置数值。
具体的，所述响应数据中的特定飞行集合可以是服务器根据无人飞行器的当前位置获取与该当前位置的距离小于预置数值的所有特定飞行区域，或者，也可以是服务器根据无人飞行器发送的多个当前位置组织该无人飞行器的飞行路线，并根据该飞行路线预测无人飞行器在以当前位置为中心，预置数值的距离为半径的区域内即将要进入的特定飞行区域。当然，上述仅为举例，并不作限制。
其中，所述预置数值可以由服务器默认设置，或者，也可以是飞行控制装置将该预置数值随同所述无人飞行器的当前位置一起发送至服务器，在此不作 限制。
其中，特定飞行区域集合的信息用于指示集合中各特定飞行区域的边界。
S13、从所述特定飞行区域集合中确定即将进入的特定飞行区域。
飞行控制装置从特定飞行区域集合中确定即将进入的特定飞行区域的方法有多种。
例如，飞行控制装置为飞行遥控器，且实时控制无人飞行器的飞行路线。飞行遥控器上设置有显示器，且飞行遥控器所接收的响应数据包括预置区域的地图信息，其中所述无人飞行器的当前位置以及所述特定飞行区域集合中各特定飞行区域位于所述预置区域内。飞行遥控器接收到响应数据后，根据该响应数据在显示器上显示预置区域的地图，其中，所述无人飞行器的当前位置以及所述特定飞行区域集合中各特定飞行区域的边界在所述地图中突出显示，以便操控该飞行遥控器的用户能够选择即将进入的特定飞行区域。
飞行遥控器接收对特定飞行区域集合中的至少一个特定飞行区域的指定，并将该被指定的至少一个特定飞行区域确定为即将进入的特定飞行区域。其中，接收对特定飞行区域的指定的方法有多种。例如，飞行遥控器上的显示器上还设置有触摸屏，飞行遥控器通过接收对各特定飞行区域的触摸来接收对特定飞行区域的指定。又例如，飞行遥控器上的显示器上还显示有选项列表，其中各选项分别为特定飞行区域集合中的各特定飞行区域；飞行遥控器通过接收对各选项的选择来确定即将进入的特定飞行区域。
举例二、本实施例中，无人飞行器上设置有探测器，用于在无人飞行器飞行时检测该探测器的探测范围内是否出现特定飞行区域的边界标识。确定无人飞行器即将进入的特定飞行区域包括：当接收到所述探测器探测到的特定飞行区域的边界标识时，确定所述边界标识指示的特定飞行区域为即将进入的特定飞行区域。
具体的，所述边界标识可以是射频标签或者二维码，在此不作限制。
上面对本发明的飞行控制方法进行了解释说明，下面将对本发明的飞行许可方法进行描述。
如图3所示，图3为本发明的飞行许可方法的一个实施例的流程图。本实施例中，飞行许可方法包括：
301、服务器接收申请信息和特定飞行区域信息，所述申请信息用于申请无人飞行器进入所述特定飞行区域的飞行许可。
302、所述服务器根据所述申请信息确定所述无人飞行器是否满足预置条件。
本实施例中，特定飞行区域指的是无人飞行器需要飞行许可才能进入的飞行区域，例如涉及军事、安全或者商业利益的区域。飞行控制装置向服务器发送申请信息，以申请该无人飞行器进入特定飞行区域的飞行许可。特定飞行区域信息用于指示该飞行控制装置所申请进入的特定飞行区域。
可选的，申请信息包括无人飞行器的身份信息，例如无人飞行器的类型识别码、机器序列码、所述无人飞行器对应的用户身份中的至少一项，或者包括无人飞行器的飞行信息，例如飞行器的当前位置和/或在特定飞行区域的计划飞行时间。其中，飞行器的当前位置可以是当前所在的经纬度、当前所在的区域或者其他位置信息，在此不作限制。
可选的，申请信息还包括无人飞行器的机器证书，该机器证书包括所述无人飞行器的有效年限、飞行违规/违法情况中的至少一项信息。当然，上述描述仅为举例，并不作限制。
实际应用中，不同的特定飞行区域要求的能够进入的无人飞行器所具备的资格不一定相同。本实施例中，服务器内存有各特定飞行区域所对应的预置条件，服务器接收到申请信息和特定飞行区域信息后，判断该申请信息是否满足该特定飞行区域所对应的预置条件。
本实施例中，特定飞行区域所对应的预置条件可以有多种。
例如，对于第一特定飞行区域，服务器内存有的该第一特定飞行区域的预置条件包括无人飞行器具有处于有效期内的预置证件。那么，服务器在接收到该对第一特定飞行区域的申请信息后，确定无人飞行器满足预置条件包括检测到该申请信息内包括预置证件的信息，且该预置证件处于有效期内时。
又例如，对于第一特定飞行区域，服务器内存有的第一特定飞行区域的预置条件包括第一特定飞行区域仅仅在预置时间段内对无人飞行器开放。那么，服务器在接收到该对第一特定飞行区域的申请信息后，确定无人飞行器满足预置条件包括检测到该申请信息内包括申请飞行时间处于该预置时间段内。
又例如，服务器中还存储有特定飞行区域与网络接入IP地址的对应关系。由于申请信息是通过数据包的形式发送到服务器，服务器在接收到数据包时可以获取到无人飞行器的网络接入IP地址，此为现有技术，在此不再赘述。对于第一特定飞行区域，服务器在接收到该对第一特定飞行区域的申请信息后，服务器获取到无人飞行器的网络接入IP地址，并根据所述对应关系确定所述无人飞行器的IP地址与所述第一特定飞行区域是否相对应。服务器确定无人飞行器满足预置条件包括检测到无人飞行器的网络接入IP地址与所述第一特定飞行区域相对应。这样，服务器可以避免无人飞行器通过网络接入IP地址仿冒以实施恶意意图的可能。
可选的，当服务器确定所述无人飞行器的IP地址与所述特定飞行区域不对应时，触发预置安全管制动作。安全管制动作有多种。例如，服务器不发送给飞行许可，且将该无人飞行器列入该特定飞行区域的黑名单中。
可选的，本实施例中，服务器包括网关服务器和至少两个子服务器，不同的子服务器用于处理不同类别的特定飞行区域的申请信息，其中，每个子服务器内存有所处理的类别的特定飞行区域对应的预置条件。例如，一个子服务器用于处理军事类的特定飞行区域的申请信息，一个子服务器用于处理商业类的特定飞行区域的申请信息。
网关服务器接收到申请信息和特定飞行区域信息后，确定该特定飞行区域的类别，并将该申请信息和该特定飞行区域信息发送至与该特定飞行区域的类别对应的子服务器。子服务器接收到申请信息和特定飞行区域信息后，根据所述申请信息确定所述无人飞行器是否满足预置条件。这样，在服务器接收的特定飞行区域的申请信息的类别和数量较多时能够更加方便对各特定飞行区域的申请信息的管理。
303、当所述无人飞行器满足所述预置条件时，所述服务器向所述飞行控制装置发送飞行许可。
当确定无人飞行器满足预置条件时，也即确定该无人飞行器可以进入飞行控制装置所申请的预定飞行区域时，服务器向该飞行控制装置发送飞行许可，以便该飞行控制装置发送飞行指令，使得无人飞行器根据该指令进入该预定飞行区域。
根据特定飞行区域属性的不同，服务器可以将特定飞行区域标识为以下至少三种类型：Free/Commerce/Mandatory。其中的Free即可以不受限制、不受监控的、可自由飞行区域；Commerce为商业付费的区域；Mandatory为飞行受限、需要接收飞行监控的区域。因此，服务器发送的许可文件会根据特定飞行区域的属性的不同有所不同。每一种属性的特定飞行区域的许可文件有多种。
例如，针对Free区域的许可文件，所包含的内容与条目为：数字化地理坐标标定的区域范围、区域类型、核发许可的服务侧有效信息等。
例如，针对Commerce区域的许可文件，所包含的内容与条目为：数字化地理坐标标定的区域范围、区域类型、核发许可的服务侧有效信息、区域管理方的有效信息、执飞信息、商业凭据等。
例如，针对Mandatory区域的许可文件，所包含的内容与条目为：数字化地理坐标标定的区域范围、区域类型、核发许可的服务侧有效信息、区域管理方的有效信息、执飞信息、前述有效信息的核发方/验证方等。
当然，上述对许可文件的描述仅为举例，并不作限制。
现有技术中，无人飞行器的飞行许可都是通过向相关部门申请后才取得，整个申请过程耗时且耗人力。本实施例中，通过服务器对各无人飞行器进入预定飞行区域的飞行许可申请进行统一收集和审核，缩短审核时长，且方便无人飞行器在飞行的过程中实时根据需要进行申请，提高了无人飞行器的飞行线路的灵活性。
本实施例中，服务器根据飞行控制装置发送的申请信息来确定无人飞行器是否符合预置条件。可选的，本实施例中，服务器还获取无人飞行器的附属信息，同时根据该申请信息和该附属信息来确定无人飞行器是否符合预置条件。
其中，该附属信息可以是所述无人飞行器的审查记录、所述无人飞行器所在类别的飞行器安全事故率、所述无人飞行器对应的用户的安全记录、所述无人飞行器对应的用户的商业信用、所述无人飞行器对应的账户余额中的至少一项。当然，附属信息还可以是其他，在此不作限制。无人飞行器的附属信息可以预先存储在服务器内，服务器从服务器内的存储器获取该附属信息。或者，服务器也可以从存有该无人飞行器的附属信息的其他服务器中获取该附属信 息，在此不作限制。
相对应的，本实施例中，预置条件包括第一子条件和第二子条件。服务器在判断无人飞行器是否满足预置条件时，根据所述申请信息判断所述无人飞行器是否满足所述第一子条件；且根据所述附属信息判断所述无人飞行器是否满足所述第二子条件。只有当无人飞行器同时满足第一子条件和第二子条件时，才确定无人飞行器满足预置条件，并将无人飞行器进入所申请的特定飞行区域的飞行许可发送至飞行控制装置。
举例来说，对于第三特定飞行区域，服务器内存有的该第三特定飞行区域的预置条件包括的第一子条件为无人飞行器开设有该第三特定飞行区域的用户账号，包括的第二子条件为无人飞行器的安全事故率低于预定数值。那么，服务器接收到对该第三特定飞行区域的申请信息后，根据该申请信息内的无人飞行器的身份信息从存储器中获取该无人飞行器的安全事故率。当服务器检测到该申请信息内包括无人飞行器在该第三特定飞行区域所开设的用户账号的信息，且该无人飞行器的安全事故率低于预定数值时，确定无人飞行器满足预置条件。
可选的，本实施例中，服务器内存有特定飞行区域地图，该地图包括各特定飞行区域的边界位置。在服务器接收飞行控制装置发送的申请之前，当服务器接收到无人飞行器的当前位置时，所述服务器从特定飞行区域地图中确定特定飞行区域集合，该特定飞行区域集合包括所有与所述当前位置的距离小于预置数值的特定飞行区域。或者，服务器根据无人飞行器发送的多个当前位置组织该无人飞行器的飞行路线，并根据该飞行路线预测无人飞行器在以当前位置为中心，预置数值的距离为半径的区域内即将要进入的特定飞行区域集合。服务器向飞行控制装置发送响应数据，该响应数据包括所述特定飞行区域集合的信息。
可选的，本实施例中，当所述无人飞行器满足预置条件时，服务器还对接收到的申请信息和特定飞行区域信息进行存储，以便后续根据该信息对无人飞行器进行管理。或者，还可以是当无人飞行器不满足预置条件时，服务器也对该不满足预置条件的无人飞行器的申请信息和特定飞行区域信息进行存储。
根据申请信息和特定飞行区域信息对无人飞行器进行管理管理的方法有 多种，例如，预定飞行区域内设置有维护装置，用于实时探测该维护装置的探测区域内出现的无人飞行器的标识。当维护装置探测到无人飞行器的标识时，向服务器发送查询信息，该查询信息包括特定飞行区域信息以及出现在所述特定飞行区域的无人飞行器的标识。
服务器接收维护装置发送的查询信息，并根据该查询信息获取查询结果，并将该查询结果发送至维护装置。其中，该查询结果用于指示所述无人飞行器是否具有所述特定飞行区域的飞行许可。具体的，服务器根据查询信息获取查询结果的方法有多种。例如，服务器根据接收到的申请信息和特定飞行区域信息存储每个特定飞行区域与具有该特定飞行区域的飞行许可的无人飞行器的对应关系。当服务器接收到查询信息时，确定该查询信息内的无人飞行器与该特定飞行区域是否具有对应关系，若有，则确定所述无人飞行器具有所述特定飞行区域的飞行许可。当然，上述仅为描述，并不作限制。
可选的，服务器还可以将不具有所述特定飞行区域的飞行许可的无人飞行器进行记录，以便后续对该无人飞行器进行管理。
上面对本发明的飞行许可方法进行了解释说明，下面将对本发明的飞行安全维护方法进行描述。
如图4所示，图4为本发明的飞行安全维护方法的一个实施例的流程图。本实施例中，飞行安全维护方法包括：
401、维护装置对特定飞行区域内的至少部分区域进行实时探测。
本实施例中，维护装置可以是探测器，或者其他可以获取无人飞行器上的标识的装置，在此不作限制。维护装置的探测范围位于特定飞行器区域内，可以是特定飞行区域的部分，也可以是特定飞行区域的全部。在特定飞行区域需要飞行许可才可让无人飞行器进入的时间段内，维护装置对探测范围内的区域进行实时探测。
402、当所述维护装置探测到所述至少部分区域内出现无人飞行器时，获取所述无人飞行器的标识。
当维护装置的探测范围内出现无人飞行器时，获取无人飞行器的标识。获取的方法有多种。例如，当无人飞行器的标识为二维码时，维护装置对该二维码进行扫描，并讲扫描后得到的信息作为无人飞行器的表示。又例如，当无人 飞行器的标识为射频标签，维护装置通过射频识别(英文：Radio Frequency Identification，缩写：RFID)技术对该射频标签进行识别，并将识别后得到的信息作为该无人飞行器的标识。
403、所述维护装置将查询信息将发送至所述服务器，所述查询信息包括所述特定飞行区域信息和所述无人飞行器的标识。
维护装置将获取特定飞行区域信息和该无人飞行器的标识发送至服务器，以向服务器查询该无人飞行器在该特定飞行器区域内是否具有飞行许可。
404、所述维护装置接收所述服务器发送的查询结果，所述查询结果用于指示所述无人飞行器是否具有所述特定飞行区域的飞行许可。
405、当所述查询结果指示所述无人飞行器不具有所述特定飞行区域的飞行许可时，所述维护装置触发预置动作。
当无人飞行器不具有特定飞行区域的飞行许可时，也即该无人飞行器在该特定飞行区域内为非法飞行，维护装置触发预置动作。预置动作有多种。例如，维护装置可发出报警，以提示非法飞行的无人飞行器。
本实施例中，通过维护装置的设置以及维护装置与服务器之间的配合，能够进一步防止特定飞行区域内出现不具有飞行许可的无人飞行器，保证特定飞行区域内的飞行安全。
上面对本发明实施例中的飞行控制方法、飞行许可方法和飞行安全维护方法进行了描述，下面对本发明实施例中的飞行控制装置、服务器和飞行安全维护装置进行描述。
请参阅图5，图5为本发明的飞行控制装置的一个实施例的结构示意图。本实施例中，飞行控制装置500包括：
确定模块501，用于在无人飞行器飞行时，确定所述无人飞行器即将进入的特定飞行区域，其中，所述无人飞行器进入所述特定飞行区域内需要飞行许可；
申请模块502，用于向服务器发送申请信息和所述特定飞行区域信息，所述申请信息用于申请进入所述特定飞行区域的飞行许可，所述特定飞行区域信息用于指示所述特定飞行区域；
发送模块503，用于当接收到所述服务器发送的飞行许可时，发送飞行指 令，使得所述无人飞行器根据所述飞行指令进入所述特定飞行区域。
本实施例中，在无人飞行器飞行的过程中确定即将进入的特定飞行区域，并向服务器申请该特定飞行区域的飞行许可，在接收到服务器的飞行许可后控制无人飞行器进入该特定飞行区域，这样，无人飞行器可以在飞行的过程中根据需要改变飞行路线，而不是如背景技术中的限定无人飞行器严格按照得到许可的飞行路线来飞行，能够极大的提高无人飞行器的飞行路线的灵活性。
可选的，所述确定模块具体用于获取所述无人飞行器的预定飞行路线以及所述无人飞行器的当前位置；根据所述当前位置从所述预定飞行路线中确定至少一个即将进入的特定飞行区域。
可选的，所述确定模块具体用于获取所述无人飞行器的当前位置；将所述当前位置发送至所述服务器；接收所述服务器发送的响应数据，所述响应数据包括特定飞行区域集合的信息，其中，所述特定飞行区域集合中各特定飞行区域与所述当前位置的距离小于预置数值；从所述特定飞行区域集合中确定即将进入的特定飞行区域。
可选的，所述确定模块具体用于当接收到探测器探测到的特定飞行区域的边界标识时，确定所述边界标识指示的特定飞行区域为即将进入的特定飞行区域，其中，所述探测器位于所述无人飞行器上，用于在所述无人飞行器飞行时探测特定飞行区域的边界标识。
可选的，所述申请信息包括所述无人飞行器的类型识别码、机器序列码、所述无人飞行器对应的用户身份、所述无人飞行器的当前位置、所述无人飞行器在所述特定飞行区域的计划飞行时间中的至少一项。
参阅图6，图6为本发明的飞行控制装置的另一个实施例的结构示意图。本实施例中，飞行控制装置600包括：
确定模块601，用于在无人飞行器飞行时，确定所述无人飞行器即将进入的特定飞行区域，其中，所述无人飞行器进入所述特定飞行区域内需要飞行许可。
申请模块602，用于向服务器发送申请信息和所述特定飞行区域信息，所述申请信息用于申请进入所述特定飞行区域的飞行许可，所述特定飞行区域信息用于指示所述特定飞行区域。
发送模块603，用于当接收到所述服务器发送的飞行许可时，发送飞行指令，使得所述无人飞行器根据所述飞行指令进入所述特定飞行区域。
具体的，本实施例中，所述确定模块具体用于获取所述无人飞行器的当前位置；将所述当前位置发送至所述服务器；接收所述服务器发送的响应数据，所述响应数据包括特定飞行区域集合的信息，其中，所述特定飞行区域集合中各特定飞行区域与所述当前位置的距离小于预置数值；从所述特定飞行区域集合中确定即将进入的特定飞行区域。
可选的，本实施例中，飞行控制装置600为飞行遥控器，所述响应数据具体包括预置区域的地图信息，其中，所述无人飞行器的当前位置以及所述特定飞行区域集合中各特定飞行区域位于所述预置区域内。
飞行遥控器600还包括：
显示模块604，用于在接收所述服务器发送的响应数据之后显示所述预置区域的地图，其中，所述无人飞行器的当前位置以及所述特定飞行区域集合中各特定飞行区域的边界在所述地图中突出显示；
所述确定模块601具体用于接收对所述特定飞行区域集合中的其中至少一个特定飞行区域的指定；将被指定的所述至少一个特定飞行区域确定为即将进入的特定飞行区域。
这样，可以将特定飞行区域的具***置直观地显示给用户，由用户选择即将进入的特定飞行区域，能够提高无人飞行器的用户使用体验。
本发明还提供一种无人飞行器，该无人飞行器包括上述所描述的任意一种飞行控制装置。
上面对本发明中的飞行控制装置进行了描述，下面对本发明中的服务器进行描述。
请参阅图7，图7为本发明的服务器的一个实施例的结构示意图。本实施例中，服务器包括：
第一接收模块701，用于接收申请信息和特定飞行区域信息，所述申请信息用于申请无人飞行器进入所述特定飞行区域的飞行许可，所述服务器内存有所述特定飞行区域对应的预置条件。
第一确定模块702，用于根据所述申请信息确定所述无人飞行器是否满足 所述预置条件。
第一发送模块703，用于当所述第一确定模块确定所述无人飞行器满足所述预置条件时，发送飞行许可。
现有技术中，无人飞行器的飞行许可都是通过向相关部门申请后才取得，整个申请过程耗时且耗人力。本实施例中，通过服务器对各无人飞行器进入预定飞行区域的飞行许可申请进行统一收集和审核，缩短审核时长，且方便无人飞行器在飞行的过程中实时根据需要进行申请，提高了无人飞行器的飞行线路的灵活性。
可选的，所述申请信息包括所述无人飞行器的类型识别码、机器序列码、所述无人飞行器对应的用户身份、所述无人飞行器的当前位置、所述无人飞行器在所述特定飞行区域的飞行时间中的至少一项，所述特定飞行区域信息用于指示所述无人飞行器即将进入的所述特定飞行区域。
可选的，如图8所示，所述服务器700包括网关服务器71和至少两个子服务器72，其中，不同的子服务器72用于处理不同类别的特定飞行区域的申请信息，所述第一接收模块701和所述第一发送模块703位于所述网关服务器71内。所述子服务器包括所述第一确定模块702。
所述网关服务器还包括分类模块801，用于确定所述特定飞行区域的类别，将所述申请信息和所述特定飞行区域信息发送至与所述特定飞行区域的类别对应的子服务器72，以便于所述子服务器中的所述第一确定模块702根据所述申请信息确定所述无人飞行器是否满足预置条件。
可选的，如图9所示，所述预置条件包括第一子条件和第二子条件；所述服务器还包括：
第一获取模块901，用于获取所述无人飞行器的附属信息，其中，所述无人飞行器的附属信息包括所述无人飞行器的审查记录、所述无人飞行器所在类别的飞行器安全事故率、所述无人飞行器对应的用户的安全记录、所述无人飞行器对应的用户的商业信用、所述无人飞行器对应的账户余额中的至少一项；
所述第一确定模块702具体用于根据所述申请信息确定所述无人飞行器是否满足所述第一子条件；根据所述附属信息确定所述无人飞行器是否满足所述第二子条件；当所述无人飞行器同时满足所述第一子条件和所述第二子条件 时，确定所述无人飞行器满足所述预置条件。
可选的，所述服务器中存储有特定飞行区域与网络接入IP地址的对应关系；
所述第一确定模块702具体用于获取所述无人飞行器的网络接入IP地址，根据所述对应关系确定所述无人飞行器的网络接入IP地址与所述特定飞行区域是否相对应；当所述无人飞行器的网络接入IP地址与所述特定飞行区域相对应时，确定所述无人飞行器满足所述预置条件。
进一步，可选的，如图10所示，所述服务器700还包括：
触发模块1001，用于当确定所述无人飞行器的网络接入IP地址与所述特定飞行区域不对应时，触发预置安全管制动作。
可选的，如图10所示，所述服务器700还包括：
第二接收模块1002，用于接收无人飞行器的当前位置；
第二确定模块1003，用于根据所述当前位置确定特定飞行区域集合，所述特定飞行区域集合中各特定飞行区域与所述当前位置的距离小于预置数值；
第二发送模块1004，用于发送响应数据，所述响应数据包括所述特定飞行区域集合的信息。
可选的，如图11所示，所送服务器700还包括：
存储模块1101，用于当所述无人飞行器满足预置条件时，对所述无人飞行器的申请信息和特定飞行区域信息进行存储；
第三接收模块1102，用于接收维护装置发送的查询信息，所述查询信息包括特定飞行区域信息以及出现在所述特定飞行区域的无人飞行器的标识；
第二获取模块1103，用于根据所述查询信息获取查询结果，所述查询结果用于指示所述无人飞行器是否具有所述特定飞行区域的飞行许可；
第三发送模块1104，用于将所述查询结果发送至所述维护装置。
上面对本发明的服务器进行了描述，下面对本发明中的飞行安全维护装置进行描述。
请参阅图12，图12为本发明的飞行安全维护装置的一个实施例的结构示意图。本实施例中，飞行安全维护装置包括：
探测模块1201，用于对特定飞行区域内的至少部分区域进行实时探测；
获取模块1202，用于当所述维护装置探测到所述至少部分区域内出现无人飞行器时，获取所述无人飞行器的标识；
发送模块1203，用于将查询信息将发送至所述服务器，所述查询信息包括所述特定飞行区域信息和所述无人飞行器的标识；
接收模块1204，用于接收所述服务器发送的查询结果，所述查询结果用于指示所述无人飞行器是否具有所述特定飞行区域的飞行许可；
触发模块1205，用于当所述查询结果指示所述无人飞行器不具有所述特定飞行区域的飞行许可时，触发预置动作。
上面从单元化功能实体的角度对本发明实施例中的飞行控制装置、服务器、飞行安全维护装置和无人飞行器进行了描述，下面从硬件处理的角度对本发明实施例中的飞行控制装置、服务器、飞行安全维护装置和无人飞行器进行描述。
请参阅图13，图13为本发明的飞行控制器的一个实施例的结构示意图。本实施例中，飞行控制器1300包括：
处理器1301，以及耦合到所述处理器1301的存储器1302；其中，所述处理器1301读取所述存储器1302中存储的计算机程序用于执行以下操作：
在无人飞行器飞行时，确定所述无人飞行器即将进入的特定飞行区域，其中，所述无人飞行器进入所述特定飞行区域内需要飞行许可；
向服务器发送申请信息和所述特定飞行区域信息，所述申请信息用于申请进入所述特定飞行区域的飞行许可，所述特定飞行区域信息用于指示所述特定飞行区域；
当接收到所述服务器发送的飞行许可时，发送飞行指令，使得所述无人飞行器根据所述飞行指令进入所述特定飞行区域。
本实施例中，飞行控制器在无人飞行器飞行的过程中确定即将进入的特定飞行区域，并向服务器申请该特定飞行区域的飞行许可，在接收到服务器的飞行许可后控制无人飞行器进入该特定飞行区域，这样，无人飞行器可以在飞行的过程中根据需要改变飞行路线，而不是如背景技术中的限定无人飞行器严格按照得到许可的飞行路线来飞行，能够极大的提高无人飞行器的飞行路线的灵活性。
可选的，所述确定所述无人飞行器即将进入的特定飞行区域包括：
获取所述无人飞行器的预定飞行路线以及所述无人飞行器的当前位置；
根据所述当前位置从所述预定飞行路线中确定至少一个即将进入的特定飞行区域。
可选的，所述确定所述无人飞行器即将进入的特定飞行区域包括：
获取所述无人飞行器的当前位置；
将所述当前位置发送至所述服务器；
接收所述服务器发送的响应数据，所述响应数据包括特定飞行区域集合的信息，其中，所述特定飞行区域集合中各特定飞行区域与所述当前位置的距离小于预置数值；
从所述特定飞行区域集合中确定即将进入的特定飞行区域。
可选的，所述飞行控制器为飞行遥控器；所述响应数据具体包括预置区域的地图信息，其中，所述无人飞行器的当前位置以及所述特定飞行区域集合中各特定飞行区域位于所述预置区域内；
所述处理器1301还用于在接收所述服务器发送的响应数据之后，执行以下操作：
显示所述预置区域的地图，其中，所述无人飞行器的当前位置以及所述特定飞行区域集合中各特定飞行区域的边界在所述地图中突出显示；
所述从所述特定飞行区域集合中确定即将进入的特定飞行区域，包括：
接收对所述特定飞行区域集合中的其中至少一个特定飞行区域的指定；
将被指定的所述至少一个特定飞行区域确定为即将进入的特定飞行区域。
可选的，所述确定所述无人飞行器即将进入的特定飞行区域包括：
当接收到探测器探测到的特定飞行区域的边界标识时，确定所述边界标识指示的特定飞行区域为即将进入的特定飞行区域，其中，所述探测器位于所述无人飞行器上，用于在所述无人飞行器飞行时探测特定飞行区域的边界标识。
可选的，所述申请信息包括所述无人飞行器的类型识别码、机器序列码、所述无人飞行器对应的用户身份、所述无人飞行器的当前位置、所述无人飞行器在所述特定飞行区域的计划飞行时间中的至少一项。
本发明还提供一种无人飞行器，该无人飞行器包括上述所描述的任意一种 飞行控制器。
请参阅图13，图13为本发明的服务器的一个实施例的结构示意图。本实施例中，服务器1300包括：
处理器1301，以及耦合到所述处理器1301的存储器1302；其中，所述处理器1301读取所述存储器1302中存储的计算机程序用于执行以下操作：
接收申请信息和特定飞行区域信息，所述申请信息用于申请无人飞行器进入所述特定飞行区域的飞行许可，所述存储器内存有所述特定飞行区域对应的预置条件；
根据所述申请信息确定所述无人飞行器是否满足所述预置条件；
当所述无人飞行器满足所述预置条件时，发送飞行许可。
现有技术中，无人飞行器的飞行许可都是通过向相关部门申请后才取得，整个申请过程耗时且耗人力。本实施例中，通过服务器对各无人飞行器进入预定飞行区域的飞行许可申请进行统一收集和审核，缩短审核时长，且方便无人飞行器在飞行的过程中实时根据需要进行申请，提高了无人飞行器的飞行线路的灵活性。
可选的，所述服务器包括网关服务器和至少两个子服务器，其中，不同的子服务器用于处理不同类别的特定飞行区域的申请信息；
所述网关服务器包括第一处理器，以及耦合到所述第一处理器的第一存储器；其中，所述第一处理器读取所述第一存储器中存储的计算机程序用于执行以下操作：
接收申请信息和特定飞行区域信息；确定所述特定飞行区域的类别，将所述申请信息和所述特定飞行区域信息发送至与所述特定飞行区域的类别对应的子服务器；
所述子服务器包括第二处理器，以及耦合到所述第二处理器的第二存储器；其中，所述第二处理器读取所述第二存储器中存储的计算机程序用于执行以下操作：
接收所述申请信息和所述特定飞行区域信息；根据所述申请信息确定所述无人飞行器是否满足所述预置条件；
所述第一处理器还用于执行以下操作：
当所述无人飞行器满足所述预置条件时，发送飞行许可。
可选的，所述申请信息包括所述无人飞行器的类型识别码、机器序列码、所述无人飞行器对应的用户身份、所述无人飞行器的当前位置、所述无人飞行器在所述特定飞行区域的飞行时间中的至少一项，所述特定飞行区域信息用于指示所述无人飞行器即将进入的所述特定飞行区域。
可选的，所述预置条件包括第一子条件和第二子条件；所述处理器还用于执行以下操作：
获取所述无人飞行器的附属信息，其中，所述无人飞行器的附属信息包括所述无人飞行器的审查记录、所述无人飞行器所在类别的飞行器安全事故率、所述无人飞行器对应的用户的安全记录、所述无人飞行器对应的用户的商业信用、所述无人飞行器对应的账户余额中的至少一项；
所述根据所述申请信息确定所述无人飞行器是否满足预置条件，包括：
根据所述申请信息确定所述无人飞行器是否满足所述第一子条件；
根据所述附属信息确定所述无人飞行器是否满足所述第二子条件；
所述无人飞行器满足所述预置条件包括：
所述无人飞行器同时满足所述第一子条件和所述第二子条件。
可选的，所述存储器中存储有特定飞行区域与网络接入IP地址的对应关系；
所述处理器还用于执行以下操作：
获取所述无人飞行器的网络接入IP地址，根据所述对应关系确定所述无人飞行器的网络接入IP地址与所述特定飞行区域是否相对应；当所述无人飞行器的网络接入IP地址与所述特定飞行区域相对应时，确定所述所述无人飞行器满足所述预置条件。
可选的，所述处理器还用于执行以下操作：
当确定所述无人飞行器的网络接入IP地址与所述特定飞行区域不对应时，触发预置安全管制动作。
可选的，所述处理器还用于在接收申请信息和特定飞行区域信息之前执行以下操作：
接收无人飞行器的当前位置；
根据所述当前位置确定特定飞行区域集合，所述特定飞行区域集合中各特定飞行区域与所述当前位置的距离小于预置数值；
发送响应数据，所述响应数据包括所述特定飞行区域集合的信息。
可选的，所述处理器还用于执行以下操作：
当所述无人飞行器满足预置条件时，对所述无人飞行器的申请信息和特定飞行区域信息进行存储；
接收维护装置发送的查询信息，所述查询信息包括特定飞行区域信息以及出现在所述特定飞行区域的无人飞行器的标识；
根据所述查询信息获取查询结果，所述查询结果用于指示所述无人飞行器是否具有所述特定飞行区域的飞行许可；
将所述查询结果发送至所述维护装置。
请参阅图13，图13为本发明的飞行安全维护器的一个实施例的结构示意图。本实施例中，飞行安全维护器包括：
处理器1301，以及耦合到所述处理器的存储器1302；其中，所述处理器1301读取所述存储器1302中存储的计算机程序用于执行以下操作：
对特定飞行区域内的至少部分区域进行实时探测；
当探测到所述至少部分区域内出现无人飞行器时，获取所述无人飞行器的标识；
将查询信息将发送至所述服务器，所述查询信息包括所述特定飞行区域信息和所述无人飞行器的标识；
接收所述服务器发送的查询结果，所述查询结果用于指示所述无人飞行器是否具有所述特定飞行区域的飞行许可；
当所述查询结果指示所述无人飞行器不具有所述特定飞行区域的飞行许可时，触发预置动作。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的***，装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请所提供的几个实施例中，应该理解到，所揭露的***，装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性 的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个***，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述，以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。

Claims (31)

  1. 一种飞行控制方法，其特征在于，包括：
    在无人飞行器飞行时，确定所述无人飞行器即将进入的特定飞行区域，其中，所述无人飞行器进入所述特定飞行区域内需要飞行许可；
    向服务器发送申请信息和所述特定飞行区域信息，所述申请信息用于申请进入所述特定飞行区域的飞行许可，所述特定飞行区域信息用于指示所述特定飞行区域；
    当接收到所述服务器发送的飞行许可时，发送飞行指令，使得所述无人飞行器根据所述飞行指令进入所述特定飞行区域。
  2. 根据权利要求1所述的飞行控制方法，其特征在于，所述确定所述无人飞行器即将进入的特定飞行区域包括：
    获取所述无人飞行器的预定飞行路线以及所述无人飞行器的当前位置；
    根据所述当前位置从所述预定飞行路线中确定至少一个即将进入的特定飞行区域。
  3. 根据权利要求1所述的飞行控制方法，其特征在于，所述确定所述无人飞行器即将进入的特定飞行区域包括：
    获取所述无人飞行器的当前位置；
    将所述当前位置发送至所述服务器；
    接收所述服务器发送的响应数据，所述响应数据包括特定飞行区域集合的信息，其中，所述特定飞行区域集合中各特定飞行区域与所述当前位置的距离小于预置数值；
    从所述特定飞行区域集合中确定即将进入的特定飞行区域。
  4. 根据权利要求3所述的飞行控制方法，其特征在于，所述飞行控制方法的执行主体为飞行遥控器；所述响应数据具体包括预置区域的地图信息，其中，所述无人飞行器的当前位置以及所述特定飞行区域集合中各特定飞行区域位于所述预置区域内；
    所述接收所述服务器发送的响应数据之后还包括：
    显示所述预置区域的地图，其中，所述无人飞行器的当前位置以及所述特定飞行区域集合中各特定飞行区域的边界在所述地图中突出显示；
    所述从所述特定飞行区域集合中确定即将进入的特定飞行区域，包括：
    接收对所述特定飞行区域集合中的其中至少一个特定飞行区域的指定；
    将被指定的所述至少一个特定飞行区域确定为即将进入的特定飞行区域。
  5. 根据权利要求1所述的飞行控制方法，其特征在于，
    所述确定所述无人飞行器即将进入的特定飞行区域包括：
    当接收到探测器探测到的特定飞行区域的边界标识时，确定所述边界标识指示的特定飞行区域为即将进入的特定飞行区域，其中，所述探测器位于所述无人飞行器上，用于在所述无人飞行器飞行时探测特定飞行区域的边界标识。
  6. 根据权利要求1-5任一项所述的飞行控制方法，其特征在于，所述申请信息包括所述无人飞行器的类型识别码、机器序列码、所述无人飞行器对应的用户身份、所述无人飞行器的当前位置、所述无人飞行器在所述特定飞行区域的计划飞行时间中的至少一项。
  7. 一种飞行许可方法，其特征在于，包括：
    服务器接收申请信息和特定飞行区域信息，所述申请信息用于申请无人飞行器进入所述特定飞行区域的飞行许可，所述服务器内存有所述特定飞行区域对应的预置条件；
    所述服务器根据所述申请信息确定所述无人飞行器是否满足所述预置条件；
    当所述无人飞行器满足所述预置条件时，所述服务器发送飞行许可。
  8. 根据权利要求7所述的飞行许可方法，其特征在于，所述服务器包括网关服务器和至少两个子服务器，其中，不同的子服务器用于处理不同类别的特定飞行区域的申请信息；
    所述服务器接收申请信息和特定飞行区域信息，包括：
    所述网关服务器接收申请信息和特定飞行区域信息；
    所述服务器根据所述申请信息确定所述无人飞行器是否满足所述预置条件，包括：
    所述网关服务器确定所述特定飞行区域的类别；
    所述网关服务器将所述申请信息和所述特定飞行区域信息发送至与所述特定飞行区域的类别对应的子服务器，以便于所述子服务器根据所述申请信息 确定所述无人飞行器是否满足预置条件。
  9. 根据权利要求7所述的飞行许可方法，其特征在于，所述申请信息包括所述无人飞行器的类型识别码、机器序列码、所述无人飞行器对应的用户身份、所述无人飞行器的当前位置、所述无人飞行器在所述特定飞行区域的飞行时间中的至少一项，所述特定飞行区域信息用于指示所述无人飞行器即将进入的所述特定飞行区域。
  10. 根据权利要求7所述的飞行许可方法，其特征在于，所述预置条件包括第一子条件和第二子条件；所述方法还包括：
    所述服务器获取所述无人飞行器的附属信息，其中，所述无人飞行器的附属信息包括所述无人飞行器的审查记录、所述无人飞行器所在类别的飞行器安全事故率、所述无人飞行器对应的用户的安全记录、所述无人飞行器对应的用户的商业信用、所述无人飞行器对应的账户余额中的至少一项；
    所述服务器根据所述申请信息确定所述无人飞行器是否满足预置条件，包括：
    根据所述申请信息确定所述无人飞行器是否满足所述第一子条件；
    根据所述附属信息确定所述无人飞行器是否满足所述第二子条件；
    所述无人飞行器满足所述预置条件包括：
    所述无人飞行器同时满足所述第一子条件和所述第二子条件。
  11. 根据权利要求7所述的飞行许可方法，其特征在于，所述服务器中存储有特定飞行区域与网络接入IP地址的对应关系；
    所述根据所述申请信息确定所述无人飞行器是否满足预置条件包括：
    所述服务器获取所述无人飞行器的网络接入IP地址；
    所述服务器根据所述对应关系确定所述无人飞行器的网络接入IP地址与所述特定飞行区域是否相对应；
    所述无人飞行器满足所述预置条件包括：
    所述无人飞行器的网络接入IP地址与所述特定飞行区域相对应。
  12. 根据权利要求11所述的飞行许可方法，其特征在于，所述方法还包括：
    当确定所述无人飞行器的网络接入IP地址与所述特定飞行区域不对应 时，触发预置安全管制动作。
  13. 根据权利要求7所述的飞行许可方法，其特征在于，所述服务器接收申请信息和特定飞行区域信息之前还包括：
    服务器接收无人飞行器的当前位置；
    所述服务器根据所述当前位置确定特定飞行区域集合，所述特定飞行区域集合中各特定飞行区域与所述当前位置的距离小于预置数值；
    所述服务器发送响应数据，所述响应数据包括所述特定飞行区域集合的信息。
  14. 根据权利要求7所述的飞行许可方法，其特征在于，所述方法还包括：
    当所述无人飞行器满足预置条件时，所述服务器对所述无人飞行器的申请信息和特定飞行区域信息进行存储；
    所述服务器接收维护装置发送的查询信息，所述查询信息包括特定飞行区域信息以及出现在所述特定飞行区域的无人飞行器的标识；
    所述服务器根据所述查询信息获取查询结果，所述查询结果用于指示所述无人飞行器是否具有所述特定飞行区域的飞行许可；
    将所述查询结果发送至所述维护装置。
  15. 一种飞行安全维护方法，其特征在于，包括：
    维护装置对特定飞行区域内的至少部分区域进行实时探测；
    当所述维护装置探测到所述至少部分区域内出现无人飞行器时，获取所述无人飞行器的标识；
    所述维护装置将查询信息将发送至所述服务器，所述查询信息包括所述特定飞行区域信息和所述无人飞行器的标识；
    所述维护装置接收所述服务器发送的查询结果，所述查询结果用于指示所述无人飞行器是否具有所述特定飞行区域的飞行许可；
    当所述查询结果指示所述无人飞行器不具有所述特定飞行区域的飞行许可时，所述维护装置触发预置动作。
  16. 一种飞行控制装置，其特征在于，包括：
    确定模块，用于在无人飞行器飞行时，确定所述无人飞行器即将进入的特定飞行区域，其中，所述无人飞行器进入所述特定飞行区域内需要飞行许可；
    申请模块，用于向服务器发送申请信息和所述特定飞行区域信息，所述申请信息用于申请进入所述特定飞行区域的飞行许可，所述特定飞行区域信息用于指示所述特定飞行区域；
    发送模块，用于当接收到所述服务器发送的飞行许可时，发送飞行指令，使得所述无人飞行器根据所述飞行指令进入所述特定飞行区域。
  17. 根据权利要求16所述的飞行控制装置，其特征在于，所述确定模块具体用于获取所述无人飞行器的预定飞行路线以及所述无人飞行器的当前位置；根据所述当前位置从所述预定飞行路线中确定至少一个即将进入的特定飞行区域。
  18. 根据权利要求16所述的飞行控制装置，其特征在于，所述确定模块具体用于获取所述无人飞行器的当前位置；将所述当前位置发送至所述服务器；接收所述服务器发送的响应数据，所述响应数据包括特定飞行区域集合的信息，其中，所述特定飞行区域集合中各特定飞行区域与所述当前位置的距离小于预置数值；从所述特定飞行区域集合中确定即将进入的特定飞行区域。
  19. 根据权利要求18所述的飞行控制装置，其特征在于，所述飞行控制装置为飞行遥控器；所述响应数据具体包括预置区域的地图信息，其中，所述无人飞行器的当前位置以及所述特定飞行区域集合中各特定飞行区域位于所述预置区域内；
    所述飞行控制装置还包括：
    显示模块，用于在接收所述服务器发送的响应数据之后显示所述预置区域的地图，其中，所述无人飞行器的当前位置以及所述特定飞行区域集合中各特定飞行区域的边界在所述地图中突出显示；
    所述确定模块具体用于接收对所述特定飞行区域集合中的其中至少一个特定飞行区域的指定；将被指定的所述至少一个特定飞行区域确定为即将进入的特定飞行区域。
  20. 根据权利要求16所述的飞行控制装置，其特征在于，所述确定模块具体用于当接收到探测器探测到的特定飞行区域的边界标识时，确定所述边界标识指示的特定飞行区域为即将进入的特定飞行区域，其中，所述探测器位于所述无人飞行器上，用于在所述无人飞行器飞行时探测特定飞行区域的边界标 识。
  21. 根据权利要求16至20任一项所述的飞行控制装置，其特征在于，所述申请信息包括所述无人飞行器的类型识别码、机器序列码、所述无人飞行器对应的用户身份、所述无人飞行器的当前位置、所述无人飞行器在所述特定飞行区域的计划飞行时间中的至少一项。
  22. 一种服务器，其特征在于，包括：
    第一接收模块，用于接收申请信息和特定飞行区域信息，所述申请信息用于申请无人飞行器进入所述特定飞行区域的飞行许可，所述服务器内存有所述特定飞行区域对应的预置条件；
    第一确定模块，用于根据所述申请信息确定所述无人飞行器是否满足所述预置条件；
    第一发送模块，用于当所述第一确定模块确定所述无人飞行器满足所述预置条件时，发送飞行许可。
  23. 根据权利要求22所述的服务器，其特征在于，所述服务器包括网关服务器和至少两个子服务器，其中，不同的子服务器用于处理不同类别的特定飞行区域的申请信息，所述第一接收模块和所述第一发送模块位于所述网关服务器内，所述子服务器包括所述第一确定模块；
    所述网关服务器还包括：
    分类模块，用于确定所述特定飞行区域的类别，将所述申请信息和所述特定飞行区域信息发送至与所述特定飞行区域的类别对应的子服务器，以便于所述子服务器中的所述第一确定模块根据所述申请信息确定所述无人飞行器是否满足预置条件。
  24. 根据权利要求22所述的服务器，其特征在于，所述申请信息包括所述无人飞行器的类型识别码、机器序列码、所述无人飞行器对应的用户身份、所述无人飞行器的当前位置、所述无人飞行器在所述特定飞行区域的飞行时间中的至少一项，所述特定飞行区域信息用于指示所述无人飞行器即将进入的所述特定飞行区域。
  25. 根据权利要求22所述的服务器，其特征在于，所述预置条件包括第一子条件和第二子条件；所述服务器还包括：
    第一获取模块，用于获取所述无人飞行器的附属信息，其中，所述无人飞行器的附属信息包括所述无人飞行器的审查记录、所述无人飞行器所在类别的飞行器安全事故率、所述无人飞行器对应的用户的安全记录、所述无人飞行器对应的用户的商业信用、所述无人飞行器对应的账户余额中的至少一项；
    所述第一确定模块具体用于根据所述申请信息确定所述无人飞行器是否满足所述第一子条件；根据所述附属信息确定所述无人飞行器是否满足所述第二子条件；当所述无人飞行器同时满足所述第一子条件和所述第二子条件时，确定所述无人飞行器满足所述预置条件。
  26. 根据权利要求22所述的服务器，其特征在于，所述服务器中存储有特定飞行区域与网络接入IP地址的对应关系；
    所述第一确定模块具体用于获取所述无人飞行器的网络接入IP地址，根据所述对应关系确定所述无人飞行器的网络接入IP地址与所述特定飞行区域是否相对应；当所述无人飞行器的网络接入IP地址与所述特定飞行区域相对应时，确定所述无人飞行器满足所述预置条件。
  27. 根据权利要求26所述的服务器，其特征在于，所述服务器还包括：
    触发模块，用于当确定所述无人飞行器的网络接入IP地址与所述特定飞行区域不对应时，触发预置安全管制动作。
  28. 根据权利要求22所述的服务器，其特征在于，所述服务器还包括：
    第二接收模块，用于接收无人飞行器的当前位置；
    第二确定模块，用于根据所述当前位置确定特定飞行区域集合，所述特定飞行区域集合中各特定飞行区域与所述当前位置的距离小于预置数值；
    第二发送模块，用于发送响应数据，所述响应数据包括所述特定飞行区域集合的信息。
  29. 根据权利要求22所述的服务器，其特征在于，所送服务器还包括：
    存储模块，用于当所述无人飞行器满足预置条件时，对所述无人飞行器的申请信息和特定飞行区域信息进行存储；
    第三接收模块，用于接收维护装置发送的查询信息，所述查询信息包括特定飞行区域信息以及出现在所述特定飞行区域的无人飞行器的标识；
    第二获取模块，用于根据所述查询信息获取查询结果，所述查询结果用于 指示所述无人飞行器是否具有所述特定飞行区域的飞行许可；
    第三发送模块，用于将所述查询结果发送至所述维护装置。
  30. 一种飞行安全维护装置，其特征在于，包括：
    探测模块，用于对特定飞行区域内的至少部分区域进行实时探测；
    获取模块，用于当所述维护装置探测到所述至少部分区域内出现无人飞行器时，获取所述无人飞行器的标识；
    发送模块，用于将查询信息将发送至所述服务器，所述查询信息包括所述特定飞行区域信息和所述无人飞行器的标识；
    接收模块，用于接收所述服务器发送的查询结果，所述查询结果用于指示所述无人飞行器是否具有所述特定飞行区域的飞行许可；
    触发模块，用于当所述查询结果指示所述无人飞行器不具有所述特定飞行区域的飞行许可时，触发预置动作。
  31. 一种无人飞行器，其特征在于，包括如权利要求16至21任一项所述的飞行控制装置。
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