Disclosure of Invention
In order to solve the technical problems, the invention aims to provide an unmanned aerial vehicle avoidance method, and the invention also provides a control end, a communication end, an execution end and an unmanned aerial vehicle avoidance system for realizing the avoidance method, so that the flight safety of an unmanned aerial vehicle is ensured.
In order to achieve the above object, in one aspect, the present invention provides an unmanned aerial vehicle avoidance method, including the following steps:
Receiving flight information of a civil aircraft and flight information of an unmanned aerial vehicle, which are transmitted by a communication terminal;
Judging whether the flight information of the civil aircraft and the flight information of the unmanned aerial vehicle interfere or not according to the flight information of the civil aircraft and the flight information of the unmanned aerial vehicle;
If the flight information of the unmanned aerial vehicle and the unmanned aerial vehicle interfere, an unmanned aerial vehicle avoiding instruction is sent to the communication terminal, and if the flight information does not interfere, an unmanned aerial vehicle continuing flight instruction is sent to the communication terminal.
The flight information of the civil aircraft and the flight information of the unmanned aerial vehicle comprise at least one of longitude, latitude, altitude and time.
In another aspect, the present invention provides an unmanned aerial vehicle avoidance control terminal, including:
an information receiving unit: the method comprises the steps of configuring the civil aircraft flight information and the unmanned aircraft flight information which are transmitted by a communication terminal;
An information judgment unit: the method comprises the steps of configuring and judging whether flight information of a civil aircraft and flight information of an unmanned aerial vehicle interfere or not;
An instruction transmitting unit: is configured to issue an instruction to the communication terminal.
Further comprises: an information storage unit: configured to store received flight information.
On the other hand, the invention provides an unmanned aerial vehicle avoiding method, which comprises the following steps:
Receiving the flight information of the civil aircraft, which is broadcast by the civil aircraft;
receiving flight information sent by an unmanned aerial vehicle;
the received flight information of the civil aircraft and the received flight information of the unmanned aerial vehicle are sent to a control end;
receiving a flight instruction fed back by a control end;
and sending the flight instruction to the unmanned aerial vehicle.
The flight information includes at least one of longitude, latitude, altitude, and time.
Flight information of the unmanned aerial vehicle is broadcast through an ADS-B module.
The flight instructions include an avoidance instruction and a continue flight instruction.
In another aspect, the present invention provides an unmanned aerial vehicle avoidance communication terminal, including:
ADS-B module: the method comprises the steps of configuring flight information of a civil aircraft, which is used for receiving the broadcast of the civil aircraft, and simultaneously, broadcasting the flight information of the unmanned aerial vehicle outwards;
and a wireless data transmission module: the method comprises the steps of configuring the unmanned aerial vehicle to receive flight information of the unmanned aerial vehicle sent by the unmanned aerial vehicle and sending a flight instruction to the unmanned aerial vehicle;
And a mobile communication module: the system comprises a control end, a control end and a control end, wherein the control end is used for receiving flight information;
And the control module is used for: the wireless data transmission system is respectively connected with the ADS-B module, the wireless data transmission module and the mobile communication module, and is configured for mutual conversion of radio data and mobile flow data so as to realize information intercommunication among the ADS-B module, the wireless data transmission module and the mobile communication module.
The control module can realize the conversion of radio data and flow data.
The control module, the radio data transmission module, the mobile communication module and the ADS-B module are all connected with the power supply module.
The power module comprises a battery, a charger and a power generation device, wherein the power generation device is connected with the charger, and the charger is connected with the battery.
On the other hand, the invention provides an unmanned aerial vehicle avoiding method, which comprises the following steps:
Transmitting flight information of the unmanned aerial vehicle to a communication terminal;
Receiving a flight instruction forwarded by a communication terminal;
Judging whether to change the flight state according to the flight instruction type;
If the flight command is an avoidance command, the flight state is changed to be not allowed, and if the flight command is a continuous flight command, the flight state is not changed, and the flight is continued along the established flight path.
The flight state comprises a flight avoidance and a landing avoidance.
In another aspect, the present invention provides an unmanned aerial vehicle avoidance execution end, including:
an information transmitting unit: the method comprises the steps of configuring flight information for transmitting an unmanned aerial vehicle;
an instruction receiving unit: the communication terminal is configured to receive a flight instruction sent by the communication terminal;
an instruction judging unit: the configuration is used for judging the type of the flight command and executing the corresponding flight state according to the type of the flight command.
On the other hand, the invention provides an unmanned aerial vehicle avoidance control system, which comprises a control end and a communication end communicated with the control end, wherein the communication end is provided with an ADS-B module which is in bidirectional communication with a civil aircraft, and the communication end is provided with the control module which can realize the conversion of radio data and mobile flow data.
The control end is provided with a database connected with the control end.
The ADS-B module comprises an ADS-B receiver and an ADS-B transmitter, wherein:
the ADS-B receiver is used for receiving flight information broadcast by the civil aircraft;
the ADS-B transmitter is used for sending the flight information of the logistics unmanned aerial vehicle outwards.
Compared with the prior art, the invention has the following beneficial effects:
1. According to the avoidance method, the flight information of the civil aircraft is matched with the flight information of the unmanned aircraft, so that whether the unmanned aircraft interferes with the civil aircraft or not is judged, the unmanned aircraft is controlled to avoid, and the flight safety of the unmanned aircraft is guaranteed.
2. The control terminal of the invention accurately calculates the distance between the two coordinates by matching the longitude, latitude and altitude of the flight information, and judges whether the distance is a safe distance or not.
3. According to the unmanned avoidance communication terminal, the ADS-B modules are arranged, so that the trouble of installing the ADS-B modules on each unmanned aerial vehicle is avoided, the number of the ADS-B modules is reduced, and the flight control cost is reduced.
4. According to the unmanned avoidance communication terminal, solar energy or wind energy is used for generating electricity, electricity is taken on site, and unmanned on duty of the communication terminal and long-term work are achieved.
5. The avoidance control system is provided with a database connected with the avoidance control system and is used for storing received flight information and realizing data sharing.
Detailed Description
For a better understanding of the technical solution of the present invention, the present invention will be further described with reference to the drawings and specific examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only the portions related to the invention are shown in the drawings.
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
When the method is implemented, the ADS-B modules are installed on the unmanned aerial vehicle communication end, the trouble of installing the ADS-B modules on each unmanned aerial vehicle is avoided, the installation quantity of the ADS-B modules is reduced, the flight control cost is reduced, the unmanned aerial vehicle communication end receives the flight information sent (broadcasted) by the civil aircraft, then the communication end uploads the flight information of the civil aircraft and the flight information of the unmanned aerial vehicle to the control end, the control end processes the flight information of the civil aircraft and the flight information of the unmanned aerial vehicle, whether the flight route of the unmanned aerial vehicle interferes with the flight route of the civil aircraft is judged, if so, an avoidance command is sent to the communication end, and the avoidance command is sent to the unmanned aerial vehicle by the communication end; if the unmanned aerial vehicle does not interfere, a continuous flight instruction is sent to the communication end, then the communication end sends the instruction to the unmanned aerial vehicle, meanwhile, the communication end sends (broadcasts) flight information of the unmanned aerial vehicle to the civil aircraft, the unmanned aerial vehicle dodges or continues to fly after receiving the instruction, and the civil aircraft reminds a pilot to pay attention after receiving the flight information of the unmanned aerial vehicle. And the flight safety of the civil aircraft and the unmanned aerial vehicle is ensured.
Example 1:
as shown in fig. 1, from the perspective of a control end, the embodiment provides an unmanned aerial vehicle avoidance method, which includes the following steps:
S11: receiving flight information of a civil aircraft and flight information of an unmanned aerial vehicle, which are transmitted by a communication terminal;
S12: judging whether the flight information of the civil aircraft and the flight information of the unmanned aerial vehicle interfere or not according to the flight information of the civil aircraft and the flight information of the unmanned aerial vehicle;
S13: if the flight information of the unmanned aerial vehicle and the unmanned aerial vehicle interfere, an unmanned aerial vehicle avoiding instruction is sent to the communication terminal, and if the flight information does not interfere, an unmanned aerial vehicle continuing flight instruction is sent to the communication terminal.
In step S12, whether the flight path of the civil aircraft and the flight path of the unmanned aircraft interfere or not is judged by matching the flight information of the civil aircraft and the flight information of the unmanned aircraft, wherein the flight information comprises an I CAO address code; longitude; latitude; height of the steel plate; time; heading of the machine head; the horizontal speed and the vertical speed can be specifically selected according to actual conditions, one or a combination of several of the horizontal speed and the vertical speed can be used, in the embodiment, four units of longitude, latitude, altitude and time are adopted for judgment, four-dimensional coordinates of the civil aircraft and the unmanned aerial vehicle are formed, in step S12, the distance between the four-dimensional coordinates of the civil aircraft and the four-dimensional coordinates of the unmanned aerial vehicle, namely the distance between the civil aircraft and the unmanned aerial vehicle, is judged, when the distance between the civil aircraft and the unmanned aerial vehicle is smaller than a set safety distance, the flight route interference of the civil aircraft and the unmanned aerial vehicle is judged, and an avoidance instruction is sent; when the distance between the civil aircraft and the unmanned aerial vehicle is greater than or equal to the set safe distance, the civil aircraft and the unmanned aerial vehicle are judged not to interfere with the flight route, and a continuing flight instruction is sent out.
After receiving the data uploaded by the communication terminal, the control terminal processes the data, wherein the data comprises the flight information of the civil aircraft and the flight information of the unmanned aerial vehicle, and the flight information comprises longitude, latitude, altitude, time and the like, and after receiving the data uploaded by the communication terminal, the control terminal matches the flight information of the civil aircraft with the flight information of the unmanned aerial vehicle, namely: comparing the distance between the position of the unmanned aerial vehicle and the position of the civil aerial vehicle at the same moment, (namely, the distance between the coordinates (longitude, latitude, altitude) of the civil aerial vehicle and the coordinates (longitude, latitude, altitude) of the unmanned aerial vehicle at the same moment) if the distance is larger than the set safe distance, judging that the flight route of the civil aerial vehicle and the unmanned aerial vehicle does not interfere, and if the distance is smaller than the set safe distance, judging that the flight route of the civil aerial vehicle and the unmanned aerial vehicle interfere, and then sending a corresponding instruction to a communication terminal.
The embodiment also provides an unmanned aerial vehicle dodges control end, include:
an information receiving unit: the method comprises the steps of configuring the civil aircraft flight information and the unmanned aircraft flight information which are transmitted by a communication terminal;
An information judgment unit: the method comprises the steps of configuring and judging whether flight information of a civil aircraft and flight information of an unmanned aerial vehicle interfere or not;
An instruction transmitting unit: is configured to issue an instruction to the communication terminal.
Further comprises: an information storage unit: configured to store received flight information.
The information receiving unit is used for receiving data uploaded by the communication terminal, the information judging unit is used as a main component of the control terminal and used for processing the received data to obtain corresponding processing results, the data mainly refer to flight information, the flight information comprises flight information of a civil aircraft and flight information of an unmanned aerial vehicle, and meanwhile, in order to achieve data sharing, the control terminal further comprises an information storage unit.
Example 2:
the embodiment provides an unmanned aerial vehicle avoidance method from the angle of an unmanned communication terminal, which comprises the following steps:
S21: receiving the flight information of the civil aircraft, which is broadcast by the civil aircraft;
s22: receiving flight information sent by an unmanned aerial vehicle;
s23: the received flight information of the civil aircraft and the received flight information of the unmanned aerial vehicle are sent to a control end;
S24: receiving a flight instruction fed back by a control end;
s25: and sending the flight instruction to the unmanned aerial vehicle.
Wherein the flight information includes an I CAO address code; longitude; latitude; height of the steel plate; time; heading of the machine head; the horizontal speed and the vertical speed can be specifically selected from one or a combination of a plurality of kinds according to actual conditions.
The flight information of unmanned aerial vehicle passes through ADS-B module broadcast, and unmanned aerial vehicle's flight information passes through ADS-B module and outwards broadcasts, is convenient for other aircraft that are located near unmanned aerial vehicle route to receive, guarantees unmanned aerial vehicle's flight safety.
The flight instructions include an avoidance instruction and a continue flight instruction.
And receiving the flight information of the civil aircraft, simultaneously receiving the flight information of the unmanned aerial vehicle, then sending the unmanned aerial vehicle information and the civil aircraft information of the civil aircraft to a control end, receiving an instruction fed back by the control end, sending the instruction to the unmanned aerial vehicle, and simultaneously sending (broadcasting) the flight information of the unmanned aerial vehicle to the civil aircraft.
The embodiment also provides an unmanned aerial vehicle dodges communication terminal, include:
ADS-B module: the method comprises the steps of configuring flight information of a civil aircraft for receiving broadcasting of the civil aircraft, and simultaneously, sending the flight information of an unmanned aerial vehicle to the civil aircraft;
and a wireless data transmission module: the unmanned aerial vehicle flight control system comprises a unmanned aerial vehicle and a flight control system, wherein the unmanned aerial vehicle flight control system is configured to receive flight information of the unmanned aerial vehicle sent by the unmanned aerial vehicle and send a flight instruction to the unmanned aerial vehicle;
And a mobile communication module: the system comprises a control end, a control end and a control end, wherein the control end is used for receiving flight information;
And the control module is used for: the wireless data transmission system is respectively connected with the ADS-B module, the wireless data transmission module and the mobile communication module, and is configured for mutual conversion of radio data and mobile flow data so as to realize information intercommunication among the ADS-B module, the wireless data transmission module and the mobile communication module.
The ADS-B modules are arranged on the unattended communication end, so that the trouble of installing the ADS-B modules on each unmanned aerial vehicle is avoided, the installation quantity of the ADS-B modules is reduced, and the flight control cost is reduced.
The control module can realize the conversion of radio data and mobile communication data. The radio data and the mobile communication data are converted, so that the use requirement of a remote area can be met.
The control module, the radio data transmission module, the mobile communication module and the ADS-B module are all connected with the power supply module.
The power module comprises a battery, a charger and a power generation device, wherein the power generation device is connected with the charger, and the charger is connected with the battery. The power generation device can adopt a solar cell panel or a wind driven generator, and fully utilizes the new energy source of solar energy or wind energy. Solar energy or wind energy is used for supplying power, solar energy or wind energy in remote areas can be fully utilized, unmanned on duty of a communication terminal is realized, and long-term work is realized.
Example 3:
The embodiment provides an unmanned aerial vehicle avoiding method, which comprises the following steps:
Transmitting flight information of the unmanned aerial vehicle to a communication terminal;
Receiving a flight instruction forwarded by a communication terminal;
Judging whether to change the flight state according to the flight instruction type;
If the flight command is an avoidance command, the flight state is changed to be not allowed, and if the flight command is a continuous flight command, the flight state is not changed, and the flight is continued along the established flight path.
The avoidance command comprises a flight avoidance command and a landing avoidance command, when the avoidance command is received, the type of the avoidance command is judged to be further judged, if the civil aircraft is far away from the unmanned aerial vehicle or a certain height difference exists between the unmanned aerial vehicle and the altitude of the route, the avoidance command is judged to be the flight avoidance command, and the unmanned aerial vehicle can temporarily deviate from the original route or reduce the flight altitude of the unmanned aerial vehicle to avoid by temporarily changing the route of the unmanned aerial vehicle; if the civil aircraft is closer to the unmanned aerial vehicle or can not avoid the unmanned aerial vehicle by reducing the flying height of the unmanned aerial vehicle, the unmanned aerial vehicle belongs to serious interference, the landing avoidance instruction is judged, and the unmanned aerial vehicle searches for a preset standby landing point closest to the unmanned aerial vehicle to perform landing avoidance.
In another aspect, the present invention provides an unmanned aerial vehicle avoidance execution end, including:
an information transmitting unit: the method comprises the steps of configuring flight information for transmitting an unmanned aerial vehicle;
an instruction receiving unit: the communication terminal is configured to receive a flight instruction sent by the communication terminal;
an instruction judging unit: the configuration is used for judging the type of the flight command and executing the corresponding flight state according to the type of the flight command.
Example 4:
The embodiment provides an unmanned aerial vehicle dodges control system, including the control end, with the communication end of this control end intercommunication, the communication end is equipped with the ADS-B module with civil aircraft two-way communication, the communication end is provided with the conversion that control module can realize radio data and mobile flow data. The control end and the communication end are communicated through mobile data, then the conversion of the mobile data and the radio data is realized at the communication end, then the wireless data transmission module is used for communicating with the unmanned aerial vehicle, meanwhile, the ADS-B module is arranged at the communication end and used for receiving the flight information of the civil aircraft and transmitting (broadcasting) the flight information of the unmanned aerial vehicle to the civil aircraft, the flight monitoring of the unmanned aerial vehicle is realized, and the flight safety of the unmanned aerial vehicle is ensured.
The control end is provided with a database connected with the control end and used for storing received flight information so as to realize data sharing.
The ADS-B module comprises an ADS-B receiver and an ADS-B transmitter, wherein the ADS-B receiver can receive flight information broadcast by a civil aircraft, and the ADS-B transmitter can broadcast the flight information of the stream unmanned aerial vehicle outwards.
The above description is only illustrative of the preferred embodiments of the present application and of the principles of the technology employed. It will be appreciated by persons skilled in the art that the scope of the application referred to in the present application is not limited to the specific combinations of the technical features described above, but also covers other technical features formed by any combination of the technical features described above or their equivalents without departing from the inventive concept. Such as the one described above, replaced with the one disclosed in the present application (but not limited to) having similar functions, or replaced with the upgrade product developed thereafter.