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WO2018214969A1 - Système, procédé et dispositif de supervision d'aéronef à basse altitude, et système de plateforme de gestion d'aéronef à basse altitude - Google Patents

Système, procédé et dispositif de supervision d'aéronef à basse altitude, et système de plateforme de gestion d'aéronef à basse altitude Download PDF

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Publication number
WO2018214969A1
WO2018214969A1 PCT/CN2018/088483 CN2018088483W WO2018214969A1 WO 2018214969 A1 WO2018214969 A1 WO 2018214969A1 CN 2018088483 W CN2018088483 W CN 2018088483W WO 2018214969 A1 WO2018214969 A1 WO 2018214969A1
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WIPO (PCT)
Prior art keywords
low
altitude aircraft
flight
altitude
aircraft
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PCT/CN2018/088483
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English (en)
Chinese (zh)
Inventor
周宏志
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Beijing Garcia Union Technology Co Ltd
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Beijing Garcia Union Technology Co Ltd
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Publication of WO2018214969A1 publication Critical patent/WO2018214969A1/fr
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft

Definitions

  • Embodiments of the present invention relate to the field of low altitude aircraft regulation, and more particularly to a low altitude aircraft supervision system, a low altitude aircraft supervision method, a low altitude aircraft supervision device, and a low altitude aircraft management platform system.
  • the present invention has been made to solve or alleviate at least one aspect of the above technical problems.
  • a low altitude aircraft supervision system comprising:
  • the Shenfei application module is adapted to submit a low-altitude aircraft flight plan to the approval background, and receive the audit result from the approval background;
  • the flight supervision module is adapted to compare the real-time flight data of the low-altitude aircraft with the approved flight plan, and issue an operation instruction based on the comparison result.
  • the low-altitude aircraft supervisory system further includes a Shenfei approval module, and the Shenfei approval module is used as the approval background to receive application information from the Shenfei application module, and review the application information and the audit result. Send to Shenfei application module.
  • the flight plan includes flight time, airspace range, and/or flight use.
  • the Shenfei application module is further adapted to submit a low-altitude aircraft identification code to the approval background for review.
  • the low altitude aircraft identification code includes the following information: at least one of a low altitude aircraft design manufacturer, a low altitude aircraft manufacturer, a low altitude aircraft production date, a low altitude aircraft model, a low altitude aircraft design parameter, and a low altitude aircraft application, and An identification code corresponding to the low-altitude aircraft.
  • the real-time flight data includes at least one of a flight time, a flight altitude, a flight speed, a flight latitude and longitude, and a flight geographic range.
  • the flight supervision system is adapted to predict a low altitude aircraft flight trajectory within a predetermined time period based on the obtained low altitude aircraft real time flight data.
  • the flight supervision module performs the comparison to determine that the low-altitude aircraft deviates from the flight plan, it is suitable to send a warning or a forced landing command to the low-altitude aircraft operator.
  • the flight supervision module after the flight supervision module performs the comparison to determine that the low-altitude aircraft deviates from the flight plan, it is adapted to instruct the corresponding low-altitude aircraft defense device to perform a defense measure to the low-altitude aircraft that deviates from the flight plan to interfere with the low-altitude aircraft entering the sensitive area.
  • the flight supervision module performs the comparison to determine that the low-altitude aircraft deviates from the flight plan
  • the black fly low altitude aircraft is not obtained with the identification code or the identification code is not recorded, and the flight supervision module is adapted to instruct the corresponding low altitude aircraft counter device to perform the counterattack to the black fly low altitude aircraft. Measure to destroy or capture the black fly low altitude aircraft, or to instruct the corresponding low altitude aircraft defense device to perform a defensive measure to the black fly low altitude aircraft to interfere with the black fly low altitude aircraft entering the sensitive area.
  • the black fly low altitude aircraft of the corresponding applied flight plan cannot be obtained, and the flight supervision module is adapted to instruct the corresponding low altitude aircraft counter device to perform countermeasures to the black fly low altitude aircraft, Destroying or capturing the black-flying low-altitude aircraft, or adapted to instruct a corresponding low-altitude aircraft defense device to perform a defensive measure to the black-flying low-altitude aircraft to interfere with the black-flying low-altitude aircraft entering the sensitive area.
  • the application application module is further adapted to submit the flight controller identity information to the approval background for review.
  • the flight supervision module is adapted to select a regulatory area to supervise flight data of all low altitude aircraft within the area in real time.
  • the area includes at least one of a sensitive area, a municipal administrative area, a provincial administrative area, and a national administrative area.
  • the application module is adapted to select a flight area.
  • the flight control module and/or the Shenfei approval module store the no-fly zone.
  • the system further includes a registration module, the registration module is adapted to perform registration before the application, and the registered information includes a low-altitude aircraft identification code, a low-altitude aircraft design manufacturer, a low-altitude aircraft manufacturer, a low-altitude aircraft production date, Low-altitude aircraft model, low-altitude aircraft design parameters, low-altitude aircraft use, low-altitude aircraft vendor, low-altitude aircraft sales time, at least one of the flight control hands, the registered information is suitable for transmission to the approval background and/or the flight supervision module .
  • the registration module is adapted to perform registration before the application
  • the registered information includes a low-altitude aircraft identification code, a low-altitude aircraft design manufacturer, a low-altitude aircraft manufacturer, a low-altitude aircraft production date, Low-altitude aircraft model, low-altitude aircraft design parameters, low-altitude aircraft use, low-altitude aircraft vendor, low-altitude aircraft sales time, at least one of the flight control hands, the registered information is suitable for transmission to the approval background and/or the flight supervision
  • the flight supervision module includes an alarm unit, and the alarm unit sends an alarm signal to the supervisor when the black-fly low-altitude aircraft appears or a low-altitude aircraft that deviates from the declared flight plan, and the black is displayed on the display device. Flying low-altitude aircraft or low-altitude aircraft that deviate from the declared flight plan are highlighted.
  • the review result sent by the approval background is a key composed of numbers and/or letters that unlocks the no-fly control of the low-altitude aircraft.
  • system further includes:
  • the demand docking module is used for the flight control hand, the low-altitude aircraft holder, the low-altitude aircraft to use the demand side to release the demand information and to perform the demand docking.
  • the Shenfei application module is adapted to submit a low-altitude aircraft identification code, flight controller identity information, a low-altitude aircraft flight plan, and an audit result from the approval background to the approval background.
  • the flight controller is adapted to submit the flight controller identity information to the approval background and obtain the audit result via the Shenfei application module;
  • the low-altitude aircraft use demanding party is adapted to submit a low-altitude aircraft flight plan to the approval background and obtain the audit result via the Shenfei application module;
  • the low-altitude aircraft holder is adapted to submit a low-altitude aircraft identification code to the approval background via the Shenfei application module and obtain an audit result.
  • the approval background is further adapted to examine whether the flight controller is eligible to drive the low altitude aircraft and/or whether the low altitude aircraft is suitable for meeting the requirements issued by the low altitude aircraft usage demand side.
  • the system further includes a payment module, configured to perform payment related expenses between the flight control hand, the low-altitude aircraft holder, and the low-altitude aircraft using the demand side.
  • a payment module configured to perform payment related expenses between the flight control hand, the low-altitude aircraft holder, and the low-altitude aircraft using the demand side.
  • a low altitude aircraft supervision method comprising the steps of:
  • the flight supervision step compares the real-time flight data of the low-altitude aircraft with the approved flight plan and issues an operation instruction based on the comparison result.
  • the flight plan includes flight time, airspace range, and/or flight use.
  • the real-time flight data includes at least one of a flight time, a flight altitude, a flight speed, a flight latitude and longitude, and a flight geographic range.
  • the flight supervision step includes: predicting a low-altitude aircraft flight trajectory within a predetermined time period based on the obtained low-altitude aircraft real-time flight data.
  • the flight supervision step comprises: determining whether the low altitude aircraft deviates from the flight plan, and sending a warning or a forced landing command to the low altitude aircraft handler after the low altitude aircraft deviates from the flight plan.
  • the flight supervision step includes: determining whether the low-altitude aircraft deviates from the flight plan, and indicating that the corresponding low-altitude aircraft defense device performs a defense measure to the low-altitude aircraft deviating from the flight plan after the low-altitude aircraft deviates from the flight plan to interfere with the low-altitude
  • the aircraft enters the sensitive area or instructs the corresponding low-altitude aircraft counter-measuring device to perform countermeasures against the low-altitude aircraft that deviate from the flight plan to destroy or capture the low-altitude aircraft that deviates from the flight plan.
  • the flight supervision step includes: instructing a corresponding low-altitude aircraft countermeasure device to perform a countermeasure against the black-flying low-altitude aircraft to destroy or capture the black-flying low-altitude aircraft that cannot obtain the corresponding applied flight plan
  • the Shenfei approval step includes reviewing the low altitude aircraft identification code or receiving the audit result.
  • the black fly low altitude aircraft cannot obtain the identification code
  • the flight supervision module is adapted to instruct the corresponding low altitude aircraft counter device to perform countermeasures to the black fly low altitude aircraft to destroy or capture
  • the black-flying low-altitude aircraft is adapted to instruct a corresponding low-altitude aircraft defense device to perform a defensive measure to the black-flying low-altitude aircraft to interfere with the black-flying low-altitude aircraft entering a sensitive area.
  • the application application module is further adapted to submit the flight controller identity information to the approval background for review.
  • the flight supervision step includes: selecting a supervision area to supervise flight data of all low-altitude aircraft in the area in real time.
  • the area includes at least one of a sensitive area, a municipal administrative area, a provincial administrative area, and a national administrative area.
  • the flight supervision step includes: when a black fly low altitude aircraft or a low altitude aircraft deviating from the declared flight plan occurs, sending an alarm signal to the supervisor and deviating from the black fly low altitude aircraft on the display device The low-altitude aircraft of the declared flight plan are highlighted.
  • a key composed of numbers and/or letters that unlocks the no-fly control of the low-altitude aircraft is generated.
  • a low altitude aircraft supervisory apparatus comprising:
  • a Shenfei application device for transmitting a low-altitude aircraft flight request to the approval background and receiving the audit result, the flight application including a flight plan;
  • the flight supervision device is configured to acquire real-time flight data of the low-altitude aircraft, and compare the obtained real-time flight data with the approved flight plan, and issue an operation instruction based on the comparison result.
  • the low-altitude aircraft supervising device further includes a Shenfei approval device, and the Shenfei approval device is used as the approval background for receiving application information from the application application device, and reviewing the application information and the review result. Send to Shenfei application device.
  • the low-altitude aircraft supervisory device further includes a low-altitude aircraft identity authentication chip, and the low-altitude aircraft is given an identification code.
  • the low-altitude aircraft identity authentication chip is embedded in an autopilot of a low-altitude aircraft.
  • the low altitude aircraft supervision device further comprises a low altitude aircraft control device operated by the flight controller to control the low altitude aircraft.
  • the low-altitude aircraft supervision device further comprises a low-altitude aircraft defense device for performing a defense against the low-altitude aircraft to interfere with the low-altitude aircraft entering the sensitive area.
  • the low-altitude aircraft supervision device further comprises a low-altitude aircraft countermeasure device for performing a countermeasure against the low-altitude aircraft to destroy or capture the low-altitude aircraft that deviates from the flight plan.
  • the low altitude aircraft identity authentication chip is embedded in an autopilot of a low altitude aircraft.
  • the application device is a mobile communication device.
  • the mobile communication device simultaneously acts as a low altitude aircraft control device that is operated by a flight controller to control the low altitude aircraft.
  • the approval background communicates with the low-altitude aircraft control device to send a no-fly signal to the low-altitude aircraft control device to prevent the low-altitude aircraft from taking off, or the approval The background sends instructions to the low altitude aircraft control to shut off power to the low altitude aircraft.
  • the flight monitoring device further comprises a display device for displaying flight information of all low altitude aircraft within the flight surveillance area.
  • the flight supervision device further includes an alarm device, when the black fly low altitude aircraft or the low altitude aircraft that deviates from the declared flight plan, the alarm device sends an alarm signal to the supervisor and simultaneously on the display device. Highlight the low-flying aircraft of the black-flying low-altitude aircraft or the flight plan that deviates from the declaration.
  • the application application device is adapted to receive a key composed of numbers and/or letters from the approval background to unlock the no-fly control of the low-altitude aircraft.
  • the low-altitude aircraft supervision device further includes a demand docking device, which is used by the flight control hand, the low-altitude aircraft holder, the low-altitude aircraft to use the demand side to release the demand information, and to perform the demand docking;
  • a demand docking device which is used by the flight control hand, the low-altitude aircraft holder, the low-altitude aircraft to use the demand side to release the demand information, and to perform the demand docking;
  • the application application device is adapted to submit a low-altitude aircraft identification code, flight controller identity information, a low-altitude aircraft flight plan, and an audit result from the approval background to the approval background;
  • the flight controller is adapted to submit the flight controller identity information to the approval background and obtain the audit result via the Shenfei application device;
  • the low-altitude aircraft use demand side is adapted to submit a low-altitude aircraft flight plan to the approval background and obtain the audit result via the Shenfei application device;
  • the low-altitude aircraft holder is adapted to submit a low-altitude aircraft identification code to the approval background and obtain an audit result via the application application device.
  • the low-altitude aircraft supervising device further comprises a payment device, configured to perform payment related expenses between the flight control hand, the low-altitude aircraft holder, and the low-altitude aircraft using the demand side.
  • a payment device configured to perform payment related expenses between the flight control hand, the low-altitude aircraft holder, and the low-altitude aircraft using the demand side.
  • a low altitude aircraft management platform system comprising:
  • the demand docking module is used for the flight control hand, the low-altitude aircraft holder, the low-altitude aircraft to use the demand side to release the demand information and to perform the demand docking;
  • the Shenfei application module is adapted to submit a low-altitude aircraft identification code, a flight controller identity information, a low-altitude aircraft flight plan, and an audit result from the approval background to the approval background.
  • the flight controller is adapted to submit the flight controller identity information to the approval background and obtain the audit result via the Shenfei application module;
  • the low-altitude aircraft use demanding party is adapted to submit a low-altitude aircraft flight plan to the approval background and obtain the audit result via the Shenfei application module;
  • the low-altitude aircraft holder is adapted to submit a low-altitude aircraft identification code to the approval background via the Shenfei application module and obtain an audit result.
  • the platform system further includes a Shenfei approval module, and the Shenfei approval module is used as the approval background to receive application information from the Shenfei application module, and review the application information and send the verification result to Shenfei application module.
  • Shenfei approval module is used as the approval background to receive application information from the Shenfei application module, and review the application information and send the verification result to Shenfei application module.
  • the Shenfei approval module further checks whether the flight controller is qualified to drive the low-altitude aircraft, and whether the low-altitude aircraft is suitable for meeting the requirements issued by the low-altitude aircraft demanding party.
  • the platform system further includes a payment module, configured to perform a related fee between the flight controller of the demand docking, the low-altitude aircraft holder, and the low-altitude aircraft using the demand side.
  • a payment module configured to perform a related fee between the flight controller of the demand docking, the low-altitude aircraft holder, and the low-altitude aircraft using the demand side.
  • FIG. 1 is a schematic structural diagram of a drone supervision system according to an exemplary embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of a drone monitoring system according to another exemplary embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of a drone monitoring system according to still another exemplary embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a drone monitoring system according to still another exemplary embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a drone monitoring system according to still another exemplary embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of a drone monitoring system according to a further exemplary embodiment of the present invention.
  • FIG. 7 is a flowchart of a drone supervision method according to an exemplary embodiment of the present invention.
  • FIG. 8 is a flowchart of a drone supervision method according to another exemplary embodiment of the present invention.
  • FIG. 9 is a schematic structural diagram of a drone supervision apparatus according to an exemplary embodiment of the present invention.
  • FIG. 10 is a schematic structural diagram of a drone supervision apparatus according to another exemplary embodiment of the present invention.
  • FIG. 11 is a schematic structural diagram of a drone supervisory apparatus according to still another exemplary embodiment of the present invention.
  • FIG. 12 is a schematic structural diagram of a drone supervision apparatus according to still another exemplary embodiment of the present invention.
  • FIG. 13 is a schematic structural diagram of a drone supervision apparatus according to still another exemplary embodiment of the present invention.
  • FIG. 14 is a schematic structural diagram of a drone supervisory apparatus according to an alternative exemplary embodiment of the present invention.
  • 15 is a block diagram showing the structure of a drone supervisory apparatus in accordance with an alternative exemplary embodiment of the present invention.
  • 16 is a block diagram showing the structure of a drone supervisory apparatus in accordance with an alternative exemplary embodiment of the present invention.
  • FIG. 17 is a schematic structural diagram of a drone management platform system according to an exemplary embodiment of the present invention.
  • FIG. 18 is a schematic structural diagram of an anti-hand drone apparatus according to an exemplary embodiment of the present invention.
  • FIG. 19 is a schematic structural diagram of an anti-UAV apparatus according to another exemplary embodiment of the present invention.
  • FIG. 20 is a schematic diagram of an anti-UAV apparatus in accordance with an exemplary embodiment of the present invention.
  • 21 is a schematic diagram of an anti-hand drone device in accordance with another exemplary embodiment of the present invention.
  • 22 is a flow chart of a method of an anti-UAV in accordance with an exemplary embodiment of the present invention.
  • an exemplary embodiment of the present invention provides a drone monitoring system 1000 comprising:
  • the Shenfei application module 1100 is adapted to submit a drone flight plan to the approval background 1200 and receive an audit result from the approval background 1200;
  • the flight supervision module 1300 is adapted to compare the real-time flight data of the drone with the approved flight plan, and issue an operation instruction based on the comparison result.
  • the unmanned aerial vehicle is taken as an example, the present invention is not limited to the drone, and all low-altitude aircraft are also within the scope of the present invention.
  • the drone does not submit the flight plan, then the corresponding approved flight plan can be considered as having no flight plan, so that the obtained real-time flight data is inconsistent with the comparison of the approved flight plan. Huge, can be identified as "black fly.”
  • the UAV supervision system 1000 herein may not include the approval background, but only communicate with the approval background, transmit the flight plan, and receive the audit results.
  • the review result sent by the approval background 1200 is a key composed of numbers and/or letters that unlocks the no-fly control of the drone.
  • the flight lock of the drone can be unlocked by transporting the key to the control platform or control unit of the drone.
  • the drone supervision system 1000 itself may also be configured to include an approval background 1200.
  • the approval background corresponds to the Shenfei approval module, and is configured to receive the application information from the Shenfei application module 1100, and review the application information and send the verification result to the Shenfei application module 1100.
  • the flight plan may include flight time, airspace range, and/or flight usage, and the like.
  • the real-time flight data of the drone can be analyzed, for example, at least one of flight time, flight altitude, flight speed, flight latitude and longitude, and flight area range, and then the analyzed flight plan is compared with the reported approved flight plan.
  • the flight supervision module needs to issue corresponding operational instructions, such as the warning, interference or shot down, capture, etc. mentioned later.
  • the flight supervision system is adapted to predict a drone flight trajectory within a predetermined time period based on the obtained real-time flight data of the drone.
  • the flight supervision module may have the UAV real-time flight data acquisition function itself, or may only analyze the real-time flight data transmitted from the external device.
  • the real-time flight data of the drone can be transmitted directly to the flight supervision module or the supervisory background through the drone identification chip mentioned later.
  • the real-time flight data of the drone can be obtained by the radar, photoelectric detector, etc. mentioned later.
  • the Shenfei application module is further adapted to submit the drone identification code to the approval background or the Shenfei approval module 1200 for review.
  • the UAV identification code may include the following information: the UAV design manufacturer, the UAV manufacturer, the UAV production date, the UAV model, the UAV design parameters, and the UAV application. At least one, and an identification code corresponding to the drone.
  • the application application module is further adapted to submit the flight controller identity information to the approval background for review.
  • the flight supervision module 1300 After the flight supervision module 1300 performs the comparison and determines that the drone deviates from the flight plan, it is suitable to send a warning or a forced landing command to the drone controller. This is equivalent to providing an early warning for the UAV's deviation from the flight plan.
  • the flight supervision module 1300 can send commands through the UAV controller, the UAV can also be directly forced down or the UAV can meet the predetermined flight plan.
  • the flight supervision module 1300 after the flight supervision module 1300 performs the comparison to determine that the drone deviates from the flight plan, it is adapted to instruct the corresponding UAV defense device (such as the device in FIG. 21) to perform defense measures against the drone that deviates from the flight plan. To interfere with the drone entering the sensitive area.
  • the corresponding UAV defense device such as the device in FIG. 21
  • the flight supervision module 1300 after the flight supervision module 1300 performs the comparison to determine that the drone deviates from the flight plan, it is adapted to instruct the corresponding UAV counter device (such as the device in FIG. 20) to perform the reverse to the drone that deviates from the flight plan. Measures to destroy or capture drones that deviate from the flight plan.
  • the black-flying drone whose identification code or the identification code is not recorded is not obtained, and the flight supervision module 1300 is adapted to instruct the corresponding drone anti-device to the black fly.
  • the human machine performs a countermeasure to destroy or capture the black flying drone, or is adapted to instruct the corresponding drone defense device to perform a defense measure to the black flying drone to interfere with the black flying unmanned The machine enters the sensitive area.
  • the black fly drone of the corresponding applied flight plan cannot be obtained, and the flight supervision module is adapted to instruct the corresponding drone anti-device to perform the reverse to the black flying drone Means for destroying or capturing the black flying drone, or for indicating that the corresponding drone defense device performs a defense measure to the black flying drone to interfere with the black flying drone entering the sensitive area .
  • the monitoring personnel can select a regulatory area through the flight supervision module 1300 to monitor the flight data of all the drones in the area in real time.
  • the area includes at least one of a sensitive area, a municipal administrative area, a provincial administrative area, and a national administrative area.
  • the flight area range may be selected by the Shenfei application module 1100.
  • the flight supervision module 1300 and/or the Shenfei approval module 1200 stores a no-fly zone. In this way, for civil drones, once they apply for flight in the no-fly zone, they can be rejected directly, and during the flight, the drone can be observed at any time in the no-fly zone.
  • the system 1000 further includes a registration module 1400, and the registration module 1400 is adapted to perform registration before Shenfei.
  • the registered information includes a drone identification code, a drone design manufacturer, and a drone. Manufacturer, UAV production date, UAV model, UAV design parameters, UAV use, UAV sales manufacturer, UAV sales time, At least one of the flight control hands, the registered information is suitable And transmitted to the approval background 1200 and/or the flight supervision module 1300.
  • the flight supervision module 1300 includes an alarm unit 1310 that issues an alarm signal to a supervisor when a black-flying drone or a drone that deviates from a declared flight plan occurs, and The black flying drone or the drone that deviates from the declared flight plan is highlighted on the display device. Highlighting can be color change, flashing, and the like.
  • the system 1000 further includes a demand docking module 1500, which is used for the flight control hand, the drone holder, and the drone to use the demand side to release the demand information and perform the demand docking.
  • a demand docking module 1500 which is used for the flight control hand, the drone holder, and the drone to use the demand side to release the demand information and perform the demand docking.
  • the application application module 1100 is adapted to submit a drone identification code, a flight controller identity information, a drone flight plan, and an audit result from the approval background to the approval background, wherein:
  • the flight controller is adapted to submit the flight controller identity information to the approval background and obtain the audit result via the Shenfei application module;
  • the drone use demanding party is adapted to submit the drone flight plan to the approval background and obtain the audit result via the Shenfei application module;
  • the drone holder is adapted to submit the drone identification code to the approval background and obtain the audit result via the Shenfei application module.
  • the approval background 1200 is further adapted to review whether the flight controller is eligible to drive the drone and/or whether the drone is suitable for meeting the needs of the drone usage demander.
  • the system 1000 may further include a payment module 1600, configured to perform payment related expenses between the flight control hand, the drone holder, and the drone demanding party.
  • the fee may also not be paid via the system.
  • an embodiment of the present invention also provides a method for supervising a drone, including the steps of:
  • the flight supervision step compares the real-time flight data of the drone with the approved flight plan and issues an operation instruction based on the comparison result.
  • the flight plan includes flight time, airspace range, and/or flight use.
  • the real-time flight data includes at least one of a flight time, a flight altitude, a flight speed, a flight latitude and longitude, and a flight geographic range.
  • the flight supervision step includes: predicting a flight path of the drone within a predetermined time period based on the obtained real-time flight data of the drone.
  • the flight supervision step includes: determining whether the drone deviates from the flight plan, and sending a warning or a forced landing command to the drone handler after the drone deviates from the flight plan.
  • the flight supervision step includes: determining whether the drone deviates from the flight plan, and instructing the corresponding drone defense device to perform a defense against the drone that deviates from the flight plan after the drone deviates from the flight plan, Interfering with the drone entering the sensitive area, or instructing the corresponding drone counter device to perform countermeasures against the drone that deviates from the flight plan to destroy or capture the drone that deviates from the flight plan.
  • the step of the flight supervision includes: instructing the corresponding UAV anti-machine to perform a countermeasure against the black-flying drone for the black-flying drone that cannot obtain the flight plan of the corresponding application, Destroying or capturing the black flying drone, or instructing the corresponding drone defense device to perform a defense measure to the black flying drone to interfere with the black flying drone entering the sensitive area.
  • the Shenfei approval step includes reviewing the UAV identification code or receiving the audit result.
  • the flight supervision module is adapted to instruct the corresponding drone anti-device to perform the countermeasure against the black-flying drone, Destroying or capturing the black flying drone, or adapted to instruct the corresponding drone defense device to perform a defense against the black flying drone to interfere with the black flying drone entering the sensitive area.
  • the application application module is further adapted to submit the flight controller identity information to the approval background for review.
  • the flight supervision step includes: selecting a supervision area to supervise flight data of all the drones in the area in real time.
  • the area includes at least one of a sensitive area, a municipal administrative area, a provincial administrative area, and a national administrative area.
  • the flight supervision step includes an early warning step of issuing an alarm signal to the supervisor when a black-flying drone or a drone that deviates from the declared flight plan occurs. And highlighting the black flying drone or the drone that has deviated from the declared flight plan on the display device.
  • a key composed of numbers and/or letters that unlocks the no-fly control of the drone is generated.
  • an embodiment of the present invention also provides a drone monitoring device 2000, including:
  • the application application device 2100 is configured to send a drone flight application to the approval background 1200' and receive an audit result, the flight application including a flight plan;
  • the flight supervision device 2200 is configured to acquire real-time flight data of the drone, and compare the obtained real-time flight data with the approved flight plan, and issue an operation instruction based on the comparison result.
  • the UAV supervision device further includes a Shenfei approval device 1200', and the Shenfei approval device is used as the approval background for receiving application information from the application application device, and reviewing the application information and Send the audit results to the Shenfei application unit.
  • the drone monitoring device may further include a drone identity authentication chip 2300, which assigns an identification code to the drone.
  • the UAV identity authentication chip 2300 can be embedded in an autopilot of a drone.
  • the chip 2300 can also be externally attached to the drone. Further, the chip 2300 externally attached to the drone can control the battery or the driving power of the drone.
  • the UAV identity authentication chip 2300 can perform data registration on all information of the UAV, including the identity information, model, load and other related data of the UAV.
  • Mobile communication is used for control, GPS or Beidou for navigation, but the destination of navigation can be input by mobile communication, the autopilot communicates with GPS or Beidou on the one hand, and receives control signals by mobile communication on the other hand. In this way, the autopilot receives both signals simultaneously, thereby controlling the flight direction of the drone.
  • the UAV identity authentication chip may be associated with the Shenfei application module or device, and at the time of Shenfei, the unique identity authentication of the UAV; the UAV identity authentication chip may also fly.
  • the supervision module or device association can transmit the flight parameter information (position, altitude, speed, etc.) of the drone to the back-end system for real-time monitoring, so as to grasp the state of the drone in real time.
  • the program can be set in the autopilot. Only after the approval of Shenfei has passed, the drone is allowed to enable the GPS module or the Beidou navigation module.
  • the UAV supervision device is based on the UAV identity authentication chip + Beidou/GPS+GPRS, and establishes a drone product, a UAV manufacturing enterprise, a purchaser, a driver/flying controller, and a low-altitude flight.
  • Plan management and flight real-time monitoring of big data realize the whole chain control function of the design, manufacture, purchase, flight and monitoring of the drone, and combine the Shenfei approval system to carry out the task according to the actual use requirements and safety requirements. Planning, setting various flight ranges, time, altitude and other factors in different categories, and finally passing the airspace supervision department for approval, and feedback the approval results to the users.
  • the airspace supervision department can monitor the flight status of the drone in the territory (selected area) in China. After the flight, the system automatically uploads the flight report to the relevant management department. Through this equipment, it can actively monitor the surrounding aircraft of various key protection areas (such as airports, chemical parks, important buildings, etc.), greatly improving the safety monitoring and combat efficiency.
  • the drone monitoring device may further include a drone control device 2400 that is operated by a flight controller to control the drone.
  • the drone monitoring device may further include a drone defense device 2500 for performing a defense measure against the drone to interfere with the drone entering the sensitive area.
  • the drone defense device 2500 may correspond to the anti-hand drone device of FIG.
  • a combination of directional interference and omnidirectional interference networking can be used to realize the electronic fence protection function on the periphery of the clearance area of the critical location.
  • the system establishes an electronic fence that blocks the illegal drones, removes the interference blind zone, protects the clearance area around the critical location from illegal unmanned aerial vehicles, and constantly observes whether the drone invades the information, if it is a drone that applies for flight. It can provide a drive-off, and it is a black fly that can be directly forced down or destroyed by the counter-device mentioned later.
  • the drone monitoring device may further include a drone counter device 2600 for performing a countermeasure against the drone to destroy or capture the drone that deviates from the flight plan.
  • the drone counter device 2600 may correspond to the anti-hand drone device of FIG.
  • high-power directional/omnidirectional interference technology and radar-photoelectric integrated detection technology can be used to complete the function of detecting, tracking and striking drones within 15 km, avoiding secondary damage and eliminating illegal low-altitude aircraft. Carry out violent attacks and possible security threats to the lives and property of the people.
  • the system includes a fixed counter system, a low-altitude safety multi-function command vehicle, a portable anti-UAV system, and special equipment for detecting drones and remote-controlled robots.
  • the application application device 2100 is a mobile communication device. Further, the mobile communication device 2100 simultaneously functions as a drone control device that is operated by a flight controller to control the drone.
  • the approval background 1200 ′ communicates with the drone control device, so that when the approval fails, the approval background sends a no-fly signal to the drone control device 2400 to block the drone Taking off, or the approval background sends an instruction to the drone control device to cut off the power of the drone.
  • the flight supervision device further includes a display device 2700 for displaying flight information of all the drones in the flight supervision area.
  • the flight supervision device further includes an alarm device 2800, and the alarm device issues an alarm to the supervisor when a black-flying drone or a drone that deviates from the declared flight plan occurs.
  • the signal can be highlighted on the display device for the black flying drone or the drone that has deviated from the declared flight plan.
  • the application application device 2100 when the approval is passed, is adapted to receive the unlocking control of the unmanned aerial vehicle from the approval background 1200' by the number and/or Or a key composed of letters.
  • the UAV supervisory device may further include a demand docking device 2900, which is used by the flight controller, the drone holder, and the drone to use the demand side to release the demand information and perform the demand docking. among them:
  • the application application device 2100 is adapted to submit the drone identification code, the flight controller identity information, the drone flight plan, and the audit result from the approval background to the approval background 1200';
  • the flight controller is adapted to submit the flight controller identity information to the approval background and obtain the audit result via the Shenfei application device;
  • the UAV use demanding party is adapted to submit the drone flight plan to the approval background and obtain the audit result via the Shenfei application device;
  • the drone holder is adapted to submit the drone identification code to the approval background and obtain the audit result via the application application device.
  • the UAV supervisory device may further comprise a payment device for performing payment between the flight control hand, the drone holder, and the drone using the demand side. cost.
  • the drone supervisory device includes various data stores for storing various information and data related to the drone.
  • a drone management platform system 3000 including:
  • the demand docking module 3100 is used for the flight control hand, the drone holder, and the drone to use the demand side to release the demand information and perform the demand docking;
  • Shenfei application module 3200 the Shenfei application module is adapted to submit a drone identification code, a flight controller identity information, a drone flight plan, and an audit result from the approval background to the approval background.
  • the flight controller is adapted to submit the flight controller identity information to the approval background and obtain the audit result via the Shenfei application module;
  • the drone use demanding party is adapted to submit the drone flight plan to the approval background and obtain the audit result via the Shenfei application module;
  • the drone holder is adapted to submit the drone identification code to the approval background and obtain the audit result via the Shenfei application module.
  • the Shenfei approval module is used as the approval background to receive application information from the Shenfei application module, and to review the application information and send the verification result to the Shenfei application module.
  • the Shenfei approval module further checks whether the flight controller is qualified to drive the drone, and whether the drone is suitable for meeting the requirements issued by the user of the drone.
  • the platform system may further comprise a payment module, which is used between the flight control hand, the drone holder, and the drone using demand side Pay the relevant fees.
  • Figure 18 is a block diagram showing the structure of an anti-hand drone apparatus in accordance with an exemplary embodiment of the present invention.
  • the anti-hand drone device 100 includes:
  • a radar device 10 adapted to position a target
  • a photodetecting device 20 that receives target orientation information transmitted from the radar device 10 to track and image the target in real time;
  • the counter device 30, the counter device 30 is used to counter the illegal drone determined to be an illegal target based on the photodetecting device 20, and the counter device 30 includes an interference portion 32, a destroying portion (not shown), and a capturing portion (not shown) At least one of the means for interfering with, forcing or driving away an illegal drone, the smashing portion for shooting down or destroying an illegal drone, the capturing portion being used for mechanical capture or counter Control illegal drones.
  • real-time tracking and imaging indicate that the radar device and the photodetecting device realize the function of radar-photoelectric linkage positioning.
  • the radar device 10 outputs the azimuth, elevation and distance to the photodetection device 20, and the photodetection device 20 is linked to the target with the corresponding azimuth, elevation and focal length based on the signals received from the radar device 10. Drone.
  • the linkage here, in short, is to guide the photodetection device 20 by means of the radar device 10.
  • the receiving and calculating functions can be set in the control unit built in the photodetecting device 20, and then the azimuth, elevation and focal length calculated based on the received signals are controlled by the photodetecting device 20.
  • the linkage may also be specifically provided with a control device 40 that controls the photodetection device 20 and the radar device 10 so that signals relating to azimuth, elevation and distance can be received from the radar device 10, and then a corresponding azimuth angle is calculated based on the signals,
  • the elevation angle and the focal length are used to control the photodetection device 20 at a corresponding azimuth, elevation and focal length.
  • the destroyer can also be an existing anti-UAV gun, or even a laser gun.
  • the capture portion can be a mesh trap that is launched or arranged, or any device that can reverse the hijacking of the drone after blocking the control communication link of the drone.
  • the radar device can be a low altitude detection radar.
  • Table 1 below discloses an exemplary embodiment of a radar device.
  • the radar device is adapted to detect a target having a distance of 5 km to 10 km and a reflecting surface of ⁇ 0.001 m 2 .
  • the radar device can of course also detect drone targets with a distance of less than 5 km.
  • the detection range of the radar device is limited to 5-10km, in order to increase the response time for illegal drones.
  • the photodetection device 20 can integrate a high-magnification zoom lens, and the maximum line of sight corresponds to the maximum detection distance of the radar device, and is not less than 10 km. In order to facilitate imaging at night, the photodetecting device 20 can also be equipped with an infrared detector.
  • Table 2 below shows an exemplary embodiment of a photodetecting device.
  • the interference portion 32 includes a high gain interference antenna 322 of not less than 16 db and a high power interference host 324 of not less than 100 W (see, for example, FIG. 19), the interference host 324 generates a power signal, and the power signal is transmitted to the interference antenna. 322.
  • the interfering antenna is a directional interfering antenna, and the supported frequency bands include WIFI 5.8G, WIFI2.4G, GPS, or Beidou.
  • the directional interference antenna 322 is disposed coaxially with the photodetecting device 20 such that the directional interference antenna is aligned with the illegal drone when the illegal drone is within the field of view of the photodetecting device.
  • the interference antenna 322 is disposed coaxially with the photodetecting device 20 on the two-dimensional turntable 70.
  • the control device 40 of the anti-hand drone device may only control the radar device 10 and the photodetection device 20, and optionally, the counter device 30, for example, the control interference portion 32, thereby determining that the illegal drone enters the need
  • the counter device 30 or the interference unit 32 can be automatically activated to counter the illegal drone.
  • the activation of the counter device 30 can also be manually controlled.
  • the drone that is not identified by the control device 40 can be used as an illegal drone, or the operator can view the image obtained by the photodetector device 20 at the human-machine interface 50 to determine whether it is an illegal drone.
  • the human-computer interface can itself be part of the control device.
  • a feature library can be established for a common drone, and the characteristics of the photoelectric signal are matched with the feature library, and if they match, it is considered to be a drone.
  • the anti-UAV apparatus can provide a defense radius of 2-5 km, wherein the radar device 10 of the anti-UAV equipment searches for and finds a low-altitude target over 5 km for a long-range approach to the airspace requiring defense.
  • the photoelectric detecting device 20 can be automatically guided to the visible light and infrared imaging by the control device 40, and the operator determines whether the target is an illegal target to be monitored through the human-machine interaction interface 50, and if it is an illegal target. It is set as the monitoring target; when the target enters the safety alert radius of 2km, the counter device 30 is activated, for example, the interference unit 32 forcibly escaping or driving away the illegal target.
  • a defense radius of 2-5 km can be provided, far exceeding the currently used protection system.
  • the radar device 10 of the anti-UAV device searches for the low-altitude target, and the control device 40 can automatically guide the photodetecting device 20 to perform visible light and infrared imaging on the target, and the operator interacts through the human-machine.
  • the interface 50 determines whether the target is an illegal target, and if the illegal target is directly activated, the counter device 30, for example, the interference unit 32 forcibly embarrassing or driving away the illegal target.
  • a typical workflow is that the radar device 10 continuously scans the target airspace until the target signal is scanned, and the signal fed back through the three-coordinate radar device 10 directs the photodetection device 20 to track the monitoring target, and the security monitoring personnel performs illegal target recognition based on the image. If it is not an illegal target, it will track the next target searched by the radar; after confirming it as an illegal target, it will perform different treatment according to whether it enters the safe range. If the security scope is not carried out, the security tracking observation will be carried out. When the security scope is entered, the radio attack will be launched to attack the target direction, and the illegal drone will be forced to land or return.
  • an anti-UAV method comprising the steps of:
  • Step 1 Position the target using a radar device
  • Step 2 Linking the photodetecting device to the radar device to track and image the target in real time;
  • Step 3 determining whether the target is an illegal drone based on information obtained by the photoelectric detecting device
  • Step 4 Countering the illegal drone by using a counter device, the counter device comprising at least one of an interference portion, a destroying portion, and a capturing portion, the interference portion being used for interference, forced landing or driving away from illegal Man-machine, the wreck is used to shoot down or destroy illegal drones, and the capture portion is used for mechanical capture or reverse control of illegal drones.
  • step 3 it may be determined based on the image of the target obtained by the photodetecting device whether the target is an illegal drone. Of course, it can also be judged based on the feature matching information mentioned in the specification.
  • an early warning signal can be provided.
  • step 4 when the illegal drone confirmed in step 3 enters the security alert radius of 2 km or less, the counterfeit device can be used to counter the illegal drone.
  • the counter device may employ an interference portion including a high gain directional interference antenna and a high power interference host, the directional interference antenna being coaxial with the photodetection device, so that illegal When the machine is in the field of view of the photodetecting device, the directional interference antenna is aligned with the illegal drone.
  • the radar device outputs an azimuth, an elevation angle, and a distance to the photodetecting device, and the photodetecting device may be based on a signal received from the radar device to be pointed at a corresponding azimuth, elevation, and focal length. Said the goal.
  • the radar device is linked with the photodetecting device, so that when the low-altitude target is tracked, the image can be used to determine whether the target is a drone (of course, the feature matching can be automatically recognized by the feature matching mentioned above).
  • the radar and photoelectric detection technology are integrated.
  • the radar search and positioning is adopted, and the photoelectric detection device is used for tracking and identification. This not only greatly improves the discovery distance of illegal drones, but also provides sufficient warning time and early warning space, and can realize automatic search, which can easily find targets and track locks, thereby greatly reducing the workload of security personnel.
  • the present invention also provides a UAV identification method, including:
  • Step 1 Search and locate the target using the radar device
  • Step 2 using a radar device to guide the photodetecting device to track the target in real time and obtain an image of the target;
  • Step 3 Determine whether the target is a drone based on information obtained by the photodetecting device.
  • the radar device outputs an azimuth, an elevation angle and a distance to the photodetection device, and the photodetection device is based on the signal received from the radar device to correspond to The azimuth, elevation and focal length point to the target.
  • An embodiment of the present invention also provides a drone identification device, including:
  • a radar device adapted to position a target
  • a photodetecting device that receives a signal from a radar device to track and image the target in real time, wherein the information obtained based on the photodetecting device is adapted to determine whether the target is a drone.
  • the directional interference antenna is arranged coaxially with the photodetection device such that the illegal drone is in the view of the photodetector
  • the directional interference antenna is aligned with the illegal drone during the field, so the combination of the photoelectric detection technology and the counter technology (such as interference) is realized.
  • the anti-UAV equipment can forcibly drive away or force a forced target within 2km.
  • radar search positioning is first used, and the photodetector is linked to track and recognize, and then the jammer accurately directs the interference to force a drop or drive away.
  • the present invention also proposes an anti-UAV system comprising at least three of the aforementioned anti-UAV devices 100, which are disposed separately around the periphery of the protection area A.
  • the plurality of anti-UAV devices 100 can form a protective net, and as will be readily understood by those skilled in the art, the plurality of anti-UAV devices 100 can cooperate to define respective jurisdictions.
  • the present invention also provides an anti-UAV system, including:
  • At least three anti-hand drone devices 100' are disposed separately around the periphery of the protected area, and each of the anti-hand drone devices 100' includes:
  • a radar device adapted to position a target, the radar device herein being identical to the radar device of Figures 18 and 19;
  • a photodetecting device that receives target azimuth information transmitted from the radar device to track and image the target in real time, wherein the photodetecting device is the same as the photodetecting device of FIGS. 18 and 19;
  • the omnidirectional interference portion 60 is provided in the protection area A.
  • Such an anti-UAV system adopts a combination of directional interference and omnidirectional interference, and by arranging an directional interference portion around the protection area A, an electronic fence that blocks the adjacent illegal drone is established, and an omnidirectional arrangement is arranged in the center or inside the protection area.
  • the interference unit 60 can remove the interference dead zone and protect the critical area from illegal unmanned aerial vehicles.
  • the anti-UAV scheme proposed by the invention can realize the timely warning, monitoring and counter-measure of "low, slow and small” unmanned aerial vehicles in the low-altitude airspace of 2-5 km in key protection areas such as chemical parks, government departments and large-scale activities. System to ensure security within the region.
  • 22 is a flow chart of a method of an anti-UAV in accordance with an exemplary embodiment of the present invention.
  • the invention designs an anti-UAV scheme for the development needs of low-altitude security.
  • Effective and long-distance discovery of drone targets, tracking targets, and targets can be integrated to meet the protection requirements of low-altitude airspace security.
  • the supervision and countermeasure scheme of the low-altitude aircraft can include the following systems:
  • the low-altitude aircraft digital identity authentication chip system solves the key technology of the embedded digital identity authentication chip implanted in the unmanned aerial vehicle autopilot.
  • the unidentified aircraft purchaser ID card information can be assigned to each aircraft unique identification code. To solve the problem of aircraft identification and certification.
  • Low-altitude aircraft safety supervision system Based on the low-altitude real-name authentication chip + Beidou/GPS+ mobile communication, establish low-altitude aircraft products, low-altitude aircraft manufacturers, buyers, pilots/flying controllers, low-altitude flight plan management and flight real-time monitoring of big data to achieve low-altitude
  • the elements are finally approved by the airspace regulatory authority and the results of the approval are fed back to the users.
  • the airspace supervision department can monitor the flight status of the unmanned aerial vehicles in China through the “National Unmanned Aerial Vehicle Networked Control Platform”. After the flight, the system automatically uploads the flight report to the relevant management department.
  • the system uses a combination of mobile APP system and airspace supervision department flight plan approval system to open a fast track for flight plan application and approval, which changes the current legal flight application process and poor channel, which is conducive to the low-altitude aircraft. Users are included in the legal flight channels to unblock the combination and promote the legal use of low-altitude aircraft.
  • the system uses the combination of directional interference and omnidirectional interference to realize the protection function of electronic fences in key areas, effectively protecting government agencies, military facilities, hazardous chemicals warehouses, airports, major venues and other places from illegal aircraft, eliminating airborne potential threat.
  • Unmanned aerial vehicle "drip" platform system The system links the various resources of the flight controller, the user, the purchaser, etc., subdivides the industry needs, conducts effective resource integration, establishes a flight demand unit, a flight controller, and an aircraft holder resource sharing platform to provide paid flight services. Guarantee flight safety and promote healthy, orderly and safe development of low-altitude industries.

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Abstract

L'invention concerne un système de supervision d'aéronef à basse altitude comprenant : un module d'application de vol, le module d'application de vol étant conçu pour soumettre un plan de vol d'un aéronef à basse altitude à un arrière-plan d'approbation et recevoir un résultat de vérification de l'arrière-plan d'approbation ; et un module de supervision de vol conçu pour acquérir les données de vol en temps réel de l'aéronef à basse altitude et comparer les données de vol en temps réel obtenues avec le plan de vol approuvé afin de générer une instruction de fonctionnement d'après un résultat de comparaison. L'invention concerne également un procédé de supervision d'aéronef à basse altitude, un dispositif de supervision d'aéronef à basse altitude et un système de plateforme de gestion d'aéronef à basse altitude.
PCT/CN2018/088483 2017-05-26 2018-05-25 Système, procédé et dispositif de supervision d'aéronef à basse altitude, et système de plateforme de gestion d'aéronef à basse altitude Ceased WO2018214969A1 (fr)

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