A real-time drone airspace management platform

Abstract

The present invention relates to the field of airspace management, and in particular to a real-time drone airspace management platform. The number of drones has increased, making management difficult. At the same time, some areas are not convenient for drones to fly, such as airports and near military areas. Although no-fly zones are set up in these areas, the boundaries are difficult to observe and it is easy to enter by mistake. The real-time drone airspace management platform checks the location of the no-fly zone and obtains the location of the online drone at the same time. The two are compared to obtain the positional relationship between the drone's location and the no-fly zone. The real-time drone airspace management platform performs corresponding operations based on the positional relationship between the drone and the no-fly zone. The drone airspace management platform can update the no-fly airspace in a timely manner, make timely adjustments for users to control drones, add whitelist judgments, make the drone's operation more stable during operation, and shield the signals of drones that have entered the no-fly zone multiple times to avoid situations that endanger national and social security and stability.

Description

Technical Field

[0001] The present invention relates to the field of airspace management, and in particular to a real-time unmanned aerial vehicle (UAV) airspace management platform. Background Art

[0002] With the popularization of drone technology, more and more industries have begun to use drones for operations. The number of drones has increased, and management has become difficult. At the same time, some areas are not convenient for drones to fly, such as airports and near military bases. Although no-fly zones have been set up in these areas, the boundaries are difficult to observe and it is easy to enter by mistake. At the same time, some temporary operations are also subject to no-fly zones. Some drone operators do not receive information in a timely manner, which is prone to omissions and delays the progress and confidentiality of the operations.

[0003] Therefore, there is an urgent need to develop a real-time drone airspace management platform to overcome the shortcomings of existing technologies. Summary of the Invention

[0004] (1) Technical problems to be solved

[0005] In order to overcome the shortcomings of the prior art that the boundaries of drone no-fly zones are difficult to observe and the establishment of temporary no-fly zones is not notified in a timely manner, the technical solution of the present invention is to provide a real-time drone airspace management platform, thereby solving the technical problems raised in the background technology.

[0006] (2) Technical solution

[0007] In order to solve the above technical problems, the present invention provides a real-time drone airspace management platform, which performs the following steps:

[0008] The S1 real-time drone airspace management platform checks online drones based on their online status and records their locations;

[0009] The S2 real-time drone airspace management platform checks the location of the no-fly zone and compares the specific scope of the no-fly zone with the location of the drone to obtain the positional relationship between the drone's location and the no-fly zone;

[0010] S3: The real-time drone airspace management platform determines whether the drone has entered a no-fly zone. If not, it continues to monitor the drone's flight position and ends the process. If the drone enters a no-fly zone, it enters S4.

[0011] S4: The real-time drone airspace management platform has a built-in whitelist. It determines whether the drone is on the whitelist. If the drone is not on the whitelist, an alarm is issued on the user interface and the drone operation interface. At the same time, the real-time drone airspace management platform forces the drone to fly out of the no-fly zone. If the drone is on the whitelist, it enters S5.

[0012] The S5 real-time drone airspace management platform determines whether the drone matches the no-fly zone in the whitelist. If it matches, it will continue to monitor the drone's position while the drone flies normally. If it does not match, an alarm will be issued on the user interface and the drone operation interface. At the same time, the real-time drone airspace management platform will force the drone to fly out of the no-fly zone.

[0013] Furthermore, the real-time drone airspace management platform has the following modules:

[0014] The drone management module is used to control the drone's flight and issue an alarm when the drone enters a no-fly zone;

[0015] Airspace management module, used to demarcate airspace such as airport clear-space protection zones, flight restriction zones, airport obstacle limitation surfaces, temporary no-fly zones, flight routes, and general aviation airports;

[0016] The drone positioning module is used to monitor the drone's position and observe the relationship between the drone and the no-fly zone;

[0017] User interface, which provides interaction for users. Users can control drones and add and modify no-fly zones through the user interface;

[0018] The whitelist is used to add no-fly zones where a drone can fly.

[0019] Furthermore, the steps for the real-time drone airspace management platform to obtain the positional relationship between the drone's location and the no-fly zone are as follows:

[0020] The T1 real-time drone airspace management platform divides the area into multiple grids with sufficient precision, with the horizontal coordinate represented by (A1, B1, C1, …, Zn) and the vertical coordinate represented by (1, 2, 3, …, m);

[0021] The T2 real-time drone airspace management platform marks the grid where the drone’s current location is located as the (γx, y) area, and represents the no-fly zone as the β area on the grid map;

[0022] T3 determines the positional relationship between (γx, y) and the β region. If the abscissa represented by γx coincides with the abscissa range of the β region, then the ordinate range of the no-fly zone β on γx is determined. The ordinate range of the β region on the abscissa γx is expressed as [j, k] ∪ [h, i], and whether y is within the interval [j, k] ∪ [h, i] is determined.

[0023] T4 sends the judgment result to the drone management module, and the drone management module takes corresponding actions based on the position relationship between the drone's current position and the no-fly zone.

[0024] Furthermore, the real-time drone airspace management platform can view the location of drones in real time and monitor the distance between drones and no-fly zones. The specific steps are as follows:

[0025] The V1 real-time drone airspace management platform establishes a polar coordinate system with the drone’s current position as the origin;

[0026] The V2 polar coordinate system continuously expands the polar diameter, while the polar angle continuously changes, until the polar coordinate positioning point reaches the no-fly zone. The polar diameter and polar angle stop changing, and the current coordinate position and the length of the current polar diameter are recorded, which is the distance between the drone and the no-fly zone.

[0027] The V3 real-time drone airspace management platform sends the distance between the drone and the no-fly zone to the user interface.

[0028] Furthermore, the whitelist in the real-time drone airspace management platform stores data in the form of key-value pairs, with the drone number as the key value and the no-fly zone where flight is allowed as the value. The key corresponding to a drone number can store a whitelist of multiple no-fly zones. The drone number is retrieved according to the key in the key-value pair stored in the whitelist. If there is a key corresponding to the drone number, the drone is on the whitelist.

[0029] Furthermore, the specific steps for the real-time drone airspace management platform to determine whether the drone matches the no-fly zone in the whitelist are as follows:

[0030] The U1 real-time drone airspace management platform retrieves the drone's ID based on the key in the key-value pair stored in the whitelist, and obtains the value corresponding to the key;

[0031] The U2 real-time drone airspace management platform obtains the number of the no-fly zone where the current drone is located from the airspace management module;

[0032] The U3 real-time drone airspace management platform matches the number of the no-fly zone where the current drone is located with the value corresponding to the key of the drone's number. If the value corresponding to the key of the drone's number in the whitelist contains the number of the no-fly zone, then the drone has a whitelist in the no-fly zone.

[0033] Furthermore, the drone airspace management platform includes a user interface, in which users can add, delete and modify no-fly zones, add and delete controlled drones, and modify the content of the whitelist, while receiving alarm information issued by the drone airspace management platform.

[0034] Furthermore, the drone airspace management platform includes a user interface, the main interface of which is a two-dimensional map. Different restricted areas are marked on the map with different colors, including airport clearance protection areas, flight restriction areas, airport obstacle restriction surfaces, temporary no-fly zones, routes, general aviation airports and other airspaces.

[0035] Furthermore, the drone management module of the real-time drone airspace management platform can remotely control the drone, and the remote control priority of the drone control module is higher than that of the drone operator.

[0036] Furthermore, the drone management module of the real-time drone airspace management platform can shield the drone's signals. If a drone enters the no-fly zone again, a blocking signal can be sent to it to block the drone's control system signal and satellite positioning signal, and the real-time drone airspace management platform will control the drone's recovery.

[0037] (3) Beneficial effects

[0038] The drone airspace management platform can timely update the no-fly airspace, issue timely notifications to users who control drones, and inform users of airspace adjustments.

[0039] The drone airspace management platform has a built-in whitelist, which can provide fault tolerance for drone operations. It will not directly control the drone to leave when it enters a no-fly zone. Adding whitelist judgment makes the drone's operation more stable.

[0040] The drone management module of the real-time drone airspace management platform can block the signals of drones that enter the no-fly zone multiple times, avoiding situations that endanger national and social security and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 Flowchart of the present invention. DETAILED DESCRIPTION

[0042] The present invention will be further described below with reference to the accompanying drawings and examples. Example 1

[0043] The real-time drone airspace management platform checks the online drones according to their online status and records the location of the online drones. The real-time drone airspace management platform checks the location of the no-fly zone and compares the specific scope of the no-fly zone with the location of the drone to obtain the positional relationship between the drone's location and the no-fly zone.

[0044] The specific working principle is:

[0045] The T1 real-time drone airspace management platform divides the area into multiple grids with sufficient precision, with the horizontal coordinate represented by (A1, B1, C1, …, Zn) and the vertical coordinate represented by (1, 2, 3, …, m);

[0046] The T2 real-time drone airspace management platform marks the grid where the drone’s current location is located as the (γx, y) area, and represents the no-fly zone as the β area on the grid map;

[0047] T3 determines the positional relationship between (γx, y) and the β region. If the abscissa represented by γx coincides with the abscissa range of the β region, then the ordinate range of the no-fly zone β on γx is determined. The ordinate range of the β region on the abscissa γx is expressed as [j, k] ∪ [h, i], and whether y is within the interval [j, k] ∪ [h, i] is determined.

[0048] T4 sends the judgment result to the drone management module.

[0049] At the same time, the real-time drone airspace management platform can view the distance between the drone and the no-fly zone in real time. The specific steps are as follows:

[0050] The real-time drone airspace management platform establishes a polar coordinate system with the drone’s current position as the origin;

[0051] The polar coordinate system continuously expands the polar diameter, while the polar angle continuously changes. By traversing and scanning the surrounding no-fly zones, the polar diameter and polar angle stop changing until the point located by the polar coordinates is within the no-fly zone. The current coordinate position and the length of the current polar diameter are recorded, which is the distance between the drone and the no-fly zone.

[0052] The real-time drone airspace management platform sends the distance between the drone and the no-fly zone to the user interface, and users can observe the changes in the distance between the drone and the no-fly zone in real time.

[0053] The drone management module makes a decision based on the location of the drone and the location of the no-fly zone. If the drone has not entered the no-fly zone, no action is required and the drone's location can continue to be monitored. If the drone is inside the no-fly zone, the whitelist is retrieved to determine whether the drone is performing flight operations in accordance with regulations.

[0054] The real-time drone airspace management platform has a built-in whitelist. The working principle of the whitelist is to store data in the form of key-value pairs, with the drone number as the key value and the no-fly zone where flight is allowed as the value. The key corresponding to a drone number can store a whitelist of multiple no-fly zones.

[0055] The real-time drone airspace management platform determines whether the drone has entered the no-fly zone. If not, it continues to monitor the drone's flight position and ends the process. If the drone flies into the no-fly zone, the real-time drone airspace management platform retrieves the whitelist and retrieves the drone's number based on the key in the key-value pair stored in the whitelist. If there is a key corresponding to the drone's number, the drone is on the whitelist.

[0056] If the drone is on the whitelist, the real-time drone airspace management platform determines whether the drone matches the no-fly zone in the whitelist. The specific steps are as follows:

[0057] The U1 real-time drone airspace management platform retrieves the drone's ID based on the key in the key-value pair stored in the whitelist, and obtains the value corresponding to the key;

[0058] The U2 real-time drone airspace management platform obtains the number of the no-fly zone where the current drone is located from the airspace management module;

[0059] The U3 real-time drone airspace management platform matches the number of the no-fly zone where the current drone is located with the value corresponding to the key of the drone's number. If the value corresponding to the key of the drone's number in the whitelist contains the number of the no-fly zone, then the drone has a whitelist in the no-fly zone.

[0060] Determine whether the drone is on the whitelist. If the drone is not on the whitelist, an alarm will be issued, and the real-time drone airspace management platform will force the drone to fly out of the no-fly zone.

[0061] If the no-fly zone where the drone is flying does not match the no-fly zone in the whitelist, an alarm will be issued and the drone management module of the real-time drone airspace management platform will remotely control the drone. Because the remote control priority of the drone control module is higher than that of the drone operator, the drone must be forced to leave the non-whitelist no-fly zone.

[0062] When a drone re-enters a no-fly zone after being forced to leave, the drone management module of the real-time drone airspace management platform can shield the drone's signal. If a drone in the no-fly zone re-enters, a blocking signal can be sent to it to block the drone's control system signal and satellite positioning signal, forcing the drone to stop acquiring information and avoid behaviors that endanger national and social security.

[0063] Users can add drones to a whitelist in the user interface, select the drone number and the area to be whitelisted. The whitelist will search for the key corresponding to the drone number. If it is not available, it will be added directly. If it is available, the value of the key corresponding to the drone number will be modified, the new value will be assigned to the key corresponding to the drone number, and the data in the whitelist will be updated.

[0064] Users can add, modify or delete no-fly zones in the user interface. Select the area location on the map and then select the implementation time to complete the addition or deletion of the no-fly zone. Select the no-fly zone location on the map and then choose to adjust the no-fly zone location, size or no-fly time to complete the modification of the no-fly zone.

[0065] The above-described embodiments merely represent preferred embodiments of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make various modifications, improvements, and substitutions without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A real-time drone airspace management platform, characterized by: The steps to perform are: The S1 real-time drone airspace management platform checks online drones based on their online status and records their locations; The S2 real-time drone airspace management platform checks the location of the no-fly zone and compares the specific scope of the no-fly zone with the location of the drone to obtain the positional relationship between the drone's location and the no-fly zone; The steps for the real-time drone airspace management platform to obtain the location relationship between the drone and the no-fly zone are as follows: The T1 real-time drone airspace management platform divides the area into multiple precise grids, with the horizontal coordinate represented by (A1, B1, C1, …, Zn) and the vertical coordinate represented by (1, 2, 3, …, m); The T2 real-time drone airspace management platform marks the grid where the drone’s current location is located as the (γx, y) area, and represents the no-fly zone as the β area on the grid map; T3 determines the positional relationship between (γx, y) and the β region. If the abscissa represented by γx belongs to the abscissa interval [αx, δy] ∪ [εz, ζa] of β, then determines the ordinate range of the no-fly zone β on γx. The ordinate range of the β region on the abscissa γx is expressed as [j, k] ∪ [h, i], and determines whether y is within the interval [j, k] ∪ [h, i]. T4 sends the judgment result to the drone management module, which takes corresponding actions based on the relationship between the drone's current position and the no-fly zone; S3: The real-time drone airspace management platform determines whether the drone has entered the no-fly zone. If not, it continues to monitor the drone's flight position and ends the process. If the drone enters the no-fly zone, it enters S4. S4: The real-time drone airspace management platform has a built-in whitelist. It determines whether the drone is on the whitelist. If the drone is not on the whitelist, an alarm is issued on the user interface and the drone operation interface. At the same time, the real-time drone airspace management platform forces the drone to fly out of the no-fly zone. If the drone is on the whitelist, it enters S5. The S5 real-time drone airspace management platform determines whether the drone matches the no-fly zone in the whitelist. If so, it continues to monitor the drone's position while the drone flies normally. If not, an alarm is issued on the user interface and the drone operation interface, and the real-time drone airspace management platform forces the drone to fly out of the no-fly zone. The whitelist in the real-time drone airspace management platform stores data in the form of key-value pairs, with the drone number as the key value and the no-fly zone where flight is permitted as the value. A key corresponding to a drone number stores a whitelist of multiple no-fly zones. The drone number is retrieved according to the key in the key-value pair stored in the whitelist. If the key corresponding to the drone number exists, the drone is on the whitelist. The specific steps for the real-time drone airspace management platform to determine whether the drone matches the no-fly zone in the whitelist are as follows: The U1 real-time drone airspace management platform retrieves the drone's ID based on the key in the key-value pair stored in the whitelist, and obtains the value corresponding to the key; The U2 real-time drone airspace management platform obtains the number of the no-fly zone where the current drone is located from the airspace management module; The U3 real-time drone airspace management platform matches the number of the no-fly zone where the current drone is located with the value corresponding to the drone's number key. If the value corresponding to the drone's number key in the whitelist contains the number of the no-fly zone, then the drone has a whitelist in the no-fly zone; The drone management module shields the drone's signals and sends a blocking signal to any drone that enters the no-fly zone again, thereby blocking the drone's control system signal and satellite positioning signal. The real-time drone airspace management platform controls the drone's recovery.

2. A real-time UAV airspace management platform according to claim 1, characterized in that: The real-time drone airspace management platform has the following modules: The drone management module is used to control the drone's flight and issue an alarm when the drone enters a no-fly zone; Airspace management module, used to delineate airport clear-space protection zones, flight restriction zones, airport obstacle limitation surfaces, temporary no-fly zones, flight routes, and general aviation airport airspace; The drone positioning module is used to monitor the drone's position and observe the relationship between the drone and the no-fly zone. The user interface provides interaction for users to control the drone and add and modify no-fly zones through the user interface. The whitelist is used to add no-fly zones where a drone can fly.

3. A real-time UAV airspace management platform according to claim 1, characterized in that: The real-time drone airspace management platform monitors the location of drones in real time and monitors the distance between drones and no-fly zones. The specific steps are as follows: The V1 real-time drone airspace management platform establishes a polar coordinate system with the drone’s current position as the origin; The V2 polar coordinate system continuously expands the polar diameter, while the polar angle continuously changes, until the polar coordinate positioning point reaches the no-fly zone. The polar diameter and polar angle stop changing, and the current coordinate position and the length of the current polar diameter are recorded, which is the distance between the drone and the no-fly zone. The V3 real-time drone airspace management platform sends the distance between the drone and the no-fly zone to the user interface.

4. A real-time UAV airspace management platform according to claim 2, characterized in that: The user interface can add, delete and modify no-fly zones, add and delete controlled drones, and modify the content of the whitelist, while receiving alarm information issued by the drone airspace management platform.

5. A real-time UAV airspace management platform according to claim 4, characterized in that: The main interface of the user interface is a two-dimensional map, on which different restricted areas are marked with different colors, including airport clearance protection areas, flight restriction areas, airport obstacle restriction surfaces, temporary no-fly zones, flight routes, and general aviation airport airspace.

6. A real-time UAV airspace management platform according to claim 1, characterized in that: The drone management module remotely controls the drone, and the remote control priority of the drone control module is higher than that of the drone operator.

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