An unmanned aerial vehicle flight airspace planning device and method

Abstract

The application provides a kind of unmanned aerial vehicle flight airspace planning device and method, the method receives the airspace related information involved in unmanned aerial vehicle flight, extracts unmanned aerial vehicle flight airspace element information and generates airspace real-time situation map, extracts unmanned aerial vehicle airspace use demand information, sets unmanned aerial vehicle flight airspace before flight and generates unmanned aerial vehicle flight airspace pre-design scheme, monitors the use of unmanned aerial vehicle flight airspace and generates airspace conflict warning information, dynamically adjusts flight airspace and generates unmanned aerial vehicle flight airspace dynamic design scheme, issues unmanned aerial vehicle flight airspace pre-design scheme, airspace conflict warning, unmanned aerial vehicle flight airspace dynamic design scheme and other information.The application provides implementation tools and technical basis for low-altitude airspace management, urban air traffic management and unmanned aerial vehicle flight service.

Description

Technical Field

[0001] This invention belongs to the field of air traffic management, and in particular relates to a device and method for planning the airspace for unmanned aerial vehicles (UAVs). Background Technology

[0002] Unmanned aerial vehicles (UAVs) are crucial transportation tools in low-altitude airspace and urban air traffic, playing an increasingly important role in aerial logistics, power line inspection, emergency rescue, and entertainment. They have greatly promoted the full utilization of low-altitude airspace and the development of urban air traffic systems, becoming a key driver of the low-altitude industry economy. The safe and smooth operation of UAV air traffic is a vital guarantee for the rapid development of the UAV industry. Developed aviation countries and regions in Europe and America have formulated development roadmaps for UAV air traffic systems. The United States has proposed the concepts of Unmanned Aircraft System (UAS) Traffic Management (UTM) and Urban Air Mobility (UAM), in which UAVs fly in air corridors between airports. Europe has proposed the U-space operation concept, providing related services for UAV traffic management.

[0003] The planning and management of UAV flight airspace is one of the key technologies in low-altitude airspace management, urban air traffic management, and UAV traffic management. Numerous studies on UAV flight path planning have been conducted both domestically and internationally. Generally, optimization models are established based on airspace environment, terrain, and flight mission requirements. Common optimization objectives include minimizing flight distance, minimizing flight time, and maximizing mission efficiency. Various intelligent algorithms are used to improve model solution efficiency and generate the optimal path from start to finish. These technologies are mostly designed for single or batch UAVs. There are also studies on path planning technologies for logistics UAVs, typically combined with logistics UAV delivery networks. Path planning includes the planning of logistics delivery tasks. These technologies are mostly applied to UAV flight mission management and are highly complex. There are also studies on UAV route network planning. These typically use methods such as gridding to abstractly describe the airspace based on urban or low-altitude airspace infrastructure, UAV take-off and landing points, traffic flow distribution, obstacles, etc., to macroscopically plan the airspace route structure. These technologies are mostly suitable for strategic planning of UAV airspace in a specific region. Currently, there is a lack of a simple method suitable for quickly and systematically planning drone airspace based on the drone airspace usage needs of designated areas during the pre-tactical and tactical phases.

[0004] In terms of system tools, the United States has developed a cloud-based UAV operation management system; my country has developed a comprehensive platform for civil UAV operation management, an UAV air traffic management information service system, and some local UAV comprehensive supervision platforms, realizing functions such as flight plan application and information services; there is also an urban low-altitude UAV flight mission management system, realizing functions such as UAV flight mission planning. Existing system tools are insufficient in UAV airspace planning and management, making it difficult to meet the air traffic control support needs of high-volume, high-density UAV flights. Currently, there is a lack of a universal, portable, and highly embeddable UAV airspace planning device.

[0005] The technologies and equipment for urban air traffic management and drone traffic management are generally in the initial stages of development. There is still significant research and application potential to meet the evolving needs of urban air traffic systems and air logistics. Therefore, a new technological solution is needed to address these technical challenges. Summary of the Invention

[0006] Purpose of the invention: This invention addresses the shortcomings of existing technologies by proposing a device and method for UAV flight airspace planning. Based on functions such as UAV airspace environment analysis and flight plan processing, it enables the classification, optimized allocation, and dynamic adjustment of UAV flight airspace during the pre-tactical and tactical phases. While maximizing the satisfaction of UAV airspace usage needs, it improves the operational efficiency of UAV traffic flow, fully utilizes airspace resources, and builds an efficient aerial network for UAV operation.

[0007] To achieve the objectives of this invention, this invention discloses a UAV flight airspace planning device, comprising an information input module, an airspace environment analysis module, a flight plan processing module, a flight airspace pre-planning module, a flight airspace conflict alarm module, a flight airspace dynamic planning module, an information output module, a server, a workstation, and an integrated information access device;

[0008] The information input module is used to receive basic airspace data (including coordinates of navigation stations or positioning points, terrain data, and ground obstacle data), flight plans, aviation meteorology, aviation intelligence, and airspace usage notifications issued by relevant airspace users for the UAV flight.

[0009] The airspace environment analysis module is used to extract UAV flight airspace element information from the information received by the information input module. Based on the airspace basic data, it generates a real-time airspace situation map to support UAV flight airspace planning. The content includes: airspace structure, airspace meteorological conditions, restricted areas, danger zones, restricted zones, and airspace occupation and release.

[0010] The flight plan processing module is used to extract UAV airspace usage information from the information received by the information input module, including: take-off and landing points, planned routes, operating airspace, and key points;

[0011] The flight airspace pre-delineation module is used to delineate the UAV flight airspace before flight based on the real-time airspace situation map generated by the airspace environment analysis module and the UAV airspace usage demand information extracted by the flight plan processing module. The airspace types include airways, operational airspace and flight routes.

[0012] The flight airspace conflict alarm module is used to monitor the usage of UAV flight airspaces designated by the pre-designated flight airspace module and the dynamic flight airspace module based on the real-time airspace situation map generated by the airspace environment analysis module. It generates airspace conflict alarm information for dynamically occurring airspace restrictions, dangerous weather conditions, and airspace intrusions. The content includes: conflict time and conflict range.

[0013] The dynamic flight airspace delineation module is used to dynamically adjust the flight airspace based on the airspace conflict alarm information generated by the flight airspace conflict alarm module. The adjustment methods include boundary adjustment, position adjustment and geometric structure adjustment. The module delineates the UAV flight airspace during flight and generates a dynamic UAV flight airspace delineation scheme.

[0014] The information output module is used to publish pre-defined airspace allocation schemes for UAV flights, airspace conflict warnings, and dynamic airspace allocation schemes for UAV flights.

[0015] The server is used to perform calculations, storage, and management of various types of information (including information input, processed, generated, and output by each module) of the device, and to complete the functional response of each module.

[0016] The workstation is used for processing various types of graphics and images (information input, processed, generated, and output by each module that needs to be displayed in the form of graphics and images, such as: real-time airspace situation map) of the device, data calculation, and human-computer interaction.

[0017] The integrated information access device is used as the interface for information input of the device.

[0018] This invention also provides a method for planning the airspace for unmanned aerial vehicle (UAV) flights, comprising the following steps:

[0019] Step 1: The information input module receives basic airspace data, flight plans, aviation meteorology, aviation intelligence, and airspace usage reports issued by relevant airspace users for the UAV flight.

[0020] Step 2: The airspace environment analysis module extracts airspace element information for UAV flight from the information received in Step 1. Based on the basic airspace data, it generates a real-time airspace situation map to support UAV flight airspace planning. The content includes: airspace structure, airspace meteorological conditions, restricted areas, danger zones, restricted zones, and airspace occupation and release.

[0021] Step 3: The flight plan processing module extracts UAV airspace usage information from the information received in Step 1, including: take-off and landing points, planned routes, operating airspace, and key points.

[0022] Step 4: The flight airspace pre-delineation module delineates the UAV flight airspace before flight based on the real-time airspace situation map generated in Step 2 and the UAV airspace usage demand information extracted in Step 3, generating a UAV flight airspace pre-delineation scheme. The airspace types include airways, operational airspace, and flight routes.

[0023] Step 5: The flight airspace conflict alarm module monitors the usage of the UAV flight airspace designated in Steps 4 and 6 based on the real-time airspace situation map generated in Step 2. It generates airspace conflict alarm information for dynamically occurring airspace restrictions, dangerous weather conditions, and airspace intrusions. The content includes: conflict time and conflict range.

[0024] Step 6: The flight airspace dynamic delineation module dynamically adjusts the flight airspace based on the airspace conflict alarm information generated in Step 5. The adjustment methods include boundary adjustment, position adjustment, and geometric structure adjustment. The module delineates the UAV flight airspace during flight and generates a UAV flight airspace dynamic delineation scheme.

[0025] Step 7: The information output module publishes the pre-defined UAV flight airspace plan generated in Step 4, the airspace conflict alarm generated in Step 5, and the dynamic UAV flight airspace plan generated in Step 6.

[0026] Step 4, the pre-delineation scheme for the UAV flight airspace includes the following steps:

[0027] Step 4.1: Based on the real-time airspace situation map generated in Step 2 and the UAV airspace usage demand information extracted in Step 3, generate a UAV traffic flow distribution map, which includes: the coordinates of the take-off and landing points, turning points, and key points of each UAV; the coordinates of the entry point, exit point, and boundary point of the operating airspace of each UAV; the flight direction of each UAV in each segment of its planned route; the UAV flight flow at the take-off and landing points, turning points, key points, and operating airspace of each UAV; and the UAV flight flow in different directions of each segment.

[0028] Step 4.2: Based on the UAV traffic flow distribution map generated in Step 4.1, and with the goal of maximizing the total flight flow in each flight direction of the UAV route, establish the objective function for delineating UAV flight airspace, expressed as:

[0029]

[0030] Among them, u i Indicates flight segment s ij The starting point, u j Indicates flight segment s ij The endpoint, f(u) i ,u j ) represents flight segment s ij The flow rate, where i and j are positive integers, U is the set of all UAV take-off and landing points, turning points, key points, and entry and exit points of the operational airspace, S is the set of all UAV planned flight segments, and x ij For decision variables, it is represented as:

[0031]

[0032] Step 4.3: Based on the objective function established in Step 4.2, establish the following constraints:

[0033] Route connectivity constraints: u j =u k ,x ij =x kl =1,u i ,u j ,u k ,u l ∈U,s ij ,s kl ∈S,i,j,k,l are positive integers, indicating that the UAV's flight path is uninterrupted;

[0034] Connectivity constraints of take-off and landing points:

[0035] x ij =x kl =1 and u i ,u l For take-off and landing points, or

[0036] This indicates that each drone take-off and landing point is either on the drone's flight path or there is one and only one flight path connecting the drone's flight path, where y ijk As an indicator variable, it is represented as:

[0037]

[0038] Operational spatial connectivity constraints:

[0039]

[0040] This indicates that each UAV operating airspace has one and only one flight path connecting its entry and exit points, where A represents the set of UAV operating airspaces, and p imj q nkl These are indicator variables, represented as follows:

[0041]

[0042]

[0043] Airspace constraints:

[0044]

[0045] This indicates that the airspace in which the UAV can fly cannot overlap with unavailable airspace during the planning period, where C represents the set of unavailable airspace;

[0046] Step 4.4: Based on the objective function established in Step 4.2 and the constraints established in Step 4.3, a mathematical model for the delineation of UAV flight airspace is established, expressed as:

[0047]

[0048]

[0049] Step 4.5: Solve the mathematical model for delineating UAV flight airspace established in Step 4.4, and automatically generate a pre-delineation scheme for UAV flight airspace.

[0050] Step 5 includes the following steps:

[0051] Step 5.1: Based on the real-time airspace situation map generated in Step 2, extract information on the airspace to be avoided from dynamically appearing airspace restrictions, hazardous weather conditions, and airspace intrusions. The information includes: the duration of the existence of the airspace to be avoided, the coordinates of the boundary points of the area airspace to be avoided, and the coordinates of the key points of the linear airspace to be avoided.

[0052] Step 5.2: Based on the information of the airspace to be avoided extracted in Step 5.1, for the linear airspace to be avoided, a rectangular area airspace to be avoided is generated with the straight line segment between each group of adjacent key points (key points are a common concept, key points can be flight turning points, positioning points, or custom points) as the diagonal, and the coordinates of the boundary points of the rectangular area airspace to be avoided are determined.

[0053] Step 5.3: Based on the information of the airspace to be avoided extracted in Step 5.1 and the rectangular area airspace to be avoided generated in Step 5.2 for the linear airspace to be avoided, retrieve the UAV flight airspace information within the area airspace to be avoided. The information includes: UAV flight path, flight route, coordinates of UAV take-off and landing points, turning points, and key points, coordinates of UAV operation airspace entry point, exit point, and boundary points, and UAV operation airspace boundary.

[0054] Step 5.4: Generate airspace conflict alarm information, including: conflict time and conflict range. The conflict range includes: the coordinates of the intersection of the UAV flight path / route and the linear airspace to be avoided; the part of the UAV flight path / route within the area airspace to be avoided; the part of the linear airspace to be avoided within the UAV operating airspace; and the part of the UAV operating airspace that overlaps with the area airspace to be avoided.

[0055] Step 6 includes the following steps:

[0056] Step 6.1: Based on the airspace conflict alarm information generated in Step 5, traverse the take-off and landing points, turning points, and key points of UAVs adjacent to the airspace to be avoided, and generate a set of flight segments composed of the take-off and landing points, turning points, and key points of UAVs adjacent to the airspace to be avoided.

[0057] Step 6.2: Determine whether the flight segments generated in Step 6.1, consisting of the take-off and landing points, turning points, and key points of the UAVs adjacent to the airspace to be avoided, can generate UAV flight routes and flight paths around the airspace to be avoided. If yes, proceed to Step 6.3; otherwise, proceed to Step 6.4.

[0058] Step 6.3: Based on the principle of minimizing distance change, select segments from the UAV take-off and landing points, turning points, and key points adjacent to the airspace to be avoided generated in Step 6.1, generate UAV routes and flight paths that bypass the airspace to be avoided, and replace UAV routes and flight paths that conflict with the pre-defined UAV flight airspace plan.

[0059] Step 6.4: Disable drone routes and flight paths that conflict with the pre-defined drone airspace allocation scheme;

[0060] Step 6.5: Based on the airspace conflict alarm information generated in Step 5, for the case of a conflict between a linear airspace to be avoided and the UAV operating airspace, select the larger portion of the UAV operating airspace after it has been divided by the linear airspace to be avoided (referring to the larger portion of the two parts formed after the UAV operating airspace has been divided by the linear airspace to be avoided) to replace the original UAV operating airspace. For the case of a conflict between a planar airspace to be avoided and the UAV operating airspace, select the portion of the UAV operating airspace that does not overlap with the planar airspace to be avoided to replace the original UAV operating airspace. Select entry and exit points at the boundary points of the newly generated UAV operating airspace, and generate conflict-free routes that connect the UAV flight paths. Replace the conflicting UAV operating airspace and its connecting routes in the pre-defined UAV flight airspace plan with the newly generated UAV operating airspace and its connecting routes.

[0061] The present invention also provides a storage medium, characterized in that it stores a computer program or instructions, which, when the computer program or instructions are run, implement the UAV flight airspace planning method.

[0062] The present invention has the following beneficial effects:

[0063] 1. It provides an implementation tool for low-altitude airspace management, urban air traffic management, and UAV flight services. It is easy to embed into air traffic control systems and UAV-related command and control systems, and provides technical support for the research and development and upgrading of air traffic control systems, UAV-related command and control systems, low-altitude airspace management systems, urban air traffic control systems, UAV monitoring systems, and other systems.

[0064] 2. It provides a technical foundation for the optimization and safety management of drone traffic flow in the pre-tactical and tactical phases, and the implementation method is simple, fast, and easy to operate;

[0065] 3. It provides technical support for low-altitude airspace planning, urban airspace planning, and drone traffic management. Attached Figure Description

[0066] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, and the advantages of the present invention in the above and / or other aspects will become clearer.

[0067] Figure 1 This is a diagram showing the software module composition and internal information relationships of the UAV flight airspace planning device of the present invention.

[0068] Figure 2 This is a flowchart of the UAV flight airspace planning method of the present invention.

[0069] Figure 3 A schematic diagram of a pre-designated airspace allocation scheme for drone flights, illustrating a specific implementation method.

[0070] Figure 4 This is a schematic diagram illustrating an airspace conflict alarm implementation.

[0071] Figure 5 A schematic diagram of a dynamic airspace delineation scheme for unmanned aerial vehicle (UAV) flights, illustrating a specific implementation method.

[0072] Figure 6 This is a flowchart of the method for pre-delineating the flight airspace of unmanned aerial vehicles according to the present invention.

[0073] Figure 7 This is a flowchart of the airspace conflict alarm method of the present invention.

[0074] Figure 8 This is a flowchart of the method for dynamically delineating the flight airspace of unmanned aerial vehicles according to the present invention. Detailed Implementation

[0075] like Figure 1 As shown, this invention discloses a UAV flight airspace planning device, including software and hardware; the software includes an information input module, an airspace environment analysis module, a flight plan processing module, a flight airspace pre-delineation module, a flight airspace conflict alarm module, a flight airspace dynamic delineation module, and an information output module; the hardware includes a server, a workstation, and an integrated information access device.

[0076] The information input module is used to receive basic airspace data, flight plans, aviation meteorology, aviation intelligence, and airspace usage reports issued by relevant airspace users involved in UAV flights. This information generally comes from air traffic control systems, UAV-related command and control systems, and other systems.

[0077] The airspace environment analysis module is used to extract airspace element information of UAV flight from the information received by the information input module. Based on the airspace basic data, it generates a real-time airspace situation map to support UAV flight airspace planning. The content includes: airspace structure, airspace meteorological conditions, restricted areas, danger zones, restricted zones, airspace occupation and release, etc.

[0078] The flight plan processing module is used to extract UAV airspace usage information from the information received by the information input module, including: take-off and landing points, planned routes, operating airspace, key points, etc.

[0079] The flight airspace pre-delineation module is used to delineate the UAV flight airspace before flight based on the real-time airspace situation map generated by the airspace environment analysis module and the UAV airspace usage demand information extracted by the flight plan processing module. The airspace types include airways, operational airspace, and flight routes.

[0080] The flight airspace conflict alarm module is used to monitor the usage of UAV flight airspaces designated by the pre-delineation module and the dynamic delineation module based on the real-time airspace situation map generated by the airspace environment analysis module. It generates airspace conflict alarm information for dynamically occurring airspace restrictions, dangerous weather conditions, airspace intrusions, etc., including conflict time and conflict range.

[0081] The flight airspace dynamic delineation module is used to dynamically adjust the flight airspace based on the airspace conflict alarm information generated by the flight airspace conflict alarm module. The adjustment methods include boundary adjustment, position adjustment, geometric structure adjustment, etc., to delineate the UAV flight airspace during flight and generate a UAV flight airspace dynamic delineation scheme.

[0082] The information output module is used to publish information such as the pre-delineation plan for UAV flight airspace, airspace conflict alarms, and dynamic delineation plan for UAV flight airspace. The target audience is generally air traffic control, UAV users, UAV regulatory agencies, and other relevant parties.

[0083] The server is used to calculate, store, and manage various types of information from a UAV flight airspace planning device, including: airspace basic data, flight plans, aviation meteorology, aviation intelligence, and airspace usage reports issued by relevant airspace users received by the information input module; real-time airspace situation map generated by the airspace environment analysis module; UAV airspace usage demand information extracted by the flight plan processing module; UAV flight airspace pre-delineation scheme generated by the flight airspace pre-delineation module; airspace conflict alarm information generated by the flight airspace conflict alarm module; UAV flight airspace dynamic delineation scheme generated by the flight airspace dynamic delineation module; and other information generated during software operation, thus completing the functional response of each module of the software.

[0084] The workstation is used for various graphic image processing, data calculation and human-computer interaction of a UAV flight airspace planning device. It supports the display of information such as real-time airspace situation map, UAV flight airspace pre-planning scheme, airspace conflict alarm, and UAV flight airspace dynamic planning scheme, and supports manual operation interface, etc.

[0085] The integrated information access device is used as an interface for information input of a UAV flight airspace planning device, and supports the connection of the UAV flight airspace planning device with multiple information sources such as aviation meteorology and aviation intelligence.

[0086] like Figure 2 As shown, this invention discloses a method for UAV flight airspace planning, comprising the following steps:

[0087] Step 1: Receive basic airspace data, flight plans, aviation meteorology, aviation intelligence, and airspace usage reports issued by relevant airspace users for the designated area (an administrative region, test area, etc.);

[0088] Step 2: Extract UAV flight airspace element information from the information received in Step 1. Based on the basic airspace data, generate a real-time airspace situation map to support UAV flight airspace planning. The content includes: airspace structure, airspace meteorological conditions, restricted areas, danger zones, restricted zones, airspace occupation and release, etc., which intuitively displays the airspace environment such as low-altitude airspace and urban airspace involved in UAV flight in a designated area (a certain administrative region, test area, etc.).

[0089] Step 3: Extract UAV airspace usage information from the information received in Step 1, including: take-off and landing points, planned routes, operating airspace, key points, etc.

[0090] Step 4: Based on the real-time airspace situation map generated in Step 2 and the UAV airspace usage demand information extracted in Step 3, delineate the UAV flight airspace before flight and generate the following: Figure 3 The proposed UAV flight airspace pre-delineation scheme includes airspace types such as airways, operational airspace, and flight paths. Among them, UAV airways are pipeline-type airspaces that provide a high-speed air route for UAVs within a certain area, enabling a large number of UAVs to fly at high speeds. Operational airspaces are horizontal, planar airspaces that allow UAVs to perform tasks such as inspection, aerial photography, and entertainment within the required airspace. UAV flight paths are linear airspaces that connect UAV take-off and landing points, operational airspaces, and UAV airways. The division of the above three types of UAV airspaces takes into account both the flight characteristics and mission requirements of UAVs, as well as the control of the number of airspace types to reduce the UAV air traffic control load, improve airspace utilization, and increase the efficiency of UAV traffic flow.

[0091] Step 5: Based on the real-time airspace situation map generated in Step 2, monitor the usage of the UAV flight airspace designated in Steps 4 and 6 respectively, and generate data on dynamically occurring airspace restrictions, hazardous weather conditions, airspace intrusions, etc. Figure 4 The airspace conflict alarm information shown includes: conflict time, conflict range, etc. During the use of drone airspace, there may be emergencies such as dangerous weather, temporary airspace restrictions, and unknown air situations, which threaten the safety of airspace use. Timely detection and alarm of airspace conflicts is one of the important tasks of drone air traffic control.

[0092] Step 6: Based on the airspace conflict alarm information generated in Step 5, dynamically adjust the flight airspace. Adjustment methods include boundary adjustment, position adjustment, and geometric structure adjustment. During flight, delineate the UAV's flight airspace and generate an alarm. Figure 5 The diagram shows a dynamic airspace delineation scheme for unmanned aerial vehicle (UAV) flights.

[0093] Step 7: Publish information such as the pre-defined airspace allocation scheme for UAVs generated in Step 4, the airspace conflict alarm generated in Step 5, and the dynamic airspace allocation scheme for UAVs generated in Step 6.

[0094] like Figure 6 As shown, step 4 of the UAV flight airspace planning method disclosed in this invention proposes a method for pre-delineating UAV flight airspace, including the following steps:

[0095] Step 4.1: Based on the real-time airspace situation map generated in Step 2 and the UAV airspace usage demand information extracted in Step 3, generate a UAV traffic flow distribution map, including but not limited to: the coordinates of the take-off and landing points, turning points, and key points of each UAV; the coordinates of the entry point, exit point, and boundary point of the operating airspace of each UAV; the flight direction of each UAV in each segment of its planned route; the UAV flight flow at the above points and in each operating airspace; and the UAV flight flow in different directions in each segment.

[0096] Step 4.2: Based on the UAV traffic flow distribution map generated in Step 4.1, and with the goal of maximizing the total flight flow in each flight direction of the UAV route, establish the objective function for delineating UAV flight airspace, expressed as:

[0097]

[0098] Among them, u i Indicates flight segment s ij The starting point, u j Indicates flight segment s ij The endpoint, f(u) i ,u j ) represents flight segment s ij Traffic, u i ,u j ∈U,s ij ∈S, i,j are positive integers, U is the set of all UAVs' take-off and landing points, turning points, key points, and entry and exit points of the operational airspace, S is the set of all UAVs' planned flight path segments, x ij For decision variables, it is represented as:

[0099]

[0100] Step 4.3: Based on the objective function for delineating the UAV flight airspace established in Step 4.2, establish the constraints, expressed as follows:

[0101] u j =u k ,x ij =x kl =1,u i,u j ,u k ,u l ∈U,s ij ,s kl ∈S,i,j,k,l are positive integers representing route connectivity constraints, indicating that the UAV route is uninterrupted;

[0102] x ij =x kl =1 and u i ,u l For take-off and landing points, or For take-off and landing point connectivity constraints, it means that each UAV take-off and landing point is either on the UAV's flight path or has one and only one flight path connecting it to the UAV's flight path, where y ijk As an indicator variable, it is represented as:

[0103]

[0104] For operational airspace connectivity constraints, it is stated that each UAV operational airspace has one and only one flight path connecting its entry and exit points, where A represents the set of UAV operational airspaces, p imj q nkl These are indicator variables, represented as follows:

[0105]

[0106]

[0107] For airspace restrictions, it means that the airspace in which the UAV flies during the planning period cannot overlap with unusable airspace such as restricted areas, danger zones, restricted zones, airspace occupied by relevant airspace users, and dangerous weather zones. Here, C represents the set of unusable airspace.

[0108] Step 4.4: Based on the objective function for UAV flight airspace delineation established in Step 4.2 and the constraints established in Step 4.3, establish a mathematical model for UAV flight airspace delineation, expressed as:

[0109]

[0110]

[0111] Step 4.5: Solve the mathematical model for UAV flight airspace delineation established in Step 4.4, and automatically generate a pre-delineation scheme for UAV flight airspace;

[0112] Step 4.6: In addition to automatically generating the UAV flight airspace pre-delineation scheme using steps 4.2 to 4.5, you can also manually select flight segments with high flight volume to form routes based on the UAV traffic flow distribution map generated in step 4.1, and select flight segments between the operating airspace and the flight route, and between the take-off and landing point and the flight route to form routes. Manually edit and generate the UAV flight airspace pre-delineation scheme.

[0113] like Figure 7 As shown, step 5 of the UAV flight airspace planning method disclosed in this invention proposes an airspace conflict alarm method, which includes the following steps:

[0114] Step 5.1: Based on the real-time airspace situation map generated in Step 2, extract information on the airspace to be avoided from dynamically occurring airspace restrictions, dangerous weather conditions, airspace intrusions, etc. The information includes: the duration of the existence of the airspace to be avoided, the coordinates of the boundary points of the area airspace to be avoided, and the coordinates of the key points of the linear airspace to be avoided.

[0115] Step 5.2: Based on the information of the airspace to be avoided extracted in Step 5.1, for the linear airspace to be avoided, generate a rectangular area airspace to be avoided with the straight line segment between each group of adjacent key points as the diagonal, and determine the coordinates of the boundary points of the rectangular area airspace to be avoided.

[0116] Step 5.3: Based on the information of the airspace to be avoided extracted in Step 5.1 and the rectangular area airspace to be avoided generated in Step 5.2 for the linear airspace to be avoided, retrieve the UAV flight airspace information within the area airspace to be avoided, including but not limited to: UAV flight path, flight route, coordinates of UAV take-off and landing points, turning points, key points, coordinates of UAV operation airspace entry point, exit point, boundary point, and UAV operation airspace boundary;

[0117] Step 5.4: Generate airspace conflict alarm information, including: conflict time, conflict range, etc. The conflict range information includes, but is not limited to: the coordinates of the intersection of the UAV flight path / flight and the linear airspace to be avoided, the part of the UAV flight path / flight within the area airspace to be avoided, the part of the linear airspace to be avoided within the UAV operating airspace, and the part of the UAV operating airspace that overlaps with the area airspace to be avoided.

[0118] like Figure 8 As shown, step 6 of the UAV flight airspace planning method disclosed in this invention proposes a dynamic UAV flight airspace delineation method, which includes the following steps:

[0119] Step 6.1: Based on the airspace conflict alarm information generated in Step 5, traverse the take-off and landing points, turning points, and key points of UAVs adjacent to the airspace to be avoided, and generate a set of flight segments composed of the take-off and landing points, turning points, and key points of UAVs adjacent to the airspace to be avoided.

[0120] Step 6.2: Determine whether the flight segments generated in Step 6.1, consisting of the take-off and landing points, turning points, and key points of the UAVs adjacent to the airspace to be avoided, can generate UAV flight routes and paths to bypass the airspace to be avoided. If so, proceed to Step 6.3; otherwise, proceed to Step 6.4.

[0121] Step 6.3: Based on the principle of minimizing distance change, select segments from the UAV take-off and landing points, turning points, and key points adjacent to the airspace to be avoided generated in Step 6.1, generate UAV routes and flight paths that bypass the airspace to be avoided, and replace the UAV routes and flight paths that conflict with the pre-defined UAV flight airspace plan.

[0122] Step 6.4: Disable drone routes and flight paths that conflict with the pre-defined drone airspace allocation scheme;

[0123] Step 6.5: Based on the airspace conflict alarm information generated in Step 5, for the case of a conflict between a linear airspace to be avoided and the UAV operating airspace, select the larger part of the UAV operating airspace after it is divided by the linear airspace to be avoided to replace the original UAV operating airspace. For the case of a conflict between a planar airspace to be avoided and the UAV operating airspace, select the part of the UAV operating airspace that does not overlap with the planar airspace to be avoided to replace the original UAV operating airspace. Select the entry point and exit point at the boundary points of the newly generated UAV operating airspace, and generate the shortest conflict-free flight path connecting the UAV flight path. Replace the conflicting UAV operating airspace and its connecting flight path in the pre-defined UAV flight airspace scheme with the newly generated UAV operating airspace and its connecting flight path.

[0124] Step 6.6: In addition to automatically generating the UAV flight airspace dynamic allocation scheme using steps 6.1 to 6.5, the UAV flight airspace dynamic allocation scheme can also be generated manually based on the airspace conflict alarm information generated in step 5, by manually selecting conflict-free segments to form UAV routes, manually designing conflict-free operating airspace and connecting routes to UAV routes, and manually editing and generating the UAV flight airspace dynamic allocation scheme.

[0125] This invention provides a device and method for unmanned aerial vehicle (UAV) flight airspace planning. Many methods and approaches exist for implementing this technical solution; the above description is merely a preferred embodiment of the invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this invention, and these improvements and modifications should also be considered within the scope of protection of this invention. All components not explicitly stated in this embodiment can be implemented using existing technologies.

Claims

1. A device for planning the airspace for unmanned aerial vehicles (UAVs), characterized in that, It includes an information input module, an airspace environment analysis module, a flight plan processing module, a flight airspace pre-delineation module, a flight airspace conflict alarm module, a flight airspace dynamic delineation module, an information output module, a server, a workstation, and an integrated information access device; The information input module is used to receive basic airspace data, flight plans, aviation meteorology, aviation intelligence, and airspace usage notifications issued by relevant airspace users involved in UAV flights. The airspace environment analysis module is used to extract UAV flight airspace element information from the information received by the information input module. Based on the airspace basic data, it generates a real-time airspace situation map to support UAV flight airspace planning. The content includes: airspace structure, airspace meteorological conditions, restricted areas, danger zones, restricted zones, and airspace occupation and release. The flight plan processing module is used to extract UAV airspace usage information from the information received by the information input module, including: take-off and landing points, planned routes, operating airspace, and key points; The flight airspace pre-delineation module is used to delineate the UAV flight airspace before flight based on the real-time airspace situation map generated by the airspace environment analysis module and the UAV airspace usage demand information extracted by the flight plan processing module. The airspace types include airways, operational airspace and flight routes. The flight airspace conflict alarm module is used to monitor the usage of UAV flight airspaces designated by the pre-designated flight airspace module and the dynamic flight airspace module based on the real-time airspace situation map generated by the airspace environment analysis module. It generates airspace conflict alarm information for dynamically occurring airspace restrictions, dangerous weather conditions, and airspace intrusions. The content includes: conflict time and conflict range. The flight airspace dynamic delineation module is used to dynamically adjust the flight airspace based on the airspace conflict alarm information generated by the flight airspace conflict alarm module. The adjustment methods include boundary adjustment, position adjustment and geometric structure adjustment. The module delineates the UAV flight airspace during flight and generates a UAV flight airspace dynamic delineation scheme. The information output module is used to publish the pre-delineation scheme of UAV flight airspace, airspace conflict alarm, and dynamic delineation scheme of UAV flight airspace. The server is used to perform calculations, storage, and management of various types of information in the device, and to complete the functional response of each module. The workstation is used for various graphic image processing, data calculation, and human-computer interaction of the device; The integrated information access device is used as the interface for information input of the device; The device performs the following steps: Step 1: The information input module receives basic airspace data, flight plans, aviation meteorology, aviation intelligence, and airspace usage reports issued by relevant airspace users for the UAV flight. Step 2: The airspace environment analysis module extracts airspace element information for UAV flight from the information received in Step 1. Based on the basic airspace data, it generates a real-time airspace situation map to support UAV flight airspace planning. The content includes: airspace structure, airspace meteorological conditions, restricted areas, danger zones, restricted zones, and airspace occupation and release. Step 3: The flight plan processing module extracts UAV airspace usage information from the information received in Step 1, including: take-off and landing points, planned routes, operating airspace, and key points. Step 4: The flight airspace pre-delineation module delineates the UAV flight airspace before flight based on the real-time airspace situation map generated in Step 2 and the UAV airspace usage demand information extracted in Step 3, generating a UAV flight airspace pre-delineation scheme. The airspace types include airways, operational airspace, and flight routes. Step 5: The flight airspace conflict alarm module monitors the usage of the UAV flight airspace designated in Steps 4 and 6 based on the real-time airspace situation map generated in Step 2. It generates airspace conflict alarm information for dynamically occurring airspace restrictions, dangerous weather conditions, and airspace intrusions. The content includes: conflict time and conflict range. Step 6: The flight airspace dynamic delineation module dynamically adjusts the flight airspace based on the airspace conflict alarm information generated in Step 5. The adjustment methods include boundary adjustment, position adjustment, and geometric structure adjustment. The module delineates the UAV flight airspace during flight and generates a UAV flight airspace dynamic delineation scheme. Step 7: The information output module publishes the pre-defined UAV flight airspace plan generated in Step 4, the airspace conflict alarm generated in Step 5, and the dynamic UAV flight airspace plan generated in Step 6. Step 4, the pre-delineation scheme for the UAV flight airspace includes the following steps: Step 4.1: Based on the real-time airspace situation map generated in Step 2 and the UAV airspace usage demand information extracted in Step 3, generate a UAV traffic flow distribution map, which includes: the coordinates of the take-off and landing points, turning points, and key points of each UAV; the coordinates of the entry point, exit point, and boundary point of the operating airspace of each UAV; the flight direction of each UAV in each segment of its planned route; the UAV flight flow at the take-off and landing points, turning points, key points, and operating airspace of each UAV; and the UAV flight flow in different directions of each segment. Step 4.2: Based on the UAV traffic flow distribution map generated in Step 4.1, and with the goal of maximizing the total flight flow in each flight direction of the UAV route, establish the objective function for delineating UAV flight airspace, expressed as: Among them, u i Indicates flight segment s ij The starting point, u j Indicates flight segment s ij The endpoint, f(u) i ,u j ) represents flight segment s ij The flow rate, where i and j are positive integers, U is the set of all UAV take-off and landing points, turning points, key points, and entry and exit points of the operational airspace, S is the set of all UAV planned flight segments, and x ij For decision variables, it is represented as: Step 4.3: Based on the objective function established in Step 4.2, establish the following constraints: Route connectivity constraints: u j =u k ,x ij =x kl =1,u i ,u j ,u k ,u l ∈U,s ij ,s kl ∈S,i,j,k,l are positive integers, indicating that the UAV's flight path is uninterrupted; Connectivity constraints of take-off and landing points: x ij =x kl =1 and u i ,u l For take-off and landing points, or u i ,u j ,u k ,u l ∈U,s ij ,s jk ,s kl ∈S, i,j,k,l are positive integers. This indicates that each drone take-off and landing point is either on the drone's flight path or there is one and only one flight path connecting the drone's flight path, where y ijk As an indicator variable, it is represented as: Operational spatial connectivity constraints: A mn ∈A, u i , u j , u k , u l , u m , u n ∈U, s im , s ji , s nk , s kl ∈S, i, j, k, l, m, n are positive integers This indicates that each UAV operating airspace has one and only one flight path connecting its entry and exit points, where A represents the set of UAV operating airspaces, and p imj q nkl These are indicator variables, represented as follows: Airspace constraints: s ij ∈S,C h ∈C, i, j, h are positive integers. This indicates that the airspace in which the UAV can fly cannot overlap with unavailable airspace during the planning period, where C represents the set of unavailable airspace; Step 4.4: Based on the objective function established in Step 4.2 and the constraints established in Step 4.3, a mathematical model for the delineation of UAV flight airspace is established, expressed as: Step 4.5: Solve the mathematical model for delineating UAV flight airspace established in Step 4.4, and automatically generate a pre-delineation scheme for UAV flight airspace.

2. The apparatus according to claim 1, characterized in that, Step 5 includes the following steps: Step 5.1: Based on the real-time airspace situation map generated in Step 2, extract information on the airspace to be avoided from dynamically appearing airspace restrictions, hazardous weather conditions, and airspace intrusions. The information includes: the duration of the existence of the airspace to be avoided, the coordinates of the boundary points of the area airspace to be avoided, and the coordinates of the key points of the linear airspace to be avoided. Step 5.2: Based on the information of the airspace to be avoided extracted in Step 5.1, for the linear airspace to be avoided, a rectangular area airspace to be avoided is generated with the straight line segment between each group of adjacent key points as the diagonal, and the coordinates of the boundary points of the rectangular area airspace to be avoided are determined. Step 5.3: Based on the information of the airspace to be avoided extracted in Step 5.1 and the rectangular area airspace to be avoided generated in Step 5.2 for the linear airspace to be avoided, retrieve the UAV flight airspace information within the area airspace to be avoided. The information includes: UAV flight path, flight route, coordinates of UAV take-off and landing points, turning points, and key points, coordinates of UAV operation airspace entry point, exit point, and boundary points, and UAV operation airspace boundary. Step 5.4: Generate airspace conflict alarm information, including: conflict time and conflict range. The conflict range includes: the coordinates of the intersection of the UAV flight path / route and the linear airspace to be avoided; the part of the UAV flight path / route within the area airspace to be avoided; the part of the linear airspace to be avoided within the UAV operating airspace; and the part of the UAV operating airspace that overlaps with the area airspace to be avoided.

3. The apparatus according to claim 2, characterized in that, Step 6 includes the following steps: Step 6.1: Based on the airspace conflict alarm information generated in Step 5, traverse the take-off and landing points, turning points, and key points of UAVs adjacent to the airspace to be avoided, and generate a set of flight segments composed of the take-off and landing points, turning points, and key points of UAVs adjacent to the airspace to be avoided. Step 6.2: Determine whether the flight segments generated in Step 6.1, consisting of the take-off and landing points, turning points, and key points of the UAVs adjacent to the airspace to be avoided, can generate UAV flight routes and flight paths around the airspace to be avoided. If yes, proceed to Step 6.3; otherwise, proceed to Step 6.

4. Step 6.3: Based on the principle of minimizing distance change, select segments from the UAV take-off and landing points, turning points, and key points adjacent to the airspace to be avoided generated in Step 6.1, generate UAV routes and flight paths that bypass the airspace to be avoided, and replace UAV routes and flight paths that conflict with the pre-defined UAV flight airspace plan. Step 6.4: Disable drone routes and flight paths that conflict with the pre-defined drone airspace allocation scheme; Step 6.5: Based on the airspace conflict alarm information generated in Step 5, for the case of a conflict between a linear airspace to be avoided and the UAV operating airspace, select the larger of the two parts formed after the UAV operating airspace is divided by the linear airspace to be avoided to replace the original UAV operating airspace. For the case of a conflict between a planar airspace to be avoided and the UAV operating airspace, select the part of the UAV operating airspace that does not overlap with the planar airspace to be avoided to replace the original UAV operating airspace. Select entry and exit points at the boundary points of the newly generated UAV operating airspace, and generate conflict-free routes that connect the UAV flight paths. Replace the conflicting UAV operating airspace and its connecting routes in the pre-defined UAV flight airspace plan with the newly generated UAV operating airspace and its connecting routes.

4. A storage medium, characterized in that, It stores a computer program or instructions that, when executed, implement the steps as described in claim 1.

Images