A method and device for designing entry and departure routes of vertical take-off and landing unmanned aerial vehicles

Abstract

The present invention discloses a method and device for designing the entry and departure routes of a vertical take-off and landing UAV, belonging to the field of UAV air traffic. The design method comprises the following main steps: obtaining the parameters and environmental parameters of the UAV operating at a target take-off and landing field, constructing the obstacle restriction surface of the UAV take-off and landing field, determining the available entry and departure directions of the UAV, the UAV passes through a number of key spatial position points during the entry and departure stages, connecting the key spatial position points into lines to form the entry and departure routes of the UAV take-off and landing field, etc., which improves the utilization efficiency and flexibility of the terminal airspace of the take-off and landing field, effectively avoids the conflict of the entry and departure flights of multiple UAVs, fully guarantees the operational safety of the UAVs in the flight procedures, and has broad application prospects.

Description

Technical Field

[0001] The present invention belongs to the field of UAV air traffic, and in particular relates to a method and device for designing an approach and departure route of a vertical take-off and landing UAV. Background Art

[0002] With the development of electric propulsion, electronics, computer systems, navigation and sensing technologies, drones, as one of the emerging industries, have been increasingly popularized in application fields in recent years. The relevant airspace division has not been completed, and route demarcation has not been proposed. In response to the sudden increase in the number of vertical electric drones, drones are being used more and more widely in various fields such as agriculture and military. When multiple drones are flying at the same time in a certain take-off and landing space for related operations, the drone take-off and landing field will face drones entering and leaving from all directions. Drones are prone to collision risks when entering and leaving the take-off and landing field. How to ensure that multiple drones in all directions avoid collisions and design scientific and reasonable drone entry and departure routes are problems that need to be solved urgently. Summary of the invention

[0003] The present invention discloses a method for designing a vertical take-off and landing UAV entry and departure route, designs a scientific and reasonable UAV entry and departure route, solves the problem that a large number of UAVs are prone to collision when entering and leaving the take-off and landing field, and the technical solution adopted by the present invention is as follows:

[0004] A method for designing a vertical take-off and landing UAV approach and departure route, the method comprising the following steps:

[0005] S1: Obtain the UAV parameters and environmental parameters of the target take-off and landing field;

[0006] S2: Construct the obstacle limitation surface of the drone take-off and landing field and determine the available entry and departure directions of the drone;

[0007] S3: Determine a number of key spatial position points that the UAV passes through during the approach and departure phases in the approach and departure directions;

[0008] S4: Connect the key spatial position points into lines to form the entry and departure routes of the UAV take-off and landing field, and the entry and departure routes include the UAV entry path and the UAV departure path.

[0009] Furthermore, the drone parameters described in S1 include drone performance parameters, airborne equipment parameters, drone size parameters, and navigation accuracy; the environmental parameters described in S1 include obstacle spatial coordinate positions, take-off and landing field meteorological conditions, and geographical locations.

[0010] Furthermore, the step of determining the available approach and departure directions in S2 is as follows:

[0011] S2.1 Determine the size parameters of the obstacle limitation surface of the UAV according to the airborne equipment parameters, size parameters, and navigation accuracy;

[0012] S2.2 constructing an obstacle limitation surface on the take-off and landing field having the environmental parameter map;

[0013] S2.3: Determine whether the height of obstacles around the take-off and landing field exceeds the obstacle limitation surface. If so, proceed to S2.4; if not, proceed to S2.5.

[0014] S2.4 Determine the range of available approach and departure directions based on obstacle locations;

[0015] The S2.5 take-off and landing field can be set as arrival and departure routes in all 360° directions.

[0016] Furthermore, the method for determining the key spatial position points in S3 is:

[0017] S3.1 Determine the approach and departure methods of the take-off and landing airport according to the meteorological conditions and geographical location of the take-off and landing airport;

[0018] S3.2 Setting the coordinate positions of key spatial position points;

[0019] The key spatial position points include take-off and landing decision points, approach and departure position correction points, approach waiting points, entry adjustment points, entry points and departure route points.

[0020] Furthermore, the height of the takeoff and landing decision point is set to 5 meters to 10 meters; there is a safety interval between two adjacent approach and departure position correction points; the height of the approach waiting point is not less than the height of the approach and departure position correction point, and the height of the approach waiting point is lower than the height of the entry point; the entry adjustment point is 70-80 meters away from the corresponding departure position correction point in the horizontal plane; the entry point is a point on the UAV's departure path, and the entry point is the point on the UAV's departure path farthest from the UAV's take-off and landing field; the departure route point is located at a plane distance of 290 to 300 meters from the UAV's take-off and landing field, and the UAV descends to the required height of the approach waiting point before passing the departure route point to reach the approach waiting point.

[0021] Furthermore, the step of determining the arrival and departure routes in S4 is as follows:

[0022] S4.1 Determine the order in which the UAV passes through the key spatial locations during its arrival and departure flight;

[0023] S4.2 Determine the performance parameters of the drone and determine the flight route of the drone;

[0024] S4.3 connects the key spatial position points in sequence to form an approach and departure route, and the approach and departure route includes the UAV approach path and the UAV departure path.

[0025] Furthermore, the obstacle limitation surface in S2.2 is a three-layer landing field obstacle limitation surface, and the setting method of the three-layer landing field obstacle limitation surface is:

[0026] S2.2.1 The layer of the take-off and landing airspace closest to the ground is a cylinder, the bottom radius of which is not less than twice the outer diameter of the fuselage or the radius of the apron plus 3 meters, whichever is greater, and the height is one time the vertical yaw tolerance of the UAV used. The airspace range of the cylinder is called the take-off and landing decision airspace;

[0027] S2.2.2 The second layer of airspace above the take-off and landing field is an inverted truncated cone airspace, the bottom of which is connected to the upper part of the take-off and landing decision airspace, extending 40 meters outward in the horizontal direction, and the vertical climbing height is set to one times the vertical yaw tolerance of the UAV. The second layer of airspace is called the position correction airspace;

[0028] S2.2.3 The third layer of airspace above the ground of the take-off and landing field, the upper layer of the third layer of airspace is the airspace adjacent to the flight path, the bottom surface of the third layer of airspace is connected with the outer boundary of the top surface of the position correction airspace, and extends outward in the horizontal direction, and first extends upward and then extends outward in the vertical direction, forming an airspace composed of an inverted cone and a circular plane, which is called the approach airspace.

[0029] Furthermore, the method for determining the available approach and departure direction range described in S2.4 is: draw a perpendicular line from the outer boundary point of the obstacle to the UAV route connecting the take-off and landing field. When the length of the perpendicular line is greater than twice the outer diameter of the fuselage, and the central angle corresponding to the remaining obstacle-free penetration part is not less than 30 degrees, this direction range is the approach and departure direction range.

[0030] Furthermore, the spatial position points of the drone's approach path are, in sequence: departure route point, approach waiting point, approach position correction point, landing decision point, landing drone airport; the spatial position points of the drone's departure path are, in sequence: take-off drone airport, take-off decision point, departure position correction point, entry adjustment point, and entry point.

[0031] A device for designing the entry and departure routes of a vertical take-off and landing UAV, wherein the device adopts any of the above-mentioned methods to design the entry and departure routes of the UAV.

[0032] Beneficial effects:

[0033] The present invention provides a method for planning entry and departure routes for a take-off and landing field for a light and small multi-rotor UAV. The method can plan the entry and departure routes for the UAV according to the maneuverability, navigation accuracy and take-off and landing field environment of the UAV, thereby ensuring the flight safety of multiple UAVs entering and leaving in multiple directions and improving the utilization rate of low-altitude airspace.

[0034] UAV positioning generally uses GNSS signals as the first navigation source. Drawing on the design method of the PBN program, a series of spatial position points are designed near the take-off and landing points, and these points are classified, coded and connected in sequence according to the approach and departure directions to construct the UAV's approach and departure routes, which can meet the actual characteristics of the UAV.

[0035] The design of the entry and departure points takes into account the obstacles around the take-off and landing point, the safe interval when the UAV is operating, the navigation and positioning tolerance of the UAV used in the take-off and landing point, and the impact of weather conditions on the take-off and landing of the UAV. Through the above comprehensive considerations, the operational safety of the UAV in the flight procedure is fully guaranteed.

[0036] The design of UAV’s approach and departure routes abandons complex obstacle assessment and instead uses obstacle limitation surfaces to make quick judgments and improve program design efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 Schematic diagram of the applicable range of obstacle limitation surface in hilly and plateau areas of the present invention;

[0038] Figure 2 Schematic diagram of the obstacle limitation surface of the present invention;

[0039] Figure 3 Schematic diagram of the entry and departure paths of the present invention;

[0040] Figure 4 A flowchart of the vertical take-off and landing UAV approach and departure route design process of the present invention. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] Example 1

[0043] A method for designing a vertical take-off and landing UAV approach and departure route, the method comprising the following steps, see attached Figure 4 :

[0044] S1: Obtain the UAV parameters and environmental parameters of the target take-off and landing field;

[0045] S2: Construct the obstacle limitation surface of the drone take-off and landing field and determine the available entry and departure directions of the drone;

[0046] S3: Determine a number of key spatial position points that the UAV passes through during the approach and departure phases in the approach and departure directions;

[0047] S4: Connect the key spatial position points into lines to form the entry and departure routes of the UAV take-off and landing field, and the entry and departure routes include the UAV entry path and the UAV departure path.

[0048] Furthermore, the drone parameters described in S1 include drone performance parameters, airborne equipment parameters, drone size parameters, and navigation accuracy; the environmental parameters described in S1 include obstacle spatial coordinate positions, take-off and landing field meteorological conditions, and geographical locations.

[0049] Furthermore, the step of determining the available approach and departure directions in S2 is as follows:

[0050] S2.1 Determine the size parameters of the obstacle limitation surface of the UAV according to the airborne equipment parameters, size parameters, and navigation accuracy;

[0051] S2.2 constructing an obstacle limitation surface on the take-off and landing field having the environmental parameter map;

[0052] S2.3: Determine whether the height of obstacles around the take-off and landing field exceeds the obstacle limitation surface. If so, proceed to S2.4; if not, proceed to S2.5.

[0053] S2.4 Determine the range of available approach and departure directions based on obstacle locations;

[0054] The S2.5 take-off and landing field can be set as arrival and departure routes in all 360° directions.

[0055] Furthermore, the method for determining the key spatial position points in S3 is:

[0056] S3.1 Determine the approach and departure methods of the take-off and landing airport according to the meteorological conditions and geographical location of the take-off and landing airport;

[0057] S3.2 Setting the coordinate positions of key spatial position points;

[0058] The key spatial position points include take-off and landing decision points, approach and departure position correction points, approach waiting points, entry adjustment points, entry points and departure route points.

[0059] Furthermore, the height of the takeoff and landing decision point is set to 5 meters to 10 meters; there is a safety interval between two adjacent approach and departure position correction points; the height of the approach waiting point is not less than the height of the approach and departure position correction point, and the height of the approach waiting point is lower than the height of the entry point; the entry adjustment point is 70-80 meters away from the corresponding departure position correction point in the horizontal plane; the entry point is a point on the UAV's departure path, and the entry point is the point on the UAV's departure path farthest from the UAV's take-off and landing field; the departure route point is located at a plane distance of 290 to 300 meters from the UAV's take-off and landing field, and the UAV descends to the required height of the approach waiting point before passing the departure route point to reach the approach waiting point.

[0060] Furthermore, the step of determining the arrival and departure routes in S4 is as follows:

[0061] S4.1 Determine the order in which the UAV passes through the key spatial locations during its arrival and departure flight;

[0062] S4.2 Determine the performance parameters of the drone and determine the flight route of the drone;

[0063] S4.3 connects the key spatial position points in sequence to form an approach and departure route, and the approach and departure route includes the UAV approach path and the UAV departure path.

[0064] Furthermore, the obstacle limitation surface in S2.2 is a three-layer landing field obstacle limitation surface, and the setting method of the three-layer landing field obstacle limitation surface is:

[0065] S2.2.1 The layer of the take-off and landing airspace closest to the ground is a cylinder, the bottom radius of which is not less than twice the outer diameter of the fuselage or the radius of the apron plus 3 meters, whichever is greater, and the height is one time the vertical yaw tolerance of the UAV used. The airspace range of the cylinder is called the take-off and landing decision airspace;

[0066] S2.2.2 The second layer of airspace above the take-off and landing field is an inverted truncated cone airspace, the bottom of which is connected to the upper part of the take-off and landing decision airspace, extending 40 meters outward in the horizontal direction, and the vertical climbing height is set to one times the vertical yaw tolerance of the UAV. The second layer of airspace is called the position correction airspace;

[0067] S2.2.3 The third layer of airspace above the ground of the take-off and landing field, the upper layer of the third layer of airspace is the airspace adjacent to the flight path, the bottom surface of the third layer of airspace is connected with the outer boundary of the top surface of the position correction airspace, and extends outward in the horizontal direction, and first extends upward and then extends outward in the vertical direction, forming an airspace composed of an inverted cone and a circular plane, which is called the approach airspace.

[0068] Furthermore, the method for determining the available approach and departure direction range described in S2.4 is: draw a perpendicular line from the outer boundary point of the obstacle to the UAV route connecting the take-off and landing field. When the length of the perpendicular line is greater than twice the outer diameter of the fuselage, and the central angle corresponding to the remaining obstacle-free penetration part is not less than 30 degrees, this direction range is the approach and departure direction range.

[0069] Furthermore, the spatial position points of the drone's approach path are, in sequence: departure route point, approach waiting point, approach position correction point, landing decision point, landing drone airport; the spatial position points of the drone's departure path are, in sequence: take-off drone airport, take-off decision point, departure position correction point, entry adjustment point, and entry point.

[0070] A device for designing the entry and departure routes of a vertical take-off and landing UAV, wherein the device adopts any of the above-mentioned methods to design the entry and departure routes of the UAV.

[0071] Example 2

[0072] Step 1: Obtain the UAV and environmental parameters operating at the target take-off and landing field.

[0073] The UAV parameters include: UAV performance parameters, airborne equipment parameters, UAV size parameters, navigation accuracy. The landing field environment parameters include: spatial coordinates of obstacles, landing field weather conditions and geographical location.

[0074] Step 2: Construct the obstacle limitation surface of the drone take-off and landing field and determine the available entry and departure directions of the drone.

[0075] When a drone is operating within the airspace of a flight route or take-off and landing field, it shall refer to the corresponding interval standards as follows:

[0076] It should be ensured that there is a 4-fold horizontal yaw tolerance (4X) or 4-fold vertical yaw tolerance (4Z) between the two UAVs at any time, and the actual distance between the two UAVs at any time is not less than 4 times the outer diameter of the fuselage (4RD), and the horizontal distance is the larger of the above 4X and 4RD.

[0077] 2.1 The obstacle limitation surface can be determined by the following method:

[0078] The obstacles around the take-off and landing field are crucial to the safe operation of drones. The safe operation of the take-off and landing field is ensured by setting up obstacle restriction surfaces. Obstacles around the take-off and landing field cannot pass through the obstacle restriction surface. Any obstacle that exceeds the obstacle restriction surface within a radius of 300 meters from the drone take-off and landing field is considered an important obstacle. If an obstacle penetrates the obstacle restriction surface of the take-off and landing field, a perpendicular line is drawn from the outer boundary point of the obstacle to the drone route connecting the take-off and landing field. The length of the perpendicular line should be greater than 2RD, and the central angle corresponding to the part of the line that is greater than 2RD should be no less than 15°. When the central angle corresponding to the remaining part without obstacle penetration is no less than 30 degrees, this direction can be used for approach or departure.

[0079] In mountainous areas, the influence of terrain and mountain winds should be considered. When calculating the available airspace, in addition to the horizontal deviation tolerance (2X) of 20 meters from obstacles, a safety expansion angle of 15° should be added. Figure 1 .

[0080] 2.2 Set the obstacle limitation surface as follows:

[0081] A three-layer take-off and landing field obstacle restriction surface is constructed based on the UAV navigation accuracy (vertical yaw tolerance (Z) and horizontal yaw tolerance (X)) and a minimum climb gradient of 30%. See the attached Figure 2 .

[0082] (1) The layer of the take-off and landing field airspace closest to the ground is a cylinder, the bottom radius or side length of which should be no less than 2RD or FATO radius plus 3 meters, whichever is greater. The height is one vertical yaw tolerance (Z) of the drone being used or 5 meters, whichever is greater. This airspace is called the take-off and landing decision airspace. When flying in this area, the drone should control the horizontal flight speed to ensure that it can accurately fly over the take-off (landing) decision point.

[0083] (2) The second layer of airspace above the take-off and landing field is an inverted truncated cone airspace or an inverted polygonal cone airspace. Its bottom surface is connected to the upper part of the take-off and landing decision airspace, and extends 40 meters outward in the horizontal direction. At the same time, the vertical climbing height is set to one times the vertical yaw tolerance (Z) of the drone or 5 meters, whichever is greater. If the vertical yaw tolerance is 5 meters, the height at this time is 10 meters away from the true height of the take-off and landing field. After that, the height is maintained at 10 meters, and after extending horizontally for another 80 meters, the airspace composed of the inverted truncated cone and the circular plane is called the position correction airspace.

[0084] (3) The third layer of airspace above the take-off and landing field, the upper layer of the airspace adjacent to the flight path, the configuration of this layer of airspace is similar to the position correction airspace. On the premise of meeting the obstacle clearance conditions, the bottom surface should be connected to the outer boundary of the top surface of the position correction airspace, extending 160 meters outward in the horizontal direction, and the vertical climbing height is set to 4 times the vertical yaw tolerance (4Z) of the drone or 20 meters, whichever is larger. Thereafter, maintain a height of 30 meters and extend horizontally outward by another 10 meters. The airspace composed of an inverted cone and a circular plane is called the approach airspace. At this time, the outer boundary radius of the approach airspace is 290 meters. In the approach airspace, if it is necessary to arrange the landing sequence, a right maneuver can be performed.

[0085] Step 3: Determine several key spatial locations that the UAV passes through during the entry and departure phases.

[0086] During the process of approaching and departing, the drone will pass through a series of spatial positions, including take-off and landing decision points, approach and departure position correction points, approach waiting points, entry adjustment points, entry points and departure route points.

[0087] 3.1 Determine the key spatial location points for drone entry and departure as follows:

[0088] (1) The decision point of the approach and departure procedure is the spatial position point for judging whether the UAV can take off or land. It includes the landing decision point (LDP) and the take-off decision point (TDP). By consulting relevant literature, the height of the take-off and landing decision point is set at 5 meters to 10 meters. When the rotor diameter (single rotor) or fuselage outer diameter (multi-rotor) (RD) of the UAV allowed to take off and land at the UAV take-off and landing field is less than 5 meters, the landing decision point is set at 5 meters to 10 meters.

[0089] When the landing decision point is 5 meters, the height of the landing decision point is uniformly taken as 5 meters. Otherwise, the actual RD value is rounded up in meters, and the maximum value should be set to 10 meters.

[0090] (2) There should be sufficient safety interval between two adjacent approach position correction points and departure position correction points, and the interval should not be less than 4 times the horizontal yaw tolerance (4X) of the UAV used, 4 times the fuselage outer diameter (4RD), and should not be less than 40 meters, whichever is greater. In the horizontal plane, the approach position correction points and departure position correction points are staggered on a circle with a radius of 40 meters from the take-off and landing field, and the angle between the two adjacent approach position correction points and departure position correction points and the center of the circle should not be less than 60°. In the vertical direction, the height of the approach (departure) position correction point is 5 to 15 meters higher than the landing (take-off) decision point, and shall not be less than 2 times the vertical yaw tolerance (2Z) of the UAV used.

[0091] (3) The altitude of the approach holding point shall not be less than the altitude of the approach position correction point, but its altitude shall be lower than the altitude of the entry point, and the specific value shall be lower than 4 times the vertical deviation tolerance (4Z) of the UAV used or 20 meters, whichever is greater. The horizontal position of the approach holding point is 70-80 meters away from the corresponding approach position correction point.

[0092] (4) After passing the departure position correction point, the departing UAV shall climb at a climb gradient of not less than 30% to the entry adjustment point, and the UAV shall climb to a higher altitude as quickly as possible before reaching the entry adjustment point.

[0093] (5) The distance between the entry adjustment point and the corresponding departure position correction point in the horizontal plane is 70-80 meters. The height of the entry adjustment point should be 20 meters higher than the approach holding point or 4 times the vertical yaw tolerance (4Z) of the UAV used, whichever is greater, and should not be higher than the height required by the corresponding route.

[0094] (6) The entry point is the point on the departure path of the drone. It is the point farthest from the drone's take-off and landing site on the departure path and is also the first key point on the route for the drone to enter the route. This point is also part of the route. This point is located 250 to 290 meters horizontally from the drone's take-off and landing site (ensuring that there is still a 40-meter interval between the entry point and the departure point, and there is a height difference).

[0095] (7) The departure point is located 290 to 300 meters away from the UAV landing and take-off site. After passing the departure point, the UAV should descend to the required altitude of the approach waiting point as soon as possible before reaching the approach holding point. The true altitude used on the approach path is based on the take-off and landing site. The departure point altitude should be 40 meters away from the true altitude of the UAV landing and take-off site (the vertical interval between the two routes is 4Z) under the premise of meeting the obstacle clearance requirement, and the actual altitude should not exceed the altitude of the route connected to it.

[0096] Step 4: Connect the key spatial position points into lines to form the entry and departure routes of the UAV take-off and landing site. Figure 3 ,The spatial position points of the approach path of the UAV without obstacles and crosswind restrictions are: departure route point, approach holding point, approach position correction point, landing decision point, and landing UAV airport; Figure 3 In the middle, D is the horizontal distance of the position correction point. The position correction points are staggered on a circle with a radius of 40 meters and the take-off and landing field as the center.

[0097] The spatial position points of the UAV departure path without obstacle and crosswind restrictions are: take-off UAV airport, take-off decision point, departure position correction point, entry adjustment point, and entry point.

[0098] During the take-off and landing phases, the UAV must pass through several key spatial locations, and the lines connecting these points constitute the entry and departure procedures of the UAV take-off and landing field.

[0099] When there is no crosswind or obstacle influence, the approach and departure paths of the UAV only consider the performance of the UAV model. Therefore, the projection on the horizontal plane is generally a broken line only at the approach and departure position correction point, and the other flight segments are generally straight lines.

[0100] When there are no obstacles or crosswind restrictions at the take-off and landing field, all approach directions to the take-off and landing field can implement an approach and departure path in which all track points are straight lines in the horizontal plane.

[0101] The embodiments of the present invention are described in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A method for designing a vertical take-off and landing UAV approach and departure route, characterized in that: The method comprises the following steps: S1: Obtain the UAV parameters and environmental parameters of the target take-off and landing field; The UAV parameters mentioned in S1 include UAV performance parameters, airborne equipment parameters, UAV size parameters, and navigation accuracy; the environmental parameters mentioned in S1 include the spatial coordinate position of obstacles, meteorological conditions of the take-off and landing field, and geographical location; S2: Construct the obstacle limitation surface of the drone take-off and landing field and determine the available entry and departure directions of the drone; The steps for determining the available approach and departure directions in S2 are as follows: S2.1 Determine the size parameters of the obstacle limitation surface of the UAV according to the airborne equipment parameters, size parameters, and navigation accuracy; S2.2 constructing an obstacle limitation surface on the take-off and landing field having the environmental parameter map; S2.3 determines whether the height of obstacles around the take-off and landing field exceeds the obstacle limitation surface. If it exceeds the obstacle limitation surface, proceed to S2.4; if it does not exceed the obstacle limitation surface, proceed to S2.5; S2.4 Determine the range of available approach and departure directions based on obstacle locations; S2.5 The 360° direction of the take-off and landing field can be set as the arrival and departure routes; S2.2 The obstacle limitation surface is a three-layer landing field obstacle limitation surface. The setting method of the three-layer landing field obstacle limitation surface is: S2.2.1 The layer of the take-off and landing airspace closest to the ground is a cylinder, the bottom radius of which is not less than twice the outer diameter of the fuselage or the radius of the apron plus 3 meters, whichever is greater, and the height is one time the vertical yaw tolerance of the UAV used. The airspace range of the cylinder is called the take-off and landing decision airspace; S2.2.2 The second layer of airspace above the take-off and landing field is an inverted truncated cone airspace, the bottom of which is connected to the upper part of the take-off and landing decision airspace, extending 40 meters outward in the horizontal direction, and the vertical climbing height is set to one times the vertical yaw tolerance of the UAV. The second layer of airspace is called the position correction airspace; S2.2.3 The third layer of airspace above the take-off and landing field surface, the upper layer of the third layer of airspace is the airspace adjacent to the flight path, the bottom surface of the third layer of airspace is connected to the outer boundary of the top surface of the position correction airspace, extends outward in the horizontal direction, and first extends upward and then extends outward in the vertical direction, forming an airspace composed of an inverted truncated cone and a circular plane, which is called the approach airspace; The method for determining the available approach and departure direction range described in S2.4 is: draw a perpendicular line from the outer boundary point of the obstacle to the UAV route connecting the take-off and landing field. When the length of the perpendicular line is greater than twice the outer diameter of the fuselage and the central angle of the remaining obstacle-free penetration portion is not less than 30 degrees, this direction range is the approach and departure direction range; The central angle corresponding to the line segment greater than twice the fuselage length is not less than 15°; S3: Determine a number of key spatial position points that the UAV passes through during the approach and departure phases in the approach and departure directions; The method for determining the key spatial position points in S3 is: S3.1 Determine the approach and departure methods of the take-off and landing airport according to the meteorological conditions and geographical location of the take-off and landing airport; S3.2 Setting the coordinate positions of key spatial position points; The key spatial position points include take-off and landing decision points, approach and departure position correction points, approach holding points, entry adjustment points, entry points and departure route points; On the horizontal plane, the approach position correction points and the departure position correction points are staggered on a circle with a radius of 40 meters from the take-off and landing field, and the angle between two adjacent approach position correction points and the center of the circle is not less than 60°; S4: Connect the key spatial position points into lines to form the entry and departure routes of the UAV take-off and landing field, and the entry and departure routes include the UAV entry path and the UAV departure path.

2. According to claim 1, a method for designing a vertical take-off and landing UAV approach and departure route is characterized in that: The height of the takeoff and landing decision point is set to 5 meters to 10 meters; there is a safety interval between two adjacent approach and departure position correction points; the height of the approach waiting point is not less than the height of the approach and departure position correction point, and the height of the approach waiting point is lower than the height of the entry point; the entry adjustment point is 70-80 meters away from the corresponding departure position correction point in the horizontal plane; the entry point is a point on the drone's departure path, and the entry point is the point on the drone's departure path farthest from the drone's take-off and landing field; the departure route point is located at a plane distance of 290 to 300 meters from the drone's take-off and landing field, and the drone descends to the required height of the approach waiting point before passing the departure route point to reach the approach waiting point.

3. According to claim 1, a method for designing a vertical take-off and landing UAV approach and departure route is characterized in that: The steps for determining the arrival and departure routes described in S4 are as follows: S4.1 Determine the order in which the UAV passes through the key spatial locations during its arrival and departure flight; S4.2 Determine the performance parameters of the drone and determine the flight route of the drone; S4.3 Connect the key spatial position points in sequence to form the arrival and departure routes.

4. According to claim 1, a method for designing a vertical take-off and landing UAV approach and departure route is characterized in that: The spatial position points of the UAV approach path are: departure route point, approach waiting point, approach position correction point, landing decision point, landing UAV airport, and the spatial position points of the UAV departure path are: take-off UAV airport, take-off decision point, departure position correction point, entry adjustment point, and entry point.

5. A device for designing the entry and departure routes of a vertical take-off and landing UAV, wherein the device uses the method as described in any one of claims 1 to 4 to design the entry and departure routes of the UAV.

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