A low-altitude planned flight anti-collision method, device, equipment and storage medium

Abstract

The embodiments of the present disclosure provide a collision avoidance method, device, equipment and storage medium for low-altitude planned flight. Applied to the field of trajectory planning technology, the method includes obtaining the flight plan of the current flight target; obtaining the flight trajectory points of the current flight target according to the flight plan and external environmental factors; converting the flight trajectory points into 4D space-time grid codes in the 4D space-time grid, thereby obtaining and storing the 4D space-time grid code set of the current flight target; querying whether the 4D space-time grid code set of the known flight target has at least one identical 4D space-time grid code in the 4D space-time grid code set of the current flight target; if so, taking the corresponding known flight target of the same 4D space-time grid code as the conflicting flight target, and adjusting the flight trajectory of the current flight target and / or the conflicting flight target. In this way, it can be used to determine whether the current flight target is in danger of collision when flying according to the predicted flight trajectory.

Description

Technical Field

[0001] The present disclosure relates to the technical field of trajectory planning, and further to the field of low-altitude flight trajectory planning, and in particular to an anti-collision method, device, equipment and storage medium for low-altitude planned flight. Background Art

[0002] At present, with the widespread application of drones in logistics, aerial photography, agriculture and other fields, flight activities in low-altitude airspace have increased dramatically. With the increasing number of flight targets in low-altitude airspace, there are more and more methods for conflict detection between flight targets. The conflict detection of targets is mainly based on the target sending real-time location information to the ground receiving station through Beidou, ADS-B and other means during real-time flight, including the longitude, latitude, altitude and other information of the current flight. After the ground receiving station receives the location information, it calculates and analyzes based on the grid location information to determine whether there is a conflict between adjacent grids between the targets. The existing conflict detection method mainly uses a buffer zone grid to set up at the boundary of the target grid to prevent collision. However, due to the limitations of environmental factors and positioning technology, the server cannot accurately determine the position of the flight target relative to the grid boundary when detecting all the grid boundaries crossed by the flight target. This process is computationally intensive and inefficient, and occupies a large amount of system resources, and the detection results generated are delayed and inaccurate. Summary of the invention

[0003] The present invention provides a collision avoidance method, device, equipment and storage medium for low-altitude planned flight, which solves the technical problem that the existing collision detection method cannot accurately determine the position of the flying target relative to the grid boundary due to environmental factors and positioning technology limitations, and cannot perform accurate collision avoidance detection.

[0004] According to a first aspect of the present disclosure, a method for anti-collision of low-altitude planned flight is provided. The method comprises: obtaining a flight plan of a current flight target, the flight plan comprising a take-off position, a take-off time, a flight direction, and a flight speed;

[0005] Obtaining a flight trajectory point of the current flight target according to the flight plan of the current flight target and external environmental factors;

[0006] Converting the flight trajectory points into 4D space-time grid codes in a 4D space-time grid;

[0007] According to the 4D space-time grid code converted from the flight trajectory points, a 4D space-time grid code set of the current flight target is obtained and stored;

[0008] Query whether the 4D space-time grid code set of the known flight target has at least one identical 4D space-time grid code in the 4D space-time grid code set of the current flight target;

[0009] If so, the corresponding known flight target encoded in the same 4D space-time grid is used as the conflicting flight target, and the flight trajectory of the current flight target and / or the conflicting flight target is adjusted.

[0010] According to the above aspects and any possible implementation, an implementation is further provided, wherein the 4D space-time grid code set of the current flight target is obtained according to the 4D space-time grid code converted from the flight trajectory point, and includes:

[0011] According to the performance requirements of the aircraft collision avoidance system, the 4D space-time grid code obtained by converting the flight trajectory points is expanded to obtain its peripheral expanded 4D space-time grid code, and then the 4D space-time grid code set of the current flight target is obtained.

[0012] According to the above aspects and any possible implementation manner, an implementation manner is further provided, wherein the method further includes:

[0013] The 4D spatiotemporal grid code set range of the current flight target is adjusted according to the influence of external environmental factors on the current flight target; the external environmental factors include meteorological information.

[0014] According to the above aspects and any possible implementation, there is further provided an implementation, wherein the 4D space-time grid coding includes: a space code and a time code;

[0015] The spatial code is obtained by dividing the space into grids using a spatial division method and uniquely identifying each grid;

[0016] The time code includes hours, minutes and seconds;

[0017] The space division method comprises:

[0018] Constructing a grid in three dimensions in space, wherein the three dimensions in space are represented by x, y, and z;

[0019] The grid is divided according to the set safety distance between the flying targets.

[0020] According to the above aspects and any possible implementation manner, an implementation manner is further provided, the method comprising: obtaining actual take-off information of a current flight target, the actual take-off information comprising position information, speed information and flight direction of the current flight target, the position information being the actual take-off position of the current flight target, the speed information being the actual flight speed of the current flight target, and the flight direction being determined by the attitude angle of the current flight target, the attitude angle comprising a roll angle, a pitch angle and a yaw angle;

[0021] The flight trajectory point of the current flight target is adjusted according to the actual take-off information of the current flight target and external environmental factors.

[0022] According to the above aspects and any possible implementation manner, an implementation manner is further provided, wherein the query includes:

[0023] Directly perform comparative queries on 4D space-time grid codes.

[0024] According to the above aspects and any possible implementation manner, an implementation manner is further provided, wherein adjusting the flight trajectory of the current flight target and / or the conflicting flight target includes:

[0025] Adjust the time position of the current flight target and / or conflicting flight targets; and / or

[0026] Adjust the spatial position of the current flight target and / or conflicting flight targets.

[0027] According to a second aspect of the present disclosure, a collision avoidance device for low-altitude planned flight is provided. The device comprises: an information acquisition module, for acquiring a flight plan of a current flight target, the flight plan comprising a take-off position, a take-off time, a flight direction, and a flight speed;

[0028] A trajectory prediction module, used to obtain the flight trajectory points of the current flight target according to the flight plan of the current flight target and external environmental factors;

[0029] A 4D space-time grid coding module, used for converting the flight trajectory points into 4D space-time grid codes;

[0030] A storage module, used to obtain and store a 4D space-time grid code set of the current flight target according to the 4D space-time grid code converted from the flight trajectory points;

[0031] A conflict point detection module is used to query whether the 4D space-time grid code set of the known flying target has at least one identical 4D space-time grid code in the 4D space-time grid code set of the current flying target;

[0032] The anti-collision module is used to take the corresponding known flight target encoded in the same 4D space-time grid as the conflicting flight target if any, and adjust the flight trajectory of the current flight target and / or the conflicting flight target.

[0033] According to a third aspect of the present disclosure, an electronic device is provided. The electronic device includes:

[0034] at least one processor; and

[0035] a memory communicatively connected to the at least one processor; wherein,

[0036] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to the first aspect and / or the second aspect of the present disclosure.

[0037] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the method according to the first aspect and / or the second aspect of the present disclosure is implemented.

[0038] In the present disclosure, it is only necessary to predict the flight trajectory points of the flying target through real-time trajectory prediction, and convert the flight trajectory points into 4D space-time grid codes in the 4D space-time grid, so as to obtain the 4D space-time grid code set of the flying target and store it. By querying whether the 4D space-time grid code set of the known flying target has at least one identical 4D space-time grid code in the 4D space-time grid code set of the current flying target, the collision result can be obtained, so as to timely plan and decide the subsequent flight path, effectively avoid the occurrence of air accidents, and at the same time directly compare and query the 4D space-time grid code to determine the location of the conflict point, reducing the amount of calculation of the conflict and improving the system efficiency.

[0039] It should be understood that the contents described in the summary of the invention are not intended to limit the key or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, among which:

[0041] Figure 1 A flow chart showing a method for avoiding collision in a low-altitude planned flight according to an embodiment of the present disclosure is shown;

[0042] Figure 2 A block diagram of a collision avoidance device for low-altitude planned flight according to an embodiment of the present disclosure is shown;

[0043] Figure 3 A block diagram of an exemplary electronic device capable of implementing embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0045] In addition, the term "and / or" in this article is only a description of the association relationship between the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0046] The embodiments of the present disclosure provide a method, device, equipment and storage medium for anti-collision of low-altitude planned flight, which can be used to determine whether there is a collision risk when the current flight target is flying, and can also be used to simultaneously predict the collision between multiple flight targets when there are multiple flight targets in the current airspace. The following anti-collision method for low-altitude planned flight takes one of the flight targets as an example, and the method is also applicable to other flight targets, without limitation.

[0047] Figure 1 A flowchart of a low-altitude planned flight collision avoidance method 100 according to an embodiment of the present disclosure is shown. The method 100 includes:

[0048] S110, obtaining a flight plan of the current flight target, wherein the flight plan includes a take-off position, a take-off time, a flight direction, and a flight speed.

[0049] S120, obtaining a flight trajectory point of the current flight target according to the flight plan of the current flight target and external environmental factors.

[0050] In some embodiments, before the flight target applies for takeoff, the flight plan of the flight target is obtained and added to the overall plan. The flight trajectory points of the flight target are processed based on the flight plan of the flight target and external environmental factors. The flight plan includes the take-off position, take-off time, flight direction and flight speed. The external environmental factors include the meteorological information and topography of the area where the flight target is located.

[0051] In some embodiments, the flight target may be a variety of aircraft that can perform controllable flight in the atmosphere, including airplanes, sensor aircraft, aerial photography aircraft, watercraft, etc. The overall plan includes the flight information of all currently running flight targets, and the flight information of the flight targets can be obtained by arranging the ground base station to obtain the driving tracks of all currently running flight targets and the corresponding time information and upload them to the computer, and can also be collected by the onboard sensors of the flight targets in flight, such as radar, laser, camera, infrared thermal imager, etc., and the driving tracks of the aircraft and the corresponding time information and upload them to the computer, etc.

[0052] In one possible implementation, actual take-off information of the current flight target is obtained, the actual take-off information including position information, speed information and flight direction of the current flight target, the position information being the actual take-off position of the current flight target, the speed information being the actual flight speed of the current flight target, and the flight direction being determined by the attitude angle of the current flight target, and the attitude angle including roll angle, pitch angle and yaw angle; and the flight trajectory point of the current flight target is adjusted according to the actual take-off information of the current flight target and external environmental factors.

[0053] In some embodiments, the range of the 4D spatiotemporal grid code set of the current flight target is adjusted according to the impact of external environmental factors on the current flight target.

[0054] In a possible implementation, the external environment information includes meteorological information and topography.

[0055] S130, converting the flight trajectory points into 4D space-time grid codes in a 4D space-time grid.

[0056] S140, obtaining and storing a 4D space-time grid code set of the current flight target according to the 4D space-time grid code converted from the flight trajectory points.

[0057] In some embodiments, the flight trajectory points are converted into 4D space-time grids to obtain corresponding 4D space-time grid codes. According to the 4D space-time grid codes converted from the flight trajectory points, a 4D space-time grid code set of the current flight target is obtained and stored.

[0058] In some embodiments, according to the performance requirements of the aircraft collision avoidance system, such as safety distance b, response time Δt, etc., the initial 4D space-time grid code converted from the flight trajectory point is expanded. Specifically, the expansion includes adding the safety distance b to the 4D space-time grid code in the spatial dimension, that is, forming the spatial intervals of [xb, x+b], [yb, y+b] and [zb, z+b] in each direction of the three-dimensional space coordinates (x, y, z); at the same time, in the time dimension, according to the requirements of the response time Δt of the collision avoidance system, a time interval of [t-Δt, t+Δt] is formed to cover a larger time window. The 4D space-time grid code thus expanded is not limited to a single space-time point of the flight trajectory, but covers the peripheral extension area including the safety distance b and the response time Δt, thereby forming a 4D space-time grid code set of the current flight target.

[0059] In some embodiments, the 4D space-time grid coding includes: a space code and a time code; the space code is obtained by dividing the space into grids by a space division method and uniquely identifying each grid; the time code includes hours, minutes, and seconds; the space division method includes: constructing a grid in three dimensions in space, and the three dimensions in space are represented by x, y, and z; and dividing the grid according to the set safety distance between flying targets.

[0060] In a possible implementation, the 4D space-time grid code is composed of a space code and a time code. The space code is composed of three dimensions in space: x, y, and z. Assuming the safe distance between aircraft is a, the intersection of the equator and the prime line is used as the starting point to divide the space grid with a side length of a. The first layer of grid labels is K 111 , K 112 , K 113 …K 11n …K 1nn ; The second layer grid label is K 211 , K 212 , K 213 …K 21n …K 2nn , similarly, the grid label of the nth layer is K n11 , K n12 , K n13 …K n1n …K nnnThe time code consists of three digits: hour, minute, and second. Since the aircraft will adjust the position of its time code when performing avoidance, a 24-digit number is used to represent the hour (0-23), which can be represented by 0-9 and AN (representing 10-23); minutes and seconds are represented by a sexagesimal number (0-59), which can be represented by 0-9 and AZ and az (case-sensitive, removing uppercase and lowercase letters O, where AZ represents 10-34 and az represents 35-59); 0 hour 1 minute 1 second is 011, 0 hour 10 minute 10 seconds is 0AA... 23 hours 59 minutes 59 seconds is Nzz, and so on. At the same time, the conversion relationship between longitude and latitude and distance is: when the latitude is equal, the distance difference for every 0.1° is 10,000 meters; when the longitude is equal, the distance for every 0.1° is 11,132 meters. Therefore, the points in the spatial grid have a corresponding relationship with the longitude and latitude. The corresponding relationship between the aircraft and the spatial grid can be obtained through the longitude and latitude and altitude data returned by the aircraft.

[0061] S150, querying whether the 4D space-time grid code set of the known flying target and the 4D space-time grid code set of the current flying target contain at least one identical 4D space-time grid code.

[0062] S160: If so, the corresponding known flight target encoded in the same 4D space-time grid is used as the conflicting flight target, and the flight trajectory of the current flight target and / or the conflicting flight target is adjusted.

[0063] In some embodiments, by querying the 4D space-time grid code set of known flight targets, it is determined whether there is at least one identical 4D space-time grid code in the 4D space-time grid code set of the current flight target. If there is at least one identical 4D space-time grid code in the 4D space-time grid code set of the known flight target and the 4D space-time grid code set of the current flight target, the known flight target corresponding to the identical 4D space-time grid code is taken as the conflicting flight target, and the flight path of the current flight target and / or the conflicting flight target is adjusted.

[0064] In a possible implementation, a comparison query is directly performed on the 4D spatiotemporal grid code.

[0065] In some embodiments, adjusting the flight trajectory of the flying target includes: adjusting the time position of the flying target; and / or adjusting the spatial position of the flying target.

[0066] In some embodiments, taking measures to adjust the time position and / or adjust the spatial position will affect the results of the 4D space-time grid prediction of flight collisions. In order to ensure flight safety, it is necessary to re-predict the flight collision based on the adjusted data.

[0067] In some embodiments, when a conflict point is detected, the speed of the flying target at this point is adjusted so that the slower flying target hovers for one more second in the previous 4D space-time grid for avoidance. After the flying target flies away from the 4D space-time grid, the 4D space-time grid point is released for use by other flying targets.

[0068] In some embodiments, when a conflict point is detected, the flight altitude of the flying target at this point is adjusted to perform avoidance.

[0069] In some embodiments, if there are two or more flying targets in the same grid at a certain moment, then these flying targets in the same grid are at risk of collision. S150 obtains a 4D space-time grid with a risk of collision, and obtains a corresponding 4D space-time grid code, and improves flight safety and reduces flight accidents by adjusting the time position of the flying target and / or adjusting the spatial position of the flying target.

[0070] In a possible implementation, suppose the longitude, latitude, and altitude of aircraft 1 and aircraft 2 are (a1, b1, c1), (x1, y1, z1), then the grid code corresponding to aircraft 1 and the origin is ([a1 / a], [b1 / a], [c1 / a]). The network code corresponding to aircraft 2 and the origin is ([x1 / a], [y1 / a], [z1 / a]). The flight trajectory points of the flight target are obtained by calculating the flight speeds, flight angles, and weather information of the two aircraft, as shown in the formula: ; Where: are the length and width of the aircraft respectively. The dynamic model can be obtained by combining the linear position and velocity variables S, , φ, θ, ψ represent the attitude angles of the drone, namely the roll angle, pitch angle and yaw angle, α and β represent the vertical and horizontal wind direction angles, respectively. T represents thrust, which is the thrust generated by the drone's engine or electric motor. T W The force brought by the wind direction, Represents the yaw moment around the vertical axis (yaw axis), m t is the mass of the aircraft, I is the corresponding moment in the direction, and l is the yaw moment. is the torque generated by the drone's engine or other control surfaces to control the drone's rotational motion around the vertical axis, i.e., yaw motion. And write the velocity variables [p,q,r] in a compact form, which is converted into a state vector x= Displays the model’s state-space formulation to allow for real-time prediction and adjustment of the target’s flight trajectory.

[0071] In some embodiments, the direction of the aircraft 1 is the positive direction of the y-axis, the initial position is (4a, a, 3a), the speed V=a / t, and the thrust caused by the wind speed is 0. =[4,1,3], [p,q,r]=[0,1,0], , the attitude angle of the drone is defined by the actual situation. Here, it is an ideal model and is set to the positive direction. The direction of aircraft 2 is the direction where the angle between the y-axis and the z-axis is 45°. The initial position is (4a, a, a) and the speed is , the thrust brought by wind speed is 0. =[4,1,1], [p,q,r]=[0,1,0], , the attitude angle of the drone is defined by the actual situation, and here it is set to the positive direction for the ideal model. According to the conversion formula of longitude and latitude and distance, the corresponding relationship between the motion trajectory points of the two aircraft and the 4D space-time grid can be obtained respectively. If the two aircraft are in the same grid at a certain moment, then there is a risk of collision between the two aircraft, and the time position and / or space position of the aircraft should be adjusted to avoid.

[0072] In some embodiments, the flight strategy can also be planned by summarizing the collision information predicted by the 4D space-time grid. For example, for airspace where collisions are relatively likely to occur, or where the probability of collision is high, or for flight times where collisions are likely to occur, or where the probability of collision is high, it indicates that the traffic conditions in the airspace or the air routes are congested at that time. The flight plan of the flight target can be re-planned as a whole, and the air routes can be used in a balanced and reasonable manner to fully ensure flight safety.

[0073] In some embodiments, the aircraft may encounter various special climate environments during operation, including high and low temperatures, icing, gusts, lightning, high-intensity radiation fields (HIRF), low visibility (fog, dust, rain, snow, etc.), volcanic ash or sandstorms, etc. These special climate environments will have different degrees of impact on the flight of the aircraft. For example, gusty weather will affect the flight speed and cause the flight angle to shift; higher temperatures will lead to reduced lift and reduced air density, thereby reducing the lift on the aircraft wings and affecting the flight speed; fog and dust weather will cause reduced visibility in the flight environment, and rain and snow weather will easily cause ice accumulation on the surface of the aircraft, etc., which will affect the aircraft speed and / or movement angle of the aircraft, and cause certain external environmental factors to interfere with the prediction of the next flight position of the aircraft. Therefore, by obtaining meteorological information, evaluating the comprehensive meteorological indicators, and setting thresholds, the deviations caused by meteorological factors that may affect the flight trajectory of the aircraft are taken into account to improve the prediction accuracy. At present, some meteorological information providers can provide accurate real-time meteorological information of the current location based on longitude and latitude, so the system uses the longitude and latitude corresponding to the target 4D spatiotemporal grid as the current location information to obtain accurate real-time meteorological information of the current location from the meteorological information provider, for example, global meteorological information providers: Tomorrow.io, Understore, etc. Among them, the calculation of the meteorological comprehensive index evaluation score specifically includes: for example, if the currently acquired meteorological information is a gust, the wind speed and / or wind force level of the gust is multiplied by the corresponding coefficient to obtain the meteorological index evaluation score corresponding to the gust as the meteorological comprehensive index evaluation score value, for example, 7.3. Assuming the preset threshold is 7, at this time 7.3 is greater than 7, it means that the gust weather weather appearing in the target 4D spatiotemporal grid will affect the flight direction and / or flight speed of the aircraft, and affect the predicted flight trajectory point, so it is necessary to re-correct the flight direction and / or flight speed in order to accurately perform anti-collision detection. Among them, the coefficient can be set by the user based on experience, etc., which is not limited here. Among them, for the calculation process of the meteorological comprehensive index evaluation score value, in addition to only considering the influence of one meteorological type as mentioned above, different coefficients can be set for multiple meteorological types (gusts, lightning, fog, rain, snow, etc.) according to user needs. The meteorological index evaluation scores corresponding to the meteorological types are calculated separately and the accumulated values ​​are added up as the meteorological comprehensive index evaluation score values, which is not limited to the above examples.

[0074] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should be aware that the present disclosure is not limited by the order of the actions described, because according to the present disclosure, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present disclosure.

[0075] The above is an introduction to the method embodiment. The following is a further explanation of the scheme disclosed in the present invention through an apparatus embodiment.

[0076] Figure 2 FIG. 2 shows a block diagram of a low-altitude planned flight anti-collision device 200 according to an embodiment of the present disclosure. Figure 2 As shown, the device 200 includes:

[0077] The information acquisition module 210 is used to acquire the flight plan of the current flight target, wherein the flight plan includes the take-off position, take-off time, flight direction and flight speed;

[0078] The trajectory prediction module 220 is used to obtain the flight trajectory points of the current flight target according to the flight plan of the current flight target and external environmental factors;

[0079] 4D space-time grid coding module 230, used to convert the flight trajectory points into 4D space-time grid codes;

[0080] The storage module 240 is used to obtain and store the 4D space-time grid code set of the current flight target according to the 4D space-time grid code converted from the flight trajectory points;

[0081] The conflict point detection module 250 is used to query whether the 4D space-time grid code set of the known flying target has at least one identical 4D space-time grid code in the 4D space-time grid code set of the current flying target;

[0082] The anti-collision module 260 is used to take the corresponding known flight target encoded in the same 4D space-time grid as the conflicting flight target if any, and adjust the flight trajectory of the current flight target and / or the conflicting flight target.

[0083] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the described module can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0084] In the technical solution disclosed herein, the acquisition, storage and application of user personal information involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0085] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device and a readable storage medium.

[0086] Figure 3 A schematic block diagram of an electronic device 300 that can be used to implement an embodiment of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0087] The electronic device 300 includes a computing unit 301, which can perform various appropriate actions and processes according to a computer program stored in a ROM 302 or a computer program loaded from a storage unit 308 into a RAM 303. In the RAM 303, various programs and data required for the operation of the electronic device 300 can also be stored. The computing unit 301, the ROM 302, and the RAM 303 are connected to each other via a bus 304. An I / O interface 305 is also connected to the bus 304.

[0088] A number of components in the electronic device 300 are connected to the I / O interface 305, including: an input unit 306, such as a keyboard, a mouse, etc.; an output unit 307, such as various types of displays, speakers, etc.; a storage unit 308, such as a disk, an optical disk, etc.; and a communication unit 309, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 309 allows the electronic device 300 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0089] The computing unit 301 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 301 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 301 performs the various methods and processes described above, such as method 100. For example, in some embodiments, the method 100 may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 308. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 300 via the ROM 302 and / or the communication unit 309. When the computer program is loaded into the RAM 303 and executed by the computing unit 301, one or more steps of the method 100 described above may be performed. Alternatively, in other embodiments, the computing unit 301 may be configured to perform the method 100 in any other appropriate manner (e.g., by means of firmware).

[0090] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0091] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A collision avoidance method for low altitude planned flight, characterized in that: include: Obtaining a flight plan of the current flight target, wherein the flight plan includes a take-off position, a take-off time, a flight direction, and a flight speed; Obtaining a flight trajectory point of the current flight target according to the flight plan of the current flight target and external environmental factors; Converting the flight trajectory points into 4D space-time grid codes in a 4D space-time grid; According to the 4D space-time grid code converted from the flight trajectory points, a 4D space-time grid code set of the current flight target is obtained and stored; Query whether the 4D space-time grid code set of the known flight target has at least one identical 4D space-time grid code in the 4D space-time grid code set of the current flight target; wherein the query includes: directly performing a comparative query on the 4D space-time grid code; If so, the corresponding known flight target encoded in the same 4D space-time grid is used as the conflicting flight target, and the flight trajectory of the current flight target and / or the conflicting flight target is adjusted.

2. The method according to claim 1, characterized in that: According to the 4D space-time grid code converted from the flight trajectory point, the 4D space-time grid code set of the current flight target is obtained, including: According to the performance requirements of the aircraft collision avoidance system, the 4D space-time grid code obtained by converting the flight trajectory points is expanded to obtain its peripheral expanded 4D space-time grid code, and then the 4D space-time grid code set of the current flight target is obtained.

3. The method according to claim 1, characterized in that The method further comprises: The 4D spatiotemporal grid code set range of the current flight target is adjusted according to the influence of external environmental factors on the current flight target; the external environmental factors include meteorological information.

4. The method according to claim 1, characterized in that: The 4D space-time grid coding includes: space code and time code; The spatial code is obtained by dividing the space into grids using a spatial division method and uniquely identifying each grid; The time code includes hours, minutes and seconds; The space division method comprises: Constructing a grid in three dimensions in space, wherein the three dimensions in space are represented by x, y, and z; The grid is divided according to the set safety distance between the flying targets.

5. The method according to claim 1, characterized in that: The method comprises: Acquire actual takeoff information of the current flight target, the actual takeoff information including position information, speed information and flight direction of the current flight target, the position information is the actual takeoff position of the current flight target, the speed information is the actual flight speed of the current flight target, and the flight direction is determined by the attitude angle of the current flight target, and the attitude angle includes roll angle, pitch angle and yaw angle; The flight trajectory point of the current flight target is adjusted according to the actual take-off information of the current flight target and external environmental factors.

6. The method according to claim 1, characterized in that The adjusting the flight trajectory of the current flight target and / or the conflicting flight target includes: Adjust the time position of the current flight target and / or conflicting flight targets; and / or Adjust the spatial position of the current flight target and / or conflicting flight targets.

7. A collision avoidance device for low altitude planned flight, characterized in that: include: An information acquisition module is used to acquire a flight plan of the current flight target, wherein the flight plan includes a take-off position, a take-off time, a flight direction, and a flight speed; A trajectory prediction module, used to obtain the flight trajectory points of the current flight target according to the flight plan of the current flight target and external environmental factors; A 4D space-time grid coding module, used for converting the flight trajectory points into 4D space-time grid codes; A storage module, used to obtain and store a 4D space-time grid code set of the current flight target according to the 4D space-time grid code converted from the flight trajectory points; A conflict point detection module is used to query whether the 4D space-time grid code set of the known flight target has at least one identical 4D space-time grid code in the 4D space-time grid code set of the current flight target; wherein the query includes: directly performing a comparison query on the 4D space-time grid code; The anti-collision module is used to take the corresponding known flight target encoded in the same 4D space-time grid as the conflicting flight target if any, and adjust the flight trajectory of the current flight target and / or the conflicting flight target.

8. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium storing computer instructions, characterized in that: The computer instructions are used to cause the computer to execute the method according to any one of claims 1 to 6.

Images