Arrival and departure routes and time slot allocation method for UAV take-off and landing fields

Abstract

The present invention discloses a method for allocating entry and departure routes and time slots for a take-off and landing field for unmanned aerial vehicles, including: establishing a library of alternative corridors for arrival and departure of unmanned aerial vehicles; calculating the standard available time series and the allocable time series of each parking space in the task declaration stage according to the time interval of the unmanned aerial vehicle occupying the parking space; receiving the unmanned aerial vehicle task information declared by the operating unit, judging whether the task information is a plan declaration, a take-off application or a landing application according to the information format and content; judging whether the take-off or landing time declared by the operating unit has an idle time slot and an idle parking space to provide guarantee allocation when the plan declaration, take-off application or landing application is made, and obtaining the entry and departure routes. The present invention utilizes the altitude layer between the route and the take-off and landing field to divide a plurality of entry routes and departure routes, and adopts a unified parking space allocation management in the complete operation cycle of the unmanned aerial vehicle plan declaration, take-off and landing, so as to provide strong support for the simultaneous entry and departure of multiple unmanned aerial vehicles.

Description

Technical Field

[0001] The invention belongs to the technical field of low-altitude aircraft flight management, and in particular relates to an approach and departure route and time slot allocation method for a take-off and landing field of an unmanned aerial vehicle. Background Art

[0002] At present, each parking space at the take-off and landing field can generally only support one approach and departure route. There is a lack of a unified parking space allocation management method for drones in the approach and departure process, and the use of parking spaces is arranged solely by the operator's observation of the parking space vacancy status. There are two main operation modes for drone take-off and landing: pilot operation and preset route. Due to the lack of a unified parking space allocation management method, drones with different take-off and landing times are very likely to select the same parking space for use within the same safety interval time range, thereby increasing the probability of accidents and reducing the operating efficiency of the take-off and landing field. For example, drone A is scheduled to take off at 9:00. At 8:58, the operator finds that parking space S is idle, and drives drone A into or puts it into parking space S to prepare for take-off. At this time, drone B will land at parking space S between 9:00 and 9:04 according to the preset route. Given that parking space S has only one approach and departure route, it takes at least 2 minutes to reach the main route from parking space S, which means that the safety interval is at least 2 minutes. In this way, drones A and B will conflict on this only approach and departure route.

[0003] As the number of drone flights continues to increase, the above situation will occur more and more frequently. There is an urgent need to provide a drone take-off and landing field with an entry and departure route and time slot allocation method that can ensure the simultaneous operation of multiple drones, so as to achieve unified allocation and management of aircraft positions. Summary of the invention

[0004] In view of the deficiencies of the above-mentioned prior art, the purpose of the present invention is to provide an approach and departure route and time slot allocation method for a drone take-off and landing field, so as to solve the conflict problem that may occur at any time during the approach and departure process of multiple drones. The method of the present invention makes full use of the altitude layer between the route and the take-off and landing field, and plans multiple approach and departure routes to meet the needs of multiple drones approaching or departing at the same time; according to the time interval of the drone occupying the parking space, a standard available time sequence and an allocable time sequence in the task declaration stage are set for each parking space, and a reasonable approach and departure sorting calculation method is given, so as to realize the unified allocation and management of all parking spaces in the drone take-off and landing field during the entire flight process of the drone, and effectively avoid the occurrence of conflicts.

[0005] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0006] The method for allocating entry and departure routes and time slots of a drone take-off and landing field of the present invention comprises the following steps:

[0007] 1) Establish a library of alternative corridors for drone arrival and departure;

[0008] 2) According to the time interval of drones occupying parking spaces, calculate the standard available time series of each parking space and the time series that can be allocated during the mission declaration stage;

[0009] 3) Receive the drone mission information reported by the operating unit, and determine whether the mission information is a plan report, take-off application or landing application based on the information format and content; if it is a plan report type drone mission, execute step 4); if it is a take-off application type drone mission, execute step 5); if it is a landing application type drone mission, execute step 6);

[0010] 4) Verify the planned UAV mission information reported by the operator, determine whether there are free time slots and free parking spaces at the take-off and landing field and the landing time at the landing and landing field to provide guaranteed allocation, and obtain the entry and departure route set, and feedback the results to the operator, ending the allocation of entry and departure routes and time slots in the planned declaration stage;

[0011] 5) Verify the take-off application type drone mission information applied by the operator, and determine whether there are idle time slots and idle parking spaces at the take-off and landing field to provide guaranteed allocation according to the actual use time of the drone mission applied by the operator, and obtain the entry and departure route set, and feedback the results to the operator, ending the allocation of entry and departure routes and time slots in the take-off application stage;

[0012] 6) Verify the landing application type drone mission information applied by the operating unit, and determine whether there are idle time slots and idle parking spaces at the take-off and landing field to provide guaranteed allocation based on the actual usage time of the drone mission applied by the operating unit, and obtain the entry and departure route set, and feed back the results to the operating unit, ending the allocation of entry and departure routes and time slots in the landing application stage.

[0013] Further, the step 1) specifically includes:

[0014] 11) According to the right-hand traffic principle, a drone take-off and landing field is set up on the ground at a distance of D meters from the right side of the main flight route, and D is greater than the maximum horizontal safety distance between drones.

[0015] 12) Set the route’s approach and departure waypoints;

[0016] 13) Divide the altitude H between the main flight route and the take-off and landing field into departure airspace and arrival airspace;

[0017] 14) Set up a waiting area for incoming drones. The waiting area for incoming drones is used for drones to hover and wait when drones arrive in advance and there are no vacant parking spaces at the take-off and landing field. The setting rule for the waiting area for incoming drones is the airspace below the waypoints of the left and right routes of the main flight route;

[0018] 15) Establish an arrival and departure route information database , save the planned alternative arrival corridors and departure corridors in the arrival and departure route information database In the process, a library of alternative corridors for drone arrival and departure is formed, and the specific field information includes: take-off and landing category, starting point, end point, and specific route.

[0019] Furthermore, the step 12) specifically includes:

[0020] 121) Rules for setting the arrival waypoint: Taking the route on the right side of the main flight route as the standard, the arrival waypoint is set at the position L meters away from the farthest parking position of the take-off and landing field in the horizontal direction. The vertical point between the arrival waypoint and the route on the left side of the main flight route is the arrival waypoint of the route on the left side of the main flight route;

[0021] 122) Rules for setting departure waypoints: The vertical point from each apron parking position to the route is the departure waypoint for the left route of the main flight route and the departure waypoint for the right route.

[0022] Furthermore, the step 13) specifically includes:

[0023] 131) The arrival airspace is located at the lower level, at an altitude of H1. According to the number of incoming UAV flights, H1 is set to multiple flight altitude layers, dividing different arrival alternative corridors to fly to different parking positions;

[0024] 132) The departure airspace is located in the upper layer, with altitudes ranging from H1 to H. H-H1 is greater than the maximum separation standard VSH of the vertical safety distance between UAVs. At least two flight altitude layers are reserved to divide different departure alternative corridors and provide them to the left and right routes of the departing UAVs.

[0025] Furthermore, in step 15) the arrival and departure route information database Specifically include:

[0026] The take-off and landing categories are defined as: take-off or landing;

[0027] The starting point and the ending point are as follows: when the take-off and landing category is take-off, the starting point indicates the parking position and the ending point indicates the departure point; when the take-off and landing category is landing, the starting point indicates the arrival point and the ending point indicates the parking position;

[0028] The specific route is defined as follows: It is composed of key waypoints in the order of the waypoints passed by the flight, and the format is: point-point-…-point.

[0029] Furthermore, the step 2) specifically includes:

[0030] 21) The standard of parking spaces per hour can be calculated based on the time interval of drones occupying parking spaces. Time series can be used , ,in, Indicates the time interval for drones to occupy parking spaces. The time interval for drones to occupy parking spaces refers to the minimum safe time required by the apron to ensure that drones can use parking spaces and take-off and landing channels in an orderly manner. Indicates the maximum number of drones that can be guaranteed at the parking space per hour. , is the rounding function;

[0031] 22) The parking stands at the take-off and landing field are as follows: ,in, is the number of parking spaces; the configuration parameter of each parking space is K, which is used to determine the available time sequence of each parking space when the UAV mission is reported;

[0032] The time sequence of the reserved available time parking slot can be allocated during the mission declaration phase ,as follows:

[0033] ;

[0034] in, ;

[0035] Parking spaces can be assigned time series sets during the mission declaration phase ,as follows:

[0036] ;

[0037] in, I is the number of parking spaces, .

[0038] Furthermore, the configuration parameter K of the parking space in step 22) is used to reserve available time for some parking spaces which cannot be allocated during the mission declaration stage. When an emergency occurs, there are idle time slots and idle parking spaces at the take-off and landing field that can be used; when the configuration parameter K of the parking space is greater than 1, the available time is reserved for the parking space.

[0039] Furthermore, the step 3) specifically includes:

[0040] When the UAV mission information is a plan application, the specific data item format and content in the UAV mission information include: operating unit, mission number, execution date, aircraft model, application take-off and landing field number, application time, take-off and landing category, and operation time;

[0041] When the UAV mission information is a take-off application, the specific data item format and content in the UAV mission information include: operating unit, mission number, execution date, aircraft type, assigned parking stand number, assigned time, take-off and landing category, actual use time, departure waypoint, execution mark, and application take-off operation time;

[0042] When the UAV mission information is a landing application, the specific data item format and content in the UAV mission information include: operating unit, mission number, execution date, aircraft model, assigned parking position number, assigned time, take-off and landing category, actual use time, approach waypoint, execution mark, and application for landing operation time.

[0043] Furthermore, the step 4) specifically includes:

[0044] 41) Establish a UAV mission declaration information form , its specific fields include: operating unit, mission number, execution date, aircraft type, application take-off and landing field number, application time, take-off and landing category, assigned parking stand number, assigned time, approach and departure route, actual parking stand number, actual use time, actual approach and departure route, execution sign, and operation time;

[0045] 42) Verify the planned UAV mission information reported by the operator. The specific information fields include: operator, mission number, execution date, aircraft model, application take-off and landing field number, application time, take-off and landing category, and operation time. If the verification fails, the reason for failure is returned to the operator and the process ends. Otherwise, execute step 43);

[0046] 43) Calculate the allocated time slot and allocated parking stand number, and obtain the arrival and departure route information database Get the entry and departure route set ;

[0047] 44) Store the acquired data in the UAV mission declaration information form The results will be fed back to end the application process.

[0048] Furthermore, if one of the check items in step 42) is not met, it is considered as failed, and the specific check items include:

[0049] 421) Whether the operating unit is an entity with declaration authority;

[0050] 422) Define the minimum advance reporting time parameter , determine whether the execution date meets The advance requirement is whether the execution date minus the operation time is greater than ;

[0051] 423) Whether the drone model meets the support capability range of the drone take-off and landing site;

[0052] 424) Whether the landing field number applied for is the current landing field;

[0053] 425) Whether the application time meets the standard and can use time series requirements.

[0054] Furthermore, the step 43) specifically includes:

[0055] 431) According to the defined allocation time redundancy range [0,W], establish the calculation allocation time sequence , ,in, , The application time in the drone mission information. for The minute value of

[0056] 432) Obtain the calculation distribution time series in sequence In the data, assign the obtained calculation allocation time to the allocation time variable parameter , when all the data in the calculation allocation time series are acquired, execute step 436), otherwise, execute step 433);

[0057] 433) will assign time variable parameters The time series set that can be allocated with the parking space during the mission declaration phase Match and obtain The set of parking slots that are expected to be allocated at a certain time ,as follows:

[0058] ;

[0059] When the parking lot , execute step 434); otherwise, return to step 432);

[0060] 434) The execution date and allocation time variable parameters in the planned reporting drone mission information reported by the operating unit UAV mission declaration information form The execution date and allocation time of the record data whose execution flag is not canceled are matched, and the allocation parking space number of the matching record data is obtained. The slot set to which the slot has been allocated ;

[0061] 435) Calculation The parking slot set of the time slot that can be allocated ,and ;

[0062] When the parking lot When there is data, the parking position will be The first data in the set is assigned to the variable parameter of the assigned parking space number , end the calculation and execute step 436); otherwise, return to step 432);

[0063] 436) Determine the allocation time variable parameters and assign parking stand number variable parameters Is there a value? If one parameter has no value, the operator is prompted that there is no allocable time or no allocable parking space, and the process ends; otherwise, the process proceeds to step 437);

[0064] 437) From the arrival and departure route information database Get the entry and departure route set ;

[0065] When the take-off and landing category in the planned UAV mission information reported by the operator is take-off, the parking space number variable parameter will be assigned Arrival and departure route information database Match the starting point to obtain the arrival and departure route information database The data value of the specific route field in the entry and departure route set is assigned to the entry and departure route set. ;

[0066] When the take-off and landing category in the planned UAV mission information reported by the operator is landing, the parking space number variable parameter will be assigned Arrival and departure route information database Match the intermediate and terminal points to obtain the arrival and departure route information database The data value of the specific route field in the entry and departure route set is assigned to the entry and departure route set. .

[0067] Furthermore, the step 5) specifically includes:

[0068] 51) Verify the take-off application type UAV mission information applied by the operating unit. The specific information fields include the operating unit, mission number, execution date, aircraft model, assigned parking position number, assigned time, take-off and landing category, actual use time, departure waypoint, execution mark, and application take-off operation time; if the verification fails, the reason for failure is returned to the operating unit and the process ends; otherwise, execute step 52);

[0069] 52) The information of the take-off application type UAV mission submitted by the operator, including the operating unit, mission number, execution date, aircraft model, assigned parking position number, assigned time, take-off and landing category, and the UAV mission declaration information form If the matched data is not unique, the operator is prompted that the takeoff information of the drone mission applied for this time is wrong, and the process ends; otherwise, the process goes to step 53);

[0070] 53) Determine the execution flag in the takeoff application drone mission information. When the execution flag is canceled, select the drone mission declaration information table. Find the task record in the task record, modify the execution flag of the task record to cancel execution, and end; otherwise, execute step 54);

[0071] 54) Determine the UAV mission declaration information form Check whether the allocation time of the matching record in the table is equal to the actual use time in the take-off application drone mission information. If they are equal, the variable parameter of the parking space number is allocated. , assign time variable parameters , execute step 56); otherwise, execute step 55);

[0072] 55) Recalculate the allocated time slot and allocated parking stand number according to the actual usage time;

[0073] 56) From the arrival and departure route information database Get the entry and departure route set ;

[0074] The variable parameter of the parking bay number will be assigned , departure waypoints and approach and departure route information database in takeoff application drone mission information Match the starting point and the end point to obtain the arrival and departure route information database The data value of the specific route field in the entry and departure route set is assigned to the entry and departure route set. ;

[0075] 57) Modify the UAV mission declaration information form with the acquired data The matched records are fed back to the operating unit, ending the takeoff phase process.

[0076] Furthermore, if one of the check items in step 51) is not met, it is considered as failed, and the specific check items include:

[0077] 511) Define the minimum advance application time parameter , determine whether the actual use time minus the takeoff application time is greater than the minimum advance time parameter ;

[0078] 512) Whether the actual usage time meets the standard can be used in time series requirements;

[0079] 513) Whether the takeoff and landing category is takeoff.

[0080] Furthermore, the step 55) specifically includes:

[0081] 551) Recalculate the distribution time series ;

[0082] When the actual usage time is less than the allocated time, ,in, For actual usage time, for The minute value of

[0083] When the actual usage time is greater than the allocation time, the redundancy range [0, W] is defined according to the allocation time. ,in, ;

[0084] 552) Obtain the calculation distribution time series in sequence Internal data, assign the obtained calculation allocation time to the allocation time variable parameter , when all the data in the calculation allocation time series are acquired, execute step 556); otherwise, execute step 553);

[0085] 553) will assign time variable parameters The time series set that can be allocated with the parking space during the mission declaration phase Match, get The set of parking spaces that are expected to be allocated at a certain time ,as follows:

[0086] ;

[0087] When the parking lot If there is data, execute step 554); otherwise, return to step 552);

[0088] 554) The execution date and allocation time variable parameters in the take-off application type UAV mission information applied by the operating unit UAV mission declaration information form The execution date and allocation time of the record data whose execution flag is not canceled are matched, and the allocation parking space number of the matching record data is obtained. The slot set to which the slot has been allocated ;

[0089] 555) Calculation The parking slot set of the time slot that can be allocated ,as follows:

[0090] ;

[0091] When the parking lot When there is data, the parking position will be The first data in the set is assigned to the variable parameter of the assigned parking space number , end the calculation and execute step 556); otherwise, return to step 552);

[0092] 556) Determine the allocation time variable parameters and assign parking stand number variable parameters Whether there is a value; if one parameter has no value, the operating unit is prompted that there is no allocable time or no allocable parking space; otherwise, execute step 56).

[0093] Furthermore, the step 6) specifically includes:

[0094] 61) Verify the landing application type UAV mission information applied by the operator. The specific information fields include the operator, mission number, execution date, aircraft model, assigned parking position number, assigned time, take-off and landing category, actual use time, port waypoint, execution mark, and application landing operation time; if the verification fails, the reason for failure is returned to the operator and the process ends; otherwise, execute step 62);

[0095] 62) The operating unit, mission number, execution date, aircraft type, assigned parking position number, assigned time, take-off and landing category in the UAV mission information of the landing application type are included in the UAV mission declaration information form. If the matched data is not unique, the operator is prompted that the landing information of the drone mission applied for this time is wrong, and the process ends; otherwise, the process goes to step 63);

[0096] 63) Determine the execution flag in the landing application type drone mission information. When the execution standard is to cancel the execution, select the drone mission declaration information table. Find the task record in the task record, modify the execution flag of the task record to cancel execution, and end; otherwise, execute step 64);

[0097] 64) Determine the UAV mission declaration information form Check whether the allocation time of the matching record in the table is equal to the actual use time in the landing application drone mission information. If they are equal, the variable parameter of the parking space number is allocated. , assign time variable parameters , execute step 66); otherwise, execute step 65);

[0098] 65) Recalculate the allocated time slot and allocated parking stand number according to the actual usage time;

[0099] 66) From the arrival and departure route information database Get the entry and departure route set ;

[0100] The variable parameter of the parking bay number will be assigned , landing application type UAV mission information in the port waypoints and entry and departure route information database Match the terminal and starting points to obtain the arrival and departure route information database The data value of the specific route field in the entry and departure route set is assigned to the entry and departure route set. ;

[0101] 67) Modify the drone mission declaration information form with the acquired data The matched records are fed back to the operating unit, ending the landing phase process.

[0102] Furthermore, if one of the check items in step 61) is not met, it is considered as failed, and the specific check items include:

[0103] 611) Whether the actual usage time meets the standard can be used in time series requirements;

[0104] 612) Whether the takeoff and landing category is landing.

[0105] Furthermore, the step 65) specifically includes:

[0106] 651) Recalculate the distribution time series ;

[0107] When the actual usage time is less than the allocated time, ,in, For actual usage time, for The minute value, ;

[0108] When the actual usage time is greater than the allocation time, the redundancy range [0, W] is defined according to the allocation time. ,in, ;

[0109] 652) Obtain the calculation distribution time series in sequence Internal data, assign the obtained calculation allocation time to the allocation time variable parameter , when all the data in the calculation allocation time series are acquired, execute step 655), otherwise, execute step 653);

[0110] 653) The execution date and allocation time variable parameters in the landing application type drone mission information applied by the operating unit UAV mission declaration information form The execution date and allocation time of the record data whose execution flag is not canceled are matched, and the allocation parking space number of the matching record data is obtained. The slot set to which the slot has been allocated ;

[0111] 654) Calculation The parking slot set of the time slot that can be allocated ,as follows:

[0112] ;

[0113] When the parking lot When there is no data, the parking position will be The first data in the set is assigned to the variable parameter of the assigned parking space number , end the calculation and execute step 655); otherwise, return to step 652);

[0114] 655) Determine the allocation time variable parameters and assign parking stand number variable parameters Whether there is a value. If one parameter has no value, the operating unit is prompted that there is no allocable time or no allocable parking space; otherwise, execute step 66).

[0115] Beneficial effects of the present invention:

[0116] 1. The present invention utilizes the altitude layer between the route and the take-off and landing field to divide the departure airspace and the arrival airspace, and sets up an arrival drone waiting area, multiple approach routes and departure routes, thereby providing strong support for multiple drones to enter and leave at the same time.

[0117] 2. The present invention sets a standard available time sequence and a time sequence that can be allocated during the mission declaration phase for each parking space according to safety requirements and the time interval of drones occupying parking spaces. When configuring parameters, the available time of some parking spaces is reserved and cannot be allocated during the mission declaration phase to ensure that drones can make emergency landings when emergencies occur.

[0118] 3. The present invention satisfies the unified allocation and management of aircraft positions in the entire process of drone plan declaration, take-off and landing, effectively avoids the occurrence of multi-drone conflicts, and improves the operating efficiency of drone take-off and landing sites. BRIEF DESCRIPTION OF THE DRAWINGS

[0119] Figure 1 Flow chart of the method of the present invention.

[0120] Figure 2 The figure is a schematic diagram of the UAV take-off and landing field entry and departure according to the method of the present invention.

[0121] Figure 3 The figure is a schematic side view of the approach to the take-off and landing field of a UAV according to the method of the present invention.

[0122] Figure 4 The present invention is a schematic side view of a UAV taking off and landing field departure.

[0123] Figure 5 The present invention is a schematic front view of the UAV take-off and landing field entry and departure. DETAILED DESCRIPTION

[0124] In order to facilitate the understanding of those skilled in the art, the present invention is further described below in conjunction with embodiments and drawings. The contents mentioned in the implementation modes are not intended to limit the present invention.

[0125] Reference Figures 1 to 5 As shown, a method for allocating routes and time slots for a take-off and landing field for a UAV of the present invention comprises the following steps:

[0126] 1) Establish a library of alternative corridors for drone arrival / departure; specifically include:

[0127] 11) According to the right-hand traffic principle, a drone take-off and landing field is set up on the ground at a distance of D meters from the right side of the main flight route, and D is greater than the maximum horizontal safety distance between drones.

[0128] Route R1 is the route on the right side of the main flight route, and route R2 is the route on the left side of the main flight route. Figure 2 As shown in Figure 3, the location of the drone take-off and landing field is D1 meters away from the right route R1 of the main flight route and D2 meters away from the left route R2 of the main flight route.

[0129] 12) Set the route’s approach and departure waypoints;

[0130] 121) Rules for setting arrival waypoints: Taking the route on the right side of the main flight route as the standard, the arrival waypoint is set at the position L meters away from the farthest parking position of the take-off and landing field in the horizontal direction (or F minutes in advance of the expected landing time). The vertical point between the arrival waypoint and the route on the left side of the main flight route is the arrival waypoint of the route on the left side of the main flight route;

[0131] like Figure 2 , Figure 5 As shown, the approach waypoint r1a of the route R1 on the right side of the main flight route and the approach waypoint r2a of the route R2 on the left side of the main flight route.

[0132] 122) Rules for setting departure waypoints: The vertical point from each apron parking position to the route is the departure waypoint for the left route of the main flight route and the departure waypoint for the right route;

[0133] like Figure 2 , Figure 5 As shown, the departure waypoints from parking positions S1, S2, S3 to route R1 on the right side of the main flight route are r1b, r1c, r1d respectively; the departure waypoints from parking positions S1, S2, S3 to route R2 on the left side of the main flight route are r2b, r2c, r2d respectively.

[0134] 13) Divide the altitude H between the main flight route and the take-off and landing field into departure airspace and arrival airspace;

[0135] 131) The arrival airspace is located at the lower level, at an altitude of H1. According to the number of incoming UAV flights, H1 is set to multiple flight altitude layers, dividing different arrival alternative corridors to fly to different parking positions;

[0136] like Figure 3 , Figure 5 As shown, taking the minimum configuration route (one altitude layer) as an example, when the UAV enters the port from route R1, it descends vertically from the port approaching waypoint r1a to waypoint a1, flies horizontally below route R1, flies to waypoint s1a, waypoint s2a, waypoint s3a in the direction of the take-off and landing field at waypoint a3, waypoint a4, waypoint a5 respectively, and then vertically lands at parking position S1, parking position S2, parking position S3; the UAV entering the port from route R2 descends vertically from the port approaching waypoint r2a to waypoint a2, and then flies horizontally to waypoint a1 and merges into the port approaching route;

[0137] 132) The departure airspace is located in the upper layer, with altitudes ranging from H1 to H. H-H1 is greater than the maximum vertical safety distance standard VSH between UAVs. At least two flight altitude layers are required to divide different departure alternative corridors to provide departing UAVs with the left and right routes of the flight route.

[0138] like Figure 4 As shown, the UAV takes off vertically from parking position S3. Route 1: After rising to waypoint t6, it flies parallel to the main flight route to the departure waypoint r1d and enters route R1; Route 2: After rising to waypoint t5, it flies parallel to the main flight route to waypoint t9, then rises vertically to the departure waypoint r2d and enters route R2.

[0139] 14) Set up a waiting area for incoming drones. The waiting area for incoming drones is used for drones to hover and wait when drones arrive in advance and there are no vacant parking spaces at the take-off and landing field. The setting rule for the waiting area for incoming drones is the airspace below the waypoints of the left and right routes of the main flight route;

[0140] 15) Establish an arrival and departure route information database , save the planned arrival / departure alternative corridors in the arrival and departure route information database In the database, a library of alternative corridors for drone arrival and departure is formed, and the specific field information includes: take-off and landing category, starting point, end point, and specific route;

[0141] Among them, take-off and landing categories: Q means take-off, J means landing;

[0142] When the take-off and landing category is take-off, the starting point indicates the parking position and the end point indicates the departure point; when the take-off and landing category is landing, the starting point indicates the arrival point and the end point indicates the parking position.

[0143] The specific route is composed of key waypoints according to the sequence of the waypoints passed by the flight, and the format is: point-point-…-point.

[0144] Specifically, the arrival and departure route information database The alternative arrival corridors / departure corridors are:

[0145] 1: The sequence number is 1, the take-off and landing category is Q, the starting point is S1, the end point is r1b, and the specific route is S1-t2-r1b;

[0146] 2: The sequence number is 2, the take-off and landing category is Q, the starting point is S1, the end point is r2b, and the specific route is S1-t1-t7-r2b;

[0147] 3: The sequence number is 3, the take-off and landing category is Q, the starting point is S2, the end point is r1c, and the specific route is S2-t4-r1c;

[0148] 4: The sequence number is 4, the take-off and landing category is Q, the starting point is S2, the end point is r2c, and the specific route is S2-t3-t8-r2c;

[0149] 5: The sequence number is 5, the take-off and landing category is Q, the starting point is S3, the end point is r1d, and the specific route is S1-t6-r1d;

[0150] 6: The sequence number is 6, the take-off and landing category is Q, the starting point is S3, the end point is r2d, and the specific route is S1-t5-t9-r2d;

[0151] 7: The sequence number is 7, the take-off and landing category is J, the starting point is r1a, the end point is S1, and the specific route is r1a-a1-a3-s1a-S1;

[0152] 8: The sequence number is 8, the take-off and landing category is J, the starting point is r1a, the end point is S2, and the specific route is r1a-a1-a4-s2a-S2;

[0153] 9: The sequence number is 9, the take-off and landing category is J, the starting point is r1a, the end point is S3, and the specific route is r1a-a1-a5-s3a-S3;

[0154] 10: The sequence number is 10, the take-off and landing category is J, the starting point is r2a, the end point is S1, and the specific route is r2a-a2-a1-a3-s1a-S1;

[0155] 11: The sequence number is 11, the take-off and landing category is J, the starting point is r2a, the end point is S2, and the specific route is r2a-a2-a1-a4-s2a-S2;

[0156] 12: The sequence number is 12, the take-off and landing category is J, the starting point is r2a, the ending point is S3, and the specific route is r2a-a2-a1-a5-s3a-S3.

[0157] 2) According to the time interval of drones occupying parking spaces, calculate the standard available time series of each parking space and the time series that can be allocated during the mission declaration stage;

[0158] 21) The standard of parking spaces per hour can be calculated based on the time interval of drones occupying parking spaces. Time series can be used , ,in, Indicates the time interval for drones to occupy parking spaces. The time interval for drones to occupy parking spaces refers to the minimum safe time required by the apron to ensure that drones can use parking spaces and take-off and landing channels in an orderly manner. Indicates the maximum number of drones that can be guaranteed at the parking space per hour. , is the rounding function;

[0159] For example Minutes, , .

[0160] 22) The parking stands at the take-off and landing field are as follows: ,in, is the number of parking spaces; the configuration parameter of each parking space is K, which is used to determine the available time sequence of each parking space when the UAV mission is reported;

[0161] When configuring parameters, the occurrence of emergencies must be taken into consideration. The available time of some reserved parking spaces cannot be allocated during the mission declaration phase. When the configuration parameter K of a parking space is greater than 1, the available time of the parking space is reserved.

[0162] The time sequence that can be allocated in the mission declaration phase for the reserved available time parking slot is: ,as follows:

[0163] ;

[0164] in, ;

[0165] Parking spaces can be assigned time series sets during the mission declaration phase for:

[0166] ;

[0167] in, I is the number of parking spaces, .

[0168] For example, in the example , at least one parking space with reserved available time must be configured, so , , .

[0169] 3) Receive the UAV mission information reported by the operating unit, and determine whether the mission information is a plan declaration, take-off application or landing application based on the information format and content.

[0170] When the UAV mission information is a plan application, execute step 4). The specific judgment conditions are: operating unit, mission number, execution date, aircraft model, application take-off and landing field number, application time, take-off and landing category, and operation time;

[0171] When the UAV mission information is a take-off application, execute step 5), and the specific judgment conditions are: the specific data item format and content in the UAV mission information include the operating unit, mission number, execution date, aircraft type, assigned parking position number, assigned time, take-off and landing category, actual use time, departure waypoint, execution mark, and application take-off operation time;

[0172] When the UAV mission information is a landing application, execute step 6). The specific judgment conditions are: the specific data item format and content in the UAV mission information include the operating unit, mission number, execution date, aircraft model, assigned parking position number, assigned time, take-off and landing category, actual use time, port approach waypoint, execution mark, and application landing operation time.

[0173] 4) Verify the planned UAV mission information reported by the operator, determine whether the take-off time reported by the operator is available at the take-off and landing field, and whether there are free time slots and free parking spaces at the landing and landing field to provide guaranteed allocation, and obtain the information from the entry and departure route information database. The arrival and departure route set is obtained from the system, and the results are fed back to the operating unit, completing the allocation of arrival and departure routes and time slots in the plan declaration stage; specifically, it includes:

[0174] 41) Establish a UAV mission declaration information form , its specific fields include: operating unit, mission number, execution date, aircraft type, application take-off and landing field number, application time, take-off and landing category, assigned parking stand number, assigned time, approach and departure route, actual parking stand number, actual use time, actual approach and departure route, execution sign, and operation time;

[0175] Among them, the take-off and landing categories are: Q for take-off, J for landing; the execution signs are divided into: not executed, executed, and canceled.

[0176] 42) Verify the planned UAV mission information reported by the operator. The specific information fields include: operator, mission number, execution date, aircraft model, application take-off and landing field number, application time, take-off and landing category, and operation time. If the verification fails, the reason for failure will be returned to the operator and the declaration process will be terminated. Otherwise, execute step 43);

[0177] Among them, if one of the following verification steps is not met, it will be considered as failed. The specific verification steps include:

[0178] 421) Whether the operating unit is an entity with declaration authority;

[0179] 422) Define the minimum advance reporting time parameter , determine whether the execution date meets The advance requirement is whether the execution date minus the operation time is greater than ;

[0180] 423) Whether the drone model meets the support capability range of the drone take-off and landing site;

[0181] 424) Whether the landing field number applied for is the current landing field;

[0182] 425) Whether the application time meets the standard and can use time series requirements.

[0183] 43) Calculate the allocated time slot and allocated parking stand number, and obtain the arrival and departure route information database Get the entry and departure route set ;

[0184] 431) According to the defined allocation time redundancy range [0,W], establish the calculation allocation time sequence , ,in, , The application time in the mission information of the operating unit’s drone. for The minute value of

[0185] 432) Obtain the calculation distribution time series in sequence Internal data, assign the obtained calculation allocation time to the allocation time variable parameter , when all the data in the calculation allocation time series are acquired, execute step 436), otherwise, execute step 433);

[0186] 433) will assign time variable parameters The time series set that can be allocated with the parking space during the mission declaration phase Match and obtain The set of parking slots that are expected to be allocated at a certain time ,as follows:

[0187] ;

[0188] For example, , , .when =4, ;

[0189] When the parking lot If there is data, execute step 434); otherwise, return to step 432);

[0190] 434) The execution date and allocation time variable parameters in the planned reporting drone mission information reported by the operating unit UAV mission declaration information form The execution date and allocation time of the record data whose internal execution flag is not canceled are matched, and the allocation parking position number of the matching record data is obtained. The slot set to which the slot has been allocated ;

[0191] 435) Calculation The parking slot set of the time slot that can be allocated ,and ;

[0192] When the parking lot When there is data, the parking position will be The first data in the set is assigned to the variable parameter of the assigned parking space number , end the calculation and execute step 436); otherwise, return to step 432);

[0193] 436) Determine the allocation time variable parameters and assign parking stand number variable parameters Whether there is a value; if one parameter has no value, the operator is prompted that there is no allocable time slot or no allocable parking space, and the process ends; otherwise, the process proceeds to step 437);

[0194] 437) From the arrival and departure route information database Get the entry and departure route set ;

[0195] When the take-off and landing category in the planned UAV mission information reported by the operator is take-off, the parking space number variable parameter will be assigned Arrival and departure route information database Match the starting point within the airport to obtain the arrival and departure route information database The data value of the specific route field in the entry and departure route set is assigned to the entry and departure route set. ;

[0196] When the take-off and landing category in the planned UAV mission information reported by the operator is landing, the parking space number variable parameter will be assigned Arrival and departure route information database Match the internal termination point to obtain the arrival and departure route information database The data value of the specific route field in the entry and departure route set is assigned to the entry and departure route set. .

[0197] 44) Store the acquired data in the UAV mission declaration information form The results will be fed back to the operating unit, ending the declaration process.

[0198] Among them, UAV mission declaration information form The operating unit, mission number, execution date, aircraft model, applied take-off and landing field number, application time, take-off and landing category, and operation time in the table are the operating unit, mission number, execution date, aircraft model, applied take-off and landing field number, application time, take-off and landing category, and operation time in the planned reporting type UAV mission information reported by the operating unit.

[0199] UAV mission declaration information form The assigned parking position number, assigned time, and execution flag in the table are respectively assigned , , not executed;

[0200] UAV mission declaration information form The actual parking stand number, actual use time, and actual arrival and departure routes in the table are not assigned values;

[0201] UAV mission declaration information form The entry and departure routes in the table are assigned .

[0202] 5) Verify the take-off application drone mission information applied by the operator, and determine whether there are free time slots and free parking spaces at the take-off and landing field to provide guaranteed allocation based on the actual use time of the drone mission applied by the operator, and The arrival and departure route set is obtained from the process, and the result is fed back to the operating unit, thus completing the allocation of arrival and departure routes and time slots in the takeoff application phase; specifically, it includes:

[0203] 51) Verify the take-off application type UAV mission information applied by the operator. The specific information fields include the operator, mission number, execution date, aircraft model, assigned parking position number, assigned time, take-off and landing category, actual use time, departure waypoint, execution mark, and application take-off operation time; if the verification fails, the reason for failure will be returned to the operator and the application process will be terminated; otherwise, execute step 52);

[0204] If one of the following verification steps is not met, it will be considered as failed. The specific verification steps include:

[0205] 511) Define the minimum advance application time parameter , determine whether the actual use time minus the takeoff application time is greater than the minimum advance time parameter ;

[0206] 512) Whether the actual usage time meets the standard can be used in time series requirements;

[0207] 513) Whether the takeoff and landing category is takeoff.

[0208] 52) The operating unit, mission number, execution date, aircraft type, assigned parking position number, assigned time, take-off and landing category in the drone mission information of the take-off application type are included in the drone mission declaration information form. If the matched data is not unique, the operator is prompted that the takeoff information of the drone mission applied for this time is wrong, and the process ends; otherwise, the process goes to step 53);

[0209] 53) Determine the execution flag in the takeoff application drone mission information. When the execution flag is canceled, select the drone mission declaration information table. Find the task record in the task record, modify the execution flag of the task record to cancel execution, and end; otherwise, execute step 54);

[0210] 54) Determine the UAV mission declaration information form Check whether the allocation time of the matching record in the table is equal to the actual use time in the take-off application drone mission information. If they are equal, the variable parameter of the parking space number is allocated. , assign time variable parameters , execute step 56); otherwise, execute step 55);

[0211] 55) Recalculate the allocated time and assign the parking stand number based on the actual usage time;

[0212] 551) Recalculate the distribution time series ;

[0213] When the actual usage time is less than the allocated time, ,in, For actual usage time, for The minute value of

[0214] When the actual usage time is greater than the allocation time, the redundancy range [0, W] is defined according to the allocation time. ,in, ;

[0215] 552) Obtain the calculation distribution time series in sequence Internal data, assign the obtained calculation allocation time to the allocation time variable parameter , when all the data in the calculation allocation time series are acquired, execute step 556), otherwise, execute step 553);

[0216] 553) will assign time variable parameters The time series set that can be allocated with the parking space during the mission declaration phase Match, get The set of parking spaces that are expected to be allocated at a certain time ,as follows:

[0217]

[0218] When the parking lot If there is data, execute step 554); otherwise, return to step 552);

[0219] 554) The execution date and allocation time variable parameters in the take-off application type UAV mission information applied by the operating unit UAV mission declaration information form The execution date and allocation time of the record data whose execution flag is not canceled are matched, and the allocation parking space number of the matching record data is obtained. The slot set to which the slot has been allocated ;

[0220] 555) Calculation The parking slot set of the time slot that can be allocated ,as follows:

[0221] ;

[0222] When the parking lot When there is data, the parking position will be The first data in the set is assigned to the variable parameter of the assigned parking space number , end the calculation and execute step 556); otherwise, return to step 552);

[0223] 556) Determine the allocation time variable parameters and assign parking stand number variable parameters Whether there is a value; if one parameter has no value, the operating unit is prompted that there is no allocable time or no allocable parking space; otherwise, execute step 56).

[0224] 56) From the arrival and departure route information database Get the entry and departure route set ;

[0225] The variable parameter of the parking bay number will be assigned , departure waypoints and approach and departure route information database in takeoff application drone mission information Match the starting point and the end point to obtain the arrival and departure route information database The data value of the specific route field in the entry and departure route set is assigned to the data value of the entry and departure route set. ;

[0226] 57) Modify the UAV mission declaration information form with the acquired data The matched records are fed back to the operating unit, ending the takeoff phase process.

[0227] Among them, UAV mission declaration information form The operation time in the table is modified to the take-off operation time requested in the take-off application type UAV mission information requested by the operating unit;

[0228] UAV Mission Declaration Information Form The execution flag in the table is changed to execution;

[0229] UAV mission declaration information form The actual parking stand number, actual use time, and actual arrival and departure routes in the table are assigned as , , .

[0230] 6) Verify the landing application drone mission information applied by the operator, and determine whether there are free time slots and free parking spaces at the take-off and landing field to provide guaranteed allocation based on the actual use time of the drone mission applied by the operator, and The arrival and departure route set is obtained, and the result is fed back to the operating unit, ending the allocation of arrival and departure routes and time slots in the landing application phase; specifically, it includes:

[0231] 61) Verify the landing application type drone mission information applied by the operator. The specific information fields include the operator, mission number, execution date, aircraft model, assigned parking position number, assigned time, take-off and landing category, actual use time, port waypoint, execution mark, and application landing operation time; if the verification fails, the reason for failure will be returned to the operator and the application process will be terminated; otherwise, execute step 62);

[0232] If one of the following verification steps is not met, it will be considered as failed. The specific verification steps include:

[0233] 611) Whether the actual usage time meets the standard can be used in time series requirements;

[0234] 612) Whether the takeoff and landing category is landing.

[0235] 62) The operating unit, mission number, execution date, aircraft type, assigned parking position number, assigned time, take-off and landing category in the UAV mission information of the landing application type are included in the UAV mission declaration information form. If the matched data is not unique, the operator is prompted that the landing information of the drone mission applied for this time is wrong, and the process ends; otherwise, the process goes to step 63);

[0236] 63) Determine the execution flag in the landing application type drone mission information. When the execution standard is to cancel the execution, select the drone mission declaration information table. Find the task record in the task record, modify the execution flag of the task record to cancel execution, and end; otherwise, execute step 64);

[0237] 64) Determine the UAV mission declaration information form Check whether the allocation time of the matching record in the table is equal to the actual use time in the landing application drone mission information. If they are equal, the variable parameter of the parking space number is allocated. , assign time variable parameters , execute step 66); otherwise, execute step 65);

[0238] 65) Recalculate the allocated time and assign the parking stand number based on the actual usage time;

[0239] 651) Recalculate the distribution time series ;

[0240] When the actual usage time is less than the allocated time, ,in, For actual usage time, for The minute value, ;

[0241] When the actual usage time is greater than the allocation time, the redundancy range [0, W] is defined according to the allocation time. ,in, ;

[0242] 652) Obtain the calculation distribution time series in sequence Internal data, assign the obtained calculation allocation time to the allocation time variable parameter , when all the data in the calculation allocation time series are acquired, execute step 655), otherwise, execute step 653);

[0243] 653) The execution date and allocation time variable parameters in the landing application type drone mission information applied by the operating unit UAV mission declaration information form The execution date and allocation time of the record data whose execution flag is not canceled are matched, and the allocation parking space number of the matching record data is obtained. The slot set to which the slot has been allocated ;

[0244] 654) Calculation The parking slot set of the time slot that can be allocated ,as follows:

[0245] ;

[0246] When the parking lot When there is data, the parking position will be The first data in the set is assigned to the variable parameter of the assigned parking space number , end the calculation and execute step 655); otherwise, return to step 652);

[0247] 655) Determine the allocation time variable parameters and assign parking stand number variable parameters Whether there is a value. If one parameter has no value, the operating unit is prompted that there is no allocable time or no allocable parking space; otherwise, execute step 66).

[0248] 66) From the arrival and departure route information database Get the entry and departure route set ;

[0249] The variable parameter of the parking bay number will be assigned , landing application type UAV mission information in the port waypoints and entry and departure route information database Match the terminal and starting points to obtain the arrival and departure route information database The data value of the specific route field in the entry and departure route set is assigned to the entry and departure route set. ;

[0250] 67) Modify the drone mission declaration information form with the acquired data The matched records are fed back to the operating unit, ending the landing phase process.

[0251] Among them, UAV mission declaration information form The operation time in the table is modified to the landing operation time requested in the landing application type UAV mission information requested by the receiving operation unit;

[0252] UAV mission declaration information form The execution flag in the table is changed to execution;

[0253] UAV mission declaration information form The actual parking stand number, actual use time, and actual arrival and departure routes in the table are assigned as , , .

[0254] The present invention has many specific application paths. The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements can be made without departing from the principle of the present invention. These improvements should also be regarded as the protection scope of the present invention.

Claims

1. A method for allocating entry and departure routes and time slots for a drone take-off and landing field, characterized in that: Here are the steps: 1) Establish a library of alternative corridors for drone arrival and departure; 2) According to the time interval of drones occupying parking spaces, calculate the standard available time series of each parking space and the time series that can be allocated during the mission declaration stage; 3) Receive the drone mission information reported by the operating unit, and determine whether the mission information is a plan report, take-off application or landing application based on the information format and content; if it is a plan report type drone mission, execute step 4); if it is a take-off application type drone mission, execute step 5); if it is a landing application type drone mission, execute step 6); 4) Verify the planned UAV mission information reported by the operator, determine whether there are free time slots and free parking spaces at the take-off and landing field and the landing time at the landing and landing field to provide guaranteed allocation, and obtain the entry and departure route set, and feed back the results to the operator, ending the allocation of entry and departure routes and time slots in the planned declaration stage; 5) Verify the take-off application type drone mission information applied by the operator, and determine whether there are idle time slots and idle parking spaces at the take-off and landing field to provide guaranteed allocation according to the actual use time of the drone mission applied by the operator, and obtain the entry and departure route set, and feedback the results to the operator, ending the allocation of entry and departure routes and time slots in the take-off application stage; 6) Verify the landing application type drone mission information applied by the operator, and determine whether there are idle time slots and idle parking spaces at the take-off and landing field to provide guaranteed allocation according to the actual use time of the drone mission applied by the operator, and obtain the entry and departure route set, and feedback the results to the operator, ending the allocation of entry and departure routes and time slots in the landing application stage; The step 1) specifically includes: 11) According to the right-hand traffic principle, a drone take-off and landing field is set up on the ground at a distance of D meters from the right side of the main flight route, where D is greater than the maximum horizontal safety distance between drones. 12) Set the route’s approach and departure waypoints; the specific setting methods are as follows: Arrival waypoint setting rules: Taking the route on the right side of the main flight route as the standard, the arrival waypoint is set at the position L meters away from the farthest parking position of the take-off and landing field in the horizontal direction. The vertical point between the arrival waypoint and the route on the left side of the main flight route is the arrival waypoint of the route on the left side of the main flight route; Rules for setting departure waypoints: The vertical point from each apron parking position to the route is the departure waypoint for the left route of the main flight route and the departure waypoint for the right route; 13) Divide the altitude H between the main flight route and the take-off and landing field into departure airspace and arrival airspace; the specific division method is as follows: The arrival airspace is located at the lower level, at an altitude of H1. According to the number of incoming drone flights, H1 is set to multiple flight altitude layers, dividing different arrival alternative corridors to fly to different parking positions; The departure airspace is located in the upper layer, with altitudes from H1 to H. H-H1 is greater than the maximum separation standard VSH of the vertical safety distance between drones. At least two flight altitude layers are reserved to divide different departure alternative corridors and provide them to the left and right routes of the departing drones respectively. 14) Set up a waiting area for incoming drones. The waiting area for incoming drones is used for drones to hover and wait when drones arrive in advance and there are no vacant parking spaces at the take-off and landing field. The setting rule for the waiting area for incoming drones is the airspace below the waypoints of the left and right routes of the main flight route; 15) Establish an entry and departure route information database DB1, save the planned arrival alternative corridor and departure alternative corridor in the entry and departure route information database DB1, and form a drone arrival alternative corridor database and a drone departure alternative corridor database. The specific field information includes: take-off and landing category, starting point, end point, and specific route; Among them, the take-off and landing categories are defined as: take-off or landing; The starting point and the ending point are as follows: when the take-off and landing category is take-off, the starting point indicates the parking position and the ending point indicates the departure point; when the take-off and landing category is landing, the starting point indicates the arrival point and the ending point indicates the parking position; The specific route is stipulated as follows: it is composed of key waypoints according to the sequence of the waypoints passed by the flight.

2. The method for allocating entry and departure routes and time slots of a drone take-off and landing field according to claim 1, characterized in that: The step 2) specifically includes: 21) The standard of parking spaces in each hour can be calculated based on the time interval of drones occupying parking spaces. The time series T B , T B ={(n-1)×t b |n=1,2,3,…,N B }, where t b Indicates the time interval for drones to occupy parking spaces. The time interval for drones to occupy parking spaces refers to the minimum safe time required by the apron to ensure that drones can use parking spaces and take-off and landing channels in an orderly manner; N B Indicates the maximum number of drones that can be guaranteed at the parking space per hour. INT(·) is the rounding function; 22) The set of take-off and landing field parking positions is {(S i |i=1,2,3,…,I}, where I is the number of parking spaces; the configuration parameter of each parking space is K, which is used to determine the available time sequence of each parking space when the drone mission is reported; The time sequence T of the mission declaration phase in which the available time parking slot is reserved can be allocated J ,as follows: T J ={(n-1)×Kt b |n=1,2,3,…,N J } in, The parking space can be allocated a time series set T during the mission declaration phase si ,as follows: Where I is the number of parking spaces, 1 n <I。​ 3. The method for allocating entry and departure routes and time slots of a drone take-off and landing field according to claim 2, characterized in that: The configuration parameter K of the parking space in step 22) is used to reserve the available time of some parking spaces which cannot be allocated during the mission declaration stage. When an emergency occurs, there are idle time slots and idle parking spaces at the take-off and landing field that can be used; when the configuration parameter K of the parking space is greater than 1, the available time is reserved for the parking space.

4. The method for allocating entry and departure routes and time slots of a drone take-off and landing field according to claim 1, characterized in that: The step 3) specifically includes: When the UAV mission information is a plan application, the specific data item format and content in the UAV mission information include: operating unit, mission number, execution date, aircraft model, application take-off and landing field number, application time, take-off and landing category, and operation time; When the UAV mission information is a take-off application, the specific data item format and content in the UAV mission information include: operating unit, mission number, execution date, aircraft type, assigned parking stand number, assigned time, take-off and landing category, actual use time, departure waypoint, execution mark, and application take-off operation time; When the UAV mission information is a landing application, the specific data item format and content in the UAV mission information include: operating unit, mission number, execution date, aircraft model, assigned parking position number, assigned time, take-off and landing category, actual use time, approach waypoint, execution mark, and application for landing operation time.

5. The method for allocating entry and departure routes and time slots for a drone take-off and landing field according to claim 1, characterized in that: The step 4) specifically includes: 41) Establish the UAV mission declaration information table DB2, whose specific field information includes: operating unit, mission number, execution date, aircraft model, application take-off and landing field number, application time, take-off and landing category, allocated parking space number, allocated time, entry and departure route, actual parking space number used, actual use time, actual entry and departure route, execution sign, and operation time; 42) Verify the planned UAV mission information reported by the operator, and the specific information fields include: operator, mission number, execution date, aircraft model, application take-off and landing field number, application time, take-off and landing category, and operation time; if the verification fails, the reason for failure is returned to the operator and the process ends; otherwise, execute step 43); When verifying the planned drone mission information, if one of the verification items does not meet the requirements, it will be considered as failed. The specific verification methods include: Whether the operating unit is an entity with declaration authority; Define the minimum advance declaration time parameter T ss , determine whether the execution date meets T ss The advance requirement is whether the execution date minus the operation time is greater than T ss ; Whether the drone model meets the support capability range of the drone take-off and landing site; Whether the landing and take-off airport number applied for is the current landing and take-off airport; Whether the application time meets the standard can be measured using the time series T B requirements; 43) Calculate the allocated time slot and allocated parking stand number, and obtain the arrival and departure route set A from the arrival and departure route information database DB1 r ; 44) The acquired data is stored in the UAV mission declaration information table DB2, and the results are fed back to end the declaration phase process.

6. The method for allocating entry and departure routes and time slots for a drone take-off and landing field according to claim 5, characterized in that: The step 43) specifically includes: 431) According to the defined allocation time redundancy range [0,W], establish the calculation allocation time series T F , T F ={MIN(T S )+n×t b |n=0,1,2,3,…,N F },in, T S is the application time in the UAV mission information, MIN(T S ) is T S The minute value of 432) Obtain the calculation and allocation time series T in sequence F The data in the calculation allocation time is assigned to the allocation time variable parameter V t , when all the data in the calculation allocation time series are acquired, execute step 436), otherwise, execute step 433); 433) will assign the time variable parameter V t The time series set T that can be allocated to the parking space in the mission declaration stage si Match and get V t The set of parking slots that are expected to be allocated at a certain time as follows: When the parking lot When , execute step 434); otherwise, return to step 432); 434) The execution date and allocation time variable parameters V in the planned reporting type UAV mission information reported by the operating unit t The execution date and allocation time are matched with the execution flag of the record data in the UAV mission declaration information table DB2, and the allocation parking position number of the matching record data is obtained to obtain V t The slot set to which the slot has been allocated 435) Calculate V t The parking space set S that can be allocated at a certain time vt : and When the parking space set S vt When there is data, the parking position set S vt The first data in the set is assigned to the variable parameter V of the assigned parking position number. St , end the calculation and execute step 436); otherwise, return to step 432); 436) Determine the allocation time variable parameter V t and assign parking stand number variable parameter V St Whether there is a value; if one parameter has no value, the operating unit is prompted that there is no allocated time or no allocated parking space, and the process ends; otherwise, the process proceeds to step 437); 437) Obtain the arrival and departure route set A from the arrival and departure route information database DB1 r ; When the take-off and landing category in the planned UAV mission information reported by the operator is take-off, the parking space number variable parameter V will be assigned St Match the starting point with the arrival and departure route information database DB1, obtain the data value of the specific route field in the arrival and departure route information database DB1, and assign the data value to the arrival and departure route set A r ; When the take-off and landing category in the planned UAV mission information reported by the operator is landing, the parking space number variable parameter V will be assigned St Match the end point in the arrival and departure route information database DB1 to obtain the data value of the specific route field in the arrival and departure route information database DB1, and assign the data value to the arrival and departure route set A r .

7. The method for allocating entry and departure routes and time slots for a drone take-off and landing field according to claim 1, characterized in that: The step 5) specifically includes: 51) Verify the take-off application type UAV mission information applied by the operating unit, the specific information fields include the operating unit, mission number, execution date, model, assigned parking position number, assigned time, take-off and landing category, actual use time, departure waypoint, execution mark, and application take-off operation time; when the verification fails, the failure reason is returned to the operating unit and the process ends; otherwise, execute step 52); When verifying the takeoff application drone mission information, if one of the verification items does not meet the requirements, it will be considered as failed. The specific verification methods include: Define the minimum advance application time parameter T ds , determine whether the actual use time minus the take-off application time is greater than the minimum advance time parameter T ds ; Whether the actual usage time meets the standard can be measured using the time series T B requirements; Whether the take-off and landing category is take-off; 52) Match the operating unit, mission number, execution date, aircraft type, assigned parking space number, assigned time, take-off and landing category in the take-off application type UAV mission information applied by the operating unit with the corresponding fields in the UAV mission declaration information table DB2. If the matched data is not unique, the operating unit is prompted that the UAV mission take-off information applied for this time is wrong, and the process ends; otherwise, execute step 53); 53) Determine the execution flag in the takeoff application type UAV task information. When the execution flag is cancel execution, find the task record from the UAV task declaration information table DB2, modify the execution flag of the task record to cancel execution, and end; otherwise, execute step 54); 54) Determine whether the allocation time of the matching record in the UAV mission declaration information table DB2 is equal to the actual use time in the take-off application type UAV mission information. If they are equal, allocate the parking space number variable parameter V St = Assign parking position number, assign time variable parameter V t =actual usage time, execute step 56); otherwise, execute step 55); 55) Recalculate the allocated time slot and allocated parking stand number according to the actual usage time; 56) Obtain the arrival and departure route set A from the arrival and departure route information database DB1 r ; The variable parameter V will be assigned the parking space number St , match the departure waypoint in the takeoff application drone mission information with the starting point and the end point in the entry and departure route information database DB1, obtain the data value of the specific route field in the entry and departure route information database DB1, and assign the data value to the entry and departure route set A r ; 57) The acquired data is used to modify the matched records in the UAV mission declaration information table DB2, and the results are fed back to the operating unit, ending the take-off phase process.

8. The method for allocating entry and departure routes and time slots for a drone take-off and landing field according to claim 7, characterized in that: The step 55) specifically includes: 551) Recalculate the distribution time series T F ; When the actual usage time is less than the allocation time, T F ={MIN(T SD )}, where T SD is the actual usage time, MIN(T SD ) is T SD The minute value of When the actual usage time is greater than the allocation time, according to the defined allocation time redundancy range [0, W], T F ={MIN(T SD )+n×t b |n=0,1,2,3,…,N F },in, 552) Obtain the calculation and allocation time series T in sequence F The internal data is assigned to the obtained calculation allocation time to the allocation time variable parameter V t , when all the data in the calculation allocation time series are acquired, execute step 556); otherwise, execute step 553); 553) will assign the time variable parameter V t The time series set T that can be allocated to the parking space in the mission declaration stage si Match and get V t The set of parking spaces that are expected to be allocated at a certain time as follows: When the parking lot If there is data, execute step 554); otherwise, return to step 552); 554) The execution date and allocation time variable parameters V in the take-off application type UAV mission information applied by the operating unit t The execution date and allocation time are matched with the execution flag of the record data in the UAV mission declaration information table DB2, and the allocation parking position number of the matching record data is obtained to obtain V t The slot set to which the slot has been allocated 555) Calculate V t The parking space set S that can be allocated at a certain time vt ,as follows: When the parking space set S vt When there is data, the parking position set S vt The first data in the set is assigned to the variable parameter V of the assigned parking position number. St , end the calculation and execute step 556); otherwise, return to step 552); 556) Determine the allocation time variable parameter V t and assign parking stand number variable parameter V St Whether there is a value; if one parameter has no value, the operating unit is prompted that there is no allocable time or no allocable parking space; otherwise, execute step 56).

9. The method for allocating entry and departure routes and time slots for a drone take-off and landing field according to claim 1, characterized in that: The step 6) specifically includes: 61) Verify the landing application type UAV mission information applied by the operating unit, the specific information fields include the operating unit, mission number, execution date, model, assigned parking position number, assigned time, take-off and landing category, actual use time, port waypoint, execution mark, and application landing operation time; when the verification fails, the failure reason is returned to the operating unit and the process ends; otherwise, execute step 62); When verifying the landing application drone mission information, if one of the verification items does not meet the requirements, it will be considered as failed. The specific verification methods include: Whether the actual usage time meets the standard can be measured using the time series T B requirements; Whether the take-off and landing category is landing; 62) Match the operating unit, mission number, execution date, aircraft type, assigned parking space number, assigned time, take-off and landing category in the applied landing application type drone mission information with the corresponding fields in the drone mission declaration information table DB2. If the matched data is not unique, the operating unit is prompted that the drone mission landing information applied for this time is wrong, and the process ends; otherwise, execute step 63); 63) Determine the execution flag in the landing application drone mission information. When the execution standard is to cancel the execution, find the mission record from the drone mission declaration information table DB2, modify the execution flag of the mission record to cancel the execution, and end; otherwise, execute step 64); 64) Determine whether the allocation time of the matching record in the UAV mission declaration information table DB2 is equal to the actual use time in the landing application type UAV mission information. If they are equal, allocate the parking space number variable parameter V St = Assign parking position number, assign time variable parameter V t =actual usage time, execute step 66); otherwise, execute step 65); 65) Recalculate the allocated time slot and allocated parking stand number according to the actual usage time; 66) Obtain the arrival and departure route set A from the arrival and departure route information database DB1 r ; The variable parameter V will be assigned the parking space number St , the landing application type UAV mission information in the port waypoints and the end point and the starting point in the entry and departure route information database DB1 are matched, and the data value of the specific route field in the entry and departure route information database DB1 is obtained, and the data value is assigned to the entry and departure route set A r ; 67) The acquired data is used to modify the matched records in the UAV mission declaration information table DB2, and the results are fed back to the operating unit, ending the landing phase process.

10. The method for allocating entry and departure routes and time slots for a drone take-off and landing field according to claim 9, characterized in that: The step 65) specifically includes: 651) Recalculate the distribution time series T F ; When the actual usage time is less than the allocation time, T F ={MIN(T SD )+n×t b |n=0,1,2,3,…,N F }, where T SD is the actual usage time, MIN(T SD ) is T SD The minute value, When the actual usage time is greater than the allocation time, according to the defined allocation time redundancy range [0, W], T F ={MIN(T SD )+n×t b |n=0,1,2,3,…,N F },in, 652) Obtain the calculation and allocation time series T in sequence F The internal data is assigned to the obtained calculation allocation time as the allocation time variable parameter V t , when all the data in the calculation allocation time series are acquired, execute step 655), otherwise, execute step 653); 653) The execution date and allocation time variable parameters V in the landing application type UAV mission information applied by the operating unit t The execution date and allocation time are matched with the execution flag of the record data in the UAV mission declaration information table DB2, and the allocation parking position number of the matching record data is obtained to obtain V t The slot set to which the slot has been allocated 654) Calculate V t The parking space set S that can be allocated at a certain time vt ,as follows: When the parking space set S vt When there is no data, the parking position set S vt The first data in the set is assigned to the variable parameter V of the assigned parking position number. St , end the calculation and execute step 655); otherwise, return to step 652); 655) Determine the allocation time variable parameter V t and assign parking stand number variable parameter V St Whether there is a value. If one parameter has no value, the operating unit is prompted that there is no allocable time or no allocable parking space; otherwise, execute step 66).

Images