Fusion operation method, system and equipment for multi-operator and multi-priority unmanned aerial vehicles

Abstract

The invention aims to provide a multi-operator multi-priority unmanned aerial vehicle fusion operation method, system and equipment, and the method comprises the steps: classifying the strategic flight plan of an unmanned aerial vehicle submitted by each operator end through a public service platform, and feeding back a content result to the operator end; the public service platform adjusts a calculation task after receiving a calculation application of a pre-tactical flight plan submitted by the operator side; the operator side receives a calculation task notification fed back by the public service platform, formulates a new pre-tactical flight plan according to the content result and the priority of the task of the operator side, and submits a verification application to the public service platform; and the public service platform verifies the new pre-tactical flight plan and feeds back a verification result to the operator side, and the operator side notifies to execute the new pre-tactical flight plan according to the verification result. The method not only improves the utilization efficiency of the airspace, but also ensures the safety and predictability of the flight task of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present application relates to the field of drone technology, and in particular to a method, system and device for integrated operation of multi-operator and multi-priority drones. Background Art

[0002] In the current drone airspace management, multiple operators' flight missions and other emergency flight missions often use the same low-altitude airspace at the same time, which brings great challenges to the rational allocation of airspace resources. For the situation where multiple types of missions use the same airspace, the existing management methods usually lack comprehensive consideration of the priority of spatiotemporal resource allocation. In reality, different types of missions have different tendencies in spatiotemporal resource allocation due to their different urgency and nature. However, the lack of a systematic priority mechanism to reasonably allocate these resources will lead to inefficient resource allocation and frequent conflicts in airspace use. Summary of the invention

[0003] One purpose of the present application is to provide a method, system and equipment for the integrated operation of multi-operator and multi-priority drones to solve the problem that the existing management method cannot reasonably allocate resources, resulting in inefficient resource allocation and frequent conflicts in airspace use.

[0004] According to one aspect of the present application, a method for integrated operation of multi-operator multi-priority drones is provided, the method comprising: The public service platform classifies the strategic flight plan of each drone submitted by the operator and feeds back the content results to the operator, wherein the content results include the operation category to which the strategic flight plan belongs and the priority information in the application; The public service platform adjusts the calculation task after receiving the calculation application of the pre-tactical flight plan submitted by the operator; The operator receives the calculation task notification from the public service platform, formulates a new pre-tactical flight plan based on the results and the priority of its own tasks, and submits a verification application to the public service platform; The public service platform verifies the new pre-tactical flight plan and feeds back the verification results to the operator. The operator then notifies the execution of the new pre-tactical flight plan based on the verification results.

[0005] Optionally, the public service platform categorizes the strategic flight plan of each drone submitted by the operator, including: The public service platform extracts the time range and flight airspace information of the strategic flight plan of each drone submitted by the operator; The strategic flight set is classified into a collaborative class and an isolated class according to the time range and flight airspace information of the strategic flight plan.

[0006] Optionally, after receiving the calculation application for the pre-tactical flight plan submitted by the operator, the public service platform adjusts the calculation task, including: The public service platform receives the calculation application for the pre-tactical flight plan submitted by the operator, queues or sorts the calculation tasks according to the priority information in the calculation application, and sends calculation task notifications to the corresponding operator according to the sorting.

[0007] Optionally, the public service platform receives a calculation application for a pre-tactical flight plan submitted by an operator, queues or sorts the calculation tasks according to the priority information in the calculation application, and sends a calculation task notification to a corresponding operator according to the sorting, including: After receiving the calculation application of the pre-tactical flight plan submitted by the operator, the public service platform determines the operation category to which the pre-tactical flight plan of the calculation application belongs, wherein the operation category includes isolation category and collaboration category; If the operation category of the pre-tactical flight plan applied for calculation is collaborative, it is determined whether there are other plans in the queue. If not, a notification of the calculation task is sent to the operator. If so, the priority of the plan in the queue is compared with the priority information in the calculation application to determine whether there is at least one plan in the queue with a higher priority than the priority in the calculation application. If not, a notification of the calculation task is sent to the operator. If so, the calculation task is queued or sorted according to the result of the comparison of the priority information, and a notification of the calculation task is sent to the operator according to the first priority plan; If the operation category of the pre-tactical flight plan to which the calculation application belongs is the isolation category, a notification for the calculation task will be sent directly to the operator.

[0008] Optionally, the operator receives the calculation task notification fed back by the public service platform, and formulates a pre-tactical flight plan according to the content result and the priority of its own task, including: The operator receives the calculation task notification fed back by the public service platform and confirms whether it is the pre-tactical flight plan application submitted by itself. If so, a new pre-tactical flight plan is formulated according to the content results and the priority of its own task.

[0009] Optionally, a new pre-tactical flight plan is formulated based on the content results and the priority of the own mission, including: The operator obtains all currently activated pre-tactical flight plans from the public service platform; A new pre-tactical flight plan is formulated according to all currently activated pre-tactical flight plans, the content results and the priority of the own task.

[0010] Optionally, the public service platform verifies the new pre-tactical flight plan and feeds back the verification results to the operator, including: The public service platform verifies the unique identity of the new pre-tactical flight plan; When the identity verification is passed, determining whether the submitted new pre-tactical flight plan is a priority plan, and if not, activating the new pre-tactical flight plan; The public service platform performs route deviation checks and space-time conflict checks on the activated new pre-tactical flight plan.

[0011] Optionally, determining whether the submitted new pre-tactical flight plan is a priority plan includes: If the submitted new pre-tactical flight plan is a priority plan, determining from the activated pre-tactical flight plans the unique identifier of the activated pre-tactical flight plan that conflicts with the new pre-tactical flight plan; A cancellation notification is sent to the corresponding operator end according to the unique identity of the conflicting activated pre-tactical flight plan.

[0012] According to another aspect of the present application, a system for integrated operation of multi-operator multi-priority drones is also provided, the system comprising: a public service platform, at least one operator terminal; The public service platform is used to classify the strategic flight plan of the UAV submitted by each operator, and feed back the content results to the operator, wherein the content results include the operation category to which the strategic flight plan belongs and the priority information in the application; The public service platform is used to adjust the calculation task after receiving the calculation application of the pre-tactical flight plan submitted by the operator; The operator end is used to receive the calculation task notification fed back by the public service platform, formulate a new pre-tactical flight plan according to the content result and the priority of its own task, and submit a verification application to the public service platform; The public service platform is used to verify the new pre-tactical flight plan and feed back the verification result to the operator; The operator end is used to notify the execution of a new pre-tactical flight plan according to the verification result.

[0013] According to another aspect of the present application, a device for integrated operation of multi-operator multi-priority drones is also provided, the device comprising: one or more processors; and A memory storing computer readable instructions, which, when executed, cause the processor to perform the operations of the method as described above.

[0014] According to another aspect of the present application, a computer-readable medium is provided, on which computer-readable instructions are stored. The computer-readable instructions can be executed by a processor to implement the method described above.

[0015] Compared with the prior art, this application classifies the strategic flight plan of each drone submitted by the operator through the public service platform, and feeds back the content results to the operator, wherein the content results include the operation category to which the strategic flight plan belongs and the priority information in the application; the public service platform adjusts the calculation task after receiving the calculation application of the pre-tactical flight plan submitted by the operator; the operator receives the calculation task notification fed back by the public service platform, formulates a new pre-tactical flight plan according to the content results and the priority of its own task, and submits a verification application to the public service platform; the public service platform verifies the new pre-tactical flight plan, feeds back the verification results to the operator, and the operator notifies the execution of the new pre-tactical flight plan according to the verification results. It realizes the allocation of spatiotemporal resources according to the priority of tasks, ensuring that different types of tasks can obtain flight operation services and spatiotemporal resources at the corresponding time according to the urgency and nature of the tasks. It not only improves the utilization efficiency of airspace, but also ensures the safety and predictability of drone flight missions. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings: Figure 1 A schematic flow chart of a method for integrated operation of multi-operator multi-priority UAVs provided according to one aspect of the present application is shown; Figure 2 A schematic diagram showing a method flow chart of pre-tactical flight plan application calculation in one embodiment of the present application; Figure 3 A schematic diagram of a method flow chart for pre-tactical flight plan submission verification in a specific embodiment of the present application is shown; Figure 4 A schematic diagram of the structure of a system for integrated operation of multi-operator and multi-priority drones provided according to another aspect of the present application is shown.

[0017] The same or similar reference numerals in the drawings represent the same or similar components. DETAILED DESCRIPTION

[0018] The present application is described in further detail below in conjunction with the accompanying drawings.

[0019] In a typical configuration of the present application, the terminal, the device of the service network and the trusted party all include one or more processors (eg, a central processing unit (CPU)), an input / output interface, a network interface and a memory.

[0020] Memory may include non-permanent storage in a computer-readable medium, in the form of random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0021] Computer readable media include permanent and non-permanent, removable and non-removable media that can be used to store information by any method or technology. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, Phase-Change RAM (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of random access memory (RAM), Read-Only Memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Flash memory or other memory technology, Compact Disc Read-Only Memory (CD-ROM), Digital Versatile Disk (DVD) or other optical storage, cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. According to the definition in this article, computer-readable media does not include non-transitory media such as modulated data signals and carrier waves.

[0022] This application proposes a method for the integrated operation of multi-operator multi-priority drones, which is suitable for the low-altitude operation of multi-operators and multi-type flight activities. It is a method for optimizing drone flight plans and airspace use rights allocation, and is suitable for scenarios of multi-operators and multi-type drone flight missions in low-altitude areas. This method relies on a public service platform to achieve real-time data sharing, provide comprehensive services and effective management for each operator, support the formulation of flight plans and the reasonable allocation of airspace use rights, especially in the case of limited resources, to ensure that different types of tasks can obtain corresponding priority services and airspace resources according to their urgency and nature of the task.

[0023] Figure 1 A schematic flow chart of a method for integrated operation of multi-operator multi-priority UAVs provided according to one aspect of the present application is shown, the method comprising: steps S11 to S14, wherein: Step S11, the public service platform classifies the strategic flight plan of each drone submitted by the operator end, and feeds back the content results to the operator end, wherein the content results include the operation category to which the strategic flight plan belongs and the priority information in the application; here, a public service platform is established, which connects to each operator system, connects airspace data, route data, strategic flight plan data, pre-tactical flight plan data and flight data of each drone, etc., realizes the collection, fusion and processing of data between systems, and provides airspace data services, route data services, strategic flight plan data services, pre-tactical flight plan data services and drone flight data services to operators. The operator end is the device end where the operator system is located. Each operator end submits the relevant data of its drone to the public service platform, including the submitted strategic flight plan, which is a rough flight plan. The public service platform classifies the received strategic flight plans, and feeds back to the operator the classification results and related information such as whether there are other higher priority strategic flight plan applications for the airspace applied for use in this flight plan during the application period as content results. The priority information in the application includes the judgment of whether there are other higher priority activities in the application. Whether there are other higher priority activities in the application refers to whether the flight plan applications submitted by different operators received by the public service platform are marked with some other higher priority activities, such as medical disaster relief flight plans.

[0024] Step S12, after receiving the calculation application of the pre-tactical flight plan submitted by the operator, the public service platform will adjust the calculation task of the time and space occupation of the flight plan; here, after receiving the content results fed back by the public service platform, the operator will submit the calculation application of the pre-tactical flight plan to the public service platform. The pre-tactical flight plan refers to the initial flight plan assigned to the UAV by the operator according to the flight activity requirements. The pre-tactical flight plan includes the four-dimensional track of the UAV flight, the safety protection space and other information, and stipulates the longitude, latitude, altitude and corresponding time information of the reference position based on which the UAV performs the mission, as well as the protection space of the UAV, and serves as part of the determination of the safety interval of the UAV. The operator connects to the public service platform to obtain the four-dimensional track flight plan of the aircraft activated in the entire domain, where the activated four-dimensional track flight plan includes the flight activities being carried out and the flight activities that have been approved by the public service platform and can be carried out. The operator adjusts the pre-tactical flight plan according to the activated four-dimensional trajectory flight plan to obtain conflict-free space-time resources; the public service platform and the operator coordinate the allocation of space-time resources according to the priority of the flight mission, thereby ensuring flight safety and effective management of air traffic and avoiding trajectory conflicts between different drones.

[0025] In step S13, the operator receives the calculation task notification fed back by the public service platform, formulates a new pre-tactical flight plan according to the content results and the priority of its own tasks, and submits a verification application to the public service platform; here, after the public service platform calculates and allocates the received pre-tactical flight plan, it sends a calculation task notification to the operator, informing the operator that resources have been allocated for the UAV corresponding to the operator. The operator formulates a new pre-tactical flight plan according to the message fed back by the public service platform and the previous content and combined with its own priority, that is, adjusts the preliminary flight plan, and submits it to the public service platform for verification after adjustment.

[0026] Step S14, the public service platform verifies the new pre-tactical flight plan and feeds back the verification result to the operator side, and the operator side notifies the execution of the new pre-tactical flight plan according to the verification result. Here, the public service platform verifies the new pre-tactical flight plan submitted by the operator side and notifies the operator side of the verification result, so as to facilitate the operator side to execute the new pre-tactical flight plan or cancel the flight plan or perform emergency processing.

[0027] In some embodiments of the present application, in step S11, the public service platform extracts the time range and flight airspace information of the strategic flight plan of each drone submitted by the operator; the strategic flight set is classified into collaborative and isolated categories according to the time range and flight airspace information of the strategic flight plan. Here, the method described in the present application includes two stages, namely the strategic stage and the pre-tactical stage; in the strategic stage, the operator submits the strategic flight plan, and the pre-tactical stage includes two steps, namely the pre-tactical flight plan application calculation and the pre-tactical flight plan submission verification.

[0028] The time range of the strategic stage is the day before the flight. The operator needs to submit a strategic flight plan to the public service platform. The strategic flight plan is a rough flight plan that specifies the time range for takeoff the next day and the flight airspace and other information. The public service platform classifies the strategic flight plan according to its time range and flight airspace, and divides it into collaborative and isolated categories. The collaborative category means that in the flight airspace, the strategic flight plan has overlapping trajectories with the flight plans submitted by all operators except the strategic flight plan. The opposite of the collaborative category is the isolated category, which means that in the flight airspace, the strategic flight plan does not have overlapping trajectories with the strategic flight plans submitted by other operators. The specific steps of the strategic stage are as follows: First, as the main body of the flight activity, the UAV operator submits its strategic flight plan to the public service platform in accordance with the established procedures. The public service platform also provides a feedback function for the status of the strategic flight plan. The public service platform sets the deadline for submitting the strategic flight plan every day (such as until a certain time point on the day). When the deadline is reached, the public service platform will begin to analyze and classify the submitted strategic flight plans, and divide each plan into collaborative or isolated categories. The public service platform will promptly notify the drone operator of the results, and return the strategic flight plan type, including whether there are other priority activities in the application, to help the operator understand the operation plan and better formulate the flight plan for the pre-tactical stage according to the priority of its own tasks to ensure the smooth progress of flight activities. The time range of the pre-tactical stage is a short period of time before the drone performs the mission. At this time, the operator needs to allocate an initial pre-tactical flight plan for the drone. The pre-tactical flight plan contains information such as the flight track and safety protection space of the drone, and stipulates the longitude, latitude, altitude and corresponding time information of the reference position based on which the drone performs the mission, as well as the protection space of the drone, and serves as part of the determination of the safety interval of the drone. The flight plan in the pre-tactical stage is the time and space occupancy information of the drone when it actually performs the flight. By using the information interaction of the flight plan in the pre-tactical stage and considering the priority of each task, the pre-flight situation sharing and plan deployment of multiple operators can be realized. The specific process of the pre-tactical stage can be divided into two parts: pre-tactical flight plan application calculation and pre-tactical flight plan submission verification.

[0029] This application implements the allocation of space-time resources according to task priorities by establishing priority parameters in the UAV flight plan, ensuring that different types of tasks can obtain flight operation services and space-time resources in a corresponding time according to their urgency and nature.

[0030] When developing the corresponding pre-tactical flight plan, the collaborative type needs to consider the mission priority and allocate resources to the higher priority missions in advance to avoid the possibility of conflict in the trajectory of the pre-tactical flight plan. In the absence of special flight missions, the trajectory of the pre-tactical flight plan corresponding to the isolation type will not conflict with others. The operator can flexibly plan the trajectory of the flight activities for which he is responsible and develop the corresponding pre-tactical flight plan.

[0031] In some embodiments of the present application, in step S12, the public service platform receives the calculation application of the pre-tactical flight plan submitted by the operator, queues or sorts the calculation tasks according to the priority information in the calculation application, sends a calculation task notification to the corresponding operator according to the sorting, and waits for the accurate calculation of the pre-tactical flight plan. Here, the public service platform obtains the priority level of the flight plan by analyzing the priority index of the pre-tactical flight plan, and queues the calculation task of the pre-tactical flight plan currently applied to the calculation task in the queue according to the priority level, or queues it in order. For example, the calculation task of the pre-tactical flight plan is queued to the third place in the current queue, or the priority of the calculation task of the pre-tactical flight plan is the highest, then it is ranked at the front of the queued calculation tasks, and the calculation of the pre-tactical flight plan is notified first.

[0032] Specifically, after receiving the calculation application of the pre-tactical flight plan submitted by the operator, the public service platform determines the operation category of the pre-tactical flight plan of the calculation application, wherein the operation categories include isolation and collaboration; if the operation category of the pre-tactical flight plan of the calculation application is collaboration, determine whether there are other plans in the queue, if not, send a notification of the calculation task to the operator; if so, compare the priority of the plan in the queue with the priority information in the calculation application to determine whether there is at least one plan in the queue with a higher priority than the priority in the calculation application, if not, send a notification of the calculation task to the operator, if so, queue or sort the calculation task according to the result of the comparison of the priority information, and send a notification of the calculation task to the operator according to the first priority plan; if the operation category of the pre-tactical flight plan of the calculation application is isolation, send a notification of the calculation task directly to the operator, that is, the operator performs autonomous calculation. Here, Figure 2As shown, the operator submits a calculation application to the public service platform, and the public service platform determines whether the operation category of the plan in the calculation application is isolation or collaboration. When it is isolation, autonomous calculation can be performed directly, where autonomous calculation means directly notifying the operator to perform the calculation without waiting in line; when it is collaboration, it is determined whether there are other plans in the queue. If so, a plan priority comparison is performed, that is, the priorities of all plans in the queue are compared with the priority of the pre-tactical flight plan currently submitted. If the pre-tactical flight plan has the highest priority, the calculation notification is performed. If it is not the highest, the queue is jumped or queued according to the priority parameter, and the calculation is notified according to the first-priority plan, that is, the calculation is notified in the sorted order.

[0033] Specifically, the following steps may be included: Step 1: After receiving the calculation application of the pre-tactical flight plan submitted by the operator, the public service platform determines whether the pre-tactical flight plan for calculation is a collaborative type. If so, it proceeds to step 2; if not, it performs autonomous calculation; Step 2: Determine whether there is a priority plan being calculated or queued. If so, add it to the queue. If not, send a notification of the calculation task to the operator and proceed to step 3. Step 3, obtaining the next pre-tactical flight plan to be calculated according to a predetermined queuing priority rule, wherein the predetermined queuing priority rule is determined according to the priority, type and submission time of the pre-tactical flight plan; Step 4, determine whether there is a pre-tactical flight plan being calculated, if so, proceed to step 5, if not, send a calculation task notification to the operator and proceed to step 3; Step 5, determine whether there is a priority plan being calculated or queued, if so, wait for a specified time and then proceed to step 4, if not, proceed to step 6; Step 6, determining whether the pre-tactical flight plan obtained in step 3 is of the isolation type, if so, sending a calculation task notification to the operator side and entering step 3, if not, waiting for a specified time and entering step 4.

[0034] The operator obtains all activated pre-tactical flight plans, and calculates a new pre-tactical flight plan without conflict based on the current available airspace resources and the time and space occupancy of all UAVs operating in the airspace according to the operational requirements; the pre-tactical flight plan also contains a priority index, and the public service platform obtains the priority level of this flight plan by analyzing the priority index of the pre-tactical flight plan. For example, flight missions used for medical relief have the highest priority. It mainly includes the following steps: Submitting a calculation application, the calculation application of the pre-tactical flight plan submitted by the operator includes the operator setting a corresponding flag in the priority field of the flight plan. Here, the operator needs to set a corresponding flag in the priority field of the flight plan according to the nature of the task. The priority field ranges from 0 to 9. The larger the value of the priority field, the more urgent the task. By comparing the priority field, the priority of different flight activities can be determined.

[0035] Determine whether the pre-tactical flight plan submitted for calculation application is of collaborative type. If not, calculate autonomously. If so, determine whether there is a priority plan being calculated or queued. If so, add it to the queue. If not, issue a calculation notification. The applied pre-tactical flight plan can be calculated, and the next pre-tactical flight plan to be calculated is obtained according to the following queue priority: priority from high to low, isolation type is higher than collaborative type, and application time is from early to late. Determine whether there is a pre-tactical flight plan being calculated. If not, issue a calculation notification. The pre-tactical flight plan to be calculated obtained in the above steps can be calculated. If so, continue to determine whether there is a priority plan being calculated or queued. If so, wait for several seconds, and then re-determine whether there is a priority plan being calculated or queued. If not, determine whether the pre-tactical flight plan to be calculated obtained in the above steps is of isolation type. If so, issue a calculation notification. The obtained pre-tactical flight plan to be calculated can be calculated. If not, wait for several seconds, and then continue to determine whether there is a pre-tactical flight plan being calculated.

[0036] Through the above process, the drone airspace management system realizes the following important functions: 1) Priority processing of priority tasks. The system ensures that priority tasks (such as emergency rescue tasks) have the highest priority in the calculation process and will not be affected by other flight plans; the priority use rights of these tasks in the airspace are fully guaranteed, thereby ensuring the flight safety of priority plans.

[0037] 2) Efficient processing of isolation plans. In the absence of priority plans, isolation tasks can directly notify operators to perform calculations without waiting in line; this mechanism effectively reduces the waiting time for isolation tasks and improves overall calculation efficiency.

[0038] 3) Independent calculation of collaborative tasks. For collaborative tasks, the system ensures that only one collaborative flight plan is calculated at a certain point in time; this processing method avoids potential conflicts among multiple tasks in the same airspace and ensures the safety and independence of the flight plan.

[0039] 4) Dynamic queuing mechanism. The queuing logic is dynamically adjusted according to the priority, type and submission time of the flight plan, ensuring the flexibility and efficiency of the system in handling multiple tasks.

[0040] Through the above processes and functions, the drone airspace management system can effectively manage and calculate various flight plans in a complex airspace environment. This not only improves the efficiency of airspace utilization, but also ensures the safety and independence of various tasks, providing a strong guarantee for the safe flight of drones.

[0041] In some embodiments of the present application, in step S13, the operator receives the calculation task notification fed back by the public service platform, confirms whether it is the pre-tactical flight plan application submitted by itself, and if so, formulates a new pre-tactical flight plan according to the content results and the priority of its own task. Here, after the application calculation phase is completed, the operator will receive a calculation notification issued by the public service platform, and the operator needs to confirm whether it is the pre-tactical flight plan application submitted by itself, and if so, formulates a new pre-tactical flight plan according to the content results and the priority of its own task, and if not, the process ends.

[0042] Continuing with the above embodiment, when the operator confirms that the pre-tactical flight plan application is submitted by himself, the operator obtains all currently activated pre-tactical flight plans from the public service platform; and formulates a new pre-tactical flight plan based on all currently activated pre-tactical flight plans, the content results, and the priority of its own tasks. Here, the full pre-tactical flight plan is obtained, and the operator obtains all currently activated pre-tactical flight plans from the public service platform, and then formulates a new pre-tactical flight plan based on the obtained full pre-tactical flight plan combined with the content results fed back by the public service platform and the priority of its own tasks.

[0043] In some embodiments of the present application, in step S14, the public service platform verifies the unique identity of the new pre-tactical flight plan; when the identity verification is passed, it is determined whether the submitted new pre-tactical flight plan is a priority plan, if not, the new pre-tactical flight plan is activated; the public service platform performs route deviation verification and space-time conflict verification on the activated new pre-tactical flight plan. Here, the operator submits the formulated new pre-tactical flight plan to the public service platform, and the public service platform verifies it according to the unique identity of the new pre-tactical flight plan. When the verification is passed, it is determined whether the submitted new pre-tactical flight plan is a priority plan. If not, the new pre-tactical flight plan is activated, and the activated new pre-tactical flight plan continues to be verified, including route deviation verification and space-time conflict verification. After the verification is completed, a verification notification is issued, and the operator determines whether the verification is passed after receiving the verification notification.

[0044] Continuing with the above embodiment, if the submitted new pre-tactical flight plan is a priority plan, the unique identification of the activated pre-tactical flight plan that conflicts with the new pre-tactical flight plan is determined from the activated pre-tactical flight plans; and a cancellation notice is sent to the corresponding operator end according to the unique identification of the conflicting activated pre-tactical flight plan. Here, the priority plan is a plan with a higher priority than other ordinary flight plans. If the submitted new pre-tactical flight plan is a priority plan, the unique identifications of all activated pre-tactical flight plans that conflict with the new pre-tactical flight plan are obtained, and a pre-tactical flight plan cancellation notice is sent to the relevant operator, and the conflicting activated pre-tactical flight plans are cancelled according to these unique identifications.

[0045] In a preferred embodiment of the present application, the main process of submitting the pre-tactical flight plan verification is as follows: Figure 3 As shown, it mainly includes the following steps: Step 101, receiving calculation notification. After the calculation phase of the application is completed, the operator will receive a calculation notification issued by the public service platform. The operator needs to confirm whether it is the flight plan application submitted by himself. If yes, proceed to step 102. If not, the process ends. Step 102, obtaining a full set of pre-tactical flight plans, the operator obtains all currently activated pre-tactical flight plans from the public service platform, which include all missions that are being executed or have been approved by the public management service to be executed in the current airspace.

[0046] Step 103, formulate a pre-tactical flight plan. Based on the full amount of pre-tactical flight plans obtained from the public service platform and taking into account all activated pre-tactical flight plans, the operator formulates a new pre-tactical flight plan by adjusting the take-off time and flight speed, calculating a pre-tactical flight trajectory that has no time and space conflicts with other pre-tactical plans.

[0047] Step 104, submitting a new pre-tactical flight plan. The operator submits the prepared new pre-tactical flight plan to the public service platform.

[0048] Step 105, verify submission conditions. The public service platform performs the following verifications based on the unique ID of the new pre-tactical flight plan: verify whether the plan has sent a calculation notification in the calculation phase; confirm whether the current time is before the submission deadline. If these conditions are not met, the public service platform will return a notification of unsuccessful submission to the operator, and the process ends; if these conditions are met, proceed to step 106.

[0049] Step 106, processing priority plan conflicts, the public service platform determines whether the submitted new pre-tactical flight plan is a priority plan. If it is a priority plan, the public service platform obtains the IDs of all conflicting activated pre-tactical flight plans recorded in step 104, cancels the conflicting activated pre-tactical flight plans based on these IDs, ensures that the priority plan can be safely executed in the airspace, and sends a pre-tactical flight plan cancellation notice to the relevant operators. If it is not a priority plan, go directly to step 107.

[0050] Step 107 , activating the new pre-tactical flight plan. The public service platform activates the submitted new pre-tactical flight plan to make it a formal flight mission. The new pre-tactical flight plan is formally incorporated into the system management and proceeds to step 108 .

[0051] In step 108, the public service platform verifies the new pre-tactical flight plan in step 107, including route deviation verification and space-time conflict verification. The route deviation verification is to determine whether the track points in the new pre-tactical flight plan deviate from the flight area of ​​the corresponding route; the space-time conflict verification is to determine whether the track in the new pre-tactical flight plan conflicts with the track of other pre-tactical flight plans. After the verification is completed, a verification notification is issued and the process goes to step 109.

[0052] In step 109, the operator receives the verification notification sent in step 108 and determines whether the verification is passed, that is, the space and time occupied by the drone to perform the mission provided in the pre-tactical flight plan have no time and space conflicts with the applications submitted by other drones. If the verification is passed, the whole process is terminated. If the verification is not passed, the operator withdraws the plan according to the specific situation and continues to fly or handle the emergency.

[0053] The flight plan submission and verification process in the pre-tactical phase ensures the priority management, conflict avoidance and resolution, and real-time activation and sharing of different types of pre-tactical flight plans. Through this series of steps and functions, the system not only improves the efficiency of airspace utilization, but also ensures the safety and predictability of drone flight missions.

[0054] Figure 4A structural schematic diagram of a system for the integrated operation of multi-operator and multi-priority UAVs provided according to another aspect of the present application is shown, the system comprising: a public service platform 100 and at least one operator terminal 200; the public service platform 100 is used to classify the strategic flight plans of the UAVs submitted by each operator terminal 200, and to feed back the content results to the operator terminal 200, wherein the content results include the operation category to which the strategic flight plan belongs and the priority information in the application; the public service platform 100 is used to adjust the calculation task after receiving the calculation application of the pre-tactical flight plan submitted by the operator terminal 200; the operator terminal 200 is used to receive the calculation task notification fed back by the public service platform 100, formulate a new pre-tactical flight plan according to the content results and the priority of its own task, and submit a verification application to the public service platform 100; the public service platform 100 is used to verify the new pre-tactical flight plan and feed back the verification result to the operator terminal 200; the operator terminal 200 is used to execute the new pre-tactical flight plan according to the verification result notification.

[0055] Here, each operator submits its strategic flight plan to the public service platform. The public service platform also provides a feedback function for the status of the strategic flight plan. The public service platform sets the deadline for submitting the strategic flight plan every day (such as a certain time point on the day). When the deadline is reached, the public service platform will begin to analyze and classify the submitted strategic flight plans, and divide each plan into collaborative or isolated categories. The public service platform will promptly notify the drone operator of the results, including the type of strategic flight plan returned, and whether there are other priority activities in the application, to help the operator understand the operation plan and better formulate the flight plan for the pre-tactical stage according to the priority of its own tasks to ensure the smooth progress of flight activities. The operator formulates a new pre-tactical flight plan based on the feedback from the public service platform and the previous content and combined with its own priority, that is, to adjust the preliminary flight plan and submit it to the public service platform for verification after adjustment. The public service platform verifies the new pre-tactical flight plan submitted by the operator and notifies the operator of the verification results. This not only improves the efficiency of airspace utilization, but also ensures the safety and predictability of drone flight missions.

[0056] In addition, an embodiment of the present application also provides a computer-readable medium on which computer-readable instructions are stored, and the computer-readable instructions can be executed by a processor to implement the aforementioned method of integrated operation of multi-operator and multi-priority drones.

[0057] In one embodiment of the present application, a device for integrated operation of multi-operator multi-priority drones is also provided, the device comprising: one or more processors; and A memory storing computer readable instructions, which, when executed, cause the processor to perform the operations of the method as described above.

[0058] For example, the computer readable instructions, when executed, cause the one or more processors to: The public service platform classifies the strategic flight plan of each drone submitted by the operator and feeds back the content results to the operator, wherein the content results include the operation category to which the strategic flight plan belongs and the priority information in the application; The public service platform adjusts the calculation task after receiving the calculation application of the pre-tactical flight plan submitted by the operator; The operator receives the calculation task notification from the public service platform, formulates a new pre-tactical flight plan based on the results and the priority of its own tasks, and submits a verification application to the public service platform; The public service platform verifies the new pre-tactical flight plan and feeds back the verification results to the operator. The operator then notifies the execution of the new pre-tactical flight plan based on the verification results.

[0059] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

[0060] It should be noted that the present application can be implemented in software and / or a combination of software and hardware, for example, it can be implemented using an application-specific integrated circuit (ASIC), a general-purpose computer or any other similar hardware device. In one embodiment, the software program of the present application can be executed by a processor to implement the steps or functions described above. Similarly, the software program of the present application (including related data structures) can be stored in a computer-readable recording medium, for example, a RAM memory, a magnetic or optical drive or a floppy disk and the like. In addition, some steps or functions of the present application can be implemented using hardware, for example, as a circuit that cooperates with a processor to perform various steps or functions.

[0061] In addition, a part of the present application may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present application through the operation of the computer. The program instruction for calling the method of the present application may be stored in a fixed or removable recording medium, and / or transmitted through a data stream in a broadcast or other signal-bearing medium, and / or stored in a working memory of a computer device that runs according to the program instruction. Here, according to an embodiment of the present application, a device is included, the device including a memory for storing computer program instructions and a processor for executing program instructions, wherein, when the computer program instruction is executed by the processor, the device is triggered to run the method and / or technical solution based on the aforementioned multiple embodiments according to the present application.

[0062] It is obvious to those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and that the present application can be implemented in other specific forms without departing from the spirit or essential features of the present application. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present application is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present application. Any figure mark in the claims should not be regarded as limiting the claims involved. In addition, it is obvious that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural.

Claims

1. A method for integrated operation of multi-operator multi-priority drones, characterized in that: The method comprises: The public service platform classifies the strategic flight plan of each drone submitted by the operator and feeds back the content results to the operator, wherein the content results include the operation category to which the strategic flight plan belongs and the priority information in the application; The public service platform adjusts the calculation task after receiving the calculation application of the pre-tactical flight plan submitted by the operator; The operator receives the calculation task notification from the public service platform, formulates a new pre-tactical flight plan based on the results and the priority of its own tasks, and submits a verification application to the public service platform; The public service platform verifies the new pre-tactical flight plan and feeds back the verification results to the operator. The operator then notifies the execution of the new pre-tactical flight plan based on the verification results.

2. The method according to claim 1, characterized in that The public service platform classifies the strategic flight plans of each drone submitted by the operator, including: The public service platform extracts the time range and flight airspace information of the strategic flight plan of each drone submitted by the operator; The strategic flight set is classified into a collaborative class and an isolated class according to the time range and flight airspace information of the strategic flight plan.

3. The method according to claim 2, characterized in that After receiving the calculation application for the pre-tactical flight plan submitted by the operator, the public service platform adjusts the calculation tasks, including: The public service platform receives the calculation application for the pre-tactical flight plan submitted by the operator, queues or sorts the calculation tasks according to the priority information in the calculation application, and sends calculation task notifications to the corresponding operator according to the sorting.

4. The method according to claim 3, characterized in that The public service platform receives the calculation application for the pre-tactical flight plan submitted by the operator, queues or sorts the calculation tasks according to the priority information in the calculation application, and sends calculation task notifications to the corresponding operator according to the sorting, including: The public service platform receives a calculation application for a pre-tactical flight plan submitted by an operator, and determines an operation category to which the pre-tactical flight plan for the calculation application belongs, wherein the operation category includes an isolation category and a collaborative category; If the operation category of the pre-tactical flight plan applied for calculation is collaborative, it is determined whether there are other plans in the queue. If not, a notification of the calculation task is sent to the operator. If so, the priority of the plan in the queue is compared with the priority information in the calculation application to determine whether there is at least one plan in the queue with a higher priority than the priority in the calculation application. If not, a notification of the calculation task is sent to the operator. If so, the calculation task is queued or sorted according to the result of the comparison of the priority information, and a notification of the calculation task is sent to the operator according to the first priority plan; If the operation category of the pre-tactical flight plan to which the calculation application belongs is the isolation category, a notification for the calculation task will be sent directly to the operator.

5. The method according to claim 1, characterized in that The operator receives the calculation task notification from the public service platform and formulates a pre-tactical flight plan based on the results and the priority of its own tasks, including: The operator receives the calculation task notification fed back by the public service platform and confirms whether it is the pre-tactical flight plan application submitted by itself. If so, a new pre-tactical flight plan is formulated according to the content results and the priority of its own task.

6. The method according to claim 5, characterized in that Develop a new pre-tactical flight plan based on the results of the content and the priority of its own tasks, including: The operator obtains all currently activated pre-tactical flight plans from the public service platform; A new pre-tactical flight plan is formulated according to all currently activated pre-tactical flight plans, the content results and the priority of the own task.

7. The method according to claim 6, characterized in that The public service platform verifies the new pre-tactical flight plan and feeds back the verification results to the operator, including: The public service platform verifies the unique identity of the new pre-tactical flight plan; When the identity verification is passed, determining whether the submitted new pre-tactical flight plan is a priority plan, and if not, activating the new pre-tactical flight plan; The public service platform performs route deviation checks and space-time conflict checks on the activated new pre-tactical flight plan.

8. The method according to claim 7, characterized in that Determine whether the new pre-tactical flight plan submitted is a priority plan, including: If the submitted new pre-tactical flight plan is a priority plan, determining from the activated pre-tactical flight plans the unique identifier of the activated pre-tactical flight plan that conflicts with the new pre-tactical flight plan; A cancellation notification is sent to the corresponding operator end according to the unique identity of the conflicting activated pre-tactical flight plan.

9. A system for the integrated operation of multi-operator and multi-priority drones, characterized in that: The system includes: a public service platform and at least one operator terminal; The public service platform is used to classify the strategic flight plan of the UAV submitted by each operator, and feed back the content results to the operator, wherein the content results include the operation category to which the strategic flight plan belongs and the priority information in the application; The public service platform is used to adjust the calculation task after receiving the calculation application of the pre-tactical flight plan submitted by the operator; The operator end is used to receive the calculation task notification fed back by the public service platform, formulate a new pre-tactical flight plan according to the content result and the priority of its own task, and submit a verification application to the public service platform; The public service platform is used to verify the new pre-tactical flight plan and feed back the verification result to the operator; The operator end is used to notify the execution of a new pre-tactical flight plan according to the verification result.

10. A device for the integrated operation of multi-operator multi-priority drones, characterized in that: The device comprises: one or more processors; and A memory storing computer readable instructions which, when executed, cause the processor to perform the operations of the method as claimed in any one of claims 1 to 8.

11. A computer-readable medium having computer-readable instructions stored thereon, wherein the computer-readable instructions can be executed by a processor to implement the method according to any one of claims 1 to 8.

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