Method, system and device for integrated operation of multi-operator multi-priority drones

Abstract

The purpose of this application is to provide a method, system and device for the integrated operation of multi-operator multi-priority UAVs. This application classifies the strategic flight plans of UAVs submitted by each operator through a public service platform, and feeds back the content results to the operator; 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 not only improves the utilization efficiency of airspace, but also ensures the safety and predictability of UAV flight missions.

Description

Technical Field

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

[0002] In current drone airspace management, multiple operators' flight missions and other emergency missions often use the same low-altitude airspace simultaneously, posing a significant challenge to the rational allocation of airspace resources. Existing management methods for multiple mission types using the same airspace often lack comprehensive consideration of spatiotemporal resource allocation priorities. In reality, different mission types have varying urgency and mission nature, resulting in varying preferences for spatiotemporal resource allocation. However, the lack of a systematic priority mechanism to rationally allocate these resources leads to inefficient resource allocation and frequent airspace conflicts. Summary of the Invention

[0003] One purpose of this 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 existing management methods 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 and multi-priority drones is provided, the method comprising:

[0005] The public service platform classifies each UAV strategic flight plan submitted by the operator and provides feedback to the operator, including the operational category to which the strategic flight plan belongs and the priority information in the application.

[0006] The public service platform adjusts the calculation task after receiving the calculation application of the pre-tactical flight plan submitted by the operator;

[0007] 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;

[0008] The public service platform verifies the new pre-tactical flight plan and feeds back the verification results to the operator side, which then notifies the operator to execute the new pre-tactical flight plan based on the verification results.

[0009] Optionally, the public service platform categorizes each UAV strategic flight plan submitted by the operator, including:

[0010] The public service platform extracts the time range and flight airspace information of the strategic flight plan of each drone submitted by the operator;

[0011] 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.

[0012] 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:

[0013] 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.

[0014] 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 the corresponding operator according to the sorting, including:

[0015] After receiving the calculation application for the pre-tactical flight plan submitted by the operator, the public service platform determines the operation category to which the pre-tactical flight plan to be calculated belongs, wherein the operation category includes isolation category and collaborative category;

[0016] If the operation category of the pre-tactical flight plan requested for calculation is collaborative, it will determine whether there are other plans queued. If not, a calculation task notification will be sent to the operator.

[0017] If so, the priority of the queued plan 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 calculation task notification 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 calculation task notification is sent to the operator according to the first-priority plan;

[0018] If the operation category of the pre-tactical flight plan for which the calculation is requested is isolated, a notification for the calculation task will be sent directly to the operator.

[0019] Optionally, the operator receives the calculation task notification fed back by the public service platform and formulates a pre-tactical flight plan based on the content results and the priority of its own task, including:

[0020] The operator receives the calculation task notification feedback from the public service platform and confirms whether it is the pre-tactical flight plan application submitted by itself. If so, it formulates a new pre-tactical flight plan based on the content results and the priority of its own task.

[0021] Optionally, a new pre-tactical flight plan is developed based on the content results and the priority of the own mission, including:

[0022] The operator obtains all currently activated pre-tactical flight plans from the public service platform;

[0023] 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.

[0024] Optionally, the public service platform verifies the new pre-tactical flight plan and feeds back the verification results to the operator, including:

[0025] The public service platform verifies the unique identity of the new pre-tactical flight plan;

[0026] After 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;

[0027] The public service platform performs route deviation check and space-time conflict check on the activated new pre-tactical flight plan.

[0028] Optionally, determining whether the submitted new pre-tactical flight plan is a priority plan includes:

[0029] If the submitted new pre-tactical flight plan is a priority plan, determining, from the activated pre-tactical flight plans, a unique identifier of an activated pre-tactical flight plan that conflicts with the new pre-tactical flight plan;

[0030] A cancellation notification is sent to the corresponding operator end according to the unique identity identifier of the conflicting activated pre-tactical flight plan.

[0031] According to another aspect of the present application, a system for integrated operation of multi-operator and multi-priority drones is provided, the system comprising: a public service platform, at least one operator terminal;

[0032] The public service platform is used to classify the strategic flight plans of each drone submitted by the operator and provide feedback 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;

[0033] 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;

[0034] The operator receives the calculation task notification from the public service platform, formulates a new pre-tactical flight plan based on the result and the priority of its own task, and submits a verification application to the public service platform;

[0035] The public service platform is used to verify the new pre-tactical flight plan and feed back the verification results to the operator;

[0036] The operator end is used to notify the execution of a new pre-tactical flight plan based on the verification result.

[0037] According to another aspect of the present application, a device for integrated operation of multi-operator and multi-priority drones is provided, the device comprising:

[0038] one or more processors; and

[0039] A memory storing computer-readable instructions, which, when executed, cause the processor to perform the operations of the method described above.

[0040] 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.

[0041] Compared to existing technologies, this application uses a public service platform to classify each UAV strategic flight plan submitted by an operator and feedback the results to the operator. The results include the operational 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 request for 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 task, and submits a verification request to the public service platform. The public service platform verifies the new pre-tactical flight plan and feedbacks the verification results to the operator, who then notifies the operator to execute the new pre-tactical flight plan based on the verification results. This enables the allocation of spatiotemporal resources based on task priority, ensuring that different types of tasks receive flight operational services and spatiotemporal resources at the appropriate time based on their urgency and nature. This not only improves airspace utilization efficiency but also ensures the safety and predictability of UAV flight missions. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Other features, objects and advantages of the present application will become more apparent upon reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0043] Figure 1 A schematic flow chart of a method for integrated operation of multi-operator and multi-priority drones provided according to one aspect of the present application is shown;

[0044] Figure 2 A schematic flow chart showing a method for calculating a pre-tactical flight plan application in one embodiment of the present application is shown;

[0045] Figure 3 A schematic flow chart of a method for submitting and verifying a pre-tactical flight plan in accordance with a specific embodiment of the present application is shown;

[0046] Figure 4 A schematic structural diagram of a system for the integrated operation of multi-operator and multi-priority drones provided according to another aspect of the present application is shown.

[0047] The same or similar reference numerals in the drawings represent the same or similar components. DETAILED DESCRIPTION

[0048] The present application is described in further detail below with reference to the accompanying drawings.

[0049] 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.

[0050] 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.

[0051] Computer-readable media include permanent and non-permanent, removable and non-removable media that can be used to store information using 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, magnetic cassettes, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium 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.

[0052] This application proposes a method for the integrated operation of multi-operator, multi-priority drones. This method is suitable for the low-altitude operation of multiple operators and multiple types of flight activities. It optimizes drone flight plans and the allocation of airspace use rights, and is applicable to scenarios involving multiple operators and multiple types of drone missions in low-altitude areas. This method relies on a public service platform to achieve real-time data sharing, providing comprehensive services and effective management for each operator, supporting the formulation of flight plans and the rational allocation of airspace use rights. This ensures that different types of missions receive corresponding priority services and airspace resources based on their urgency and nature, especially in situations where resources are limited.

[0053] Figure 1 A schematic flow chart of a method for integrated operation of multi-operator multi-priority drones according to one aspect of the present application is shown, the method comprising: steps S11 to S14, wherein:

[0054] In step S11, the public service platform categorizes each UAV strategic flight plan submitted by the operator and provides feedback to the operator. This feedback includes the operational category to which the strategic flight plan belongs and the priority information provided in the application. A public service platform is established to connect to each operator's system, accessing airspace data, route data, strategic flight plan data, pre-tactical flight plan data, and flight data from each UAV. This platform enables inter-system data collection, integration, and processing, providing airspace data services, route data services, strategic flight plan data services, pre-tactical flight plan data services, and UAV flight data services to the operator. The operator's end is the device where the operator's system resides. Each operator submits relevant data about their UAV 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 the classification results and related information such as whether there are other strategic flight plan applications with higher priority in the airspace applied for use in this flight plan during the application period to the operator as content results. Among them, the priority information in the application includes judging 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.

[0055] In step S12, the public service platform receives the pre-tactical flight plan calculation request submitted by the operator and then performs the calculation task of adjusting the flight plan's time and space occupancy. Upon receiving the content and results from the public service platform, the operator submits a pre-tactical flight plan calculation request to the public service platform. This pre-tactical flight plan is the initial flight plan assigned to the drone by the operator based on flight activity requirements. This pre-tactical flight plan includes information such as the drone's four-dimensional trajectory and safety protection space. It specifies the longitude, latitude, and altitude of the reference position based on which the drone will perform its mission, as well as the corresponding time information, and the drone's protection space, and serves as part of the drone's safety separation determination. The operator connects to the public service platform to obtain all activated four-dimensional trajectory flight plans for aircraft in the entire region. These activated four-dimensional trajectory flight plans include both currently operating flights and those approved by the public service platform for execution. The operator adjusts the pre-tactical flight plan based on the activated four-dimensional trajectory flight plan to obtain conflict-free time and space resources; the public service platform and the operator coordinate the allocation of time and space resources based on the priority of the flight mission, thereby ensuring flight safety and effective management of air traffic and avoiding trajectory conflicts between different drones.

[0056] In step S13, the operator side 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; here, after the public service platform calculates and allocates the received pre-tactical flight plan, it sends a calculation task notification to the operator side, informing the operator side that resources have been allocated for the UAV corresponding to the operator side. The operator side 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.

[0057] In step S14, the public service platform verifies the new pre-tactical flight plan and sends the verification results back to the operator. The operator then notifies the operator to execute the new pre-tactical flight plan based on the verification results. Here, the public service platform verifies the new pre-tactical flight plan submitted by the operator and notifies the operator of the verification results, allowing the operator to execute the new pre-tactical flight plan, cancel the flight plan, or perform emergency operations.

[0058] 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 from each operator-side UAV strategic flight plan; and classifies the strategic flight set into collaborative and isolated categories based on the time range and flight airspace information of the strategic flight plan. The method described in this application includes two phases: a strategic phase and a pre-tactical phase. In the strategic phase, the operator submits the strategic flight plan, and the pre-tactical phase includes two steps: pre-tactical flight plan application calculation and pre-tactical flight plan submission verification.

[0059] The strategic phase begins the day before a flight. Operators must submit a strategic flight plan to the public service platform. This is a rough flight plan that specifies the next day's takeoff timeframe and flight airspace. The public service platform categorizes strategic flight plans based on their timeframe and airspace, dividing them into collaborative and isolated categories. A collaborative category means that the trajectory of the strategic flight plan overlaps with all flight plans submitted by other operators within the flight airspace. In contrast, the isolated category means that the trajectory of the strategic flight plan does not overlap with any other strategic flight plans submitted by other operators within the flight airspace. The specific steps of the strategic phase are as follows: First, the drone operator, as the main body of the flight activity, submits its strategic flight plan to the public service platform in accordance with established procedures. The public service platform also provides feedback on the status of the strategic flight plan and sets daily deadlines for strategic flight plan submission (e.g., by a certain time of the day). Once the deadline is met, the public service platform will begin analyzing and categorizing submitted strategic flight plans, classifying each plan as either collaborative or isolated. The platform will promptly notify drone operators of the results. The returned information includes the strategic flight plan type and whether other priority activities are included in the application. This helps operators understand their operational plans and better formulate pre-tactical flight plans based on their mission priorities, ensuring the smooth execution of flight activities. The pre-tactical phase covers the short period before a drone executes a mission. At this point, operators must assign an initial pre-tactical flight plan to the drone. This plan includes information such as the drone's flight trajectory and safe protection space. It specifies the longitude, latitude, and altitude of the base position for the drone's mission, along with the corresponding time information, as well as the drone's protection space, and serves as a component in determining safe separation between drones. The pre-tactical flight plan provides information on the drone's actual space and time occupancy during flight. By leveraging the exchange of pre-tactical flight plan information and taking into account the priority of each mission, pre-flight situational awareness and planning coordination among multiple operators can be achieved. 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.

[0060] This application implements the allocation of space-time resources according to task priority 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 the urgency and nature of the task.

[0061] When developing pre-tactical flight plans for collaborative operations, operators must prioritize missions and allocate resources in advance to higher-priority missions to avoid potential conflicts in pre-tactical flight plan trajectories. In the absence of specialized missions, pre-tactical flight plan trajectories for isolated operations will not conflict with others. Operators can flexibly plan trajectories for their own flight activities and develop corresponding pre-tactical flight plans.

[0062] In some embodiments of the present application, in step S12, the public service platform receives a pre-tactical flight plan calculation request submitted by an operator, queues or prioritizes the calculation tasks based on the priority information in the calculation request, and sends a calculation task notification to the corresponding operator based on the ranking, awaiting the accurate calculation of the pre-tactical flight plan. Here, the public service platform obtains the priority level of the pre-tactical flight plan by analyzing the priority index of the pre-tactical flight plan. Based on the priority level, the calculation task of the currently requested pre-tactical flight plan is queued or prioritized. For example, if the calculation task of the pre-tactical flight plan is queued to the third position in the current queue, or if the calculation task of the pre-tactical flight plan has the highest priority, it is prioritized to the front of the queued calculation tasks and is notified first for calculation of the pre-tactical flight plan.

[0063] 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, it determines 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 compared 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 of the calculation application is isolation, a notification of the calculation task is directly sent to the operator, that is, the operator performs autonomous calculation. Here, if 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 is 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 cut in or the queue is ranked according to the priority parameter, and the notification calculation is performed according to the first-priority plan, that is, the notification calculation is performed in the sorted order.

[0064] Specifically, the following steps may be included:

[0065] Step 1: After receiving the pre-tactical flight plan calculation application submitted by the operator, the public service platform determines whether the pre-tactical flight plan is a collaborative type. If so, it proceeds to step 2; otherwise, it performs autonomous calculation.

[0066] Step 2: Determine whether there is a priority plan being calculated or queued. If so, add it to the queue. If not, send a calculation task notification to the operator and proceed to step 3.

[0067] 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;

[0068] 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.

[0069] 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.

[0070] Step 6: Determine whether the pre-tactical flight plan obtained in step 3 is of the isolation type. If so, send a calculation task notification to the operator and proceed to step 3. If not, wait for a specified time and then proceed to step 4.

[0071] The operator obtains all activated pre-tactical flight plans and calculates a new, conflict-free pre-tactical flight plan based on operational requirements, taking into account the time and space occupancy of all UAVs operating in the airspace under the current available airspace resources. The pre-tactical flight plan also includes a priority indicator. The public service platform obtains the priority level of this flight plan by analyzing the priority indicator of the pre-tactical flight plan. For example, flight missions used for medical disaster relief have the highest priority. The main steps include:

[0072] Submitting a calculation request. The operator's pre-tactical flight plan calculation request includes a flag set in the flight plan's priority field. The operator needs to set a flag in the flight plan's priority field based on the nature of the mission. The priority field ranges from 0 to 9, with higher values ​​indicating more urgent missions. By comparing the priority field, the priority of different flight activities can be determined.

[0073] Determine whether the pre-tactical flight plan submitted for calculation is of the collaborative type. If not, perform autonomous calculation. If so, determine whether there is a priority plan currently being calculated or queued. If so, add it to the queue. If not, issue a calculation notification, and the requested pre-tactical flight plan can be calculated. The next pre-tactical flight plan to be calculated is obtained according to the following queue priority: priority from high to low, isolation type higher than collaborative type, and application time from earliest to latest. Determine whether there is a pre-tactical flight plan currently being calculated. If not, issue a calculation notification, and the pre-tactical flight plan to be calculated obtained in the above step can be calculated. If so, continue to determine whether there is a priority plan currently being calculated or queued. If so, wait for several seconds and then re-determine whether there is a priority plan currently being calculated or queued. If not, determine whether the pre-tactical flight plan to be calculated obtained in the above step is of the isolated type. If so, issue a calculation notification, and 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 currently being calculated.

[0074] Through the above process, the drone airspace management system achieves the following important functions:

[0075] 1) Prioritized 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. These tasks have priority use rights in the airspace, thereby ensuring the flight safety of priority tasks.

[0076] 2) Efficient processing of isolation tasks. In the absence of a priority plan, isolation tasks can be directly notified to the operator for calculation without waiting in line. This mechanism effectively reduces the waiting time for isolation tasks and improves overall calculation efficiency.

[0077] 3) Independent calculation of collaborative tasks. For collaborative tasks, the system ensures that only one collaborative flight plan is being calculated at a given time. This approach avoids potential conflicts between multiple tasks in the same airspace and ensures the safety and independence of flight plans.

[0078] 4) Dynamic queuing mechanism. The queuing logic is dynamically adjusted based on the flight plan's priority, type, and submission time, ensuring the system's flexibility and efficiency in handling multiple tasks.

[0079] Through the aforementioned processes and functions, the UAV airspace management system can effectively manage and calculate various flight plans in complex airspace environments. This not only improves airspace utilization efficiency, but also ensures the safety and independence of various missions, providing a strong guarantee for the safe flight of UAVs.

[0080] In some embodiments of the present application, in step S13, the operator receives a calculation task notification from the public service platform and confirms whether it is a pre-tactical flight plan application submitted by itself. If so, a new pre-tactical flight plan is formulated based on 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 from the public service platform. The operator needs to confirm whether it is a pre-tactical flight plan application submitted by itself. If so, a new pre-tactical flight plan is formulated based on the content results and the priority of its own task. If not, the process ends.

[0081] Continuing with the above embodiment, when the operator confirms that they have submitted a pre-tactical flight plan application, they retrieve all currently activated pre-tactical flight plans from the public service platform and formulate a new pre-tactical flight plan based on these plans, the content results, and their own task priority. Here, to obtain a full set of pre-tactical flight plans, the operator retrieves all currently activated pre-tactical flight plans from the public service platform and then formulates a new pre-tactical flight plan based on these retrieved pre-tactical flight plans, the content results provided by the public service platform, and their own task priority.

[0082] In some embodiments of the present application, in step S14, the public service platform verifies the unique identifier of the new pre-tactical flight plan. If the identifier is verified, the public service platform determines 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 then verifies the activated new pre-tactical flight plan for route deviation and space-time conflict. Here, the operator submits the prepared new pre-tactical flight plan to the public service platform. The public service platform verifies the new pre-tactical flight plan based on its unique identifier. If the verification passes, the public service platform determines whether the submitted new pre-tactical flight plan is a priority plan. If not, the new pre-tactical flight plan is activated and further verifies the activated new pre-tactical flight plan, including route deviation and space-time conflict checks. Upon completion, a verification notification is issued. Upon receiving the verification notification, the operator determines whether the verification has passed.

[0083] Continuing with the above embodiment, if the submitted new pre-tactical flight plan is a priority plan, the unique identifiers of the activated pre-tactical flight plans that conflict with the new pre-tactical flight plan are determined from the activated pre-tactical flight plans. A revocation notification is then sent to the corresponding operator based on the unique identifiers of the conflicting activated pre-tactical flight plans. Here, a 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 identifiers of all activated pre-tactical flight plans that conflict with the new pre-tactical flight plan are obtained, and a pre-tactical flight plan revocation notification is sent to the relevant operator. Based on these unique identifiers, the conflicting activated pre-tactical flight plans are revoked.

[0084] In a preferred embodiment of the present application, the main process of submitting and verifying the pre-tactical flight plan is as follows: Figure 3 As shown, it mainly includes the following steps:

[0085] Step 101: Receive calculation notification. After the application calculation phase is completed, the operator will receive a calculation notification from the public service platform. The operator needs to confirm whether it is the flight plan application submitted by themselves. If yes, proceed to step 102. If not, the process ends.

[0086] Step 102: Obtain all pre-tactical flight plans. The operator obtains all currently activated pre-tactical flight plans from the public service platform. These plans include all missions that are being executed or have been approved by the public management service to be executed in the current airspace.

[0087] Step 103: Develop a pre-tactical flight plan. Based on the full set of pre-tactical flight plans obtained from the public service platform and taking into account all activated pre-tactical flight plans, the operator adjusts the takeoff time and flight speed, calculates a pre-tactical flight trajectory that does not conflict with other pre-tactical plans in time and space, and develops a new pre-tactical flight plan.

[0088] Step 104: Submit a new pre-tactical flight plan. The operator submits the prepared new pre-tactical flight plan to the public service platform.

[0089] In step 105, the public service platform verifies submission conditions based on the unique ID of the new pre-tactical flight plan: whether the plan has already received a calculation notification during the calculation phase; and whether the current time is before the submission deadline. If these conditions are not met, the public service platform returns a notification of unsuccessful submission to the operator, and the process ends. If these conditions are met, the process proceeds to step 106.

[0090] Step 106: Processing the priority plan conflict. The public service platform determines whether the submitted new pre-tactical flight plan is a priority plan. If it is, it obtains the IDs of all conflicting activated pre-tactical flight plans recorded in step 104. Based on these IDs, it cancels the conflicting activated pre-tactical flight plans to ensure 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, the process proceeds directly to step 107.

[0091] Step 107 , activating the new pre-tactical flight plan. The public service platform activates the submitted new pre-tactical flight plan, making it a formal flight mission. The new pre-tactical flight plan is formally incorporated into the system management, and then proceeds to step 108 .

[0092] In step 108, the public service platform verifies the new pre-tactical flight plan from step 107, including a route deviation check and a space-time conflict check. The route deviation check determines whether the track points in the new pre-tactical flight plan deviate from the flight area of ​​the corresponding route; the space-time conflict check determines whether the track in the new pre-tactical flight plan conflicts with the track of other pre-tactical flight plans. After the verification is complete, a verification notification is issued, and the process proceeds to step 109.

[0093] In step 109, the operator receives the verification notification issued in step 108 and determines whether the verification is passed, that is, the space and time occupied by the UAV provided in the pre-tactical flight plan to perform the mission do not conflict with the time and space applications submitted by other UAVs. If the verification is passed, the entire process ends. If the verification is not passed, the operator will withdraw the plan according to the specific situation and continue the flight or handle the emergency.

[0094] The flight plan submission and verification process during the pre-tactical phase ensures 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 airspace utilization efficiency but also ensures the safety and predictability of UAV flight missions.

[0095] Figure 4 A structural schematic diagram of a system for the integrated operation of multi-operator and multi-priority drones 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 drones 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 present in the application; the public service platform 100 is used to adjust the calculation task after receiving the calculation application for 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 based on 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.

[0096] Each operator submits its strategic flight plan to the public service platform, which also provides feedback on the status of strategic flight plans. The platform sets a daily deadline for strategic flight plan submissions (e.g., by a certain time of day). Once the deadline is met, the platform analyzes and categorizes the submitted strategic flight plans, classifying each plan as either collaborative or isolated. The platform promptly notifies the drone operator of the results. The feedback includes the strategic flight plan type and whether there are other priority activities in the application. This helps the operator understand the operational status of the plan and better formulate pre-tactical flight plans based on their mission priorities, ensuring the smooth conduct of flight activities. Based on the feedback from the public service platform and the previous content, the operator formulates a new pre-tactical flight plan, adjusting the initial flight plan and submitting it to the public service platform for verification. 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 airspace utilization efficiency but also ensures the safety and predictability of drone flight missions.

[0097] 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.

[0098] In one embodiment of the present application, a device for integrated operation of multi-operator and multi-priority drones is also provided, the device comprising:

[0099] one or more processors; and

[0100] A memory storing computer-readable instructions, which, when executed, cause the processor to perform the operations of the method described above.

[0101] For example, the computer readable instructions, when executed, cause the one or more processors to:

[0102] The public service platform classifies each UAV strategic flight plan submitted by the operator and provides feedback to the operator, including the operational category to which the strategic flight plan belongs and the priority information in the application.

[0103] The public service platform adjusts the calculation task after receiving the calculation application of the pre-tactical flight plan submitted by the operator;

[0104] 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;

[0105] The public service platform verifies the new pre-tactical flight plan and feeds back the verification results to the operator side, which then notifies the operator to execute the new pre-tactical flight plan based on the verification results.

[0106] Obviously, those skilled in the art may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

[0107] It should be noted that the present application can be implemented in software and / or a combination of software and hardware, for example, 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, such as a RAM memory, a magnetic or optical drive, a floppy disk, and the like. In addition, some steps or functions of the present application can be implemented in hardware, for example, as a circuit that cooperates with a processor to perform the various steps or functions.

[0108] In addition, a part of the present application may be applied as a computer program product, such as computer program instructions, 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 instructions 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-carrying medium, and / or stored in a working memory of a computer device that runs according to the program instructions. Here, according to an embodiment of the present application, a device is included, which includes a memory for storing computer program instructions and a processor for executing program instructions, wherein, when the computer program instructions are executed by the processor, the device is triggered to run the method and / or technical solution based on the aforementioned multiple embodiments of the present application.

[0109] It will be apparent to those skilled in the art that the present application is not limited to the details of the exemplary embodiments described above, 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, the embodiments should be viewed as exemplary and non-restrictive from any point of view, 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 that fall within the meaning and scope of the equivalents of the claims be included in the present application. Any reference numerals in the claims should not be construed as limiting the claims to which they relate. Furthermore, it is apparent 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 extracts the time range and flight airspace information of the strategic flight plan of each drone submitted by the operator; Classify the strategic flight set according to the time range and flight airspace information of the strategic flight plan into collaborative and isolated categories, and feed back 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 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; 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 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.

3. The method according to claim 2, 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.

4. The method according to claim 3, 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.

5. The method according to claim 4, 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.

6. 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 5.

7. 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 5.

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