UAV dynamic deployment method and equipment

Abstract

The embodiment of the present application provides a method and device for dynamic deployment of drones. The scheme predicts the flight trajectory of the drone at a specific time and grasps the overall picture of the flight process in the entire flight plan by introducing a flight plan, a flight track line and a flight space-time envelope. On this basis, the capacity of the route is managed as a resource, and the flight plan is deployed based on the capacity control result. At the same time, combined with the restricted flying zone and the flight plans of other drones, conflict detection is performed on possible space-time conflicts during the flight process, and the flight plan is further adjusted based on the results of the conflict detection, thereby realizing accurate deployment of drone flights and effectively improving the flight efficiency and airspace utilization of drones.

Description

Technical Field

[0001] The present application relates to the field of information technology, and in particular to a method and device for dynamically allocating unmanned aerial vehicles. Background Art

[0002] A drone is an unmanned aircraft controlled by a radio remote control device and a self-contained program control device. In the field of low-altitude drone flight, drone operators generally manage drone flights by isolating routes and take-off and landing fields and adopting isolation measures such as the rules of exclusive occupancy of routes and take-off and landing fields to avoid flight conflicts. However, with the development of drone technology, the scale of drone operations has gradually increased, and the utilization rate of low-altitude infrastructure has become increasingly demanded. This extensive drone flight management model has gradually exposed problems such as low efficiency and low airspace utilization. Summary of the invention

[0003] One purpose of the present application is to provide a method and device for dynamic deployment of drones.

[0004] To achieve the above-mentioned purpose, an embodiment of the present application provides a method for dynamic deployment of drones, the method comprising:

[0005] Determine the first flight plan of the UAV;

[0006] Generate a flight track line and a first space-time envelope corresponding to the first flight plan according to the first flight plan, wherein the flight track line includes flight track points corresponding to the UAV at each time point in the first flight plan, and the first space-time envelope includes spatial range information where the UAV may appear at each time point in the first flight plan, and the spatial range information is calculated and determined based on the spatial position information of the flight track line;

[0007] According to the first flight plan and its corresponding first space-time envelope, control the capacity of the first route occupied by the first flight plan, and adjust the first flight plan according to the capacity control result;

[0008] According to the first flight plan and its corresponding first space-time envelope, conflict detection is performed on the first flight plan with the restricted flight area and the second flight plan respectively, and the first flight plan is adjusted according to the conflict detection result, wherein the second flight plan is a flight plan that has been deployed and not terminated by other drones.

[0009] Further, after generating a flight track line and a first space-time envelope corresponding to the first flight plan according to the first flight plan, the method further includes:

[0010] Perform a rationality self-check on the first flight plan to confirm that the first flight plan meets rationality self-check conditions, wherein the rationality self-check conditions at least include:

[0011] The UAV executing the first flight plan has no other unfinished flight plans within the flight time of the first flight plan;

[0012] The flight time of the first flight plan does not exceed the operation deadline;

[0013] The spatial range corresponding to the first space-time envelope of the first flight plan does not exceed the flyable boundary range of the route of the first flight plan.

[0014] Furthermore, the method further comprises:

[0015] If the first flight plan does not meet any rationality self-check condition, the first flight plan is cancelled.

[0016] Furthermore, according to the first flight plan and its corresponding first space-time envelope, the capacity of the first route occupied by the first flight plan is controlled, including:

[0017] Acquire candidate routes that can be occupied by the first flight plan;

[0018] Determine whether the candidate route exceeds the limit, and if not, use the candidate route that does not exceed the limit as the first route occupied by the first flight plan;

[0019] If the capacity exceeds the limit, calculate the time points for releasing the excess capacity of the candidate routes, and arrange the time points for releasing the excess capacity of the candidate routes in positive order according to the time sequence to determine the release time queue;

[0020] Select the first excess capacity release time point in the release time queue, and calculate the route capacity release duration, wherein the route capacity release duration is the difference between the excess capacity release time point and the next route capacity occupation start time point of the corresponding candidate route;

[0021] Determine whether the route capacity release duration exceeds the first flight duration of the first flight plan; if it does not exceed the first flight duration of the first flight plan, reselect the next excess capacity release time point in the release time queue to calculate the route capacity release duration;

[0022] If it exceeds the first flight duration of the first flight plan, taking the candidate route as the first route occupied by the first flight plan, and calculating the first deployment duration according to the excess capacity release time point and the take-off time point of the first flight plan;

[0023] The first flight plan is adjusted according to the first adjustment duration, and a flight track line and a first space-time envelope corresponding to the first flight plan are regenerated according to the adjusted first flight plan.

[0024] Further, according to the first flight plan and its corresponding first space-time envelope, conflict detection is performed on the first flight plan with the restricted flight zone and the second flight plan respectively, and the first flight plan is adjusted according to the conflict detection result, including:

[0025] According to the first flight plan and its corresponding first space-time envelope, performing a restricted flight zone conflict detection on the first flight plan and the restricted flight zone, and if a restricted flight zone conflict is detected, calculating a second deployment duration according to the restricted flight zone conflict detection result;

[0026] Adjusting the first flight plan according to the second deployment duration, and regenerating a flight track line and a first space-time envelope corresponding to the first flight plan according to the adjusted first flight plan;

[0027] According to the first flight plan and its corresponding first space-time envelope, performing a deployed flight plan conflict detection on the first flight plan and the second flight plan, and if a deployed flight plan conflict is detected, calculating a third deployment duration according to the deployed flight plan conflict detection result;

[0028] The first flight plan is adjusted according to the third adjustment duration, and the flight track line and the first space-time envelope corresponding to the first flight plan are regenerated according to the adjusted first flight plan.

[0029] Further, according to the first flight plan and its corresponding first space-time envelope, a restricted flight zone conflict detection is performed between the first flight plan and the restricted flight zone, and if a restricted flight zone conflict is detected, a second deployment duration is calculated according to the restricted flight zone conflict detection result, including:

[0030] Detecting, according to the route flyable boundary range corresponding to the first flight plan, a restricted flight zone that spatially overlaps with the route flyable boundary range;

[0031] The restricted flight zones are sorted in reverse order according to the restricted flight zone cut-off time points, an overlapping restricted flight zone queue is obtained, and the first restricted flight zone is selected from the overlapping restricted flight zone queue to determine the start time point of spatial overlap;

[0032] According to the starting time point of the spatial overlap and the take-off time point of the first flight plan, the second flight duration at which the spatial overlap begins to occur is calculated as the second adjustment duration.

[0033] Further, according to the first flight plan and its corresponding first space-time envelope, the first flight plan and the second flight plan are subjected to deployed flight plan conflict detection, and if a deployed flight plan conflict is detected, a third deployed duration is calculated according to the deployed flight plan conflict detection result, including:

[0034] Detecting, according to the route flyable boundary range corresponding to the first flight plan, a second flight plan that spatially overlaps with the route flyable boundary range;

[0035] Among the flight track points of the first flight plan, determine the two preceding and following flight track points that are closest to the spatial overlap region and do not spatially overlap, and obtain a second space-time envelope of each flight track point between the two preceding and following flight track points; and at the same time, among the flight track points of the second flight plan, determine the two preceding and following flight track points that are closest to the spatial overlap region and do not spatially overlap, and obtain a third space-time envelope of each flight track point between the two preceding and following flight track points;

[0036] respectively calculating first distances between each second space-time envelope of the first flight plan and each third space-time envelope of the second flight plan;

[0037] Determine a second space-time envelope and a third space-time envelope when the first distance is less than zero, and their corresponding overlapping time points;

[0038] Calculating a first overlapping time interval according to the overlapping time points in the first flight plan, and calculating a second overlapping time interval according to the overlapping time points in the second flight plan;

[0039] According to the first overlapping time interval and the second overlapping time interval, searching for a second flight plan whose second overlapping time interval overlaps with the first overlapping time interval, and determining it as a conflicting flight plan;

[0040] Calculate the third flight duration at which spatial overlap begins to occur in the conflicting flight plan according to the take-off time point of the conflicting flight plan and the starting time point of the second overlapping time interval of the conflicting flight plan;

[0041] Calculating the conflicting time interval that needs to be avoided in the conflicting flight plan according to the second overlapping time interval of the conflicting flight plan and the corresponding third flight duration;

[0042] The third adjustment duration is calculated based on the conflict time interval that needs to be avoided in the conflicting flight plan and the take-off time point of the first flight plan.

[0043] Further, among the flight track points of the first flight plan, the two preceding and following flight track points that are closest to the spatial overlap region and do not overlap spatially are determined, and a second space-time envelope of each flight track point between the two preceding and following flight track points is obtained. Meanwhile, among the flight track points of the second flight plan, the two preceding and following flight track points that are closest to the spatial overlap region and do not overlap spatially are determined, and a third space-time envelope of each flight track point between the two preceding and following flight track points is obtained, including:

[0044] Among the flight track points of the first flight plan, determine the two preceding and succeeding flight track points that are closest to the spatial overlap area and have no spatial overlap;

[0045] Resampling the flight track line between the two preceding and succeeding flight track points, and regenerating the flight track points between the two preceding and succeeding flight track points and their corresponding second space-time envelope, wherein the sampling frequency of the resampling is higher than the original sampling frequency;

[0046] Among the flight track points of the second flight plan, determine the two preceding and succeeding flight track points that are closest to the spatial overlap area and have no spatial overlap;

[0047] The flight track line between the two preceding and succeeding flight track points is resampled to regenerate the flight track points between the two preceding and succeeding flight track points and their corresponding third space-time envelope, wherein the resampling sampling frequency is higher than the original sampling frequency.

[0048] Furthermore, the method further comprises:

[0049] Determine whether the flight deadline time point of the adjusted first flight plan exceeds the preset operation time, and if it exceeds the operation time, cancel the first flight plan.

[0050] Some embodiments of the present application also provide a drone dynamic deployment device, wherein the device includes a memory for storing computer program instructions and a processor for executing the computer program instructions, wherein when the computer program instructions are executed by the processor, the device is triggered to execute the aforementioned drone dynamic deployment method.

[0051] Other embodiments of the present application further provide a computer-readable medium having computer program instructions stored thereon, wherein the computer program instructions can be executed by a processor to implement the method for dynamic deployment of drones.

[0052] Compared with the prior art, in a dynamic deployment scheme for unmanned aerial vehicles provided in an embodiment of the present application, the scheme first determines a first flight plan of the unmanned aerial vehicle, and generates a flight track line and a first space-time envelope corresponding to the first flight plan based on the first flight plan, and then controls the capacity of the first route occupied by the first flight plan based on the first flight plan and its corresponding first space-time envelope, and adjusts the first flight plan based on the capacity control result, and performs conflict detection on the first flight plan with the restricted flight zone and the second flight plan respectively based on the first flight plan and its corresponding first space-time envelope, and adjusts the first flight plan based on the conflict detection result. This solution predicts the flight trajectory of the UAV at a specific time and grasps the overall picture of the flight process in the entire flight plan by introducing flight plans, flight track lines and flight space-time envelopes. On this basis, the capacity of the route is managed as a resource, and the flight plan is allocated based on the capacity management results. At the same time, combined with the restricted flying zone and the flight plans of other UAVs, conflict detection is performed on possible space-time conflicts during the flight process, and the flight plan is further adjusted based on the results of conflict detection, thereby achieving precise allocation of UAV flights and effectively improving the flight efficiency of UAVs and airspace utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] 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:

[0054] Figure 1 A processing flow chart of a method for dynamic deployment of drones provided in an embodiment of the present application;

[0055] Figure 2 A processing flow chart for implementing dynamic deployment of drones using the solution of an embodiment of the present application;

[0056] The same or similar reference numerals in the drawings represent the same or similar components. DETAILED DESCRIPTION

[0057] The present application is described in further detail below in conjunction with the accompanying drawings.

[0058] In a typical configuration of the present application, the terminal and the equipment of the service network each include one or more processors (CPU), input / output interface, network interface and memory.

[0059] 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.

[0060] Computer readable media include permanent and non-permanent, removable and non-removable media, and can be implemented by any method or technology to store information. Information can be computer program instructions, data structures, program devices or other data. Examples of computer storage media include, but are not limited to, phase change memory (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, read-only compact disk (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape 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.

[0061] An embodiment of the present application provides a method for dynamic deployment of unmanned aerial vehicles. The method first determines a first flight plan of the unmanned aerial vehicle, and generates a flight track line and a first space-time envelope corresponding to the first flight plan based on the first flight plan. Then, based on the first flight plan and its corresponding first space-time envelope, the capacity of a first route occupied by the first flight plan is controlled, and the first flight plan is adjusted according to the capacity control result. In addition, based on the first flight plan and its corresponding first space-time envelope, the first flight plan is respectively subjected to conflict detection with a restricted flight zone and a second flight plan, and the first flight plan is adjusted according to the conflict detection result. This solution predicts the flight trajectory of the UAV at a specific time and grasps the overall picture of the flight process in the entire flight plan by introducing flight plans, flight track lines and flight space-time envelopes. On this basis, the capacity of the route is managed as a resource, and the flight plan is allocated based on the capacity management results. At the same time, combined with the restricted flying zone and the flight plans of other UAVs, conflict detection is performed on possible space-time conflicts during the flight process, and the flight plan is further adjusted based on the results of conflict detection, thereby achieving precise allocation of UAV flights and effectively improving the flight efficiency of UAVs and airspace utilization.

[0062] In actual scenarios, the device that executes the method may be a user device, a network device, or a device formed by integrating a user device and a network device through a network, or may be an application running on the above device. The user device includes but is not limited to various terminal devices such as computers, mobile phones, and tablet computers; the network device includes but is not limited to network hosts, single network servers, multiple network server sets, or cloud computing-based computer sets. Here, the cloud is composed of a large number of hosts or network servers based on cloud computing, where cloud computing is a type of distributed computing, a virtual computer composed of a group of loosely coupled computer sets.

[0063] Figure 1 The following is a processing flow of a method for dynamically allocating drones provided in an embodiment of the present application, which at least includes the following processing steps:

[0064] Step S101, determining a first flight plan of the UAV.

[0065] The first flight plan of the UAV refers to relevant information about the UAV flight process created based on simulation or actual operation data. For example, the first flight plan may include at least parameters such as the UAV model, route information, take-off field, landing field, mission start time, take-off time, landing time, and mission end time.

[0066] In actual scenarios, relevant basic data and parameters can be pre-configured for use when creating the first flight plan. For example, in this embodiment, basic data dictionaries such as drone models, take-off fields, landing fields, and routes can be pre-configured, wherein the route data needs to maintain parameters such as route centerline, take-off and landing stage flight zone radius, take-off and landing stage operation zone radius, cruising stage flight zone width and height, and cruising stage operation zone width and height. For different drone models, the drone appearance parameters corresponding to the model, safe meeting distance and other parameters can also be further configured. In addition, redundant parameters of the space-time envelope (for example, M seconds in advance, N seconds in postposition, etc.), ground operation time parameters before take-off of the first flight plan, self-check time parameters before take-off of the first flight plan, and ground operation time parameters after landing of the first flight plan can also be included. Through the above-mentioned pre-configured basic data or parameters, it is convenient for users to create the first flight plan for drones more efficiently.

[0067] Step S102: generating a flight track line and a first space-time envelope corresponding to the first flight plan according to the first flight plan.

[0068] The flight track line includes the flight track points corresponding to each time point of the UAV in the first flight plan. In an actual scenario, the flight track points of the first flight plan at each time point after takeoff can be obtained based on the flight performance of the UAV through simulation calculation or by using historical flight data statistics, and then these flight track points can be combined into a flight track line. For example, in an actual scenario, the interval between each time point can be set to 1 second, then the flight track points of the UAV every 1 second after takeoff can be obtained first, and then the adjacent flight track points can be connected to form the flight track line corresponding to the first flight plan.

[0069] The first spatiotemporal envelope includes the spatial range information of the possible appearance of the drone at each time point in the first flight plan. In actual scenarios, the spatial position where the drone may appear at each time point in the first flight plan and the confidence level of the drone appearing at the spatial position can be calculated in combination with actual external disturbance factors such as the environment, and then the spatial range corresponding to the spatial position where the drone may appear under the preset confidence level (such as 99% confidence level) is used to generate the spatiotemporal envelope corresponding to the first flight plan.

[0070] For example, in the solution of the embodiment of the present application, according to the first flight plan, the flight track points corresponding to each time point after take-off of the first flight plan are calculated and generated, and the flight track points are combined into a flight track line, and the following steps can be used to generate the space-time envelope, which are as follows:

[0071] First, for each flight track point, the flight space corresponding to each flight track point is determined based on the UAV's shape parameters and safe meeting distance.

[0072] For example, based on the model of the drone, the maximum vertical height difference of the body surface relative to the body center of mass, the maximum horizontal distance difference of the wing / nose / tail relative to the body center of mass, and other specific drone appearance parameters can be obtained. Due to the different flight postures of the drone in the cruising stage and the take-off and landing stage, for the flight track points in the take-off and landing stage, the flight track point is used as the center of the circle, the maximum horizontal distance difference is used as the radius, and the distance corresponding to the preset time length before and after is taken as the height to form a columnar flight space in the vertical direction. For the flight track points in the cruising stage, the flight track point is used as the center, the maximum vertical height difference is used as the half-height, the maximum horizontal distance difference is used as the half-width, and the distance corresponding to the preset time length before and after is taken as the length to form a columnar flight space in the horizontal direction.

[0073] Based on the UAV's appearance parameters, the safe meeting distance can be further combined to obtain a larger cylindrical flight space, which can be used as the flight space corresponding to each flight track point. Specifically, the safe meeting distance can be further increased to the radius, half-height and half-width of the cylindrical flight space, thereby obtaining a flight space with a larger spatial range.

[0074] After the flight space is generated, the flight space corresponding to each flight track point on the flight track line may be combined to generate the first space-time envelope.

[0075] In some embodiments of the present application, in order to improve the redundancy of detection, the flight space corresponding to the current flight track point, the first M flight track points and the last N flight track points can be constructed as the third space-time envelope corresponding to the time point of the current flight track point. For example, for the time point t0, the corresponding current flight track point is p0. If the time interval of data sampling is 1 second, then M flight track points M seconds before t0 and N flight track points N seconds after t0 can be taken, totaling M+N+1 flight track points. The flight space combination corresponding to these M+N+1 flight track points is constructed as the third space-time envelope corresponding to the time point t0 of the current flight track point p0. For the sake of convenience, in this solution, each time point of the first flight plan can be defined as a frame, and the third space-time envelope corresponding to each flight track point can be defined as the space-time envelope of the frame. Then, the third space-time envelope corresponding to each flight track point on the flight track line is combined to generate the first space-time envelope.

[0076] In this process, the ground operation time parameters before the drone takes off, the self-check time parameters, and the ground operation time parameters after landing, etc. can be further considered, and correction can be made in the time dimension so that the first space-time envelope can accurately represent the spatial range information that the drone may appear at each time point in the first flight plan.

[0077] In an actual scenario, in order to ensure that the first flight plan can be executed smoothly, after generating the flight track line and the first space-time envelope corresponding to the first flight plan according to the first flight plan, the first flight plan can be self-checked for rationality, and after confirming that the first flight plan meets the rationality self-check conditions, subsequent processing steps can be performed to avoid the failure to successfully complete the first flight plan due to unreasonable flight plan formulation. Specifically, in the solution of the embodiment of the present application, the rationality self-check conditions include at least the following:

[0078] The drone executing the first flight plan has no other unfinished flight plans within the flight time of the first flight plan. If the drone executing the first flight plan has other unfinished flight plans within the flight time of the first flight plan, the drone will be unable to execute the current first flight plan, or other unfinished flight plans will be affected by the execution of the first flight plan. Therefore, it is necessary to confirm that there are no other unfinished flight plans within the flight time of the first flight plan through a rationality self-check.

[0079] The flight time of the first flight plan does not exceed the operational deadline. If the flight time of the first flight plan exceeds the operational deadline, it will lead to the failure to smoothly achieve the operational objectives of the flight plan. Therefore, it can be confirmed by a rationality self-check that the flight time of the first flight plan does not exceed the operational deadline.

[0080] The spatial range corresponding to the first space-time envelope of the first flight plan does not exceed the flyable boundary range of the route of the first flight plan. Since the spatial range corresponding to the first space-time envelope represents the possible spatial position of the drone during the execution of the first flight plan, if the spatial range corresponding to the first space-time envelope does not exceed the flyable boundary range of the route of the first flight plan, it will cause potential danger to the drone, such as collision with other objects outside the flyable boundary range of the route, etc. Therefore, it is also possible to confirm that the spatial range corresponding to the first space-time envelope does not exceed the flyable boundary range of the route of the first flight plan through a rationality self-check.

[0081] After the rationality self-check is performed, if the rationality self-check result is that the first flight plan meets all the rationality self-check conditions mentioned above, the subsequent steps can be continued. On the contrary, if the rationality self-check result is that the first flight plan does not meet any rationality self-check condition, the first flight plan is cancelled and the subsequent steps are not continued.

[0082] Step S103: According to the first flight plan and its corresponding first space-time envelope, the capacity of the first route occupied by the first flight plan is controlled, and the first flight plan is adjusted according to the capacity control result. Thus, this solution controls the capacity of the route as a resource, and improves the route utilization rate by uniformly controlling the occupation, release and allocation of route resources.

[0083] In some embodiments of the present application, when the capacity of the first route occupied by the first flight plan is controlled according to the first flight plan and its corresponding first space-time envelope, the following processing steps may be adopted:

[0084] First, obtain the candidate routes that can be occupied by the first flight plan. In actual scenarios, it is possible to determine whether there are candidate routes that can be occupied by the first flight plan by judging whether all the optional routes have the same take-off and landing field, the same route, and the same heading as the first flight plan. For example, if there are no routes with the same take-off and landing field, the same route, and the same heading, it means that there are currently no candidate routes that can be occupied by the first flight plan, and the first flight plan can be canceled at this time. If so, proceed to the next step to determine whether the candidate routes are out of limit.

[0085] Determine whether the candidate route exceeds the limit. If not, use the candidate route that does not exceed the limit as the first route occupied by the first flight plan. At this time, the processing flow of route capacity control can be terminated.

[0086] If the limit is exceeded, it is necessary to further calculate the excess capacity release time points of the candidate routes, and arrange the excess capacity release time points of the candidate routes in positive order according to the chronological order to determine the release time queue.

[0087] For example, if there are three candidate routes, namely L1, L2 and L3, the excess capacity release time point corresponding to candidate route L1 is 9:30, the excess capacity release time point corresponding to candidate route L2 is 9:45, and the excess capacity release time point corresponding to candidate route L3 is 9:23. After arranging them in positive order, a release time queue with the order of [L3, L1, L2] is obtained. In actual scenarios, routes can include one-way routes and two-way routes. When determining the excess capacity release time point, you can first determine whether the candidate route is a one-way route. If so, the time point when the next flight plan on the candidate route ends is the excess capacity release time point. If not, the time point when all flight plans on the candidate route end can be used as the excess capacity release time point.

[0088] After obtaining the release time queue, the first excess capacity release time point in the release time queue can be selected to calculate the route capacity release duration. Taking the above scenario as an example, if the release time queue is [L3, L1, L2], the first excess capacity release time point selected at this time is the excess capacity release time point 9:23 corresponding to the candidate route L3. In this embodiment, the route capacity release duration is calculated as the difference between the excess capacity release time point and the next route capacity occupancy start time point of the corresponding candidate route. If it is assumed that the next route capacity occupancy start time point of the candidate route L3 is 10:13, the route capacity release duration can be calculated as 10:13-9:23=50 minutes.

[0089] Then, it can be determined whether the route capacity release time exceeds the first flight time of the first flight plan. If it does not exceed the first flight time of the first flight plan, return to the previous step, reselect the next excess capacity release time point in the release time queue, and calculate the route capacity release time. For example, when the first flight time of the first flight plan is 55 minutes, since 55>50, it exceeds the route capacity release time of the candidate route L3 by 50 minutes. At this time, it is necessary to select the next excess capacity release time point in the release time queue to calculate the route capacity release time. Therefore, the excess capacity release time point of candidate route L1 at 9:45 can be selected from the release time queue. If the next route capacity occupation start time point of candidate route L1 is 10:45, the route capacity release time can be calculated to be 10:45-9:45=60 minutes, which is greater than the first flight time of the first flight plan of 50 minutes.

[0090] If it exceeds the first flight duration of the first flight plan, the candidate route is used as the first route occupied by the first flight plan, and the first adjustment duration is calculated according to the excess capacity release time point and the take-off time point of the first flight plan. Taking the aforementioned candidate route L1 as an example, its corresponding route capacity release time is 60 minutes, which exceeds the first flight duration of the first flight plan. At this time, the candidate route L1 can be used as the first route occupied by the first flight plan, and the first adjustment duration is calculated according to the excess capacity release time point and the take-off time point of the first flight plan.

[0091] When calculating the first adjustment time, the difference between the take-off time of the first flight plan and the excess capacity release time can be used as the first adjustment time. For example, the excess capacity release time of the aforementioned route L1 is 9:45, and the take-off time of the first flight plan is 9:30, then the first adjustment time can be calculated as 9:45-9:30=15 minutes.

[0092] After calculating the first deployment time, the first flight plan can be adjusted according to the first deployment time, and the flight track line and the first space-time envelope corresponding to the first flight plan can be regenerated according to the adjusted first flight plan. Specifically, the relevant time points in the first flight plan can be synchronously delayed according to the first deployment time to ensure that the first route occupied by the first flight plan will not exceed the limit when executing the first flight plan.

[0093] In actual scenarios, a deployment time limit parameter may be pre-set. Before adjusting the first flight plan according to the first deployment time, it may be determined whether the first deployment time exceeds the deployment time limit parameter. If so, the first flight plan may be cancelled to avoid the first flight plan being postponed to a late time. If not, the first flight plan is adjusted according to the first deployment time, and the flight track line and the first space-time envelope corresponding to the first flight plan are regenerated according to the adjusted first flight plan.

[0094] In addition, after adjusting the first flight plan, the solutions of some embodiments of the present application can further determine whether the flight deadline time point of the adjusted first flight plan exceeds the preset operating time. If it exceeds the operating time, the first flight plan is canceled. Only when the operating time is not exceeded, the subsequent processing steps are executed. Through the above judgment, it can be ensured that the first flight plan can be completed within the time period required for the operation of the drone, avoiding the execution of the flight plan too late, resulting in the failure to successfully achieve the operational goals of the drone flight, thereby ensuring the effective occupation of route resources and improving route utilization.

[0095] Step S104: According to the first flight plan and its corresponding first space-time envelope, the first flight plan is respectively subjected to conflict detection with the restricted flight zone and the second flight plan, and the first flight plan is adjusted according to the conflict detection result, wherein the second flight plan is a flight plan that has been deployed and not terminated by other UAVs.

[0096] This step may include two parts, namely, restricted flight zone conflict detection and deployed flight plan conflict detection. In actual scenarios, the above two parts of detection may be performed in a preset order. For example, the order used in this embodiment is: first perform restricted flight zone conflict detection, and then perform deployed flight plan conflict detection.

[0097] Therefore, the first flight plan and the first space-time envelope corresponding to the first flight plan can first be used to perform a restricted flight zone conflict detection on the first flight plan and the restricted flight zone, and if a restricted flight zone conflict is detected, the second adjustment duration is calculated according to the restricted flight zone conflict detection result. Then, the first flight plan is adjusted according to the second adjustment duration, and the flight track line and the first space-time envelope corresponding to the first flight plan are regenerated according to the adjusted first flight plan.

[0098] After completing the restricted flight zone conflict detection, the first flight plan and the second flight plan are subjected to the deployed flight plan conflict detection according to the first flight plan and its corresponding first space-time envelope. If a deployed flight plan conflict is detected, the third deployment duration is calculated according to the deployed flight plan conflict detection result. Further, according to the third deployment duration, the first flight plan is adjusted, and the flight track line and the first space-time envelope corresponding to the first flight plan are regenerated according to the adjusted first flight plan.

[0099] In some embodiments of the present application, in the process of detecting the conflict in the restricted flight zone and calculating the second deployment duration, the following processing steps may be used:

[0100] First, according to the route flyable boundary range corresponding to the first flight plan, a restricted flight zone that overlaps with the route flyable boundary range in space is detected. The restricted flight zone refers to the area where the UAV executing the first flight plan needs to restrict flight. The area corresponding to the restricted flight zone can be set according to the needs of the actual application scenario. For example, in this embodiment, the area where manned aircraft or other UAVs fly can be defined as a limited-time restricted flight zone, and the ground densely populated areas, nature reserves, etc. are defined as all-weather restricted flight zones. The limited-time restricted flight zone has a corresponding restricted flight time interval, and flight is restricted in this restricted flight time interval, while the all-weather restricted flight zone restricts flight at any time.

[0101] The range of the route flyable boundary range and the range of the restricted flight zone corresponding to the first flight plan can be expressed by accuracy, latitude and altitude. Therefore, when detecting the restricted flight zone that overlaps with the route flyable boundary range in space, the longitude interval, latitude interval and altitude interval of the route flyable boundary range corresponding to the first flight plan can be calculated first, and then the longitude interval, latitude interval and altitude interval of all restricted flight zones can be calculated. By comparing the longitude interval, latitude interval and altitude interval between the two, all restricted flight zones that overlap with the route flyable boundary range can be detected. For example, in this embodiment, the longitude interval of the route flyable boundary range of the first flight plan can be compared with the longitude interval of the restricted flight zone to determine the restricted flight zone where the longitude interval overlaps. For the restricted flight zone where the longitude interval overlaps, the latitude intervals of the two are compared to determine the restricted flight zone where the latitude interval overlaps. Then, for the restricted flight zone where both the longitude interval and the latitude interval overlap, the altitude intervals of the two are further compared to determine the restricted flight zone where the altitude interval overlaps. Therefore, by comparing one by one, all restricted flight areas that overlap with the flyable boundary range of the route can be detected.

[0102] After determining the restricted flight zones that overlap with the flyable boundary range of the route, the restricted flight zones can be sorted in reverse order according to the restricted flight cut-off time points of the restricted flight zones, to obtain an overlapping restricted flight zone queue, and the first restricted flight zone is selected from the overlapping restricted flight zone queue to determine the starting time point of the spatial overlap. For example, the three restricted flight zones A1, A2 and A3 in this embodiment correspond to restricted flight time intervals of 9:00-18:00, 12:00-17:00 and 14:00-20:00, respectively. It can be seen that the restricted flight cut-off time points are 18:00, 17:00 and 20:00, respectively. After sorting in reverse order, the overlapping restricted flight zone queue can be determined to be [A3, A1, A2]. After selecting the first restricted flight zone A3, if the time when the first flight plan flies to the restricted flight zone is 19:45, it is determined that the starting time point of the spatial overlap between the first flight plan and the restricted flight zone A3 is 19:45.

[0103] Then, the second flight duration at which the spatial overlap begins can be calculated based on the starting time point of the spatial overlap and the take-off time point of the first flight plan as the second adjustment duration. Specifically, the second flight duration can be the difference between the starting time point of the spatial overlap and the take-off time point of the first flight plan. For example, the starting time point of the spatial overlap between the first flight plan and the restricted flight zone A3 is 19:45, and the take-off time point of the first flight plan is 19:25. Thus, the second flight duration at which the spatial overlap begins can be calculated to be 19:45-19:25=20 minutes. The second flight duration can be used as the second adjustment duration in this solution to adjust the first flight plan.

[0104] If a deployment time limit parameter is preset, before adjusting the first flight plan, it can be determined whether the second deployment time exceeds the deployment time limit parameter. If so, the first flight plan can be cancelled to avoid the first flight plan being postponed to a late time. If not, the first flight plan is adjusted according to the first deployment time, and the flight track line and the first space-time envelope corresponding to the first flight plan are regenerated according to the adjusted first flight plan.

[0105] In addition, after adjusting the first flight plan, the solutions of some embodiments of the present application can further determine whether the flight deadline time point of the adjusted first flight plan exceeds the preset operating time. If it exceeds the operating time, the first flight plan is canceled. Only when the operating time is not exceeded, the subsequent processing steps are executed. Through the above judgment, it can be ensured that the first flight plan can be completed within the time period required for the operation of the drone, avoiding the execution of the flight plan too late, resulting in the failure to successfully achieve the operational goals of the drone flight, thereby ensuring the effective occupation of route resources and improving route utilization.

[0106] In actual scenarios, if the first allocation time has been calculated in the previous steps, the first allocation time and the second allocation time can be added to obtain the cumulative allocation time, and it can be determined whether the cumulative allocation time exceeds the allocation time limit parameter, and the first flight plan can be adjusted accordingly.

[0107] In some embodiments of the present application, in the process of detecting conflicts in deployed flight plans and calculating the third deployment duration, the following processing steps may be used:

[0108] First, according to the route flyable boundary range corresponding to the first flight plan, a second flight plan spatially overlapping with the route flyable boundary range is detected.

[0109] Among the flight track points of the first flight plan, the two preceding and succeeding flight track points that are closest to the spatial overlapping area and without spatial overlap are determined, and the second space-time envelope of each flight track point between the two preceding and succeeding flight track points is obtained. Meanwhile, among the flight track points of the second flight plan, the two preceding and succeeding flight track points that are closest to the spatial overlapping area and without spatial overlap are determined, and the third space-time envelope of each flight track point between the two preceding and succeeding flight track points is obtained.

[0110] Taking a second flight plan that has a spatial overlap with the flyable boundary range of the route as an example, based on the second flight plan and the first flight plan, four flight track points can be determined, of which two flight track points are flight track points P1 and P2 of the first flight plan, which are respectively the two flight track points before and after the flight track points of the first flight plan that are closest to the spatial overlap area and have no spatial overlap. In the first flight plan, the flight track points between flight track points P1 and P2 are all located in the area where spatial overlap occurs, and the space-time envelope corresponding to the flight track points between flight track points P1 and P2 is the second space-time envelope in this solution. The other two flight track points are flight track points P3 and P4 of the second flight plan, which are respectively the two flight track points before and after the flight track points of the second flight plan that are closest to the spatial overlap area and have no spatial overlap. In the second flight plan, the flight track points between flight track points P3 and P4 are all located in the area where spatial overlap occurs, and the space-time envelope corresponding to the flight track points between flight track points P3 and P4 is the third space-time envelope in this scheme.

[0111] In actual scenarios, in order to improve calculation accuracy, the flight track line between the two preceding and succeeding flight track points may be resampled to regenerate the flight track points between the two preceding and succeeding flight track points and their corresponding second space-time envelope and third space-time envelope.

[0112] In the scheme of the embodiment of the present application, among the flight track points of the first flight plan, the two preceding and following flight track points that are closest to the spatial overlap region and do not overlap spatially are determined, and the second space-time envelope of each flight track point between the two preceding and following flight track points is obtained; and at the same time, among the flight track points of the second flight plan, the two preceding and following flight track points that are closest to the spatial overlap region and do not overlap spatially are determined, and the third space-time envelope of each flight track point between the two preceding and following flight track points is obtained. The processing process may specifically include:

[0113] Among the flight track points of the first flight plan, determine the two flight track points that are closest to the spatial overlap area and have no spatial overlap, such as the aforementioned flight track points P1 and P2. Resample the flight track line between the two flight track points, and regenerate the flight track points between the two flight track points and their corresponding second space-time envelope. Since the resampling sampling frequency is higher than the original sampling frequency, for example, sampling can be performed at an interval of 1 meter during resampling, thereby obtaining denser flight track points and the corresponding second space-time envelope between the two flight track points P1 and P2, so as to improve the accuracy of subsequent processing and make the final processing result more accurate.

[0114] Similarly, for the second flight plan, among the flight track points of the second flight plan, determine the two flight track points that are closest to the spatial overlap area and have no spatial overlap, such as the aforementioned flight track points P3 and P4. Then, the flight track line between the two flight track points can be resampled to regenerate the flight track points between the two flight track points and their corresponding third space-time envelope. At this time, the resampling sampling frequency is also higher than the original sampling frequency, so as to obtain more dense flight track points and the corresponding third space-time envelope between the two flight track points P3 and P4, thereby improving the accuracy of the processing.

[0115] After obtaining the flight track points between the two preceding and succeeding flight track points and their corresponding second space-time envelopes and third space-time envelopes, the first distances between each second space-time envelope of the first flight plan and each third space-time envelope of the second flight plan can be calculated. That is, each second space-time envelope of the first flight plan is calculated in pairs with each third space-time envelope of the second flight plan to obtain the first distance between each second space-time envelope and each third space-time envelope.

[0116] Then, a judgment can be made based on the calculated first distance to determine the second space-time envelope, the third space-time envelope, and the corresponding overlapping time points when the first distance is less than zero. Among them, the overlapping time point is the time point corresponding to the second space-time envelope and the third space-time envelope when the first distance is less than zero. For example, in an actual scenario, it can be determined whether the calculated first distance is less than zero. If not, it means that the first flight plan and the second flight plan will not overlap in space, and the deployed flight plan conflict detection can be ended at this time. If the first distance is less than zero, it means that the first flight plan and the second flight plan may overlap in space in the space-time envelope related to the first distance, thereby determining the second space-time envelope and the third space-time envelope involved when the first distance is less than zero, and at the same time, the overlapping time points corresponding to these second space-time envelopes and the third space-time envelopes can be determined.

[0117] At this time, the first overlapping time interval can be calculated according to the overlapping time point in the first flight plan, and the second overlapping time interval can be calculated according to the overlapping time point in the second flight plan. For example, assuming that in this scheme, according to the overlapping time point in the first flight plan, the first overlapping time can be calculated as [T1-M, T2+N], where T1 is the time point corresponding to the flight track point where the spatial overlap begins in the first flight plan, T2 represents the time point corresponding to the flight track point where the spatial overlap ends in the first flight plan, and M and N are redundant parameters, the purpose is to advance T1 by M seconds and post-position T2 by N seconds to improve the redundancy of the scheme and reduce the possibility of misjudgment. Similarly, according to the overlapping time point in the second flight plan, the second overlapping time can be calculated as [T3-M, T4+N], where T3 is the time point corresponding to the flight track point where the spatial overlap begins in the second flight plan, and T4 represents the time point corresponding to the flight track point where the spatial overlap ends in the second flight plan.

[0118] After determining the first overlapping time interval and the second overlapping time interval, the second flight plan whose second overlapping time interval overlaps with the first overlapping time interval can be searched and determined as a conflicting flight plan. The conflicting flight plan thus determined overlaps with the first flight plan not only in space but also in time, that is, the drone executing the conflicting flight plan may collide with the drone executing the first flight plan. For example, for a second flight plan B1, its second overlapping time interval is [10:00, 10:30], and the first overlapping time interval corresponding to the first flight plan is [10:15, 10:40]. Since there is a time overlap between the two, the second flight plan can be determined as a conflicting flight plan at this time.

[0119] After all conflicting flight plans are obtained, the third flight duration at which spatial overlap begins to occur in the conflicting flight plan can be further calculated based on the take-off time point of the conflicting flight plan and the start time point of the second overlapping time interval of the conflicting flight plan. For example, taking a conflicting flight plan B1 as an example, if its take-off time point is 9:50 and the start time point of the second overlapping time interval is 10:00, the third flight duration Tx at which spatial overlap begins to occur in the conflicting flight plan can be calculated based on the difference between the start time point of the second overlapping time interval and the take-off time point of the conflicting flight plan.

[0120] Then, the conflict time interval that needs to be avoided in the conflict flight plan can be calculated based on the second overlapping time interval of the conflict flight plan and the corresponding third flight duration. Specifically, the conflict time interval can be determined by subtracting the third flight duration Tx calculated from the second overlapping time interval of each conflict flight plan. It can be seen that the conflict time interval is actually the time interval that needs to be avoided at the take-off time point of the first flight plan. For example, for the aforementioned second flight plan B1, its corresponding third flight duration Tx = 10 minutes. Therefore, combined with the second overlapping interval [10:00, 10:30], it can be calculated that the conflict time interval that needs to be avoided in the conflict flight plan B1 is [9:50, 10:20].

[0121] After calculating the conflict time intervals of each conflicting flight plan, the third adjustment duration can be calculated based on the conflict time interval that needs to be avoided in the conflicting flight plan and the take-off time point of the first flight plan. For example, taking the three conflicting flight plans B2, B3 and B4 as examples, if their corresponding conflict time intervals are [10:00, 10:20], [10:15, 10:25] and [10:30, 10:40] respectively, the time interval that the first flight plan needs to avoid when taking off is the union of the above three conflict time intervals, that is, [10:00, 10:25] and [10:30, 10:40]. When calculating the third adjustment duration, the time point outside the conflict time interval closest to the current take-off time point of the first flight plan can be used as the new take-off time point, and then the time difference between the two take-off time points is calculated as the third adjustment duration. For example, taking the above scenario as an example, if the current take-off time of the first time interval is 10:15, all conflicting time intervals need to be avoided at this time, so the nearest time point is 10:25. From this, it can be calculated that the third adjustment time is 10:25-10:15=10 minutes, which is used to adjust the first flight plan.

[0122] Similarly, if a deployment time limit parameter is preset, before adjusting the first flight plan, it can be determined whether the third deployment time exceeds the deployment time limit parameter. If so, the first flight plan can be cancelled to avoid the first flight plan being postponed to a late time. If not, the first flight plan is adjusted according to the first deployment time, and the flight track line and the first space-time envelope corresponding to the first flight plan are regenerated according to the adjusted first flight plan.

[0123] In addition, after adjusting the first flight plan, the solutions of some embodiments of the present application can further determine whether the flight deadline time point of the adjusted first flight plan exceeds the preset operating time. If it exceeds the operating time, the first flight plan is canceled. Only when the operating time is not exceeded, the subsequent processing steps are executed. Through the above judgment, it can be ensured that the first flight plan can be completed within the time period required for the operation of the drone, avoiding the execution of the flight plan too late, resulting in the failure to successfully achieve the operational goals of the drone flight, thereby ensuring the effective occupation of route resources and improving route utilization.

[0124] In actual scenarios, if the first allocation time and the second allocation time have been calculated in the previous steps, the first allocation time, the second allocation time and the third allocation time can be added together to obtain the cumulative allocation time, and it can be determined whether the cumulative allocation time exceeds the allocation time limit parameter, and the first flight plan can be adjusted accordingly.

[0125] Figure 2 The following is a processing flow for implementing dynamic deployment of drones using a solution provided by an embodiment of the present application, which includes at least the following steps:

[0126] Step S201, configuring basic data and parameters.

[0127] Configure basic data dictionaries such as drone models, take-off fields, landing fields, and routes. Among them, the route data needs to maintain parameters such as route centerline, take-off and landing flight zone radius, take-off and landing operation zone radius, cruising flight zone width and height, cruising operation zone width and height. You can also further configure the drone appearance parameters corresponding to the model, safe meeting distance, redundant parameters of the space-time envelope leading M seconds and trailing N seconds, ground operation time parameters before take-off of the flight plan, self-check time parameters before take-off of the flight plan, and ground operation time parameters after landing of the flight plan.

[0128] Step S202, creating a flight plan.

[0129] Based on the data from simulation or actual operation, select the drone, the route, the take-off field and the landing field, and calculate the mission start time, take-off time, landing time and mission end time based on the ground operation time parameters before take-off of the flight plan, the self-check time parameters before take-off of the flight plan, and the ground operation time parameters after landing of the flight plan, thereby creating a flight plan.

[0130] Step S203, generating a flight trajectory line and a space-time envelope corresponding to the flight plan.

[0131] Based on the principles of aerodynamics and the flight performance of drones, simulation calculations are performed to generate a flight track point every second after the take-off time of a flight plan, and these points are combined into a flight track line. Then, combined with historical data and taking into account actual external disturbances, the spatial range corresponding to the spatial position where the drone may appear at a 99% confidence level is used to generate the space-time envelope corresponding to the flight plan.

[0132] Step S204: self-check the rationality of the first flight plan.

[0133] The first flight plan is subjected to a rationality self-check, including whether the UAV executing the first flight plan has other unfinished flight plans within the flight time of the first flight plan, whether the flight time of the first flight plan exceeds the operation deadline, whether the space range corresponding to the first space-time envelope of the first flight plan exceeds the flyable boundary range of the route of the first flight plan, etc. Therefore, by setting corresponding rationality self-check conditions, when the first flight plan does not meet any rationality self-check condition, it can be considered that it has not passed the rationality self-check, and step S208 can be executed at this time. When the first flight plan meets all rationality self-check conditions, it can pass the rationality self-check, and then enter step S205.

[0134] Step S205: route capacity control and adjustment. The specific steps are as follows:

[0135] 1. Determine whether there is a route with the same take-off and landing field, route and heading. If not, cancel the first flight plan. If so, select it as a candidate route and proceed to the next step.

[0136] 2. Determine whether the capacity of the candidate route exceeds the limit. If not, occupy the route as the first route occupied by the first flight plan, and control and adjust the route capacity. If yes, proceed to the next step.

[0137] 3. Calculate the excess capacity release time points of the candidate routes and sort them in positive order to obtain the release time queue. Specifically, when determining the excess capacity release time point, it can be determined whether the route is a one-way route, and the time point when the next flight plan on the candidate route ends is the excess capacity release time point. If not, the time point when all flight plans on the candidate route end can be used as the excess capacity release time point.

[0138] 4. Select the first one in the release time queue and calculate the route capacity release duration.

[0139] 5. Determine whether the route capacity release time exceeds the first flight time of the first flight plan. If yes, proceed to the next step. If not, remove the excess capacity release time point from the release time queue and return to step 4.

[0140] 6. Calculate the first deployment time, determine whether the first deployment time exceeds the deployment time limit parameter, and if so, cancel the first flight plan. If not, adjust the first flight plan according to the first deployment time, and regenerate the flight track line and the first space-time envelope corresponding to the first flight plan according to the adjusted first flight plan.

[0141] 7. Determine whether the new flight deadline of the adjusted flight plan exceeds the operating time. If so, execute step S208 to cancel the first flight plan. If not, complete the route capacity control and adjustment and proceed to step S206.

[0142] Step S206: Detect and adjust the restricted flight zone conflict. The specific steps are as follows:

[0143] 1. Predefine restricted flight zones. For example, the areas where manned aircraft or other unmanned aircraft fly can be defined as time-restricted flight zones, and densely populated areas and nature reserves can be defined as all-weather restricted flight zones.

[0144] 2. Calculate the longitude range, latitude range, and altitude range of the flyable boundary range of the route of the first flight plan.

[0145] 3. Calculate the longitude range, latitude range, and altitude range of all restricted flight zones.

[0146] 4. Detect restricted flying areas that overlap with the longitude interval of the first flight plan.

[0147] 5. In the result of step 4, further detect the restricted flight area overlapping with the latitude interval of the first flight plan.

[0148] 6. Based on the result of step 5, further detect the restricted flight area that overlaps with the altitude range of the first flight plan.

[0149] 7. Sort the restricted flight zones detected in step 6 in reverse order according to the restricted flight cut-off time points to obtain an overlapping restricted flight zone queue, and select the first restricted flight zone from it, and calculate the starting time point of spatial overlap with the first flight plan.

[0150] 8. Calculate the duration of the second flight from which the spatial overlap begins based on the starting time point of the spatial overlap and the take-off time point of the first flight plan.

[0151] 9. The second flight time is taken as the second allocation time, and is added to the first allocation time that has been calculated to obtain the cumulative allocation time.

[0152] 10. Determine whether the accumulated deployment time exceeds the deployment time limit, and if so, cancel the flight plan. If not, adjust the first flight plan according to the accumulated deployment time, and regenerate the flight track line and the first space-time envelope corresponding to the first flight plan according to the adjusted first flight plan.

[0153] 11. Determine whether the new flight deadline of the adjusted flight plan exceeds the operating time. If so, execute step S208 to cancel the first flight plan. If not, complete the restricted flight zone conflict detection and adjustment and proceed to step S207.

[0154] Step S207: Detect and adjust conflicts in deployed flight plans. The specific steps are as follows:

[0155] 1. According to the route flyable boundary range corresponding to the first flight plan, detect a second flight plan that spatially overlaps with the route flyable boundary range. The second flight plan is a flight plan that has been deployed and not terminated by other UAVs.

[0156] 2. Determine the two flight track points in the first flight plan and the second flight plan that are closest to the spatial overlap area and do not overlap, and obtain the space-time envelope of each flight track point between the two flight track points. The space-time envelope in the first flight plan can be recorded as the second space-time envelope, and the space-time envelope in the second flight plan can be recorded as the third space-time envelope.

[0157] 3. Resample between the two track points and generate the corresponding space-time envelope. The sampling frequency of the resampling needs to be higher than the original sampling frequency, for example, resampling is performed at a frequency of 1 meter per route.

[0158] 4. Calculate first distances between each second space-time envelope of the first flight plan and each third space-time envelope of the second flight plan.

[0159] 5. Determine whether the first distance is less than zero. If not, flight plan conflict detection and adjustment have been deployed. If so, proceed to the next step.

[0160] 6. Record the second space-time envelope, the third space-time envelope, and their corresponding overlapping time points when the first distance is less than zero.

[0161] 7. Calculate the first overlapping time interval according to the overlapping time point in the first flight plan.

[0162] 8. Calculate the second overlapping time interval according to the overlapping time point in the second flight plan.

[0163] 9. Detect the second flight plan whose second overlapping time interval overlaps with the first overlapping time interval, and determine it as a conflicting flight plan.

[0164] 10. Calculate the third flight duration Tx at which spatial overlap begins to occur in the conflicting flight plan according to the take-off time point of the conflicting flight plan and the starting time point of the second overlapping time interval of the conflicting flight plan.

[0165] 11. Subtract the calculated third flight duration Tx from the second overlapping time interval of each conflicting flight plan to calculate the conflicting time interval that needs to be avoided in the conflicting flight plan.

[0166] 12. According to the conflict time intervals of each conflicting flight plan, select the time point outside the conflict time interval that is closest to the current take-off time point of the first flight plan as the new take-off time point, calculate the time difference between the two new take-off time points and the original take-off time point as the third deployment time, and calculate the cumulative deployment time in combination with the first deployment time and the second deployment time.

[0167] 13. Determine whether the accumulated deployment time exceeds the deployment time limit, and if so, cancel the flight plan. If not, adjust the first flight plan according to the accumulated deployment time, and regenerate the flight track line and the first space-time envelope corresponding to the first flight plan according to the adjusted first flight plan.

[0168] 14. Determine whether the new flight deadline of the adjusted flight plan exceeds the operating time. If so, execute step S208 to cancel the first flight plan. If not, complete the flight restriction zone conflict detection and adjustment.

[0169] Step S208, cancel the first flight plan.

[0170] Based on another aspect of the present application, an embodiment of the present application also provides a drone dynamic deployment device, which includes a memory for storing computer program instructions and a processor for executing computer program instructions, wherein when the computer program instructions are executed by the processor, the device is triggered to execute the aforementioned drone dynamic deployment method.

[0171] In particular, the methods and / or embodiments in the embodiments of the present application may be implemented as computer software programs. For example, the embodiments of the present disclosure include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes program code for executing the method shown in the flowchart. When the computer program is executed by the processing unit, the above functions defined in the method of the present application are executed.

[0172] It should be noted that the computer-readable medium described in this application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this application, a computer-readable medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device.

[0173] In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, device, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0174] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0175] The flow chart or block diagram in the accompanying drawings shows the possible architecture, function and operation of the equipment, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated system for hardware that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0176] As another aspect, the present application further provides a computer-readable medium, which may be included in the device described in the above embodiment; or may exist independently without being assembled into the device. The above computer-readable medium carries one or more computer program instructions, which may be executed by a processor to implement the methods and / or technical solutions of the above multiple embodiments of the present application.

[0177] 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 some embodiments, the software program of the present application can be executed by a processor to implement the above steps or functions. 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 in hardware, for example, as a circuit that cooperates with a processor to perform various steps or functions.

[0178] 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 basic 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 limited by the attached claims rather than the above description, so it is intended to include all changes that fall within the meaning and scope of the equivalent elements of the claims 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. Multiple units or devices stated in the device claim can also be implemented by one unit or device through software or hardware. The words first, second, etc. are used to represent names, and do not represent any specific order. The numbers corresponding to the steps are used to mark and distinguish different steps, and the size of the numbers does not limit any specific execution order.

Claims

1. A method for dynamic deployment of unmanned aerial vehicles, characterized in that: The method comprises: Determine the first flight plan of the UAV; Generate a flight track line and a first space-time envelope corresponding to the first flight plan according to the first flight plan, wherein the flight track line includes flight track points corresponding to the UAV at each time point in the first flight plan, and the first space-time envelope includes spatial range information where the UAV may appear at each time point in the first flight plan, and the spatial range information is calculated and determined based on the spatial position information of the flight track line; According to the first flight plan and its corresponding first space-time envelope, control the capacity of the first route occupied by the first flight plan, and adjust the first flight plan according to the capacity control result; According to the first flight plan and its corresponding first space-time envelope, performing a restricted flight zone conflict detection on the first flight plan and the restricted flight zone; if a restricted flight zone conflict is detected, calculating a second deployment duration according to the restricted flight zone conflict detection result, the restricted flight zone being a time-restricted flight zone having a corresponding restricted flight time interval; Adjusting the first flight plan according to the second deployment duration, and regenerating a flight track line and a first space-time envelope corresponding to the first flight plan according to the adjusted first flight plan; According to the adjusted first flight plan and its corresponding first space-time envelope, the adjusted first flight plan and the second flight plan are subjected to deployed flight plan conflict detection, and if a deployed flight plan conflict is detected, a third deployment duration is calculated according to the deployed flight plan conflict detection result; According to the third deployment duration, the first flight plan is adjusted, and the flight track line and the first space-time envelope corresponding to the first flight plan are regenerated according to the adjusted first flight plan, wherein the second flight plan is a flight plan that has been deployed and not terminated by other UAVs.

2. The method according to claim 1, characterized in that After generating a flight track line and a first space-time envelope corresponding to the first flight plan according to the first flight plan, the method further includes: Perform a rationality self-check on the first flight plan to confirm that the first flight plan meets rationality self-check conditions, wherein the rationality self-check conditions at least include: The UAV executing the first flight plan has no other unfinished flight plans within the flight time of the first flight plan; The flight time of the first flight plan does not exceed the operation deadline; The spatial range corresponding to the first space-time envelope of the first flight plan does not exceed the flyable boundary range of the route of the first flight plan.

3. The method according to claim 2, characterized in that The method further comprises: If the first flight plan does not meet any rationality self-check condition, the first flight plan is cancelled.

4. The method according to claim 1, characterized in that: According to the first flight plan and its corresponding first space-time envelope, the capacity of the first route occupied by the first flight plan is controlled, including: Acquire candidate routes that can be occupied by the first flight plan; Determine whether the candidate route exceeds the limit, and if not, use the candidate route that does not exceed the limit as the first route occupied by the first flight plan; If the capacity exceeds the limit, calculate the time points for releasing the excess capacity of the candidate routes, and arrange the time points for releasing the excess capacity of the candidate routes in positive order according to the time sequence to determine the release time queue; Select the first excess capacity release time point in the release time queue, and calculate the route capacity release duration, wherein the route capacity release duration is the difference between the excess capacity release time point and the next route capacity occupation start time point of the corresponding candidate route; Determine whether the route capacity release duration exceeds the first flight duration of the first flight plan; if it does not exceed the first flight duration of the first flight plan, reselect the next excess capacity release time point in the release time queue to calculate the route capacity release duration; If it exceeds the first flight duration of the first flight plan, taking the candidate route as the first route occupied by the first flight plan, and calculating the first deployment duration according to the excess capacity release time point and the take-off time point of the first flight plan; The first flight plan is adjusted according to the first adjustment duration, and a flight track line and a first space-time envelope corresponding to the first flight plan are regenerated according to the adjusted first flight plan.

5. The method according to claim 1, characterized in that According to the first flight plan and its corresponding first space-time envelope, performing a restricted flight zone conflict detection on the first flight plan and the restricted flight zone, and if a restricted flight zone conflict is detected, calculating a second deployment duration according to the restricted flight zone conflict detection result, including: Detecting, according to the route flyable boundary range corresponding to the first flight plan, a restricted flight zone that spatially overlaps with the route flyable boundary range; The restricted flight zones are sorted in reverse order according to the restricted flight zone cut-off time points, an overlapping restricted flight zone queue is obtained, and the first restricted flight zone is selected from the overlapping restricted flight zone queue to determine the start time point of spatial overlap; According to the starting time point of the spatial overlap and the take-off time point of the first flight plan, the second flight duration at which the spatial overlap begins to occur is calculated as the second adjustment duration.

6. The method according to claim 1, characterized in that According to the first flight plan and its corresponding first space-time envelope, performing deployed flight plan conflict detection on the first flight plan and the second flight plan, and if a deployed flight plan conflict is detected, calculating a third deployment duration according to the deployed flight plan conflict detection result, including: Detecting, according to the route flyable boundary range corresponding to the first flight plan, a second flight plan that spatially overlaps with the route flyable boundary range; Among the flight track points of the first flight plan, determine the two preceding and following flight track points that are closest to the spatial overlap region and do not spatially overlap, and obtain a second space-time envelope of each flight track point between the two preceding and following flight track points; and at the same time, among the flight track points of the second flight plan, determine the two preceding and following flight track points that are closest to the spatial overlap region and do not spatially overlap, and obtain a third space-time envelope of each flight track point between the two preceding and following flight track points; respectively calculating first distances between each second space-time envelope of the first flight plan and each third space-time envelope of the second flight plan; Determine a second space-time envelope and a third space-time envelope when the first distance is less than zero, and their corresponding overlapping time points; Calculating a first overlapping time interval according to the overlapping time points in the first flight plan, and calculating a second overlapping time interval according to the overlapping time points in the second flight plan; According to the first overlapping time interval and the second overlapping time interval, searching for a second flight plan whose second overlapping time interval overlaps with the first overlapping time interval, and determining it as a conflicting flight plan; Calculate the third flight duration at which spatial overlap begins to occur in the conflicting flight plan according to the take-off time point of the conflicting flight plan and the starting time point of the second overlapping time interval of the conflicting flight plan; Calculating the conflicting time interval that needs to be avoided in the conflicting flight plan according to the second overlapping time interval of the conflicting flight plan and the corresponding third flight duration; The third adjustment duration is calculated based on the conflict time interval that needs to be avoided in the conflicting flight plan and the take-off time point of the first flight plan.

7. The method according to claim 6, characterized in that Among the flight track points of the first flight plan, two preceding and following flight track points that are closest to the spatial overlap region and do not overlap spatially are determined, and a second space-time envelope of each flight track point between the preceding and following two flight track points is obtained. Meanwhile, among the flight track points of the second flight plan, two preceding and following flight track points that are closest to the spatial overlap region and do not overlap spatially are determined, and a third space-time envelope of each flight track point between the preceding and following two flight track points is obtained, including: Among the flight track points of the first flight plan, determine the two preceding and succeeding flight track points that are closest to the spatial overlap area and have no spatial overlap; Resampling the flight track line between the two preceding and succeeding flight track points, and regenerating the flight track points between the two preceding and succeeding flight track points and their corresponding second space-time envelope, wherein the sampling frequency of the resampling is higher than the original sampling frequency; Among the flight track points of the second flight plan, determine the two preceding and succeeding flight track points that are closest to the spatial overlap area and have no spatial overlap; The flight track line between the two preceding and succeeding flight track points is resampled to regenerate the flight track points between the two preceding and succeeding flight track points and their corresponding third space-time envelope, wherein the resampling sampling frequency is higher than the original sampling frequency.

8. The method according to any one of claims 4 to 7, characterized in that The method further comprises: Determine whether the flight deadline time point of the adjusted first flight plan exceeds the preset operation time, and if it exceeds the operation time, cancel the first flight plan.

9. A drone dynamic deployment device, wherein: The device comprises a memory for storing computer program instructions and a processor for executing the computer program instructions, wherein when the computer program instructions are executed by the processor, the device is triggered to execute the method according to any one of claims 1 to 8.

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

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