Airline generation method of aircraft, airline planning system and aircraft

Abstract

The invention relates to an aircraft route generation method, an aircraft route planning system and an aircraft. The method comprises the steps that the method is applied to a route planning system, route generation information for a current low-altitude area is obtained, the route generation information comprises map data, user set waypoints and aircraft parameters, the map data and the aircraft parameters are analyzed, route constraint conditions are obtained, and route planning information is obtained according to the user set waypoints and the route constraint conditions. And generating a target flight route. According to the scheme provided by the invention, the target flight route meeting the low-altitude requirement and the user requirement at the same time can be automatically generated, so that the low-altitude flight safety of the aircraft is improved.

Description

Technical Field

[0001] The present application relates to the technical field of route planning, and in particular to a route generation method for an aircraft, a route planning system and an aircraft. Background Art

[0002] With the continuous development and improvement of aircraft technology, aircraft are gradually being used in various fields. For example, aircraft are used for urban air travel, inspections of designated areas, and other low-altitude flight scenarios.

[0003] Reference Figure 1 , taking the take-off point as A and the landing point as B as an example, the current route planning method usually relies on the driver to manually input the take-off point, landing point and other waypoints, and then directly connect these waypoints to generate a straight line route.

[0004] Although this route planning method is simple and efficient, it does not fully take into account the low-altitude flight environment affected by multiple factors such as terrain, obstacles, weather and airspace restrictions. It is difficult to plan a route that conforms to the low-altitude flight environment, which increases the safety risks of low-altitude aircraft flight and may even cause flight accidents. Summary of the invention

[0005] The present application provides a route generation method for an aircraft, a route planning system and an aircraft, so as to solve or partially solve the problem of how to improve the safety of low-altitude flight of an aircraft.

[0006] In a first aspect, the present application provides a method for generating a route for an aircraft, which is applied to a route planning system, comprising: Obtaining route generation information for the current low-altitude area, the route generation information including map data, user-set waypoints, and aircraft parameters; Parsing the map data and the aircraft parameters to obtain route constraint conditions; A target flight route is generated according to the waypoints set by the user and the route constraints.

[0007] In one example, the parsing of the map data and the aircraft parameters to obtain the route constraint conditions includes: After converting the user-set waypoint and the map data to the same coordinate system, extracting a plurality of map elements from the map data; generating a first route constraint condition according to a spatial relationship between the waypoint set by the user and the map element; A second route constraint is generated based on the aircraft parameter and the first route constraint.

[0008] In one example, generating the first route constraint condition according to the spatial relationship between the waypoint set by the user and the map element includes: Comparing the coordinates of the map elements with the waypoints set by the user one by one to obtain the spatial relationship between the waypoints set by the user and the map elements; When it is determined through the spatial relationship that the map element is an obstacle, combining the user-set waypoint and the coordinates of the obstacle to generate a first route constraint condition for the obstacle; The first route constraint condition is used to instruct the route planning system to generate an obstacle avoidance planning request for the obstacle, and automatically plans a target flight route that avoids the obstacle through the obstacle avoidance planning request.

[0009] In one example, generating a second route constraint condition based on the aircraft parameter and the first route constraint condition includes: Obtaining planning preference data corresponding to the waypoint set by the user; Under the first route constraint condition, simulating and calculating the aircraft parameters and planning preference data to determine the flight performance envelope of the aircraft, and generating a second route constraint condition for the flight performance envelope; The second route constraint is used to instruct the route planning system to generate a flight attitude planning request, and automatically plans a target flight route within the flight performance envelope through the flight attitude planning request.

[0010] In one example, before obtaining the route generation information for the current low-altitude area, the process includes: A route planning request sent by an airborne terminal is received, where the route planning request includes a flight route type.

[0011] In one example, generating a target flight route according to the waypoints set by the user and the route constraints includes: Filtering out plannable nodes satisfying the first route constraint condition from the map data, wherein the plannable nodes are location points near the map element; Connecting the user-set waypoints with the plannable nodes to construct an initial flight route set that satisfies the second route constraint condition; A target flight route corresponding to the flight route type is selected from the initial flight route data set.

[0012] In one example, the method further comprises: Obtaining route attributes of the target flight route; The target flight route is marked using the route attributes, and the marked target flight route is visualized and displayed on an airborne terminal.

[0013] In one example, the method further comprises: If it is detected that the target flight route is not successfully generated, route failure information is generated and the route failure information is visually displayed to the airborne terminal.

[0014] A second aspect of the present application provides a route planning system, the route planning system at least comprising an information acquisition module, a constraint condition generation module and a flight route generation module; wherein: The information acquisition module is used to acquire route generation information for the current low-altitude area, wherein the route generation information includes map data, user-set waypoints, and aircraft parameters; The constraint condition generating module is used to parse the map data and the aircraft parameters to obtain the route constraint conditions; The flight route generation module is used to generate a target flight route according to the waypoints set by the user and the route constraints.

[0015] A third aspect of the present application provides an aircraft, comprising: Processor; and The memory stores executable codes thereon, and when the executable codes are executed by the processor, the processor is caused to execute the method as described above.

[0016] The technical solution provided by this application may have the following beneficial effects: In an embodiment of the present application, a route planning system is used to obtain route generation information for the current low-altitude area. The route generation information includes map data, user-set waypoints, and aircraft parameters. The map data and aircraft parameters are parsed to obtain route constraints. According to the user-set waypoints and route constraints, a target flight route is generated.

[0017] The route planning system of the present application can obtain various types of data such as map data of the current low-altitude area, user-set waypoints, and aircraft parameters to comprehensively consider the actual flight situation of the aircraft, and parse the map data and aircraft parameters to obtain route constraints that adapt to the low-altitude flight environment. Finally, combined with the user-set waypoints and route constraints, it automatically generates a target flight route that meets both low-altitude requirements and user needs, thereby improving the safety of low-altitude flight of the aircraft.

[0018] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and other objects, features and advantages of the present application will become more apparent by describing in more detail the exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.

[0020] Figure 1 It is a schematic diagram of a route planning route shown in the related technology shown in the embodiment of the present application; Figure 2 It is a flowchart of a method for generating a flight path of an aircraft shown in an embodiment of the present application; Figure 3 is another schematic flow chart of a method for generating a flight path for an aircraft shown in an embodiment of the present application; Figure 4 is a schematic diagram of a target flight route shown in an embodiment of the present application; Figure 5 is a schematic diagram of multiple target flight routes shown in an embodiment of the present application; Figure 6 is a structural schematic diagram of a route planning system shown in an embodiment of the present application; Figure 7 is another structural schematic diagram of a route planning system shown in an embodiment of the present application; Figure 8 It is a schematic diagram of the structure of an aircraft shown in an embodiment of the present application. DETAILED DESCRIPTION

[0021] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0022] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0023] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0024] Reference Figure 1 , Figure 1 It is a route planning route diagram shown in the related technology. Taking the take-off point as A and the landing point as B as an example, the current route planning method usually relies on the driver to manually input the take-off point, landing point and other waypoints, and then directly connect these waypoints to generate a straight line route.

[0025] Although this route planning method is simple and efficient, it does not fully take into account the low-altitude flight environment affected by multiple factors such as terrain, obstacles, weather and airspace restrictions. It is difficult to plan a route that conforms to the low-altitude flight environment, which increases the safety risks of low-altitude aircraft flight and may even cause flight accidents.

[0026] In response to the above problems, an embodiment of the present application provides a method for generating a route for an aircraft, which can improve the safety of the aircraft's low-altitude flight.

[0027] The technical solution of the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0028] Figure 2 FIG. 1 is a flow chart of a method for generating a flight path for an aircraft according to an embodiment of the present application. Figure 2 , applied to a route planning system, the method comprises at least the following steps: Step 201, obtaining route generation information for the current low-altitude area, the route generation information includes map data, user-set waypoints and aircraft parameters.

[0029] In actual flight, the aircraft can use its own visual obstacle avoidance equipment to ensure safety. However, if the aircraft's visual obstacle avoidance equipment fails during flight, the aircraft's flight safety is difficult to guarantee. Especially in low-altitude flight environments, aircraft face greater safety challenges due to complex terrain, dense buildings or other environmental factors. To this end, the route planning system designed in this application can automatically plan the optimal flight route for the aircraft in advance that is adapted to the low-altitude flight environment based on functions such as data processing, intelligent planning algorithms, and visual display, thereby improving the safety of the aircraft's low-altitude flight. In addition, the planning results can be presented to the user in a visual form, allowing the user to intuitively know the route to be flown and improve the flight experience.

[0030] In addition, due to the complex flight environment in low-altitude areas, the route generation information collected by the route planning system covers a variety of data such as map data, user-set waypoints, and aircraft parameters, thereby taking into account all factors affecting the low-altitude area and ensuring the generation of safe flight routes.

[0031] Among them, the current low-altitude flight area refers to the low-altitude airspace where the aircraft is flying or plans to fly, which is close to the ground, for example, the airspace below 100 meters, the airspace below 500 meters, the airspace below 1000 meters and other low-altitude areas or ultra-low-altitude areas.

[0032] Route generation information refers to the various data required for route planning, including map data, user-set waypoints, aircraft parameters, weather conditions and other related data.

[0033] User-set waypoints refer to the take-off points, waypoints, landing points and other waypoints set in advance by the pilot on the onboard terminal. As key location points for planning the flight route, the system often also collects parameters such as the longitude and latitude coordinates, relative take-off point altitude, and approach speed corresponding to the user-set waypoints, and uses these parameters as planning preference data.

[0034] Map data refers to high-precision map data in the cloud, which is usually stored in an Internet server in two-dimensional or three-dimensional form and is regularly updated or adjusted according to actual changes to ensure the reliability of the map data. The high-precision map data in the cloud contains terrain data, feature data, and altitude data collected by the equipment. Among them, terrain data includes types such as mountains, rivers, roads, and grasslands, and feature data includes types such as artificial buildings (buildings, towers, telephone poles), trees, etc.

[0035] Aircraft parameters refer to key data that describe the performance and status of the aircraft, including but not limited to maximum speed, maximum flight altitude, turning radius, range, power system limitations, flight attitude, acceleration and deceleration capabilities.

[0036] Step 202: parse the map data and aircraft parameters to obtain route constraints.

[0037] In an embodiment of the present application, the route planning system obtains at least one route constraint condition by performing in-depth analysis of map data and aircraft parameters.

[0038] Among them, route constraints refer to the rules or strategies for auxiliary route planning generated based on the collected relevant data, which directly affect the entire process of route planning, optimization and execution. In this application, route constraints can ensure that the system plans a flight route that meets user needs.

[0039] As mentioned in step 201, the map data includes terrain data and feature data of the geographical area where the aircraft is located or is about to fly, and the aircraft parameters include key data describing the performance and status of the aircraft. It can be understood that by parsing the terrain data and feature data in the map data, it is possible to know the area where obstacles need to be avoided during the flight, that is, the route constraint condition can be a flight path that avoids obstacles when planning the route. By parsing the aircraft parameters, it is possible to know the actual flight capability during the flight, that is, the route constraint condition can be a parameter such as the flight speed, flight altitude, or deviation of the flight path that limits a certain obstacle or waypoint when planning the route. For example, the flight altitude of a certain obstacle or waypoint needs to be higher than 100 meters and lower than 150 meters.

[0040] Step 203, generating a target flight route according to the waypoints and route constraints set by the user.

[0041] In an embodiment of the present application, after obtaining the route constraints, multiple waypoints set by the user are connected in combination with the route constraints to obtain several initial flight routes. A route data set is composed of the several initial flight routes, and a target flight route is selected from the route data set based on user needs (such as optimal path, economical energy saving, etc.).

[0042] As an example, the route planning system is equipped with an intelligent planning algorithm, and route generation information such as map data, user-set waypoints, and aircraft parameters can be used as input data for the intelligent planning algorithm. The algorithm generates a flight route within the flight performance envelope with horizontal or vertical obstacle avoidance effects based on the user waypoint planning preference data entered by the pilot (such as latitude and longitude, altitude, waypoint speed, etc.) combined with the aircraft's roll, pitch, speed, altitude and other performance.

[0043] For example, if there is a raised mountain in the middle of the waypoint input by the user, the intelligent planning algorithm can calculate the optimal angle route data set that can bypass the mountain so that the route will not collide with the mountain and ensure that the movement posture of the aircraft will not be too violent, giving the driver a better riding experience.

[0044] In an embodiment of the present application, a route planning system is used to obtain route generation information for the current low-altitude area. The route generation information includes map data, user-set waypoints, and aircraft parameters. The map data and aircraft parameters are parsed to obtain route constraints. According to the user-set waypoints and route constraints, a target flight route is generated.

[0045] The route planning system of the present application can obtain various types of data such as map data of the current low-altitude area, user-set waypoints, and aircraft parameters to comprehensively consider the actual flight situation of the aircraft, and parse the map data and aircraft parameters to obtain route constraints that adapt to the low-altitude flight environment. Finally, combined with the user-set waypoints and route constraints, it automatically generates a target flight route that meets both low-altitude requirements and user needs, thereby improving the safety of low-altitude flight of the aircraft.

[0046] Figure 3 It is a flowchart of a method for generating a route for an aircraft shown in another embodiment of the present application. Figure 3 relatively Figure 2 The technical solution of the embodiment of the present application is described in more detail, and is applied to a route planning system. The method may include the following steps: Step 301, receiving a route planning request sent by an airborne terminal, where the route planning request includes the current low-altitude area and the flight route type.

[0047] In an embodiment of the present application, a user can operate components or controls provided by the airborne terminal, such as entering waypoints and the type of route to be planned in the navigation interface provided by the airborne terminal. After the airborne terminal receives the user operation on the components or controls, the airborne terminal generates and triggers a route planning request, which includes the current low-altitude area and the type of flight route.

[0048] As an example, when the user inputs the starting point A and the landing point B in the navigation interface, the route planning system determines the current low-altitude area through the location information of the starting point A and the landing point B. When the user manually selects the flight route type such as "optimal path type", "economical and energy-saving type", "safe path type" in the navigation interface, or voice inputs "navigation economical and energy-saving type route", the route planning system uses the flight route type as part of the route planning request and begins to formulate route constraints that match the flight route type.

[0049] Step 302, obtaining route generation information for the current low-altitude area, the route generation information includes map data, user-set waypoints and aircraft parameters.

[0050] In an embodiment of the present application, the route planning system sends a data acquisition request to an Internet server, receives high-precision map data returned by the Internet server, and collects waypoints and related data entered by the user in the navigation interface in real time, as well as obtains the aircraft parameters of the aircraft itself.

[0051] Step 303 : After converting the waypoints set by the user and the map data to the same coordinate system, extracting a plurality of map elements from the map data.

[0052] In the embodiment of the present application, the user (pilot) generally inputs waypoints such as take-off point, waypoint, landing point, etc. in the standard map displayed on the airborne terminal. At this time, the coordinate system of the waypoints collected by the route planning system is the geographic coordinate system, or the longitude and latitude coordinate system. The coordinate system commonly used for high-precision map data is the projection coordinate system.

[0053] As an example, before processing the user-set waypoints and map data, they need to be converted to the same coordinate system so that the user-set waypoints are compatible with the coordinate system of the high-precision map, thereby improving the accuracy of route planning.

[0054] The process of coordinate system conversion can be: The projection formula and constants are used to transform the coordinates of the waypoints set by the user. During the coordinate transformation process, errors may occur due to the differences between different coordinate systems, so the converted coordinates need to be corrected to ensure alignment with reference points such as roads and buildings in the high-precision map to obtain plane coordinates. Finally, the converted waypoints set by the user are displayed on the high-precision map. After the coordinate system conversion, subsequent obstacle avoidance operations are performed.

[0055] After converting the user-set waypoints and map data to the same coordinate system, multiple map elements located in the current low-altitude area are extracted from the map data, thereby converting the data of the high-precision map into a data type for route planning. Each map element corresponds to a specific category of features and carries detailed information such as location coordinates, shape, and size. For example, image content collected by drones and other means needs to be abstracted into information such as trees, buildings, and roads through data analysis and provided to the intelligent planning algorithm.

[0056] As an example, the process of extracting multiple map elements located in the current low-altitude area from the high-precision map data may be: Through image processing methods or semantic segmentation methods, semantic features such as buildings, roads, bridges, etc. are extracted and classified from high-precision maps to obtain multiple map elements.

[0057] It is worth mentioning that the image processing method used in this application can perform edge detection, feature extraction, contour recognition, etc. on the images of high-precision maps, and the semantic segmentation method can classify each pixel of the image and accurately identify different semantic categories.

[0058] Step 304: Generate a first route constraint condition based on the spatial relationship between the waypoints set by the user and the map elements.

[0059] In an embodiment of the present application, the first route constraint condition is used to instruct the route planning system to generate an obstacle avoidance planning request for the obstacle, and automatically plans a target flight route that avoids the obstacle through the obstacle avoidance planning request.

[0060] Among them, the first route constraint is the rule for automatically planning the obstacle avoidance flight route, and the obstacle avoidance planning request is an operational instruction generated based on the first route constraint, which is the trigger signal and data support for the route planning system to actually perform the obstacle avoidance task.

[0061] In the present application, the method for obtaining the first route constraint condition can be: comparing the coordinates of the map elements with the waypoints set by the user one by one, obtaining the spatial relationship between the waypoints set by the user and the map elements, and when it is judged through the spatial relationship that the map element belongs to an obstacle, combining the coordinates of the waypoints set by the user and the obstacle, generating the first route constraint condition for the obstacle.

[0062] The spatial relationship refers to the relative position relationship between a map element (such as a building, bridge, mountain, etc.) and a waypoint set by a user. For example, the spatial relationship can be the distance between a map element and a waypoint set by a user, the direction between a map element and a waypoint set by a user, etc.

[0063] As an example, the intelligent planning algorithm calculates the straight-line distance between the coordinates of the map element and the coordinates of the waypoint set by the user. If the straight-line distance is less than the preset threshold, it means there is a risk of collision and the map source is determined to be an obstacle. Alternatively, if the coordinates of the map element and the coordinates of the waypoint set by the user are used to identify that the map element is in front of the waypoint and the distance is relatively close, it means there is a risk of collision and the map element is determined to be an obstacle.

[0064] When a map element is determined to be an obstacle through spatial relationships, the route planning system will combine the coordinates of the obstacle and the information of the waypoint set by the user to determine the actual location of the obstacle. Accordingly, the first route constraint condition generated is: calculating the shortest path or safest path required for the aircraft to bypass the obstacle.

[0065] For example, suppose the user sets two waypoints: starting point A (x1, y1) and landing point B (x2, y2). There is a building between starting point A and landing point B, and its coordinates are (x3, y3). If the route planning system finds out through coordinate comparison and spatial relationship calculation that the building is between waypoint A and waypoint B, and the straight-line distance corresponding to the coordinates is close to waypoint A, then the building is judged to be an obstacle. The route planning system generates the first route constraint condition based on the location of the obstacle, triggers the obstacle avoidance planning request through the first route constraint condition, and plans the flight route of the aircraft to bypass the building, such as adjusting the route to a detour path from waypoint A to the turning point above the obstacle, and then to waypoint B.

[0066] Reference Figure 4 , Figure 4 It is a schematic diagram of a target flight route shown in an embodiment of the present application. After the route planning system determines through spatial relationships that multiple map elements belong to obstacles between the starting point A and the landing point B, the route planning system automatically generates an obstacle avoidance route with a horizontal obstacle avoidance effect based on the positions of the multiple obstacles, bypassing the obstacles to ensure flight safety.

[0067] Step 305 , generating a second route constraint condition based on the aircraft parameters and the first route constraint condition.

[0068] In an embodiment of the present application, the second route constraint is used to instruct the route planning system to generate a flight attitude planning request, and automatically plans a target flight route within the flight performance envelope through the flight attitude planning request.

[0069] Among them, the second route constraint is the rule for automatically planning the flight route within the flight performance envelope, and the flight attitude planning request is an operational instruction generated based on the second route constraint. It is the trigger signal and data support for the route planning system to actually perform the flight attitude optimization task.

[0070] In the present application, the first route constraint condition can be obtained by obtaining the planning preference data corresponding to the waypoint set by the user, simulating and calculating the aircraft parameters and the planning preference data under the first route constraint condition, determining the flight performance envelope of the aircraft, and generating a second route constraint condition for the flight performance envelope.

[0071] Among them, planning preference data refers to the parameters specially set for one or more waypoints such as the take-off point, waypoint, landing point, etc. when the user enters the take-off point, waypoint, landing point, etc. in the standard map of the display unit, such as the waypoint latitude and longitude of a certain waypoint, the relative take-off point altitude, flight speed, hovering time, waypoint type, etc., which are used to achieve specific flight goals.

[0072] The flight performance envelope refers to the safety parameter range of the aircraft's safe flight based on factors such as aircraft performance, weather conditions, and operational limitations. For example, the maximum flight speed, minimum flight speed, maximum flight altitude, minimum flight altitude, turning angle, and other safety parameter ranges.

[0073] As an example, the intelligent planning algorithm calculates the flight performance envelope in a specific flight environment based on the aircraft parameters through simulation calculations, and at the same time determines the aircraft's flight capability at certain specific waypoints or obstacles in the route in combination with the first route constraint, thereby preventing the aircraft's flight attitude from exceeding the safety parameter range or performance range, thereby ensuring that the aircraft is always in a safe and controllable state during low-altitude flight.

[0074] When the flight performance envelope of the aircraft is determined, the second route constraint condition generated by the route planning system is: planning the flight route passing through the obstacle or the waypoint within a safety range or a performance range.

[0075] Step 306, generating a target flight route according to the waypoints set by the user, the first route constraint condition and the second route constraint condition.

[0076] In an embodiment of the present application, the plannable nodes that meet the first route constraint condition are first screened out from the map data, and then the user-set waypoints are connected to the plannable nodes to construct an initial flight route set that meets the second route constraint condition, and finally, the target flight route corresponding to the flight route type is screened out from the initial flight route data set.

[0077] Among them, the plannable nodes are the location points near the map elements. In combination with the above content, the plannable nodes are actually the location points in the current low-altitude area, excluding obstacles, and meeting the requirements of the flight performance envelope. In this application, the screening process of the plannable nodes can be: The intelligent planning algorithm first determines all obstacles in the current low-altitude area based on the first route constraint, then removes these obstacles from the high-precision map data, and then locks other location points within a safe range (meeting the flight performance envelope requirements) based on the second route constraint. These location points can all be regarded as plannable nodes.

[0078] Connect the waypoints set by the user with the plannable nodes to build a preliminary flight route set, which may contain multiple alternative paths, each of which meets the basic flight requirements. Finally, based on the flight route type requested by the user, select the optimal flight route that meets the user's needs from the preliminary flight route set and use the optimal flight route as the target flight route.

[0079] It is worth mentioning that the purpose of generating a flight route set is to filter out all paths that meet user needs in the current low-altitude area, so that when the user wants to change the flight route type, a new optimal path can be quickly provided to improve the user experience.

[0080] As an example, if the user selects the optimal route type, the route planning system needs to comprehensively consider user requirements such as safety, distance, and energy consumption to select the target flight route. If the user selects the economical and energy-saving route type, the route planning system selects the target flight route with the least fuel consumption to reduce energy consumption.

[0081] Reference Figure 5 , Figure 5 It is a schematic diagram of multiple target flight routes shown in the embodiment of the present application. The route planning system connects the waypoints set by the user with the plannable nodes to construct a preliminary flight route set, which includes route ①, route ② and route ③. Different routes reflect different route type requirements. Route ① and route ②: the path is shorter, but may be close to obstacles. Route ③: an economical and energy-saving path that optimizes energy consumption while ensuring safety, but the path may be longer.

[0082] Through the above steps, the route planning system can automatically select the plannable nodes from the map data, connect the user-set waypoints with the plannable nodes, generate a preliminary flight route set, and select the most suitable target flight route according to the different flight route type requirements. This process comprehensively considers multiple factors such as the aircraft's flight performance, flight safety, and environment to ensure that the final generated flight route meets both flight requirements and user needs.

[0083] Step 307, visually displaying the target flight route.

[0084] In an embodiment of the present application, the route planning system can also obtain the route attributes of the target flight route, mark the target flight route using the route attributes, and visualize the marked target flight route to the airborne terminal.

[0085] Among them, route attributes are extended information of the route data set, such as the estimated distance of the route, estimated flight time, time when the route was generated, and related driver account relationships.

[0086] In addition, if it is detected that the target flight route is not successfully generated, route failure information is generated and the route failure information is visually displayed to the airborne terminal.

[0087] Among them, route failure information at least includes invalid data, data exceeding limits, and network fluctuations. For example, the waypoints entered by the driver are not within the range of the collected high-precision map data, and the algorithm cannot identify obstacles around the waypoints, making reasonable planning impossible.

[0088] It should be noted that the embodiments of the present application include but are not limited to the above examples. It is understandable that under the guidance of the ideas of the embodiments of the present application, technical personnel in this field can make settings according to actual conditions, and the present application does not limit this.

[0089] In an embodiment of the present application, a route planning system is used to obtain route generation information for the current low-altitude area. The route generation information includes map data, user-set waypoints, and aircraft parameters. The map data and aircraft parameters are parsed to obtain route constraints. According to the user-set waypoints and route constraints, a target flight route is generated.

[0090] The route planning system of the present application can obtain various types of data such as map data of the current low-altitude area, user-set waypoints, and aircraft parameters to comprehensively consider the actual flight situation of the aircraft, and parse the map data and aircraft parameters to obtain route constraints that adapt to the low-altitude flight environment. Finally, combined with the user-set waypoints and route constraints, it automatically generates a target flight route that meets both low-altitude requirements and user needs, thereby improving the safety of low-altitude flight of the aircraft.

[0091] Figure 6 : is a schematic diagram of the structure of a route planning system shown in an embodiment of the present application. The system includes an input module, a route planning module and an output module. The data and processes processed by each module are as follows: (1) Input module, including map dataset and waypoint dataset.

[0092] The map data set is high-precision map data in the cloud and is stored in an Internet server. The cloud map data contains terrain data, object data, and altitude data collected by the equipment.

[0093] Among them, terrain data includes types such as mountains, rivers, roads, and grasslands, and feature data includes artificial buildings (buildings, towers, telephone poles), trees, etc. The cloud map data set is updated or adjusted according to the actual flight frequency.

[0094] The waypoint data set is the information entered by the pilot on the display unit, including the latitude and longitude coordinates of the take-off point, waypoints and landing point, the relative height of the take-off point, the passing speed and other parameter settings.

[0095] (2) Route planning services, including map analysis, coordinate system conversion, and intelligent planning algorithms.

[0096] Map parsing refers to summarizing and parsing the collected high-precision map data sets and converting them into data forms for route planning.

[0097] Coordinate system conversion refers to the process of converting from one coordinate system to another, establishing a one-to-one correspondence between the coordinate systems of the display unit standard map and the high-precision map.

[0098] The intelligent planning algorithm is used to support the planning and generation of optimal, economical and energy-saving flight routes based on the data information of the input module and the planning preferences.

[0099] (3) Output module, including planning result feedback, route data set and route attributes.

[0100] Planning result feedback is the field information sent directly to the output terminal by the route planning service, reflecting whether the planning result is successful or failed. If the planning result fails, the reason for the failure is usually also provided, including invalid data, data exceeding the limit, network fluctuation, etc.

[0101] The route data set is the data source for drawing the route. Through dense points with latitude and longitude information, altitude information, and speed information, a complete route map is drawn on the output display terminal.

[0102] Route attributes are extended information of the route dataset, which are used to describe the attributes of the route, such as the estimated distance, estimated flight time, time when the route was generated, the relationship between the associated driver accounts, etc.

[0103] In this application, the route planning system plans a safe route through an input module, a route planning module, and an output module to avoid known obstacles at the same altitude, thereby achieving the goal of ultra-low altitude aircraft safely completing flight operations.

[0104] Corresponding to the aforementioned application function implementation method embodiment, the present application also provides a route planning system, an aircraft and corresponding embodiments.

[0105] Figure 7 is another structural diagram of a route planning system shown in an embodiment of the present application. Figure 7 The route planning system at least includes an information acquisition module 701, a constraint condition generation module 702 and a flight route generation module 703; wherein, The information acquisition module 701 is used to acquire route generation information for the current low-altitude area, where the route generation information includes map data, user-set waypoints, and aircraft parameters; The constraint condition generation module 702 is used to parse the map data and aircraft parameters to obtain the route constraint conditions; The flight route generation module 703 is used to generate a target flight route according to the waypoints and route constraints set by the user.

[0106] As an optional example of the present application, the constraint condition generating module 702 includes: A map element extraction submodule, for extracting a plurality of map elements from the map data after converting the user-set waypoints and the map data to the same coordinate system; A first constraint condition generating submodule, for generating a first route constraint condition according to a spatial relationship between a waypoint set by a user and a map element; The second constraint condition generating submodule is used to generate the second route constraint condition based on the aircraft parameters and the first route constraint condition.

[0107] As an optional example of the present application, the first constraint condition generating submodule is used for: Compare the coordinates of the map elements with the waypoints set by the user one by one to obtain the spatial relationship between the waypoints set by the user and the map elements; When the map element is determined to be an obstacle through spatial relationships, the first route constraint condition for the obstacle is generated by combining the waypoint set by the user and the coordinates of the obstacle; Among them, the first route constraint condition is used to instruct the route planning system to generate an obstacle avoidance planning request for obstacles, and automatically plan a target flight route that avoids obstacles through the obstacle avoidance planning request.

[0108] As an optional example of the present application, the second constraint condition generating submodule is used for: Get the planning preference data corresponding to the waypoints set by the user; Under the first route constraint condition, simulate and calculate the aircraft parameters and planning preference data to determine the flight performance envelope of the aircraft, and generate a second route constraint condition for the flight performance envelope; Among them, the second route constraint is used to instruct the route planning system to generate a flight attitude planning request, and automatically plan a target flight route within the flight performance envelope through the flight attitude planning request.

[0109] As an optional example of this application, it also includes: The request receiving module is used to receive a route planning request sent by an airborne terminal, where the route planning request includes a flight route type.

[0110] As an optional example of the present application, the flight route generation module 703 is used to: Filtering out plannable nodes that meet the first route constraint condition from the map data, where the plannable nodes are location points near the map elements; Connect the waypoints set by the user with the plannable nodes to construct an initial flight route set that satisfies the second route constraint; A target flight route corresponding to the flight route type is selected from the initial flight route data set.

[0111] As an optional example of this application, it also includes: A display module, used to obtain the route attributes of the target flight route; The target flight route is marked using route attributes, and the marked target flight route is visualized and displayed on the airborne terminal.

[0112] As an optional example of this application, it also includes: The result feedback module is used to generate route failure information if it is detected that the target flight route is not successfully generated, and to visually display the route failure information to the airborne terminal.

[0113] Regarding the system in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated again here.

[0114] Figure 8 It is a schematic diagram of the structure of an aircraft shown in an embodiment of the present application.

[0115] See also Figure 8 , the aircraft 800 includes a memory 810 and a processor 820 .

[0116] The processor 820 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0117] The memory 810 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. Among them, ROM can store static data or instructions required by the processor 820 or other modules of the computer. The permanent storage device may be a readable and writable storage device. The permanent storage device may be a non-volatile storage device that does not lose the stored instructions and data even after the computer is powered off. In some embodiments, the permanent storage device uses a large-capacity storage device (such as a magnetic or optical disk, flash memory) as a permanent storage device. In some other embodiments, the permanent storage device may be a removable storage device (such as a floppy disk, optical drive). The system memory may be a readable and writable storage device or a volatile readable and writable storage device, such as a dynamic random access memory. The system memory may store some or all instructions and data required by the processor at runtime. In addition, the memory 810 may include any combination of computer-readable storage media, including various types of semiconductor storage chips (such as DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks may also be used. In some embodiments, the memory 810 may include a readable and / or writable removable storage device, such as a laser disc (CD), a read-only digital versatile disc (such as a DVD-ROM, a double-layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (such as an SD card, a mini SD card, a Micro-SD card, etc.), a magnetic floppy disk, etc. Computer-readable storage media do not include carrier waves and transient electronic signals transmitted wirelessly or wired.

[0118] The memory 810 stores executable codes, and when the executable codes are processed by the processor 820 , the processor 820 can execute part or all of the methods described above.

[0119] In addition, the method according to the present application may also be implemented as a computer program or a computer program product, which includes computer program code instructions for executing some or all of the steps in the above method of the present application.

[0120] Alternatively, the present application can also be implemented as a computer-readable storage medium (or non-transitory machine-readable storage medium or machine-readable storage medium) on which executable code (or computer program or computer instruction code) is stored. When the executable code (or computer program or computer instruction code) is executed by a processor of an electronic device (or server, etc.), the processor executes part or all of the steps of the above-mentioned method according to the present application.

[0121] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A method for generating a flight path of an aircraft, characterized in that: Applied to route planning systems, including: Obtaining route generation information for the current low-altitude area, the route generation information including map data, user-set waypoints, and aircraft parameters; Parsing the map data and the aircraft parameters to obtain route constraint conditions; A target flight route is generated according to the waypoints set by the user and the route constraints.

2. The method according to claim 1, characterized in that: The step of parsing the map data and the aircraft parameters to obtain route constraint conditions includes: After converting the user-set waypoint and the map data to the same coordinate system, extracting a plurality of map elements from the map data; generating a first route constraint condition according to a spatial relationship between the waypoint set by the user and the map element; A second route constraint is generated based on the aircraft parameter and the first route constraint.

3. The method according to claim 2, characterized in that The generating a first route constraint condition according to the spatial relationship between the waypoint set by the user and the map element comprises: Comparing the coordinates of the map elements with the waypoints set by the user one by one to obtain the spatial relationship between the waypoints set by the user and the map elements; When it is determined through the spatial relationship that the map element is an obstacle, combining the user-set waypoint and the coordinates of the obstacle to generate a first route constraint condition for the obstacle; The first route constraint condition is used to instruct the route planning system to generate an obstacle avoidance planning request for the obstacle, and automatically plans a target flight route that avoids the obstacle through the obstacle avoidance planning request.

4. The method according to claim 2, characterized in that: The generating a second route constraint condition based on the aircraft parameter and the first route constraint condition comprises: Obtaining planning preference data corresponding to the waypoint set by the user; Under the first route constraint condition, simulating and calculating the aircraft parameters and planning preference data to determine the flight performance envelope of the aircraft, and generating a second route constraint condition for the flight performance envelope; The second route constraint is used to instruct the route planning system to generate a flight attitude planning request, and automatically plans a target flight route within the flight performance envelope through the flight attitude planning request.

5. The method according to any one of claims 2 to 4, characterized in that: Before obtaining the route generation information for the current low-altitude area, the method includes: A route planning request sent by an airborne terminal is received, where the route planning request includes a flight route type.

6. The method according to claim 5, characterized in that The step of generating a target flight route according to the waypoints set by the user and the route constraints includes: Filtering out plannable nodes satisfying the first route constraint condition from the map data, the plannable nodes being location points near the map element; Connecting the user-set waypoints with the plannable nodes to construct an initial flight route set that satisfies the second route constraint condition; A target flight route corresponding to the flight route type is selected from the initial flight route data set.

7. The method according to claim 1, characterized in that The method further comprises: Obtaining route attributes of the target flight route; The target flight route is marked using the route attributes, and the marked target flight route is visualized and displayed on an airborne terminal.

8. The method according to claim 1, characterized in that The method further comprises: If it is detected that the target flight route is not successfully generated, route failure information is generated and the route failure information is visually displayed to the airborne terminal.

9. A route planning system, characterized in that: The route planning system at least includes an information acquisition module, a constraint condition generation module and a flight route generation module; wherein, The information acquisition module is used to acquire route generation information for the current low-altitude area, wherein the route generation information includes map data, user-set waypoints, and aircraft parameters; The constraint condition generating module is used to parse the map data and the aircraft parameters to obtain the route constraint conditions; The flight route generation module is used to generate a target flight route according to the waypoints set by the user and the route constraints.

10. An aircraft, characterized in that: include: processor; as well as A memory having executable codes stored thereon, which, when executed by the processor, causes the processor to execute the method according to any one of claims 1 to 8.

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