Airspace management method and device based on control point

Abstract

According to the airspace management method and device based on the control points, the concept of the airspace control points is introduced, the actual airspace is decomposed, the mathematical description of the airspace is simplified, and then the airspace management method and device based on the airspace control points are obtained by introducing related mature algorithms and corresponding airspace rules. Compared with traditional route planning, the method has the advantages that the airspace is digitalized, the calculation efficiency is higher, and the method has the advantages that multiple parameters are exposed and adjustable, so that adjustment according to needs in practical application is facilitated.

Description

Technical Field

[0001] The present invention belongs to the technical field of large-scale unmanned aerial vehicle airspace use scenarios, and in particular relates to an airspace management method and device based on control points. Background Art

[0002] The large-scale use of drones is a foreseeable trend, and in the future we will face a complex and dynamic air use environment when drones are used on a large scale.

[0003] Traditional airspace management methods can no longer effectively cope with the problem, so the use of effective and simple methods to achieve airspace management for large-scale drones has very important practical application significance. Summary of the invention

[0004] The present invention proposes an airspace management method and device based on control points, which realizes rapid route planning in large-scale UAV usage scenarios by introducing airspace control points, formulating relevant strategies, and combining existing mature route planning algorithms.

[0005] A first aspect of the present invention provides an airspace management method based on a control point, comprising:

[0006] According to the starting point and end point of the drone group, the airspace range is determined, the airspace range is divided into grids, and each grid vertex is used as a control point to obtain a control point set; the vertical direction of the grid is consistent with the heading of the drone, and the horizontal direction is perpendicular to the heading of the drone; the control points with consistent vertical coordinates are divided into a level;

[0007] When there is a restricted area within the airspace, a rectangular envelope of the restricted area is generated, the vertices of the rectangular envelope are added to the control point set, the level is configured, and the control points located in the restricted area are deleted from the control point set;

[0008] For the pth drone Wp in the drone group, starting from the starting point of Wp, the control points in the control point set are connected in hierarchical order until they are connected to the end point, and all possible selected routes are obtained; the selected route with the shortest path is determined from all possible selected routes as the final route of drone Wp, and all control points in the final route of drone Wp are deleted from the control point set to obtain the latest control point set, and the final route is determined for drone Wp+1 in the latest control point set until the final routes of all drones are obtained;

[0009] The value of p is a positive integer from 1 to P, where P is the number of drones in the drone swarm.

[0010] Optionally, the method further includes:

[0011] Add preset control points to the control point set and configure the layer where the preset control points are located.

[0012] Optionally, before determining the selected route with the shortest path from all possible selected routes as the final route of the drone Wp, the method further includes:

[0013] Delete the selected route that crosses the restricted area.

[0014] Optionally, the method further includes:

[0015] The width of the grid is determined based on the distance between the start and end points of the drone swarm.

[0016] Optionally, the method further includes:

[0017] When the number P of the drone group is greater than a preset value, the drones are divided into at least two subgroups according to the starting point and end point of each drone in the drone group, and the airspace range of each subgroup is determined; and the final route is determined for the drones in each subgroup.

[0018] A second aspect of the present invention provides an airspace management device based on a control point, comprising:

[0019] The grid division module is used to determine the airspace range according to the starting point and end point of the drone group, divide the airspace range into grids, and use each grid vertex as a control point to obtain a control point set; the vertical direction of the grid is consistent with the heading of the drone, and the horizontal direction is perpendicular to the heading of the drone; the control points with consistent vertical coordinates are divided into a level;

[0020] The control point set correction module is used to generate a rectangular envelope of the restricted area when there is a restricted area within the airspace, add the vertices of the rectangular envelope to the control point set, configure the level, and delete the control points located in the restricted area from the control point set;

[0021] The route generation module is used for the pth drone Wp in the drone group, starting from the starting point of Wp, connecting the control points in the control point set in hierarchical order until connecting to the end point, and obtaining all possible selected routes; determining the selected route with the shortest path from all possible selected routes as the final route of the drone Wp, and deleting all control points in the final route of the drone Wp from the control point set to obtain the latest control point set, and determining the final route for the drone Wp+1 in the latest control point set until the final routes of all drones are obtained;

[0022] The value of p is a positive integer from 1 to P, where P is the number of drones in the drone swarm.

[0023] Optionally, a control point set correction module is used to add preset control points to the control point set and configure the level at which the preset control points are located.

[0024] Optionally, the route generation module is used to delete the selected routes that cross the restricted area before determining the selected route with the shortest path from all possible selected routes as the final route of the drone Wp.

[0025] The present invention proposes an airspace management method and device based on control points. The airspace management method based on airspace control points introduces the concept of airspace control points and decomposes the actual airspace space, thereby simplifying the mathematical description of the airspace space, and then introduces relevant mature algorithms and corresponding airspace rules, through iterative calculation and optimization screening, to finally generate the optimal route. Compared with traditional route planning, the present invention realizes the digitization of airspace space, has higher calculation efficiency, and has the advantages of multiple exposed and adjustable parameters, which are convenient for on-demand adjustment in practical applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of the airspace control point generation process;

[0027] Figure 2 A schematic diagram of the route plan generation process;

[0028] Figure 3 Generate schematic diagrams for control points;

[0029] Figure 4 Generate schematic diagrams for routes. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0031] The features and illustrative embodiments of various aspects of the present invention will be described in detail below. In the detailed description below, many specific details are proposed to provide a comprehensive understanding of the present invention. However, it is obvious to those skilled in the art that the present invention can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present invention by illustrating examples of the present invention. The present invention is by no means limited to any specific settings and methods proposed below, but covers any improvements, replacements and modifications of structures, methods, devices without departing from the spirit of the present invention. In the accompanying drawings and the following description, known structures and technologies are not shown to avoid unnecessary ambiguity in the present invention.

[0032] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other, and the embodiments can refer to and quote each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0033] The present invention is further described in detail below in conjunction with embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0034] The present invention provides an airspace management method based on airspace control points. The method realizes rapid route planning for unmanned aerial vehicles in a designated airspace by adding airspace control points to the designated airspace.

[0035] The specific steps are as follows:

[0036] (1) Generation of airspace control points

[0037] 1-1) Grid control point generation. The airspace is divided by airspace gridding, where the side length of the grid can be adjusted according to the actual application, and the vertices of the grid are used as the initial control points. The direction of the grid is determined according to the direction of the drone.

[0038] 1-2) Manually add control points to generate. In combination with actual applications, there will be situations where airspace control points are manually added, and then the manually added control points are added to the control point set.

[0039] 1-3) Generation of airspace envelope control points. When there are restricted areas such as no-fly zones in the planned airspace, the restricted areas are processed by geometric envelope processing, and the boundary points of the area envelope are added to the control point set as new control points.

[0040] 1-4) Control point exclusion screening: First, the existing control points are analyzed and the control points contained in the restricted area are removed to form a feasible domain control point set as the basis for subsequent route generation.

[0041] The process steps of generating airspace control points are as follows: Figure 1 shown.

[0042] (2) Route plan generation

[0043] The generated airspace control points are used as waypoints, and a hierarchy of stepping directions is constructed based on the grid control points. After all the control points are layered, they are connected in sequence according to the hierarchy to form a route. By traversing the control points, the optimal route for the current platform is found. By removing the occupied control points and randomly traversing the control points of the remaining platforms, the optimal routes of all platforms are finally compared to select the optimal route plan for all platforms.

[0044] 2-1) Step-by-step hierarchical classification. Taking the grid control points as the benchmark, all control points in the planning area are hierarchically classified to serve as the stepping direction for the subsequent connection control points, and to determine the set of control points that can be selected for each step.

[0045] 2-2) Connect control points. Starting from the starting point of the current platform, connect control points in order according to the level, and end after completing the traversal of the index, complete the generation of a route, and complete the generation of all possible routes according to the index, and select the shortest route by calculating the length of the connection, which is used as the optimal route for the platform.

[0046] 2-3) Traverse all situations and select the optimal route planning solution. Change the platform and traverse again. When clearing the control points occupied by the previous platform, increase random selection to cover all situations as much as possible and reduce the local optimal situation caused by the order.

[0047] The steps of route plan generation process are as follows: Figure 2 shown.

[0048] In a specific embodiment, the present invention provides an airspace management method based on airspace control points. The specific steps of the present invention are as follows:

[0049] (1) Generate control points

[0050] According to the situation in the planning area, control points are established, and grid control points, manually added control points, and control points generated by the airspace envelope are established in turn. Then, according to the situation of the restricted area in the planning area, the control points in the restricted area are excluded, and finally a feasible control point set is generated, such as Figure 3 shown.

[0051] (2) Hierarchical classification of control points

[0052] According to the generated feasible control points, the control points in the control point set are classified based on the grid control points.

[0053] (2) Connecting control points

[0054] According to the hierarchical classification, the control points are connected layer by layer from the starting point until the end point is connected. After a route connection is completed, it is iterated according to the number of layers and the number of control points of the layer to complete the traversal. The shortest path is selected from all routes as the optimal route of this platform, such as Figure 4 shown.

[0055] (3) Analyze and generate the optimal route

[0056] The next platform is randomly selected and the current set of control points is processed. The control points occupied by the optimal route of the previous platform are removed. The route generation operation for the next platform is performed on the processed control point set. All platforms are traversed to finally obtain the route plan with the shortest route distance as output.

[0057] The above description is only a further embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and concepts of the present invention within the scope disclosed by the present invention, which belong to the protection scope of the present invention.

Claims

1. A control point-based airspace management method, characterized in that: include: According to the starting point and end point of the drone group, the airspace range is determined, the airspace range is divided into grids, and each grid vertex is used as a control point to obtain a control point set; the vertical direction of the grid is consistent with the heading of the drone, and the horizontal direction is perpendicular to the heading of the drone; the control points with consistent vertical coordinates are divided into a level; When there is a restricted area within the airspace, a rectangular envelope of the restricted area is generated, the vertices of the rectangular envelope are added to the control point set, the level is configured, and the control points located in the restricted area are deleted from the control point set; For the pth drone Wp in the drone group, starting from the starting point of Wp, the control points in the control point set are connected in hierarchical order until they are connected to the end point, and all possible selected routes are obtained; the selected route with the shortest path is determined from all possible selected routes as the final route of drone Wp, and all control points in the final route of drone Wp are deleted from the control point set to obtain the latest control point set, and the final route is determined for drone Wp+1 in the latest control point set until the final routes of all drones are obtained; The value of p is a positive integer from 1 to P, where P is the number of drones in the drone swarm.

2. The airspace management method based on control points according to claim 1, characterized in that: The method further comprises: Add preset control points to the control point set and configure the layer where the preset control points are located.

3. The airspace management method based on control points according to claim 1, characterized in that: Before determining the selected route with the shortest path from all possible selected routes as the final route of the drone Wp, the method further includes: Delete the selected route that crosses the restricted area.

4. The airspace management method based on control points according to claim 1, characterized in that: The method further comprises: The width of the grid is determined based on the distance between the start and end points of the drone swarm.

5. The airspace management method based on control points according to claim 1, characterized in that: The method further comprises: When the number P of the drone group is greater than a preset value, the drones are divided into at least two subgroups according to the starting point and end point of each drone in the drone group, and the airspace range of each subgroup is determined; and the final route is determined for the drones in each subgroup.

6. An airspace management device based on control points, characterized in that: include: The grid division module is used to determine the airspace range according to the starting point and end point of the drone group, divide the airspace range into grids, and use each grid vertex as a control point to obtain a control point set; the vertical direction of the grid is consistent with the heading of the drone, and the horizontal direction is perpendicular to the heading of the drone; the control points with consistent vertical coordinates are divided into a level; The control point set correction module is used to generate a rectangular envelope of the restricted area when there is a restricted area within the airspace, add the vertices of the rectangular envelope to the control point set, configure the level, and delete the control points located in the restricted area from the control point set; The route generation module is used for the pth drone Wp in the drone group, starting from the starting point of Wp, connecting the control points in the control point set in hierarchical order until connecting to the end point, and obtaining all possible selected routes; determining the selected route with the shortest path from all possible selected routes as the final route of the drone Wp, and deleting all control points in the final route of the drone Wp from the control point set to obtain the latest control point set, and determining the final route for the drone Wp+1 in the latest control point set until the final routes of all drones are obtained; The value of p is a positive integer from 1 to P, where P is the number of drones in the drone swarm.

7. The airspace management device based on control points according to claim 6, characterized in that: The control point set correction module is used to add preset control points to the control point set and configure the level where the preset control points are located.

8. The airspace management device based on control points according to claim 6, characterized in that: The route generation module is used to delete the selected routes crossing the restricted area before determining the selected route with the shortest path from all possible selected routes as the final route of the drone Wp.

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