Flight plan conflict detection method, device and equipment based on low-altitude airspace grid

Abstract

The embodiment of the invention provides a flight plan conflict detection method, device and equipment based on a low-altitude airspace grid, and is applied to the technical field of air traffic control. The method comprises the steps of constructing a low-altitude airspace grid set, planning a flight plan, dividing an airline flight stage into a plurality of flight segments, obtaining a space-time occupation grid set corresponding to each flight segment based on the flight speed and obtained flight target physical parameters, and combining to obtain a space-time occupation grid set of the airline flight stage. Based on the space-time occupancy range and the low-altitude airspace grid set, constructing a space-time occupancy grid set corresponding to other flight stages; the flight plan space-time occupation grid set is obtained through merging and compared with the historical space-time occupation grid set, if conflicts exist, conflict information is generated, and the flight plan is re-planned according to the conflict information, so that path overlapping and conflicts between tasks are effectively avoided, the turnover rate and the utilization rate of a low-altitude airspace are increased, and the flight planning efficiency is improved. And the dense flight requirement of the low-altitude unmanned aerial vehicle is met.

Description

Technical Field

[0001] The present disclosure relates to the field of air traffic control technology, and in particular to a flight plan conflict detection method, device, and equipment based on a low-altitude airspace grid. Background Art

[0002] In recent years, the application of low-altitude UAVs in logistics distribution, environmental monitoring, urban patrol and other fields has increased rapidly. Especially in urban environments, UAVs have undertaken many flexible and efficient low-altitude flight missions. With their maneuverability, UAVs can complete complex tasks in a short time, such as achieving "last mile" logistics distribution, real-time disaster monitoring and infrastructure inspection.

[0003] Low-altitude airspace is dynamic and complex, with many interference factors. Especially in cities and other areas with many obstacles, drone flight missions are easily affected by the flight paths of other drones, thus facing risks such as path conflicts, flight delays and potential collisions. Traditional airspace management solutions usually adopt a closed management mode for the entire airspace, that is, during the execution of a flight mission, the relevant airspace will be completely closed for the entire time period, making it impossible for other drones to enter. This airspace closure method cannot achieve the sharing and dynamic reuse of airspace resources, resulting in low efficiency in the utilization of airspace resources, especially limiting the overall mission execution efficiency when drones are densely dispatched.

[0004] Existing low-altitude airspace management technologies have obvious limitations in terms of mission execution efficiency, resource utilization and safety assurance. The current commonly used airspace management methods lack a sophisticated spatiotemporal slice management strategy, which causes drone missions to occupy too long in the airspace, resulting in low utilization of airspace resources and unable to effectively resolve the contradiction between drone flight safety and airspace resource sharing. Summary of the invention

[0005] The present invention provides a flight plan conflict detection method, device, equipment and storage medium based on a low-altitude airspace grid, which solves the technical problems that UAV flight missions in complex urban environments are prone to path conflicts due to interference from other UAV paths, and that traditional airspace management methods usually adopt closed planning for the airspace for a whole period of time, resulting in inefficient use of airspace resources.

[0006] According to a first aspect of the present disclosure, a flight plan conflict detection method based on low-altitude airspace grids is provided. The method comprises: constructing a low-altitude airspace grid to obtain a low-altitude airspace grid set; Plan a flight plan based on mission requirements; the flight plan includes: flight path, flight speed, and airspace space and time occupancy range; Dividing the flight path into multiple flight phases; the flight phases include: a take-off phase, a route flight phase, an area operation phase, and a landing phase; The flight phase of the route is divided into multiple flight segments; based on the flight speed and the acquired physical parameter information of the flight target, a set of space-time occupancy grids corresponding to each flight segment is obtained, and then a set of space-time occupancy grids of the flight phase of the route is obtained; based on the space-time occupancy range of the airspace and the low-altitude airspace grid set, a set of space-time occupancy grids corresponding to other flight phases is constructed; the space-time occupancy grid sets of each flight phase are merged to obtain a set of space-time occupancy grids corresponding to the flight plan; The spatiotemporal occupancy grid set corresponding to the flight plan is compared with the historical spatiotemporal occupancy grid set to determine whether there is spatiotemporal overlap; if so, occupancy conflict information is generated, and the flight plan is replanned according to the occupancy conflict information.

[0007] According to the above aspects and any possible implementation manner, an implementation manner is further provided, wherein the method further includes: If the spatiotemporal occupancy grid set corresponding to the flight plan does not overlap with the historical spatiotemporal occupancy grid set, the flight plan is saved.

[0008] According to the above aspects and any possible implementation, an implementation is further provided, wherein the flight plan planning based on mission requirements includes: Select available airspace based on mission requirements, plan the flight path within the selected airspace, and then obtain the flight plan.

[0009] According to the aspects described above and any possible implementation method, an implementation method is further provided, wherein the airspace includes: take-off and landing airspace, route protection area, and isolated flight area.

[0010] According to the above aspects and any possible implementation manner, an implementation manner is further provided, wherein the flight phase of the route is divided into a plurality of flight segments; based on the flight speed and the acquired physical parameter information of the flight target, a set of spatiotemporal occupancy grids corresponding to each flight segment is obtained, and then the set of spatiotemporal occupancy grids of the flight phase of the route is obtained, including: The route flight phase includes a route flight to the operation area phase and a segment flight to the landing point phase, and the route flight to the operation area phase and the segment flight to the landing point phase are respectively divided into a plurality of segments; The route protection zone is set based on the acquired physical parameter information of the flight target to obtain the airspace occupied space range of each flight segment; Calculate the airspace occupancy time range for each flight segment based on flight speed; Based on the domain occupied spatial range and the airspace occupied time range, a set of spatiotemporal occupancy grids corresponding to each flight segment is obtained; The space-time occupancy grid sets corresponding to the stage of the route flying to the work area and the stage of the flight segment flying to the landing point are respectively merged to obtain the space-time occupancy grid set of the route flying to the work area stage and the space-time occupancy grid set of the flight segment flying to the landing point stage.

[0011] According to the aspects described above and any possible implementation manner, an implementation manner is further provided, wherein the historical spatiotemporal occupancy grid set corresponds to the spatiotemporal occupancy grid set corresponding to the flight plan saved after conflict detection.

[0012] According to the above aspects and any possible implementation manner, an implementation manner is further provided, after the flight plan is replanned according to the occupancy conflict information, the method further includes: Replanning the flight plan by avoiding the spatiotemporal occupancy grid corresponding to the occupancy conflict information; The spatiotemporal occupancy grid set corresponding to the re-planned flight plan is compared with the historical spatiotemporal occupancy grid set until there is no spatiotemporal overlap, and the re-planned flight plan is saved.

[0013] According to a second aspect of the present disclosure, a flight plan conflict detection device based on low-altitude airspace grids is provided. The flight plan conflict detection device comprises: a grid construction module, which is used to grid the low-altitude airspace to obtain a low-altitude airspace grid set; A flight plan planning module is used to plan a flight plan based on mission requirements; the flight plan includes: flight path, flight speed, and airspace space and time occupancy range; A flight phase division module, used to divide the flight path into multiple flight phases; the flight phases include: a take-off phase, a route flight phase, an area operation phase, and a landing phase; The space-time occupancy grid set acquisition module is used to divide the flight phase of the route into multiple flight segments; based on the flight speed and the acquired physical parameter information of the flight target, the space-time occupancy grid set corresponding to each flight segment is obtained, and then the space-time occupancy grid set of the flight phase of the route is obtained; based on the space-time occupancy range of the airspace and the low-altitude airspace grid set, the space-time occupancy grid set corresponding to other flight phases is constructed; the space-time occupancy grid sets of each flight phase are merged to obtain the space-time occupancy grid set corresponding to the flight plan; The conflict judgment module is used to compare the spatiotemporal occupancy grid set corresponding to the flight plan with the historical spatiotemporal occupancy grid set to determine whether there is spatiotemporal overlap; if so, occupancy conflict information is generated and the flight plan is replanned according to the occupancy conflict information.

[0014] According to a third aspect of the present disclosure, an electronic device is provided, comprising: a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the program, the method according to the first aspect and / or the second aspect of the present disclosure is implemented.

[0015] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the method according to the first aspect and / or the second aspect of the present disclosure is implemented.

[0016] In the present disclosure, it is only necessary to construct the low-altitude airspace into a grid to obtain a low-altitude airspace grid set, and plan the flight plan based on the mission requirements, divide the route flight phase into multiple segments, and obtain the space-time occupancy grid set corresponding to each segment based on the flight speed and the physical parameter information of the flight target obtained in advance, and then obtain the space-time occupancy grid set of the route flight phase, and construct the space-time occupancy grid set corresponding to other flight phases based on the space-time occupancy range and the low-altitude airspace grid set, and then obtain the space-time occupancy grid set corresponding to the flight plan, and compare it with the historical space-time occupancy grid set to determine whether there is space-time overlap; if so, conflict information is generated, and the flight plan is replanned according to the conflict information. In this way, path overlap and conflict between tasks are effectively avoided, the turnover rate and utilization efficiency of the low-altitude airspace are improved, and the needs of intensive low-altitude UAV flights in the future are met.

[0017] It should be understood that the contents described in the summary of the invention are not intended to limit the key or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, wherein: Figure 1 A flow chart of a flight plan conflict detection method based on a low-altitude airspace grid according to an embodiment of the present disclosure is shown; Figure 2 A block diagram of a flight plan conflict detection device based on a low-altitude airspace grid according to an embodiment of the present disclosure is shown; Figure 3 A schematic block diagram of an electronic device that can be used to implement an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0020] In addition, the term "and / or" in this article is only a description of the association relationship between the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0021] The embodiments of the present disclosure provide a flight plan conflict detection method, apparatus, and device based on a low-altitude airspace grid, which can be used to solve the problems of path conflicts and inefficient use of airspace resources in low-altitude missions.

[0022] In this application, the low-altitude airspace grid is a low-altitude airspace grid system for low-altitude airspace management and large-scale low-altitude safety calculations. The low-altitude airspace is divided into airspace grid units of equal size, similar shape, without gaps or overlaps according to rules, and the low-altitude airspace is turned into a calibrable, quantifiable, computable, manageable, and visualized spatiotemporal data space, realizing digital and refined airspace digital modeling, thereby providing solid support for airspace management, flight safety assurance, etc. This code is generated based on specific rules, taking into full account factors such as terrain undulations, building heights and shapes, to ensure that the grid can accurately reflect the actual geographical environment.

[0023] Figure 1 A flow chart of a flight plan conflict detection method 100 based on a low-altitude airspace grid according to an embodiment of the present disclosure is shown. The method 100 includes: S110, constructing a grid for the low-altitude airspace to obtain a low-altitude airspace grid set; In one possible implementation, the low-altitude airspace grid unit set includes low-altitude airspace restriction information.

[0024] In a possible implementation, the low-altitude airspace is segmented according to preset rules; grid modeling is performed based on the segmented low-altitude airspace to obtain a low-altitude airspace grid set.

[0025] For example, according to the characteristics and needs of low-altitude airspace, the basic principles of grid construction, such as the size, shape and number of grids, are determined. Taking into account factors such as flight safety, airspace utilization, and data processing efficiency, a suitable grid construction strategy is selected; the construction of airspace grids first needs to consider the spatial location. Different airspace areas may have different geographical characteristics, flight activity density and safety requirements. Therefore, when constructing the grid, it is necessary to determine the size and shape of the grid according to the specific location of the airspace, such as the latitude and longitude range, topography, and climatic conditions. For example, over densely populated cities with frequent flight activities, a more refined grid construction is required to better monitor and manage flight activities. In remote areas or airspace with less flight activities, a coarser grid construction can be used. In addition to the spatial location, the construction of the grid also needs to consider the detailed requirements. This includes flight safety standards, airspace use rules, flight plan formulation, and flight monitoring. For example, for airspace that requires highly precise monitoring, such as near airports or over important facilities, a higher level of grid construction may be required to more accurately capture the details of flight activities. According to the characteristics of the grid structure, grid coding rules are formulated so that the grid code can identify each grid and obtain a low-altitude airspace grid set.

[0026] S120, planning a flight plan based on mission requirements.

[0027] In a possible implementation, available airspace is selected according to mission requirements, and a flight path is planned within the selected airspace to obtain a flight plan.

[0028] In one possible implementation, appropriate take-off and landing airspace, route protection area and isolated flight zone are selected according to mission requirements, take-off and landing paths are planned in the selected take-off and landing airspace, route path planning is performed in the route protection area, operation path planning is performed in the isolated flight zone, and the space-time occupancy range of the airspace in the take-off and landing airspace and the isolated flight zone, as well as the flight speed in the route protection area, are determined to obtain a flight plan.

[0029] In one possible implementation, the flight plan includes: take-off and landing point locations, flight path, flight speed, and airspace space and time occupancy range.

[0030] In a possible implementation, the airspace spatiotemporal occupancy range includes the spatial range of airspace occupancy and the temporal range of airspace occupancy.

[0031] In a possible implementation, the airspace includes: take-off and landing airspace, route protection area, and isolated flight area; among which, Take-off and landing airspace: includes fixed and temporary airspace. Fixed take-off and landing airspace is related to the take-off and landing station, and is defined as a cylinder extending up and down from the take-off and landing point. Temporary take-off and landing airspace only serves specific flight activities.

[0032] Route protection zone: A tubular protection space formed when an unmanned aerial vehicle flies along a designated route. The cross section of the route protection zone is usually rectangular, and the horizontal and vertical yaw tolerances ensure flight safety.

[0033] Isolate flight zone: A polygonal airspace exclusive area set aside for fixed-area flight operations, such as aerial photography or mapping, which is temporary in nature.

[0034] S130, dividing the flight path into multiple flight phases.

[0035] In a possible implementation, the flight path is divided into a take-off phase, a route flight phase, a regional operation phase, and a landing phase.

[0036] In a possible implementation, the route flight phase includes a route flight to an operation area phase and a route flight to a landing point phase.

[0037] For example, the airspace usage and time frame for each flight phase are specified: (1) Take-off phase: When the flight activity starts, the UAV takes off vertically from the starting position, enters and occupies a specific take-off and landing airspace, and ensures flight safety during the take-off process;

[0038] (2) Route flight to the operation area stage: The UAV flies along the preset route from the starting point to the designated operation area, passing through and utilizing the airspace resources within the route protection area to ensure the safety and stability of the route flight;

[0039] (3) Regional operation stage: After arriving at the operation area, the drone enters the designated isolated flight zone and performs tasks (such as inspection or aerial photography). This isolated flight zone is used to ensure exclusive use rights and safety of regional operations;

[0040] (4) Route flight to landing point stage: After completing the mission, the UAV flies along the preset route to the landing point, passing through and utilizing the airspace resources within the route protection zone to ensure the safety and stability of the route flight;

[0041] (5) Landing phase: At the end of the flight activity, the UAV lands vertically at the landing point, enters and occupies a specific take-off and landing airspace to ensure flight safety during the landing process.

[0042] In one possible implementation, the entire flight activity is divided into five flight phases, covering three types of airspace: take-off and landing airspace, route protection area, and isolated flight area, and each phase has an independent occupancy time range. A flight phase is associated with an airspace type, and the relationship between a flight plan and an airspace type is one-to-many.

[0043] In one possible implementation, the occupied time range of each flight phase is composed of entry time and departure time. When submitting a flight plan, it is necessary to enter the entry time and departure time of each flight phase. In order to improve the robustness of the system, the system extrapolates 5% of the time range forward and backward based on the entry time and departure time, respectively, as the effective range of the airspace object corresponding to the flight phase. The time ranges of airspace objects in different flight phases are allowed to overlap appropriately.

[0044] S140, dividing the flight phase of the route into multiple flight segments; based on the flight speed and the acquired physical parameter information of the flight target, obtaining the space-time occupancy grid set corresponding to each flight segment, and then obtaining the space-time occupancy grid set of the flight phase of the route; based on the space-time occupancy range of the airspace and the low-altitude airspace grid set, constructing the space-time occupancy grid set corresponding to other flight phases; merging the space-time occupancy grid sets of each flight phase to obtain the space-time occupancy grid set corresponding to the flight plan.

[0045] In one possible implementation, in order to ensure refined management of airspace temporal and spatial occupancy and avoid long-term and large-scale occupation of airspace, a longer route flight phase is divided into several equal-length segments according to preset rules. The protection zone of each segment is an independent airspace unit, among which the segment airspace is an independent airspace unit formed by refining the route protection zone.

[0046] In one possible implementation, the airspace occupancy time range of each flight segment is calculated based on the flight speed; a route protection zone is set according to the acquired physical parameter information of the flight target to obtain the airspace occupancy space range of each flight segment, and then the space-time occupancy grid set corresponding to each flight segment is obtained; the space-time occupancy grid sets corresponding to each flight segment are merged to obtain the space-time occupancy grid set corresponding to the route flight stage.

[0047] In a possible implementation, the route flight to the work area stage and the route flight to the landing point stage are respectively divided into multiple segments; a route protection zone is set based on the physical parameter information of the flight target to obtain the airspace occupied space range of each segment; the airspace occupied time range of each segment is calculated based on the flight speed; the space-time occupancy grid set corresponding to each segment is obtained based on the airspace occupied space range of each segment and the airspace occupied time range of each segment; the space-time occupancy grid sets corresponding to each segment in the route flight to the work area stage and the segment flight to the landing point stage are merged respectively to obtain the space-time occupancy grid set of the route flight to the work area stage and the space-time occupancy grid set of the segment flight to the landing point stage.

[0048] In a possible implementation, the spatial range of the route protection zone of each flight segment and the airspace occupancy time range are combined with the low-altitude airspace grid set to obtain the space-time occupancy grid set corresponding to each flight segment.

[0049] In one possible implementation, based on the spatial range of airspace occupancy, the temporal range of airspace occupancy, and the low-altitude airspace grid set, a set of spatiotemporal occupancy grids corresponding to the take-off phase, the regional operation phase, and the landing phase is constructed.

[0050] In one possible implementation, based on the spatial range of airspace occupancy and the temporal range of airspace occupancy determined during flight plan planning, combined with the low-altitude airspace grid set, a set of spatiotemporal occupancy grids corresponding to the take-off phase, regional operation phase, and landing phase is obtained.

[0051] In a possible implementation, the space-time occupancy grid sets corresponding to the take-off phase, the area operation phase, and the landing phase are combined with the space-time occupancy grid set corresponding to the route flight phase to obtain the space-time occupancy grid set corresponding to the entire flight plan.

[0052] S150, comparing the spatiotemporal occupancy grid set corresponding to the flight plan with the historical spatiotemporal occupancy grid set to determine whether there is spatiotemporal overlap; if so, generating occupancy conflict information, and replanning the flight plan according to the occupancy conflict information.

[0053] In a possible implementation, the historical spatiotemporal occupancy grid set corresponds to the spatiotemporal occupancy grid set corresponding to the flight plan saved after conflict detection.

[0054] In a possible implementation, after the system is initialized, the historical space-time occupancy grid set is empty. After the first flight plan is planned, the space-time occupancy grid set corresponding to the first flight plan is obtained, and the historical space-time occupancy grid set is saved and updated. The next flight plan is continued to be planned to obtain the corresponding space-time occupancy grid set, and compared with the historical space-time occupancy grid set. If there is no space-time overlap, the historical space-time occupancy grid set is directly updated. If there is space-time overlap, the flight plan is re-planned until there is no space-time overlap, and then the historical space-time occupancy grid set is updated.

[0055] In a possible implementation, if the spatiotemporal occupancy grid set corresponding to the flight plan does not have spatiotemporal overlap with the historical spatiotemporal occupancy grid set, the flight plan is saved.

[0056] In one possible implementation, the flight plan is replanned based on the conflict information; the flight plan is replanned to avoid the spatiotemporal occupied grids corresponding to the conflict information; the spatiotemporal occupied grid set corresponding to the replanned flight plan is compared with the historical spatiotemporal occupied grid set until there is no spatiotemporal overlap, and the replanned flight plan is saved.

[0057] In a possible implementation, a flight plan that has a time-space conflict with the flight plan is replanned based on the conflict information.

[0058] Exemplarily, the low-altitude airspace is grid-constructed to obtain a low-altitude airspace grid set, and is saved in a database; when a new flight plan requirement is received (assuming that the plan ID is 1), firstly, available airspace is selected according to the mission requirement, and in the selected airspace, path planning is performed in each airspace, and the space range occupied by the airspace in the take-off and landing airspace and the isolated flight zone and the time range occupied by the airspace, as well as the flight speed in the route protection zone are determined, and then a flight plan (including the take-off and landing point location, flight path, flight speed, space range occupied by the airspace, and time range occupied by the airspace) is obtained, and the flight plan is divided into multiple flight phases (including: take-off phase, route flight to operation area phase, regional operation phase, route flight to landing point phase, landing phase); The flight phase of the route (including the phase from the route flight to the operation area and the phase from the route flight to the landing point) is divided into flight segments at a granularity of 500 meters. The airspace occupation time range of each flight segment is calculated based on the flight speed. The route protection zone is set according to the physical parameters of the aircraft to obtain the airspace occupation space range of the flight segment, and then the space-time occupation grid set corresponding to each flight segment is obtained. The space-time occupation grid sets of each flight segment of the entire route flight phase are merged to obtain the overall space-time occupation grid set of the route flight phase; based on the spatial range of airspace occupation, the time range of airspace occupation and the low-altitude airspace grid set, the space-time occupation grid set of the airspace corresponding to the take-off phase, the regional operation phase and the landing phase is constructed; the space-time occupation grid sets of each flight phase of the entire flight plan are merged to obtain the space-time occupation grid set of the entire flight plan; When the system is initialized, the "flight plan summary table" of the database is empty; when the first flight plan is constructed, because there are no other flight plans in the current database, there is no space-time overlap by default, so there is no need for conflict detection, and all the information of flight plan 1 is directly saved to the flight plan summary table, including the flight plan ID, flight stage ID, the space-time occupied grid set of the flight plan, and the start and end time of each stage; when a new flight plan requirement is received again (assuming that the plan ID is 2), the system performs flight plan planning and space-time occupied grid set construction, and saves the relevant data to a temporary table, and compares it with the flight plan summary table data for conflict detection; if it is detected that the space-time occupied grid has space-time overlap, the conflicting space-time grid and the flight plan information associated with the grid are stored in the conflict table, the system reads the conflict information in the conflict table, re-plans flight plan 2, and repeats the above detection steps until there is no space-time overlap; if no conflict is detected, the system writes its data from the temporary table to the flight plan summary table so that the flight plan received later can detect space-time occupancy information.

[0059] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should be aware that the present disclosure is not limited by the order of the actions described, because according to the present disclosure, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present disclosure.

[0060] The above is an introduction to the method embodiment. The following is a further explanation of the scheme disclosed in the present invention through an apparatus embodiment.

[0061] Figure 2 FIG. 2 shows a block diagram of a flight plan conflict detection device 200 based on a low-altitude airspace grid according to an embodiment of the present disclosure. Figure 2 As shown, the flight plan conflict detection device 200 includes: A grid construction module 210 is used to construct the low-altitude airspace into a grid to obtain a low-altitude airspace grid set; The flight plan planning module 220 is used to plan the flight plan based on the mission requirements; the flight plan includes: flight path, flight speed, and airspace space and time occupancy range; The flight phase division module 230 is used to divide the flight path into multiple flight phases; the flight phases include: take-off phase, route flight phase, regional operation phase, and landing phase; The space-time occupancy grid set acquisition module 240 is used to divide the flight phase of the route into multiple flight segments; based on the flight speed and the acquired physical parameter information of the flight target, the space-time occupancy grid set corresponding to each flight segment is obtained, and then the space-time occupancy grid set of the flight phase of the route is obtained; based on the space-time occupancy range of the airspace and the low-altitude airspace grid set, the space-time occupancy grid set corresponding to other flight phases is constructed; the space-time occupancy grid sets of each flight phase are merged to obtain the space-time occupancy grid set corresponding to the flight plan; The conflict judgment module 250 is used to compare the spatiotemporal occupancy grid set corresponding to the flight plan with the historical spatiotemporal occupancy grid set to determine whether there is spatiotemporal overlap; if so, generate occupancy conflict information and re-plan the flight plan based on the occupancy conflict information.

[0062] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the described module can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0063] In the technical solution disclosed herein, the acquisition, storage and application of user personal information involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0064] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

[0065] Figure 3 A schematic block diagram of an electronic device 300 that can be used to implement an embodiment of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0066] The electronic device 300 includes a computing unit 301, which can perform various appropriate actions and processes according to a computer program stored in a ROM 302 or a computer program loaded from a storage unit 308 into a RAM 303. In the RAM 303, various programs and data required for the operation of the electronic device 300 can also be stored. The computing unit 301, the ROM 302, and the RAM 303 are connected to each other via a bus 304. An I / O interface 305 is also connected to the bus 304.

[0067] A number of components in the electronic device 300 are connected to the I / O interface 305, including: an input unit 306, such as a keyboard, a mouse, etc.; an output unit 307, such as various types of displays, speakers, etc.; a storage unit 308, such as a disk, an optical disk, etc.; and a communication unit 309, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 309 allows the electronic device 300 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0068] The computing unit 301 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 301 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 301 performs the various methods and processes described above, such as method 100. For example, in some embodiments, the method 100 may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 308. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 300 via the ROM 302 and / or the communication unit 309. When the computer program is loaded into the RAM 303 and executed by the computing unit 301, one or more steps of the method 100 described above may be performed. Alternatively, in other embodiments, the computing unit 301 may be configured to perform the method 100 in any other appropriate manner (e.g., by means of firmware).

[0069] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0070] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0071] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, 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 foregoing.

[0072] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0073] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0074] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0075] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0076] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A flight plan conflict detection method based on low-altitude airspace grid, characterized in that: include: The low-altitude airspace is gridded to obtain a low-altitude airspace grid set; Plan flight plans based on mission requirements; The flight plan includes: flight path, flight speed, and airspace space and time occupancy range; Dividing the flight path into multiple flight phases; the flight phases include: a take-off phase, a route flight phase, an area operation phase, and a landing phase; The flight phase of the route is divided into a plurality of flight segments; based on the flight speed and the acquired physical parameter information of the flight target, a set of space-time occupancy grids corresponding to each flight segment is obtained, and then a set of space-time occupancy grids of the flight phase of the route is obtained; based on the space-time occupancy range of the airspace and the low-altitude airspace grid set, a set of space-time occupancy grids corresponding to other flight phases is constructed; the space-time occupancy grid sets of each flight phase are merged to obtain a set of space-time occupancy grids corresponding to the flight plan; The spatiotemporal occupancy grid set corresponding to the flight plan is compared with the historical spatiotemporal occupancy grid set to determine whether there is spatiotemporal overlap; if so, occupancy conflict information is generated, and the flight plan is replanned according to the occupancy conflict information.

2. The method according to claim 1, characterized in that The method further comprises: If the spatiotemporal occupancy grid set corresponding to the flight plan does not overlap with the historical spatiotemporal occupancy grid set, the flight plan is saved.

3. The method according to claim 1, characterized in that The flight plan planning based on mission requirements includes: Select available airspace based on mission requirements, plan the flight path within the selected airspace, and then obtain the flight plan.

4. The method according to claim 3, characterized in that The available airspace includes: take-off and landing airspace, route protection area, and isolated flight area.

5. The method according to claim 1, characterized in that The step of dividing the flight phase of the route into a plurality of flight segments; obtaining a set of space-time occupancy grids corresponding to each flight segment based on the flight speed and the acquired physical parameter information of the flight target, and then obtaining a set of space-time occupancy grids of the flight phase of the route includes: The route flight phase includes a route flight to the operation area phase and a segment flight to the landing point phase, and the route flight to the operation area phase and the segment flight to the landing point phase are respectively divided into a plurality of segments; The route protection zone is set based on the acquired physical parameter information of the flight target to obtain the airspace occupied space range of each flight segment; Calculate the airspace occupancy time range for each flight segment based on flight speed; Based on the domain occupied spatial range and the airspace occupied time range, a set of spatiotemporal occupancy grids corresponding to each flight segment is obtained; The space-time occupancy grid sets corresponding to the stage of the route flying to the work area and the stage of the flight segment flying to the landing point are respectively merged to obtain the space-time occupancy grid set of the route flying to the work area stage and the space-time occupancy grid set of the flight segment flying to the landing point stage.

6. The method according to claim 2, characterized in that The historical spatiotemporal occupancy grid set corresponds to the spatiotemporal occupancy grid set corresponding to the flight plan saved after conflict detection.

7. The method according to claim 1, characterized in that After replanning the flight plan according to the occupancy conflict information, the method further includes: Replanning the flight plan by avoiding the spatiotemporal occupancy grid corresponding to the occupancy conflict information; The spatiotemporal occupancy grid set corresponding to the re-planned flight plan is compared with the historical spatiotemporal occupancy grid set until there is no spatiotemporal overlap, and the re-planned flight plan is saved.

8. A flight plan conflict detection device based on low-altitude airspace grid, characterized in that: include: A grid construction module is used to construct the low-altitude airspace into a grid and obtain a low-altitude airspace grid set; A flight plan planning module is used to plan a flight plan based on mission requirements; the flight plan includes: flight path, flight speed, and airspace space and time occupancy range; A flight phase division module, used to divide the flight path into multiple flight phases; the flight phases include: a take-off phase, a route flight phase, an area operation phase, and a landing phase; The space-time occupancy grid set acquisition module is used to divide the flight phase of the route into multiple flight segments; based on the flight speed and the acquired physical parameter information of the flight target, the space-time occupancy grid set corresponding to each flight segment is obtained, and then the space-time occupancy grid set of the flight phase of the route is obtained; based on the space-time occupancy range of the airspace and the low-altitude airspace grid set, the space-time occupancy grid set corresponding to other flight phases is constructed; the space-time occupancy grid sets of each flight phase are merged to obtain the space-time occupancy grid set corresponding to the flight plan; The conflict judgment module is used to compare the spatiotemporal occupancy grid set corresponding to the flight plan with the historical spatiotemporal occupancy grid set to determine whether there is spatiotemporal overlap; if so, occupancy conflict information is generated and the flight plan is replanned according to the occupancy conflict information.

9. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium storing computer instructions, characterized in that: The computer instructions are used to cause the computer to execute the method according to any one of claims 1 to 7.

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