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

Abstract

Embodiments of the present disclosure provide a method, apparatus, and device for detecting flight plan conflicts based on low-altitude airspace grids, which are applied to the field of air traffic control technology. The method includes constructing a set of low-altitude airspace grids, planning a flight plan, dividing the route flight phase into multiple segments, obtaining a set of spatio-temporal occupancy grids corresponding to each segment based on the flight speed and the obtained physical parameters of the flight target, merging to obtain a set of spatio-temporal occupancy grids for the route flight phase, constructing a set of spatio-temporal occupancy grids corresponding to other flight phases based on the spatio-temporal occupancy range and the set of low-altitude airspace grids; merging to obtain a set of spatio-temporal occupancy grids for the flight plan, comparing with the historical set of spatio-temporal occupancy grids, if there is a conflict, generating conflict information, and re-planning the flight plan according to the conflict information. In this way, path overlap and conflicts between tasks are effectively avoided, the turnover rate and utilization rate of the low-altitude airspace are improved, and the requirements for intensive flight of low-altitude unmanned aerial vehicles are met.

Description

Technical Field

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

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

[0003] The low-altitude airspace has the characteristics of being dynamically complex and having many interference factors. Especially in multi-obstacle areas such as cities, drone flight tasks 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 schemes usually adopt a closed management mode for the entire airspace segment, that is, during the execution of a flight task, the relevant airspace will be completely closed throughout the time period, preventing other drones from entering. This way of airspace closure cannot achieve the sharing and dynamic reuse of airspace resources, resulting in low utilization efficiency of airspace resources, especially restricting the overall task execution efficiency during intensive drone scheduling.

[0004] Existing low-altitude airspace management technologies have obvious limitations in terms of task execution efficiency, resource utilization rate, and safety guarantee. The currently commonly used airspace management methods lack a fine-grained spatio-temporal slicing management strategy, resulting in drones occupying too much time in the airspace, causing low utilization efficiency of airspace resources and being unable to effectively solve the contradiction between drone flight safety and airspace resource sharing. Summary of the Invention

[0005] The present disclosure provides a method, device, equipment, and storage medium for detecting flight plan conflicts based on low-altitude airspace grids, which solves the technical problems that drone flight tasks are prone to path conflicts due to the interference of other drone paths in a complex urban environment, and traditional airspace management methods usually adopt a closed planning for the entire airspace segment, resulting in low utilization efficiency of airspace resources.

[0006] According to the first aspect of the present disclosure, a method for detecting flight plan conflicts based on low-altitude airspace grids is provided. The method includes: constructing a grid of the low-altitude airspace to obtain a set of low-altitude airspace grids;

[0007] Planning a flight plan based on task requirements; the flight plan includes: flight path, flight speed, and airspace spatio-temporal occupation range;

[0008] Divide the flight path into multiple flight phases; the flight phases include: takeoff phase, en-route flight phase, regional operation phase, and landing phase;

[0009] Divide the en-route flight phase into multiple segments; based on the flight speed and the obtained physical parameter information of the flight target, obtain the spatio-temporal occupancy grid sets corresponding to each segment, and then obtain the spatio-temporal occupancy grid set of the en-route flight phase; based on the spatio-temporal occupancy range of the airspace and the low-altitude airspace grid set, construct the spatio-temporal occupancy grid sets corresponding to other flight phases; merge the spatio-temporal occupancy grid sets of each flight phase to obtain the spatio-temporal occupancy grid set corresponding to the flight plan;

[0010] Compare the spatio-temporal occupancy grid set corresponding to the flight plan with the historical spatio-temporal occupancy grid set to determine whether there is spatio-temporal overlap; if so, generate occupancy conflict information, and re-plan the flight plan according to the occupancy conflict information.

[0011] For the aspects and any possible implementation manners as described above, a further implementation manner is provided, and the method further includes:

[0012] If there is no spatio-temporal overlap between the spatio-temporal occupancy grid set corresponding to the flight plan and the historical spatio-temporal occupancy grid set, save the flight plan.

[0013] For the aspects and any possible implementation manners as described above, a further implementation manner is provided, and the planning of the flight plan based on task requirements includes:

[0014] Select available airspace based on task requirements, and within the selected airspace, plan the flight path to obtain the flight plan.

[0015] For the aspects and any possible implementation manners as described above, a further implementation manner is provided, and the airspace includes: takeoff and landing airspace, en-route protection area, and separated flight area.

[0016] For the aspects and any possible implementation manners as described above, a further implementation manner is provided, and the dividing the en-route flight phase into multiple segments; based on the flight speed and the obtained physical parameter information of the flight target, obtaining the spatio-temporal occupancy grid sets corresponding to each segment, and then obtaining the spatio-temporal occupancy grid set of the en-route flight phase includes:

[0017] The en-route flight phase includes the en-route flight to the operation area phase and the segment flight to the landing point phase, and divide the en-route flight to the operation area phase and the segment flight to the landing point phase into multiple segments respectively;

[0018] Set the en-route protection area based on the obtained physical parameter information of the flight target to obtain the airspace occupancy space range of each segment;

[0019] Calculate the airspace occupancy time range for each flight segment based on the flight speed;

[0020] Obtain the spatio-temporal occupancy grid set corresponding to each flight segment based on the domain occupancy space range and the airspace occupancy time range;

[0021] Merge the spatio-temporal occupancy grid sets corresponding to each flight segment in the stage of the flight route flying to the operation area and the stage of the flight segment flying to the landing point respectively, to obtain the spatio-temporal occupancy grid set in the stage of the flight route flying to the operation area and the spatio-temporal occupancy grid set in the stage of the flight segment flying to the landing point.

[0022] In the above aspects and any possible implementation manners, a further implementation manner is provided, where the historical spatio-temporal occupancy grid set corresponds to the spatio-temporal occupancy grid set corresponding to the flight plan saved after conflict detection.

[0023] In the above aspects and any possible implementation manners, a further implementation manner is provided, after re-planning the flight plan according to the occupancy conflict information, the method further includes:

[0024] Re-plan the flight plan to avoid the spatio-temporal occupancy grid corresponding to the occupancy conflict information;

[0025] Compare the spatio-temporal occupancy grid set corresponding to the re-planned flight plan with the historical spatio-temporal occupancy grid set until there is no spatio-temporal overlap, and save the re-planned flight plan.

[0026] According to the 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 includes: a grid construction module for gridifying the low-altitude airspace to obtain a low-altitude airspace grid set;

[0027] A flight plan planning module for planning a flight plan based on mission requirements; the flight plan includes: a flight path, a flight speed, and an airspace spatio-temporal occupancy range;

[0028] A flight phase division module for dividing the flight path into multiple flight phases; the flight phases include: a takeoff phase, a flight route phase, a regional operation phase, and a landing phase;

[0029] A spatio-temporal occupancy grid set acquisition module, configured to divide the flight phase of the route into multiple flight segments; based on the flight speed and the obtained physical parameter information of the flight target, obtain the spatio-temporal occupancy grid set corresponding to each flight segment, and further obtain the spatio-temporal occupancy grid set of the flight phase of the route; based on the spatio-temporal occupancy range of the airspace and the low-altitude airspace grid set, construct the spatio-temporal occupancy grid set corresponding to other flight phases; merge the spatio-temporal occupancy grid sets of each flight phase to obtain the spatio-temporal occupancy grid set corresponding to the flight plan.

[0030] A conflict judgment module, configured to compare the spatio-temporal occupancy grid set corresponding to the flight plan with the historical spatio-temporal occupancy grid set to judge whether there is spatio-temporal overlap; if so, generate occupancy conflict information, and re-plan the flight plan according to the occupancy conflict information.

[0031] According to a third aspect of the present disclosure, an electronic device is provided. The electronic device includes: a memory and a processor, a computer program is stored on 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.

[0032] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, and 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.

[0033] In the present disclosure, only by gridifying the low-altitude airspace to obtain a low-altitude airspace grid set, and planning a flight plan based on task requirements, dividing the flight phase of the route into multiple flight segments respectively, obtaining the spatio-temporal occupancy grid set corresponding to each flight segment based on the flight speed and the pre-obtained physical parameter information of the flight target, and further obtaining the spatio-temporal occupancy grid set of the flight phase of the route, constructing the spatio-temporal occupancy grid set corresponding to other flight phases based on the spatio-temporal occupancy range and the low-altitude airspace grid set, and further obtaining the spatio-temporal occupancy grid set corresponding to the flight plan, and comparing it with the historical spatio-temporal occupancy grid set to judge whether there is spatio-temporal overlap; if so, generate conflict information, and re-plan the flight plan 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 requirements for future intensive flight of low-altitude unmanned aerial vehicles are met.

[0034] It should be understood that the content described in the summary of the invention is not intended to limit the key or important features of the embodiments of the present disclosure, nor 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

[0035] In conjunction with the accompanying drawings and with reference to the following detailed description, the above and other features, advantages, and aspects of the embodiments of the present disclosure will become more apparent. The drawings are used to better understand the solution and do not limit the present disclosure. In the drawings, the same or similar reference numerals denote the same or similar elements, where:

[0036] Figure 1 shows a flowchart of a flight plan conflict detection method based on a low-altitude airspace grid according to an embodiment of the present disclosure;

[0037] Figure 2 shows 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;

[0038] Figure 3 shows a schematic block diagram of an electronic device that can be used to implement the embodiments of the present disclosure. Detailed Embodiments

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure. Apparently, the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present disclosure without creative efforts shall fall within the scope of protection of the present disclosure.

[0040] In addition, the term "and / or" in this document is merely a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this document generally represents an "or" relationship between the associated objects before and after.

[0041] The embodiments of the present disclosure provide a flight plan conflict detection method, device, and equipment based on a low-altitude airspace grid, which can be used to solve the problems of path conflicts and low utilization efficiency of airspace resources in low-altitude missions.

[0042] 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, turning the low-altitude airspace into a spatio-temporal data space that can be calibrated, quantified, calculated, managed, and visualized, realizing digital and refined airspace digital modeling, thereby providing a solid support for airspace management, flight safety guarantee, etc. This coding is generated based on specific rules, fully considering factors such as terrain undulation, building height and shape, etc., to ensure that the grid can accurately reflect the actual geographical environment.

[0043] Figure 1 The flowchart 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:

[0044] S110, performing grid construction on the low-altitude airspace to obtain a set of low-altitude airspace grids;

[0045] In a possible implementation manner, the set of low-altitude airspace grid cells includes low-altitude airspace restriction information.

[0046] In a possible implementation manner, the low-altitude airspace is divided according to a preset rule; based on the divided low-altitude airspace, grid-based modeling is performed to obtain a set of low-altitude airspace grids.

[0047] Exemplarily, according to the characteristics and requirements of the low-altitude airspace, determine the basic principles of grid construction, such as the size, shape, and number of grids. Considering factors such as flight safety, airspace utilization rate, and data processing efficiency, select a suitable grid construction strategy; the construction of airspace grids first needs to consider the spatial position. Different airspace regions may have different geographical features, flight activity densities, and safety requirements. Therefore, when constructing grids, it is necessary to determine the size and shape of the grids according to the specific location of the airspace, such as the longitude and latitude range, terrain, and climate conditions. For example, over cities with dense populations and frequent flight activities, more refined grid construction is required to better monitor and manage flight activities. In remote areas or airspaces with less flight activities, coarser grid construction can be adopted. In addition to the spatial position, the construction of grids also needs to consider detailed requirements. This includes multiple aspects such as flight safety standards, airspace usage rules, flight plan formulation, and flight monitoring. For example, for airspaces that require highly accurate monitoring, such as near airports or over important facilities, more advanced grid construction may be required to more accurately capture the details of flight activities. According to the characteristics of the grid structure, formulate grid coding rules so that the grid coding can identify each grid, and obtain a set of low-altitude airspace grids.

[0048] S120, planning a flight plan based on mission requirements.

[0049] In a possible implementation manner, select available airspace according to mission requirements, and within the selected airspace, plan a flight path, thereby obtaining a flight plan.

[0050] In a possible implementation manner, select suitable takeoff and landing airspace, route protection area, and isolation flight area according to mission requirements, plan takeoff and landing paths within the selected takeoff and landing airspace, plan route paths in the route protection area, plan operation paths in the isolation flight area, and determine the airspace time and space occupancy range in the takeoff and landing airspace and the isolation flight area, as well as the flight speed in the route protection area, thereby obtaining a flight plan.

[0051] In a possible implementation, the flight plan includes: takeoff and landing point positions, flight paths, flight speeds, and airspace spatio-temporal occupancy ranges.

[0052] In a possible implementation, the airspace spatio-temporal occupancy range includes the spatial range occupied by the airspace and the time range occupied by the airspace.

[0053] In a possible implementation, the airspace includes: takeoff and landing airspace, route protection areas, and isolated flight areas; where

[0054] Takeoff and landing airspace: Includes two types of airspace, fixed and temporary. The fixed takeoff and landing airspace is related to the takeoff and landing station and is defined as a cylinder extending up and down from the takeoff and landing point. The temporary takeoff and landing airspace serves only specific flight activities.

[0055] Route protection area: Used for the flight of unmanned aircraft along the designated route, forming a tubular protection space. The cross-section of the route protection area is usually rectangular, and the horizontal and vertical yaw tolerances ensure flight safety.

[0056] Isolated flight area: A polygonal airspace exclusive area set for fixed-area flight operations, such as aerial photography or surveying, which is temporary.

[0057] S130, divide the flight path into multiple flight phases.

[0058] In a possible implementation, the flight path is divided into a takeoff phase, a route flight phase, a regional operation phase, and a landing phase.

[0059] In a possible implementation, the route flight phase includes the phase of flying the route to the operation area and the phase of flying the route to the landing point.

[0060] Exemplarily, the airspace usage and time range of each flight phase are specified as follows:

[0061] (1) Takeoff phase: At the start of the flight activity, the unmanned aircraft takes off vertically from the starting point position, enters and occupies a specific takeoff and landing airspace to ensure flight safety during takeoff;

[0062] (2) Phase of flying the route to the operation area: The unmanned aircraft flies from the starting point along the preset route to the designated operation area, passing through and utilizing the airspace resources within the route protection area to ensure the safety and stability of route flight;

[0063] (3) Regional operation phase: After arriving at the operation area, the unmanned aircraft enters the designated isolated flight area and performs tasks (such as inspection or aerial photography). This isolated flight area is used to ensure exclusive use rights and safety for regional operations;

[0064] (4) Route flight to the 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 area to ensure the safety and stability of route flight;

[0065] (5) Landing stage: At the end of the flight activity, the UAV vertically lands at the landing point, enters and occupies a specific takeoff and landing airspace to ensure flight safety during the landing process.

[0066] In a possible implementation, the entire flight activity is divided into five flight stages, covering three types of airspace: takeoff and landing airspace, route protection area, and isolated flight area, and each stage has an independent occupancy time range. One flight stage is associated with one type of airspace, and the relationship between one flight plan and the types of airspace is one-to-many.

[0067] In a possible implementation, the occupancy time range of each flight stage consists of an entry time and a departure time. When submitting a flight plan, it is necessary to input the entry time and departure time of each flight stage. To improve the robustness of the system, the system extrapolates 5% of the time range forward and backward respectively based on the entry time and departure time as the effective range of the airspace object corresponding to the flight stage, and the time ranges of airspace objects in different flight stages are allowed to overlap appropriately.

[0068] S140, divide the route flight stage into multiple segments; based on the flight speed and the obtained physical parameter information of the flight target, obtain the set of spatio-temporal occupancy grids corresponding to each segment, and then obtain the set of spatio-temporal occupancy grids of the route flight stage; based on the spatio-temporal occupancy range of the airspace and the set of low-altitude airspace grids, construct the set of spatio-temporal occupancy grids corresponding to other flight stages; merge the sets of spatio-temporal occupancy grids of each flight stage to obtain the set of spatio-temporal occupancy grids corresponding to the flight plan.

[0069] In a possible implementation, in order to ensure the refined management of airspace spatio-temporal occupancy and avoid occupying the airspace for a long time and in a large range, a long route flight stage is divided into several segments of equal length according to preset rules, and the protection area of each segment is an independent airspace unit. Among them, the segment airspace is an independent airspace unit formed by refining the route protection area.

[0070] In a possible implementation, calculate the airspace occupancy time range of each segment based on the flight speed; set the route protection area according to the obtained physical parameter information of the flight target to obtain the airspace occupancy space range of each segment, and then obtain the set of spatio-temporal occupancy grids corresponding to each segment. Merge the sets of spatio-temporal occupancy grids corresponding to each segment to obtain the set of spatio-temporal occupancy grids corresponding to the route flight stage.

[0071] In a possible implementation, the stage of flying the route to the operation area and the stage of flying the route to the landing point are respectively divided into multiple flight segments; a route protection area is set based on the physical parameter information of the flight target to obtain the airspace occupation space range of each flight segment; the airspace occupation time range of each flight segment is calculated based on the flight speed; a spatio-temporal occupation grid set corresponding to each flight segment is obtained based on the airspace occupation space range and the airspace occupation time range of each flight segment; the spatio-temporal occupation grid sets corresponding to each flight segment in the stage of flying the route to the operation area and the stage of flying the route to the landing point are respectively merged to obtain the spatio-temporal occupation grid set of the stage of flying the route to the operation area and the spatio-temporal occupation grid set of the stage of flying the route to the landing point.

[0072] In a possible implementation, according to the space range and the airspace occupation time range of the route protection area of each flight segment, combined with the low-altitude airspace grid set, the spatio-temporal occupation grid set corresponding to each flight segment is obtained.

[0073] In a possible implementation, based on the space range of airspace occupation, the time range of airspace occupation, and the low-altitude airspace grid set, spatio-temporal occupation grid sets corresponding to the take-off stage, the regional operation stage, and the landing stage are constructed.

[0074] In a possible implementation, based on the space range of airspace occupation and the time range of airspace occupation determined during flight plan planning, combined with the low-altitude airspace grid set, spatio-temporal occupation grid sets corresponding to the take-off stage, the regional operation stage, and the landing stage are obtained.

[0075] In a possible implementation, the spatio-temporal occupation grid sets corresponding to the take-off stage, the regional operation stage, and the landing stage are merged with the spatio-temporal occupation grid set corresponding to the route flight stage to obtain the spatio-temporal occupation grid set corresponding to the entire flight plan.

[0076] S150. Compare the spatio-temporal occupation grid set corresponding to the flight plan with the historical spatio-temporal occupation grid set to determine whether there is spatio-temporal overlap; if so, generate occupation conflict information, and re-plan the flight plan according to the occupation conflict information.

[0077] In a possible implementation, the historical spatio-temporal occupation grid set corresponds to the spatio-temporal occupation grid set corresponding to the flight plan saved after conflict detection.

[0078] In a possible implementation, after the system is initialized, the historical spatio-temporal occupancy grid set is empty. After obtaining the first flight plan, the spatio-temporal occupancy grid set corresponding to the first flight plan is obtained, saved, and the historical spatio-temporal occupancy grid set is updated. Continue to plan the next flight plan, obtain the corresponding spatio-temporal occupancy grid set, and compare it with the historical spatio-temporal occupancy grid set. If there is no spatio-temporal overlap, directly update the historical spatio-temporal occupancy grid set; if there is spatio-temporal overlap, re-plan the flight plan until there is no spatio-temporal overlap, and then update the historical spatio-temporal occupancy grid set.

[0079] In a possible implementation, if there is no spatio-temporal overlap between the spatio-temporal occupancy grid set corresponding to the flight plan and the historical spatio-temporal occupancy grid set, save the flight plan.

[0080] In a possible implementation, re-plan the flight plan based on the conflict information; avoid the spatio-temporal occupancy grid corresponding to the occupancy conflict information and re-plan the flight plan; compare the spatio-temporal occupancy grid set corresponding to the re-planned flight plan with the historical spatio-temporal occupancy grid set until there is no spatio-temporal overlap, and save the re-planned flight plan.

[0081] In a possible implementation, re-plan the flight plan that has spatio-temporal conflicts with the flight plan based on the conflict information.

[0082] Exemplarily, the low-altitude airspace is constructed into a grid to obtain a low-altitude airspace grid set, which is saved in the database; when a new flight plan requirement is received (assuming the plan ID is 1), first select the available airspace according to the mission requirements. Within the selected airspace, perform path planning in each airspace, and determine the spatial range and temporal range of airspace occupancy in the takeoff and landing airspace and the isolation flight area, as well as the flight speed in the route protection area, so as to obtain a flight plan (including the takeoff and landing point positions, flight path, flight speed, spatial range of airspace occupancy, temporal range of airspace occupancy), and divide the flight plan into multiple flight stages (including: takeoff stage, route flight to the operation area stage, regional operation stage, route flight to the landing point stage, landing stage);

[0083] Divide the route flight phases (including the phase from route flight to the operation area and the phase from route flight to the landing point) into flight segments at a granularity of 500 meters. Calculate the airspace occupancy time range for each flight segment based on the flight speed. Set up the route protection area according to the physical parameters of the aircraft to obtain the airspace occupancy space range for each flight segment, and then obtain the set of spatio-temporal occupancy grids corresponding to each flight segment. Merge the sets of spatio-temporal occupancy grids for each flight segment in the entire route flight phase to obtain the overall spatio-temporal occupancy grid set for this route flight phase; Based on the airspace occupancy space range, the airspace occupancy time range, and the low-altitude airspace grid set, construct the spatio-temporal occupancy grid sets corresponding to the takeoff phase, the regional operation phase, and the landing phase; Merge the sets of spatio-temporal occupancy grids for each flight phase in the entire flight plan to obtain the spatio-temporal occupancy grid set for the entire flight plan;

[0084] When the system is initialized, the database "Total Flight Plan Table" is empty; when the first flight plan is constructed, since there are no other flight plans in the current database, it is assumed that there is no spatio-temporal overlap, so there is no need to perform conflict detection. Directly save all the information of Flight Plan 1 to the Total Flight Plan Table, including the ID of the flight plan, the ID of the flight phase, the set of spatio-temporal occupancy grids of the flight plan, and the start and end times of each phase; when a new flight plan requirement (assuming the plan ID is 2) is received again, the system conducts flight plan planning and construction of the spatio-temporal occupancy grid set, and saves the relevant data to a temporary table. Compare the data with the data in the Total Flight Plan Table to perform conflict detection; if spatio-temporal overlap is detected in the spatio-temporal occupancy grids, store the conflicting spatio-temporal grids and the flight plan information associated with the grids in the conflict table. The system reads the conflict information in the conflict table and re-plans Flight Plan 2, repeating the above detection steps until there is no spatio-temporal overlap; if no conflict is detected, the system writes its data from the temporary table to the Total Flight Plan Table for subsequent received flight plans to be able to detect spatio-temporal occupancy information.

[0085] It should be noted that for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the present disclosure is not limited by the described action sequence, because according to the present disclosure, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to the present disclosure.

[0086] The above is the introduction of the method embodiments. The following further illustrates the solution of the present disclosure through device embodiments.

[0087] Figure 2 The block diagram of a flight plan conflict detection device 200 based on low-altitude airspace grids according to an embodiment of the present disclosure is shown. AsFigure 2 As shown in Figure 2 , the flight plan conflict detection device 200 includes:

[0088] A grid construction module 210, configured to perform grid construction on the low-altitude airspace to obtain a low-altitude airspace grid set;

[0089] A flight plan planning module 220, configured to plan a flight plan based on mission requirements; the flight plan includes: a flight path, a flight speed, and an airspace spatio-temporal occupancy range;

[0090] A flight phase division module 230, configured to divide the flight path into multiple flight phases; the flight phases include: a takeoff phase, a route flight phase, a regional operation phase, and a landing phase;

[0091] A spatio-temporal occupancy grid set acquisition module 240, configured to divide the route flight phase into multiple flight segments; based on the flight speed and the obtained physical parameter information of the flight target, obtain the spatio-temporal occupancy grid set corresponding to each flight segment, and further obtain the spatio-temporal occupancy grid set of the route flight phase; based on the airspace spatio-temporal occupancy range and the low-altitude airspace grid set, construct the spatio-temporal occupancy grid set corresponding to other flight phases; merge the spatio-temporal occupancy grid sets of each flight phase to obtain the spatio-temporal occupancy grid set corresponding to the flight plan;

[0092] A conflict judgment module 250, configured to compare the spatio-temporal occupancy grid set corresponding to the flight plan with the historical spatio-temporal occupancy grid set to determine whether there is spatio-temporal overlap; if so, generate occupancy conflict information, and re-plan the flight plan according to the occupancy conflict information.

[0093] Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the described modules can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.

[0094] In the technical solution of the present disclosure, the acquisition, storage, and application of the user's personal information involved all comply with the provisions of relevant laws and regulations and do not violate public order and good customs.

[0095] According to the embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0096] Figure 3FIG. 0 shows a schematic block diagram of an electronic device 300 that can be used to implement embodiments of the present disclosure. The electronic device is intended to represent various forms of digital computers, such as, for example, 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, for example, personal digital assistants, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely exemplary and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0097] The electronic device 300 includes a computing unit 301 that can perform various appropriate actions and processes in accordance with a computer program stored in the ROM 302 or a computer program loaded from the storage unit 308 into the 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. The I / O interface 305 is also connected to the bus 304.

[0098] A plurality 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 magnetic 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 via a computer network such as the Internet and / or various telecommunication networks.

[0099] The computing unit 301 can be various general-purpose and / or special-purpose 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, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 301 executes the various methods and processes described above, such as method 100. For example, in some embodiments, method 100 may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 308. In some embodiments, part or all of the computer program may be loaded and / or installed onto 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 method 100 described above can be executed. Alternatively, in other embodiments, the computing unit 301 may be configured to execute method 100 in any other suitable manner (e.g., by means of firmware).

[0100] The various embodiments of the systems and techniques described above in this document can be implemented in digital electronic circuitry, integrated circuit systems, field-programmable gate arrays (FPGA), application-specific integrated circuits (ASIC), application-specific standard products (ASSP), system-on-a-chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: 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 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 the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0101] The program code for implementing the methods of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the program codes are executed by the processor or controller, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The program code can be executed entirely on the machine, partially on the machine, as an independent software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0102] In the context of this disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0103] In order 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 a trackball) by which the user can provide input to the computer. Other kinds 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).

[0104] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can 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.

[0105] A computer system can include a client and a server. The client and the server are generally remote from each other and typically interact through a communication network. The relationship of the client and the server is generated by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, or a server of a distributed system, or a server incorporating a blockchain.

[0106] It should be understood that the various forms of processes shown above can be used, with steps reordered, added or deleted. For example, the steps described 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 no limitation is imposed herein.

[0107] The above specific embodiments do not constitute a limitation on the protection scope of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub - combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of this disclosure shall be included within the protection scope of this disclosure.

Claims

1. A flight plan conflict detection method based on low-altitude airspace grid, characterized in that: include: According to the characteristics of low-altitude airspace and flight requirements, the basic principles of grid construction are determined, and the low-altitude airspace is gridded 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 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: The grid construction module is used to determine the basic principles of grid construction according to the characteristics of low-altitude airspace and flight requirements, and 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.

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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