System for automatically detecting and adjusting flight plan

Abstract

A system for automatically detecting and adjusting a flight plan is characterized in that a flight working diagram generation module generates a graphical flight working diagram according to flight data of a low-altitude aircraft, and a flight working diagram display module displays the flight working diagram on a display interface in real time; the flight interval time detection module automatically detects the flight interval time between the low-altitude flight plans using the same route, and the route conflict detection module automatically detects the low-altitude flight plans with route conflicts. The flight working diagram adjusting module adjusts the flight data of the low-altitude flight plans of which the flight interval time does not meet the recommended flight interval time and adjusts the flight data of the low-altitude flight plans of which the route conflicts occur, and the flight working diagram generating module updates the flight working diagram according to the adjusted flight data. According to the method, the flight working diagram is visually displayed in a graphic mode, the low-altitude flight plan condition can be conveniently and clearly checked and globally mastered, the flight flow can be conveniently and dynamically evaluated, and the working efficiency is greatly improved.

Description

Technical Field

[0001] The present invention relates to a system for automatically detecting and adjusting a flight plan. Background Art

[0002] The low-altitude economy is a comprehensive economic form that is driven by various low-altitude flight activities of various manned and unmanned aircraft, radiating and driving the integrated development of related fields. It has the core characteristics of high-tech dominance, high-efficiency operation and high-quality development. The huge scale of the low-altitude economy determines that its flight activities are characterized by high density, short intervals, high safety, high flexibility, and openness and diversity.

[0003] In order to ensure the safety and smooth flow of low-altitude flights and promote the efficient operation of the low-altitude economy, low-altitude flight plans play an extremely important role. Through the approval and filing of low-altitude flight plans, it can be ensured that flight activities are carried out in the specified airspace, time and conditions, avoiding flight conflicts and safety hazards, thereby ensuring the safety of low-altitude flights. The formulation and implementation of low-altitude flight plans help to regulate the flight activities of drones and other aircraft and ensure that flight activities comply with laws, regulations and airspace management requirements. Through the management of low-altitude flight plans, the use of low-altitude airspace can be arranged and scheduled more effectively, the utilization efficiency of airspace resources can be improved, and airspace congestion and resource waste can be reduced. Therefore, low-altitude flight plans are not only the basis for ensuring flight safety and regulating flight activities, but also a key factor in promoting the orderly development of the low-altitude economy. Low-altitude flight plans are currently mainly presented in the form of a table list for users to view and use. The current display and use of low-altitude flight plans face the following problems:

[0004] 1. Unfriendly display method: The low-altitude flight plan is displayed in a table list format, and the plan contains many fields. When the number of plans is large, the plan table content is dense and fills the user's display screen.

[0005] 2. The information presented is not intuitive: The low-altitude flight plan is displayed in a tabular list, which cannot intuitively display the information such as the take-off and landing points and airspace routes involved in the low-altitude flight plan.

[0006] 3. Incomplete information: The low-altitude flight plan is presented in a tabular list, which cannot intuitively show the flight activity density of the relevant take-off and landing points and airspace involved in the low-altitude flight plan, making it inconvenient to quickly evaluate the flight traffic.

[0007] 4. Weak ability to adjust and modify low-altitude flight plans: Low-altitude flight plans are displayed in a tabular list format. It is inconvenient to modify and update the plan when resolving plan conflicts or adjusting flight density, and there is no graphical ability to modify and adjust the plan by dragging and dropping.

[0008] The statements herein merely provide background art related to the present invention and do not necessarily constitute prior art. Summary of the invention

[0009] The purpose of the present invention is to provide a system for automatically detecting and adjusting flight plans, which intuitively displays flight operation diagrams in a graphical manner, facilitates clear viewing and global understanding of low-altitude flight plans, facilitates dynamic evaluation of flight traffic, and greatly improves work efficiency.

[0010] In order to achieve the above object, the present invention provides a system for automatically detecting and adjusting a flight plan, comprising:

[0011] A data receiving module, used for acquiring a plurality of low-altitude flight plans of a plurality of low-altitude aircraft, wherein the low-altitude flight plans at least include flight data, and the flight data at least include: take-off time, take-off airport, landing time, arrival airport, route, aircraft type, and mission type;

[0012] An instruction receiving module, used for receiving an external input operation instruction;

[0013] A flight operation diagram management module, which includes: a flight operation diagram generation module, a flight operation diagram display module, a flight interval time detection module, a route conflict detection module and a flight operation diagram adjustment module;

[0014] The flight operation diagram generation module generates a graphical flight operation diagram according to the flight data of the plurality of low-altitude aircraft;

[0015] The flight operation diagram display module displays the flight operation diagram in real time on the display interface;

[0016] The flight interval detection module automatically detects low-altitude flight plans using the same route, and obtains several low-altitude flight plans whose flight intervals do not meet the recommended flight intervals;

[0017] The route conflict detection module automatically detects the multiple low-altitude flight plans and obtains several low-altitude flight plans with route conflicts;

[0018] The flight operation diagram adjustment module adjusts the flight data of the low-altitude flight plan whose flight interval does not meet the recommended flight interval to obtain the adjusted flight data; the flight operation diagram adjustment module adjusts the flight data of several low-altitude flight plans with route conflicts to obtain the adjusted flight data;

[0019] The flight operation diagram generation module updates the flight operation diagram according to the adjusted flight data;

[0020] The flight operation diagram display module displays the updated flight operation diagram in real time on a display interface.

[0021] The flight operation diagram includes a first operation diagram, the first operation diagram includes an operation line of each low-altitude flight plan, the operation line of each low-altitude flight plan is dynamically displayed on the time axis, each operation line corresponds to a route, the route is composed of multiple waypoints, the take-off time and the take-off airport are displayed at one end of the operation line, the landing time and the arrival airport are displayed at the other end of the operation line, all the take-off airports are displayed on a first straight line parallel to the time axis, all the landing airports are displayed on a second straight line parallel to the time axis, the intersection points on the route are displayed on the operation line, and the operation lines are distributed on the time axis according to the take-off time and landing time;

[0022] The intersection point refers to the intersection of different routes, and the intersection point involves at least two routes. The intersection point at least includes: route intersection point, route confluence point, route bifurcation point, route area entrance, route area exit, route entry point, route derailment point, take-off point, and landing point.

[0023] The method in which the flight interval detection module automatically detects the flight interval between low-altitude flight plans using the same route comprises: obtaining flight data of the low-altitude flight plan from the flight operation diagram, automatically detecting and calculating the time interval between different low-altitude flight plans using the same route passing through the same waypoint on the route; if the time interval between two low-altitude flight plans at any waypoint is less than the recommended flight interval, it is determined that the flight interval between the two low-altitude flight plans does not meet the recommended flight interval; if the minimum value of the time interval between the two low-altitude flight plans among all waypoints is greater than the recommended flight interval, it is determined that the flight interval between the two low-altitude flight plans does not meet the recommended flight interval.

[0024] The method for the flight operation diagram adjustment module to adjust the flight data of the low-altitude flight plan whose flight interval does not meet the recommended flight interval includes: if the time interval between two low-altitude flight plans at any waypoint is less than the recommended flight interval, according to the operation instruction of changing the take-off time and the landing time received by the instruction receiving module, the flight operation diagram adjustment module adjusts the take-off time and the landing time of at least one of the two low-altitude flight plans in the first operation diagram so that the flight interval between the two low-altitude flight plans reaches the recommended flight interval; if the minimum value of the time interval between all waypoints of the two low-altitude flight plans is greater than the recommended flight interval, according to the operation instruction of changing the take-off time and the landing time received by the instruction receiving module, the flight operation diagram adjustment module adjusts the take-off time and the landing time of at least one of the two low-altitude flight plans in the first operation diagram so that the flight interval between the two low-altitude flight plans reaches the recommended flight interval.

[0025] The method for the route conflict detection module to automatically detect low-altitude flight plans with route conflicts includes: if there is at least one of a route intersection point, a route confluence point, a route bifurcation point, a route area entrance, a route area exit, a route entry point, a route derailment point, a take-off point, and a landing point between the routes of each low-altitude flight plan in the flight operation diagram, then it is determined that there are possible conflict points on the routes of the low-altitude flight plans, flight data of the low-altitude flight plans are obtained, and the arrival time of each possible conflict point on the route of each low-altitude flight plan is calculated; if the time interval for arriving at the same possible conflict point on the routes of different low-altitude flight plans is less than a threshold value, then the possible conflict point is determined as a conflict point, and the conflict point is specially marked in the first operation diagram.

[0026] Optionally, the method by which the flight operation diagram adjustment module adjusts flight data of a low-altitude flight plan that has a route conflict includes: according to an operation instruction to change the take-off time and landing time received by the instruction receiving module, the flight operation diagram adjustment module changes the take-off time and landing time of the low-altitude flight plan involved in the conflict point in the first operation diagram, so that the low-altitude flight plan passes through the intersection at a different time.

[0027] Optionally, the method by which the flight operation diagram adjustment module adjusts flight data of a low-altitude flight plan that has a route conflict comprises: based on an operation instruction for changing the route received by the instruction receiving module, the flight operation diagram adjustment module changes the route of the low-altitude flight plan involved in the conflict point in the first operation diagram so that there is no longer an intersection between the low-altitude flight plans.

[0028] The flight operation diagram generation module generates a planned operation line in the first operation diagram according to the scheduled flight data in the low-altitude flight plan of the low-altitude aircraft received by the data receiving module, and generates an actual operation line in the first operation diagram according to the actual flight data sent by the low-altitude aircraft that is executing the low-altitude flight plan and received by the data receiving module;

[0029] The flight operation diagram generation module sets a current time indication line in the first operation diagram, the current time indication line is perpendicular to the time axis, and the current time indication line dynamically moves in the direction of time passage; the planned operation line and the actual operation line are simultaneously displayed behind the movement of the current time indication line, and only the planned operation line is displayed in front of the movement of the current time indication line.

[0030] The flight operation diagram display module displays the first operation diagram by default on the display interface.

[0031] The flight operation diagram further includes a second operation diagram, wherein the second operation diagram includes intersection points and conflict points on each route, wherein the conflict points are distributed on the time axis according to the conflict time, and the conflict points display the number of low-altitude flight plans involved in the conflict points;

[0032] The flight operation diagram generation module sets a first link point on the intersection point in the first operation diagram, and when the instruction receiving module receives a first operation instruction triggered by clicking the first link point, the flight operation diagram display module jumps from the first operation diagram to the second operation diagram, and displays the second operation diagram on the display interface;

[0033] The flight operation diagram generation module sets a third link point on the conflict point in the second operation diagram. When the instruction receiving module receives a third operation instruction triggered by clicking the third link point, the flight operation diagram display module jumps from the second operation diagram to the first operation diagram and displays the first operation diagram on the display interface.

[0034] After the route conflict detection module automatically detects the conflict point in the first operation diagram, the flight data of the low-altitude flight plan involved in the conflict point is automatically synchronized to the second operation diagram, and the conflict point is specially marked in the second operation diagram;

[0035] When the instruction receiving module receives the third operation instruction triggered by clicking the third link point on the second operation diagram, the flight operation diagram display module jumps to the first operation diagram, and the flight operation diagram adjustment module executes the method for adjusting the flight data of the low-altitude flight plan with a route conflict;

[0036] The flight operation diagram generation module synchronizes the adjusted flight data to the second operation diagram in real time, and generates an updated second operation diagram according to the adjusted flight data.

[0037] The flight operation diagram generation module sets a current time indication line in the second operation diagram, wherein the current time indication line is perpendicular to the time axis, and the current time indication line dynamically moves in the direction of the passage of time, and displays conflict points that have occurred and have not been resolved behind the movement of the current time indication line, and displays conflict points that may occur in the future in front of the movement of the current time indication line.

[0038] The flight operation diagram further includes a third operation diagram, the third operation diagram includes a takeoff indicator and a landing indicator of each airport, each of the takeoff indicators corresponds to a takeoff airport and a takeoff time in a low-altitude flight plan, each of the landing indicators corresponds to a landing airport and a landing time in a low-altitude flight plan, each airport is displayed as a straight line parallel to the time axis, a plurality of takeoff indicators are distributed on each airport straight line according to the takeoff time, and a plurality of landing indicators are distributed on each airport straight line according to the landing time;

[0039] The flight operation diagram generation module sets a second link point on the first straight line and the second straight line in the first operation diagram, and when the instruction receiving module receives a second operation instruction triggered by clicking the second link point, the flight operation diagram display module jumps from the first operation diagram to the third operation diagram, and displays the third operation diagram on the display interface;

[0040] The flight operation diagram generating module sets fourth link points on the take-off indicator and the landing indicator in the third operation diagram respectively. When the instruction receiving module receives a fourth operation instruction triggered by clicking the fourth link point, the flight operation diagram displaying module jumps from the third operation diagram to the first operation diagram, and displays the first operation diagram on the display interface.

[0041] After the route conflict detection module automatically detects the conflict point in the first operation diagram, it automatically synchronizes the flight data of the low-altitude flight plan involved in the conflict point to the third operation diagram, and specially marks the conflicting take-off indicator and landing indicator in the third operation diagram;

[0042] When the instruction receiving module receives the fourth operation instruction triggered by clicking the fourth link point on the take-off indicator or the landing indicator on the third operation diagram, the flight operation diagram display module jumps to the first operation diagram, and the flight operation diagram adjustment module executes the method for adjusting the flight data of the low-altitude flight plan with a route conflict;

[0043] The flight operation diagram generation module synchronizes the adjusted flight data to the third operation diagram in real time, and generates an updated third operation diagram according to the adjusted flight data.

[0044] The flight operation diagram generation module sets a current time indicator line in the third operation diagram, wherein the current time indicator line is perpendicular to the time axis, and the current time indicator line dynamically moves in the direction of time passage, and displays takeoff indicators and landing indicators that have occurred behind the movement of the current time indicator line, and displays takeoff indicators and landing indicators that may occur in the future in front of the movement of the current time indicator line.

[0045] The system for automatically detecting and adjusting the flight plan also includes a database management module, which is used to store the scheduled flight data and actual flight data of the low-altitude flight plan, store the flight operation diagram generated by the flight operation diagram management module, and store the adjusted flight data of the low-altitude flight plan and the updated flight operation diagram in real time.

[0046] The present invention creatively proposes and introduces a flight operation diagram for the first time in the low-altitude field, and creates a new mode of low-altitude plan flow control with operation as the core. The flight operation diagram is intuitively displayed in a graphical manner, which is convenient for clearly viewing and grasping the low-altitude flight plan situation from a global perspective. The flight operation diagram displays the flight activity density within the operation cycle, which is convenient for dynamic evaluation of flight flow. The flight interval time between low-altitude flight plans using the same route can be adjusted directly on the display interface of the flight operation diagram, which not only avoids the risk of collision, but also improves the efficiency of route use. The low-altitude flight plan with route conflict can be adjusted in real time directly on the display interface of the flight operation diagram, which greatly improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 The present invention provides a flow chart of a method for automatically detecting and adjusting a flight plan.

[0048] Figure 2 It is a flow chart of a method for automatically detecting route conflicts.

[0049] Figure 3 The present invention provides a structural block diagram of a system for automatically detecting and adjusting a flight plan.

[0050] Figure 4 is a schematic diagram of a first operation diagram in an embodiment of the present invention.

[0051] Figure 5 is a schematic diagram of a second operation diagram in an embodiment of the present invention.

[0052] Figure 6 It is a schematic diagram of the third operation diagram in an embodiment of the present invention. DETAILED DESCRIPTION

[0053] The following is based on Figure 1 to Figure 6 , specifically describe the preferred embodiments of the present invention.

[0054] like Figure 1 As shown, the present invention provides a method for automatically detecting and adjusting a flight plan, comprising the following steps:

[0055] Step S1, receiving and storing the scheduled flight data in the low-altitude flight plan of the low-altitude aircraft input from the outside, and receiving the actual flight data of the low-altitude aircraft sent by the low-altitude aircraft that is executing the low-altitude flight plan;

[0056] The low-altitude aircraft include: drones, electric vertical take-off and landing vehicles (eVTOL), helicopters, etc.;

[0057] The flight data includes: take-off time, take-off airport, landing time, arrival airport, route, aircraft type, aircraft serial number, mission type, etc.;

[0058] Step S2, generating a graphical flight operation diagram according to the scheduled flight data and actual flight data of the low-altitude flight plan;

[0059] The flight operation diagram includes a first operation diagram, a second operation diagram and a third operation diagram;

[0060] The first operation diagram includes an operation line for each low-altitude flight plan, each low-altitude flight plan corresponds to an operation line, each operation line corresponds to a route, and the operation lines of different low-altitude flight plans may correspond to the same route, but they queue up to use this route; the route is composed of multiple waypoints, and the waypoints at least include: route intersection points, route confluence points, route bifurcation points, route area entrances, route area exits, route entry points, route derailment points, take-off points, and landing points. The operation line displays the take-off time, take-off airport, landing time, arrival airport, and intersection points on the route. The operation lines are distributed on the timeline according to the take-off time and landing time. The first operation diagram can display the density of low-altitude flight plans of low-altitude aircraft at all times of the day;

[0061] Generate a planned operation line according to the scheduled flight data, and generate an actual operation line according to the actual flight data;

[0062] The intersection point refers to the intersection of different routes. The intersection point involves at least two routes, and may even involve multiple routes. The intersection point at least includes: route intersection point, route confluence point, route bifurcation point, route area entrance, route area exit, route entry point, route derailment point, take-off point, and landing point;

[0063] The second operation diagram includes intersection points and conflict points on each route, and the conflict points are distributed on the time axis according to the conflict time. The second operation diagram can display the conflict situations of the intersection points of each route at various time periods throughout the day;

[0064] The third operation diagram includes a takeoff indicator and a landing indicator of each airport, each of the takeoff indicators corresponds to a takeoff airport and a takeoff time in a low-altitude flight plan, and the takeoff indicators are distributed on the time axis according to the takeoff time, and each of the landing indicators corresponds to a landing airport and a landing time in a low-altitude flight plan, and the landing indicators are distributed on the time axis according to the landing time. The third operation diagram can display the density of takeoffs and landings of low-altitude aircraft at various airports at various times throughout the day;

[0065] Step S3: Select the corresponding flight operation diagram according to the operation instruction and display it in real time and intuitively on the display interface;

[0066] When the display interface displays the first operation diagram, if a first operation instruction is received, the second operation diagram is displayed on the display interface;

[0067] When the display interface displays the first operation diagram, if a second operation instruction is received, the third operation diagram is displayed on the display interface;

[0068] When the display interface displays the second operation diagram, if a third operation instruction is received, the first operation diagram is displayed on the display interface;

[0069] When the display interface displays the third operation diagram, if a fourth operation instruction is received, the first operation diagram is displayed on the display interface;

[0070] The display interface displays the first operation diagram by default;

[0071] The first operation diagram dynamically displays the operation line of each low-altitude flight plan on the horizontal axis time axis, displays the take-off time and the departure airport at one end of the operation line, and displays the landing time and the arrival airport at the other end of the operation line. All the take-off airports are displayed on a first straight line parallel to the time axis, and all the landing airports are displayed on a second straight line parallel to the time axis. The same take-off airport and the same arrival airport may include multiple different routes, and these different routes are represented by different operation lines in the first operation diagram. If the take-off time, take-off airport, landing time, arrival airport and other data of two flight plans are completely consistent, the operation lines of the two flight plans will overlap. The operation line is an abstract display of the route of the low-altitude flight plan, and the intersection point is displayed on the operation line;

[0072] The first operation diagram completely displays the operation line of the low-altitude flight plan within 24 hours of the day on the current display interface, or the first operation diagram only displays the operation line of the low-altitude flight plan within the time period including the current time on the current display interface, and the time period on the current display interface moves dynamically with the passage of time.

[0073] A current time indication line is set in the first operation diagram, the current time indication line is perpendicular to the time axis, the current time indication line moves dynamically with the passage of time, the planned operation line and the actual operation line are displayed simultaneously behind the movement of the current time indication line, and only the planned operation line is displayed in front of the movement of the current time indication line;

[0074] Setting a first link point at the intersection point in the first operation diagram, and jumping to the second operation diagram after receiving a first operation instruction to click the first link point;

[0075] Setting a second link point on the first straight line and the second straight line in the first operation diagram, and jumping to a third operation diagram after receiving a second operation instruction of clicking the second link point;

[0076] The second operation diagram dynamically displays the conflict points on each route on the horizontal axis time axis, and the intersection points on the routes are displayed as a straight line parallel to the time axis. There are multiple conflict points distributed on each intersection straight line, and the conflict points display the number of low-altitude flight plans involved in the conflict points;

[0077] The second operation diagram completely displays the conflict points that occur within 24 hours of the day on the current display interface, or the second operation diagram only displays the conflict points that occur within the time period of the current time on the current display interface, and the time period on the current display interface moves dynamically with the passage of time.

[0078] A current time indication line is set in the second operation diagram, the current time indication line is perpendicular to the time axis, and the current time indication line moves dynamically with the passage of time. Behind the movement of the current time indication line are conflict points that have occurred and have not been resolved, and in front of the movement of the current time indication line are conflict points that may occur in the future;

[0079] Setting a third link point at the intersection point in the second operation diagram, and jumping to the first operation diagram after receiving a third operation instruction of clicking the third link point;

[0080] The third operation diagram dynamically displays the take-off indicator and landing indicator of each airport on the horizontal axis time axis, each airport is displayed as a straight line parallel to the time axis, and each airport straight line is distributed with a plurality of take-off indicators and landing indicators;

[0081] The third operation diagram completely displays the take-off indicators and landing indicators within 24 hours of the day on the current display interface, or the third operation diagram only displays the take-off indicators and landing indicators within the time period including the current time on the current display interface, and the time period on the current display interface moves dynamically with the passage of time.

[0082] A current time indication line is provided in the third operation diagram, the current time indication line is perpendicular to the time axis, the current time indication line moves dynamically with the passage of time, behind the movement of the current time indication line are take-offs and landings that have already occurred, and in front of the movement of the current time indication line are take-offs and landings that may occur in the future;

[0083] Setting a fourth link point on the take-off indicator and the landing indicator in the third operation diagram, and jumping to the first operation diagram after receiving a fourth operation instruction of clicking the fourth link point;

[0084] Step S4, automatically detecting and adjusting the flight interval time between low-altitude flight plans using the same route;

[0085] Step S4.1, obtaining flight data of the low-altitude flight plan from the flight operation diagram;

[0086] Step S4.2: Automatically detect and calculate the time intervals between different low-altitude flight plans using the same route passing through the same waypoint on the route, and obtain the time intervals ΔT corresponding to the multiple waypoints. i , where i is a natural number, i=1...n, and n is the number of waypoints;

[0087] Step S4.3, if the time interval between the two low-altitude flight plans at any waypoint is less than the first threshold, it is determined that the flight interval is too small, and step S4.4 is performed; if the minimum value of the time interval between the two low-altitude flight plans at all waypoints is greater than the second threshold, it is determined that the flight interval is too large, and step S4.5 is performed; if the time interval between the two low-altitude flight plans at all waypoints is greater than or equal to the first threshold and less than or equal to the second threshold, it is determined that the recommended flight interval time is met, and the flight interval at this time is appropriate, and no operation is required;

[0088] An optimal flight interval time is determined based on historical flight data and flight experience, the first threshold is set to 70% of the optimal flight interval time Δt, and the second threshold is set to 130% of the optimal flight interval time Δt. The interval range of the recommended flight interval time is greater than or equal to 70% of the optimal flight interval time Δt and less than or equal to 130% of the optimal flight interval time Δt.

[0089] Step S4.4, in the first operation diagram, adjusting the take-off time and landing time of at least one of the two low-altitude flight plans with too small flight interval, increasing the flight interval time between the two low-altitude flight plans, so that the flight interval between the two low-altitude flight plans reaches an appropriate level to avoid risks, and ending the process;

[0090] Step S4.5, in the first operation diagram, adjusting the take-off time and landing time of at least one of the two low-altitude flight plans with too large flight interval, reducing the flight interval time between the two low-altitude flight plans, so that the flight interval between the two low-altitude flight plans reaches an appropriate level, so as to improve the aircraft turnover efficiency and the utilization efficiency of the route, and ending the process;

[0091] Step S5, automatically detecting low-altitude flight plans with route conflicts in the flight operation diagram;

[0092] like Figure 2 As shown, the method for automatically detecting route conflicts includes:

[0093] Step S5.1, obtaining flight data of the low-altitude flight plan from the flight operation diagram;

[0094] Step S5.2, detect and determine whether there are possible conflict points between the routes of the various low-altitude flight plans in the flight operation diagram, if so, proceed to step S5.3, if not, jump to step S5.1;

[0095] The possible conflict points include: route intersections, route confluence points, route bifurcation points, route area entrances, route area exits, route entry points, route derailment points, take-off points, and landing points;

[0096] Step S5.3, calculating the arrival time of each possible conflict point on the route of each low-altitude flight plan;

[0097] The arrival time at the possible conflict point is calculated based on the take-off time and flight speed, or the arrival time at the possible conflict point is calculated based on the flight speed and landing time; the real-time flight speed is variable and needs to be estimated based on the aircraft type and mission type.

[0098] Step S5.4, determine whether the time interval between different low-altitude flight plans arriving at the same possible conflict point is less than a threshold value. If so, determine the possible conflict point as a conflict point and proceed to step S5.5. If not, determine the possible conflict point as a non-conflict point and jump to step S5.1;

[0099] If different routes overlap or approach each other in time and space, that is, the flight altitudes of different routes are the same or close, and they intersect at the same or similar time points, there is a potential collision risk, and the point is determined as a conflict point;

[0100] The threshold is set according to the actual situation, and is generally set to 90 seconds to 180 seconds;

[0101] Step S5.5, clearly mark the conflict point in the flight operation diagram, and output the low-altitude flight plan involved in the conflict point;

[0102] In the first operation diagram, different colors may be used to distinguish between ordinary intersection points and conflict points. In the second operation diagram, only conflict points are displayed. In the third operation diagram, special shapes or colors may be used to mark conflicting takeoff indicators and landing indicators.

[0103] Step S6: adjusting the low-altitude flight plan with route conflicts in the flight operation diagram on the display interface according to the operation instruction to resolve the conflicts;

[0104] When a route conflict occurs, after receiving a fifth operation instruction to change the take-off time and landing time, adjusting the take-off time and landing time of the low-altitude flight plan related to the conflict point in the first operation diagram so that the related low-altitude flight plans pass through the intersection area at different times;

[0105] Alternatively, when a route conflict occurs, after receiving the sixth operation instruction to change the route, the route used by the low-altitude flight plan related to the conflict point is adjusted in the first operating diagram so that there is no intersection between the related low-altitude flight plans.

[0106] In the case of uneven flight density in different time periods throughout the day, the take-off time and landing time of the low-altitude flight plan can be adjusted in the first operation diagram, and the route used by the low-altitude flight plan can also be adjusted in the first operation diagram. When the take-off time and landing time density of the low-altitude flight plan is uneven throughout the day, the take-off time and landing time of the low-altitude flight plan are adjusted in the first operation diagram to make the airport take-off and landing density uniform. When the airspace resources or route and channel resources used by the low-altitude flight plan in the same time period are unbalanced, the route used by the low-altitude flight plan is adjusted in the first operation diagram to achieve balanced use of airspace resources or route and channel resources.

[0107] The flight data of the adjusted low-altitude flight plan in the first operation diagram is synchronized in real time to the second operation diagram and the third operation diagram, and an updated first operation diagram, an updated second operation diagram and an updated third operation diagram are generated according to the adjusted flight data.

[0108] Real-time adjustments and optimizations to low-altitude flight plans can be made on the display interface to resolve conflicts or make the plans better.

[0109] like Figure 3 As shown, the present invention provides a system for automatically detecting and adjusting a flight plan, comprising:

[0110] A data receiving module 1, which is used to receive the scheduled flight data in the low-altitude flight plan of the low-altitude aircraft input from the outside, and receive the actual flight data of the low-altitude aircraft sent by the low-altitude aircraft that is executing the low-altitude flight plan;

[0111] A database management module 2, which stores the scheduled flight data and actual flight data sent by the data receiving module 1, stores the flight operation diagram generated by the flight operation diagram management module 4, and stores the flight data of the adjusted low-altitude flight plan and the updated flight operation diagram in real time;

[0112] An instruction receiving module 3 is used to receive an operation instruction input from the outside;

[0113] A flight operation diagram management module 4, which is used to generate a graphical flight operation diagram according to the flight data of the low-altitude flight plan of the low-altitude aircraft, intuitively display the flight operation diagram in real time on the display interface, automatically detect and adjust the flight interval time between low-altitude flight plans using the same route, automatically detect low-altitude flight plans with route conflicts, specially mark the low-altitude flight plans with route conflicts, adjust the flight data of the low-altitude flight plans with route conflicts, and update the flight operation diagram according to the adjusted flight data; the flight operation diagram management module 4 further includes a flight operation diagram generation module 41, a flight operation diagram display module 42, a flight interval time detection module 43, a route conflict detection module 44 and a flight operation diagram adjustment module 45;

[0114] The flight operation diagram generation module 41 is used to generate a graphical flight operation diagram according to the scheduled flight data and actual flight data of the low-altitude flight plan. The flight operation diagram display module 42 selects the corresponding flight operation diagram according to the operation instruction and displays it in real time and intuitively on the display interface. The flight interval time detection module 43 automatically detects the flight interval time between low-altitude flight plans using the same route. The route conflict detection module 44 automatically detects the low-altitude flight plans with route conflicts in the flight operation diagram, and specially marks the low-altitude flight plans with route conflicts in the flight operation diagram. The flight operation diagram adjustment module 45 adjusts the flight interval time between low-altitude flight plans whose flight interval time does not meet the requirements on the display interface according to the operation instruction. The flight operation diagram adjustment module 45 also adjusts the flight data of the low-altitude flight plans with route conflicts in the flight operation diagram in real time on the display interface according to the operation instruction, and sends the adjusted flight data of the low-altitude flight plans to the database management module 2.

[0115] In an embodiment of the present invention, the first operation diagram is called a "departure airport-landing airport" operation diagram, which can show the density of low-altitude flight plans of low-altitude aircraft at various times throughout the day. Figure 4As shown, the abscissa of the first operation diagram is the time axis, and the ordinate is the departure airport and the landing airport. The departure airport and the landing airport are represented by straight lines parallel to the time axis, with the departure airport at the bottom and the landing airport at the top. A second link point is set on the first straight line and the second straight line. When the second link point is clicked, the user can jump to the third operation diagram.

[0116] In the current display interface, the time scale of the time axis can be set to 24 hours, so that the current display interface can fully display the low-altitude flight plan throughout the day. The time scale of the time axis can also be set to a certain time period, then only the low-altitude flight plan within the current time period is displayed in the current display interface, and the current time period on the first operation diagram moves dynamically with the passage of time.

[0117] In this embodiment, the time scale on the horizontal axis time axis is the 8:00-9:00 time period, the time unit is 10 minutes, and the current time period on the horizontal axis time axis moves to the right as time passes. The time scale is displayed on the upper and lower outer sides of the first operation diagram (i.e., on both sides of the departure airport straight line and the landing airport straight line), and the time unit of the time scale can be set according to the display needs.

[0118] According to the take-off time of the low-altitude flight plan, mark the intersection of the vertical coordinate take-off airport and the horizontal coordinate take-off time as the starting point of the low-altitude flight plan, and mark the name of the starting airport at the starting point. According to the landing time of the low-altitude flight plan, mark the intersection of the vertical coordinate landing airport and the horizontal coordinate landing time as the destination point of the low-altitude flight plan, and mark the name of the landing airport at the destination point. Define the straight line connecting the starting point and the destination point as the operating line of the low-altitude flight plan, which is an abstract and intuitive display of the route of the low-altitude flight plan. Figure 4 As shown in the figure, there is a low-altitude flight plan that takes off from Airport A at 8:00 and arrives at Airport B at 8:20. The name of the departure airport A is marked at 8:00 on the departure airport position line, and the name of the landing airport B is marked at 8:20 on the landing airport position line. The straight line connecting the departure airport A and the landing airport B is the operation line of the low-altitude flight plan. If the operation lines of multiple low-altitude flight plans overlap on the first operation diagram, the overlapping operation lines can be displayed in bold, or the number of overlapping operation lines can be increased on the overlapping operation lines. Double-clicking the overlapping operation lines can expand the overlapping operation lines.

[0119] Mark the identification number of the low-altitude flight plan next to the operation line of the low-altitude flight plan. Figure 4As shown in the figure, a low-altitude flight plan takes off from Airport A at 8:00 and arrives at Airport B at 8:20. Next to its operation line is marked "Airport A->Airport B". The flight number arranged according to the low-altitude flight plan can also be marked next to the operation line. Select the operation line of the low-altitude flight plan to view the route and course data of the corresponding route.

[0120] The operation line generated according to the scheduled flight data in the low-altitude flight plan is called the planned operation line, and the operation line generated according to the actual flight data obtained when the low-altitude aircraft actually executes the low-altitude flight plan is called the actual operation line. Different display methods (for example, different line types or colors) are used to distinguish the planned operation line from the actual operation line. Figure 4 As shown, the planned operation line is represented by yellow and the actual operation line is represented by red.

[0121] In the current display interface, a current time indication line is set, the current time indication line is perpendicular to the horizontal axis time axis, the current time indication line moves dynamically as time passes, and the moving direction of the current time indication line is consistent with the moving direction of the current time period. Figure 4 As shown, in this embodiment, the current time indicator line is represented by a vertical dotted line, and the left side of the current time indicator line is the low-altitude flight plan that has already occurred, and the planned operation line and the actual operation line are displayed simultaneously on the left side of the current time indicator line, and the right side of the current time indicator line is the low-altitude flight plan that is expected to occur in the future, and only the planned operation line is displayed on the right side of the current time indicator line.

[0122] If the route corresponding to a certain running line and the route corresponding to other running lines have an intersection point in the air, the intersection point will be marked on the running line. For example, the intersection point is represented by a dot, and the distance between adjacent dots corresponds to the relative distance between the intersection points on the route. The intersection points at least include: route intersection points, route confluence points, route bifurcation points, route area entrances, route area exits, route entry points, route derailment points, take-off points, and landing points, among which route intersection points, route confluence points, and route bifurcation points are subsets of route air waypoints, and route entry points and route derailment points are interfaces between take-off and landing points and air routes. Figure 4 As shown, in this embodiment, for a low-altitude flight plan that takes off from Airport A at 8:00 and arrives at Airport B at 8:20, if the route used by the low-altitude flight plan has intersections with the routes used by other low-altitude flight plans, these intersections are marked with dark blue dots on the operation line of the low-altitude flight plan. Select an intersection on the operation line to view the planned time for the low-altitude aircraft to pass through the intersection when the low-altitude flight plan was compiled. Set a first link point on the intersection point, and click the first link point to jump to the second operation diagram;

[0123] If it is detected that different low-altitude flight plans will have route conflicts at certain intersection points, the intersection points are called conflict points, and special marks are used to display the conflict points, such as Figure 4 As shown, in this embodiment, the conflict point is marked as a red dot. Select the conflict point on the running line to view the detailed flight data of the relevant low-altitude flight plan involved in the conflict point. The conflict point may involve two low-altitude flight plans or more than two low-altitude flight plans.

[0124] In the case of uneven density of low-altitude flight plans in various periods of the day, the purpose of time-space balance of low-altitude flight plans in various periods of the day can be achieved by adjusting the take-off time and landing time of the low-altitude flight plan, or by adjusting the route used by the low-altitude flight plan. In this embodiment, the take-off time and landing time of the running line can be changed by clicking and dragging the two ends of the running line on the take-off airport straight line and the landing airport straight line by the mouse. In the embodiment using a touch-screen display, the two ends of the running line can be directly dragged on the display screen to change the take-off time and landing time of the running line. For example: when the take-off and landing time density of the low-altitude flight plan throughout the day is uneven, some periods are too dense, and some periods are relatively sparse, and the take-off and landing density can be adjusted by dragging the take-off time and landing time of the running line of the low-altitude flight plan on the display interface; when the airspace resources or route channel resources used by the low-altitude flight plan in the same period are uneven, some routes and channels use density is too high, and some routes and channels use density is relatively low, and the airspace resources or route channel resource use density can be adjusted by selecting to adjust the route used by the low-altitude flight plan on the display interface.

[0125] If different low-altitude flight plans conflict at the intersection point, you can adjust the take-off time and landing time of the low-altitude flight plan on the display interface, or adjust the route used by the low-altitude flight plan to achieve the purpose of conflict resolution. Figure 4 As shown, the conflict point is marked as a red dot on the operation line. The conflict can be regulated by adjusting the take-off time and landing time of the low-altitude flight plans involved in the conflict point so that the conflicting low-altitude flight plans pass through the intersection at different times, or by adjusting the routes used by the low-altitude flight plans involved in the conflict point so that two or more conflicting low-altitude flight plans no longer have a common intersection.

[0126] Through the first operation diagram, the density of low-altitude flight plans of low-altitude aircraft at various times of the day can be viewed, and the time periods of the day when low-altitude flight plans are more dense and which are relatively sparse can be viewed in real time, and the low-altitude flight plans can be adjusted in a timely manner.

[0127] In an embodiment of the present invention, the second operation diagram is called a "route intersection point" operation diagram, which can centrally view the conflict points of each time period throughout the day. Figure 5 As shown in FIG. 1 , the horizontal axis of the second operation diagram is the time axis, and the vertical axis is the intersection points involved in the routes used in the low-altitude flight plan. The positions of the intersection points of the vertical axis are represented by straight lines parallel to the time axis, for example, Figure 5 As shown, the vertical coordinates on the second operation diagram are intersection 1, intersection 2, intersection 3 and intersection 4.

[0128] In the current display interface, the time scale of the time axis can be set to 24 hours, so that the current display interface can fully display the conflicts occurring at various intersections throughout the day. The time scale of the time axis can also be set to a certain time period, so that only the conflicts occurring within the current time period are displayed in the current display interface, and the current time period on the second operation diagram moves dynamically with the passage of time.

[0129] In this embodiment, the time scale on the horizontal axis time axis is the 8:00-9:00 time period, the time unit is 10 minutes, and the current time period on the horizontal axis time axis moves to the right as time passes. The time scale is displayed on the upper and lower outer sides of the second operation diagram, and the time unit of the time scale can be set according to the display needs.

[0130] The conflict point is displayed with a special mark. In this embodiment, Figure 5 As shown in the figure, the conflict point is located at the intersection of the vertical axis intersection point position and the horizontal axis conflict time. The conflict point is marked with a red solid circle. A solid circle indicates that there are two low-altitude flight plans that conflict. Each additional hollow circle outside the conflict point indicates that another conflicting plan is added. Figure 5 As shown in the figure, there is a solid red circle on the position line of intersection 2, indicating that there are two low-altitude flight plans in conflict, the conflict position is intersection 2, and the conflict time is the horizontal coordinate corresponding to the solid red circle; there is a solid red circle with a hollow circle on the position line of intersection 3, indicating that there are three low-altitude flight plans in conflict, the conflict position is intersection 3, and the conflict time is the horizontal coordinate corresponding to the solid red circle. Select the solid circle that marks the conflict to view the detailed flight data of the relevant low-altitude flight plans involved in the conflict point.

[0131] In the current display interface, a current time indication line is set, the current time indication line is perpendicular to the horizontal axis time axis, the current time indication line moves dynamically as time passes, and the moving direction of the current time indication line is consistent with the moving direction of the current time period. Figure 5As shown, in this embodiment, the current time indicator line is indicated by a vertical dotted line, the conflicts on the left side of the current time indicator line are conflicts that have already occurred and have not been resolved, and the conflicts on the right side of the current time indicator line are conflicts that may occur in the future. Figure 5 As shown in the figure, there is a red solid circle on the position line of intersection 1 and is located on the left side of the current time indicator line. This means that the conflict point is a conflict that has already occurred and has not been resolved. There is a red solid circle on the position line of intersection 2 and is located on the right side of the current time indicator line. This means that the conflict point is a conflict that may occur in the future, and the predicted conflict may not actually occur.

[0132] Click the third link point on the conflict point in the second operation diagram to jump to the first operation diagram, and adjust the take-off and landing time of the low-altitude flight plan on the display interface of the first operation diagram. You can also adjust the route used by the low-altitude flight plan on the display interface of the first operation diagram to achieve the purpose of conflict resolution. The results of the low-altitude flight plan adjustment in the first operation diagram will be synchronized to the second operation diagram.

[0133] Through the second operation diagram, conflicts at various intersections at various times of the day can be centrally viewed, and low-altitude flight plans can be adjusted in a timely manner.

[0134] In the embodiment of the present invention, the third operation diagram is called the "airport take-off and landing" operation diagram, which can be used to view the take-off and landing density of each airport at each time period throughout the day. Figure 6 As shown in FIG. 1 , the abscissa of the third operation diagram is the time axis, the ordinate is the airports involved in the low-altitude flight plan, and the positions of the airports in the ordinate are represented by straight lines parallel to the time axis. Figure 6 As shown, the vertical coordinates on the third operation diagram are airport A, airport B, airport C and airport D.

[0135] In the current display interface, the time scale of the time axis can be set to 24 hours, so that the current display interface can fully display the take-off and landing conditions of each airport throughout the day. The time scale of the time axis can also be set to a certain time period, so that only the take-off and landing conditions within the current time period are displayed in the current display interface, and the current time period on the third operation diagram moves dynamically with the passage of time.

[0136] In this embodiment, the time scale on the horizontal axis time axis is the 8:00-9:00 time period, the time unit is 10 minutes, and the current time period on the horizontal axis time axis moves to the right as time passes. The time scale is displayed on the upper and lower outer sides of the third operation diagram, and the time unit of the time scale can be set according to the display needs.

[0137] On each airport position line, the specific take-off and landing conditions are marked according to the take-off time and landing time of each low-altitude flight plan at the airport. In this embodiment, an upward arrow is used as a take-off indicator to indicate the take-off of a low-altitude aircraft, and a downward arrow is used as a landing indicator to indicate the landing of a low-altitude aircraft. The time on the horizontal axis corresponding to the arrow is displayed as the take-off time or the landing time. For example, Figure 6 As shown, on the position line of Airport B, the upward arrow indicates that a low-altitude aircraft takes off at Airport B at the time corresponding to the horizontal axis time axis, and the downward arrow indicates that a low-altitude aircraft lands at Airport B at the time corresponding to the horizontal axis time axis.

[0138] In the event of a conflict between the take-off and landing procedures of the low-altitude flight plans of different low-altitude aircraft at an airport, the arrows for take-off and landing related to the conflict point are indicated in a special color. Figure 6 As shown in the figure, the two red arrows on the rightmost side of the position line of Airport B, one high and one low, pointing upward, indicate that the takeoff process of the two low-altitude flight plans conflicts; the two red arrows on the rightmost side of the position line of Airport C, one high and one low, pointing downward, indicate that the landing process of the two low-altitude flight plans conflicts; the two red arrows on the rightmost side of the position line of Airport D, one high and one low, pointing upward and the low one downward, indicate that the takeoff process of one low-altitude flight plan conflicts with the landing process of another low-altitude flight plan; if there are other conflict scenarios, the representation method can be appropriately increased or adjusted. Select the arrow that marks the conflict to view the detailed flight data of the relevant low-altitude flight plans involved in the conflict point.

[0139] In the current display interface, a current time indication line is set, the current time indication line is perpendicular to the horizontal axis time axis, the current time indication line moves dynamically as time passes, and the moving direction of the current time indication line is consistent with the moving direction of the current time period. Figure 6 As shown, in this embodiment, the current time indication line is indicated by a vertical dotted line, and the arrows marked with conflicts on the right side of the current time indication line are predicted conflicts that may occur in the future. For example, if there is a conflict arrow on the position line of Airport B located on the right side of the current time indication line, then the conflict is predicted to be a conflict that may occur in the future, and the predicted conflict may not actually occur.

[0140] In the case that the take-off and landing density of low-altitude flight plans at different times of the day at the airport is uneven, click the fourth link point on the arrow in the third operation diagram to jump to the first operation diagram, and adjust the take-off time and landing time of the low-altitude flight plan on the display interface of the first operation diagram to achieve the purpose of balanced take-off and landing time and space at different times of the day at the airport. For example, if the take-off and landing time density of the low-altitude flight plan at the airport is uneven, some time periods are too dense, and some time periods are relatively sparse, the take-off and landing density of the airport can be adjusted by dragging and adjusting the take-off time and landing time of the low-altitude flight plan operation line on the display interface of the first operation diagram.

[0141] If the take-off and landing processes of different flight plans conflict at the airport, click the fourth link point on the arrow marking the conflict to jump to the first operation diagram, and adjust the take-off time and landing time of the low-altitude flight plan on the display interface of the first operation diagram to achieve the purpose of conflict resolution. Figure 6 As shown, by selecting the conflict arrow on the position line of Airport B, you can jump to the first operation diagram and adjust the take-off and landing times of related low-altitude flight plans in the display interface of the first operation diagram so that the conflicting low-altitude flight plans can take off and land at different times to achieve conflict adjustment.

[0142] The results of low-altitude flight plan adjustments in the first operation diagram will be synchronized to the third operation diagram.

[0143] Through the third operation diagram, you can view the density of low-altitude UAV low-altitude flight plans at each airport at various times of the day. For example, you can view which times of the day at the corresponding airport have relatively dense takeoffs and landings, and which times have relatively sparse takeoffs and landings, and adjust the low-altitude flight plan in a timely manner.

[0144] The present invention creatively proposes and introduces a flight operation diagram for the first time in the low-altitude field, creating a new model of low-altitude plan flow control with operations as the core. The flight operation diagram is intuitively displayed in a graphical manner, which is convenient for clearly viewing and grasping the low-altitude flight plan situation from a global perspective. The flight operation diagram displays the flight activity density within the operation cycle, which is convenient for dynamic evaluation of flight flow. Low-altitude flight plans with route conflicts can be adjusted in real time directly on the display interface of the flight operation diagram, which greatly improves work efficiency.

[0145] It should be noted that, in the embodiments of the present invention, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0146] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0147] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0148] It should also be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0149] It should be further understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0150] As used in this specification and the appended claims, the term "if" may be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined" or "if [described condition or event] is detected" may be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0151] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be appreciated that the above description should not be considered as limiting the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present invention. After reading the above content, it will be obvious for those skilled in the art to make various modifications and substitutions to the present invention. Therefore, the scope of protection of the present invention should be defined by the attached claims.

Claims

1. A system for automatically detecting and adjusting flight plans, characterized in that: Include: A data receiving module, used for acquiring a plurality of low-altitude flight plans of a plurality of low-altitude aircraft, wherein the low-altitude flight plans at least include flight data, and the flight data at least include: take-off time, take-off airport, landing time, arrival airport, route, aircraft type, and mission type; An instruction receiving module, used for receiving an external input operation instruction; A flight operation diagram management module, which includes: a flight operation diagram generation module, a flight operation diagram display module, a flight interval time detection module, a route conflict detection module and a flight operation diagram adjustment module; The flight operation diagram generation module generates a graphical flight operation diagram according to the flight data of the plurality of low-altitude aircraft; The flight operation diagram display module displays the flight operation diagram in real time on the display interface; The flight interval detection module automatically detects low-altitude flight plans using the same route, and obtains several low-altitude flight plans whose flight intervals do not meet the recommended flight intervals; The route conflict detection module automatically detects the multiple low-altitude flight plans and obtains several low-altitude flight plans with route conflicts; The flight operation diagram adjustment module adjusts the flight data of several low-altitude flight plans whose flight intervals do not meet the recommended flight intervals to obtain adjusted flight data; the flight operation diagram adjustment module adjusts the flight data of several low-altitude flight plans that have route conflicts to obtain adjusted flight data; The flight operation diagram generation module updates the flight operation diagram according to the adjusted flight data; The flight operation diagram display module displays the updated flight operation diagram in real time on a display interface.

2. The system for automatically detecting and adjusting flight plans according to claim 1, characterized in that: The flight operation diagram includes a first operation diagram, the first operation diagram includes an operation line of each low-altitude flight plan, the operation line of each low-altitude flight plan is dynamically displayed on the time axis, each operation line corresponds to a route, the route is composed of multiple waypoints, the take-off time and the take-off airport are displayed at one end of the operation line, the landing time and the arrival airport are displayed at the other end of the operation line, all the take-off airports are displayed on a first straight line parallel to the time axis, all the landing airports are displayed on a second straight line parallel to the time axis, the intersection points on the route are displayed on the operation line, and the operation lines are distributed on the time axis according to the take-off time and landing time; The intersection point refers to the intersection of different routes, and the intersection point involves at least two routes. The intersection point at least includes: route intersection point, route confluence point, route bifurcation point, route area entrance, route area exit, route entry point, route derailment point, take-off point, and landing point.

3. The system for automatically detecting and adjusting the flight plan as claimed in claim 2, characterized in that: The method in which the flight interval detection module automatically detects the flight interval between low-altitude flight plans using the same route comprises: obtaining flight data of the low-altitude flight plan from the flight operation diagram, automatically detecting and calculating the time interval between different low-altitude flight plans using the same route passing through the same waypoint on the route; if the time interval between two low-altitude flight plans at any waypoint is less than the recommended flight interval, it is determined that the flight interval between the two low-altitude flight plans does not meet the recommended flight interval; if the minimum value of the time interval between the two low-altitude flight plans among all waypoints is greater than the recommended flight interval, it is determined that the flight interval between the two low-altitude flight plans does not meet the recommended flight interval.

4. The system for automatically detecting and adjusting a flight plan as claimed in claim 3, characterized in that: The method for the flight operation diagram adjustment module to adjust the flight data of the low-altitude flight plan whose flight interval does not meet the recommended flight interval includes: if the time interval between two low-altitude flight plans at any waypoint is less than the recommended flight interval, according to the operation instruction of changing the take-off time and the landing time received by the instruction receiving module, the flight operation diagram adjustment module adjusts the take-off time and the landing time of at least one of the two low-altitude flight plans in the first operation diagram so that the flight interval between the two low-altitude flight plans meets the recommended flight interval; if the minimum value of the time interval between all waypoints of the two low-altitude flight plans is greater than the recommended flight interval, according to the operation instruction of changing the take-off time and the landing time received by the instruction receiving module, the flight operation diagram adjustment module adjusts the take-off time and the landing time of at least one of the two low-altitude flight plans in the first operation diagram so that the flight interval between the two low-altitude flight plans meets the recommended flight interval.

5. The system for automatically detecting and adjusting flight plans as claimed in claim 2, characterized in that: The method for the route conflict detection module to automatically detect low-altitude flight plans with route conflicts includes: if there is at least one of a route intersection point, a route confluence point, a route bifurcation point, a route area entrance, a route area exit, a route entry point, a route derailment point, a take-off point, and a landing point between the routes of each low-altitude flight plan in the flight operation diagram, then it is determined that there are possible conflict points on the routes of the low-altitude flight plans, flight data of the low-altitude flight plans are obtained, and the arrival time of each possible conflict point on the route of each low-altitude flight plan is calculated; if the time interval for arriving at the same possible conflict point on the routes of different low-altitude flight plans is less than a threshold value, then the possible conflict point is determined as a conflict point, and the conflict point is specially marked in the first operation diagram.

6. The system for automatically detecting and adjusting a flight plan as claimed in claim 5, characterized in that: The method for the flight operation diagram adjustment module to adjust the flight data of a low-altitude flight plan having a route conflict comprises: according to the operation instruction of changing the take-off time and the landing time received by the instruction receiving module, the flight operation diagram adjustment module changes the take-off time and the landing time of the low-altitude flight plan involved in the conflict point in the first operation diagram, so that the low-altitude flight plan passes through the intersection at a different time.

7. The system for automatically detecting and adjusting a flight plan as claimed in claim 5, characterized in that: The method for the flight operation diagram adjustment module to adjust the flight data of a low-altitude flight plan having a route conflict comprises: according to the operation instruction for changing the route received by the instruction receiving module, the flight operation diagram adjustment module changes the route of the low-altitude flight plan involved in the conflict point in the first operation diagram so that there is no longer an intersection between the low-altitude flight plans.

8. The system for automatically detecting and adjusting a flight plan according to claim 6 or 7, characterized in that: The flight operation diagram generation module generates a planned operation line in the first operation diagram according to the scheduled flight data in the low-altitude flight plan of the low-altitude aircraft received by the data receiving module, and generates an actual operation line in the first operation diagram according to the actual flight data sent by the low-altitude aircraft that is executing the low-altitude flight plan and received by the data receiving module; The flight operation diagram generation module sets a current time indication line in the first operation diagram, wherein the current time indication line is perpendicular to the time axis and the current time indication line dynamically moves in the direction of time elapse; The planned operation line and the actual operation line are displayed simultaneously behind the movement of the current time indication line, and only the planned operation line is displayed in front of the movement of the current time indication line.

9. The system for automatically detecting and adjusting a flight plan as claimed in claim 8, characterized in that: The flight operation diagram display module displays the first operation diagram by default on the display interface.

10. The system for automatically detecting and adjusting a flight plan according to claim 6 or 7, characterized in that: The flight operation diagram further includes a second operation diagram, wherein the second operation diagram includes intersection points and conflict points on each route, wherein the conflict points are distributed on the time axis according to the conflict time, and the conflict points display the number of low-altitude flight plans involved in the conflict points; The flight operation diagram generation module sets a first link point on the intersection point in the first operation diagram, and when the instruction receiving module receives a first operation instruction triggered by clicking the first link point, the flight operation diagram display module jumps from the first operation diagram to the second operation diagram, and displays the second operation diagram on the display interface; The flight operation diagram generation module sets a third link point on the conflict point in the second operation diagram. When the instruction receiving module receives a third operation instruction triggered by clicking the third link point, the flight operation diagram display module jumps from the second operation diagram to the first operation diagram and displays the first operation diagram on the display interface.

11. The system for automatically detecting and adjusting a flight plan as claimed in claim 10, characterized in that: After the route conflict detection module automatically detects the conflict point in the first operation diagram, the flight data of the low-altitude flight plan involved in the conflict point is automatically synchronized to the second operation diagram, and the conflict point is specially marked in the second operation diagram; When the instruction receiving module receives the third operation instruction triggered by clicking the third link point on the second operation diagram, the flight operation diagram display module jumps to the first operation diagram, and the flight operation diagram adjustment module executes the method for adjusting the flight data of the low-altitude flight plan with a route conflict; The flight operation diagram generation module synchronizes the adjusted flight data to the second operation diagram in real time, and generates an updated second operation diagram according to the adjusted flight data.

12. The system for automatically detecting and adjusting a flight plan according to claim 11, characterized in that: The flight operation diagram generation module sets a current time indication line in the second operation diagram, wherein the current time indication line is perpendicular to the time axis, and the current time indication line dynamically moves in the direction of the passage of time, and displays conflict points that have occurred and have not been resolved behind the movement of the current time indication line, and displays conflict points that may occur in the future in front of the movement of the current time indication line.

13. The system for automatically detecting and adjusting a flight plan according to claim 6 or 7, characterized in that: The flight operation diagram further includes a third operation diagram, the third operation diagram includes a takeoff indicator and a landing indicator of each airport, each of the takeoff indicators corresponds to a takeoff airport and a takeoff time in a low-altitude flight plan, each of the landing indicators corresponds to a landing airport and a landing time in a low-altitude flight plan, each airport is displayed as a straight line parallel to the time axis, a plurality of takeoff indicators are distributed on each airport straight line according to the takeoff time, and a plurality of landing indicators are distributed on each airport straight line according to the landing time; The flight operation diagram generation module sets a second link point on the first straight line and the second straight line in the first operation diagram, and when the instruction receiving module receives a second operation instruction triggered by clicking the second link point, the flight operation diagram display module jumps from the first operation diagram to the third operation diagram, and displays the third operation diagram on the display interface; The flight operation diagram generating module sets fourth link points on the take-off indicator and the landing indicator in the third operation diagram respectively. When the instruction receiving module receives a fourth operation instruction triggered by clicking the fourth link point, the flight operation diagram displaying module jumps from the third operation diagram to the first operation diagram, and displays the first operation diagram on the display interface.

14. The system for automatically detecting and adjusting a flight plan according to claim 13, characterized in that: After the route conflict detection module automatically detects the conflict point in the first operation diagram, it automatically synchronizes the flight data of the low-altitude flight plan involved in the conflict point to the third operation diagram, and specially marks the conflicting take-off indicator and landing indicator in the third operation diagram; When the instruction receiving module receives the fourth operation instruction triggered by clicking the fourth link point on the take-off indicator or the landing indicator on the third operation diagram, the flight operation diagram display module jumps to the first operation diagram, and the flight operation diagram adjustment module executes the method for adjusting the flight data of the low-altitude flight plan with a route conflict; The flight operation diagram generation module synchronizes the adjusted flight data to the third operation diagram in real time, and generates an updated third operation diagram according to the adjusted flight data.

15. The system for automatically detecting and adjusting a flight plan according to claim 14, characterized in that: The flight operation diagram generation module sets a current time indicator line in the third operation diagram, wherein the current time indicator line is perpendicular to the time axis, and the current time indicator line dynamically moves in the direction of time passage, and displays takeoff indicators and landing indicators that have occurred behind the movement of the current time indicator line, and displays takeoff indicators and landing indicators that may occur in the future in front of the movement of the current time indicator line.

16. The system for automatically detecting and adjusting a flight plan as claimed in claim 1, characterized in that: The system for automatically detecting and adjusting the flight plan also includes a database management module, which is used to store the scheduled flight data and actual flight data of the low-altitude flight plan, store the flight operation diagram generated by the flight operation diagram management module, and store the adjusted flight data of the low-altitude flight plan and the updated flight operation diagram in real time.

Images