Unmanned aerial vehicle flight route intelligent planning system based on intelligent air traffic control

Abstract

The invention relates to the field of flight path planning, aims to solve the problem that flight safety of an unmanned aerial vehicle and safety of other personnel or facilities on the ground and in the air are affected due to disordered flight paths of the unmanned aerial vehicle caused by scale increase of the unmanned aerial vehicle, and particularly relates to an intelligent flight path planning system for the unmanned aerial vehicle based on intelligent air traffic control. According to the method, pre-generation, correction, execution, real-time intervention and final execution results of the unmanned aerial vehicle route are recorded in the whole process, a closed-loop control process is formed, it is ensured that the flight process is traceable, abnormity can be traced back, and the task reliability in a complex airspace is improved; on the basis of an initial route, airspace management data is added to optimize a flying object in an airspace and a control area route for multiple times, and a real-time intervention unit is used for quick response, so that dynamic adjustment of flight route planning is realized, the collision risk and the danger occurrence probability are reduced, and the flight route planning efficiency is improved. And the overall dynamic supervision capability of the route planning system is improved.

Description

Technical Field

[0001] The present invention relates to the field of flight route planning, and in particular to an intelligent flight route planning system for unmanned aerial vehicles based on smart air traffic control. Background Art

[0002] Low-altitude economy refers to a comprehensive economic form that is mainly based on civil manned and unmanned aircraft, driven by multi-scenario low-altitude flight activities such as manned, cargo and other operations, and radiates and drives the integrated development of related fields. Specifically, "low altitude" usually refers to the airspace within a vertical distance of 1,000 meters from the ground plane directly below. According to the characteristics and actual needs of different regions, the range can be extended to 4,000 meters. The low-altitude economy is based on low-altitude airspace and dominated by the general aviation industry. It involves many industries such as low-altitude flight, aviation tourism, feeder passenger transport, general aviation services, scientific research and education; With the gradual opening of low-altitude airspace, the widespread application of drones in firefighting, industry, agriculture, environmental protection and other fields, and the emergence of new drones with intelligent functions such as face recognition, tracking and positioning, voice control, and precision strike, the threats and harassment from aerial targets are becoming increasingly prominent; Therefore, with the increasing number of drones and the expansion of the low-altitude economy, drone safety management is particularly important. The low-altitude support industry is an important safety measure for the low-altitude flight industry and a prerequisite for the development of the low-altitude economy. Therefore, it is particularly important to conduct comprehensive and intelligent control of the flight path of drones. In view of the above technical problems, this application proposes a solution. Summary of the invention

[0003] In the present invention, when planning and managing the route of the UAV, starting from the pre-generation of the route, the correction, execution, real-time intervention and final execution result of the route are recorded in full, forming a closed-loop control process, ensuring that the flight process is traceable and the abnormality can be traced back, and improving the mission reliability in complex airspace, so as to better coordinate the management of the UAVs when the number of UAVs increases and the scale of the low-altitude economy increases, solve the problem that the increase in the scale of UAVs leads to confusion in the flight routes of UAVs, affecting the flight safety of the UAVs themselves and the safety of other personnel or facilities on the ground and in the air, and propose a UAV flight route intelligent planning system based on smart air traffic control.

[0004] The purpose of the present invention can be achieved through the following technical solutions: An intelligent flight route planning system for unmanned aerial vehicles based on smart air traffic control, comprising an equipment management unit, wherein the equipment management unit is used to obtain equipment information and flight mission information of the unmanned aerial vehicle; A route pre-generation unit, wherein the route pre-generation unit obtains equipment information and flight mission information, obtains the take-off and landing positions of the UAV through the flight mission information, and pre-generates the route according to the take-off and landing positions and the equipment information to obtain an initial route; A low-altitude management platform, which is used to obtain information about flying objects in the airspace and flight control areas, and to obtain temporary interference information through the network; A route correction unit, wherein the route correction unit obtains the initial route through the route pre-generation unit, and the route correction unit corrects the initial route according to the obtained airspace flying object information and flight control area to generate a corrected route; a route execution unit, wherein the route execution unit executes the corrected route and records the corrected route during the execution process; A real-time intervention unit, wherein the real-time intervention unit obtains temporary interference information through a low-altitude management platform, obtains a corrected route through a route correction unit, analyzes the temporary interference information, obtains route interference, and temporarily adjusts the corrected route through the route interference, and then sends the temporary adjustment result to a route execution unit, which executes the temporary adjustment result through the route execution unit.

[0005] As a preferred embodiment of the present invention, the equipment information acquired by the equipment management unit includes the equipment flight altitude range and the equipment endurance distance, and the mission information includes the take-off and landing position and the mission area. The equipment management unit acquires the mission information and equipment information by manual input.

[0006] As a preferred embodiment of the present invention, after obtaining the mission information, the route pre-generation unit takes the take-off and landing positions as the starting points and randomly connects the mission areas to form i routes; The route pre-generating unit searches for a route with the shortest distance among the i routes, and records the route with the shortest distance as an initial route.

[0007] As a preferred implementation mode of the present invention, the airspace flying object information acquired by the low-altitude management platform includes the number of flying objects in the air, the airspace area, the flying object flight route and the flying object flight altitude. The method of acquiring the airspace flying object information is that the acquired flight control area includes a no-fly zone and a flight restricted altitude zone, and the method of acquiring the flight control area is to acquire it through the network; The low-altitude management platform sends the airspace flying object information and the flight control area to the route correction unit.

[0008] As a preferred embodiment of the present invention, after acquiring the information of flying objects in the airspace, the route correction unit divides the airspace into multiple sub-areas, calculates the area of ​​each sub-area according to the area of ​​the airspace, and at the same time, dynamically calculates the number of flying objects in each sub-area at each moment according to the flight route of the existing flying objects, and calculates the density of flying objects in each sub-area at each moment by dividing the number of flying objects in each sub-area at each moment by the area of ​​the sub-area; The route correction unit judges the density of flying objects in each sub-area at each moment against the set density threshold. If the density of flying objects is greater than the set density threshold, a high density signal is generated. If the density of flying objects is less than or equal to the set density threshold, a qualified density signal is generated, wherein the qualified density signal and the high density signal are the total density judgment signal.

[0009] As a preferred embodiment of the present invention, the route correction unit counts the flying objects in each sub-area at each moment, and analyzes the flight altitude of the flying objects, obtains the density of flying objects at different altitudes in each sub-area at each moment, records it as layer height density, and compares the layer height density with the set single-layer threshold, and generates a layer height density judgment signal according to the comparison result, including a layer height density too high signal or a layer height density qualified signal.

[0010] As a preferred embodiment of the present invention, the route correction unit obtains the initial route, and counts the sub-areas passed by the initial route, and obtains the flight height of the initial route in each sub-area; The route correction unit determines the time of passing through the sub-area according to the flight speed of the initial route; The route correction unit obtains the total density judgment signal and the layer height density judgment signal of the sub-region passed at the corresponding time according to the time of passing the sub-region. If the total density judgment signal and the layer height density judgment signal are both qualified, the road section passing the sub-region is confirmed. If the layer height density judgment signal is unqualified or the total density judgment signal is unqualified, the initial path corresponding to the sub-region is removed, and the path is modified to pass through other sub-regions or the time of passing through the current sub-region is changed to obtain a corrected path. The route correction unit then obtains the no-fly zone and the flight restricted altitude zone, deletes and modifies the path in the first revision that overlaps with the no-fly zone, and then deletes and modifies the path in the first revision that passes through the flight restricted altitude zone and whose flight altitude is greater than the altitude of the flight restricted altitude zone, to obtain the final corrected route.

[0011] As a preferred embodiment of the present invention, when executing the revised route, the route execution unit records the actual flight route executed as the actual route, compares it with the revised route, and determines the flight accuracy based on the comparison result.

[0012] As a preferred embodiment of the present invention, the temporary interference information acquired by the low-altitude management platform includes temporary flight activities or flight environment interference; After obtaining the temporary interference information, the real-time intervention unit determines the impact of the temporary interference information on the flight of the drone. If the impact is greater than the set threshold, the route is temporarily adjusted to bypass the temporary interference sub-area. If the impact is not greater than the set threshold, no response is made.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. In the present invention, when planning and managing the route of UAVs, starting from the pre-generation of the route, the correction, execution, real-time intervention and final execution results of the route are recorded throughout the process to form a closed-loop control process, ensuring that the flight process is traceable and abnormalities can be traced back, thereby improving the mission reliability in complex airspace, so as to better coordinate the management of UAVs when the number of UAVs increases and the scale of the low-altitude economy increases.

[0014] 2. In the present invention, the initial route is generated based on the equipment information composed of the performance parameters of the UAV and the flight mission requirements composed of the take-off and landing points, mission objectives, etc., and the airspace management data is added to optimize the route for flying objects and control areas in the airspace multiple times, forming an accurate route planning method that takes into account both efficiency and compliance, thereby ensuring the efficiency of the classified tasks and flight safety.

[0015] 3. In the present invention, the low-altitude management platform is used to integrate the information of airspace flying objects, controlled areas and temporary interference. When dealing with complex and changeable flight environments, such as sudden weather changes and sudden no-fly zones, a real-time intervention unit is used to respond quickly, realize dynamic adjustment of flight route planning, reduce collision risks and the probability of dangerous occurrences, and improve the overall dynamic supervision capability of the route planning system. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0017] Figure 1 is a system block diagram of the present invention; Figure 2 It is a system flow chart of the present invention. DETAILED DESCRIPTION

[0018] The technical scheme of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] Embodiment 1: See also Figure 1 - Figure 2 As shown, an intelligent flight route planning system for unmanned aerial vehicles based on smart air traffic control includes an equipment management unit, a route pre-generation unit, a low-altitude management platform, a route correction unit, a route execution unit and a real-time intervention unit. The equipment management unit obtains equipment information and flight mission information of unmanned aerial vehicles ready to take off and perform operations by manual input. The acquired equipment information includes the equipment flight altitude range and the equipment endurance distance. The mission information includes the take-off and landing position and the mission area. The route pre-generation unit obtains equipment information and flight mission information, obtains the take-off and landing positions of the UAV through the flight mission information, takes the take-off and landing positions as the starting point, randomly connects the mission areas, and forms i routes. The route pre-generation unit searches for the shortest route among the i routes, and records the shortest route as the initial route, thereby pre-generating the route after fully considering the take-off and landing positions and equipment information to obtain the initial route; The low-altitude management platform obtains airspace flying object information and flight control areas through the network. The airspace flying object information obtained by the low-altitude management platform includes the number of flying objects in the air, the airspace area, the flight routes of flying objects, and the flight altitudes of flying objects. The flight control areas obtained include no-fly zones and flight altitude restriction zones. No-fly zones are areas where drones are prohibited from flying, and flight altitude restriction zones are areas where the maximum flight altitude of drones is restricted. The low-altitude management platform sends the airspace flying object information and flight control areas to the route correction unit; The route correction unit obtains the initial route through the route pre-generation unit. The route correction unit corrects the initial route according to the obtained airspace flight information and flight control area. After obtaining the airspace flight information, the route correction unit divides the airspace into multiple sub-areas, calculates the area of ​​each sub-area according to the airspace area, and at the same time, dynamically calculates the number of aircraft in each sub-area at each moment according to the flight route of the existing aircraft, and calculates the number of aircraft in each sub-area at each moment by dividing the area of ​​the sub-area to obtain the density of aircraft in each sub-area at each moment, so as to understand the changes in the density of aircraft in different sub-areas at different moments in the managed airspace; The route correction unit compares the density of flying objects in each sub-area at each moment with the set density threshold. If the density of flying objects is greater than the set density threshold, a density over-high signal is generated. If the density of flying objects is less than or equal to the set density threshold, a density qualified signal is generated. The density qualified signal and the density over-high signal are the total density judgment signal. The route correction unit counts the flying objects in each sub-area at each moment, and analyzes the flying height of the flying objects, obtains the density of flying objects at different heights in each sub-area at each moment, records it as layer height density, and compares the layer height density with the set single-layer threshold, and generates a layer height density judgment signal according to the comparison result, wherein when the layer height density is greater than the set single-layer threshold, a layer height density too high signal is generated, and when the layer height density is less than or equal to the set single-layer threshold, a layer height density qualified signal is generated, including a layer height density too high signal or a layer height density qualified signal; The route correction unit obtains the initial route, and counts the sub-areas that the initial route passes through, and obtains the flight altitude of the initial route in each sub-area; The route correction unit confirms the time of passing through the sub-area based on the flight speed of the initial route; The route correction unit obtains the total density judgment signal and the layer height density judgment signal of the sub-region passed at the corresponding time according to the time of passing the sub-region. If the total density judgment signal and the layer height density judgment signal are both qualified, the road section passing the sub-region is confirmed. If the layer height density judgment signal is unqualified or the total density judgment signal is unqualified, the initial path corresponding to the sub-region is removed, and it is modified to pass through other adjacent sub-regions or change the time of passing through the current sub-region to obtain a corrected path; The route correction unit then obtains the no-fly zone and the flight restricted altitude zone, removes the path in the first modified path that overlaps with the no-fly zone, and modifies it to the nearest sub-area of ​​the non-no-fly zone, and then removes the path in the first modified path that passes through the flight restricted altitude zone and the flight altitude is greater than the altitude of the flight restricted altitude zone, and modifies it to the adjacent non-fly restricted altitude zone or the sub-area where the flight restricted altitude can meet the flight altitude, to obtain the final corrected route.

[0020] Embodiment 2: See also Figure 1 - Figure 2 As shown, the route execution unit executes the corrected route and records the corrected route during the execution process, records the actual flight route executed as the actual route, and compares it with the corrected route. By comparing the degree of overlap between the actual route and the corrected route, when the overlap is insufficient, it is judged that the flight accuracy is abnormal, and when the overlap is sufficient, it is judged that the flight accuracy is normal, thereby realizing the judgment of the flight accuracy.

[0021] Embodiment three: See also Figure 1 - Figure 2 As shown, the low-altitude management platform obtains temporary interference information through the network, and the obtained temporary interference information includes temporary flight activities or flight environment interference; The real-time intervention unit obtains temporary interference information through the low-altitude management platform, including temporary flight activities or flight environment interference. After obtaining the temporary interference information, it judges the impact of the temporary interference information on the flight of the UAV. If the impact is greater than the set threshold, the route is temporarily adjusted to bypass the temporary interference sub-area. If the impact is not greater than the set threshold, no response is made. The corrected route is obtained through the route correction unit, and the corrected route is temporarily adjusted through the route temporary adjustment. The temporary adjustment result is then sent to the route execution unit, and the temporary adjustment result is executed by the route execution unit, thereby realizing dynamic real-time intervention adjustment in flight route planning.

[0022] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. An intelligent flight route planning system for unmanned aerial vehicles based on smart air traffic control, characterized in that: It includes a device management unit, which is used to obtain device information and flight mission information of the UAV; A route pre-generation unit, wherein the route pre-generation unit obtains equipment information and flight mission information, obtains the take-off and landing positions of the UAV through the flight mission information, and pre-generates the route according to the take-off and landing positions and the equipment information to obtain an initial route; A low-altitude management platform, which is used to obtain information about flying objects in the airspace and flight control areas, and to obtain temporary interference information through the network; A route correction unit, wherein the route correction unit obtains the initial route through the route pre-generation unit, and the route correction unit corrects the initial route according to the obtained airspace flying object information and flight control area to generate a corrected route; a route execution unit, wherein the route execution unit executes the corrected route and records the corrected route during the execution process; A real-time intervention unit, wherein the real-time intervention unit obtains temporary interference information through a low-altitude management platform, obtains a corrected route through a route correction unit, analyzes the temporary interference information, obtains route interference, and temporarily adjusts the corrected route through the route interference, and then sends the temporary adjustment result to a route execution unit, which executes the temporary adjustment result through the route execution unit.

2. The intelligent flight route planning system for unmanned aerial vehicle based on intelligent air traffic control according to claim 1 is characterized in that: The equipment information acquired by the equipment management unit includes the equipment flight altitude range and the equipment endurance distance, and the mission information includes the take-off and landing position and the mission area. The equipment management unit acquires the mission information and equipment information by manual input.

3. The intelligent flight route planning system for unmanned aerial vehicle based on intelligent air traffic control according to claim 1 is characterized in that: After obtaining the mission information, the route pre-generation unit takes the take-off and landing positions as the starting points and randomly connects the mission areas to form i routes; The route pre-generating unit searches for a route with the shortest distance among the i routes, and records the route with the shortest distance as an initial route.

4. The intelligent flight route planning system for unmanned aerial vehicle based on intelligent air traffic control according to claim 1 is characterized in that: The airspace flying object information obtained by the low-altitude management platform includes the number of flying objects in the air, the airspace area, the flight route of the flying objects, and the flight altitude of the flying objects. The method of obtaining the airspace flying object information is that the flight control area obtained includes a no-fly zone and a flight restricted altitude zone, and the method of obtaining the flight control area is to obtain it through the network; The low-altitude management platform sends the airspace flying object information and the flight control area to the route correction unit.

5. The intelligent flight route planning system for unmanned aerial vehicle based on intelligent air traffic control according to claim 1 is characterized in that: After acquiring the information of flying objects in the airspace, the route correction unit divides the airspace into multiple sub-areas, calculates the area of ​​each sub-area according to the area of ​​the airspace, and at the same time, dynamically calculates the number of flying objects in each sub-area at each moment according to the flight route of the existing flying objects, and calculates the density of flying objects in each sub-area at each moment by dividing the number of flying objects in each sub-area at each moment by the area of ​​the sub-area; The route correction unit judges the density of flying objects in each sub-area at each moment against the set density threshold. If the density of flying objects is greater than the set density threshold, a high density signal is generated. If the density of flying objects is less than or equal to the set density threshold, a qualified density signal is generated, wherein the qualified density signal and the high density signal are the total density judgment signal.

6. The intelligent flight route planning system for unmanned aerial vehicle based on intelligent air traffic control according to claim 5 is characterized in that: The route correction unit counts the flying objects in each sub-area at each moment, and analyzes the flight altitude of the flying objects, obtains the density of flying objects at different altitudes in each sub-area at each moment, records it as layer height density, and compares the layer height density with the set single-layer threshold, and generates a layer height density judgment signal according to the comparison result, including a layer height density too high signal or a layer height density qualified signal.

7. The intelligent flight route planning system for unmanned aerial vehicle based on intelligent air traffic control according to claim 1 is characterized in that: The route correction unit obtains the initial route, and counts the sub-areas that the initial route passes through, and obtains the flight altitude of the initial route in each sub-area; The route correction unit determines the time of passing through the sub-area according to the flight speed of the initial route; The route correction unit obtains the total density judgment signal and the layer height density judgment signal of the sub-region passed at the corresponding time according to the time of passing the sub-region. If the total density judgment signal and the layer height density judgment signal are both qualified, the road section passing the sub-region is confirmed. If the layer height density judgment signal is unqualified or the total density judgment signal is unqualified, the initial path corresponding to the sub-region is removed, and the path is modified to pass through other sub-regions or the time of passing through the current sub-region is changed to obtain a corrected path. The route correction unit then obtains the no-fly zone and the flight restricted altitude zone, deletes and modifies the path in the first revision that overlaps with the no-fly zone, and then deletes and modifies the path in the first revision that passes through the flight restricted altitude zone and whose flight altitude is greater than the altitude of the flight restricted altitude zone, to obtain the final corrected route.

8. The intelligent flight route planning system for unmanned aerial vehicle based on intelligent air traffic control according to claim 1 is characterized in that: When executing the revised route, the route execution unit records the actual flight route executed as the actual route, compares it with the revised route, and determines the flight accuracy according to the comparison result.

9. The intelligent flight route planning system for unmanned aerial vehicle based on intelligent air traffic control according to claim 1 is characterized in that: The temporary interference information obtained by the low-altitude management platform includes temporary flight activities or flight environment interference; After obtaining the temporary interference information, the real-time intervention unit determines the impact of the temporary interference information on the flight of the drone. If the impact is greater than the set threshold, the route is temporarily adjusted to bypass the temporary interference sub-area. If the impact is not greater than the set threshold, no response is made.

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