Planned route space-time conflict detection method based on Bresenhem algorithm and three-dimensional surface neighborhood grid

Abstract

The invention provides a planned airline space-time conflict detection method based on a Bresenhem algorithm and a three-dimensional surface neighborhood grid, relates to the technical field of cluster airline planning, and is used for solving the technical problem of limited calculation efficiency and accuracy caused by airline space-time conflict detection based on a full-path grid rasterization method. According to the method, the Bresenhem algorithm is utilized to efficiently calculate the grids through which the route passes, and then the surface neighborhood grids are utilized to surround the route grids, so that the accuracy of route conflict detection is improved. In addition, the method can quickly and accurately calculate the possible result of the space-time conflict between the routes in the scheme by combining with the stream-oriented computing technology.

Description

Technical Field

[0001] The invention relates to the technical field of cluster route planning, and in particular to a method for detecting spatiotemporal conflicts of planned routes based on a Bresenhem algorithm and a three-dimensional surface neighborhood grid. Background Art

[0002] With the increase in the number of manned and unmanned aircraft in the sky, the possibility of route conflicts has increased. Faced with the air demand of large-scale flying entities, it is necessary to quickly calculate the possible spatiotemporal conflicts between large-scale routes during the route planning stage to provide decision support for planners to optimize and adjust the route planning schemes. Therefore, efficient calculation of large-scale route spatiotemporal conflict detection is of great significance.

[0003] The existing methods for detecting space-time conflicts on routes mostly use the safety pipe method, that is, according to the horizontal and vertical safety distances of the flying entities, the safety pipes surrounding the route are calculated, and then the collision detection calculation is performed through the safety pipes between the various routes. However, the geometric description of the safety pipes in this method is complex. At the same time, the safety pipes between different routes need to be collided with each other. As the number of flying entities increases, the amount of calculation increases exponentially. In addition, based on the collision in space, it is also necessary to calculate the collision period of the route to determine whether there is a conflict in space-time co-occurrence.

[0004] In addition, there are studies that use a three-dimensional spatial grid method to detect conflicts in planned routes. This method divides the space into three dimensions using a grid of a certain scale, uses a full-path rasterization algorithm for the routes, uses grids to represent the routes, and makes conflict judgments based on whether different routes occupy the same grid at the same time. However, this method still has some defects. For example, the existing method only considers the spatiotemporal co-occurrence of the same grid, while in reality, two flying entities may also have flight conflicts when they are in adjacent grids. For another example, the full-path rasterization algorithm requires the use of division during the calculation process, which affects the efficiency of computer solutions. In addition, due to full-path rasterization, the calculation of the entry and exit points of the grid may result in line segments passing through adjacent faces of the grid, resulting in a certain degree of complexity in the calculation of the entry and exit points of the grid truncation line segments. Summary of the invention

[0005] The purpose of the present invention is to provide a method for detecting spatiotemporal conflicts in planned routes based on the Bresenhem algorithm and three-dimensional surface neighborhood grids, so as to solve the problems of limited computational efficiency and accuracy caused by the spatiotemporal conflict detection of routes based on the full-path rasterized grid method.

[0006] A first aspect of an embodiment of the present invention provides a method for detecting spatiotemporal conflicts in cluster planning routes, comprising:

[0007] The maximum bounding box defined by all routes is spatially discretized to form a three-dimensional grid, and the grid is uniquely encoded to establish a mapping relationship between the longitude, latitude and altitude coordinates and the grid code;

[0008] Obtain the key point data of all routes, calculate the grid path between each pair of continuous key points of each route, and write the calculation results into the route table and the space table; wherein the route table records the information of the main grid and its neighboring grids passed by each route, the information includes: grid code, entry point time and exit point time; the space table records the grid code of each grid and the route passed;

[0009] Perform conditional queries on the spatial table to search for possible potential conflicting results;

[0010] According to the potential conflict search results, the corresponding route table is queried to obtain the entry and exit times of each route in the corresponding grid, and whether there is any time overlap between each route segment is calculated to determine whether there is a time and space conflict.

[0011] In some examples, a three-dimensional Bresenham algorithm is used to calculate a grid path between each pair of consecutive key points for each flight path.

[0012] In some examples, calculating the grid path between each pair of consecutive key points of each route includes: calculating the main grid and its six face neighborhood grids through which the line segment between each pair of consecutive key points of each route passes; wherein the main grid and the face neighborhood grid both share the grid entry point time and exit point time.

[0013] In some examples, the spatial table is a bitmap table, the primary key is a grid code, the second column is a bitmap, and the corresponding bit value is 1, indicating that the corresponding route passes through the grid.

[0014] In some examples, an array of route names is constructed, the route table name is the subscript of the route name array, and the bit value of the corresponding bit of the array subscript in the bitmap of the spatial table is 1, indicating that the route corresponding to the subscript passes through the grid.

[0015] In some examples, a Kafka topic is created for each route, the route name is used as the topic name, and Flink source is used to consume the information transmitted by the route topic.

[0016] In some examples, the clickhouse database is used to dynamically write the route table; wherein the clickhouse data table is dynamically created according to the route name, the table name is the route name, and each row includes: main grid code or surface neighborhood grid code, entry point coordinates, exit point coordinates, entry point time, and exit point time.

[0017] In some examples, the Redis memory database is used to write the bitmap value of the spatial table. Each main grid and its neighboring grids are written as a kv pair in Redis. The key is the grid code and the value is the bitmap. Its initial value is 0. The bit value of the corresponding position of the route array subscript is changed to 1, indicating that the route passes through the grid.

[0018] In some examples, the conditional query on the spatial table to search for possible potential conflict results includes: querying the grid codes corresponding to the number of bits 1 in the bitmap that is greater than or equal to 2, and querying the route names corresponding to the bit 1 in the bitmap of the grid code to obtain possible potential conflict results.

[0019] A second aspect of an embodiment of the present invention provides a device for detecting spatiotemporal conflicts in cluster planning routes, comprising:

[0020] The grid coding module is configured to: discretize the maximum bounding boxes defined by all routes into a three-dimensional grid, and uniquely encode the grid to establish a mapping relationship between the longitude, latitude and altitude coordinates and the grid code;

[0021] The grid calculation module is configured to: obtain key point data of all routes, calculate the grid path between each pair of continuous key points of each route, and write the calculation results into a route table and a space table; wherein the route table records the information of the main grid and its neighboring grids passed by each route, and the information includes: grid code, entry point time and exit point time; the space table records the grid code of each grid and the route passed by;

[0022] The query module is configured to: perform conditional query on the spatial table to search for possible potential conflict results;

[0023] The judgment module is configured to: query the corresponding route table according to the potential conflict search results, obtain the entry time and exit time of each route in the corresponding grid, calculate whether there is any time overlap between each route segment, so as to determine whether there is a time and space conflict.

[0024] According to a third aspect of the embodiments of the present invention, there is provided an electronic device, characterized in that it includes:

[0025] one or more processors;

[0026] a memory configured to store one or more programs;

[0027] When the one or more programs are executed by the one or more processors, the one or more processors implement the cluster planning route time-space conflict detection method described in item.

[0028] The present invention improves the accuracy of route conflict detection.

[0029] In addition, for large-scale route planning applications, the present invention, by combining streaming computing technology, can quickly and accurately calculate the possible results of spatiotemporal conflicts between routes in the plan, providing decision support for planners to optimize and adjust the route plan.

[0030] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 The figure is a flow chart of a method for detecting space-time conflicts in planning routes according to an embodiment of the present invention.

[0033] Figure 2 4 is a structural block diagram of a device for detecting spatiotemporal conflicts in planned routes according to an embodiment of the present invention. DETAILED DESCRIPTION

[0034] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings, but are not intended to limit the present invention.

[0035] It should be understood that various modifications may be made to the embodiments disclosed herein. Therefore, the following description should not be considered as limiting, but merely as an example of an embodiment. Other modifications within the scope and spirit of the present disclosure will occur to those skilled in the art.

[0036] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the general description of the present disclosure given above and the detailed description of the embodiments given below, serve to explain the principles of the present disclosure.

[0037] These and other characteristics of the invention will become apparent from the following description of a preferred form of embodiment given as a non-limiting example, with reference to the accompanying drawings.

[0038] It should also be understood that, although the invention has been described with reference to some specific examples, those skilled in the art will be able to realize many other equivalent forms of the invention that have the characteristics recited in the claims and are therefore within the scope of protection defined thereby.

[0039] The above and other aspects, features and advantages of the present disclosure will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings.

[0040] Specific embodiments of the present disclosure are described hereinafter with reference to the accompanying drawings; however, it should be understood that the disclosed embodiments are merely examples of the present disclosure, which may be implemented in a variety of ways. Well-known and / or repeated functions and structures are not described in detail to avoid obscuring the present disclosure with unnecessary or redundant details. Therefore, the specific structural and functional details disclosed herein are not intended to be limiting, but merely serve as a basis and representative basis for the claims to teach those skilled in the art to use the present disclosure in a variety of ways with substantially any suitable detailed structure.

[0041] This specification may use the phrases "in one embodiment," "in another embodiment," "in a further embodiment," or "in other embodiments," all of which may refer to one or more of the same or different embodiments according to the present disclosure.

[0042] The present invention provides a method for detecting spatiotemporal conflicts in planned routes, which is used for large-scale aircraft clusters, such as drone swarms, so that during the route planning stage, the possible results of spatiotemporal conflicts between routes in the plan can be quickly and accurately calculated, thereby providing decision support for planners to optimize and adjust the route plan.

[0043] Figure 1 This is a flow chart of a method for detecting space-time conflicts in planning routes according to an embodiment of the present invention. Figure 1 As shown, the method includes:

[0044] Step 101, spatially discretize the maximum bounding boxes defined by all routes to form a three-dimensional grid, and uniquely encode the grid to establish a mapping relationship between longitude, latitude and altitude coordinates and the grid code;

[0045] The spatial range to be discretized is determined based on the smallest latitude and longitude high point and the largest latitude and longitude high point of all routes in the planning scheme, that is, the maximum bounding box or the largest circumscribed cuboid of all routes. Spatial discretization generally uses three-dimensional grid division with equal longitude and latitude and equal altitude. The latitude and longitude scale ΔL and altitude scale ΔH of the three-dimensional grid are determined based on the safe horizontal distance and vertical distance of the aircraft. The safety distance of different aircraft is different, and the grid scale is generally determined by the largest distance. According to the determined grid scale, the maximum bounding box is spatially discretized to form a three-dimensional grid, and the grid is uniquely encoded, and a mapping relationship between the latitude and longitude high coordinates and the grid code is established.

[0046] As an example, assume that the horizontal longitude and latitude direction takes 1 minute (corresponding to the equatorial length of about 1.8 kilometers) as the grid side length, and the height direction takes 300 meters as the grid side length. According to the determined grid scale, the maximum bounding box is spatially discretized to form a three-dimensional grid, from the southwest lower corner grid to the northeast upper corner grid, forming a grid sequence in the x / y / z dimensions, which is represented by a 32-bit integer starting from 0. The integer grid sequences in the three dimensions are concatenated to form a 96-bit BitSet unique grid code, and the mapping relationship between the longitude and latitude high coordinates and the grid code is indirectly established.

[0047] Step 102, obtain the key point data of all routes, calculate the grid path between each pair of continuous key points of each route, and write the calculation results into the route table and the spatial bitmap table; wherein the route table records the information of the main grid and its neighboring grids passed by each route; the spatial bitmap table records the code of each grid and the route passed;

[0048] Each route has its own name and is represented by multiple consecutive key points. The key points are sorted by time, and their core information includes: longitude, latitude, altitude and arrival time. As an example, you can create an array of route names, and the array unit is the route name.

[0049] For each route, the code of the grid where the key point is located is calculated according to the coordinates of the key point, and then the three-dimensional Bresenham algorithm is used to calculate the grid path between each pair of consecutive key points of each route, including:

[0050] (1) Calculate the Δ longitude scale, Δ latitude scale, and Δ altitude scale between two consecutive key point grids, and determine the maximum displacement direction based on the maximum value of the three values;

[0051] (2) Determine the coordinates and corresponding time of the initial point and the initial grid, and calculate the six (upper and lower, left and right, front and back) neighboring grids of the initial grid;

[0052] (3) Determine the next grid that the line segment between the two key points passes through according to the three-dimensional Bresenhem algorithm;

[0053] Since the maximum and minimum longitude and latitude values ​​of the grid can be calculated, the grid entry and exit coordinates and arrival time can be calculated by difference between two key points;

[0054] During the calculation process, after each grid code, also called the main grid code, grid entry and exit point coordinates and arrival time are calculated, the calculation result is sent to the next operator through streaming calculation to calculate the 6 surface neighborhood grids of the main grid;

[0055] This step will generate a series of meshes that represent the path of the flight line in three-dimensional space.

[0056] (4) Write the calculation results into the route table and the spatial bitmap table respectively;

[0057] The route table fields are shown in Table 1:

[0058] Table 1 Example of route table

[0059] Grid Coding Entry point coordinates Out point coordinates Entry point Exit time XXX (15.562,73.677,500) (15.254,73.537,500) 1611792000 1611892000

[0060] The table name is the subscript of the route name array. Each calculated main grid and face neighbor grid is written into the route table. Since the same grid may be passed by multiple routes, the grid code is allowed to be repeated. The main grid and face neighbor grid share the grid entry and exit points and are written into the route table.

[0061] At the same time, the grid information is also written into the spatial table. The primary key of the spatial table is the grid code, so the primary key is unique. The second column is the bitmap. The bit value of the corresponding position of the route array is changed to 1, indicating that the route passes through this grid, as shown in Table 2 below:

[0062] Table 2 Example of spatial representation

[0063] Grid Coding Route bitmap XXX 0010000000000001000000100000010000

[0064] In the above process, multiple routes can be calculated and processed in parallel to improve calculation efficiency.

[0065] As an example, the present invention uses Flink sink to perform table entry operations for the route table and the spatial bitmap table. At the same time, in order to ensure that Flink can efficiently read data from the data source, Flink and Kafka are integrated based on Kafka's distributed, multi-copy, high availability, high throughput, and ability to record offsets.

[0066] Kafka Topic is a core concept in Kafka message queue. It is a classification or logical container of messages. Producers send messages to specific Topics, and consumers subscribe to and receive messages from these Topics.

[0067] Therefore, when constructing the route name array, the present invention creates a Kafka topic for each route, with the route name as the topic name. For each route, the code of the grid where it is located can be calculated based on the key point coordinates, and the content transmitted by the route topic, including the route array subscript, route name, and spatiotemporal information of each key point, can be consumed using flink source.

[0068] ClickHouse is a column-based database management system (DBMS). As an example, the present invention uses the clickhouse database to dynamically write the route table, and dynamically creates a clickhouse data table based on the route name. The table name is route name, and the content of each row is as follows:

[0069] Main grid code - entry point coordinates - exit point coordinates - entry point time - exit point time

[0070] Face neighborhood grid a code - entry point coordinates - exit point coordinates - entry point time - exit point time

[0071] Surface neighborhood grid b-coding - entry point coordinates - exit point coordinates - entry point time - exit point time

[0072] Face neighborhood grid c code - entry point coordinates - exit point coordinates - entry point time - exit point time

[0073] Surface neighborhood grid d code - entry point coordinates - exit point coordinates - entry point time - exit point time

[0074] Surface neighborhood grid e-coding - entry point coordinates - exit point coordinates - entry point time - exit point time

[0075] Face neighborhood grid f-coding - entry point coordinates - exit point coordinates - entry point time - exit point time

[0076] The entry and exit points can be represented by UTC timestamps.

[0077] As an example, the spatial bitmap table value is written using the Redis memory database. Each grid is written as a key-value pair in Redis, including the main grid and its neighboring grids. The key is the grid code, and the value is the bitmap. Its initial value is 0. The bit value corresponding to the route array subscript is changed to 1, indicating that the route passes through this grid. In the example shown in Table 2 above, the bitmap has 4 1s, indicating that the grid is passed by 4 routes.

[0078] Step 103, performing conditional query on the spatial table to search for possible potential conflict results;

[0079] After all routes are processed and a spatial table is generated, a conditional query is performed on the spatial table to query the values ​​in the bitmap where the number of bits that are 1 is greater than or equal to 2 and the corresponding grid codes. The bitmap value corresponding to the grid code of the query result is converted into the corresponding route name occupied by 1 to obtain possible potential conflict results.

[0080] As an example, potential conflict results can be represented by a hashmap, where the key is the grid code and the value is multiple route names.

[0081] Step 104, query the route table according to the potential conflict results, obtain the entry time and exit time of each route in the corresponding grid, so as to determine whether there is any time overlap between each route segment.

[0082] According to the potential conflict hashmap, query the route table respectively to obtain the entry and exit information of each route in the grid; make a time judgment to calculate whether the time periods of each route segment overlap. If so, there is a time and space conflict, and record the conflict results in the conflict result table, as shown in Table 3 below. The conflict results can be used for subsequent statistics / visualization, etc.

[0083] Table 3 Example of conflict result table

[0084]

[0085]

[0086] The present invention uses the three-dimensional Bresenham algorithm to accurately track the path of the route in three-dimensional space by calculating the grids and their neighboring grids that the route passes through. The calculation results are stored in two tables: the route table is used to record all the grids and their neighboring grids that the route passes through, and the bitmap table is used to quickly query which routes pass through specific grids, making route planning and spatial data management more efficient.

[0087] According to an embodiment of the present invention, a device for detecting space-time conflicts in cluster planning routes is also provided. Figure 2 As shown, the device comprises:

[0088] The grid coding module 201 is configured to: discretize the maximum bounding boxes defined by all routes into a three-dimensional grid, and uniquely code the grid to establish a mapping relationship between the longitude, latitude and altitude coordinates and the grid code;

[0089] The grid calculation module 202 is configured to: obtain the key point data of all routes, calculate the grid path between each pair of continuous key points of each route, and write the calculation results into the route table and the space table; wherein the route table records the information of the main grid and its neighboring grids passed by each route, and the information includes: grid code, entry point time and exit point time; the space table records the grid code of each grid and the route passed by;

[0090] The query module 203 is configured to: perform conditional query on the spatial table to search for possible potential conflict results;

[0091] The judgment module 204 is configured to query the corresponding route table according to the potential conflict search results, obtain the entry time and exit time of each route in the corresponding grid, calculate whether there is any time overlap between each route segment, and judge whether there is any time and space conflict.

[0092] According to an embodiment of the present invention, there is also provided an electronic device, characterized in that it includes:

[0093] one or more processors;

[0094] a memory configured to store one or more programs;

[0095] When the one or more programs are executed by the one or more processors, the one or more processors implement the cluster planning route time-space conflict detection method described in item.

[0096] Furthermore, an embodiment of the present invention also provides a storage medium on which a computer program is stored, and when the program is executed by a processor, the above-mentioned cluster planning route time-space conflict detection method is implemented. It should be understood that each solution in this embodiment has the corresponding technical effect in the above-mentioned method embodiment, which will not be repeated here.

[0097] Furthermore, an embodiment of the present invention also provides a computer program product, which is tangibly stored on a computer-readable medium and includes computer-readable instructions, which, when executed, cause at least one processor to perform a cluster planning route spatiotemporal conflict detection method such as that in the embodiment described above.

[0098] It should be noted that the computer storage medium of the present invention may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, system or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access storage medium (RAM), a read-only storage medium (ROM), an erasable programmable read-only storage medium (EPROM or flash memory), an optical fiber, a portable compact disk read-only storage medium (CD-ROM), an optical storage medium, a magnetic storage medium, or any suitable combination of the above. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. In the present invention, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can send, propagate or transmit a program configured to be used by or in conjunction with an instruction execution system, system or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, antenna, optical cable, RF, etc., or any suitable combination of the above.

[0099] In addition, it will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program code.

[0100] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1A process or multiple processes and / or boxes Figure 1 A system that specifies the functions of a box or multiple boxes.

[0101] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction system, which is implemented in the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0102] A person skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of protection of the present invention is limited to these examples. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present invention as described above, which are not provided in detail for the sake of simplicity.

Claims

1. A method for detecting spatiotemporal conflicts in cluster planning routes, characterized in that: include: The maximum bounding box defined by all routes is spatially discretized to form a three-dimensional grid, and the grid is uniquely encoded to establish a mapping relationship between the longitude, latitude and altitude coordinates and the grid code; Obtain the key point data of all routes, calculate the grid path between each pair of continuous key points of each route, and write the calculation results into the route table and the space table; wherein the route table records the information of the main grid and its neighboring grids passed by each route, the information includes: grid code, entry point time and exit point time; the space table records the grid code of each grid and the route passed; Perform conditional queries on the spatial table to search for possible potential conflicting results; According to the potential conflict search results, the corresponding route table is queried to obtain the entry and exit times of each route in the corresponding grid, and whether there is any time overlap between each route segment is calculated to determine whether there is a time and space conflict.

2. The method according to claim 1, characterized in that The grid path between each pair of consecutive key points for each flight path is calculated using the 3D Bresenham algorithm.

3. The method according to claim 1, characterized in that: The calculation of the grid path between each pair of continuous key points of each route includes: calculating the main grid and its six surface neighboring grids through which the line segment between each pair of continuous key points of each route passes; wherein the main grid and the surface neighboring grid both share the grid entry point time and exit point time.

4. The method according to claim 1, characterized in that The spatial table is a bitmap table. The primary key is the grid code. The second column is a bitmap. The corresponding bit value is 1, indicating that the corresponding route passes through the grid.

5. The method according to claim 4, characterized in that Construct a route name array. The route table name is the subscript of the route name array. The bit value of the corresponding bit of the array subscript in the spatial table bitmap is 1, indicating that the route corresponding to the subscript passes through the grid.

6. The method according to claim 5, characterized in that Create a Kafka topic for each route with the route name as the topic name, and use Flink source to consume the information transmitted by the route topic.

7. The method according to claim 5, characterized in that The clickhouse database is used to dynamically write the route table; the clickhouse data table is dynamically created according to the route name, the table name is the route name, and each row includes: main grid code or surface neighborhood grid code, entry point coordinates, exit point coordinates, entry point time, and exit point time.

8. The method according to claim 5, characterized in that The redis memory database is used to write the bitmap value of the spatial table. Each main grid and its neighboring grids are written as a kv pair in redis. The key is the grid code and the value is the bitmap. Its initial value is 0. The bit value of the corresponding position of the route array subscript is changed to 1, indicating that the route passes through the grid.

9. The method according to claim 5, characterized in that The conditional query of the spatial table to search for possible potential conflict results includes: querying the grid codes corresponding to the number of bits 1 in the bitmap that is greater than or equal to 2, and querying the route names corresponding to the bit 1 in the bitmap of the grid code to obtain possible potential conflict results.

10. A device for detecting space-time conflicts in cluster planning routes, characterized in that: include: The grid coding module is configured to: discretize the maximum bounding boxes defined by all routes into a three-dimensional grid, and uniquely encode the grid to establish a mapping relationship between the longitude, latitude and altitude coordinates and the grid code; The grid calculation module is configured to: obtain key point data of all routes, calculate the grid path between each pair of continuous key points of each route, and write the calculation results into a route table and a space table; wherein the route table records the information of the main grid and its neighboring grids passed by each route, and the information includes: grid code, entry point time and exit point time; the space table records the grid code of each grid and the route passed by; The query module is configured to: perform conditional query on the spatial table to search for possible potential conflict results; The judgment module is configured to: query the corresponding route table according to the potential conflict search results, obtain the entry time and exit time of each route in the corresponding grid, calculate whether there is any time overlap between each route segment, so as to determine whether there is a time and space conflict.

Images